Flexible joint assembly and surgical robot

Abstract

The embodiment of the invention provides a flexible joint assembly and a surgical robot, the flexible joint assembly comprises a joint main body, a joint group and a transmission assembly, the joint group comprises a plurality of joints, and connecting parts are arranged at the two opposite ends of the joints. The transmission assembly comprises a plurality of transmission ropes, the transmission ropes penetrate through the joints from the joint main body in the arrangement direction of the joints, at least part of the transmission ropes are combined in pairs, two sides of a connecting part at one end of each joint are each provided with two sets of penetrating positions, and the connecting parts are clamped between the two sets of penetrating positions; each set of penetrating positions comprises at least two penetrating holes, the transmission ropes combined in pairs are arranged in the penetrating holes of the two sets of penetrating positions in a penetrating mode, and the ends of the transmission ropes combined in pairs penetrate through the corresponding penetrating holes and then are connected to the sides, opposite to the connecting parts, of the joints. According to the flexible joint assembly, the space between the adjacent joints is large, and rotation between the joints is facilitated.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the development of robotic technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] The surgical instrument is integrated at the end of the minimally invasive surgical robot. The surgical instrument is usually a slender structure. The end of the instrument usually needs to move freely, so it is essential to have a driving component. The driving component of the surgical instrument and the end effector of the instrument are usually connected by a flexible joint assembly. The flexible joint assembly is connected by multiple joints that are arranged to rotate with each other. Multiple driving ropes are also passed through the flexible joint assembly. One end of the driving rope is connected to the driving component, and the other end of the driving rope is passed through the corresponding joint and is relatively fixed to the joint.

[0004] However, the related art uses a large number of drive ropes for driving the end effector of the instrument, which makes production and manufacturing more troublesome. In addition, the ends of the drive ropes are fixed to the joints by means of squeezing and clamping with sleeves. The sleeves take up space in the joints, resulting in an increase in volume between the joints. This not only makes the flexible joint assembly bulky and increases costs, but the sleeves between the joints also affect the rotation angles of the joints. Summary of the invention

[0005] The embodiments of the present application provide a flexible joint assembly and a surgical robot, which can ensure the volume between adjacent joints of the flexible joint assembly so that the rotation angle between the joints is not affected.

[0006] In the first aspect, the embodiment of the present application provides a flexible joint assembly, including a joint body, at least one joint group and a transmission assembly, wherein the joint group includes a plurality of joints arranged in sequence, and the two opposite ends of the joints are provided with connection parts, and two adjacent joints are rotationally connected through the connection parts, and the connection shafts of the same joint and the two adjacent joints are orthogonally arranged, and the joints at the ends are connected to the joint body. The transmission assembly includes a plurality of transmission ropes, and the plurality of transmission ropes are all passed through the joints from the joint body along the direction in which the plurality of joints are arranged, and at least some of the transmission ropes are combined in pairs, and two groups of insertion positions are provided on both sides of the connection part of one end of the joint, so that the connection part is sandwiched between the two groups of insertion positions, and each group of insertion positions includes at least two insertion holes, and the transmission ropes combined in pairs are respectively passed through the insertion holes of the two groups of insertion positions, and the ends of the transmission ropes combined in pairs are connected to the side of the joint facing away from the connection part after passing through the corresponding insertion holes.

[0007] According to the flexible joint assembly provided in the embodiment of the present application, some transmission ropes are combined in pairs, and the ends of the two combined transmission ropes can be connected together after passing through the joint, so that the original two transmission ropes can be combined to form a continuous transmission rope, thereby reducing the number of transmission ropes and the manufacturing process of the transmission ropes, so as to reduce the manufacturing cost. In addition, the transmission rope of the present application is passed through the insertion position of the joint, and the two combined transmission ropes are first passed through the two groups of insertion positions on the joint respectively and then connected on the other side of the joint, so that the two combined transmission ropes need to be connected together through multiple insertion holes, and the connected parts between the two transmission ropes are passed through multiple insertion holes, so that the transmission rope and the joint not only have the friction between the part where the transmission rope is passed through the insertion hole and the insertion hole, but also have the friction between the transmission rope located between two adjacent insertion holes and the joint surface, thereby preventing the transmission rope from moving relative to the joint, so that the two transmission ropes are not easy to shift relative to the joint. Furthermore, the threading position of the present application is set on both sides of the connection part, so that the two combined transmission ropes can be set on both sides of the connection part, and the connection positions of the two transmission ropes can be set on both sides of the joint back to the connection part, so that the connection space of the two transmission ropes can be saved.

[0008] In one possible implementation, the transmission assembly includes multiple first transmission ropes, and a first threading hole and a second threading hole that pass through the joint are provided on both sides of the connection part of the joint facing away from the joint body. The first threading hole and the second threading hole are combined into the threading position, and the first transmission rope is passed through the first threading hole.

[0009] In the embodiment of the present application, a first wire-changing hole and a second wire-threading hole are provided to form a threading position for the first transmission rope to be threaded.

[0010] In a possible implementation manner, the distances between the two second threading holes and the connection portion of the joint facing away from the joint body are equal.

[0011] In the embodiment of the present application, by setting the spacing between the two second threading holes and the connecting parts equal, the rotation position between the joints is located in the middle of the two second threading holes, and the rotation position between the joints is located in the middle of the two first transmission ropes connected to one of them, which is conducive to uniform force between the two first transmission ropes connected together.

[0012] In one possible implementation, the joint has a central axis, which is perpendicular to the two connecting shafts of the joint, and the plurality of first threading holes are arranged in the joint in a manner that is centrally symmetrical with respect to the central axis, and the plurality of second threading holes are arranged in the joint in a manner that is centrally symmetrical with respect to the central axis.

[0013] In the embodiment of the present application, by setting the first threading holes symmetrically relative to the central axis, the distances between the first transmission ropes in the two symmetrical first threading holes and the joint rotation axis can be equal, which is beneficial to uniform force on the first transmission ropes.

[0014] In one possible implementation, a plurality of third threading holes are provided on the joint, and the transmission assembly further includes a plurality of third transmission ropes, which are respectively passed through the plurality of third threading holes. The third threading holes are combined in pairs, and the third threading holes in the same combination are symmetrical about the central axis of the joint.

[0015] In the embodiment of the present application, by setting the third threading hole to be centrally symmetrical about the central axis of the joint, the distance between the third transmission rope in the third threading hole and the joint shaft is equal, so that the third transmission rope is evenly stressed.

[0016] In a possible implementation, the plurality of third threading holes are arranged at equal intervals around the central axis of the joint, and the distances between two centrally symmetrical third threading holes and the same rotation axis of the joint are equal.

[0017] In the embodiment of the present application, the third threading holes are arranged at equal intervals around the central axis so that the third threading holes are arranged in a square. In this way, the torques of all the third transmission ropes driving the joints to rotate are equal, which is beneficial for making the third transmission ropes evenly stressed.

[0018] In one possible implementation, a plurality of fourth threading holes are provided on the joint, and the transmission assembly further comprises a plurality of fourth transmission ropes, which are respectively passed through the plurality of fourth threading holes, and the fourth threading holes are combined in pairs and are symmetrical about the central axis of the joint.

[0019] In the embodiment of the present application, by arranging the fourth threading hole symmetrically about the central axis of the joint, the fourth transmission ropes in the two fourth threading holes of the combination are at equal distances from the rotation axis of the joint, which is beneficial for making the force on the fourth transmission rope of the combination uniform.

[0020] In a possible implementation, the joint is provided with a first connection portion and a second connection portion at opposite ends thereof, respectively, and the first connection portion and the second connection portion are rotatably connected;

[0021] A connecting piece is also provided between two adjacent joints, and at least two spaced connecting shafts are protruding from the connecting piece. A first adapter hole is also provided on the first connecting part, and a second adapter hole is also provided on the second connecting part. The two connecting shafts on the connecting piece are rotatably connected to the first adapter hole and the second adapter hole respectively.

[0022] In the embodiment of the present application, by connecting and cooperating the first connecting portion and the second connecting portion, and by providing a connecting member rotatably connected to two adjacent joints, the two adjacent joints can be rotatably connected.

[0023] In one possible implementation, the joint group includes at least a first joint group and a second joint group, the first joint group has a plurality of first joints arranged in sequence, the first joint group is also provided with second joints and third joints at intervals, the plurality of first joints are connected in sequence between the second joints and the third joints, the second joint group includes a plurality of first joints, the plurality of first joints are connected in sequence, second joints are also provided at both ends of the second joint group, and the second joint group is respectively connected to the joint body and the second joint on the first joint group through the second joints at both ends.

[0024] In the embodiment of the present application, by setting up multiple joint groups, different bending functions can be achieved between the multiple joint groups, making the movement of the flexible joint component more flexible.

[0025] In a second aspect, an embodiment of the present application also provides a surgical robot comprising the above-mentioned flexible joint assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 It is a structural schematic diagram of an operating arm in the related art;

[0028] Figure 2 A schematic diagram of the structure of the flexible joint assembly provided for this application;

[0029] Figure 3A schematic diagram of the structure of the first joint provided in this application;

[0030] Figure 4 An exploded view of the connection structure between two adjacent joints provided in this application;

[0031] Figure 5 A cross-sectional view of a joint provided for this application;

[0032] Figure 6 Another cross-sectional view of a joint provided for this application;

[0033] Figure 7 A structural schematic diagram of a second joint provided in this application;

[0034] Figure 8 Another structural schematic diagram of the second joint provided in this application;

[0035] Fig. 9 A schematic diagram of the local structure of the flexible joint assembly provided in this application;

[0036] Fig.10 for Fig. 9 The enlarged schematic diagram of point A in the middle;

[0037] Fig.11 for Fig. 9 The enlarged schematic diagram of point B in the middle;

[0038] Fig.12 for Fig. 9 Enlarged schematic diagram of point C in the middle.

[0039] Description of reference numerals:

[0040] 10. Joint body; 11. Adapter;

[0041] 20. Joint; 21. First joint; 211. First connecting part; 2111. Connector; 2112. First adapter hole; 212. Second connecting part; 2121. First connecting slot; 2122. Second adapter hole; 213. First threading hole; 214. Second threading hole; 215. Third threading hole; 216. Fourth threading hole; 22. Second joint; 221. Connecting platform; 222. Second connecting slot; 23. Third joint; 231. Assembly part; 24. Center hole; 25. Give way slot;

[0042] 30. Transmission assembly; 31. First transmission rope; 32. Second transmission rope; 33. Third transmission rope; 34. Fourth transmission rope;

[0043] 40. Connecting piece; 41. Connecting body; 42. Protruding portion; 43. Connecting shaft; 44. Through hole;

[0044] 50. first joint group; 60. second joint group; 61. follower;

[0045] 100. operating arm; 110. driving structure; 120. flexible joint assembly; 130. main driving rope; 140. end effector. DETAILED DESCRIPTION

[0046] As can be seen from the background technology above, the end of the driving rope will terminate at the corresponding joint. In order to ensure that the end of the driving rope and the joint are relatively fixed, the driving rope needs to be fixed to the joint using a jacket. Since two adjacent joints need to be rotatably connected, when a jacket is provided between the joints, the jacket will occupy the space between the joints, which will lead to a reduction in the rotation space between the joints and a reduction in the rotation angle between the joints.

[0047] To this end, the present application provides a flexible joint assembly. The flexible joint assembly of the present application can fix the end of the transmission rope on the joint without using a sleeve, which not only saves the cost of the sleeve, but also ensures the space between the joints, thereby providing sufficient rotation space for the rotation between two adjacent joints, thereby ensuring the flexibility of the flexible joint assembly.

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Figure 1 is a schematic diagram of the structure of the operating arm 100 in the related art, Figure 2 A schematic diagram of the structure of the flexible joint assembly provided in this application.

[0050] See also Figure 1 and Figure 2 As shown, the present application provides a flexible joint assembly 120 and a surgical robot, the surgical robot includes a robot body and an operating arm 100 arranged on the robot body, wherein the operating arm 100 includes a driving structure 110, a flexible joint assembly 120, and an end effector 140 connected to the end of the flexible joint 20. The flexible joint assembly 120 is used to connect the driving structure 110 and the end effector 140, and under the cooperation of the driving structure 110 and the flexible joint assembly 120, the end effector 140 can achieve pitch or swing and other movements.

[0051] In some achievable embodiments, the flexible joint assembly 120 of the present application includes a joint body 10, at least one joint group, and a transmission assembly 30, wherein the joint body 10 is used to connect the joint group and the driving structure 110, and the joint body 10 can be a hollow tube structure.

[0052] The present application is provided with at least one joint group. At least one joint group means that one joint group or multiple joint groups can be provided, which needs to be determined according to the actual situation. For example, in some scenarios with simple operations, only one joint group can be provided to achieve the operation requirements of the end effector 140. In some scenarios with more complex operation requirements, multiple connected joint groups can be provided, and the multiple joint groups cooperate with each other to achieve different motion forms of the end effector 140.

[0053] The joint group in the present application includes a plurality of joints 20 arranged in sequence. Sequential arrangement means that the plurality of joints 20 are arranged along a predetermined path, and two adjacent joints 20 need to be rotatably connected together to achieve movements such as bending or swinging of the joint group.

[0054] Specifically, both opposite ends of a joint 20 are provided with connection parts. It should be noted here that the opposite ends of a joint 20 refer to the end faces of the joint 20 facing the adjacent joint 20, so that the opposite end faces of two adjacent joints 20 are provided with connection parts, and the two adjacent joints 20 are rotationally connected through the connection parts. It can be understood that in addition to the joints 20 located at both ends, each of the joints 20 located between the joints 20 at both ends corresponds to two adjacent joints 20, so the joint 20 located in the middle is rotationally connected with the two adjacent joints 20 at the same time, and the joint 20 located at the end is used to connect the joint body 10. In the embodiment of the present application, when the same joint 20 is rotationally connected with the two adjacent joints 20, the two connecting shafts are orthogonally arranged, so that one joint 20 can rotate in different directions relative to the two adjacent joints 20, respectively, to achieve flexible movement between the joints 20 of the joint group.

[0055] Figure 5 A cross-sectional view of the joint 20 provided in the present application.

[0056] For the convenience of description, the rotation axis of one of the joints 20 is taken as an example. Figure 5 , Figure 5 The dotted line H shown in FIG. 1 represents a first rotation axis of the joint 20 , and the dotted line L represents a second rotation axis of the joint 20 . The dotted line H and the dotted line L are arranged orthogonally.

[0057] The transmission assembly 30 of the embodiment of the present application includes multiple transmission ropes, which extend from the driving structure 110 of the operating arm 100 to the inside of the joint body 10, and extend toward the joint group along the length direction of the joint body 10, and the multiple transmission ropes can be passed through the joints 20 along the arrangement direction of the multiple joints 20.

[0058] The driving structure 110 of the operating arm 100 can drive each transmission rope to move. The end of each transmission rope away from the joint body 10 can be connected to the joint 20 and can be fixed relative to the joint 20. In this way, when the driving structure 110 of the operating arm 100 drives the transmission rope to move, it can drive the corresponding joint 20 to move.

[0059] It should be noted that the termination position of the end of the transmission rope away from the joint body 10 needs to be determined based on actual conditions. For example, the ends of some transmission ropes can terminate at a joint 20 of the joint group close to the joint body 10, and the ends of other transmission ropes can terminate at a joint 20 of the joint group away from the joint body 10. This will be described in detail below.

[0060] At least part of the transmission ropes are combined in pairs, and the ends of the two combined transmission ropes and the ends of the transmission ropes of different combinations all terminate at the same joint 20, and the connection part of the joint 20 facing away from the joint body 10 is located between the two combined transmission ropes. A group of insertion positions are arranged on both sides of the connection part of the joint 20 facing away from the joint body 10, each group of insertion positions includes at least two insertion holes, and the connection part is located between the two groups of insertion positions. The insertion holes of the same group of insertion positions are arranged at intervals, and the two combined transmission ropes are respectively inserted into one of the insertion holes of the two groups of insertion positions, and the ends of the two transmission ropes respectively extend out of one end of the joint 20 facing away from the joint body 10, and then the ends of the two transmission ropes are respectively inserted into the remaining insertion holes of the insertion positions from the side of the joint 20 facing away from the joint body 10, and the ends of the two transmission ropes can extend out of the joint 20 facing the joint body 10 after passing through the insertion holes, and the ends of the two transmission ropes are connected to the side of the joint 20 facing the joint body 10.

[0061] The flexible joint assembly of the present application combines part of the transmission ropes in pairs, and the ends of the two combined transmission ropes can be connected together after passing through the joint 20, so that the original two transmission ropes can be combined to form a continuous transmission rope, thereby reducing the number of transmission ropes and the manufacturing process of the transmission ropes, thereby reducing the manufacturing cost. Moreover, compared with the related art, the end of the transmission rope is fixed to the joint 20 by setting a jacket at the end of the transmission rope, which eliminates the jacket structure, making the entire structure simpler. After eliminating the jacket structure, it is beneficial to increase the space between adjacent joints 20 to ensure that the joint 20 has sufficient rotation space.

[0062] In addition, the transmission rope of the combination of the present application is passed through the passing position of the joint 20, and the ends of the two transmission ropes of the combination are first passed through the passing holes on the joint 20 respectively and then connected on the other side of the joint 20. In this way, the two combined transmission ropes need to be connected together after passing through multiple passing holes. After the connected parts of the two transmission ropes pass through multiple passing holes, there is not only friction between the part where the transmission rope is passed through the passing hole and the wall of the passing hole, but also friction between the transmission rope located between two adjacent passing holes and the surface of the joint 20, which can prevent the transmission rope from moving relative to the joint 20, so that the two transmission ropes are not easily displaced relative to the joint 20.

[0063] Furthermore, the threading position of the present application is arranged on both sides of the connecting part, so that the two combined transmission ropes can be arranged on both sides of the connecting part, and the connection positions of the two transmission ropes can be set on both sides of the joint 20 away from the connecting part. The gap between the two connected transmission ropes is occupied by the connecting part, which can save the connection space of the two transmission ropes, thereby saving space on the joint 20, which is conducive to providing sufficient space for the connection of the remaining transmission ropes.

[0064] Figure 3 This is a schematic structural diagram of the first joint 21 provided in this application.

[0065] See also Figure 2 and 3 As shown, in some achievable ways, the transmission assembly 30 includes a plurality of first transmission ropes 31, and a first threading hole 213 and a second threading hole 214 penetrating the joint 20 are arranged on both sides of the connection part of the joint 20 facing away from the joint body 10, and the first threading hole 213 and the second threading hole 214 located on the same side of the connection part form a threading position, and among the first threading hole 212 and the second threading hole 214 on the same side of the connection part, the second threading hole 214 is arranged closer to the connection part, and the first transmission rope 31 is inserted in the first threading hole. The spacing between a threading hole 213 and a second threading hole 214 on the same side of the connection part is equal to the spacing between a threading hole 213 and a second threading hole 214 on the other side.

[0066] In the present application, a threading hole 213 and a second threading hole 214 on the same side of the connection part are arranged at intervals, and the spacing between the threading hole 213 and the second threading hole 214 on one side of the connection part is equal to the spacing between the threading hole 213 and the second threading hole 214 on the other side, so that the lengths of the transmission ropes on both sides of the connection part between the threading hole 213 and the second threading hole 214 are equal, so that an "M" shape structure is formed between the two transmission ropes, so that the transmission rope is not easy to be displaced relative to the joint 20, and it is beneficial to make the transmission ropes on both sides of the connection part bear force evenly, and it is beneficial to evenly distribute the driving force of the driving transmission rope.

[0067] In the embodiment of the present application, the joint 20 has two rotating shafts, which are respectively located at opposite ends of the joint 20, that is, the end faces of the joint 20 corresponding to the adjacent joints 20. Two connecting parts are arranged at intervals at the opposite ends of the joint 20 in the direction of the corresponding rotating shafts, and the two connecting parts are located at the edges of the joint 20, and the two opposite connecting parts of the two adjacent joints 20 are correspondingly connected in rotation.

[0068] In the present application, a first threading hole 213 and a second threading hole 214 are provided on both sides of the two connecting parts of the joint 20 facing away from the joint body 10, so that the entire joint 20 is provided with four first threading holes 213 and four second threading holes 214, and the corresponding transmission component 30 is provided with four first transmission ropes 31 passed through the first threading holes 213.

[0069] In some achievable ways, the spacing between the two second threading holes 214 and the connection part of the joint 20 facing away from the joint body 10 is equal. More specifically, the connection part of the joint 20 facing away from the joint body 10 has a rotation axis, and the distance between the center of the second threading hole 214 and the rotation axis is equal. In this way, not only can the spacing between the second threading holes 214 on both sides of the connection part and the rotation axis of the joint 20 be equal, but also the spacing between the first threading holes 213 on both sides of the connection part and the rotation axis of the joint 20 can be equal, so that the connection part is located in the middle of the two first threading holes 213 and the two second threading holes 214. When the ends of the transmission ropes combined on both sides of the connection part pass through the first threading hole 213 and the second threading hole 214 for connection, the lengths of the transmission ropes on both sides of the connection part are consistent, and the distances between the transmission ropes and the connection part are also the same, so that the force applied by the transmission ropes on the joint 20 is relatively uniform, ensuring the accuracy of the movement of the joint 20.

[0070] Combination Figure 3 and Figure 5 As shown, in some possible implementations, the joint 20 has a central axis, which is perpendicular to the two connecting rotation axes of the joint 20. Figure 3 The middle dotted line F represents the central axis of the joint 20, and the extension line of the central axis passes through the two rotating shafts. The two rotating shafts of the joint 20 are arranged orthogonally, and in the direction of the central axis, the two rotating shafts form a "cross" structure, and the two rotating shafts divide the joint 20 into four 90° angle areas, and the joint 20 is provided with a first threading hole 213 and a second threading hole 214 in each area.

[0071] It should be noted that the plurality of first threading holes 213 are arranged on the joint 20 in a manner that is centrosymmetric with respect to the central axis, and the plurality of second threading holes 214 are arranged on the joint 20 in a manner that is centrosymmetric with respect to the central axis.

[0072] Specifically, the distances between the four first threading holes 213 and the central axis are all equal, and each of the four regions formed by the two rotating shafts on the joint 20 is provided with a first threading hole 213 and a second threading hole 214. The first threading holes 213 in the two diagonally arranged regions are symmetrical relative to the central axis, and the second threading holes 214 in the two diagonally arranged regions are symmetrical relative to the central axis. By arranging the first threading holes 213 and the second threading holes 214 symmetrically relative to the central axis, the distances between the two symmetrical first threading holes 213 and the rotating shaft of the joint 20 are equal, so that the torques of the first transmission ropes 31 in the two symmetrical first threading holes 213 are equal, so that the two symmetrical first transmission ropes 31 can apply a uniform driving force to the joint 20.

[0073] Exemplarily, the line connecting the first threading hole 213 and the central axis of the joint 20 and the rotation axis of the joint 20 are arranged at an angle of 45°.

[0074] Figure 4 This is an exploded view of the connection structure between two adjacent joints 20 provided in this application.

[0075] See also Figure 3 and Figure 4 As shown, in some achievable embodiments, the first connection part 211 and the second connection part 212 are respectively provided at opposite ends of the joint 20. When the joint assembly is connected to the joint body 10, a single joint 20 has an end face opposite to the joint body 10 and an end face facing away from the joint body 10. When two adjacent joints 20 are connected, the first connection part 211 is provided on the end face of the joint 20 facing away from the joint body 10, and the second connection part 212 is located on the end face of the joint 20 facing the joint body 10. In the two connected joints 20, the end where the first connection part 211 of one joint 20 is located corresponds to the end where the second connection part 212 of the other joint 20 is located, and the first connection part 211 of one joint 20 is rotatably connected to the second connection part 212 of the other joint 20.

[0076] Specifically, a connecting head 2111 is provided at one end of the first connecting portion 211 away from the joint 20 , and a first connecting groove 2121 is provided at one end of the second connecting portion 212 away from the joint 20 . The connecting heads 2111 of two adjacent joints 20 can be rotatably connected in the connecting grooves.

[0077] Exemplarily, the connecting head 2111 may be circular or semicircular, or the connecting head 2111 may be tooth-shaped, and the first connecting groove 2121 and the connecting head 2111 are adapted to each other.

[0078] It should be noted that two first connection parts 211 and two second connection parts 212 are provided, the two first connection parts 211 are arranged at intervals along one of the rotation axes of the joint 20 , and the two second connection parts 212 are arranged at intervals along the other rotation axis of the joint 20 .

[0079] It is worth mentioning that a connecting piece 40 is also provided between two adjacent joints 20, and the two adjacent joints 20 are rotatably connected together through the connecting piece 40. Specifically, the connecting piece 40 includes an adapter body, on which at least two spaced connecting shafts 43 are convexly provided, a first adapter hole 2112 is further provided on the first connecting portion 211, and a second adapter hole 2122 is further provided on the second connecting portion 212, and the axis of the first adapter hole 2112 is parallel to the axis of the second adapter hole 2122. When the first connecting portion 211 and the second connecting portion 212 between two adjacent joints 20 are connected, the two connecting shafts 43 on the connecting piece 40 can be rotatably connected to the first adapter hole 2112 and the second adapter hole 2122, respectively, and the connecting piece 40 is sandwiched between the two joints 20.

[0080] Since the two joints 20 are connected by two pairs of first connecting parts 211 and second connecting parts 212 , two connecting members 40 are arranged between two adjacent joints 20 in the present application, and the two connecting members 40 are respectively connected between the two pairs of first connecting parts 211 and second connecting parts 212 .

[0081] In the embodiment of the present application, the operating arm 100 is further provided with a main driving rope 130 located at the center of the joint body 10. The main driving rope 130 is passed through the rear end of the joint group and connected to the end effector 140. The main driving rope 130 is used to control the end effector 140 to change its form. In order to allow the main driving rope 130 to pass through the joint group smoothly, a central hole 24 that passes through the joint 20 is further provided at the central position of the joint 20 of the joint group, and the main driving rope 130 is passed through the central hole 24. The connecting pieces 40 between the two joints 20 are arranged at intervals, and the intervals are larger than the size of the main driving rope 130, so that the main driving rope 130 can pass through the joint group smoothly.

[0082] In one example, a protrusion 42 is also protruded from one end of the connection body 41, and a connection shaft 43 is arranged at one end of the protrusion 42 away from the connection body 41. A step structure is formed between the protrusion 42 and the connection body 41, and a clearance groove 25 connected to the first transfer hole 2112 and the second transfer hole 2122 is also arranged on the joint 20, and the clearance groove 25 runs through the joint 20, and the clearance groove 25 is also connected to the center hole 24 on the joint 20. When the connecting member 40 is located between the two joints 20, the two ends of the connection body 41 in the arrangement direction of the two joints 20 are respectively located in the clearance grooves 25 corresponding to the two joints 20, and the protrusion 42 of the connecting member 40 is located in the first transfer hole 2112 and the second transfer hole 2122.

[0083] In order to save materials and reduce weight, a perforation 44 can also be set on the connecting body 41. The perforation 44 passes through the connecting body 41. The setting of the perforation 44 can reduce the materials used in manufacturing the connecting body 41, reduce the manufacturing cost and difficulty, and can reduce the weight of the connecting body 41.

[0084] Figure 6 Another cross-sectional view of the joint 20 provided for the present application.

[0085] See also Figure 5 and Figure 6 As shown, in some achievable embodiments, the joint 20 is further provided with a plurality of third threading holes 215, and the transmission assembly 30 further includes a plurality of third transmission ropes 33, and the plurality of third transmission ropes 33 are respectively passed through the plurality of third threading holes 215. The third threading holes 215 are combined in pairs, and the two combined third threading holes 215 are located on both sides of the rotation axis of the joint 20, and the third threading holes 215 of the same combination are symmetrical about the central axis of the joint 20, so that the distances of the two symmetrical third threading holes 215 from the same rotation axis are consistent.

[0086] In some achievable embodiments, the plurality of third threading holes 215 are arranged at equal intervals around the central axis of the joint 20 , and the distances between two centrally symmetrical third threading holes 215 and the same rotation axis of the joint 20 are equal.

[0087] In the embodiment of the present application, four third threading holes 215 are provided, and a third threading hole 215 is provided in each of the four areas divided by the two rotating axes of the joint 20. Thus, in the embodiment of the present application, four third transmission ropes 33 are provided as an example for explanation, and a third transmission rope 33 is passed through each third threading hole 215.

[0088] In some practicable embodiments, the third threading hole 215 is located on a side of the first threading hole 44 away from the second threading hole 214, so that the first threading hole 213 is located between the second threading hole 214 and the third threading hole 215. To facilitate the description of the positions of the first threading hole 213, the second threading hole 214 and the third threading hole 215 on the joint 20 in the embodiment of the present application, please refer to Figure 5 and Figure 6 As shown, Figure 5 In the arrangement shown, two second threading holes 214 are provided on both sides of the rotation axis L, the two threading holes on the same side are symmetrical with respect to the rotation axis H, and the two second threading holes 214 on both sides of the rotation axis H are symmetrical with respect to the rotation axis L. Similarly, the four fourth threading holes 216 are also arranged in the joint 20 according to this arrangement. In this arrangement, the second threading positions on both sides of the connection part of the joint 20 facing away from the joint body 10 are formed by the two second threading holes 214.

[0089] Figure 6 FIG. 2 shows another arrangement of the second threading hole 214 and the third threading hole 215. Figure 6 The third threading hole 215 located in the upper left area of ​​the joint 20 and the third threading hole 215 located in the lower right area of ​​the joint 20 are a combination, and the two are symmetrical relative to the central axis. The third threading hole 215 in the upper right area of ​​the figure and the third threading hole 215 located in the lower left area of ​​the joint 20 are a combination, and the two are symmetrical relative to the central axis. It can be understood that the distance between the upper left third threading hole 215 and the lower right third threading hole 215 and the axis H is consistent, and the spacing between them is consistent with the axis L. Similarly, the distance between the upper right third perforation 44 and the lower left third threading hole 215 and the axis H is consistent, and the spacing between them is consistent with the axis L.

[0090] The third transmission rope 33 in the upper left third threading hole 215 and the lower right third threading hole 215 can cooperate to drive the joint 20 to rotate around the H axis, and the third transmission rope 33 in the upper right third threading hole 215 and the lower left third threading hole 215 can cooperate to drive the joint 20 to rotate around the L axis.

[0091] In the present application, the four third threading holes 215 are arranged at equal intervals around the central axis of the joint 20, and the four third threading holes 215 are arranged at equal intervals in the direction around the central axis. In this way, the four third threading holes 215 can be arranged in a square on the joint 20 to achieve that the distances between the upper left third threading hole 215 and the lower right third threading hole 215 and the rotation axis H are equal, the distances between the upper right third threading hole 215 and the lower left third threading hole 215 and the rotation axis L are equal, and the distance between the upper left third threading hole 215 and the H axis is equal to the distance between the lower left third threading hole 215 and the L axis.

[0092] In this way, when the joint 20 is driven to rotate by the third transmission rope 33 passed through the third threading hole 215, the torque of the four third transmission ropes 33 is equal. When the joint 20 is rotated by the same angle, the force applied to the four transmission ropes is relatively uniform, which is beneficial to increase the smoothness of driving the joint 20 to rotate.

[0093] exist Figure 6 In the arrangement shown, one of the second threading positions for the end of the first transmission rope 31 to be threaded is formed by the second threading hole 214 , and the other is formed by the third threading hole 215 .

[0094] The distance between the center of the third threading hole 215 and the central axis of the joint 20 may be equal to, smaller than, or larger than the distance between the center of the first threading hole 213 and the central axis of the joint 20 .

[0095] In the present application, the distance between the center of the third threading hole 215 and the central axis of the joint 20 is equal to the distance between the center of the first threading hole 213 and the central axis of the joint 20 for explanation.

[0096] Exemplarily, the distance between the center of the second threading hole 214 and the central axis of the joint 20 is equal to the distance between the center of the first threading hole 213 and the central axis of the joint 20. In this way, the first threading hole 213, the second threading hole 214 and the third threading hole 215 can be located on the same circumference centered on the central axis of the joint 20.

[0097] Exemplarily, in the direction of rotation around the central axis of the joint 20 , the distance between the second threading hole 214 and the first threading hole 213 is equal to the distance between the third threading hole 215 and the first threading hole 213 .

[0098] In some feasible embodiments, a plurality of fourth threading holes 216 are further provided on the joint 20, and the transmission assembly 30 further includes a plurality of fourth transmission ropes 34, which are respectively passed through the plurality of fourth threading holes 216, and the fourth threading holes 216 are combined in pairs and are symmetrical about the central axis of the joint 20.

[0099] In the present application, the example of opening four fourth threading holes 216 is used for explanation, and correspondingly, four fourth transmission ropes 34 of the present application are also provided, and each fourth transmission rope 34 is passed through a fourth threading hole 216 .

[0100] It should be noted that see Figure 6 The four fourth threading holes 216 are respectively located in four areas of the joint 20, and the line connecting the fourth threading hole 216 and the central axis of the joint 20 is set at a 45° angle to the rotation axis of the joint 20. In this way, the center of the first threading hole 213, the center of the fourth threading hole 216 and the central axis of the joint 20 are located on the same straight line.

[0101] Exemplarily, the first threading hole 213 is arranged away from the central axis of the joint 20 relative to the fourth threading hole 216 .

[0102] Figure 7 A structural schematic diagram of the second joint 22 provided in this application, Figure 8 Another structural schematic diagram of the second joint 22 provided in this application.

[0103] See also Figure 1 , Figure 7 and Figure 8As shown, in some feasible embodiments, multiple joints 20 can be combined to form multiple joint groups. For example, in the embodiment of the present application, the joint group includes at least a first joint group 50 and a second joint group 60. The first joint group 50 is connected to the second joint group 60, and one end of the first joint group 50 away from the second joint group 60 is connected to the end effector 140, and the end of the second joint group 60 away from the first joint group 50 is used to be connected to the joint body 10.

[0104] Specifically, the joint 20 includes at least a first joint 21, a second joint 22 and a third joint 23. The first joint group 50 has a plurality of first joints 21 arranged in sequence, and two adjacent first joints 21 are rotatably connected through the first connecting portion 211, the second connecting portion 212 and the connecting member 40 mentioned above. The first joint group 50 is also provided with a second joint 22 and a third joint 23 at intervals. After the plurality of first joints 21 are connected in sequence, the first joint 21 at one end is connected to the second joint 22, and the first joint 21 at the other end is connected to the third joint 23, so that the plurality of first joints 21 are connected between the second joint 22 and the third joint 23.

[0105] The second joint 22 is used to connect with the second joint group 60, and the third joint 23 is used to connect with the end effector 140. A first connecting portion 211 is provided at one end of the second joint 22, and the second joint 22 can be connected to the second connecting portion 212 of the first joint 21 at the end through the first connecting portion 211. A connecting piece 40 is also provided between the first joint 21 and the second joint 22, and the first joint 21 and the second joint 22 can be rotatably connected through the connecting piece 40. A second connecting portion 212 is provided at one end of the third joint 23, and the second connecting portion 212 of the third joint 23 can be connected to the first connecting portion 211 on the first joint 21 at the other end, and a connecting piece 40 is also connected between the third joint 23 and the first joint 21 to realize the rotational connection between the third joint 23 and the first joint 21.

[0106] It should be noted that the ends of the transmission ropes extending from the driving structure 110 of the operating arm 100 to the joint group are terminated at different positions according to requirements. For example, the ends of some transmission ropes are terminated at a joint 20 of the second joint group 60, and the ends of other transmission ropes are terminated at a joint 20 of the first joint group 50. In the embodiment of the present application, see Figure 1 As shown, the ends of the first transmission rope 31 and the fourth transmission rope 34 both terminate at the joint 20 of the first joint group 50, and the end of the first transmission rope 31 terminates at the first joint 21 located in the middle of the first joint group 50, and the end of the fourth transmission rope 34 terminates at the third joint 23.

[0107] It is worth mentioning that there are four fourth transmission ropes 34. When the ends of the four fourth transmission ropes 34 terminate at the third joint 23, the four fourth transmission ropes 34 are divided into a group of two, and the ends of the fourth transmission ropes 34 in a group are connected together, so that an "n"-shaped connection is formed between the two fourth transmission ropes 34 in a group. By connecting the fourth transmission ropes 34 in groups of two, the two fourth transmission ropes 34 can form a continuous transmission rope, thereby reducing the number of transmission ropes and reducing the manufacturing cost of the transmission ropes.

[0108] It is noted that an assembly portion 231 is further provided at one end of the third joint 23 away from the first joint 21 , and the connection point of the fourth transmission rope 34 is located in the assembly portion 231 . A jacket may also be provided in the assembly portion 231 to fix the connection position of the fourth transmission rope 34 in the assembly portion 231 .

[0109] In some achievable embodiments, the second joint group 60 also includes a plurality of first joints 21 , which are connected in sequence, and two adjacent first joints 21 are connected together through the coordinated rotation of the first connecting portion 211 , the second connecting portion 212 and the connecting member 40 .

[0110] The second joint group 60 includes a plurality of second joints 22. The second joint 22 can be arranged in the middle position of the second joint group 60 and connected to the first joint 21. The second joint 22 can also be respectively connected to the first joints 21 at both ends of the first joints 21 connected together.

[0111] When the second joint 22 is connected to the first joint 21 at both ends, the second joint 22 is respectively located at both ends of the second joint group 60, and the second joint group 60 can be respectively connected to the joint body 10 and the second joint 22 on the first joint group 50 through the second joints 22 at both ends.

[0112] One end of the second joint 22 is provided with a first connection part 211 or a second connection part 212. Which connection part is specifically provided needs to be determined according to the type of connection part on the first joint 21 to which the second joint 22 is connected. For example, if the second joint 22 needs to be connected to the first connection part 211 on the first joint 21, the second connection part 212 is provided at the end of the second joint 22. If it needs to be connected to the second connection part 212 on the first joint 21, the first connection part 211 needs to be provided at the end of the second joint 22.

[0113] The other end of the second joint 22 is provided with a connecting platform 221 or a second connecting groove 222. Whether the connecting platform 221 or the second connecting groove 222 is provided at the other end of the second joint 22 also needs to be determined according to the structure connected to the end of the second joint 22. For example, an adapter 11 is provided at the end of the joint body 10 away from the driving structure 110 of the operating arm 100. The second joint 22 at one end of the second joint assembly 60 is used to connect with the adapter 11. If the adapter 11 is provided with a second connecting groove 222, a connecting platform 221 needs to be provided at the end corresponding to the second joint 22. The second joint 22 is connected to the adapter 11 through the connecting platform 221 and the second connecting groove 222. Similarly, the connection between adjacent second joints 22 is also the same.

[0114] In one example, see Figure 2 As shown, the second joint group 60 is also provided with a follower 61, and the follower 61 is arranged in the middle of the second joint group 60. At this time, it is necessary to connect a second joint 22 to each of the two adjacent first joints 21 in the middle of the second joint group 60, and then connect the follower 61 between the two second joints 22.

[0115] Fig. 9 A schematic diagram of the local structure of the flexible joint assembly provided in this application, Fig.10 for Figure 8 The enlarged schematic diagram of point A in the middle. Fig.11 for Figure 8 The enlarged schematic diagram of point B in the middle, Fig.12 for Figure 8 Enlarged schematic diagram of point C in the middle.

[0116] See also Figures 9 to 12 As shown, in the present application, the second joint group 60 is connected to the joint body 10 through the second joint 22, and the end of the second joint 22 facing away from the joint body 10 is sequentially connected to multiple first joints 21. When the third transmission rope 33 of the present application extends from the joint body 10 toward the second joint group 60, it can pass through the third threading hole 215 on the second joint 22 and the third threading holes 215 of the two first joints 21 in sequence, and the end terminates on the second first joint 21. The end of the third transmission rope 33 and the jacket are fixed by squeezing and clamping to fix the end of the third transmission rope 33 relative to the first joint 21.

[0117] In some achievable embodiments, the transmission assembly 30 further includes a second transmission rope 32, one end of which is passed through the second joint 22 connected to the joint body 10, and the other end of the second transmission rope 32 extends toward the second joint group. The second transmission rope 32 is passed through the second threading hole 214 during the extension process, and the end of the second transmission rope 32 away from the joint body 10 extends to the second joint 22 of the first joint group 50 for connection with the second joint group 60. Jackets are provided at both ends of the second transmission rope 32, and the jacket and the ends of the second transmission rope 32 are fixed by squeezing and clamping, and the second transmission rope 32 is tightened between the two second joints 22.

[0118] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A flexible joint assembly, characterized in that: include: Joint body; At least one joint group, the joint group includes a plurality of joints arranged in sequence, the two opposite ends of the joints are provided with connection parts, two adjacent joints are rotatably connected through the connection parts, and the connection axes of the same joint and the two adjacent joints are orthogonally arranged, and the joints located at the ends are connected to the joint body; and A transmission component, wherein the transmission component includes multiple transmission ropes, and the multiple transmission ropes are all inserted into the joints from the joint body along the direction in which the multiple joints are arranged. At least some of the transmission ropes are combined in pairs, and two groups of insertion positions are provided on both sides of the connection part of one end of the joint, so that the connection part is clamped between the two groups of the insertion positions, and each group of the insertion positions includes at least two insertion holes. The transmission ropes combined in pairs are respectively inserted into the insertion holes of the two groups of the insertion positions, and the ends of the transmission ropes combined in pairs are connected to the side of the joint facing away from the connection part after passing through the corresponding insertion holes.

2. The flexible joint assembly according to claim 1, characterized in that: The transmission assembly includes multiple first transmission ropes, and a first threading hole and a second threading hole that pass through the joint are arranged on both sides of the connection part of the joint facing away from the joint body. The first threading hole and the second threading hole are combined into the threading position, and the first transmission rope is passed through the first threading hole.

3. The flexible joint assembly according to claim 2, characterized in that: The distances between the two second threading holes and the connection portion of the joint facing away from the joint body are equal.

4. The flexible joint assembly according to claim 3, characterized in that: The joint has a central axis, which is perpendicular to the two connecting shafts of the joint. The first plurality of threading holes are arranged in the joint in a manner symmetrical with respect to the central axis, and the second plurality of threading holes are arranged in the joint in a manner symmetrical with respect to the central axis.

5. The flexible joint assembly according to claim 3, characterized in that: The joint is also provided with a plurality of third threading holes, and the transmission assembly also includes a plurality of third transmission ropes, which are respectively passed through the plurality of third threading holes. The third threading holes are combined in pairs, and the third threading holes in the same combination are symmetrical about the central axis of the joint.

6. The flexible joint assembly according to claim 5, characterized in that: The plurality of third threading holes are arranged at equal intervals around the central axis of the joint, and the distances between two centrally symmetrical third threading holes and the same rotation axis of the joint are equal.

7. The flexible joint assembly according to claim 5, characterized in that: The joint is also provided with a plurality of fourth threading holes, and the transmission assembly further comprises a plurality of fourth transmission ropes, which are respectively passed through the plurality of fourth threading holes, and the fourth threading holes are combined in pairs and are symmetrical about the central axis of the joint.

8. The flexible joint assembly according to claim 1, characterized in that: The joint is provided with a first connection part and a second connection part at two opposite ends thereof, respectively, and the first connection part and the second connection part are rotatably connected; A connecting piece is also provided between two adjacent joints, and at least two spaced connecting shafts are protruding from the connecting piece. A first adapter hole is also provided on the first connecting part, and a second adapter hole is also provided on the second connecting part. The two connecting shafts on the connecting piece are rotatably connected to the first adapter hole and the second adapter hole respectively.

9. The flexible joint assembly according to any one of claims 1 to 8, characterized in that: The joint group includes at least a first joint group and a second joint group, the first joint group has a plurality of first joints arranged in sequence, the first joint group is also provided with second joints and third joints at intervals, a plurality of the first joints are connected in sequence between the second joints and the third joints, the second joint group includes a plurality of first joints, a plurality of the first joints are connected in sequence, second joints are also provided at both ends of the second joint group, and the second joint group is respectively connected to the joint body and the second joint on the first joint group through the second joints at both ends.

10. A surgical robot, characterized in that: Comprising the flexible joint assembly as described in any one of claims 1-9.

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