Rotating joint, mechanical arm and surgical robot

Abstract

The invention provides a rotating joint, a mechanical arm and a surgical robot. The rotational joint includes a housing and an output member. The housing includes a first housing portion and a second housing portion. The first housing portion and the second housing portion are spaced apart and arranged opposite to each other in a first direction. The output member is located at a gap between the first housing portion and the second housing portion. The output member is rotatably connected to the housing about a first axis parallel to the first direction. According to the rotating joint, the output component is arranged at the interval of the first shell part and the second shell part, so that the symmetry of gravitational torque distribution on the two axial sides of the output component is improved, and the requirement for the output torque of the rotating joint can be lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and more particularly, to a rotary joint, a mechanical arm and a surgical robot. BACKGROUND

[0002] A surgical robot is a robot that can be remotely operated to complete surgery, which includes three components: a physician console, a patient-side mechanical arm system and an imaging system. The patient-side mechanical arm system includes a plurality of mechanical arms, each of which has a plurality of jointed arms. Two adjacent jointed arms are connected by a rotary joint, so that the two adjacent jointed arms can move relative to each other with a certain degree of freedom, so that the end of the mechanical arm can move with multiple degrees of freedom. A surgical instrument or an endoscope is installed at the end of the mechanical arm, and when performing surgery, the surgical instrument is inserted through the chest, abdominal wall or other tissues to replace the human hand to perform surgery.

[0003] In the related art, the output end of the rotary joint is usually located at one end of the rotary joint in the axial direction. Two adjacent jointed arms are usually arranged in a biased manner. This can cause poor symmetry of the gravity moment distribution of the rotary joint, thereby requiring a larger output torque of the rotary joint. SUMMARY

[0004] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0005] To at least partially solve the above problems, the first aspect of the present application provides a rotary joint, comprising:

[0006] a housing, the housing comprising a first housing part and a second housing part, the first housing part and the second housing part being spaced apart and arranged opposite in a first direction; and

[0007] an output member, the output member being rotatably connected to the housing about a first axis parallel to the first direction at the space between the first housing part and the second housing part.

[0008] According to the rotary joint of the first aspect of the present application, by arranging the output member at the space between the first housing part and the second housing part, the symmetry of the gravity moment distribution on both sides of the output member in the axial direction is improved, thereby reducing the demand for the output torque of the rotary joint. Moreover, the output member is arranged between the first housing part and the second housing part, so as to occupy a small space, reduce the risk of collision and improve the reliability.

[0009] Optionally, the first housing part is formed with a first cavity, and the second housing part is formed with a second cavity.

[0010] The revolute joint further comprises:

[0011] a motor assembly, at least a part of the motor assembly being located in the first cavity,

[0012] a speed reduction assembly, at least a part of the speed reduction assembly being located in the second cavity,

[0013] the motor assembly being connected to the speed reduction assembly, and the speed reduction assembly being connected to the output member to drive the output member to rotate.

[0014] Optionally, the motor assembly comprises a rotor shaft, the speed reduction assembly comprises an input shaft and an output shaft, the input shaft and the rotor shaft are coaxially arranged, and the input shaft is connected to the rotor shaft, and the output shaft is connected to the output member.

[0015] Optionally, the axis of the input shaft, the axis of the output shaft, and the axis of the rotor shaft all coincide with a first axis, and the output shaft is sleeved outside the input shaft.

[0016] Optionally, the motor assembly is located in the first cavity, and the input shaft extends from the second cavity to the first cavity.

[0017] Optionally, the revolute joint further comprises a torque sensor, the torque sensor being connected to the output shaft and the output member.

[0018] Optionally, the output member is an output roller, the output roller being rotatably sleeved outside the output shaft, and the output roller and the output shaft are coaxially arranged.

[0019] Optionally, the revolute joint further comprises a first bearing and a second bearing, the first bearing and the second bearing being respectively located at two axial ends of the output roller, the first bearing being closer to the first cavity than the second bearing, one axial end of the output roller being supported on the first housing part through the first bearing, and the other axial end of the output roller being supported on the output shaft through the second bearing.

[0020] Optionally, the torque sensor is located at an end of the output shaft.

[0021] Optionally, the speed reduction assembly is configured as a harmonic speed reduction assembly, the harmonic speed reduction assembly further comprising a harmonic rigid gear and a harmonic flexible gear meshing with each other, the harmonic rigid gear being fixed to the second housing part, the harmonic flexible gear being fixed to the output shaft, and the harmonic flexible gear being drivingly connected to the input shaft.

[0022] Optionally, the revolute joint further comprises an input encoder, the input encoder comprising a first movable part and a first fixed part, the first movable part being connected to the rotor shaft, the first fixed part being fixedly arranged relative to the housing, the input encoder being configured to generate an induction signal when the rotor shaft rotates relative to the housing.

[0023] Optionally, the revolute joint further comprises an output encoder, the output encoder comprising a second movable part and a second fixed part, the second movable part being connected to the input shaft, the second fixed part being fixedly arranged relative to the housing, the output encoder being configured to generate an induction signal when the input shaft rotates relative to the housing.

[0024] Optionally, the revolute joint further comprises a brake assembly, the brake assembly comprising a first brake member and a second brake member, the first brake member being connected to the rotor shaft, the second brake member being connected to the housing, the brake assembly having an engaged state and a disengaged state, when the brake assembly is in the engaged state, the first brake member engages with the second brake member to be able to impede rotation of the rotor shaft, when the brake assembly is in the disengaged state, the first brake member disengages from the second brake member to be able to allow rotation of the rotor shaft.

[0025] Optionally, the revolute joint further comprises a connecting member, the connecting member being fixed to the output member, the connecting member being adapted to be connected to at least one of a connecting arm or a housing of another revolute joint.

[0026] Optionally, the housing further comprises a connecting portion, the connecting portion being connected to the first housing portion and the second housing portion, the first housing portion and the second housing portion being symmetrically arranged about the output member.

[0027] The second aspect of the present application provides a robotic arm, the robotic arm comprising:

[0028] at least two revolute joints as described above, at least one of the at least two revolute joints comprising an output member and a connecting member, the output member being connected to a housing of another adjacent revolute joint via the connecting member.

[0029] The robotic arm according to the second aspect of the present application, by connecting the connecting member of one revolute joint to the housing of another adjacent revolute joint, the series connection of the two adjacent joints is achieved, which can achieve more degrees of freedom of movement while reducing the space occupied by the robotic arm, thereby improving the flexibility of the robotic arm.

[0030] The third aspect of the present application provides a robotic arm, the robotic arm comprising:

[0031] two adjacent connecting arms; and

[0032] The rotating joint described above comprises a housing, an output member, and a connecting member, the housing is fixed to one of the two adjacent connecting arms, and the output member is connected to the other of the two adjacent connecting arms through the connecting member.

[0033] According to the mechanical arm of the third aspect of the present application, the rotating joint described above is applied to realize the rotating connection of the two adjacent connecting arms, so that the two adjacent connecting arms can have the rotating freedom relative to each other. Meanwhile, compared with the rotating joint in the related art, the gravity moment distribution on both sides of the output member of the rotating joint of the present application is more symmetrical.

[0034] The fourth aspect of the present application provides a mechanical arm, which comprises:

[0035] The rotating joint described above comprises a housing and an output roller;

[0036] A connecting arm, the first end of the connecting arm is connected to the housing of the rotating joint;

[0037] A driven wheel, the driven wheel is rotatably connected to the second end of the connecting arm around a second axis;

[0038] A transmission belt, the transmission belt is connected to the output roller and the driven wheel to transmit power between the output roller and the driven wheel; and

[0039] A terminal assembly, the terminal assembly is rotatably connected to the second end of the connecting arm around the second axis, and the terminal assembly is fixed to the driven wheel to rotate with the driven wheel.

[0040] According to the mechanical arm of the fourth aspect of the present application, the rotating joint described above is applied to connect the connecting arm and the terminal assembly, and is connected to the driven wheel through the output roller and the transmission belt, and then drives the terminal assembly to rotate through the driven wheel. Since the gravity moment on both sides of the output roller of the rotating joint is symmetrical, the output torque required by the output roller can be reduced.

[0041] The fifth aspect of the present application provides a surgical robot, which comprises:

[0042] The rotating joint described above, or the mechanical arm described above.

[0043] According to the surgical robot of the fifth aspect of the present application, the symmetry of the gravity moment distribution at the rotating joint can be improved by applying the rotating joint or the mechanical arm described above, so that the gravity moment distribution can be optimized, and then the occupied space can be optimized and the range of working angle can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0044] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0045] Figure 1 A schematic diagram of a surgical robot according to an embodiment of this application;

[0046] Figure 2 A partial perspective view of a robotic arm according to an embodiment of this application;

[0047] Figure 3 for Figure 2 Sectional view of part A in the middle;

[0048] Figure 4 for Figure 2 An enlarged view of part B in the image; and

[0049] Figure 5 for Figure 2 A magnified view of section C in the image.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1: Robotic arm system 2: Control system

[0052] 3: Imaging System 100: Rotating Joint

[0053] 101: Outer shell; 102: First outer shell section

[0054] 103: Second housing part; 104: Side cover

[0055] 105: First bearing; 106: First cavity

[0056] 107: Second cavity 108: Connecting part

[0057] 200: Motor assembly; 201: Motor housing

[0058] 202: Frameless torque motor; 203: Rotor sleeve

[0059] 204: Rotor shaft; 205: First motor bearing

[0060] 206: Input encoder; 206a: First moving part

[0061] 206b: First fixed part 207 brake assembly

[0062] 208: Second motor bearing; 209: First end cover

[0063] 301: Output component; 302: Connector

[0064] 400: speed reduction assembly 401: input shaft

[0065] 402: wave generator 403: harmonic flexspline

[0066] 404: harmonic rigid spline 405: output shaft

[0067] 406: cross roller bearing 407: second bearing

[0068] 408: torque sensor 409: output encoder

[0069] 409a: second movable part 409b: second fixed part

[0070] 410: second end cap 500: connecting arm

[0071] 501: arm body 502: arm cover

[0072] 503: arm space 505: steel belt

[0073] 506: driven wheel 600: end assembly

[0074] 601: holding arm 701: first arm

[0075] 702: second arm 703: third arm

[0076] AX1: first axis line AX2: second axis line

[0077] D1: first direction DETAILED DESCRIPTION

[0078] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the present application.

[0079] In order to thoroughly understand the present application, detailed structures will be presented in the following description. It is obvious that the implementation of the present application is not limited to the special details familiar to those skilled in the art.

[0080] It is to be understood that the terms used herein are for the purpose of describing specific embodiments and are not intended to be limiting of the present application, and that singular forms "a," "an," and "the" include plural forms unless the context clearly indicates otherwise. When the term "comprising" or "including" is used in the specification, it is meant to include the features, integers, steps, operations, elements, and / or components listed in the specification as well as those which are equivalent thereto.

[0081] The ordinal numbers such as "first" and "second" used in the present application are merely identifiers and do not have any other meaning, for example, a specific order. Also, for example, the term "first member" itself does not imply the existence of a "second member", and the term "second member" itself does not imply the existence of a "first member". It is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar expressions used herein are for illustrative purposes only and are not limiting.

[0082] "Parallel" / "perpendicular" and similar expressions used herein include an absolute parallel / perpendicular relationship and a substantially parallel / perpendicular relationship (for example, a relationship within a range of -5° to +5° from the absolute parallel / perpendicular), which can have an equivalent effect.

[0083] Hereinafter, a detailed description will be given of the present application with reference to the accompanying drawings, which illustrate representative embodiments of the present application and are not intended to limit the present application.

[0084] Now, a detailed description will be given of the exemplary embodiments according to the present application. Figures 1 to 5 More detailed descriptions will be given of the exemplary embodiments according to the present application.

[0085] The surgical robot according to the embodiments of the present application can be used to be remotely manipulated to perform surgery. The surgical robot can also be referred to as a medical system or a medical robot. The surgical robot can include a control system 2, an imaging system 3, and a mechanical arm system 1, which can communicate with each other.

[0086] The control system 2 is also referred to as a surgeon's console or a control device. The control system has a display unit for displaying a surgical instrument or an endoscope environment, a control mechanism for the surgeon to operate, and an armrest, etc. The display unit has an observation window for the surgeon to observe. The control mechanism is configured to perform various actions, which correspond to actions of the surgical instrument or the endoscope. The armrest is used to place the surgeon's arm. In addition, there are other control switches on the surgeon's console, which are convenient for hands or feet to touch or press, to perform various function operations, to complete human-computer interaction.

[0087] The imaging system 3 has a display screen, an endoscope controller, system electronics, an image processor, etc. Thereby, the internal organs of the patient can be presented to the operator more clearly.

[0088] With reference to the drawings Figure 1 , the mechanical arm system 1, also referred to as a patient-side mechanical arm system, is arranged at the side of the patient and has a distal end provided with an end effector assembly for performing various surgical operations on the patient. The mechanical arm has a plurality of jointed arms, two adjacent jointed arms are connected by a rotary joint and are relatively movable in a certain degree of freedom, so that the distal end of the mechanical arm can realize the movement of a plurality of degrees of freedom (such as seven degrees of freedom, different degrees of freedom will be obtained according to different instruments). Among them, the end effector assembly can include tools for performing surgical operations such as cutting tissue, such as hooks, shovels, electric burners, clamps, scissors, and vascular occluders, and can also be an endoscope lens for image acquisition. The mechanical arm system 1 can include at least one mechanical arm. In other words, the end effector assembly can include surgical instruments or endoscopes and the like. Further, the surgical instrument can include a rear end mechanism, a main pipe extending from the rear end mechanism to the front end, and an end effector with a wrist mechanism at the front end of the main pipe. The movement of the rear end mechanism through the plurality of cables of the main pipe is usually driven by the instrument driver to drive the wrist mechanism. When performing surgery, part of the main pipe and the wrist mechanism of the surgical instrument are inserted through the chest, abdominal wall and other tissues to replace the human hand to perform surgery.

[0089] The inventor found that the output end of the rotary joint in the related art is usually located at one end of the rotary joint in the axial direction. The two adjacent jointed arms are usually arranged in a biased manner. This can cause poor symmetry of the gravity center distribution of the rotary joint, thereby causing the rotary joint to require a larger output torque.

[0090] To overcome or improve at least one of the above problems, embodiments of the present application provide a rotary joint 100 and a surgical robot. The rotary joint 100 and the surgical robot having the rotary joint 100 of the embodiments of the present application will be described in detail below. Figures 2 to 5 The rotary joint 100 and the surgical robot having the rotary joint 100 of the embodiments of the present application will be described in detail below.

[0091] The rotary joint 100 according to the present application can include a housing 101 and an output member 301. The housing 101 can include a first housing portion 102 and a second housing portion 103. The first housing portion 102 and the second housing portion 103 are spaced apart and arranged opposite each other in a first direction D1. The output member 301 is located at the space between the first housing portion 102 and the second housing portion 103. The output member 301 is rotatably connected to the housing 101 about a first axis AX1 parallel to the first direction D1.

[0092] The first housing part 102 and the second housing part 103 are two spaced-apart parts in the outer shell 101. The first housing part 102 and the second housing part 103 are arranged in a spaced-apart manner in a direction parallel to the first axis AX1. The output member 301 is located between the first housing part 102 and the second housing part 103 in a direction parallel to the first axis AX1. The spaced-apart part of the first housing part 102 and the second housing part 103 can be understood as a middle part or a part close to the middle part of the outer shell 101 in the direction parallel to the first axis AX1, rather than an end part of the outer shell 101 in the direction parallel to the first axis AX1.

[0093] According to the revolute joint 100 of the present application, by arranging the output member 301 at the spaced-apart part of the first housing part 102 and the second housing part 103, the symmetry of the gravity moment distribution on both sides of the first direction D1 of the output member 301 is improved, and the demand for the output torque of the revolute joint 100 is reduced. Moreover, the output member is arranged between the first housing part 102 and the second housing part 103, so that the occupied space is small, the risk of collision is reduced, and the reliability is improved.

[0094] Referring to Figure 3 , the first housing part 102 is formed with a first cavity 106. The second housing part 103 is formed with a second cavity 107. The revolute joint 100 can further include a motor assembly 200 and a speed reduction assembly 400. At least part of the motor assembly 200 is located in the first cavity 106. At least part of the speed reduction assembly 400 is located in the second cavity 107. The motor assembly 200 is connected to the speed reduction assembly 400. The speed reduction assembly 400 is connected to the output member 301 to drive the output member 301 to rotate. By arranging at least part of the motor assembly 200 in the first cavity 106 and at least part of the speed reduction assembly 400 in the second cavity 107, the difference in the gravity moment distribution on both sides of the first direction D1 of the output member 301 of the revolute joint 100 is reduced or eliminated, and the symmetry of the gravity moment distribution on both sides of the first direction D1 of the output member 301 of the revolute joint 100 is improved.

[0095] Continuing to refer to Figure 3 , for example, the motor assembly 200 can include a rotor shaft 204. The speed reduction assembly 400 can include an input shaft 401 and an output shaft 405. The input shaft 401 and the rotor shaft 204 are coaxially arranged. The input shaft 401 is connected to the rotor shaft 204. The output shaft 405 is connected to the output member 301. Here, the output member 301 is indirectly powered by the rotor shaft 204 of the motor assembly 200 through the speed reduction assembly 400. In this process, the speed reduction assembly 400 is used to achieve speed reduction, thereby achieving the purpose of increasing the output torque.

[0096] Optionally, the axis of the input shaft 401, the axis of the output shaft 405, and the axis of the rotor shaft 204 all coincide with the first axis AX1. This facilitates the arrangement of the speed reduction assembly 400 and the motor assembly 200. The output shaft 405 is sleeved outside the input shaft 401. In this way, the compactness of the speed reduction assembly 400 in the radial direction can be improved.

[0097] In one example, the motor assembly 200 is located in the first cavity 106. The input shaft 401 extends from the second cavity 107 to the first cavity 106.

[0098] Optionally, the rotor shaft 204 can transmit torque to the input shaft 401 through various keys such as splines, shaft couplings, or other shaft coupling methods, so that the motor assembly 200 serves as the power input of the speed reduction assembly 400.

[0099] In other examples, the motor assembly 200 is located in the first cavity 106. The input shaft 401 is located in the second cavity 107. The rotor shaft 204 can be indirectly connected to the input shaft 401 through an intermediate shaft.

[0100] Further, the motor assembly 200 can include the frameless torque motor 202, the motor housing 201, the first end cover 209, and the rotor sleeve 203. The stator of the frameless torque motor 202 is fixed to the motor housing 201 by means of glue or a set screw. The rotor of the frameless torque motor 202 is fixed to the rotor sleeve 203 by means of glue or compression in the first direction D1. The rotor sleeve 203 is fixed to the rotor shaft 204 by means of a key or compression in the first direction D1. The rotor sleeve 203 and the input encoder 206 are limited in the first direction D1 by the first motor bearing 205. The first motor bearing 205 is fixed to the rotor shaft 204 by compression in the first direction D1, preventing movement in the first direction D1. The rotor sleeve 203 and the rotor shaft 204 are limited in the first direction D1 by the second motor bearing 208. The second motor bearing 208 is fixed to the motor housing 201 by compression in the first direction D1, preventing movement in the first direction D1. The frameless torque motor 202 can drive the rotor shaft 204 to rotate.

[0101] Continuing to refer to Figure 3 For example, the speed reduction assembly 400 is configured as a harmonic speed reduction assembly 400. The harmonic speed reduction assembly 400 can further include a harmonic rigid gear 404 and a harmonic flexible gear 403 that mesh with each other. The harmonic rigid gear 404 is fixed to the second housing portion 103, i.e., the harmonic rigid gear 404 is fixed relative to the second housing portion 103. The harmonic flexible gear 403 is fixed to the output shaft 405 to drive the output shaft 405 to rotate. The harmonic flexible gear 403 is drivingly connected to the input shaft 401. The harmonic speed reduction assembly 400 is adopted here, which facilitates the reduction of space occupation while achieving the function of speed reduction.

[0102] Further, the input shaft 401 is fixedly connected with the harmonic generator 402. The input shaft 401 drives the harmonic generator 402 to rotate. The harmonic generator 402 deforms the harmonic flexspline 403 radially. The harmonic flexspline 403 is driven to perform a reduction motion by the cooperation of the harmonic rigid spline 404 and the harmonic flexspline 403. The harmonic flexspline 403 is fixedly connected with the output shaft 405. Thus, a complete reduction transmission chain is formed between the input shaft 401 and the output shaft 405.

[0103] Optionally, a cross roller bearing 406 is arranged between the output shaft 405 and the harmonic rigid spline 404. The cross roller bearing 406 is used to support the output shaft 405.

[0104] With reference to Figure 3 Further, the harmonic reduction assembly 400 can further include a second end cover 410. The second end cover 410 is fixed to the end of the harmonic rigid spline 404 away from the first cavity 106 in the first direction D1. The second end cover 410 is arranged in the first direction D1 and spaced from the input shaft 401, the harmonic generator 402. The output encoder 409 is located at the space between the second end cover 410 and the input shaft 401.

[0105] With reference to Figure 3 In addition, the rotary joint 100 can further include a torque sensor 408. The torque sensor 408 is connected to the output shaft 405 and the output member 301. Here, by additionally arranging the torque sensor 408, on the one hand, the transmission connection between the output shaft 405 and the output member 301 can be realized to meet the demand of power transmission. On the other hand, by additionally arranging the torque sensor 408, the output torque of the output shaft 405 can be detected, so that the output torque of the output shaft 405 can be known in real time.

[0106] In one example, the output member 301 is an output roller. The output roller is rotatably sleeved on the outside of the output shaft 405. The output roller and the output shaft 405 are coaxially arranged. Here, the output roller is in transmission connection with the output shaft 405 through the torque sensor 408. The output roller can rotate relative to the housing 101 to transmit power outward.

[0107] Specifically, the input end of the torque sensor 408 is fixedly connected to the output shaft 405. The output end of the torque sensor 408 is fixedly connected to the output roller. Thus, a complete torque sensor 408 transmission chain is formed, and the torque transmitted from the output shaft 405 to the output roller can be accurately fed back and controlled.

[0108] In other examples, the output member 301 can be in other structural forms other than the output roller.

[0109] With reference to Figure 3In addition, the rotary joint 100 can further include a first bearing 105 and a second bearing 407. The first bearing 105 and the second bearing 407 are respectively located at two ends of the first direction D1 of the output roller. The first bearing 105 is closer to the first cavity 106 than the second bearing 407. One end of the first direction D1 of the output roller is supported on the first housing part 102 through the first bearing 105. The other end of the first direction D1 of the output roller is supported on the output shaft 405 through the second bearing 407. The first direction D1 is parallel to the first axis AX1. In order to ensure the function of the torque sensor 408, the output roller and the output shaft 405 cannot be in direct contact, and therefore, the first bearing 105 and the second bearing 407 are added here.

[0110] The first bearing 105 is supported between the one end of the first direction D1 of the output roller and the first housing part 102.

[0111] The second bearing 407 is supported between the other end of the first direction D1 of the output roller and the output shaft 405.

[0112] Continuing to refer to Figure 3 For example, the torque sensor 408 is located at the end of the output shaft 405. In this way, the torque sensor 408 can occupy less radial space of the rotary joint 100. At the same time, this is also conducive to improving the distribution of the gravitational torque on both sides of the output member 301, so as to further improve the symmetry of the distribution of the gravitational torque on both sides of the output member 301 of the rotary joint 100.

[0113] In the example shown, the torque sensor 408 is arranged at the end of the output shaft 405 close to the first cavity 106.

[0114] Continuing to refer to Figure 3 In addition, the rotary joint 100 can further include an input encoder 206. The input encoder 206 can include a first movable part 206a and a first fixed part 206b. The first movable part 206a is connected to the rotor shaft 204 to rotate with the rotor shaft 204. The first fixed part 206b is fixedly arranged relative to the housing 101 to remain stationary with the housing 101. The input encoder 206 is configured to generate an induction signal when the rotor shaft 204 rotates relative to the housing 101. By arranging the input encoder 206, the rotation angle of the rotor shaft 204 can be detected, thereby facilitating the acquisition of the rotation speed of the rotor shaft 204.

[0115] For example, the input encoder 206 here can be a rotary encoder.

[0116] Optionally, the rotary encoder is one of a magneto-electric encoder, an optical-electric encoder, and the like. The magneto-electric encoder can also be referred to as a Hall encoder.

[0117] In the illustrated example, the first movable part 206a is fixedly connected to the rotor shaft 204. The first fixed part 206b is fixed to the first end cover 209. The detection data of the input encoder 206 can be used as feedback data to achieve precise control of the motor assembly 200.

[0118] With reference to the above description, Figure 3 In addition, the rotary joint 100 can further comprise an output encoder 409. The output encoder 409 can comprise a second movable part 409a and a second fixed part 409b. The second movable part 409a is connected to the input shaft 401 to rotate with the input shaft 401. The second fixed part 409b is fixedly arranged relative to the housing 101 to keep the second fixed part 409b stationary. The output encoder 409 is configured to generate an induced signal when the input shaft 401 rotates relative to the housing 101. By arranging the output encoder 409, the rotation angle of the input shaft 401 can be detected, so that the rotation speed of the rotor shaft 204 can be obtained.

[0119] Optionally, in the example where the rotary joint 100 is provided with both the input encoder 206 and the output encoder 409 described above. By calculating the difference between the detection data of the input encoder 206 and the output encoder 409, the torque loss can also be obtained.

[0120] With reference to the above description, Figure 3 In addition, the rotary joint 100 can further comprise a brake assembly 207. The brake assembly 207 can comprise a first brake member and a second brake member. The first brake member is connected to the rotor shaft 204. The second brake member is directly or indirectly connected to the housing 101. The brake assembly 207 has an engaged state and a disengaged state. The engaged state can also be referred to as a braking state, and the disengaged state can also be referred to as a state of releasing the brake. When the brake assembly 207 is in the engaged state, the first brake member engages with the second brake member to hinder the rotation of the rotor shaft 204. When the brake assembly 207 is in the disengaged state, the first brake member disengages from the second brake member to allow the rotation of the rotor shaft 204. Here, by arranging the brake assembly 207 between the rotor shaft 204 and the housing 101, the rotation of the rotor shaft 204 can be controlled in time according to the needs without stopping or continuously powering the motor assembly 200 to achieve the braking function.

[0121] In the illustrated example, the brake hub as the first brake member is fixed to the rotor sleeve 203. The second brake member is fixed to the first end cover 209.

[0122] With reference to the above description, Figure 3In addition, the revolute joint 100 can further comprise a connecting member 302. The connecting member 302 is fixed to the output member 301. The connecting member 302 is adapted to be connected to the connecting arm 500 or the housing 101 of another revolute joint 100. Here, by adding the connecting member 302, the connection between the output member 301 and other components such as the connecting arm 500 or the housing 101 of another revolute joint 100 is facilitated.

[0123] Optionally, the connecting member 302 can be integrally formed with the output member 301. For example, the connecting member 302 can be integrally formed with the output member 301. For another example, the connecting member 302 can be fixed to the output member 301 by welding or other means, so that the connecting member 302 and the output member 301 become an inseparable whole. Here, the separation can be understood as a separation mode that ensures the connecting member 302 and the output member 301 can again perform their respective functions.

[0124] In one example, the connecting member 302 is a connecting flange.

[0125] In other examples, the connecting member 302 can be in other structural forms other than the connecting flange.

[0126] Continuing to refer to Figure 3 In addition, the housing 101 can further comprise a connecting portion 108. The connecting portion 108 is connected to the first housing portion 102 and the second housing portion 103, so that the first housing portion 102 and the second housing portion 103 are fixed relative to the connecting portion 108. The first housing portion 102 and the second housing portion 103 are symmetrically arranged about the output member 301. In this way, the symmetry of the structure of the housing 101 relative to the output member 301 in the first direction D1 is achieved, thereby facilitating the optimization of the structural layout of the housing 101, and the spatial distribution of the motor assembly 200 and the speed reduction assembly 400 within the housing 101, and ultimately facilitating the symmetric distribution of the torque on both sides of the output member 301 of the revolute joint 100 in the first direction D1.

[0127] Optionally, the connecting portion 108 and the first housing portion 102 and the second housing portion 103 are an integral whole.

[0128] Continuing to refer to Figure 2 For example, the distal ends of at least one of the first housing portion 102 and the second housing portion 103 are provided with an opening (not shown). The housing 101 can further comprise a side cover 104. The side cover 104 covers the opening. By providing the side cover 104, it is convenient to install components in the corresponding cavities.

[0129] Optionally, the first housing part 102 and the second housing part 103 are each provided with an opening, and each opening is covered with a side cover 104. By removing the side cover 104, the motor assembly 200, the speed reduction assembly 400 and other components can be assembled, disassembled and maintained conveniently.

[0130] In the wiring of the revolute joint 100 in the embodiment, the wiring can be selected to be performed outside the revolute joint 100, or to be performed inside the revolute joint 100 by means of a ring groove, or to be performed by means of an electric slip ring.

[0131] According to the revolute joint 100 in the embodiment of the present application, the output member 301 is arranged at or close to the central position of the housing 101, so that the connecting arm 500 or the joint to be connected to the output member 301 can be arranged directly at or close to the central position of the revolute joint 100. On the one hand, the distribution of the gravity moment can be optimized, and the demand for the output torque of the revolute joint 100 can be reduced. On the other hand, the space occupied is small, the working space is large, the risk of collision is reduced, and the reliability is improved. As shown in Figure 2 The mechanical arm can include a first arm 701, a second arm 702 and a third arm 703. The first arm 701 is connected to the second arm 702 through the revolute joint 100. The second arm 702 is connected to the third arm 703 through the revolute joint 100. The end of the third arm 703 is provided with three revolute joints 100, one connecting arm 500 and one end assembly 600 connected in sequence. The mechanical arm according to the embodiment of the present application will be further introduced below in combination with the embodiments shown in A, B and C in Figure 2

[0132] As shown in A in Figure 3 and Figure 2 , another embodiment of the present application provides a mechanical arm. The mechanical arm can include two adjacent connecting arms 500 and the above-mentioned revolute joint 100. The revolute joint 100 can include a housing 101, an output member 301 and a connecting piece 302. The housing 101 is fixed to one of the two adjacent connecting arms 500. The output member 301 is connected to the other of the two adjacent connecting arms 500 through the connecting piece 302.

[0133] According to the mechanical arm in the embodiment of the present application, by applying the above-mentioned revolute joint 100, the rotation connection of the two adjacent connecting arms 500 can be achieved, so that the two adjacent connecting arms 500 can have the freedom of rotation relative to each other. At the same time, compared with the revolute joint 100 in the related art, the gravity moment distribution on both sides of the output member 301 of the revolute joint 100 in the present application is more symmetrical.

[0134] Referring to B in Figure 4 and Figure 2 ​One embodiment of the present application provides a mechanical arm. The mechanical arm can include at least two rotating joints 100 described above. At least one rotating joint 100 of the at least two rotating joints 100 can include an output member 301 and a connecting member 302. The output member 301 is connected to the housing 101 of another adjacent rotating joint 100 through the connecting member 302.

[0135] The mechanical arm according to the embodiment of the present application can realize the series connection of the two adjacent joints by connecting the connecting member 302 of one rotating joint 100 to the housing 101 of another adjacent rotating joint 100. Compared with the related art, this can reduce the distance between the two adjacent rotating joints 100, thereby reducing the space occupied by the mechanical arm while realizing the movement with more degrees of freedom, and further improving the flexibility of the mechanical arm. That is, the two adjacent rotating joints 100 can be arranged close to or adjacent to each other.

[0136] Referring to C in Figure 5 and Figure 5 Another embodiment of the present application provides a mechanical arm. The mechanical arm can include the rotating joint 100 described above, and a connecting arm 500, a driven wheel 506, a transmission belt, and an end assembly 600. The rotating joint 100 can include the housing 101 and an output roller. The first end of the connecting arm 500 is connected to the housing 101 of the rotating joint 100. The second end of the connecting arm 500 is rotatably connected to the driven wheel 506 around the second axis AX2. The transmission belt is connected to the output roller and the driven wheel 506 to transmit power between the output roller and the driven wheel 506. The end assembly 600 is rotatably connected to the second end of the connecting arm 500 around the second axis AX2. The end assembly 600 is fixed to the driven wheel 506 to rotate with the driven wheel 506 relative to the connecting arm 500. The end assembly 600 here can be understood as including a tool holding arm 601. The connecting arm 500 here is the arm closest to the tool holding arm 601 in the mechanical arm system 1.

[0137] The mechanical arm according to the embodiment of the present application can connect the connecting arm 500 and the end assembly 600 by applying the rotating joint 100 described above, and transmit power from the output roller to the driven wheel 506 through the transmission belt, and further drive the end assembly 600 to rotate by the driven wheel 506. Since the gravity moments on both sides of the output roller of the rotating joint 100 are symmetrical, the output torque required by the output roller can be reduced.

[0138] As shown in ​ Optionally, the connecting arm 500 can include an arm body 501 and an arm cover 502. The arm cover 502 is connected to the first direction D1 end of the arm body 501. The arm body 501 and the arm cover 502 enclose an arm space 503. The steel belt 505 and the driven wheel 506 are accommodated in the arm space 503.

[0139] In an optional example, the connecting arm 500 can rotate about the first axis AX1 relative to the housing 101 of the rotary joint 100 to which the connecting arm 500 is connected.

[0140] In another optional example, the connecting arm 500 can be fixed to the housing 101 of the rotary joint 100 to which the connecting arm 500 is connected.

[0141] For example, the transmission belt can be a steel belt 505, a belt or a rope. The steel belt can be a single-layer structure or a structure in which multiple layers of steel belts are stacked.

[0142] It can be understood that those skilled in the art can reasonably deform or arbitrarily combine the mechanical arm according to the above-mentioned embodiments to obtain more embodiments. For example, a plurality of rotary joints 100 and other joints of the present embodiment are used in series or in cross to realize a mechanical arm with multiple degrees of freedom.

[0143] The embodiments of the present application provide a surgical robot. The surgical robot can include the rotary joint 100 described above or the mechanical arm described above.

[0144] According to the surgical robot of the embodiments of the present application, by applying the rotary joint 100 or the mechanical arm described above, the symmetry of the gravity moment distribution at the rotary joint 100 can be improved, so that the gravity moment distribution can be optimized, and the occupied space and the range of working angles can be improved.

[0145] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the term "set" can mean that a component is directly attached to another component, or that a component is attached to another component through an intermediate component. The features described in one embodiment herein can be applied to another embodiment, either alone or in combination with other features, unless the features are not applicable to the other embodiment or are otherwise stated.

[0146] The present application has been described by the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of the present application.

Claims

1. A rotary joint, characterized in that, The rotary joint includes: The housing includes a first housing portion and a second housing portion, the first housing portion and the second housing portion being spaced apart and arranged opposite to each other in a first direction; and An output member is located at the interval between the first housing portion and the second housing portion, and the output member is rotatably connected to the outer casing about a first axis parallel to the first direction.

2. The rotary joint according to claim 1, characterized in that, The first housing portion has a first cavity, and the second housing portion has a second cavity. The rotary joint also includes: A motor assembly, at least a portion of which is located in the first cavity. The deceleration assembly, at least a portion of which is located in the second cavity, The motor assembly is connected to the reduction gear assembly, which is connected to the output component to drive the output component to rotate.

3. The rotary joint according to claim 2, characterized in that, The motor assembly includes a rotor shaft, and the reduction assembly includes an input shaft and an output shaft. The input shaft and the rotor shaft are arranged coaxially, and the input shaft is connected to the rotor shaft, while the output shaft is connected to the output component.

4. The rotary joint according to claim 3, characterized in that, The axis of the input shaft, the axis of the output shaft, and the axis of the rotor shaft all coincide with the first axis, and the output shaft is sleeved outside the input shaft.

5. The rotary joint according to claim 3, characterized in that, The motor assembly is located in the first cavity, and the input shaft extends from the second cavity to the first cavity.

6. The rotary joint according to claim 4, characterized in that, The rotary joint also includes a torque sensor, which is connected to the output shaft and the output component.

7. The rotary joint according to claim 6, characterized in that, The output component is an output roller, which is rotatably sleeved on the outside of the output shaft, and the output roller and the output shaft are arranged coaxially.

8. The rotary joint according to claim 7, characterized in that, The rotating joint further includes a first bearing and a second bearing, which are located at opposite ends of the output roller in the axial direction. The first bearing is closer to the first cavity than the second bearing. One end of the output roller in the axial direction is supported on the first housing portion by the first bearing, and the other end of the output roller in the axial direction is supported on the output shaft by the second bearing.

9. The rotary joint according to any one of claims 6 to 8, characterized in that, The torque sensor is located at the end of the output shaft.

10. The rotary joint according to any one of claims 3 to 8, characterized in that, The deceleration assembly is constructed as a harmonic deceleration assembly, which further includes a harmonic rigid wheel and a harmonic flexible wheel that mesh with each other. The harmonic rigid wheel is fixed to the second housing part, the harmonic flexible wheel is fixed to the output shaft, and the harmonic flexible wheel is driven to the input shaft.

11. The rotary joint according to any one of claims 3 to 8, characterized in that, The rotating joint further includes an input encoder, which includes a first moving part and a first fixed part. The first moving part is connected to the rotor shaft, and the first fixed part is fixedly disposed relative to the housing. The input encoder is configured to generate a sensing signal when the rotor shaft rotates relative to the housing.

12. The rotary joint according to any one of claims 3 to 8, characterized in that, The rotating joint also includes an output encoder, which includes a second moving part and a second fixed part. The second moving part is connected to the input shaft, and the second fixed part is fixedly disposed relative to the housing. The output encoder is configured to generate a sensing signal when the input shaft rotates relative to the housing.

13. The rotary joint according to any one of claims 3 to 8, characterized in that, The rotating joint further includes a braking assembly, which includes a first braking member and a second braking member. The first braking member is connected to the rotor shaft, and the second braking member is connected to the housing. The braking assembly has an engaged state and a disengaged state. When the braking assembly is in the engaged state, the first braking member engages with the second braking member to prevent the rotor shaft from rotating. When the braking assembly is in the disengaged state, the first braking member disengages from the second braking member to allow the rotor shaft to rotate.

14. The rotary joint according to any one of claims 1 to 8, characterized in that, The rotary joint also includes a connector fixed to the output member, the connector being at least adapted to connect to the housing of a connecting arm or another rotary joint.

15. The rotary joint according to any one of claims 1 to 8, characterized in that, The housing also includes a connecting portion that connects to the first housing portion and the second housing portion, the first housing portion and the second housing portion being arranged symmetrically about the output member.

16. A robotic arm, characterized in that, The robotic arm includes: At least two rotary joints as described in any one of claims 1 to 15, wherein at least one of the at least two rotary joints includes an output member and a connector, the output member being connected to the housing of another adjacent rotary joint via the connector.

17. A robotic arm, characterized in that, The robotic arm includes: Two adjacent connecting arms; and The rotary joint as claimed in any one of claims 1 to 15 includes a housing, an output member, and a connector, the housing being fixed to one of two adjacent connecting arms, and the output member being connected to the other of the two adjacent connecting arms via the connector.

18. A robotic arm, characterized in that, The robotic arm includes: The rotary joint as described in any one of claims 1 to 15, the rotary joint comprising a housing and an output roller; A connecting arm, the first end of which is connected to the housing of the rotary joint; Driven wheel, the driven wheel being rotatably connected to the second end of the connecting arm about a second axis; A drive belt, connected to the output roller and the driven roller, for transmitting power between the output roller and the driven roller; and An end assembly is rotatably connected to a second end of the connecting arm about a second axis and is fixed to the driven wheel to rotate with the driven wheel.

19. A surgical robot, characterized in that, The surgical robot includes: The rotary joint as described in any one of claims 1 to 15, or the robotic arm as described in any one of claims 16 to 18.

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