Joint mechanism, robot arm, and surgical robot

Abstract

The invention discloses a joint mechanism, a mechanical arm and a surgical robot. The joint mechanism comprises an output shaft, a motor, a speed reducer and a first bearing assembly. The motor comprises a first shell assembly and an input shaft rotationally connected with the first shell assembly. The input shaft is provided with a through hole which penetrates through the input shaft in the axial direction of the input shaft. At least part of the output shaft is inserted into the through hole, and the output shaft and the input shaft can rotate relatively. The speed reducer comprises a first transmission part, a second transmission part and a second shell assembly. The first bearing assembly is arranged between the first transmission piece and the output shaft. Wherein the input shaft is in transmission fit with the first transmission part, the first transmission part is in transmission fit with the second transmission part, the second transmission part is in transmission fit with the output shaft, and the output shaft is in transmission fit with the second shell assembly. The joint mechanism is compact in structure, the joint length can be effectively shortened, movement interference during movement of the mechanical arm is avoided, and the reliability of the surgical robot is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to a joint mechanism, a robotic arm, and a surgical robot. Background Art

[0002] Currently, surgical robots have the advantages of accurate positioning, stable operation, high dexterity, large working range, and being resistant to radiation and infection, and are widely used in various surgeries.

[0003] The joint module is a core component in a surgical robot. In the related art, the joint module of a surgical robot adopts a design architecture of transmission, force sensors, and integrated drivers. The internal structure includes basic components such as drivers, motors, reducers, brakes, encoders, and drive boards. The joint design is usually relatively long, occupying a large space in terms of structure, which may cause interference between robotic arms during preoperative arm swinging and intraoperative operation, and also affects aesthetics. Therefore, shortening the joint length is an urgent need at present. Summary of the Invention

[0004] In view of this, the present disclosure provides a joint mechanism, a robotic arm, and a surgical robot. The joint mechanism has a compact structure and can effectively shorten the joint length.

[0005] Specifically, the present disclosure is implemented through the following technical solutions.

[0006] According to a first aspect of an embodiment of the present disclosure, a joint mechanism is provided, including an output shaft, a motor, a reducer, and a first bearing assembly. The motor includes a first housing assembly and an input shaft rotatably connected to the first housing assembly. The input shaft is provided with a through hole extending along the axial direction of the input shaft and penetrating the input shaft. At least a part of the output shaft is inserted into the through hole, and the output shaft and the input shaft can rotate relative to each other. The reducer includes a first transmission member, a second transmission member, and a second housing assembly. The first bearing assembly is disposed between the first transmission member and the output shaft. Wherein, the input shaft is in transmission cooperation with the first transmission member, the first transmission member is in transmission cooperation with the second transmission member, the second transmission member is in transmission cooperation with the output shaft, and the output shaft is in transmission cooperation with the second housing assembly.

[0007] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects.

[0008] When the joint mechanism works, the motor drives the input shaft, the output shaft rotates relative to the first housing assembly, and the output shaft and the first transmission member are in transmission cooperation to drive the first transmission member. The first bearing assembly is arranged between the first transmission member and the output shaft, so that the first transmission member and the output shaft can rotate relative to each other. The first transmission member of the reducer is in transmission cooperation with the second transmission member, so that the second transmission member outputs the decelerated motion. The first transmission member is in transmission cooperation with the output shaft, and the output shaft is in transmission cooperation with the second housing assembly, so that the output shaft and the second housing assembly transmit the motion of the second transmission member to realize the motion transmission of the joint mechanism. The structure of the joint mechanism is compact, and the first bearing assembly is arranged between the first transmission member and the output shaft, which can shorten the axial length of the joint mechanism, thereby reducing the space occupied by the joint mechanism and avoiding motion interference when the robotic arm applying the joint mechanism moves.

[0009] The technical solution of the present disclosure will be further described below.

[0010] In one embodiment, at least one of the first transmission member and the output shaft is provided with a first installation groove, and at least part of the first bearing assembly is installed in the first installation groove to be arranged between the first transmission member and the output shaft.

[0011] In one embodiment, the reducer is a harmonic reducer. The first transmission member includes a harmonic generator, and the second transmission member includes a flexspline. The harmonic generator is in transmission cooperation with the flexspline. The harmonic generator is provided with a first installation groove, and the first bearing assembly is installed in the first installation groove to be arranged between the harmonic generator and the output shaft.

[0012] In one embodiment, the first bearing assembly includes a first outer ring fixedly connected to the first transmission member and a first inner ring fixedly connected to the output shaft.

[0013] In one embodiment, the motor further includes a second bearing assembly. The second bearing assembly is arranged between the input shaft and the first housing assembly, the input shaft is fixedly connected to the first transmission member, and the first bearing assembly abuts against the first transmission member so that the input shaft and the output shaft can rotate relative to each other.

[0014] In one embodiment, the second bearing assembly includes a second inner ring fixedly connected to the input shaft and a second outer ring fixedly connected to the first housing assembly. At least one of the first housing assembly and the input shaft is provided with a second installation groove, and at least part of the second bearing assembly is installed in the second installation groove.

[0015] In one embodiment, the first housing assembly includes a bearing bracket and a motor bracket adapted to the bearing bracket, and the second outer ring is fixedly connected to the bearing bracket. The bearing bracket is provided with a second installation groove, and at least part of the second bearing assembly is installed in the bearing bracket through the second installation groove.

[0016] In one embodiment, the motor bracket is provided with at least one first cable hole for routing the cables of the motor.

[0017] In one embodiment, a sealing groove is further formed at one end of the first housing assembly close to the speed reducer. The motor includes a sealing ring adapted to the sealing groove. The sealing ring is disposed in the sealing groove and clamped between the first housing assembly and the input shaft.

[0018] In one embodiment, the joint mechanism further includes a detection device fixedly connected to the second transmission member to detect the force output by the speed reducer.

[0019] In one embodiment, the speed reducer further includes a crossed roller bearing and a rigid gear rotatably connected to the second housing assembly. The second transmission member includes a flexible gear. The crossed roller bearing includes a third inner ring fixedly connected to the flexible gear and a third outer ring fixedly connected to the rigid gear. The detection device is fixedly connected to the flexible gear.

[0020] In one embodiment, the joint mechanism further includes a first fastener. The first housing assembly is provided with a plurality of first connection holes, and the rigid gear is provided with a plurality of second connection holes adapted to the first connection holes. The first fastener is connected to the first connection hole and the second connection hole to fixedly connect the motor to the speed reducer.

[0021] In one embodiment, the joint mechanism further includes a brake disposed on the first housing assembly, and the brake can brake the input shaft.

[0022] In one embodiment, the joint mechanism further includes a second fastener. The brake includes a third housing assembly, and the third housing assembly is provided with a plurality of third connection holes. The first housing assembly is provided with a plurality of fourth connection holes adapted to the third connection holes. The second fastener is connected to the third connection hole and the fourth connection hole to fixedly connect the brake to the motor.

[0023] In one embodiment, the joint mechanism further includes an output encoder disposed on the outer wall of the third housing assembly, and the output encoder is connected to the output shaft.

[0024] In one embodiment, the joint mechanism further includes an input encoder. The input encoder includes a disk and a circuit board connected to the disk. The disk is sleeved on the input shaft, and the circuit board is fixed to the third housing assembly.

[0025] In one embodiment, the third housing assembly is provided with at least one second cable hole for routing the cables of the brake.

[0026] In one embodiment, the joint mechanism further includes a cable group. The output shaft is hollow, and at least part of the cable group can be routed inside the output shaft.

[0027] According to a second aspect of the embodiments of the present disclosure, a robotic arm is provided, including at least two articulated arms and the joint mechanism of any of the above embodiments, and the articulated arms are connected by the joint mechanism.

[0028] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects.

[0029] This robotic arm applies the joint mechanism in any of the above embodiments, and the axial length of the joint mechanism is shortened, which can avoid movement interference during the movement of the robotic arm.

[0030] The technical solutions of the present disclosure will be further described below.

[0031] In one embodiment, the at least two articulated arms include a first articulated arm and a second articulated arm, and one of the first articulated arm and the second articulated arm is connected to the first housing assembly, and the other is connected to the second housing assembly.

[0032] In one embodiment, the first articulated arm is connected to the first housing assembly, and the first articulated arm can control the motor for driving. The second articulated arm is connected to the second transmission member.

[0033] In one embodiment, the first articulated arm and the second articulated arm are hollow, and the robotic arm further includes an input cable group and an output cable group. The input cable group can route inside the first articulated arm. The output cable group can route inside the second articulated arm.

[0034] According to a third aspect of the embodiments of the present disclosure, a surgical robot is provided, including the robotic arm of any of the above embodiments.

[0035] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects.

[0036] This surgical robot applies the robotic arm in any of the above embodiments, and the robotic arm can avoid movement interference during movement, so as to improve the reliability of the surgical robot.

[0037] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The schematic embodiments and descriptions thereof of the present disclosure are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure.

[0039] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of a surgical robot shown in an embodiment.

[0041] Figure 2 It is a schematic structural diagram of a joint mechanism in a multi-axis motion device.

[0042] Figure 3 For Figure 2 It is a schematic cross-sectional structure diagram of the joint mechanism shown.

[0043] Figure 4 For Figure 3 It is a schematic cross-sectional structure diagram of the reducer and motor of the joint mechanism shown.

[0044] Figure 5 For Figure 3 It is a schematic cross-sectional structure diagram of the reducer of the joint mechanism shown.

[0045] Figure 6 For Figure 3 It is a schematic cross-sectional structure diagram of the motor of the joint mechanism shown.

[0046] Figure 7 For Figure 3 It is a schematic cross-sectional structure diagram of the brake of the joint mechanism shown.

[0047] Figure 8 It is a schematic structural diagram of a robotic arm shown in an embodiment.

[0048] Figure 9 For Figure 8 It is a schematic cross-sectional structure diagram of the robotic arm shown.

[0049] Explanation of reference numerals.

[0050] 1. Surgical robot; 10. Multi-axis motion device; 11a. First joint arm; 11b. Second joint arm; 100. Joint mechanism; 110. Output shaft; 120. Motor; 121. First housing assembly; 122. Input shaft; 123. Through hole; 1201. First connection hole; 1202. Fourth connection hole; 130. Reducer; 131. First transmission member; 132. Second transmission member; 133. Second housing assembly; 134. Crossed roller bearing; 135. Rigid gear; 1301. Harmonic generator; 1302. Flexible gear; 1303. Second connection hole; 140. First bearing assembly; 141. First inner ring; 142. First outer ring; 150. Second bearing assembly; 151. Second inner ring; 152. Second outer ring; 160. Detection device; 170. Brake; 171. Third housing assembly; 1701. Third connection hole; 1702. Second cable hole; 180. Output encoder; 190. Input encoder; 191. Disk; 192. Circuit board; 101. First mounting groove; 102. Second mounting groove; 103. Bearing bracket; 104. Motor bracket; 105. First cable hole; 106. Sealing groove; 107. Sealing ring; 20. Control device; 30. Imaging device. Detailed implementation manners

[0051] To make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be understood that the specific implementation manners described herein are only used to explain the present application and do not limit the protection scope of the present application.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific implementation manners and are not intended to limit this application.

[0053] Currently, surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, resistance to radiation and infection, etc., and are widely used in various surgeries. With the development of surgical robots, there are many brands available for hospitals to choose from, and the competition is becoming increasingly fierce. How to improve the reliability of surgical robots has become an issue that the industry pays more and more attention to.

[0054] The joint module is the core component of a surgical robot. In the related art, the joint module of a surgical robot adopts a design architecture of transmission, force sensor, and integrated driver. The internal structure includes basic components such as a driver, a motor, a reducer, a brake, an encoder, and a drive board, and the joint design is usually relatively long. This can cause interference between the robotic arms during pre-operative arm swinging and intra-operative operation, and also affects the aesthetics. Therefore, shortening the joint length is an urgent need at present.

[0055] Based on this, it is necessary to provide a joint mechanism with a compact structure, which can effectively shorten the length of the joint, so as to avoid movement interference during the movement of the robotic arm applying this joint mechanism and improve the reliability of the surgical robot.

[0056] To better understand the joint mechanism of the present application, it is described by a surgical robot applying this joint mechanism and a robotic arm.

[0057] As Figure 1 shown, a surgical robot 1 is provided, which includes a multi-axis motion device 10 that can drive surgical instruments to move to achieve corresponding surgical actions. Specifically, the surgical robot 1 further includes a control device 20 and an imaging device 30. The control device 20 is communicatively connected to the imaging device 30 and the multi-axis motion device 10. In this way, it is convenient for a doctor to control the multi-axis motion device 10 to move through the control device 20 to perform the actions of the corresponding surgical instruments. During this process, the doctor can observe the surgery according to the imaging device 30.

[0058] Optionally, in some embodiments, the control device 20 includes a display unit for displaying the environment of the surgical instrument and a control mechanism for the doctor to operate, etc. Among them, an observation window is provided on the display unit for the doctor to observe conveniently. The doctor controls the multi-axis motion device 10 to move through operating the control mechanism to complete the actions of the corresponding surgical instruments.

[0059] Optionally, in some embodiments, the control device 20 further has other control switches that are convenient for hands or feet to touch or press, used for various function operations to complete human-machine interaction.

[0060] Optionally, in some embodiments, the imaging system includes at least one of a display screen, an endoscope controller, system electronic equipment, an image processor, etc.

[0061] In some embodiments, referring to Figure 2 , the multi-axis motion device 10 includes a robotic arm and an instrument support frame. The robotic arm has at least two joint arms and a joint mechanism 100 connected in sequence. The at least two joint arms are connected by the joint mechanism 100. The adjacent two joint arms relatively move with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. The instrument support frame is arranged at the end of the robotic arm, and the instrument support frame is used for installing surgical instruments or endoscopes. An instrument driving device can also be arranged on the instrument support frame to drive the surgical instruments to perform actions such as insertion and clamping.

[0062] In one example, the multi-axis motion device 10 includes a base, a column is provided on the base, and at least one robotic arm that can be lifted relative to the base is provided on the column. A handle may also be provided on the base. In this way, the operator can assist in moving the base through the handle.

[0063] Combined with Figures 2 to 4 As shown, the joint mechanism 100 includes an output shaft 110, a motor 120, a speed reducer 130, and a first bearing assembly 140. The motor 120 includes a first housing assembly 121 and an input shaft 122 rotatably connected to the first housing assembly 121. The input shaft 122 is provided with a through hole 123 along the axial direction of the input shaft 122 and penetrating the input shaft 122. At least a part of the output shaft 110 is inserted into the through hole 123, and the output shaft 110 and the input shaft 122 can rotate relative to each other. The speed reducer 130 includes a first transmission member 131, a second transmission member 132, and a second housing assembly 133. The first bearing assembly 140 is disposed between the first transmission member 131 and the output shaft 110. Among them, the input shaft 122 is in transmission cooperation with the first transmission member 131, the first transmission member 131 is in transmission cooperation with the second transmission member 132, the second transmission member 132 is in transmission cooperation with the output shaft 110, and the output shaft 110 is in transmission cooperation with the second housing assembly 133.

[0064] In this way, when the joint mechanism 100 works, the motor 120 drives the input shaft 122, the output shaft 110 rotates relative to the first housing assembly 121, and the output shaft 110 and the first transmission member 131 are in transmission cooperation to drive the first transmission member 131. The first bearing assembly 140 is disposed between the first transmission member 131 and the output shaft 110, so that the first transmission member 131 and the output shaft 110 can rotate relative to each other. The first transmission member 131 of the speed reducer 130 is in transmission cooperation with the second transmission member 132, so that the second transmission member 132 outputs a decelerated motion. The first transmission member 131 is in transmission cooperation with the output shaft 110, and the output shaft 110 is in transmission cooperation with the second housing assembly 133, so that the output shaft 110 and the second housing assembly 133 transmit the motion of the second transmission member 132 to achieve the motion transmission of the joint mechanism 100. The structure of the joint mechanism 100 is compact, and the first bearing assembly 140 is disposed between the first transmission member 131 and the output shaft 110, which can shorten the axial length of the joint mechanism 100, thereby reducing the space occupied by the joint mechanism 100.

[0065] It should be noted that there are various specific implementation manners of the transmission cooperation, including but not limited to directly fixedly connecting for transmission, transmitting through transmission devices (such as gears, belts, chains, etc.), and other manners.

[0066] Understandably, the first transmission member 130 of the speed reducer 130 can be driven by the input shaft 122 to rotate, and drive the second transmission member 132 of the speed reducer 130 to decelerate by one or more stages, achieving the effects of deceleration and torque increase.

[0067] As Figure 4 shown, in some embodiments, the first bearing assembly 140 includes a first inner ring 141 and a first outer ring 142 rotatably connected to the first inner ring 141. The first inner ring 141 is fixedly connected to the output shaft 110, and the first outer ring 142 is fixedly connected to the first transmission member 131. Thus, by fixedly connecting the first inner ring 141 to the output shaft 110 and the first outer ring 142 to the first transmission member 131, when the first transmission member 131 rotates, the first transmission member 131 can rotate relative to the output shaft 110, thereby preventing the output shaft 110 from being driven to rotate.

[0068] As Figure 4 shown, in some embodiments, at least one of the first transmission member 131 and the output shaft 110 is provided with a first mounting groove 101, and at least a part of the first bearing assembly 140 is disposed in the first mounting groove 101 to be disposed between the first transmission member 131 and the output shaft 110. Thus, by disposing at least a part of the first bearing assembly 140 in the first mounting groove 101, and the first mounting groove 101 is provided in at least one of the first transmission member 131 and the output shaft 110, at least a part of the first bearing assembly 140 can be embedded in the first transmission member 131 or the output shaft 110. The design of the first mounting groove 101 can reduce the axial occupied space of the first bearing assembly 140 in the joint mechanism 100, making the structure of the joint mechanism 100 more compact, thereby shortening the axial length of the joint mechanism 100 to reduce the space occupied by the joint mechanism 100.

[0069] It should be noted that at least one of the first transmission member 131 and the output shaft 110 being provided with the first mounting groove 101 includes the first transmission member 131 being provided with the first mounting groove 101, the output shaft 110 being provided with the first mounting groove 101, and both the first transmission member 131 and the output shaft 110 being provided with the first mounting groove 101.

[0070] As Figure 5As shown, in some embodiments, the speed reducer 130 is a harmonic speed reducer. The first transmission member 131 includes a harmonic generator 1301, and the second transmission member 132 includes a flexspline 1302. The harmonic generator 1301 is in driving cooperation with the flexspline 1302. The harmonic generator 1301 is provided with a first mounting groove 101, and the first bearing assembly 140 is mounted in the first mounting groove 101 to be disposed between the harmonic generator 1301 and the output shaft 110. In this way, the first bearing assembly 140 is embedded in the harmonic generator 1301 through the first mounting groove 101, reducing the axial occupied space of the first bearing assembly 140 within the joint mechanism 100, thereby shortening the axial length of the joint mechanism 100 to reduce the space occupied by the joint mechanism 100. And by using a harmonic speed reducer, its volume and weight can be significantly reduced, realizing the miniaturization and light weight of the joint mechanism 100.

[0071] It can be understood that the speed reducer 130 can be selected as a harmonic speed reducer, and of course, other speed reducers can also be selected.

[0072] As Figure 3 As shown, in some embodiments, the motor 120 further includes a second bearing assembly 150. The second bearing assembly 150 is disposed between the input shaft 122 and the first housing assembly 121. The input shaft 122 is fixedly connected to the first transmission member 131, and the first bearing assembly 140 abuts against the first transmission member 131 to enable the input shaft 122 and the output shaft 110 to rotate relative to each other. In this way, by disposing the second bearing assembly 150 between the input shaft 122 and the first housing assembly 121, the input shaft 122 and the first housing assembly 121 can rotate relative to each other. And the input shaft 122 is fixedly connected to the first transmission member 131 to drive the first transmission member 131 to rotate. This way of transmission cooperation does not require an additional transmission device, can reduce the occupation of the internal space of the joint mechanism 100, and shorten the length of the joint mechanism 100. By abutting the first bearing assembly 140 against the first transmission member 131, and the first transmission member 131 is fixedly connected to the output shaft 110, the first bearing assembly 140 can support the input shaft 122, jointly support the input shaft 122 with the second bearing assembly 150, so that the input shaft 122 and the output shaft 110 can rotate relative to each other.

[0073] As Figure 6As shown, in some embodiments, the second bearing assembly 150 includes a second inner ring 151 fixedly connected to the input shaft 122 and a second outer ring 152 fixedly connected to the first housing assembly 121. At least one of the first housing assembly 121 and the input shaft 122 is provided with a second mounting groove 102, and at least a part of the second bearing assembly 150 is disposed in the second mounting groove 102. In this way, the second inner ring 151 is fixedly connected to the input shaft 122, and the second outer ring 152 is fixedly connected to the first housing assembly 121, so that the input shaft 122 can rotate relative to the first housing assembly 121. And a second mounting groove 102 is provided in at least one of the first housing assembly 121 and the input shaft 122, and the second bearing assembly 150 is embedded in the first housing assembly 121 or the input shaft 122 through the second mounting groove 102. The axial space occupied by the second bearing assembly 150 in the joint mechanism 100 is reduced, thereby further shortening the axial length of the joint mechanism 100.

[0074] It should be noted that at least one of the first housing assembly 121 and the input shaft 122 being provided with the second mounting groove 102 includes the first housing assembly 121 being provided with the second mounting groove 102, the input shaft 122 being provided with the second mounting groove 102, and both the first housing assembly 121 and the input shaft 122 being provided with the second mounting groove 102.

[0075] As Figure 6 As shown, in some embodiments, the first housing assembly 121 includes a bearing bracket 103 and a motor bracket 104 adapted to the bearing bracket 103, and the second outer ring 152 is fixedly connected to the bearing bracket 103. The bearing bracket 103 is provided with a second mounting groove 102, and at least a part of the second bearing assembly 150 is disposed in the bearing bracket 103 through the second mounting groove 102. In this way, when the second bearing assembly 150 is installed, the second bearing assembly 150 is embedded in the bearing bracket 103 through the second mounting groove 102, and the second outer ring 152 is fixedly connected to the bearing bracket 103. Then the second inner ring 151 is installed on the input shaft 122 and fixedly connected to the input shaft 122. The design of the second mounting groove 102 can reduce the axial space occupied by the second bearing assembly 150, thereby further shortening the axial length of the joint mechanism 100. This method facilitates the installation of the second bearing assembly 150 and reduces the installation difficulty of the second bearing assembly 150.

[0076] It can be understood that the bearing bracket 103 can protect the second bearing assembly 150. The motor bracket 104 can protect the motor 120.

[0077] In some embodiments, the motor 120 includes a stator and a rotor. The stator is fixedly connected to the motor bracket 104. The rotor is sleeved on the input shaft 122 and fixedly connected to the input shaft 122. The bearing bracket 103 and the motor bracket 104 are fastened and connected by screws to indirectly fix the stator. Thus, relative rotation between the stator and the rotor is achieved.

[0078] Further, to facilitate the routing of the cables of the motor 120, as Figure 6 shown, in one embodiment, the motor bracket 104 is provided with at least one first cable hole 105. The cables of the motor 120 can be routed inside the motor 120 through the first cable hole 105, or the cables of the motor 120 can be routed through the first cable hole 105 to other components.

[0079] The R & D personnel found in the practice of this application that since the reducer 130 needs to use grease during operation to extend the service life of the reducer 130 and improve economic efficiency. And the motor 120 is disposed adjacent to the reducer 130. Therefore, in order to protect the motor 120 from being contaminated or affected by the grease, sealing needs to be performed between the motor 120 and the reducer 130.

[0080] As Figure 4 and Figure 6 shown, in some embodiments, the first housing assembly 121 is further provided with a sealing groove 106 at one end close to the reducer 130. The motor 120 includes a sealing ring 107 adapted to the sealing groove 106. The sealing ring 107 is disposed in the sealing groove 106, and the sealing ring 107 is clamped between the first housing assembly 121 and the input shaft 122 for sealing the grease of the reducer 130 and preventing dust. Thus, a sealing effect is achieved between the motor 120 and the reducer 130.

[0081] As Figure 3 shown, in some embodiments, the joint mechanism 100 further includes a detection device 160. The detection device 160 is fixedly connected to the second transmission member 132. And the second transmission member 132 serves as the output end of the reducer 130. Therefore, the force output after passing through the reducer 130 can be detected by the detection device 160.

[0082] It should be noted that there are various specific implementation manners of the detection device 160, including force sensors, etc., as long as it can detect force.

[0083] As Figure 5As shown, in some embodiments, the speed reducer 130 further includes a crossed roller bearing 134 and a rigid gear 135 rotatably connected to the second housing assembly 133. The second transmission member 132 includes a flexible gear 1302. The crossed roller bearing 134 includes a third inner ring fixedly connected to the flexible gear 1302 and a third outer ring fixedly connected to the rigid gear 135. The detection device 160 is fixedly connected to the flexible gear 1302. Thus, the rigid gear 135 and the flexible gear 1302 are connected by the crossed roller bearing 134 to achieve relative rotation between the rigid gear 135 and the flexible gear 1302. The crossed roller bearing 134 has a compact structure and a small size, which can further reduce the volume of the joint mechanism 100 and realize the miniaturized design of the joint mechanism 100. In the harmonic speed reducer, the flexible gear 1302 serves as the output end. By fixedly connecting the detection device 160 and the flexible gear 1302, the force output by the harmonic speed reducer can be detected.

[0084] In some embodiments, the first housing assembly 121 and the rigid gear 135 are tightly connected by screwing to improve the rigidity and stability of the joint mechanism 100.

[0085] As Figure 3 and Figure 5 shown, in some embodiments, the first housing assembly 121 is provided with a plurality of first connection holes 1201, and the rigid gear 135 is provided with a plurality of second connection holes 1303 adapted to the first connection holes 1201. The joint mechanism 100 further includes a first fastener that connects the first connection holes 1201 and the second connection holes 1303 to fixedly connect the motor 120 and the speed reducer. Thus, the motor 120 and the speed reducer 130 are connected by the first fastener to connect the first connection holes 1201 and the second connection holes 1303, so as to realize the detachable fixed connection between the motor 120 and the speed reducer 130.

[0086] It should be noted that there are various specific implementation manners of the first fastener, including but not limited to fasteners such as fastening screws, fastening bolts, and rivets.

[0087] In one example, the motor 120 and the speed reducer 130 are connected by bolts to connect the first connection holes 1201 and the second connection holes 1303, so as to realize the detachable fixed connection between the motor 120 and the speed reducer 130.

[0088] As Figure 3 shown, in some embodiments, the joint mechanism 100 further includes a brake 170 disposed on the first housing assembly 121. The brake 170 can brake the input shaft 122 to control the movement and stop of the joint mechanism 100.

[0089] In some embodiments, the brake 170 and the first housing assembly 121 are tightly connected by screwing to improve the rigidity and stability of the joint mechanism 100.

[0090] As Figure 7 shown, in some embodiments, the brake 170 includes a third housing assembly 171, and the third housing assembly 171 is provided with a plurality of third connection holes 1701. The first housing assembly 121 is provided with a plurality of fourth connection holes 1202 adapted to the third connection holes 1701. The joint mechanism 100 further includes a second fastener, and the second fastener is connected to the third connection holes 1701 and the fourth connection holes 1202 to fixedly connect the third housing assembly 171 and the first housing assembly 121, so as to realize the detachable fixed connection between the brake 170 and the motor 120.

[0091] It should be noted that there are various specific implementation manners of the second fastener, including but not limited to fasteners such as fastening screws, fastening bolts, and rivets.

[0092] In one example, the brake 170 and the motor 120 are bolted to connect the third connection holes 1701 and the fourth connection holes 1202 to realize the detachable fixed connection between the brake 170 and the motor 120.

[0093] As Figure 7 shown, in some embodiments, the joint mechanism 100 further includes an output encoder 180. The output encoder 180 is disposed on the outer wall of the third housing assembly 171, and the output encoder 180 is connected to the output shaft 110. In this way, the output encoder 180 is provided in the joint mechanism 100 and connected to the output shaft 110, so as to detect the rotation speed of the output shaft 110. And disposing the output encoder 180 on the outer wall of the third housing assembly 171 can better utilize the space of the joint mechanism 100 to shorten the axial length of the joint mechanism 100.

[0094] As Figure 7 shown, in some embodiments, the joint mechanism 100 further includes an input encoder 190. The input encoder 190 includes a disk 191 and a circuit board 192 connected to the disk 191. The disk 191 is sleeved on the input shaft 122, and the circuit board 192 is fixed to the third housing assembly 171. Thus, the rotation speed of the input shaft 122 is detected by the input encoder 190.

[0095] In some embodiments, the joint mechanism 100 further includes a third fastener, and the circuit board 192 is tightly connected to the third housing assembly 171 through the third fastener.

[0096] It should be noted that there are various specific implementation manners of the third fastener, including but not limited to threaded fasteners such as fastening screws and fastening bolts.

[0097] In one example, the circuit board 192 is tightly connected to the third housing assembly 171 by screws.

[0098] AsFigure 7 As shown, in some embodiments, the third housing assembly 171 is provided with at least one second cable hole 1702, which can facilitate the routing of the cables inside the brake 170, or the routing of the cables of the brake 170 and other components.

[0099] Furthermore, the motor 120 and the brake 170 can be routed through the first cable hole 105 and the second cable hole 1702 respectively to be connected to the encoder. This structure can make better use of the space of the joint mechanism 100, shorten the length of the joint mechanism 100, and make the structure of the joint mechanism 100 more compact.

[0100] As Figure 3 shown, in some embodiments, the joint mechanism 100 further includes a cable group. The output shaft 110 is hollow, and at least part of the cable group can be routed inside the output shaft 110. In this way, by designing the output shaft 110 to be hollow, the cable groups of the various components inside the joint mechanism 100 can be routed inside the hollow output shaft 110, which can make better use of the space of the joint mechanism 100 and avoid cable entanglement during the rotation of the joint mechanism 100. The reliability of the joint mechanism 100 is improved, and thus the reliability of the surgical robot 1 is improved.

[0101] Optionally, the components of the joint mechanism 100 adopt a cylindrical outer shape or at least part of them adopt a cylindrical outer shape.

[0102] As Figure 8 and Figure 9 shown, in some embodiments, the robotic arm applies the joint mechanism 100 of any of the above embodiments. The robotic arm further includes at least two joint arms, and the at least two joint arms are connected by the joint mechanism 100. In this way, the axial length of the joint mechanism 100 is shortened, and the movement interference between the joint arms moving through the joint mechanism 100 can be avoided, improving the reliability of the use of the robotic arm.

[0103] As Figure 8 and Figure 9As shown, in some embodiments, at least two articulated arms include a first articulated arm 11a and a second articulated arm 11b. One of the first articulated arm 11a and the second articulated arm 11b is connected to the first housing assembly 121, and the other is connected to the second housing assembly 133. For example, the first articulated arm 11a is connected to the first housing assembly 121, and the second articulated arm 11b is connected to the second housing assembly 133. In this way, the input shaft 122 of the motor 120 rotates to drive the first transmission member 131 of the speed reducer 130 to rotate, and then is decelerated by the speed reducer 130 and output by the second transmission member 132. The second transmission member 132 is in transmission connection with the second housing assembly 133 through the output shaft 110, so as to drive the second housing assembly 133, and further drive the second articulated arm 11b to move, thereby realizing the movement of the robotic arm.

[0104] It can be understood that one of the first articulated arm 11a and the second articulated arm 11b being connected to the first housing assembly 121 and the other being connected to the second housing assembly 133 further includes the second articulated arm 11b being connected to the first housing assembly 121 and the first articulated arm 11a being connected to the second housing assembly 133.

[0105] In other embodiments, the first articulated arm 11a is connected to the first housing assembly 121, and the first articulated arm 11a can control the motor 120 to drive. The second articulated arm 11b is connected to the second transmission member 132. In this way, the first articulated arm 11a controls the input shaft 122 of the motor 120 to rotate, so as to drive the first transmission member 131 of the speed reducer 130 to rotate, and then is decelerated by the speed reducer 130 and output by the second transmission member 132. The second transmission member 132 drives the second articulated arm 11b to move, thereby realizing the movement of the robotic arm.

[0106] In some embodiments, the first articulated arm 11a is assembled and connected to the flange of the motor 120 housing, and the second articulated arm 11b is assembled and connected to the flange of the detection device 160.

[0107] Such as Figure 9As shown, in some embodiments, the first joint arm 11a and the second joint arm 11b are hollow. The robotic arm further includes an input cable group (not shown) and an output cable group (not shown). The input cable group can be routed inside the first joint arm 11a. The output cable group can be routed inside the second joint arm 11b. In this way, the input cable group is routed inside the first joint arm 11a to control the movement of the joint mechanism 100. The output cable group is routed inside the second joint arm 11b to transmit the output result of the joint mechanism 100 through the output cable. Setting the first joint arm 11a and the second joint arm 11b to be hollow for the routing of the cable group can make better use of the space of the joint arm and reduce the occupation of the space of the joint arm by the cable group. And it can avoid situations such as cable entanglement that may occur during the rotation of the robotic arm.

[0108] As Figure 8 and Figure 9 shown, in some embodiments, at least part of the joint mechanism 100 is embedded in the joint arm, thereby further reducing the axial length of the joint part of the robotic arm.

[0109] It should be noted that the above embodiments can complement each other without conflict.

[0110] The components included in the "assembly", "device", and "equipment" of the present application can be flexibly combined, that is, modular production can be carried out according to the actual situation and assembled modularly as an independent module; they can also be assembled separately to form a module in this device. For example, the detection device can be modularly assembled to the robotic arm mechanism as an independent module, or can be directly integrally formed with the robotic arm mechanism.

[0111] The division of the above components in the present application is only one embodiment for the convenience of reading, rather than a limitation on the protection scope of the present application. As long as the above components are included and have the same function, it should be understood as an equivalent technical solution of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0112] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0113] In this application, unless otherwise clearly stipulated and defined, terms such as "mounted", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0114] In this application, unless otherwise clearly stipulated and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0115] It should be noted that when an element is referred to as being "fixed to", "arranged on", "secured to" or "mounted on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. Further, when an element is considered to be "fixedly connected" to another element, the two may be fixed in a detachable connection manner or a non-detachable connection manner, such as socket connection, snap connection, integrally formed fixation, welding, etc., which can be achieved in traditional technologies and will not be elaborated here.

[0116] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0117] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application.

Claims

1. A joint mechanism, characterized in that, comprising: an output shaft; a motor, the motor comprising a first housing assembly and an input shaft rotatably connected to the first housing assembly; the input shaft is provided with a through hole extending along the axial direction of the input shaft and penetrating the input shaft; at least a part of the output shaft is inserted into the through hole, and the output shaft and the input shaft can rotate relative to each other; a speed reducer, the speed reducer comprising a first transmission member, a second transmission member and a second housing assembly; and a first bearing assembly disposed between the first transmission member and the output shaft; wherein, the input shaft is in transmission cooperation with the first transmission member, the first transmission member is in transmission cooperation with the second transmission member, the second transmission member is in transmission cooperation with the output shaft, and the output shaft is in transmission cooperation with the second housing assembly.

2. The joint mechanism according to claim 1, characterized in that, at least one of the first transmission member and the output shaft is provided with a first mounting groove, and at least a part of the first bearing assembly is disposed in the first mounting groove to be disposed between the first transmission member and the output shaft.

3. The joint mechanism according to claim 2, characterized in that, the speed reducer is a harmonic speed reducer; the first transmission member comprises a harmonic generator, and the second transmission member comprises a flexspline; the harmonic generator is in transmission cooperation with the flexspline; the harmonic generator is provided with the first mounting groove, and the first bearing assembly is mounted in the first mounting groove to be disposed between the harmonic generator and the output shaft.

4. The joint mechanism according to claim 1, characterized in that, the first bearing assembly comprises a first outer ring fixedly connected to the first transmission member and a first inner ring fixedly connected to the output shaft.

5. The joint mechanism according to claim 1, characterized in that, the motor further comprises a second bearing assembly; the second bearing assembly is disposed between the input shaft and the first housing assembly, the input shaft is fixedly connected to the first transmission member, and the first bearing assembly abuts against the first transmission member so that the input shaft and the output shaft can rotate relative to each other.

6. The joint mechanism according to claim 5, characterized in that, the second bearing assembly comprises a second inner ring fixedly connected to the input shaft and a second outer ring fixedly connected to the first housing assembly; at least one of the first housing assembly and the input shaft is provided with a second mounting groove, and at least a part of the second bearing assembly is disposed in the second mounting groove.

7. The joint mechanism according to claim 6, characterized in that, the first housing assembly comprises a bearing bracket and a motor bracket adapted to the bearing bracket, and the second outer ring is fixedly connected to the bearing bracket; the bearing bracket is provided with the second mounting groove, and at least a part of the second bearing assembly is disposed in the bearing bracket through the second mounting groove.

8. The joint mechanism according to claim 7, characterized in that, the motor bracket is provided with at least one first cable hole for routing the cables of the motor.

9. The joint mechanism according to claim 1, It is characterized in that a sealing groove is further formed at one end of the first housing assembly close to the reducer, the motor includes a sealing ring adapted to the sealing groove, the sealing ring is arranged in the sealing groove, and the sealing ring is clamped between the first housing assembly and the input shaft.

10. The joint mechanism according to claim 1, it is characterized in that the joint mechanism further includes a detection device, and the detection device is fixedly connected to the second transmission member to detect the force output by the reducer.

11. The joint mechanism according to claim 10, it is characterized in that the reducer further includes a crossed roller bearing and a rigid gear rotatably connected to the second housing assembly, and the second transmission member includes a flexible gear; the crossed roller bearing includes a third inner ring fixedly connected to the flexible gear and a third outer ring fixedly connected to the rigid gear; the detection device is fixedly connected to the flexible gear.

12. The joint mechanism according to claim 11, it is characterized in that the joint mechanism further includes a first fastener, the first housing assembly is provided with a plurality of first connection holes, and the rigid gear is provided with a plurality of second connection holes adapted to the first connection holes; the first fastener is connected to the first connection holes and the second connection holes to fixedly connect the motor and the reducer.

13. The joint mechanism according to claim 1, it is characterized in that the joint mechanism further includes a brake arranged on the first housing assembly, and the brake can brake the input shaft.

14. The joint mechanism according to claim 13, it is characterized in that the joint mechanism further includes a second fastener, the brake includes a third housing assembly, and the third housing assembly is provided with a plurality of third connection holes; the first housing assembly is provided with a plurality of fourth connection holes adapted to the third connection holes; the second fastener is connected to the third connection holes and the fourth connection holes to fixedly connect the brake and the motor.

15. The joint mechanism according to claim 14, it is characterized in that the joint mechanism further includes an output encoder, the output encoder is arranged on the outer wall of the third housing assembly, and the output encoder is connected to the output shaft.

16. The joint mechanism according to claim 14, it is characterized in that the joint mechanism further includes an input encoder, the input encoder includes a disk and a circuit board connected to the disk, the disk is sleeved on the input shaft, and the circuit board is fixedly arranged on the third housing assembly.

17. The joint mechanism according to claim 14, it is characterized in that the third housing assembly is provided with at least one second cable hole for routing the cable of the brake.

18. The joint mechanism according to any one of claims 1 to 17, it is characterized in that the joint mechanism further includes a cable group, the output shaft is hollow, and at least part of the cable group can be routed in the output shaft.

19. A robotic arm, it is characterized in that it includes at least two joint arms and the joint mechanism according to any one of claims 1 to 18, and the joint arms are connected by the joint mechanism.

20. The robotic arm according to claim 19, wherein, the at least two articulated arms include a first articulated arm and a second articulated arm, one of the first articulated arm and the second articulated arm is connected to the first housing assembly, and the other is connected to the second housing assembly.

21. The robotic arm according to claim 20, wherein, the first articulated arm is connected to the first housing assembly, and the first articulated arm can control the motor for driving; the second articulated arm is connected to the second transmission member.

22. The robotic arm according to claim 21, wherein, the first articulated arm and the second articulated arm are hollow, and the robotic arm further includes an input cable group and an output cable group; the input cable group can route wires inside the first articulated arm; the output cable group can route wires inside the second articulated arm.

23. A surgical robot, wherein, it includes the robotic arm according to any one of claims 19 to 22.

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