Joint bearing for a surgical robot and surgical robot

Abstract

The application relates to a joint bearing for a surgical robot and the surgical robot. The joint bearing comprises a ball head, a bearing seat provided with a ball socket and a first groove, the ball socket being capable of accommodating at least a part of the ball head, the ball head being capable of rotating in the ball socket relative to the bearing seat, the first groove being arranged on the outer circumferential side of the ball socket and close to the opening of the ball socket, and an adjusting part being formed between the first groove and the ball socket, and a pressing piece capable of pressing the adjusting part, so that at least a part of the adjusting part can move towards the ball socket to press the ball head. The joint bearing can realize the regulation and control of the play and rotation resistance of the bearing by arranging the first groove on the bearing seat, can guarantee the assembly and fitting capability of the ball head and the bearing seat, can adjust the play and rotation resistance of the bearing according to the requirements of the equipment, and can solve the problem of bearing replacement due to friction and the like.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a joint bearing for a surgical robot and a surgical robot. Background Art

[0002] Spherical bearings (SABs), a key component of surgical robots, primarily serve to connect joints and carry loads. However, existing SABs cannot be adjusted for clearance and resistance after leaving the factory, complicating commissioning of surgical robots. Furthermore, they cannot be adjusted based on bearing wear. Consequently, worn bearings require replacement, increasing costs. Summary of the Invention

[0003] Based on this, it is necessary to provide a joint bearing for a surgical robot and a surgical robot to address the above technical problems.

[0004] A joint bearing for a surgical robot, comprising:

[0005] ball head;

[0006] a bearing seat, the bearing seat being provided with a ball socket and a first groove, the ball socket being capable of accommodating at least a portion of the ball head, the ball head being capable of rotating relative to the bearing seat within the ball socket, the first groove being located on an outer peripheral side of the ball socket and being disposed near an opening of the ball socket, an adjustment portion being formed between the first groove and the ball socket; and

[0007] A pressing member is capable of pressing the adjusting portion so that at least a portion of the adjusting portion can move into the ball socket, thereby pressing the ball head.

[0008] In one embodiment, the bearing seat has a first end surface, the opening of the ball socket is located on the first end surface, the first groove is opened on the first end surface, the pressing member can move relative to the bearing seat, and at least a portion of the pressing member can move in the first groove so as to press the adjusting part.

[0009] In one embodiment, the adjusting portion has a pressed area and a deformation area connected to the pressed area, the pressing member can press the pressed area, and the deformation area can deform so that the pressed area can move toward the inside of the socket.

[0010] In one embodiment, the side of the abutment area away from the ball socket has an abutment surface;

[0011] And / or, the deformation zone has a weakening groove, the weakening groove extends along the connecting edge between the support zone and the deformation zone, and the groove depth direction of the weakening groove is toward one side of the socket, so that the stiffness of the deformation zone is smaller than the stiffness of the support zone;

[0012] And / or, the number of the deformation zones is set to two, and the two deformation zones are connected to both sides of the abutment zone along the circumference of the opening of the socket.

[0013] In one embodiment, the bearing seat is provided with a mounting hole, a first hole end of the mounting hole is connected to the first groove, and a second hole end of the mounting hole can allow the pressing member to pass through the mounting hole; the pressing member can pass through the mounting hole and move along the axial direction of the mounting hole, and the pressing member can also be detachably fixed to the bearing seat to maintain the pressure of the adjustment part on the ball head.

[0014] In one embodiment, the mounting hole is a threaded hole, and the pressing member has a threaded portion that cooperates with the mounting hole; or,

[0015] The mounting hole is a light hole, the articulated bearing for the surgical robot further comprises a nut, the nut is fixed to the bearing seat, and the nut is located at the second hole end of the mounting hole, and the pressing member has a threaded portion that cooperates with the nut; or

[0016] The adjusting portion is deformable, and the ball head is further capable of pressing the adjusting portion, so that at least a portion of the adjusting portion can move out of the ball socket.

[0017] In one embodiment, the first groove is a blind groove provided in the bearing seat; and / or, there are at least two first grooves, and at least two first grooves are arranged at intervals along the circumference of the opening of the ball socket, and the pressing member is arranged in a one-to-one correspondence with the adjusting portion; and / or, the bearing seat is further provided with a protective cover, and the protective cover is provided on the first groove.

[0018] In one embodiment, the bearing seat includes at least two frames, all of which are connected in sequence along the circumferential direction, each of which has at least one first groove and at least one adjustment portion, and the pressing member and the adjustment portion are arranged in a one-to-one correspondence.

[0019] In one embodiment, the bearing seat further comprises a plurality of threaded members, and the threaded members fix two adjacent seat frames; and / or,

[0020] The spherical plain bearing further includes at least one first seal, which is arranged between two adjacent seats.

[0021] A surgical robot comprises an operating table, the operating table comprising a base, a movable seat, a plurality of linear motion modules, and a plurality of joint bearings for a surgical robot as described in any one of the above, wherein each linear motion module is connected to the base and the movable seat;

[0022] The linear motion module has a mounting end and an output end, one of the mounting end and the output end is universally connected to the movable seat through the joint bearing, and the other is connected to the base; or, one of the mounting end and the output end is universally connected to the base through the joint bearing, and the other is connected to the movable seat.

[0023] The above-mentioned joint bearing and surgical robot for surgical robots have a first groove opened on the bearing seat, and an adjustment portion is formed between the first groove and the ball socket. The adjustment portion moves toward the inside of the ball socket under the pressure of the pressure piece, thereby deforming part of the inner wall of the ball socket, thereby reducing the clearance of the joint bearing, realizing the regulation of the clearance and rotational resistance of the bearing, and can also improve the tolerance of the processing errors of the ball socket and the center of the ball, ensuring the assembly adaptability of the ball head and the bearing seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 and Figure 2 Schematic diagram of the three-dimensional structure of the spherical plain bearing provided in one embodiment of the present application viewed from different angles.

[0025] Figure 3 for Figure 1 Exploded diagram of the spherical plain bearing provided.

[0026] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of multiple bases of a spherical plain bearing after docking is provided.

[0027] Figure 5 and Figure 6 for Figure 1 Schematic diagrams of the three-dimensional structure of the base of the spherical plain bearing provided are shown from different angles.

[0028] Figure 7 for Figure 6 A partial enlarged schematic diagram of the base at point A is provided.

[0029] Figure 8 for Figure 1 A schematic diagram of the three-dimensional structure of multiple bases of a spherical plain bearing before docking is provided.

[0030] Figure 9 A schematic diagram of the three-dimensional structure of an operating table provided in one embodiment of the present application.

[0031] The reference numerals in the accompanying drawings are described as follows:

[0032] 10. Spherical bearing; 100. Ball head; 110. Fixing hole; 200. Bearing seat; 210. Ball socket; 211. Opening; 212. Oil storage chamber; 213. Third groove; 220. First groove; 230. Adjusting portion; 231. Abutment area; 2311. Abutment surface; 232. Deformation area; 2321. Weakened groove; 240. First end face; 250. Mounting hole; 251. Plane; 260. Seat; Q1. First assembly surface; Q2. Second assembly surface; 261. Second groove; 262. Accommodating groove; 270. Threaded part; 300. Pressing part; 400. Extending shaft; 20. Base; 30. Movable seat; 40. Linear motion module; 40a. Mounting end; 40b. Output end. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of such features.

[0036] like Figures 1 to 3As shown, an embodiment of the present application provides a joint bearing 10 for a surgical robot, which can be used to perform thoracic or abdominal surgery on a patient. In addition to the joint bearing, the surgical robot also includes a surgical bed and the like structure, which includes a base, a movable seat and a plurality of linear motion modules, each of which is connected between the base and the movable seat. When the plurality of linear motion modules outputs linear motion, the movable seat of the surgical bed realizes actions such as lifting and tilting, and the patient can lie on the movable seat. In consideration of the comfort of the patient, a special bed body can also be provided on the movable seat, and the joint bearing is applied to the connecting structure between the linear motion module and the base or / and the movable seat to realize the universal connection between the linear motion module and the base or the movable seat. Of course, the joint bearing 10 can also be applied to medium and large-sized equipment that needs to bear high load and has high rigidity, such as a six-bearing platform and hoisting equipment.

[0037] The joint bearing 10 for the surgical robot can include a ball head 100, a bearing seat 200 and a pressing piece 300. As shown, Figure 4 The bearing seat 200 is provided with a ball socket 210 and a first groove 220. The ball socket 210 can accommodate at least a part of the ball head 100. The ball head 100 can rotate in the ball socket 210 relative to the bearing seat 200. The first groove 220 is located on the outer peripheral side of the ball socket 210 and is arranged close to the opening 211 of the ball socket 210, and an adjusting portion 230 is formed between the first groove 220 and the ball socket 210. The pressing piece 300 can press the adjusting portion 230, so that at least a part of the adjusting portion 230 can move towards the inside of the ball socket 210, thereby pressing the ball head 100.

[0038] When the bearing is used, due to machining and other reasons, the backlash may be too large; and after the bearing is used for a period of time, due to wear and other reasons, the backlash may also become larger. By opening the first groove 220 on the outer peripheral side of the ball socket 210 and arranging it close to the opening 211 of the ball socket 210, the adjusting portion 230 formed is located on the outer peripheral side of the ball socket 210, and the opening of the first groove 220 weakens the rigidity of the bearing seat 200, so that part of the adjusting portion 230 can move in the direction towards the inside of the ball socket 210. When the adjusting portion 230 moves towards the inside of the ball socket 210 under the pressing of the pressing piece 300, part of the inner wall of the ball socket 210 is deformed, thereby reducing the backlash of the joint bearing, realizing the regulation and control of the backlash and rotation resistance of the bearing, and also improving the machining error tolerance of the ball socket 210 and the ball center, and ensuring the assembly and fitting ability of the ball head 100 and the bearing seat 200.

[0039] In one embodiment, the adjusting portion 230 is deformable, and the ball head 100 can also press against the adjusting portion 230, so that at least a part of the adjusting portion 230 can move outward of the ball socket 210. When assembling, the ball head 100 extends into the ball socket 210 from the opening 211 of the ball socket 210 and is arranged in the ball socket 210. If there is a machining error, there can be a mismatch between the spherical surface of the ball head 100 and the inner surface of the ball socket 210. At this time, since the adjusting portion 230 is deformable, it can be adapted to match by deforming, thereby improving the assembly adaptability. At the same time, the too small clearance after assembly can also be adapted to be larger due to the movement of the adjusting portion 230 outward of the ball socket 210, thereby realizing self-adaptive adjustment of the clearance.

[0040] Therefore, regardless of whether the clearance is too large or too small, or assembly problems, adjustment can be performed. Specifically, for the case that the clearance is too small, the opening of the first groove 220 enables a part of the inner wall of the ball socket 210 to deform outward of the circumference of the ball socket 210 under the extrusion of the ball head 100, that is, the adjusting portion 230 formed between the groove wall of the first groove 220 and the inner wall of the ball socket 210 can move outward of the ball socket 210, thereby improving the assembly adaptability of the ball head 100 and the bearing seat 200. For the case that the clearance is too large or becomes larger, the adjusting portion 230 of the bearing seat 200 can move inward of the ball socket 210 by adjusting the pressing member 300, so as to press against the ball head 100 and increase the friction between the ball head 100 and the ball socket 210, thereby realizing adjustment and control of the clearance and the rotation resistance of the bearing.

[0041] It can be seen that, by opening the first groove 220 on the bearing seat 200, the adjusting portion 230 is formed between the groove wall of the first groove 220 and the inner wall of the ball socket 210. The adjusting portion 230 can move outward of the ball socket 210 under the extrusion of the ball head 100 or move inward of the ball socket 210 under the pressing of the pressing member 300, so that a part of the inner wall of the ball socket 210 deforms, thereby increasing or reducing the clearance of the joint bearing 10, realizing adjustment and control of the clearance and the rotation resistance of the bearing, improving the machining error tolerance of the ball socket 210 and the ball center, ensuring the assembly adaptability of the ball head 100 and the bearing seat 200, adjusting the clearance and the rotation resistance of the bearing according to the requirements of the equipment, and solving the problem of replacing the bearing due to friction and the like.

[0042] The pressing member 300 can be arranged on the bearing seat 200, or on a non-bearing seat 200, for example, on a structure where the bearing seat 200 is installed. The pressing member 300 can press against the adjusting portion 230 manually or electrically. The pressing can be achieved by the entire movement of the pressing member 300 to achieve the pressing with the adjusting portion, or by the movement of a portion of the pressing member 300. For example, the pressing member 300 is a motor capable of outputting linear motion, and the output portion of the motor extends relative to the body of the motor, thereby achieving the pressing against the adjusting portion 230, which will not be described in detail. After the pressing member 300 moves, it presses against the adjusting portion 230. At this time, the pressing member 300 can be detachably fixed to the bearing seat 200 or the structure where the bearing seat 200 is installed to maintain the pressing amplitude.

[0043] The ball head 100 may be a precision-ground steel ball, and the bearing seat 200 may be made of metal, such as bearing steel or high-carbon chromium steel, such as GCr15 or GCr15SiMn, to meet the requirements of high strength and high wear resistance. The spherical plain bearing 10 may be a universal ball joint sliding bearing with adjustable clearance and resistance.

[0044] like Figure 4 As shown, in some embodiments, the number of the first grooves 220 may be at least two. At least two first grooves 220 are arranged at intervals along the circumference of the opening 211 of the ball socket 210. The pressing member 300 is arranged in a one-to-one correspondence with the adjusting portion 230. By arranging the first grooves 220 in this way, the deformed portion of the inner wall of the ball socket 210 can also be arranged along the circumference of the opening 211 of the ball socket 210, so that the adjusting portion 230 can press the ball head 100 in all directions along the circumference of the opening 211 of the ball socket 210, thereby achieving multi-region clearance adjustment, and at the same time ensuring that the ball head 100 can rotate stably relative to the bearing seat 200 in the ball socket 210. Among them, all the first grooves 220 are evenly arranged along the circumference of the opening 211 of the ball socket 210.

[0045] The specific number of the first slots 220 can be set according to the needs. For example, the number of the first slots 220 can be set to 2, 3, or Figure 4 It should be noted that the number of the pressing members 300 is also set to be multiple, and corresponds one to one with the first grooves 220.

[0046] Of course, in other embodiments, only one first groove 220 may be provided, arranged in a circle along the circumference of the opening 211 of the ball socket 210. In this case, the number of pressing members 300 may be multiple, and all pressing members 300 may be evenly arranged along the circumference of the opening 211 of the ball socket 210. This approach also allows the deformed portions of the inner wall of the ball socket 210 to be evenly arranged along the circumference of the opening 211 of the ball socket 210.

[0047] As described above, the strength of the bearing's self-clearance adjustment is related to the way the first groove 220 is opened. In this regard, in one embodiment of the present application, Figures 4 to 6 As shown, the bearing seat 200 has a first end surface 240. The opening 211 of the ball socket 210 is located on the first end surface 240. The first groove 220 is formed in the first end surface 240. The pressing member 300 is movable relative to the bearing seat 200, so that at least a portion of the pressing member 300 can move within the first groove 220, thereby pressing against the adjustment portion 230. The simultaneous formation of the notch of the first groove 220 and the opening 211 of the ball socket 210 on the first end surface 240 of the bearing seat 200 not only facilitates deformation of the inner wall of the ball socket 210, making it easier for the adjustment portion 230 to move toward the outside of the ball socket 210 under pressure from the ball head 100 or toward the inside of the ball socket 210 under pressure from the pressing member 300, but also makes it easy to observe the position of the pressing member 300 within the first groove 220, facilitating adjustment of the pressing member 300, thereby effectively adjusting the bearing clearance as required.

[0048] In one embodiment, the first groove 220 can be a blind groove provided in the bearing seat 200, that is, the first groove 220 does not penetrate the end surface of the bearing seat 200 opposite the first end surface 240. This configuration can ensure that the bearing seat 200 has sufficient rigidity and is not easily deformed, allowing the ball head 100 to rotate stably within the ball socket 210, thereby ensuring stable operation of the spherical plain bearing 10.

[0049] like Figure 7 As shown, the first groove 220 may have a certain length along the circumference of the ball socket 210 so that the notch of the first groove 220 is in an arc shape or a strip shape, so as to better press the ball head 100 in the circumferential direction.

[0050] In order to prevent foreign matter from falling into the first groove 220 and affecting the adjustment of the adjustment portion 230 by the pressing member 300 , the bearing seat 200 is further provided with a protective cover (not shown in the drawings), which is provided on the first groove 220 .

[0051] It should be noted that the protective cover should deform synchronously with the inner wall of the ball socket 210 to ensure the sealing of the first groove 220. The protective cover can be made of elastic material, such as a rubber cover, and can be installed at the notch of the first groove 220 by bonding, snapping, etc.

[0052] The strength of the joint bearing's self-clearance adjustment is also related to the shape of the adjustment portion 230, see Figure 7In some embodiments of the present application, the adjustment portion 230 includes a contact area 231 and a deformation area 232 connected to the contact area 231. The pressing member 300 can press against the contact area 231. The deformation area 232 can deform so that the contact area 231 can move toward the inside of the ball socket 210. When pressed by the ball head 100 or the pressing member 300, the deformation area 232 of the adjustment portion 230 deforms before the contact area 231, causing the contact area 231 to bulge toward the outside or inside of the ball socket 210, thereby facilitating the bearing's self-clearance adjustment.

[0053] See also Figure 7 In one embodiment, the deformation zone 232 has a weakening groove 2321 extending along the connecting edge between the abutting zone 231 and the deformation zone 232. The depth of the weakening groove 2321 faces one side of the socket 210, thereby reducing the rigidity of the deformation zone 232 compared to the abutting zone 231. The provision of the weakening groove 2321 within the deformation zone 232 weakens the rigidity of the deformation zone 232, making it easier to deform. In contrast, the abutting zone 231, which lacks the weakening groove 2321, is less likely to deform. Consequently, when pressed, the weakening groove 2321 deforms, allowing the deforming zone 232 to bulge inwardly toward the socket 210.

[0054] The shape of the weakening groove 2321 can be as follows: Figure 7 The semicircle shown may also be a polygon or other irregular shape.

[0055] Continue to see Figure 7 In one embodiment, the side of the resisting area 231 away from the socket 210 has a resisting surface 2311. The resisting surface 2311 creates surface contact between the resisting member 300 and the adjusting portion 230. Compared to point contact, surface contact can increase the force-bearing area of ​​the adjusting portion 230, making it easier for the adjusting portion 230 to move toward the inside of the socket 210 under the pressure of the resisting member 300.

[0056] The abutting surface 2311 can be a plane, an arcuate surface, or other surface structures with regular or irregular shapes. It should be noted that the end surface of the pressing member 300 used to press the adjusting portion 230 should be compatible with the abutting surface 2311. For example, if the abutting surface 2311 is a plane, the end surface of the pressing member 300 used to press the adjusting portion 230 should also be a plane. For another example, if the abutting surface 2311 is an arcuate surface that is concave toward the inside of the ball socket 210, the end surface of the pressing member 300 used to press the adjusting portion 230 should be an arcuate surface that is convex toward the inside of the ball socket 210, and the radius of curvature of these two arcuate surfaces is the same.

[0057] Still continue to see Figure 7In one embodiment, two deformation zones 232 may be provided, with the two deformation zones 232 connected to either side of the abutment zone 231 along the circumference of the opening 211 of the socket 210. By setting the number of deformation zones 232 and their positional relationship with the abutment zone 231 in this manner, the abutment zone 231 can be sandwiched between the two deformation zones 232, making it easier for the abutment zone 231 to bulge inwardly of the socket 210.

[0058] It should be noted that the above-described arrangement of the deformation zones 232 is applicable when multiple first grooves 220 are provided along the circumference of the opening 211 of the socket 210. However, when the first grooves 220 are provided in a circle along the circumference of the opening 211 of the socket 210, the deformation zones 232 and the abutment zones 231 are alternately provided. Furthermore, the number of deformation zones 232 and abutment zones 231 can be set not only to two each, but also to three, four, or more as needed.

[0059] like Figure 4 、 Figure 5 and Figure 7 As shown, in some embodiments, the bearing seat 200 is provided with a mounting hole 250. A first hole end of the mounting hole 250 is in communication with the first groove 220, and a second hole end of the mounting hole 250 is adapted for the pressing member 300 to pass through the mounting hole 250. The pressing member 300 can pass through the mounting hole 250 and move axially along the mounting hole 250. The pressing member 300 can also be detachably secured to the bearing seat 200 to maintain the pressing force of the adjusting portion 230 against the ball head 100. The mounting hole 250 is provided on the bearing seat 200 to accommodate and support the pressing member 300, enabling the adjusting portion 230 to press against the ball head 100.

[0060] It should be noted that when the first groove 220 is set to be multiple along the circumference of the opening 211 of the ball socket 210, the mounting holes 250 are also set to be multiple and are arranged one-to-one with the first groove 220; and when the first groove 220 is set to be a circle along the circumference of the opening 211 of the ball socket 210, the mounting holes 250 are set to be multiple along the circumference of the opening 211 of the ball socket 210 and around the circumference of the opening 211 of the ball socket 210; of course, the first groove 220 along the circumference of the opening 211 of the ball socket 210 can also be set to less than one circle, such as half a circle or 3 / 4 circle. At this time, at least two mounting holes 250 are set at intervals along the circumference of the first groove 220, which will not be repeated.

[0061] In one embodiment, the mounting hole 250 may be a threaded hole, and the pressing member 300 may have a threaded portion that engages with the mounting hole 250. The pressing member 300 is threadedly mounted within the mounting hole 250, and the length of the pressing member 300 extending into the first groove 220 can be continuously adjusted, thereby adjusting the bearing clearance to any predetermined value.

[0062] In order to facilitate the installation of the pressing member 300 at the second hole end of the mounting hole 250 and the opening of the mounting hole 250, the position of the bearing seat 200 where the mounting hole 250 is to be opened is set as a plane 251 (see Figure 5 ).

[0063] Of course, in some other embodiments, the mounting hole 250 may also be a bare hole, and the articulated bearing 10 for a surgical robot further includes a nut (not shown in the accompanying drawings), which is fixedly disposed on the bearing seat 200, and the nut is located at the second hole end of the mounting hole 250, and the pressing member 300 has a threaded portion that cooperates with the nut. The nut can be directly disposed on the second hole end of the mounting hole 250, without the need to provide threads on the bearing seat 200, thereby reducing manufacturing difficulty and facilitating the production and processing of the bearing. The nut can be disposed on the second hole end of the mounting hole 250 by welding or other methods. In order to facilitate the opening of the mounting hole 250 and the fixing of the nut on the bearing seat 200, a plane 251 can be machined at the position of the bearing seat 200 where the mounting hole 250 is required, so as to facilitate the subsequent operations of opening the mounting hole 250 and fixing the nut.

[0064] To ensure that the ball head 100 can stably rotate relative to the bearing seat 200 within the ball socket 210, in some embodiments of the present application, the center of the ball head 100 is located within the ball socket 210, that is, more than half of the ball head 100 is accommodated within the ball socket 210, and the diameter of the opening 211 of the ball socket 210 is smaller than the diameter of the ball head 100. When the ball head 100 rotates relative to the bearing seat 200 within the ball socket 210, the ball head 100 can be prevented from separating from the ball socket 210, thereby ensuring the normal use of the spherical plain bearing 10.

[0065] In view of this, considering the convenience of assembling the ball head 100 and the bearing seat 200, as shown in FIG. Figures 1 to 4 and Figure 8 As shown, in one embodiment, the bearing seat 200 includes at least two seats 260. All the seats 260 are connected in sequence along the circumferential direction. Each seat 260 has at least one first groove 220 and at least one adjustment portion 230, and the pressing member 300 is arranged in a one-to-one correspondence with the adjustment portion 230. During assembly, the seat 260 is first placed on the peripheral side of the ball head 100, and then the two seat frames 260 are connected together to wrap the ball head 100. It can be seen that splitting the bearing seat 200 into multiple seats 260 facilitates the assembly of the ball head 100 on the bearing seat 200, especially when the diameter of the opening 211 of the ball socket 210 is smaller than the diameter of the ball head 100. Among them, as Figure 8 As shown, each seat frame 260 is provided with a receiving groove 262 , and all receiving grooves 262 can be spliced ​​together to form a ball socket 210 .

[0066] The number of first slots 220 provided on the mount 260 may be set accordingly according to the number of mounts 260. For example, Figure 8 As shown, the number of the mounts 260 is set to two, and two first slots 220 are correspondingly provided on each mount 260 .

[0067] In order to facilitate the disassembly and assembly of the seat frame 260, as Figures 1 to 3 As shown, in one embodiment, the bearing seat 200 further includes a plurality of screw members 270, which fix two adjacent seat frames 260. It should be noted that the seat frames 260 should be provided with through holes for corresponding screw members 270 to pass through. The screw members 270 can be bolts.

[0068] In one embodiment, if Figure 4 As shown, an oil storage chamber 212 is provided at the bottom of the ball socket 210. The oil storage chamber 212 is used to store lubricating oil so that the spherical plain bearing 10 has a self-lubricating function.

[0069] Because the bearing seat 200 is divided into multiple seats 260, the lubricating oil in the oil storage chamber 212 is prone to leaking from between the seats 260. To address this issue, in some embodiments of the present application, the spherical plain bearing 10 for a surgical robot further includes at least one first seal (not shown in the drawings), which is disposed between two adjacent seats 260. The first seal is used to seal the gap between the two adjacent seats 260, thereby preventing the lubricating oil from leaking out of the gap between the seats 260.

[0070] Optionally, the first sealing member may be a rubber strip.

[0071] Alternatively, as Figure 8 As shown, one of the two adjacent mounts 260 has a first assembly surface Q1, and the other has a second assembly surface Q2. The first assembly surface Q1 and the second assembly surface Q2 are butted against each other. At least one of the first assembly surface Q1 and the second assembly surface Q2 is provided with a second groove 261. The second groove 261 is adjacent to the ball socket 210 and extends through the mount 260 along the longitudinal cross-section of the ball socket 210. The second groove 261 is used to accommodate the corresponding first seal. The first seal can be bonded or directly placed in the second groove 261 to facilitate installation of the first seal.

[0072] Similarly, to prevent lubricating oil from leaking from the opening 211 of the ball socket 210, in some embodiments of the present application, the spherical plain bearing 10 for a surgical robot further includes a second seal (not shown in the drawings). The second seal is disposed around the opening 211 of the ball socket 210 along the circumference of the opening 211 of the ball socket 210. The second seal is used to seal the gap between the ball head 100 and the inner wall of the ball socket 210, thereby preventing lubricating oil from leaking from the opening 211 of the ball socket 210.

[0073] Optionally, the second sealing member may be a rubber ring.

[0074] Alternatively, as Figure 4 As shown, the socket 210 has a third groove 213 on its inner wall at its opening 211. The third grooves 213 are arranged around the circumference of the socket 210 opening 211 and are used to accommodate the second seal. The second seal can be bonded or directly placed in the third groove 213 to facilitate installation.

[0075] like Figures 1 to 3 As shown, in one embodiment of the present application, the spherical plain bearing 10 further includes a protruding shaft 400, which is located outside the ball socket 210 and connected to the ball head 100. The protruding shaft 400 can serve as a connecting component of the spherical plain bearing 10, and is used to connect to relevant components of the operating table, such as the base 20 and movable seat 30 of the operating table.

[0076] As an example, the end of the extended shaft close to the ball socket 210 of the bearing seat 200 can be inserted into the fixing hole 110 of the ball head 100 by means of interference fit, thread connection, etc. (see Figure 3 ).

[0077] like Figure 9 As shown, another embodiment of the present application further provides a surgical robot, which includes an operating table, which includes a base 20, a movable seat 30, a plurality of linear motion modules 40, and a plurality of joint bearings 10 for a surgical robot as described in any of the above. Each of the linear motion modules 40 is connected to the base 20 and the movable seat 30. The linear motion module 40 has a mounting end 40a and an output end 40b, one of the mounting end 40a and the output end 40b is universally connected to the movable seat 30 through the joint bearing 10, and the other is connected to the base 20; or, one of the mounting end 40a and the output end 40b is universally connected to the base 20 through the joint bearing 10, and the other is connected to the movable seat 30.

[0078] When a bearing is in use, due to processing and other reasons, the clearance may be too large or too small. After a period of use, the clearance of the bearing may also increase due to wear and other reasons. To address the situation where the clearance is too small, the opening of the first groove 220 allows part of the inner wall of the ball socket 210 to deform under the pressure of the ball head 100, that is, the adjustment portion 230 formed between the groove wall of the first groove 220 and the inner wall of the ball socket 210 can move toward the outside of the ball socket 210, thereby improving the assembly and adaptability of the ball head 100 and the bearing seat 200. To address the situation where the clearance is too large or increases, the pressing member 300 can be adjusted so that the adjustment portion 230 of the bearing seat 200 can move toward the inside of the ball socket 210, thereby pressing the ball head 100, thereby regulating the clearance and rotational resistance of the bearing.

[0079] The surgical robot forms an adjustable portion 230 between the groove wall of the first groove 220 and the inner wall of the ball socket 210 by opening a first groove 220 on the bearing seat 200 of the joint bearing 10. The adjusting portion 230 can move toward the outside of the ball socket 210 under the pressure of the ball head 100 or move toward the inside of the ball socket 210 under the pressure of the pressing member 300, so that a part of the inner wall of the ball socket 210 is deformed, thereby increasing or decreasing the clearance of the joint bearing 10, realizing the regulation of the clearance and rotational resistance of the bearing, and improving the tolerance of the processing error of the ball socket 210 and the center of the ball, ensuring the assembly adaptability of the ball head 100 and the base. The clearance and rotational resistance of the bearing can also be adjusted according to equipment requirements, and the problem of bearing replacement due to friction and other conditions can also be solved.

[0080] The linear motion module 40 can be a drive motor capable of outputting linear motion, or it can be an electric push rod or a hydraulic push rod. Figure 9 In the illustrated embodiment, the linear motion modules 40 are all drive motors. Figure 9 From the perspective shown, the upper end of the drive motor is the output end 40b, and the lower end is the mounting end 40a. The mounting end 40a is rotatably connected to the base 20, while the output end 40b is universally connected to the movable seat 30 via the spherical bearing 10. Specifically, the output end 40b can be fixed to one of the bearing seat 200 and the ball head 100, while the other is fixed to the movable seat 30. This will not be further described.

[0081] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A joint bearing for a surgical robot, characterized in that: include: ball head; a bearing seat, the bearing seat being provided with a ball socket and a first groove, the ball socket being capable of accommodating at least a portion of the ball head, the ball head being capable of rotating relative to the bearing seat within the ball socket, the first groove being located on an outer peripheral side of the ball socket and being disposed near an opening of the ball socket, an adjustment portion being formed between the first groove and the ball socket; as well as a pressing member capable of pressing the adjusting portion so that at least a portion of the adjusting portion can move into the ball socket, thereby pressing the ball head; The bearing seat has a first end surface, the opening of the ball socket is located on the first end surface, the first groove is formed on the first end surface, the pressing member is movable relative to the bearing seat, and at least a portion of the pressing member is movable within the first groove to press the adjusting portion; The adjusting portion comprises a pressed area and a deforming area connected to the pressed area, the pressing member can press the pressed area, and the deforming area can deform so that the pressed area can move toward the inside of the ball socket; The bearing seat is provided with a mounting hole, a first hole end of the mounting hole is connected to the first groove, and a second hole end of the mounting hole can allow the pressing member to pass through the mounting hole; the pressing member can pass through the mounting hole and move along the axial direction of the mounting hole, and the pressing member can also be detachably fixed to the bearing seat to maintain the pressure of the adjustment part on the ball head.

2. The joint bearing for a surgical robot according to claim 1, characterized in that: The adjusting portion comprises a pressed area and a deformation area connected to the pressed area. The pressing member can press the pressed area, and the deformation area can deform so that the pressed area can move toward the inside of the ball socket.

3. The joint bearing for a surgical robot according to claim 2, characterized in that: The side of the impact zone away from the ball socket has an impact surface; And / or, the deformation zone has a weakening groove, the weakening groove extends along the connecting edge between the support zone and the deformation zone, and the groove depth direction of the weakening groove is toward one side of the socket, so that the stiffness of the deformation zone is smaller than the stiffness of the support zone; And / or, the number of the deformation zones is set to two, and the two deformation zones are connected to both sides of the abutment zone along the circumference of the opening of the socket.

4. The joint bearing for a surgical robot according to any one of claims 1 to 3, characterized in that: The mounting hole is a threaded hole, and the pressing member has a threaded portion that matches the mounting hole; or, The mounting hole is a light hole, the articulated bearing for the surgical robot further comprises a nut, the nut is fixed to the bearing seat, and the nut is located at the second hole end of the mounting hole, and the pressing member has a threaded portion that cooperates with the nut; or The adjusting portion is deformable, and the ball head is further capable of pressing the adjusting portion, so that at least a portion of the adjusting portion can move out of the ball socket.

5. The joint bearing for a surgical robot according to any one of claims 1 to 3, characterized in that: The first groove is a blind groove provided in the bearing seat; and / or, there are at least two first grooves, and at least two first grooves are arranged at intervals along the circumference of the opening of the ball socket, and the pressing member is arranged in a one-to-one correspondence with the adjusting portion; and / or, the bearing seat is also provided with a protective cover, and the protective cover is provided on the first groove.

6. The joint bearing for a surgical robot according to any one of claims 1 to 3, characterized in that: The bearing seat includes at least two seats, all of which are connected in sequence along the circumferential direction. Each of the seats has at least one first groove and at least one adjustment portion, and the pressing member and the adjustment portion are arranged in a one-to-one correspondence.

7. The spherical plain bearing according to claim 6, characterized in that: The bearing seat further comprises a plurality of threaded members, the threaded members fixing two adjacent seat frames; and / or, The spherical plain bearing further includes at least one first seal, which is arranged between two adjacent seats.

8. A surgical robot, characterized in that: A surgical table comprising a base, a movable seat, a plurality of linear motion modules, and a plurality of joint bearings for a surgical robot according to any one of claims 1 to 7, wherein each linear motion module is connected to the base and the movable seat; The linear motion module has a mounting end and an output end, one of the mounting end and the output end is universally connected to the movable seat through the joint bearing, and the other is connected to the base; or, one of the mounting end and the output end is universally connected to the base through the joint bearing, and the other is connected to the movable seat.

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