Modular joint, mechanical arm and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a modular joint, a mechanical arm and a surgical robot. The modular joint comprises an encoder, a driving piece and a rotating shaft. The driving part comprises a stator and a rotor which is coaxially and rotatably arranged on the inner side of the stator in a penetrating manner; a threading hole is coaxially formed in the rotating shaft in a penetrating mode, the threading hole is an equal-diameter through hole, an installation part is integrally arranged on the side wall of the rotating shaft in a protruding mode, the encoder is arranged on the rotating shaft in a sleeving mode, the rotor is arranged on the installation part in a sleeving mode, a groove is formed in the side wall, used for making contact with the rotor, of the installation part, and the groove is at least partially right opposite to the rotor. The modular joint, the mechanical arm and the surgical robot are simple in structure and convenient to machine and assemble, the weight can be reduced, meanwhile, the modular joint can be prevented from being overheated, and the surgical safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a modular joint, a mechanical arm and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a doctor control end and a patient operation end. The doctor control end includes an input handle, a robotic arm, and a base. The robotic arm is connected between the base and the input handle. The patient operation end includes a robotic arm, which is used to install surgical instruments. During the operation, the doctor controls the surgical instruments through the input handle to perform the operation.

[0003] The robot arm is provided with modular joints, and the arm rods on both sides of the modular joints are connected by rotation through the modular joints. The modular joints are provided with motors and encoders. The motor can play a booster role, actively compensate for the gravity of the robot arm, and reduce the inertia force that the doctor needs to overcome. The encoder is used to detect the relative rotation angle of the arm rods on both sides of the modular joint. Since the motor needs to output a large torque, the inner diameter of the motor is usually large and larger than the inner diameter of the encoder.

[0004] In the prior art, for example, CN106826906A - A modular joint for a mechanical arm without a torque sensor discloses that the outer wall of the rotating shaft is set to a stepped shape to facilitate adapting to structures such as motors and brakes of different diameters. In order to reduce the weight of the rotating shaft and the modular joint, the inner wall of the rotating shaft is also set to a stepped shape, so that the wall thickness of the rotating shaft is thinner. This structural setting is not conducive to production and processing. If the rotating shaft includes a hollow threading shaft and a stepped mounting structure fixedly sleeved on the outside of the threading shaft, the structure of the modular joint will be complicated, which is not conducive to processing.

[0005] Based on this, there is an urgent need for a modular joint, a robotic arm and a surgical robot to solve the problems mentioned above. Summary of the invention

[0006] The purpose of the present invention is to provide a modular joint, a robotic arm and a surgical robot. The structure of the modular joint is relatively simple, which is easy to process and assemble, and can also reduce weight. At the same time, it can also prevent the modular joint from overheating and ensure the safety of the operation.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] Modular joints, including:

[0009] Encoder;

[0010] A driving member, the driving member comprising a stator and a rotor coaxially and rotatably disposed inside the stator;

[0011] A rotating shaft, wherein the rotating shaft is coaxially provided with a threading hole, the threading hole is a through hole of equal diameter, a mounting portion is integrally protruded on the side wall of the rotating shaft, the encoder is sleeved on the rotating shaft, the rotor is sleeved on the mounting portion, and a groove is provided on the side wall of the mounting portion for contacting the rotor, and the groove is at least partially opposite to the rotor.

[0012] As an optional technical solution for the modular joint, the groove extends along the axial direction of the rotating shaft, and the first end of the groove passes through one end of the mounting portion along the axial direction, and the second end of the groove is spaced apart from the end face of the other end of the mounting portion.

[0013] As an optional technical solution for modular joints, a guide channel is provided on the mounting portion, one end of the guide channel is connected to the second end of the groove, and the other end passes through the end surface of the mounting portion close to the second end, and the guide channel extends in a spiral direction, and the width of the guide channel is smaller than the width of the groove.

[0014] As an optional technical solution for the modular joint, the guide channel includes a first guide channel and a second guide channel, and the rotation direction of the first guide channel is opposite to that of the second guide channel.

[0015] As an optional technical solution for the modular joint, a plurality of guide channels are evenly spaced along the circumference of the rotating shaft, at least two of the first guide channels and at least two of the second guide channels are provided, and at least two of the first guide channels and at least two of the second guide channels are alternately arranged.

[0016] As an optional technical solution for a modular joint, a guide portion is protrudingly provided on the end surface of the mounting portion close to the second end of the groove, and the guide portion is provided in a one-to-one correspondence with the guide channel. The guide portion is located on one side of the corresponding guide channel, and one end of the guide portion away from the mounting portion is inclined toward the other side of the corresponding guide channel so that the airflow can enter the guide channel.

[0017] As an optional technical solution for the modular joint, a limiting portion is protruding from the side wall of the mounting portion, and the limiting portion is located between the second end of the groove and the end face of the corresponding end of the mounting portion. The limiting portion is spaced apart from the second end of the groove, and the limiting portion is in contact with the end face of the rotor.

[0018] As an optional technical solution for the modular joint, the limiting portion is in the shape of a closed ring, and the limiting portion is arranged along the circumference of the rotating shaft.

[0019] As an optional technical solution for the modular joint, the second end of the groove is provided with an arc-shaped connecting surface, one end of the connecting surface is connected to the bottom surface of the groove, and the other end is connected to the side wall of the mounting portion, and the connecting surface is arranged tangent to the bottom surface of the groove.

[0020] As an optional technical solution for the modular joint, the modular joint also includes a heat sink, which is arranged in the groove. The heat sink is respectively connected to the mounting portion and the rotor, and a heat dissipation space is enclosed between the side walls of the heat sink and the side walls of the groove.

[0021] As an optional technical solution for the modular joint, at least two heat dissipation spaces are enclosed between the heat sink and the side walls of the groove, and at least two heat dissipation spaces in the same groove are connected.

[0022] As an optional technical solution for the modular joint, the mounting portion is annular; and / or at least two grooves are provided at intervals along the circumference of the rotating shaft.

[0023] A robotic arm comprising modular joints as described above.

[0024] A surgical robot comprising the robotic arm as described above.

[0025] Beneficial effects of the present invention:

[0026] The modular joint provided by the present invention comprises an encoder, a driving member and a rotating shaft. By integrating the mounting portion with the rotating shaft, the rotating shaft is avoided to be set as a threading shaft and the double-layer structure formed by the mounting structure, the number of parts of the modular joint is reduced, the structure of the modular joint is simplified, and processing and assembly are facilitated; at the same time, a groove is provided on the mounting portion, which can achieve the effect of reducing the weight of the rotating shaft, reduce the weight of the modular joint, reduce the inertia force that the operator needs to overcome during operation, help reduce the fatigue of the operator, improve the safety of the operation, and reduce the gravity that the gravity compensation structure such as the driving member needs to balance, thereby avoiding increasing the volume of the driving member, thus reducing the volume of the modular joint, and further reducing the area that needs to be finely processed on the side wall of the mounting portion, which is convenient for processing and assembly; in addition, the groove is at least partially arranged opposite to the rotor, and the airflow entering the groove can achieve heat dissipation for the driving member, prevent the driving member from overheating, ensure that the driving member can reliably achieve the effect of gravity compensation, improve the durability of the driving member and the reliability when using, and further ensure the safety of the operation.

[0027] The robotic arm provided by the present invention includes the above-mentioned modular joints. The structure of the modular joints is relatively simple, which is easy to process and assemble. The weight of the modular joints and the robotic arm is also reduced, which is beneficial to reducing the fatigue of the operator and improving the safety of the operation. It also reduces the gravity that needs to be balanced by gravity compensation structures such as driving parts, thereby reducing the size of the robotic arm. It can also prevent the modular joints from overheating, ensure the durability of the robotic arm and its reliability during use, and further ensure the safety of the operation.

[0028] The surgical robot provided by the present invention includes the above-mentioned robotic arm, which has a simple structure, light weight, and small size, is easy to process and assemble, helps reduce the fatigue of the operator, improves the safety of the operation, and can also prevent the modular joints from overheating, thereby ensuring the durability of the robotic arm and its reliability during use, further ensuring the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the structure of a surgical robot provided by an embodiment of the present invention;

[0030] Figure 2 is a cross-sectional view of a mechanical arm provided by an embodiment of the present invention;

[0031] Figure 3 yes Figure 2 A partial enlarged view of the middle A;

[0032] Figure 4 is a partial structural schematic diagram of a modular joint provided by an embodiment of the present invention;

[0033] Figure 5 is a schematic structural diagram of a first angle of a rotating shaft provided by an embodiment of the present invention;

[0034] Figure 6 is a schematic structural diagram of a second angle of a rotating shaft provided by an embodiment of the present invention;

[0035] Figure 7 yes Figure 6 A partial enlarged view of point B in the middle;

[0036] Figure 8 yes Figure 6 A partial enlarged view of point C in the middle;

[0037] Fig. 9 is a cross-sectional view of a modular joint provided by an embodiment of the present invention;

[0038] Fig.10 yes Fig. 9 A partial enlarged view of point D in the middle.

[0039] In the figure:

[0040] 10. Robotic arm; 101. First arm; 102. Second arm; 103. Modular joint; 20. Base; 30. Input handle;

[0041] 1. Shell; 2. Encoder;

[0042] 3. Driving member; 31. Stator; 32. Rotor;

[0043] 4. rotating shaft; 41. threading hole; 42. mounting portion; 43. groove; 431. connecting surface; 432. groove bottom surface; 44. limiting portion; 45. guide channel; 451. first guide channel; 452. second guide channel; 46. guide portion;

[0044] 5. heat sink; 51. first connection portion; 52. second connection portion; 53. middle connection portion;

[0045] 6. Heat dissipation space. DETAILED DESCRIPTION

[0046] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0049] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0050] This embodiment provides a surgical robot, which includes a doctor control end and a patient surgical end. Figure 1 As shown, the doctor control end includes a base 20, a mechanical arm 10 and an input handle 30. The mechanical arm 10 is connected between the input handle 30 and the base 20. Surgical instruments are arranged on the patient's surgical end. During the operation, the doctor can control the surgical instruments through the input handle 30 to perform the operation on the patient.

[0051] Furthermore, the robot arm 10 includes a first arm 101, a second arm 102, and a modular joint 103 connected between the first arm 101 and the second arm 102. The first arm 101 can be rotatably connected to the second arm 102 through the modular joint 103. The second arm 102 is used to connect the input handle 30, and the first arm 101 is used to connect to the base 20.

[0052] Furthermore, if Figure 1-Figure 10 As shown, the modular joint 103 includes an encoder 2, a driving member 3 and a rotating shaft 4. The driving member 3 includes a stator 31 and a rotor 32. The rotor 32 is coaxially arranged inside the stator 31, and the rotor 32 can rotate relative to the stator 31. The rotating shaft 4 is coaxially provided with a threading hole 41, and a mounting portion 42 is integrally protruded on the side wall of the rotating shaft 4. The encoder 2 is sleeved on the rotating shaft 4, and the rotor 32 is sleeved on the mounting portion 42. The mounting portion 42 is provided with a groove 43 on the side wall for contacting the rotor 32, and the groove 43 is at least partially opposite to the rotor 32. Among them, the threading hole 41 is a through hole with equal diameter.

[0053] The modular joint 103 provided in this embodiment includes an encoder 2, a drive member 3 and a rotating shaft 4. By integrating the mounting portion 42 with the rotating shaft 4, the double-layer structure formed by setting the rotating shaft 4 as a threading shaft and the mounting structure is avoided, the number of parts of the modular joint 103 is reduced, the structure of the modular joint 103 is simplified, and it is easy to process and assemble; at the same time, a groove 43 is provided on the mounting portion 42, which can achieve the effect of reducing the weight of the rotating shaft 4, reduce the weight of the modular joint 103, avoid increasing the inertia force that the operator needs to overcome during operation, help reduce the fatigue of the operator, improve the safety of the operation, and also reduce the gravity compensation of the drive member 3 and the like. The gravity compensation structure needs to balance, thereby avoiding increasing the volume of the driving member 3, reducing the volume of the modular joint 103, and reducing the area that needs to be fine-machined on the side wall of the mounting portion 42, further facilitating processing and assembly; in addition, the groove 43 is at least partially arranged opposite to the rotor 32, and the airflow entering the groove 43 can dissipate heat for the driving member 3 to prevent the driving member 3 from overheating, thereby ensuring that the driving member 3 can reliably achieve the effect of gravity compensation, thereby improving the durability of the driving member 3 and the reliability during use, and further ensuring the safety of the operation.

[0054] The robotic arm 10 provided in this embodiment includes the above-mentioned modular joints 103. The structure of the modular joints 103 is relatively simple, which is easy to process and assemble. It also reduces the weight of the modular joints 103 and the robotic arm 10, which helps to reduce the fatigue of the operator and improve the safety of the operation. It also reduces the gravity that needs to be balanced by the gravity compensation structure such as the drive member 3, thereby reducing the volume of the robotic arm 10 and preventing the modular joints 103 from overheating, thereby ensuring the durability of the robotic arm 10 and the reliability during use, further ensuring the safety of the operation.

[0055] The surgical robot provided in this embodiment includes the above-mentioned robotic arm 10. The robotic arm 10 has a simple structure, light weight, and small size, and is easy to process and assemble, which helps to reduce the fatigue of the operator and improve the safety of the operation. It can also prevent the modular joint 103 from overheating, thereby ensuring the durability of the robotic arm 10 and its reliability during use, and further ensuring the safety of the operation.

[0056] The modular joint 103 further includes a housing 1. Specifically, the housing 1 is fixedly connected to the first arm 101, and the stator 31 is fixedly connected to the housing 1. Both ends of the rotating shaft 4 extend out of the housing 1 and are fixedly connected to the second arm 102. Thus, the first arm 101 can be rotatably connected to the second arm 102 through the modular joint 103.

[0057] In this embodiment, the driving member 3 is a motor, and the driving member 3 is used to actively compensate for the gravity of the robot arm 10, reducing the inertia force that the operator needs to overcome during surgery. The driving member 3 is placed in the housing 1. The structure of the driving member 3 can refer to the prior art, which is not the focus of protection of this embodiment and will not be described here. In other embodiments, the driving member 3 can also be other structures, which are not limited here.

[0058] As a preferred solution, the mounting portion 42 is annular, and the rotor 32 is fixedly mounted on the mounting portion 42, thereby ensuring a larger contact area between the mounting portion 42 and the rotor 32, thereby facilitating the transfer of heat from the rotor 32 to the rotating shaft 4, and conducting the heat through the rotating shaft 4 to other external structures and dissipating the heat, thereby preventing the drive member 3 from overheating, ensuring that the drive member 3 can reliably achieve the effect of gravity compensation, improving the durability of the drive member 3 and the reliability during use, and further ensuring the safety of the operation.

[0059] Specifically, the mounting portion 42 is coaxially arranged with the rotating shaft 4, the mounting portion 42 is coaxially sleeved with the rotor 32, and the diameter of the mounting portion 42 is the same as the inner diameter of the rotor 32. In this embodiment, the mounting portion 42 and the rotating shaft 4 are both made of metal.

[0060] Further, the groove 43 extends along the axial direction of the rotating shaft 4, and the first end of the groove 43 passes through one end of the mounting portion 42 along the axial direction, and the second end of the groove 43 is spaced apart from the end surface of the other end of the mounting portion 42 along the axial direction. It is assumed that the first end of the groove 43 passes through the mounting end of the mounting portion 42, and the other end of the mounting portion 42 along the axial direction is the limiting end, that is, the limiting end and the mounting end are opposite ends of the mounting portion 42 along the axial direction. The above-mentioned arrangement, i.e., the spacing between the groove 43 and the limiting end of the mounting portion 42, forms a relatively complete annular structure between the second end of the groove 43 and the limiting end, thereby ensuring the structural strength of the rotating shaft 4 and the mounting portion 42 and improving the durability of the modular joint 103; it also reduces the possibility of deformation of the outer surface of the mounting portion 42 due to the opening of the groove 43, ensures the reliable installation between the mounting portion 42 and the rotor 32, ensures the fitting arrangement between the outer wall of the mounting portion 42 and the inner wall of the rotor 32, thereby ensuring that the heat generated on the driving member 3 can be transferred to the rotating shaft 4 in time to prevent the driving member 3 from overheating; it also ensures the installation accuracy between the mounting portion 42 and the rotor 32, ensures the coaxiality between the stator 31 and the rotor 32, thereby facilitating the stable rotation of the driving member 3, ensuring that the driving member 3 can stably output torque, and enabling the driving member 3 to reliably achieve the function of gravity compensation, thereby avoiding increasing the inertia force that the operator needs to overcome during operation, and helping to reduce the fatigue of the operator, further ensuring the safety of the operation.

[0061] In this embodiment, at least two grooves 43 are spaced apart along the circumference of the rotating shaft 4, which increases the weight reduced by the grooves 43, helps to reduce the fatigue of the operator, improves the safety of the operation, and reduces the gravity that needs to be balanced by the gravity compensation structure such as the driving member 3, thereby avoiding increasing the volume of the driving member 3 and reducing the volume of the modular joint 103.

[0062] As a preferred solution, the second end of the groove 43 is provided with an arc-shaped connecting surface 431, one end of the connecting surface 431 is connected to the groove bottom surface 432 of the groove 43, and the other end is connected to the side wall of the mounting portion 42, and the connecting surface 431 is arranged tangent to the groove bottom surface 432. By providing the connecting surface 431, the number of edges formed by the groove 43 on the mounting portion 42 is reduced, the positions where stress concentration is generated on the mounting portion 42 are reduced, the risk of damage to the mounting portion 42 is reduced, the structural strength of the mounting portion 42 is ensured, the durability of the modular joint 103 is improved, the maintenance cost is reduced, and the reliability of the modular joint 103 when in use is improved, and the safety of the operation is further ensured.

[0063] In this embodiment, the groove bottom surface 432 of the groove 43 is the bottom surface close to the axis of the shaft 4 along the radial direction of the shaft 4. The groove bottom surface 432 extends along the axis of the shaft 4. The axis of the connecting surface 431 is arranged parallel to the groove bottom surface 432.

[0064] Preferably, a limiting portion 44 is protruding from the side wall of the mounting portion 42, and the limiting portion 44 is fitted with the end face of the rotor 32. By setting the limiting portion 44, the installation position of the rotor 32 on the mounting portion 42 can be determined, which is convenient for assembly. Further, the limiting portion 44 is located between the second end of the groove 43 and the end face of the limiting end of the mounting portion 42, that is, the limiting portion 44 is located on the annular structure formed between the second end of the groove 43 and the limiting end, which improves the structural strength of the limiting portion 44, avoids deformation of the limiting portion 44, ensures the installation accuracy of the rotor 32, improves the coaxiality of the stator 31 and the rotor 32, and ensures that the driving member 3 can reliably achieve the function of gravity compensation, improves the durability of the driving member 3 and the reliability during use, and further ensures the safety of the operation.

[0065] As a preferred solution, the limiting portion 44 is spaced apart from the second end of the groove 43, which facilitates the processing of the groove 43 and reduces the processing difficulty. It also makes the axial dimension of the annular structure formed between the second end of the groove 43 and the limiting end larger, further ensuring the structural strength of the rotating shaft 4 and the mounting portion 42.

[0066] Furthermore, the limiting portion 44 is in the shape of a closed ring, and the limiting portion 44 is arranged in the circumferential direction of the rotating shaft 4, which improves the structural strength of the limiting portion 44, ensures the positioning function of the limiting portion 44, and avoids deformation of the limiting portion 44, thereby ensuring the installation accuracy of the rotor 32, and improving the coaxiality of the stator 31 and the rotor 32, thereby ensuring that the driving member 3 can reliably realize the function of gravity compensation, improving the durability of the driving member 3 and the reliability during use, and further ensuring the safety of the operation.

[0067] In this embodiment, an end surface of the limiting portion 44 away from the groove 43 is flush with an end surface of the limiting end of the mounting portion 42 .

[0068] In other embodiments, the end surface of the limiting portion 44 away from the groove 43 may also be spaced apart from the end surface of the limiting end of the mounting portion 42 , and the limiting portion 44 may also be a block structure, which is not limited here.

[0069] As a preferred solution, a guide channel 45 is provided on the mounting portion 42, one end of the guide channel 45 is connected to the second end of the groove 43, and the other end passes through the end surface of the mounting portion 42 near the second end, and the guide channel 45 extends in a spiral direction. By providing the guide channel 45, the airflow can enter or flow out of the groove 43 through the guide channel 45, thereby improving the heat dissipation effect of the airflow on the driving member 3, preventing the driving member 3 from overheating, ensuring that the driving member 3 can reliably achieve the gravity compensation effect, improving the durability of the driving member 3 and the reliability during use, and further ensuring the safety of the operation; at the same time, when the driving member 3 rotates, if the guide channel 45 is extended along the axial direction of the rotating shaft 4, it is not convenient for the airflow to enter or flow out, and the guide channel 45 is set to be extended in a spiral, which further facilitates the airflow to enter or flow out, and ensures the heat dissipation effect on the driving member 3.

[0070] In this embodiment, the guide channel 45 is communicated with the connecting surface 431 of the groove 43 .

[0071] Preferably, the width of the guide channel 45 is smaller than the width of the groove 43, and the groove depth of the guide channel 45 is smaller than the groove depth of the groove 43. Under the premise that the airflow in the groove 43 can achieve heat dissipation, the influence of the guide channel 45 on the structural strength of the mounting part 42 is reduced, thereby ensuring the durability of the modular joint 103 and the installation accuracy between the mounting part 42 and the rotor 32, so that the driving member 3 can reliably achieve the effect of gravity compensation, which is beneficial to reduce the fatigue of the operator and further ensure the safety of the operation.

[0072] In this embodiment, the guide channel 45 is opened on the side wall of the mounting portion 42 , that is, the guide channel 45 passes through the side wall of the mounting portion 42 .

[0073] In other embodiments, the guide channel 45 may also be opened on the inner side of the mounting portion 42 , that is, the guide channel 45 is spaced apart from the side wall of the mounting portion 42 , and the guide channel 45 does not pass through the side wall of the mounting portion 42 , which is beneficial to ensure the structural strength of the mounting portion 42 .

[0074] It is understandable that the guide channel 45 is opened on the annular structure formed between the groove 43 and the limiting end of the mounting portion 42. Due to the setting of the annular limiting portion 44, the influence of the guide channel 45 on the structural strength of the annular structure and the mounting portion 42 can also be reduced.

[0075] During the operation, the stator 31 and the rotor 32 may rotate clockwise or counterclockwise for the driving member 3. Preferably, the guide channel 45 includes a first guide channel 451 and a second guide channel 452, and the first guide channel 451 and the second guide channel 452 have opposite rotation directions, so that during the relative rotation of the stator 31 and the rotor 32 in two directions, the airflow can enter or flow out of the groove 43 through the first guide channel 451 or the second guide channel 452, ensuring that no matter in which direction the rotor 32 rotates, the airflow can smoothly pass through the groove 43, ensuring the heat dissipation function of the airflow channel formed by the groove 43 and the guide channel 45, and ensuring the heat dissipation effect on the driving member 3.

[0076] Preferably, a plurality of guide channels 45 are evenly spaced along the circumference of the rotating shaft 4, at least two first guide channels 451 and at least two second guide channels 452 are each provided, and at least two first guide channels 451 and at least two second guide channels 452 are alternately arranged, that is, the guide channels 45 of two rotation directions are evenly arranged along the circumference of the rotating shaft 4, so that when the rotor 32 rotates in two directions, the airflow has a more uniform heat dissipation effect on the driving member 3, thereby ensuring the heat dissipation effect.

[0077] In this embodiment, the number of the first guide channels 451 is the same as the number of the second guide channels 452. In other embodiments, the number of the first guide channels 451 and the second guide channels 452 can also be adaptively selected according to actual conditions, and is not limited here.

[0078] Preferably, each groove 43 is correspondingly provided with at least one first guide channel 451 and at least one second guide channel 452. No matter in which direction the rotor 32 rotates, the airflow can smoothly pass through the groove 43, further ensuring the heat dissipation function of the airflow channel formed by the groove 43 and the guide channel 45, and ensuring the heat dissipation effect on the driving member 3.

[0079] In this embodiment, each groove 43 is correspondingly provided with a first guide channel 451 and a second guide channel 452 , that is, each groove 43 is connected with a first guide channel 451 and a second guide channel 452 .

[0080] Furthermore, for the first guide channel 451 and the second guide channel 452 connected to the same groove 43, the ends of the first guide channel 451 and the second guide channel 452 away from the groove 43 are inclined in directions opposite to each other. Compared with the first guide channel 451 and the second guide channel 452 connected to the groove 43 being inclined in directions opposite to each other, the above arrangement is conducive to reducing the width at the second end of the groove 43, avoiding setting the groove 43 to a larger width, ensuring the structural strength of the mounting portion 42, and improving the durability of the modular joint 103; it also reduces the possibility of deformation of the outer surface of the mounting portion 42 due to the opening of the groove 43, and ensures that there is a larger fitting area between the mounting portion 42 and the rotor 32, ensuring reliable installation between the mounting portion 42 and the rotor 32, and ensuring that the mounting portion 42 The outer wall of the drive member 3 is fitted with the inner wall of the rotor 32, thereby ensuring that the heat generated on the drive member 3 can be transferred to the rotating shaft 4 in time to prevent the drive member 3 from overheating; it also ensures the installation accuracy between the mounting portion 42 and the rotor 32, and ensures the coaxiality between the stator 31 and the rotor 32, which is conducive to the stable rotation of the drive member 3, and ensures that the drive member 3 can stably output torque, so that the drive member 3 can reliably achieve the effect of gravity compensation, avoids increasing the inertia force that the operator needs to overcome during operation, is conducive to reducing the operator's fatigue level, and further ensures the safety of the operation.

[0081] As a preferred solution, a guide portion 46 is protrudingly provided on the end surface of the mounting portion 42 near the second end of the groove 43. The guide portion 46 is provided in one-to-one correspondence with the guide channel 45. The guide portion 46 is located on one side of the corresponding guide channel 45. The end of the guide portion 46 away from the mounting portion 42 is inclined toward the other side of the corresponding guide channel 45, so that the airflow can enter the guide channel 45. By providing the guide portion 46, the airflow can be guided, which facilitates the airflow to flow into the guide channel 45, ensuring that the airflow can smoothly pass through the groove 43, ensuring the heat dissipation function of the airflow channel formed by the groove 43 and the guide channel 45, and ensuring the heat dissipation effect on the driving member 3.

[0082] In this embodiment, the guide portion 46 is spiral, and the extending direction of the guide portion 46 is the same as the extending direction of the corresponding guide channel 45 .

[0083] For the first guide channel 451 and the second guide channel 452 connected to the same groove 43, the two guide portions 46 corresponding to the first guide channel 451 and the second guide channel 452 are respectively located on the side close to each other of the first guide channel 451 and the second guide channel 452. The side walls of the two guide portions 46 on the side opposite to each other are coplanar with the side walls of the corresponding guide channel 45.

[0084] As a preferred solution, the modular joint 103 further includes a heat sink 5, which is disposed in the groove 43, connected to the mounting portion 42 and the rotor 32, and a heat dissipation space 6 is enclosed between the side wall of the heat sink 5 and the groove side wall of the groove 43. With the above arrangement, while utilizing airflow to achieve heat dissipation, the heat generated on the rotor 32 can be directly transferred to the mounting portion 42 and the rotating shaft 4 through the heat sink 5, thereby improving the heat dissipation efficiency of the driving member 3, preventing the driving member 3 from overheating, ensuring that the driving member 3 can reliably achieve the function of gravity compensation, improving the durability of the driving member 3 and the reliability during use, and further ensuring the safety of the operation.

[0085] In this embodiment, the heat sink 5 is made of thermally conductive silicone. The thermally conductive silicone has a good heat transfer effect and can also play a connecting role between the rotor 32 and the mounting portion 42, thereby improving the reliability of the connection between the rotor 32 and the mounting portion 42. The rotating shaft 4 and the mounting portion 42 are both set to metal materials, and a groove 43 is provided on the mounting portion 42, and the heat sink 5 set in the groove 43 is set to thermally conductive silicone, which can also reduce the weight of the modular joint. In some embodiments, the heat sink 5 can also be made of other materials that are conducive to heat dissipation. The surface of the heat sink 5 is attached with thermally conductive silicone. The heat sink 5 is connected to the rotor 32 and the mounting portion 42 through the thermally conductive silicone, which is not limited here.

[0086] Preferably, at least two heat dissipation spaces 6 are enclosed between the heat sink 5 and the side walls of the groove 43 , and at least two heat dissipation spaces 6 in the same groove 43 are connected, further ensuring the flow of air in the groove 43 and ensuring the heat dissipation effect for the driver 3 .

[0087] Specifically, the cross section of the heat sink 5 is in the shape of an I. That is, the heat sink 5 includes a first connection portion 51, a second connection portion 52 and an intermediate connection portion 53. The first connection portion 51, the second connection portion 52 and the intermediate connection portion 53 all extend along the axial direction of the rotating shaft 4. The two ends of the intermediate connection portion 53 are respectively connected to the side walls of the first connection portion 51 and the second connection portion 52 facing each other. The side wall of the first connection portion 51 opposite to the second connection portion 52 is attached to the inner side wall of the rotor 32, and the side wall of the second connection portion 52 opposite to the first connection portion 51 is attached to the groove bottom surface 432. A heat dissipation space 6 is formed on both sides of the intermediate connection portion 53. The heat sink 5 is arranged at the groove bottom surface 432 of the groove 43, and the heat sink 5 is not arranged at the connection surface 431, and a confluence space is formed at the connection surface 431 of the groove 43. That is, the two heat dissipation spaces 6 are connected to the confluence space, so that the two heat dissipation spaces 6 in the same groove 43 are connected to each other.

[0088] In this embodiment, two encoders 2 are provided, and the two encoders 2 are respectively an absolute value encoder and an incremental encoder. In other embodiments, the two encoders 2 can also be encoders of other types, which are not limited here.

[0089] In this embodiment, the encoder 2 is fixedly connected to the rotating shaft 4, and the encoder 2 and the mounting portion 42 are arranged along the axial direction of the rotating shaft 4. Preferably, the two encoders 2 are respectively arranged on opposite sides of the mounting portion 42 along the axial direction, ensuring that the weight of the driving member 3 along the axial direction is close to each other. In this embodiment, the inner diameters of the two encoders 2 are the same, and the outer diameters of the rotating shaft 4 located on the axial sides of the mounting portion 42 are the same. The inner diameter of the rotor 32 is larger than the inner diameter of the encoder 2.

[0090] The encoder 2 may be placed inside the housing 1 or outside the housing 1 , which is not limited here.

[0091] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Modular joints, characterized in that, include: Encoder; A driving member, comprising a stator and a rotor coaxially and rotatably disposed inside the stator; The rotating shaft is coaxially provided with a threading hole, the threading hole is a through hole of equal diameter, a mounting portion is integrally protruded on the side wall of the rotating shaft, the encoder is sleeved on the rotating shaft, the rotor is sleeved on the mounting portion, and a groove is provided on the side wall of the mounting portion for contacting the rotor, and the groove is at least partially opposite to the rotor.

2. The modular joint according to claim 1, characterized in that: The groove extends along the axial direction of the rotating shaft, and a first end of the groove passes through one end of the mounting portion along the axial direction, and a second end of the groove is spaced apart from an end surface of the other end of the mounting portion.

3. The modular joint according to claim 2, characterized in that: A guide channel is provided on the mounting portion, one end of the guide channel is connected to the second end of the groove, and the other end passes through the end surface of the mounting portion close to the second end. The guide channel extends in a spiral direction, and the width of the guide channel is smaller than the width of the groove.

4. The modular joint according to claim 3, characterized in that: The guide channel includes a first guide channel and a second guide channel, and the first guide channel and the second guide channel have opposite rotation directions.

5. The modular joint according to claim 4, characterized in that: A plurality of guide channels are evenly spaced along the circumference of the rotating shaft, at least two of the first guide channels and at least two of the second guide channels are provided, and at least two of the first guide channels and at least two of the second guide channels are alternately arranged.

6. The modular joint according to claim 3, characterized in that: A guide portion is protrudingly provided on the end surface of the mounting portion close to the second end of the groove, and the guide portion is provided in a one-to-one correspondence with the guide channel. The guide portion is located on one side of the corresponding guide channel, and one end of the guide portion away from the mounting portion is inclined toward the other side of the corresponding guide channel so that the airflow can enter the guide channel.

7. The modular joint according to claim 2, characterized in that: A limiting portion is protruding from the side wall of the mounting portion, the limiting portion is located between the second end of the groove and the end surface of the corresponding end of the mounting portion, the limiting portion is spaced apart from the second end of the groove, and the limiting portion fits against the end surface of the rotor.

8. The modular joint according to claim 7, characterized in that: The limiting portion extends along the circumferential direction of the rotating shaft, and the limiting portion is in a closed ring shape.

9. The modular joint according to claim 2, characterized in that: The second end of the groove is provided with an arc-shaped connecting surface, one end of the connecting surface is connected to the groove bottom surface of the groove, and the other end is connected to the side wall of the mounting portion, and the connecting surface is tangent to the groove bottom surface.

10. The modular joint according to any one of claims 1 to 9, characterized in that: The modular joint also includes a heat sink, which is arranged in the groove. The heat sink is connected to the mounting portion and the rotor respectively, and a heat dissipation space is enclosed between the side wall of the heat sink and the groove side wall of the groove.

11. The modular joint according to claim 10, characterized in that: At least two heat dissipation spaces are formed between the heat sink and the groove side wall of the groove, and at least two heat dissipation spaces in the same groove are connected.

12. The modular joint according to any one of claims 1 to 9, characterized in that: The mounting portion is annular; and / or, at least two grooves are provided at intervals along the circumference of the rotating shaft.

13. A robotic arm, characterized in that: Comprising a modular joint as described in any one of claims 1-12.

14. A surgical robot, characterized in that: Comprising the robotic arm of claim 13.

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