CN210998814U - Quick assembling and disassembling device for mechanical arm and surgical instrument - Google Patents

Abstract

The utility model discloses a robotic arm and surgical instruments's quick dismouting device contains: the fixing unit is provided with a fixed seat connected with the mechanical arm, a combining seat connected on the fixed seat, a buckling piece pivoted in the combining seat and a releasing piece movably arranged on the combining seat, the combining seat is provided with a sliding chute, and the buckling piece can be pivoted between a buckling position and a disengaging position under the action of external force; the grasping unit is provided with a grasping seat and a packing piece, the grasping seat is provided with a clamping hole, and the packing piece is locked with the abutting seat so as to pack the surgical instrument; the connecting seat is provided with a buckling part and a slot, the clamping seat of the clamping unit can be detachably inserted and connected with the slot, when the buckling part slides in from the sliding groove of the fixing unit, the buckling part is positioned at the buckling position and buckled on the buckling part, and when the releasing part is acted by external force, the buckling part is driven to pivot towards the disengaging position to be separated from the buckling part; so as to achieve the effect of quickly and labor-saving combination and disassembly.

Description

Rapid assembly and disassembly device for robotic arms and surgical instruments

technical field

The utility model relates to related accessories of surgical instruments, in particular to a rapid assembly and disassembly device of a mechanical arm and a surgical instrument.

Background technique

According to the conventional connecting device for connecting a robotic arm and a surgical instrument, as disclosed in Taiwan Patent No. M521523, it mainly includes a fixing seat, a surgical instrument gripper and an adapter. The fixing seat is used for Connected with a robotic arm, the surgical instrument gripper is used to connect with a surgical instrument, and the adapter is formed with a first adapter unit and a second adapter unit, so that the first adapter unit and the The fixing seat is detachably engaged, and the second adapter unit is detachably engaged with the surgical instrument gripper.

However, in the above-mentioned conventional connecting device, the joint between the first adapter unit and the fixed seat is tightly jointed by means of the deformation of the mechanism, so whether it is assembled or disassembled, it is laborious and time-consuming. Moreover, in the long-term use, the deformation of the mechanism is constantly carried out, which is also easy to cause damage. Furthermore, in the above-mentioned conventional connecting device, the surgical instrument gripper is not designed to limit the locking amount, so that different users will have different locking forces, and when the locking force is too large, it is easy to Fractures occur, and when the locking force is too small, there is a risk that the surgical instrument may slip out.

Utility model content

The purpose of the present utility model is to provide a rapid assembly and disassembly device of a mechanical arm and a surgical instrument, which can be assembled and disassembled quickly and labor-savingly, without the problem of deformation and damage, and the pressing part is provided with a limit locking The amount of design to prevent breaking or slipping things happen.

Based on this, the present invention mainly adopts the following technical means to achieve the above objects.

A rapid assembly and disassembly device of a mechanical arm and a surgical instrument, comprising: a fixing unit, having a fixing seat for connecting a mechanical arm, a combining seat connected to the fixing seat, and a pivoting connection in the combining seat a buckling piece and a release piece movably arranged on the combination base, the combination base has a chute, and the buckling piece can be acted on by an external force to perform a reciprocating pivot between a buckled position and a disengaged position; a grasping unit, having a grasping seat and a pressing member, the grasping seat has a clamping hole for a surgical instrument to penetrate, the pressing member is locked with the grasping seat to press the surgical instrument; A connecting seat has a buckle portion and a slot, the slot is for the grasping seat of the grasping unit to be detachably plugged in, when the buckle portion is slid into the chute of the fixing unit , the buckling piece is located at the buckling position and is buckled on the buckling portion, and when the release piece is acted by an external force, the buckling piece is driven to pivot to the disengaging position to be separated from the buckling portion.

Further, the interior of the combination seat has an activity space, the fastener is pivotally connected in the activity space, the chute is recessed downward from the top of the combination seat and penetrates both sides to communicate with the activity space, the combination seat A perforation is formed at the bottom of the device, which communicates the active space and the outside world. The perforation is used for the release member to pass through. The release member can be subjected to external force to perform reciprocating displacement between a preparatory position and an action position. When the release member is in the action position , push the buckle to pivot to the disengaged position.

Further, there is a limiting wall in the movable space of the combination seat; the fastener has a pivot portion, a guide portion and a positioning portion connected between the pivot portion and the guide portion, the pivot portion pivotally connected with the combination seat, the guide portion is formed with a guide surface on the outer surface facing the buckle position, and the positioning portion is formed with a buckle groove, a restriction groove and a thrust surface; the release member has a force-receiving part, a force-applying part and a passage part connected between the force-receiving part and the force-applying part, the passage part is located in the through hole of the combination seat, the The force-receiving part is located outside the combination seat, the force-applying part is located in the movable space, and the outer diameters of the force-receiving part and the force-applying part are both larger than the hole diameter of the through hole; When it is in the chute, it first pushes against the guide surface to drive the buckle to pivot to the disengaged position first. After the buckle part enters the slide slot, the buckle part no longer touches The guiding surface is pushed out to make the buckling piece pivot to the buckling position, and the buckling slot is buckled on the buckling portion, and the limiting slot abuts on the limiting wall. When the force portion is displaced from the preparatory position to the acting position by the external force, the force applying portion pushes against the push surface of the buckle to drive the buckle to pivot from the buckle position to the disengaged position, And the buckling groove of the buckling piece is separated from the buckling part.

Further, the limiting wall of the combination seat has a first elastic groove; a second elastic groove is formed on the force-applying part of the release member; The release elastic piece abuts between the buckle piece and the combination seat, so as to apply an elastic pre-force to the buckle piece for pivoting in the direction of the buckle position, and the release elastic piece abuts against the first elastic groove and the Between the second elastic grooves, an elastic pre-force for displacement in the direction of the preparation position is applied to the release member.

Further, the guiding surface is either an inclined surface or an arc surface; the pushed surface is any one of an inclined surface or an arc surface.

Further, the gripping seat of the gripping unit has a seat, two elastic buckle feet extending downward from two sides of the seat body respectively, and a clip portion extending outward from one end of the seat body. An elastic buckle section and a connecting section connected between the elastic buckle section and the base body, a stepped portion is formed on the outer side of the connection between the elastic buckle section and the connecting section, and the top and bottom of the clip hole penetrate through In the clip, a notch is formed on one side of the clip, and the top and bottom penetrate through and communicate with the clip hole, so that the clip is divided into a first clip on one side of the notch and a first clip on the other side of the notch The second clip part on the side, the first clip part is formed with a locking hole that communicates with the outside world to the groove, the second clip part is formed with a screw hole that communicates with the groove, the locking hole and the screw hole are located on the same axis; the pressing part of the gripping unit has a head, a screw part and a taper rod part coaxially connected between the head and the screw part, and the outer peripheral surface of the screw part is formed There is an external thread, the outer diameter of the tapered rod portion gradually expands from the connection with the screw portion to the connection with the head portion, and the minimum outer diameter of the tapered rod portion is greater than the maximum outer diameter of the screw portion; the tightening The screw part of the part first passes through the locking hole and then is screwed with the screw hole, the taper rod part is forced into the locking hole, and when the pressing part is tightened, the first clamping part is connected to the screw hole. The second clamping portion is gradually drawn closer to clamp the surgical instrument; the two elastic buckle feet of the gripping base are used for detachable insertion with the slot of the connecting base.

Further, a certain force convex portion is protruded from the adjoining portion of the taper rod portion of the pressing piece and the head portion; a certain force blocking portion is formed on the outer surface of the first clamping portion of the gripping seat adjacent to the locking hole.

Further, the connecting seat further has a base portion and an insertion portion, the buckle portion protrudes out of one end of the base portion, the buckle portion has a column head and a column body, and the column body is connected between the column head and the base portion. In between, the outer diameter of the column head is larger than the groove width of the chute of the combination seat, and the outer diameter of the column body is smaller than the groove width of the chute. Out of the other end of the base, the slot is formed from the central position of the insert from top to bottom.

Further, the guide surface is either an inclined surface or an arc surface.

Further, a foolproof unit is also included, which is arranged on the combination seat and the connection seat of the fixing unit.

After adopting the above technical means, the present invention can not only connect the fixing unit with the mechanical arm, but also connect the gripping unit with the surgical instrument, and the connecting seat 30 can quickly connect the fixing unit with the gripping unit. It can be assembled and disassembled on the ground to achieve the effect of saving time, and in the process of assembly and disassembly, the mechanism does not need to be deformed and pressed, and the probability of damage can be reduced and the effect of labor saving. In addition, due to the design of the force-fixing convex portion and the force-fixing stop portion on the pressing piece and the abutting seat, the operator can not only limit the depth of the locking of the pressing piece by the operator, so as to prevent the components from being broken due to excessive locking. It also allows the operator to follow the locking depth of the pressing piece, so as to reduce the occurrence of surgical instruments slipping due to excessive locking.

Description of drawings

FIG. 1 is an exploded perspective view of a preferred embodiment of the present invention.

FIG. 2 is a perspective combined view of the embodiment shown in FIG. 1 .

FIG. 3 is a perspective view of partial components of the embodiment shown in FIG. 1 .

FIG. 4 is a partial plan view of the components of the embodiment shown in FIG. 1 .

5 to 11 are schematic diagrams of the operation of the embodiment shown in FIG. 1 .

FIG. 12 is a perspective view showing the use state of the embodiment shown in FIG. 1 .

13 to 15 are schematic diagrams of the operation of the embodiment shown in FIG. 1 .

16 is an exploded perspective view of a partial component of another embodiment of the present invention.

【Symbol Description】

Rapid assembly and disassembly device for robotic arms and surgical instruments 100

Fixing unit 10 Fixing base 11

combination seat 12 first housing 121

Second housing 122 Active space 123

Chute 124 Perforation 125

Limiting wall 126 First elastic groove 127

Buckle 13 Pivot 131

Guide part 132 Positioning part 133

Guide surface 134 Restriction groove 135

Snap groove 136 Push surface 137

Buckle elastic piece 14 Release piece 15

Force receiving part 151 Force applying part 152

Passing part 153 Second elastic groove 154

Release spring 16 Grip unit 20

Holder 21 Body 23

Buckle Foot 25 Buckle Section 251

connection section 252 step 253

Clip 27 Clip hole 271

Groove 272 First Clip 273

Second clip 274 Locking hole 275

Screw hole 276 Constant force stop 277

Compressor 22 Head 221

Screw part 222 Taper part 223

External thread 224 Force-fixing protrusion 225

Connector 30 Base 31

Buckle 32 Stud 321

Column body 322 Guide surface 323

socket 33 slot 331

Foolproof unit 41 Groove 411

Rib 412 Foolproof unit 42

Grooves 421 Ribs 422

Robotic Arms 91 Surgical Instruments 92

Minimum outer diameter d1 Maximum outer diameter d2

The included angle θ.

Detailed ways

In order to have a further understanding and recognition of the features and characteristics of the present utility model, the following preferred embodiments are listed and described in conjunction with the drawings as follows:

Please refer to FIGS. 1 to 16 , a device 100 for quick assembly and disassembly of a mechanical arm and a surgical instrument provided by a preferred embodiment of the present invention mainly includes a fixing unit 10 , a grasping unit 20 and a connecting seat 30, of which:

Please refer to FIG. 1 , FIG. 2 , FIG. 5 , and FIG. 12 , the fixing unit 10 has a fixing seat 11 , a combining seat 12 , a buckling member 13 , a buckling elastic member 14 , a release member 15 and a Release the elastic member 16. One end of the fixing seat 11 is used for connecting with a robot arm 91 , the connecting seat 12 is formed by merging and connecting a first shell 121 and a second shell 122 . The other end is connected, the interior of the combination seat 12 has an activity space 123, the top of the combination seat 12 is recessed downward with a chute 124 that runs through both sides and communicates with the activity space 123, and the bottom of the combination seat 12 is formed with a communication The movable space 123 and the external through-hole 125 have a limiting wall 126 in the movable space 123 , and a first elastic groove 127 is recessed on the bottom surface of the limiting wall 126 ; 131, a guide portion 132 and a positioning portion 133 connected between the pivot portion 131 and the guide portion 132, the fastener 13 is placed in the movable space 123 of the combination seat 12, the pivot portion 131 It is pivotally connected with the combination base 12 so that the buckle 13 can be subjected to external force to pivot back and forth between a buckled position and a disengaged position with the pivot portion 131 as the axis. The guide portion 132 A guide surface 134 is formed on the outer surface facing the buckle position. The guide surface 134 can be an inclined surface or an arc surface. The positioning portion 133 is formed on the outer surface facing the buckle position. A buckle groove 136 and a push surface 137, the restraint groove 135 corresponds to the position of the restraint wall 126, the buckle groove 136 is located between the upper part of the restraint groove 135 and the lower part of the guide surface 134, the push The surface 137 is located between the lower part of the restricting groove 135 and the upper part of the pivot part 131 , and the pushing surface 137 can be an inclined surface or an arc surface; the buckle elastic member 14 is a torsion spring, one end of which is in contact with the buckle The other end is combined with the combination seat 12, so as to apply an elastic pre-force to the buckling piece 13 to pivot in the direction of the buckling position, so that the buckling piece 13 is not subjected to other effects. When under the influence of force, it can remain at the buckled position; the release member 15 is made in one piece, and is provided with a force-receiving portion 151, a force-applying portion 152 and a connection between the force-receiving portion 151 and the force-applying portion The passing portion 153 between 152 is located in the through hole 125 of the combination seat 12, the force receiving portion 151 is located outside the combination seat 12, and the force applying portion 152 is located in the movable space 123, so that the The release member 15 can be subjected to external force to reciprocate displacement along the through hole 125 from a preparatory position to an acting position. In order to prevent the force-applying portion 152 of the release member 15 from falling out of the combination seat 12 and to prevent the force-receiving portion 151 from entering the movable space 123 , a second elastic groove 154 is formed on the end surface of the force-applying portion 152 The release elastic member 16 is a compression spring, one end of which is in contact with the first elastic groove 127 of the limiting wall 126 of the combination seat 12, and the other end is in contact with the second elastic groove 154 of the release member 15, to the release 1 5. Applying an elastic pre-force for displacement in the direction of the preparation position, so that the release member 15 can remain at the preparation position when not affected by other forces.

Please refer to FIG. 1 to FIG. 4 , FIG. 7 , FIG. 10 and FIG. 12 , the gripping unit 20 has a gripping seat 21 and a pressing member 22 . The holding base 21 has a base 23 , two snap feet 25 extending downward from two sides of the base 23 respectively, and a clip portion 27 extending outward from one end of the base 23 . There is an elastic buckle section 251 and a connecting section 252 connected between the elastic buckle section 251 and the base body 23. A stepped portion is formed on the outer surface of the connection between the elastic buckle section 251 and the connecting section 252. 253, the clip portion 27 is formed with a clip hole 271 penetrating the top and bottom, and a notch 272 is formed on one side of the clip portion 27 through the top and bottom and communicated to the clip hole 271, so that the clip portion 27 is affected by the notch 272. It is divided into a first clip portion 273 located on one side of the slit 272 and a second clip portion 274 located on the other side of the slit 272 . A locking hole 275, the second clip portion 274 is formed with a screw hole 276 that communicates with the groove 272, the locking hole 275 and the screw hole 276 are located on the same axis, the first clip portion 273 is on the outer surface A certain force blocking portion 277 is formed adjacent to the locking hole 275 ; the pressing member 22 has a head portion 221 , a screw portion 222 and a tapered rod coaxially connected between the head portion 221 and the screw portion 222 part 223, an external thread 224 is formed on the outer peripheral surface of the screw part 222, the tapered rod part 223 gradually expands the outer diameter from the connection with the screw part 222 to the connection with the head 221, and the tapered rod part The minimum outer diameter d1 of 223 is greater than the maximum outer diameter d2 of the screw portion 222, and the angle θ between the surface at the maximum outer diameter of the tapered rod portion 223 and the surface of the rest of the tapered rod portion 223 is between 90 and 110 degrees. Between the taper rod portion 223 and the head portion 221 , a certain force convex portion 225 protrudes.

Please refer to FIG. 1 and FIG. 2 , the connecting base 30 has a base portion 31 , a buckle portion 32 and an insertion portion 33 . The base portion 31 is in the shape of a flat plate; the buckle portion 32 protrudes from one end of the base portion 31 , the buckle portion 32 has a column head 321 and a column body 322 , and the column body 322 is connected to the column head 321 and the base portion 31 . In between, the outer diameter of the column head 321 is larger than the groove width of the chute 124 of the combination seat 12 , and the outer diameter of the column body 322 is slightly smaller than the groove width of the sliding channel 124 of the combination seat 12 . A guide surface 323 is formed on the side surface, and the guide surface 323 can be an inclined surface or an arc surface. Slot 331.

Therefore, the above is the introduction of each component and the assembling method of the device 100 for quick assembly and disassembly of a mechanical arm and a surgical instrument provided by a preferred embodiment of the present invention, and then its use characteristics are introduced as follows:

First, the fixing base 11 of the fixing unit 10 is connected to a robotic arm 91 (as shown in FIG. 12 ), and then a surgical instrument 92 is inserted through the clamping hole 271 of the gripping unit 20 (as shown in FIG. 12 ). ), and pass the screw portion 222 of the pressing member 22 through the locking hole 275 of the clip portion 27 and then screw it with the screw hole 276, and then start to tighten the pressing member 22 (as shown in FIG. 7 ). ), so that the screw portion 222 begins to screw into the screw hole 276, and the tapered rod portion 223 is gradually pressed into the locking hole 275 due to its tapered design, so that the first clamping portion 273 is connected to the locking hole 275. The second clip portion 274 is gradually drawn closer (as shown in FIG. 8 , that is, the notch 272 is gradually reduced), so that the clip hole 271 is also reduced in diameter. 92 for clamping (as shown in FIG. 9 ), until the constant force protrusion 225 on the pressing member 22 contacts with the constant force stopper 277 on the holding seat 21 (as shown in FIG. 10 and FIG. 11 ) , the pressing member 22 can no longer apply force, at this time not only the surgical instrument 92 has been clamped, but also the pressing member 22 can be prevented from being locked again, so as to prevent the clamping portion 27 from being damaged due to excessive force In addition, the pressing member 22 is designed by the taper of the taper rod portion 223. When the user inserts and rotates through the screw hole 276 in the wrong direction, the outer edge of the taper rod portion 223 will be stuck in the opening of the screw hole 276 to tighten the The piece 22 cannot be screwed in further, and thus the surgical instrument 92 cannot be pressed tightly, so as to achieve the effect of preventing fools.

Next, the second snap feet 25 of the gripping unit 20 are moved from the slot 331 of the connecting base 30 from top to bottom, so that during the threading process, the snap segments 251 of the two snap feet 25 will first receive The inner wall of the slot 331 shrinks slightly until the snap section 251 penetrates under the slot 331, the snap section 251 is no longer pressed and springs outwards, so that the step 253 touches the bottom of the slot 331. Connected to the bottom surface of the insertion portion 33 , so that the gripping unit 20 and the connecting base 30 can be quickly combined. Then, the column body 322 of the engaging portion 32 of the connecting seat 30 slides into the sliding groove 124 of the connecting seat 12 from top to bottom, so that the guide surface 323 of the engaging portion 32 and the engaging member 13 are guided. The lead surface 134 contacts and moves, and the fastener 13 pivots from the fastener position to the disengaged position (as shown in FIG. 5 ), until the column body 322 of the fastener portion 32 passes through the fastener 13 . After the guiding portion 132 is removed, the engaging member 13 is no longer affected by the engaging portion 32, and the elastic force of the engaging elastic member 14 drives the engaging member 13 to pivot from the disengaged position to the engaging position. And the buckle portion 32 is buckled in the buckle groove 136 (as shown in FIG. 6 ), and the limiting wall 126 of the combination seat 12 is also abutted in the limitation groove 135 of the buckle member 13 (eg, as shown in FIG. 6 ). 6 ), so as to locate the fastener 13 in the fastener position, so as to achieve the quick combination of the fixing unit 10 and the connecting seat 30 .

In this way, the fixing unit 10 for connecting the robotic arm 91 and the grasping unit 20 for grasping the surgical instrument 92 can be connected with the connecting base 30 by a quick combination to achieve the effect of simultaneous movement .

In addition, when the gripping unit 20 is to be detached from the connecting base 30, firstly, the snapping section 251 of the second snapping foot 25 of the gripping unit 20 is slightly forced outwards and inwards to make The stepped portion 253 is disengaged from the bottom surface of the inserting portion 33 , and the snap pin 25 can be pulled up and out of the slot 331 , so that the gripping unit 20 can be quickly detached from the connecting seat 30 . The surgical instrument 92 can be pulled out of the clamping hole 271 by unscrewing the pressing piece 22 in reverse, so that the surgical instrument 92 can be separated from the gripping unit 20 for sterilization or storage.

When the fixing unit 10 is to be detached from the connecting base 30 , the force-receiving portion 151 of the releasing member 15 is pressed first, so that the releasing member 15 resists the elastic force of the releasing elastic member 16 , so that the The release member 15 is displaced from the preparation position to the action position (as shown in FIG. 13 ). When the release member 15 moves from the preparation position to the action position, the force application portion 152 will contact the thrust surface of the buckle 13 137 to push the buckle 13 to pivot from the buckled position to the disengaged position, so that the column body 322 of the buckled portion 32 of the connecting base 30 is no longer located in the buckled groove 136 (as shown in FIG. 13 ). ), so that the buckling portion 32 of the connecting seat 30 can be slid upwards out of the sliding groove 124 of the connecting seat 12 (as shown in FIG. 14 ), so as to allow the fixing unit 10 to connect with the connecting seat 30 Quickly detaching, and after the connecting base 30 is detached from the fixing unit 10, the elastic force of the buckle elastic member 14 pushes the buckle member 13 to pivot from the release position to the buckle position again (as shown in FIG. 15 ). shown) to facilitate the next combined operation.

Therefore, in the present invention, not only the fixing unit 10 and the mechanical arm 91 can be connected, but also the grasping unit 20 and the surgical instrument 92 can be connected, and the fixing unit 10 and the grasping unit can be connected by the connecting seat 30 . The 20 is assembled and detached quickly to achieve the effect of saving time, and in the process of assembling and detaching, there is no need to deform and oppress the mechanism, which can reduce the probability of damage and the effect of labor saving.

In addition, because the pressing member 22 and the abutting seat 21 have the design of the force-fixing convex portion 225 and the force-fixing blocking portion 277, the operator can not only limit the depth of the locking of the pressing member 22, but also prevent excessive locking. It can prevent the occurrence of components breaking due to tightness; it can also allow the operator to follow the locking depth of the pressing member 22, so as to reduce the occurrence of the slippage of the surgical instrument caused by the locking being too loose.

In the above-mentioned embodiment of the present invention, as shown in FIG. 1 and FIG. 2 , a foolproof unit 41 can be further arranged between the fixing unit 10 and the connecting seat 30 . The foolproof unit 41 has two grooves 411 extending from top to bottom on one side of the coupling base 12 and extending from top to bottom on one end of the base 31 on which the buckle portion 32 is protruded from the coupling base 30 and the lengths of the two grooves 411 are different, and the lengths of the two protruding bars 412 are also different. Thereby, the connection seat 30 and the fixing unit 10 are prevented from being connected in an incorrect position.

In addition, as shown in FIG. 16 , the foolproof unit 42 of the present invention may only have a groove 421 and a protruding strip 422 , and the groove 421 extends from the top to the bottom from one side of the combination seat 12 . And not in the central position, the protruding strip 422 protrudes from the connecting seat 30 from the end surface of the base portion 31 of the buckle portion 32 extending from top to bottom, and is not in the central position. Thereby, although the structure of the foolproof unit is different, the same effect can still be achieved.

The above disclosure is only the preferred embodiment provided by the present utility model, and is not intended to limit the scope of implementation of the present utility model. All those skilled in the art according to the present utility model should make equal changes. It belongs to the scope covered by the present invention.

Claims (10)

1. a quick assembly and disassembly device of a mechanical arm and a surgical instrument, is characterized in that, comprises: A fixing unit has a fixing base for connecting a mechanical arm, a binding base connected to the fixing base, a fastener pivotally connected in the binding base, and a release member movably arranged on the binding base a sliding groove is provided on the combination seat, and the buckling piece is acted on by an external force to pivot back and forth between a buckling position and a disengaging position; a grasping unit, having a grasping seat and a pressing member, the grasping seat has a clamping hole for a surgical instrument to penetrate, the pressing member is locked with the grasping seat to press the surgical instrument; A connecting seat has a buckle portion and a slot, the slot is for the grasping seat of the grasping unit to be detachably plugged in, when the buckle portion is slid into the chute of the fixing unit , the buckling piece is located at the buckling position and is buckled on the buckling portion, and when the release piece is acted by an external force, the buckling piece is driven to pivot to the disengaging position to be separated from the buckling portion. 2 . The quick assembly and disassembly device of a robotic arm and a surgical instrument as claimed in claim 1 , wherein the combination seat has an active space inside, the fastener is pivotally connected in the active space, and the chute is free from the active space. 3 . The top of the combination seat is recessed downward and penetrates both sides to communicate with the active space. The bottom of the combination seat is formed with a perforation connecting the active space and the outside world. The perforation is used for the release member to pass through. A reciprocating displacement is performed between a preparatory position and an acting position, and when the releasing member is located at the acting position, the buckling member is pushed to pivot to the disengaging position. 3 . The quick assembly and disassembly device of a robotic arm and a surgical instrument as claimed in claim 2 , wherein: the movable space of the combination seat has a limiting wall; the fastener has a pivot part, a guide part and A positioning portion connected between the pivoting portion and the guiding portion, the pivoting portion is pivotally connected to the combination seat, and a guiding surface is formed on the outer surface of the guiding portion facing the buckled position. The positioning A buckle groove, a restriction groove and a push surface are formed on the outer surface of the part facing the buckle position; the release member has a force receiving portion, a force applying portion and a connection between the force receiving portion and the applying force. The passing part between the force parts, the passing part is located in the through hole of the combination seat, the force receiving part is located outside the combination seat, the force applying part is located in the movable space, the force receiving part and the force applying part The outer diameter of the socket is larger than the hole diameter of the through hole; when the buckling part of the connecting seat wants to slide into the chute, it first pushes against the guide surface to drive the buckling piece to pivot to the disengaged position first. After the buckling portion enters the chute, the buckling portion no longer pushes against the guide surface, so that the buckling piece pivots to the buckling position, and the buckling slot is buckled to the buckling portion On the upper side, the restricting groove abuts on the restricting wall, and when the force-receiving part of the release part is acted by an external force and is displaced from the preparatory position to the acting position, the force-applying part pushes against the receiving part of the buckling part. push the surface to drive the buckling member to pivot from the buckling position to the disengaging position, so that the buckling groove of the buckling member is separated from the buckling portion. 4 . The quick assembly and disassembly device of a robotic arm and a surgical instrument as claimed in claim 3 , wherein the constraining wall of the combination seat has a first elastic groove; the force-applying portion of the release member is formed with a second elastic groove. 5 . ; The fixing unit also has a buckling elastic piece and a releasing elastic piece, the buckling elastic piece abuts between the buckling piece and the combination seat, so as to apply a direction to the buckling position to the buckling piece The elastic pre-force for pivoting is performed, and the releasing elastic piece abuts between the first elastic groove and the second elastic groove, so as to apply an elastic pre-force to the releasing piece for displacement in the direction of the preparation position. 5. The device for quick assembly and disassembly of a robotic arm and a surgical instrument as claimed in claim 3, wherein the guiding surface is any one of an inclined surface or a curved surface; the pushed surface is any one of the inclined surface or the curved surface A sort of. 6 . The quick assembly and disassembly device of a robotic arm and a surgical instrument according to claim 1 , wherein the gripping seat of the gripping unit has a seat and two elastic buckles extending downward from two sides of the seat, respectively. 7 . A foot and a clip portion extending outward from one end of the seat body, each elastic buckle foot has an elastic buckle section and a connecting section connected between the elastic buckle section and the seat body, the elastic buckle section and the connecting section A stepped part is formed on the outer side of the connection part of the connecting part, the top and bottom of the clip hole penetrate through the clip part, and one side of the clip part is formed with a groove that runs through the top and bottom and communicates with the clip hole, so that the clip part can be distinguished It is a first clip part located on one side of the groove and a second clip part located on the other side of the groove. The first clip part is formed with a locking hole that communicates with the outside world to the groove. The clamping part is formed with a screw hole that communicates with the groove, the locking hole and the screw hole are located on the same axis; the pressing part of the gripping unit has a head, a screw part and a coaxial connection to The tapered rod portion between the head portion and the screw portion has an external thread formed on the outer peripheral surface of the screw portion, and the tapered rod portion gradually expands its outer diameter from the connection with the screw portion to the connection with the head portion, And the minimum outer diameter of the tapered rod portion is greater than the maximum outer diameter of the screw portion; the screw portion of the pressing piece first passes through the locking hole and then is screwed with the screw hole, and the tapered rod portion is forced into the lock Into the hole, when the pressing member is tightened, the first clamping part and the second clamping part are gradually drawn closer to clamp the surgical instrument; The socket of the connecting base is detachably plugged. 7 . The quick assembly and disassembly device of the robotic arm and the surgical instrument according to claim 6 , wherein the conical portion of the pressing member and the head portion are protruded with a certain force convex portion; A certain force blocking portion is formed on the outer surface of the first clip portion adjacent to the locking hole. 8 . The quick assembly and disassembly device of a robotic arm and a surgical instrument as claimed in claim 1 , wherein the connecting seat further has a base portion and an insertion portion, the buckle portion protrudes from one end of the base portion, and the buckle The connecting part has a column head and a column body, the column body is connected between the column head and the base, the outer diameter of the column head is larger than the groove width of the chute of the combination seat, and the outer diameter of the column body is smaller than the chute A guide surface is formed on one side of the column body, the insertion portion protrudes from the other end of the base portion, and the slot is formed from the central position of the insertion portion from top to bottom. 9 . The quick assembly and disassembly device of a robotic arm and a surgical instrument according to claim 8 , wherein the guide surface is an inclined surface or an arc surface. 10 . 10 . The quick assembly and disassembly device of a robotic arm and a surgical instrument as claimed in claim 1 , further comprising a foolproof unit disposed on the combination seat and the connection seat of the fixing unit. 11 .

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