Modular joints, robotic arms and surgical robots

Abstract

The application 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 piece comprises a stator and a rotor coaxially arranged and rotatingly arranged in the inside of the stator; the rotating shaft coaxially penetrates a threading hole, the threading hole is a straight hole, an installation part is integrally arranged on the side wall of the rotating shaft, the encoder is sleeved on the rotating shaft, the rotor is sleeved on the installation part, a groove is arranged on the side wall of the installation part for contacting the rotor, and the groove at least partially faces the rotor. The modular joint, the mechanical arm and the surgical robot provided by the application have a simple structure, are convenient to process and assemble, can reduce the weight, can prevent the modular joint from overheating, and ensure the safety of surgery.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a modular joint, a robotic arm, and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of a surgeon's control unit and a patient's surgical unit. The surgeon's control unit includes an input handle, a robotic arm, and a base. The robotic arm is connected between the base and the input handle. The patient's surgical unit includes a surgical arm used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments using the input handle.

[0003] The robotic arm is equipped with modular joints, through which the arm arms on both sides are rotatably connected. Each modular joint houses a motor and an encoder. The motor provides assistance, actively compensating for the robotic arm's gravity and reducing the inertial forces the surgeon needs to overcome. The encoder detects the relative rotation angle between the arm arms on either side of the modular joint. Because the motor needs to output significant torque, its inner diameter is typically large, exceeding that of the encoder.

[0004] In existing technologies, such as CN106826906A—a modular joint for a robotic arm without a torque sensor—the outer wall of the rotating shaft is stepped to accommodate motors and brakes of different diameters. To reduce the weight of the rotating shaft and the modular joint, the inner wall of the rotating shaft is also stepped, resulting in a thinner wall. This structural design is disadvantageous for manufacturing. If the rotating shaft includes a hollow threading shaft and a stepped mounting structure fixedly sleeved on the outside of the threading shaft, the modular joint becomes structurally complex and difficult to manufacture.

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

[0006] The purpose of this invention is to provide a modular joint, a robotic arm, and a surgical robot. The modular joint has a simple structure, is easy to process and assemble, can reduce weight, and can also prevent the modular joint from overheating, thus ensuring the safety of the surgery.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] Modular joints, including:

[0009] Encoder;

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

[0011] A rotating shaft has a through hole coaxially extending through it. The through hole is a through hole of equal diameter. An integral mounting part is provided on the side wall of the rotating shaft. The encoder is sleeved on the rotating shaft. The rotor is sleeved on the mounting part. The side wall of the mounting part that contacts the rotor has a groove. The groove is at least partially opposite to the rotor.

[0012] As an optional technical solution for modular joints, 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 part along the axial direction, while the second end of the groove is spaced apart from the end face of the other end of the mounting part.

[0013] As an optional technical solution for modular joints, the mounting part is provided with a guide channel. One end of the guide channel is connected to the second end of the groove, and the other end passes through the end face of the mounting part near 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.

[0014] As an optional technical solution for modular joints, the guide channel includes a first guide channel and a second guide channel, wherein the rotation direction of the first guide channel and the second guide channel are opposite.

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

[0016] As an optional technical solution for modular joints, a guide portion is provided protruding on the end face of the mounting part near the second end of the groove. 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 the end of the guide portion away from the mounting part is inclined toward the other side of the corresponding guide channel so that airflow can enter the guide channel.

[0017] As an optional technical solution for modular joints, a limiting part is provided protruding on the side wall of the mounting part. The limiting part is located between the second end of the groove and the end face of the corresponding end of the mounting part. The limiting part is spaced apart from the second end of the groove and fits against the end face of the rotor.

[0018] As an optional technical solution for modular joints, the limiting part is in the form of a closed ring, and the limiting part is arranged circumferentially along the axis of rotation.

[0019] As an optional technical solution for modular joints, 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 part. The connecting surface is tangent to the bottom surface of the groove.

[0020] As an optional technical solution for the modular joint, the modular joint further includes a heat sink, which is disposed in the groove and is respectively connected to the mounting part and the rotor. The sidewall of the heat sink and the groove sidewall form a heat dissipation space.

[0021] As an optional technical solution for modular joints, the heat sink and the groove sidewall of the groove form at least two heat dissipation spaces, and the at least two heat dissipation spaces at the same groove are connected to each other.

[0022] As an optional technical solution for modular joints, the mounting portion is annular; and / or, at least two grooves are spaced apart circumferentially along the axis of rotation.

[0023] The robotic arm includes modular joints as described above.

[0024] Surgical robots, including the robotic arms described above.

[0025] The beneficial effects of this invention are:

[0026] The modular joint provided by this invention includes an encoder, a drive component, and a rotating shaft. By integrating the mounting part and the rotating shaft, the double-layer structure formed by the rotating shaft as a threading shaft and mounting structure is avoided, reducing the number of parts in the modular joint, simplifying its structure, and facilitating processing and assembly. Simultaneously, the groove on the mounting part reduces the weight of the rotating shaft, lightening the weight of the modular joint, reducing the inertial force that the operator needs to overcome during operation, thus reducing operator fatigue and improving surgical safety. It also reduces the gravity that the drive component and other gravity compensation structures need to balance, thereby avoiding an increase in the size of the drive component and reducing the size of the modular joint. Furthermore, it reduces the area on the side wall of the mounting part that needs precision machining, facilitating processing and assembly. In addition, the groove is at least partially aligned with the rotor, allowing airflow into the groove to dissipate heat from the drive component, preventing overheating and ensuring reliable gravity compensation. This improves the durability and reliability of the drive component during use, further ensuring surgical safety.

[0027] The robotic arm provided by this invention includes the aforementioned modular joints. The modular joints have a simple structure, are easy to process and assemble, and reduce the weight of the modular joints and the robotic arm, which helps to reduce operator fatigue, improve surgical safety, and reduce the gravity that the drive components and other gravity compensation structures need to balance, thereby reducing the size of the robotic arm. It can also prevent the modular joints from overheating, ensuring the durability and reliability of the robotic arm during use, and further ensuring the safety of the surgery.

[0028] The surgical robot provided by this invention includes the aforementioned robotic arm. The robotic arm has a simple structure, is lightweight, and small in size, making it easy to process and assemble. This reduces operator fatigue, improves surgical safety, prevents overheating of modular joints, ensures the durability and reliability of the robotic arm during use, and further guarantees surgical safety. Attached Figure Description

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

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

[0031] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

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

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

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

[0035] Figure 7 yes Figure 6 A magnified view of a section at point B in the middle;

[0036] Figure 8 yes Figure 6 A magnified view of a section at point C;

[0037] Figure 9 This is a cross-sectional view of the modular joint provided in an embodiment of the present invention;

[0038] Figure 10 yes Figure 9 A magnified view of a section at point D.

[0039] In the picture:

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

[0041] 1. Housing; 2. Encoder;

[0042] 3. Drive components; 31. Stator; 32. Rotor;

[0043] 4. Rotating shaft; 41. Threading hole; 42. Mounting part; 43. Groove; 431. Connecting surface; 432. Groove bottom surface; 44. Limiting part; 45. Guide channel; 451. First guide channel; 452. Second guide channel; 46. Guide part;

[0044] 5. Heat sink; 51. First connecting part; 52. Second connecting part; 53. Intermediate connecting part;

[0045] 6. Heat dissipation space. Detailed Implementation

[0046] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0050] This embodiment provides a surgical robot, which includes a doctor's control terminal and a patient's surgical terminal. For example... Figure 1 As shown, the doctor's control unit includes a base 20, a robotic arm 10, and an input handle 30. The robotic arm 10 is connected between the input handle 30 and the base 20. Surgical instruments are mounted on the patient's surgical end. During the surgery, the doctor can control the surgical instruments to perform surgical procedures on the patient via the input handle 30.

[0051] Furthermore, the robotic arm 10 includes a first arm 101, a second arm 102, and a modular joint 103 connecting the first arm 101 and the second arm 102. The first arm 101 is rotatably connected to the second arm 102 via the modular joint 103. The second arm 102 is used to connect to the input handle 30, and the first arm 101 is used to connect to the base 20.

[0052] Furthermore, such as Figures 1-10 As shown, the modular joint 103 includes an encoder 2, a drive component 3, and a rotating shaft 4. The drive component 3 includes a stator 31 and a rotor 32. The rotor 32 is coaxially mounted inside the stator 31 and can rotate relative to the stator 31. The rotating shaft 4 has a through hole 41 coaxially extending through it. A mounting part 42 is integrally protruding from 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 part 42. The side wall of the mounting part 42 that contacts the rotor 32 has a groove 43, which is at least partially aligned with the rotor 32. The through hole 41 is a through hole of equal diameter.

[0053] The modular joint 103 provided in this embodiment includes an encoder 2, a drive component 3, and a rotating shaft 4. By integrating the mounting part 42 with the rotating shaft 4, the double-layer structure formed by the rotating shaft 4 as a threading shaft and mounting structure is avoided, reducing the number of parts in the modular joint 103, simplifying its structure, and facilitating processing and assembly. Simultaneously, the groove 43 provided on the mounting part 42 reduces the weight of the rotating shaft 4, thereby reducing the weight of the modular joint 103, avoiding increased inertial forces that the operator needs to overcome during operation, reducing operator fatigue, improving surgical safety, and also reducing the need for gravity compensation of the drive component 3, etc. The compensation structure requires balanced gravity, thus avoiding an increase in the volume of the drive component 3, which in turn reduces the volume of the modular joint 103 and further reduces the area on the side wall of the mounting part 42 that needs to be precision machined, making it easier to process and assemble. In addition, the groove 43 is at least partially positioned opposite the rotor 32, and the airflow entering the groove 43 can dissipate heat from the drive component 3, preventing it from overheating. This ensures that the drive component 3 can reliably perform gravity compensation, improves the durability and reliability of the drive component 3 during use, and further ensures the safety of the operation.

[0054] The robotic arm 10 provided in this embodiment includes the aforementioned modular joint 103. The modular joint 103 has a relatively simple structure, which is easy to process and assemble. It also reduces the weight of the modular joint 103 and the robotic arm 10, which helps to reduce operator fatigue and improve surgical safety. It also reduces the gravity that the gravity compensation structure such as the drive component 3 needs to balance, thereby reducing the size of the robotic arm 10. It can also prevent the modular joint 103 from overheating, ensuring the durability and reliability of the robotic arm 10 during use, and further ensuring the safety of the surgery.

[0055] The surgical robot provided in this embodiment includes the aforementioned robotic arm 10. The robotic arm 10 has a simple structure, is lightweight, and small in size, making it easy to process and assemble. This helps reduce operator fatigue, improves surgical safety, and prevents the modular joint 103 from overheating, ensuring the durability and reliability of the robotic arm 10 during use, further guaranteeing surgical safety.

[0056] The modular joint 103 also 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. The two ends of the rotating shaft 4 extend out of the housing 1 and are fixedly connected to the second arm 102. This allows the first arm 101 to be rotatably connected to the second arm 102 via the modular joint 103.

[0057] In this embodiment, the drive component 3 is a motor, which actively compensates for the gravity of the robotic arm 10, reducing the inertial force that the operator needs to overcome during surgery. The drive component 3 is housed within the outer casing 1. The structure of the drive component 3 can refer to existing technology and is not the focus of this embodiment, so it will not be described in detail here. In other embodiments, the drive component 3 may have other structures, which are not limited here.

[0058] As a preferred embodiment, the mounting part 42 is annular, and the rotor 32 is fixedly sleeved on the mounting part 42, ensuring a large contact area between the mounting part 42 and the rotor 32. This facilitates the transfer of heat from the rotor 32 to the rotating shaft 4, and then conducts it to other external structures and dissipates it through the rotating shaft 4. This prevents the drive component 3 from overheating, ensures that the drive component 3 can reliably perform the function of gravity compensation, improves the durability of the drive component 3 and its reliability during use, and further ensures the safety of the operation.

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

[0060] Furthermore, the groove 43 extends axially along the rotating shaft 4, and the first end of the groove 43 penetrates one axial end of the mounting portion 42, while the second end of the groove 43 is spaced apart from the end face of the other axial end of the mounting portion 42. The first end of the groove 43 is configured to penetrate the mounting end of the mounting portion 42, and the other axial end of the mounting portion 42 is a limiting end; that is, the limiting end and the mounting end are opposite ends of the mounting portion 42 along the axial direction. The aforementioned arrangement, namely the spacing between the groove 43 and the limiting end of the mounting part 42, forms a relatively complete annular structure between the second end of the groove 43 and the limiting end. This ensures the structural strength of the rotating shaft 4 and the mounting part 42, improving the durability of the modular joint 103. It also reduces the possibility of deformation of the outer surface of the mounting part 42 due to the groove 43, ensuring reliable installation between the mounting part 42 and the rotor 32. It ensures that the outer wall of the mounting part 42 and the inner wall of the rotor 32 are closely fitted, thereby ensuring that the heat generated on the drive component 3 can be transferred to the rotating shaft 4 in a timely manner, preventing the drive component 3 from overheating. Furthermore, it ensures the installation accuracy between the mounting part 42 and the rotor 32, and the coaxiality between the stator 31 and the rotor 32, thus facilitating the stable rotation of the drive component 3. This ensures that the drive component 3 can stably output torque, enabling the drive component 3 to reliably achieve gravity compensation, avoiding increasing the inertial force that the operator needs to overcome during operation, reducing operator fatigue, and further ensuring the safety of the surgery.

[0061] In this embodiment, at least two grooves 43 are spaced apart along the circumference of the rotating shaft 4, which increases the weight reduction through the grooves 43, helps to reduce operator fatigue, improves surgical safety, and also reduces the gravity that the gravity compensation structure such as the drive component 3 needs to balance, thereby avoiding increasing the volume of the drive component 3 and thus reducing the volume of the modular joint 103.

[0062] As a preferred embodiment, 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 bottom surface 432 of the groove 43, and the other end is connected to the side wall of the mounting part 42. The connecting surface 431 is tangential to the bottom surface 432. By providing the connecting surface 431, the number of edges formed by the groove 43 on the mounting part 42 is reduced, the number of stress concentration points on the mounting part 42 is reduced, the risk of damage to the mounting part 42 is lowered, the structural strength of the mounting part 42 is guaranteed, the durability of the modular joint 103 is improved, maintenance costs are reduced, and the reliability of the modular joint 103 during use is also improved, further ensuring the safety of the surgery.

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

[0064] Preferably, a limiting part 44 protrudes from the side wall of the mounting part 42, and the limiting part 44 fits against the end face of the rotor 32. By providing the limiting part 44, the mounting position of the rotor 32 on the mounting part 42 can be determined, facilitating assembly. Furthermore, the limiting part 44 is located between the second end of the groove 43 and the end face of the limiting end of the mounting part 42. That is, the limiting part 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 part 44, avoids deformation of the limiting part 44, ensures the installation accuracy of the rotor 32, improves the coaxiality of the stator 31 and the rotor 32, and thus ensures that the drive component 3 can reliably achieve the function of gravity compensation, improves the durability and reliability of the drive component 3 during use, and further ensures the safety of the operation.

[0065] As a preferred embodiment, the limiting part 44 and the second end of the groove 43 are spaced apart, which facilitates the processing of the groove 43, reduces the processing difficulty, and 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 part 42.

[0066] Furthermore, the limiting part 44 is in the shape of a closed ring and is arranged circumferentially along the rotating shaft 4. This improves the structural strength of the limiting part 44, ensures its positioning function, avoids deformation of the limiting part 44, ensures the installation accuracy of the rotor 32, and improves the coaxiality of the stator 31 and the rotor 32. This ensures that the driving component 3 can reliably achieve the function of gravity compensation, improves the durability and reliability of the driving component 3 during use, and further ensures the safety of the operation.

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

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

[0069] As a preferred embodiment, the mounting part 42 is provided with a guide channel 45. 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 face of the mounting part 42 near the second end. The guide channel 45 extends in a spiral direction. By setting the guide channel 45, airflow can enter or exit the groove 43 through the guide channel 45, which improves the heat dissipation effect of the airflow on the driving component 3, prevents the driving component 3 from overheating, ensures that the driving component 3 can reliably achieve the function of gravity compensation, improves the durability and reliability of the driving component 3 during use, and further ensures the safety of the operation. At the same time, when the driving component 3 rotates, if the guide channel 45 extends axially along the rotating shaft 4, it is not convenient for airflow to enter or exit. Setting the guide channel 45 to extend spirally further facilitates the entry or exit of airflow and ensures the heat dissipation effect on the driving component 3.

[0070] In this embodiment, the guide channel 45 and the connecting surface 431 of the groove 43 are connected.

[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, ensuring the durability of the modular joint 103 and the installation accuracy between the mounting part 42 and the rotor 32. This allows the drive component 3 to reliably achieve the function of gravity compensation, which helps to reduce the operator's fatigue and further ensures the safety of the operation.

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

[0073] In other embodiments, the guide channel 45 may also be provided inside the mounting part 42, that is, the guide channel 45 is provided at an interval between the guide channel 45 and the side wall of the mounting part 42, and the guide channel 45 does not penetrate the side wall of the mounting part 42, which helps to ensure the structural strength of the mounting part 42.

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

[0075] During the operation, the stator 31 and rotor 32 of the drive component 3 may rotate clockwise or counterclockwise. Preferably, the guide channel 45 includes a first guide channel 451 and a second guide channel 452, with the first guide channel 451 and the second guide channel 452 rotating in opposite directions. This allows airflow to enter or exit the groove 43 through either the first guide channel 451 or the second guide channel 452 during the relative rotation of the stator 31 and rotor 32. This ensures that airflow can pass smoothly through the groove 43 regardless of the direction of rotor 32 rotation, thus guaranteeing 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 drive component 3.

[0076] Preferably, multiple 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 provided. The at least two first guide channels 451 and at least two second guide channels 452 are arranged alternately. That is, the guide channels 45 in both directions are evenly arranged along the circumference of the rotating shaft 4, so that the airflow has a relatively uniform heat dissipation effect on the drive component 3 during the rotation of the rotor 32 in both directions, thus ensuring the heat dissipation effect.

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

[0078] Preferably, each groove 43 is provided with at least one first guide channel 451 and at least one second guide channel 452. Regardless of the direction in which the rotor 32 rotates, the airflow can pass smoothly 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 drive component 3.

[0079] In this embodiment, each groove 43 is provided with a first guide channel 451 and a second guide channel 452, that is, each groove 43 is connected to 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 to the first guide channel 451 and the second guide channel 452 being inclined in directions opposite to each other at the ends connected to the groove 43, the above arrangement helps to reduce the width at the second end of the groove 43, avoids setting the groove 43 to be too wide, ensures the structural strength of the mounting part 42, and improves the durability of the modular joint 103; it also reduces the possibility of deformation of the outer surface of the mounting part 42 due to the groove 43, and further ensures a larger contact area between the mounting part 42 and the rotor 32, ensuring reliable installation between the mounting part 42 and the rotor 32, and ensuring the stability of the mounting part 42. The outer side wall of the drive component 3 is fitted to the inner side wall of the rotor 32, thereby ensuring that the heat generated on the drive component 3 can be transferred to the rotating shaft 4 in a timely manner, preventing the drive component 3 from overheating; it also ensures the installation accuracy between the mounting part 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 component 3, ensuring that the drive component 3 can stably output torque, so that the drive component 3 can reliably achieve the function of gravity compensation, avoiding the increase of the inertial force that the operator needs to overcome during operation, which helps to reduce the operator's fatigue and further ensures the safety of the operation.

[0081] As a preferred embodiment, a guide portion 46 protrudes from the end face of the mounting portion 42 near the second end of the groove 43. The guide portion 46 corresponds one-to-one with the guide channel 45, with the guide portion 46 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 towards the other side of the corresponding guide channel 45, allowing airflow to enter the guide channel 45. By providing the guide portion 46, the airflow is guided, facilitating its flow into the guide channel 45 and ensuring that the airflow can smoothly pass through the groove 43. This ensures the heat dissipation function of the airflow channel formed by the groove 43 and the guide channel 45, and thus ensures heat dissipation for the drive component 3.

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

[0083] For the first guide channel 451 and the second guide channel 452 that are 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 of the first guide channel 451 and the second guide channel 452 that are closer to each other. The sidewalls of the two guide portions 46 that are opposite to each other are coplanar with the sidewalls of the corresponding guide channels 45.

[0084] As a preferred embodiment, the modular joint 103 also includes a heat sink 5, which is disposed within the groove 43 and connected to the mounting portion 42 and the rotor 32. The sidewall of the heat sink 5 and the groove sidewall of the groove 43 form a heat dissipation space 6. This configuration, while utilizing airflow for heat dissipation, also allows the heat generated on the rotor 32 to be directly transferred to the mounting portion 42 and the rotating shaft 4 via the heat sink 5. This improves the heat dissipation efficiency for the drive component 3, prevents overheating of the drive component 3, ensures that the drive component 3 can reliably perform its gravity compensation function, enhances the durability and reliability of the drive component 3 during use, and further guarantees the safety of the surgery.

[0085] In this embodiment, the heat sink 5 is made of thermally conductive silicone. Thermally conductive silicone has good heat transfer properties and also serves as a connection between the rotor 32 and the mounting part 42, improving the reliability of the connection between them. Both the shaft 4 and the mounting part 42 are made of metal. A groove 43 is formed on the mounting part 42, and the heat sink 5, which is made of thermally conductive silicone, is disposed within the groove 43, which also reduces the weight of the modular joint. In some embodiments, the heat sink 5 can also be made of other materials that facilitate heat dissipation. The surface of the heat sink 5 is covered with thermally conductive silicone, and the heat sink 5 is connected to the rotor 32 and the mounting part 42 through the thermally conductive silicone; this is not limited here.

[0086] Preferably, at least two heat dissipation spaces 6 are formed between the heat sink 5 and the sidewall of the groove 43, and the at least two heat dissipation spaces 6 at the same groove 43 are connected to each other, which further ensures the flow of air in the groove 43 and ensures the heat dissipation effect on the drive component 3.

[0087] Specifically, the heat sink 5 has an "I"-shaped cross-section. That is, the heat sink 5 includes a first connecting portion 51, a second connecting portion 52, and an intermediate connecting portion 53. The first connecting portion 51, the second connecting portion 52, and the intermediate connecting portion 53 all extend axially along the rotating shaft 4. The two ends of the intermediate connecting portion 53 are respectively connected to the sidewalls of the first connecting portion 51 and the second connecting portion 52 facing each other. The first connecting portion 51 is attached to the inner sidewall of the rotor 32, opposite to the sidewall of the second connecting portion 52, and the second connecting portion 52 is attached to the bottom surface 432 of the groove, opposite to the sidewall of the first connecting portion 51. A heat dissipation space 6 is formed on each side of the intermediate connecting portion 53. The heat sink 5 is located at the bottom surface 432 of the groove 43, but not at the connecting surface 431, forming a converging space at the connecting surface 431 of the groove 43. That is, both heat dissipation spaces 6 are connected to the converging space, thereby achieving mutual communication between the two heat dissipation spaces 6 within the same groove 43.

[0088] In this embodiment, two encoders 2 are provided, one an absolute encoder and the other an incremental encoder. In other embodiments, the two encoders 2 may be other types of encoders, 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 part 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 part 42 along the axial direction, ensuring that the weight of the drive component 3 on both sides along the axial direction is similar. 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 both sides of the mounting part 42 along the axial direction are the same. The inner diameter of the rotor 32 is larger than the inner diameter of the encoder 2.

[0090] The encoder 2 can be placed inside the housing 1 or outside the housing 1, and there is no limitation on this.

[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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. Modular joint, characterized in that, The application relates to a modular joint. The modular joint comprises an encoder, a driving part, a rotating shaft and a rotor. The rotating shaft is coaxially provided with a through hole, the through hole is an equal-diameter through hole, an installation part is integrally arranged on the side wall of the rotating shaft, the encoder is sleeved on the rotating shaft, the rotor is sleeved on the installation part, a groove is arranged on the side wall of the installation part which is used for contacting the rotor, and the groove is at least partially opposite to the rotor. The groove extends along the axial direction of the rotating shaft, a first end of the groove penetrates one end of the installation part along the axial direction, and a second end of the groove is spaced apart from the end face of the other end of the installation part.

2. The modular joint of claim 1, wherein, A guide channel is arranged on the installation part, one end of the guide channel is communicated with the second end of the groove, the other end of the guide channel penetrates the end face of the installation part 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.

3. The modular joint of claim 2, wherein, The guide channel comprises a first guide channel and a second guide channel, and the rotation directions of the first guide channel and the second guide channel are opposite.

4. The modular joint of claim 3, wherein, A plurality of guide channels are uniformly and spacedly arranged along the circumferential direction of the rotating shaft, at least two first guide channels and at least two second guide channels are arranged, and the first guide channels and the second guide channels are alternately arranged.

5. The modular joint of claim 4, wherein, A guide part is protrusively arranged on the end face of the installation part close to the second end of the groove, the guide part is correspondingly arranged with the guide channel, the guide part is located on one side of the corresponding guide channel, and one end of the guide part away from the installation part is inclined toward the other side of the corresponding guide channel, so that air flow can enter the guide channel.

6. The modular joint of claim 3, wherein, A limiting part is protrusively arranged on the side wall of the installation part, the limiting part is located between the second end of the groove and the end face of the corresponding end of the installation part, the limiting part is spaced apart from the second end of the groove, and the limiting part is attached to the end face of the rotor.

7. The modular joint of claim 2, wherein, The limiting part extends along the circumferential direction of the rotating shaft, and the limiting part is in a closed ring shape.

8. The modular joint of claim 7, wherein, The second end of the groove is provided with an arc-shaped connecting face, one end of the connecting face is connected to the groove bottom face of the groove, the other end of the connecting face is connected to the side wall of the installation part, and the connecting face is tangentially arranged with the groove bottom face.

9. The modular joint of claim 2, wherein, The modular joint further comprises a heat dissipation part, the heat dissipation part is arranged in the groove, the heat dissipation part is connected with the installation part and the rotor respectively, and the side wall of the heat dissipation part and the groove side wall of the groove form a heat dissipation space.

10. Modular joint according to any of claims 1-9, characterized in that, At least two heat dissipation spaces are formed between the heat dissipation part and the groove side wall of the groove, and the at least two heat dissipation spaces at the same groove are communicated.

11. The modular joint of claim 10, wherein, The installation part is in a ring shape, and / or at least two grooves are spaced apart along the circumferential direction of the rotating shaft.

12. The modular joint of any of claims 1-9, wherein, The application further relates to a mechanical arm comprising the modular joint.

13. A robot arm, characterized by The application further relates to a mechanical arm comprising the mechanical arm.

14. A surgical robot, characterised in that, ​

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