Rotating structure and surgical robot

Abstract

The invention discloses a rotating structure and a surgical robotic.The rotating structure comprises a shell part and a rotating assembly, a cavity is formed in the shell part in a penetrating mode, a stator is fixedly arranged on the inner wall of the cavity, and the rotating assembly is rotationally arranged in the cavity and fixedly provided with a rotor capable of being matched with the stator. By the adoption of the rotating structure and the surgical robot, when the stator is powered on and executes the rotating instruction, the rotor rotates and drives the rotating assembly to rotate synchronously, after the stator is powered off, the stator and the rotor are attracted, the rotating assembly and the shell part are static relatively, and due to the fact that the rotor and the rotating assembly are directly connected, the number of middle structures is small, the speed reduction efficiency is high, and the inherent frequency is improved; the stability of the telecentric mechanism is improved while the braking response speed is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a rotating structure and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgeries inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size of the minimally invasive instruments in minimally invasive surgery, the difficulty of surgical operation has increased greatly, which has become the key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the minimally invasive medical field that can overcome the disadvantages and inherit the advantages - minimally invasive surgical robot technology has emerged as the times require.

[0003] Common minimally invasive surgical robots are composed of a doctor's console, a patient-side trolley, and a display device. The surgeon operates the input device at the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instruments. The telecentric mechanism is one of the most core components of the entire minimally invasive surgical robot. The telecentric mechanism is connected to the robotic arm through a vertical joint. During the surgical process, the end of the surgical instrument of the telecentric mechanism extends into the patient's body to act. When the instrument moves, certain requirements are placed on the stability of the vertical joint. Otherwise, during the surgical operation, errors may occur due to slight shaking, leading to surgical risks.

[0004] Most of the vertical joint rotation structures of the existing minimally invasive robot telecentric mechanisms use electromagnetic brakes to transmit braking torque through multiple mechanical conduction paths. There are many parts through which the braking structure conducts, resulting in a low natural frequency of the whole machine, so that the telecentric mechanism shakes unstably, which may affect the occurrence of safety accidents during the operation of the patient. At the same time, a split modular design is adopted, and each component is connected by bolts, buckles or pins, which is not convenient for installation and disassembly, and there are many and complex parts, resulting in high processing costs. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a rotating structure and a surgical robot with a simple structure, strong working stability and easy maintenance.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions.

[0007] The present application provides a rotating structure, including a first joint and a second joint rotatably connected to the first joint. It is characterized in that the first joint includes a housing member, a cavity is provided through the housing member, and a stator is fixedly provided on the inner wall of the cavity;

[0008] Wherein, a rotating component capable of being fixedly connected to the second joint is rotatably provided in the cavity. The rotating component is coaxial with the housing member and is fixedly provided with a rotor capable of cooperating with the stator. The rotor is located at one end of the first joint close to the second joint.

[0009] Its technical effect is that the stator is fixed on the housing member. When the stator is powered on and a rotation instruction is executed, the rotor rotates and drives the rotating component to rotate synchronously. After the stator is powered off, the stator and the rotor are attracted to each other, and the rotating component and the housing member are relatively stationary, that is, the switching between the rotating state and the stopping state between the first joint and the second joint is realized. Since the rotor is directly connected to the rotating component and is located at one end of the first joint close to the second joint, the intermediate structure is less, the deceleration efficiency is high, the natural frequency is increased, and the stability of the centrifuge mechanism is improved while the braking response speed is increased.

[0010] Further defined, in a rotating structure as described above, wherein the rotating component includes a central rotating shaft located in the cavity, a rotating flange fixedly connected to the central rotating shaft, and a mounting seat fixedly provided on the rotating flange. The rotor is fixedly provided on the mounting seat, and the second joint is fixedly connected to one end of the rotating flange away from the central rotating shaft.

[0011] Or, the rotating component further includes a limiting cylindrical body fixedly connected to the rotating flange and located at one end of the housing member close to the rotating flange.

[0012] Its technical effect is that the support of the rotating component is realized through the first bearing member and the second bearing member. Not only can the rotation of the rotating component relative to the housing member be realized, but also since the first bearing member and the second bearing member are distributed at both ends of the housing member, the force on the rotating component is more evenly distributed, the shaking of the rotating component during rotation can be reduced, and the overall stability of the device can be improved.

[0013] Further defined, in a rotating structure as described above, wherein the rotating component is axially provided with a central hole in a penetrating manner.

[0014] Wherein, one end of the housing member is provided with a wire passing hole communicating with the cavity. The wiring of the stator can extend to the outside of the housing member through the wire passing hole, and a glue sealing portion fixedly connected to the wiring is provided at the opening end of the wire passing hole.

[0015] Its technical effect is that the power cord is passed through the central hole, the wiring of the stator is passed through the wire passing hole, and a glue sealing portion is provided at the opening end of the wire passing hole, which ensures the sealing performance inside the housing member and improves the overall dustproof effect of the device.

[0016] Further defined, in a rotating structure as described above, wherein a first bearing member is fixedly provided between the rotating flange and the inner wall of the cavity, and a second bearing member is fixedly provided between one end of the central rotating shaft away from the rotating flange and the inner wall of the cavity.

[0017] Wherein, the first bearing member and the second bearing member are respectively located at corresponding positions at both ends of the housing member;

[0018] Its technical effect is that the rotation assembly is supported by the first bearing member and the second bearing member, which can not only realize the rotation of the rotation assembly relative to the housing member, but also make the force on the rotation assembly more evenly distributed because the first bearing member and the second bearing member are distributed at both ends of the housing member, reducing the shaking of the rotation assembly during rotation and improving the overall stability of the device.

[0019] Further defined, for a rotation structure as described above, wherein a limiting convex portion is fixedly provided on the rotation assembly, and a positioning convex member is fixedly provided on the inner wall of the cavity;

[0020] Wherein, when the rotation assembly rotates relative to the housing member, the limiting convex portion can abut against the positioning convex member in the circumferential direction of the central axis of the housing member;

[0021] Its technical effect is that the rotation angle range of the rotation assembly relative to the housing member can be limited through the abutting cooperation between the limiting convex portion and the positioning convex member.

[0022] Further defined, for a rotation structure as described above, wherein an induction assembly is provided between the housing member and the rotation assembly.

[0023] Further defined, for a rotation structure as described above, wherein the induction assembly includes a first magnetic grating and a second magnetic grating fixedly provided on the rotation assembly, and further includes a mounting sealing plate fixedly provided on the inner wall of the cavity and two encoder reading heads fixedly provided on the mounting sealing plate;

[0024] Wherein, in the axial direction of the housing member, the two encoder reading heads are located between the first magnetic grating and the second magnetic grating and are respectively matched with the first magnetic grating and the second magnetic grating.

[0025] Further defined, for a rotation structure as described above, wherein the rotation assembly further includes an adapter seat fixedly provided at the end of the central rotating shaft away from the rotating flange, and the induction assembly further includes a magnetic grating seat fixedly provided on the adapter seat;

[0026] A sealing groove coaxial with the housing member is provided on the end face of the magnetic grating seat close to the central rotating shaft, and a sealing ring capable of being embedded in the sealing groove is fixedly provided on the end face of the mounting sealing plate away from the central rotating shaft;

[0027] Wherein, the first magnetic grating is fixedly provided on the magnetic grating seat, and the second magnetic grating is fixedly provided on the adapter seat;

[0028] Its technical effect is that the installation sealing plate and the magnetic grating seat are fitted and joined through the cooperation of a sealing ring and a sealing groove, effectively improving the sealing performance between the installation sealing plate and the magnetic grating seat, thereby protecting the induction element between the installation sealing plate and the rotating assembly and improving the dust-proof performance inside the housing part.

[0029] Further limited, for a rotary structure as described above, a limiting ring portion is fixedly provided at one end of the central rotating shaft away from the rotary flange, and the connecting seat is embedded in the limiting ring portion and fixedly connected to the central rotating shaft.

[0030] This application also provides a surgical robot, including a remote center mechanism connected to a robotic arm through a vertical joint, and the vertical joint adopts the rotary structure described in any one of the above. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the rotary structure of the embodiment of this application;

[0032] Figure 2 It is a structural sectional view of the rotary structure of the embodiment of this application;

[0033] Figure 3 It is a schematic structural diagram of the "rotating assembly" part in the rotary structure of the embodiment of this application;

[0034] Figure 4 It is a schematic structural diagram of the "encoder head 350" part in the rotary structure of the embodiment of this application;

[0035] Figure 5 It is a schematic structural diagram of the "housing part 100" in the rotary structure of the embodiment of this application;

[0036] Figure 6 It is a schematic structural diagram of the "housing part 100" in the rotary structure of the embodiment of this application;

[0037] Figure 7 It is a schematic diagram of the cooperation between the "installation sealing plate 310" and the "magnetic grating seat 320" in the rotary structure of the embodiment of this application;

[0038] Figure 8 It is an enlarged schematic structural diagram of the "installation sealing plate 310, magnetic grating seat 320" part in the rotary structure of the embodiment of this application.

[0039] REFERENCE SIGNS

[0040] Shell 100, cavity 110, first bearing cavity 111, brake cavity 112, transition cavity 113, second bearing cavity 114, detection cavity 115, sealing cavity 116, positioning protrusion 117, threading hole 120, limit cylinder 200, installation sealing plate 310, sealing ring 311, magnetic grid seat 320, sealing groove 321, first magnetic grid 330, second magnetic grid 340, encoder reader 350, center hole 400, center Central rotating shaft -410, optical axis part -411, supporting part -412, adapter part -413, limiting ring part -414, limiting convex part -415, rotating flange -420, sealing part -421, embedded part -422, transition part -423, connecting seat -430, bottom plate -431, docking guide column -432, stator -510, rotor -520, mounting seat -530, wiring -540, elastic member -550, first bearing member -610, second bearing member -620. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0042] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0043] The rotating structure and surgical robot provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0044] like Figures 1 to 8 As shown, an embodiment of the present application provides a rotating structure, including a first joint and a second joint rotatably connected to the first joint, the first joint includes an outer shell 100, and a rotating component is rotatably connected inside the outer shell 100.

[0045] A cavity 110 is formed through the outer shell 100, and a stator 510 is fixedly provided on the inner wall of the cavity 110. A rotating assembly is rotatably disposed in the cavity 110 and fixedly connected with a rotor 520 capable of cooperating with the stator 510. The rotor 520 is located at one end of the first joint close to the second joint.

[0046] In an embodiment of the present application, a rotating structure as described above is adopted, the stator 510 is fixed on the outer shell 100, and the rotor 520 is fixedly arranged on the rotating component. When the stator 510 is energized and a rotation command is executed, the rotor 520 rotates and drives the rotating component to rotate synchronously. When the stator 510 is powered off, the stator 510 and the rotor 520 are attracted, and the rotating component and the outer shell 100 are relatively still, that is, the switching from the rotating state to the stopped state between the first joint and the second joint is realized. Since the rotor 520 is directly connected to the rotating component and is located at one end of the first joint close to the second joint, there are fewer intermediate structures, the deceleration efficiency is high, and the natural frequency is improved, thereby improving the stability of the telecentric mechanism while improving the braking response speed.

[0047] It can be understood that in the rotating mechanism between the first joint and the second joint in the prior art, the matching position of the stator part and the rotor part is far away from the second joint, and the rotor part and the second joint are coupled through a connecting structure, and the transmission is relatively complicated, which affects the deceleration efficiency. The present application effectively improves the transmission efficiency and reliability between the first joint and the second joint by optimizing the arrangement and matching form of the stator 510 and the rotor 520 in the overall structure.

[0048] In a preferred embodiment, Figure 2 , Figure 3 As shown, a first bearing member 610 is fixedly disposed between the rotating flange 420 and the inner wall of the cavity 110 , and a second bearing member 620 is fixedly disposed between an end of the central shaft 410 away from the rotating flange 420 and the inner wall of the cavity 110 .

[0049] In the embodiment of the present application, the above-mentioned rotating structure is adopted to support the rotating component through the first bearing member 610 and the second bearing member 620. Not only can the rotating component be rotated relative to the outer shell member 100, but also because the first bearing member 610 and the second bearing member 620 are distributed at both ends of the outer shell member 100, the force on the rotating component is more evenly applied, which can reduce the shaking of the rotating component during rotation and improve the overall stability of the device.

[0050] In a preferred embodiment, Figure 2 As shown, an elastic member 550 is fixedly disposed between the rotor 520 and the mounting seat 530 .

[0051] It is understandable that, since the elastic member 550 is elastic, when the stator 510 is powered off, the rotor 520 can be attracted to the stator 510 under the elastic force of the elastic member 550 .

[0052] In a preferred embodiment, as Figure 1 , Figure 2 , Figures 4 to 6 shown, one end of the outer shell member 100 is provided with a wire passing hole 120 communicating with the cavity 110, and the rotating assembly is axially provided with a central hole 400.

[0053] Among them, the wiring 540 of the stator 510 can extend to the outside of the outer shell member 100 through the wire passing hole 120, and a glue sealing portion fixedly connected to the wiring 540 is provided at the opening end of the wire passing hole 120.

[0054] In the embodiment of the present application, by adopting the above-mentioned rotating structure, the power cord passes through the central hole 400, the wiring 540 of the stator 510 passes through the wire passing hole 120, and a glue sealing portion is provided at the opening end of the wire passing hole 120, which ensures the sealing inside the outer shell member 100 and improves the overall dust-proof effect of the device.

[0055] In a preferred embodiment, as Figure 2 , Figure 3 shown, the rotating assembly includes a central rotating shaft 410 and a rotating flange 420 fixedly connected to the central rotating shaft 410. The central rotating shaft 410 is located in the cavity 110, the rotating flange 420 is coaxial with the central rotating shaft 410 and is located at the corresponding position of the end of the outer shell member 100 away from the wire passing hole 120. An installation seat 530 is fixedly provided on the rotating flange 420, and the second joint is fixedly connected to the end of the rotating flange 420 away from the central rotating shaft.

[0056] Among them, the rotor 520 is fixedly arranged on the installation seat 530.

[0057] It can be understood that the rotor 520 is fixedly connected to the rotating flange 420 through the installation seat 530, and the rotating flange 420 is fixedly connected to the central rotating shaft 410. When the stator 510 is energized and executes a rotation instruction, the rotor 520 rotates and drives the installation seat 530, the rotating flange 420, and the central rotating shaft 410 to rotate synchronously. When the stator 510 is powered off, the stator 510 and the rotor 520 are attracted to each other, and the rotating assembly and the outer shell member 100 are relatively stationary, that is, the switching between the rotating state and the stopping state between the first joint and the second joint is realized.

[0058] In a preferred embodiment, as Figure 2 , Figure 3 shown, the rotating flange 420 includes a sealing portion 421, an embedding portion 422, and a transition portion 423 that are coaxially and fixedly connected in sequence.

[0059] Among them, the first bearing member 610 is sleeved on the transition portion 423, and the central rotating shaft 410 and the installation seat 530 are fixedly connected to the transition portion 423.

[0060] In a preferred embodiment, Figure 1 , Figure 2 As shown, a limiting cylinder 200 is provided at a corresponding position of one end of the housing 100 away from the threading hole 120 , and the rotating flange 420 is fixedly connected to the limiting cylinder 200 .

[0061] In a preferred embodiment, Figure 2 As shown, the sealing portion 421 is fixedly connected to the limiting cylinder 200 .

[0062] In a preferred embodiment, Figure 2 , Figure 3 As shown, the central rotating shaft 410 includes an optical axis portion 411 , a supporting portion 412 , and a transition portion 413 which are coaxial and fixedly connected in sequence.

[0063] The optical axis portion 411 penetrates the stator 510 and the rotor 520 and is fixedly connected to the rotating flange 420 , and the second bearing member 620 is sleeved on the supporting portion 412 .

[0064] In a preferred embodiment, Figure 3 , Figure 6 As shown, a limiting protrusion 415 is fixedly provided on the rotating assembly, and a positioning protrusion 117 is fixedly provided on the inner wall of the cavity 110 .

[0065] When the rotating assembly rotates relative to the outer shell 100 , the limiting protrusion 415 can abut against the positioning protrusion 117 in the circumferential direction of the central axis of the outer shell 100 .

[0066] It can be understood that the rotation angle range of the rotating assembly relative to the outer shell 100 can be limited by the abutment cooperation between the limiting protrusion 415 and the positioning protrusion 117.

[0067] In a preferred embodiment, Figure 3 , Figure 6 As shown, the limiting protrusion 415 is fixedly disposed on the supporting portion 412 .

[0068] It is understandable that the setting form of the limiting protrusion 415 is not limited to the above-mentioned one. For example, it can also be fixedly set on the optical axis part 411 or the adapter part 413. As long as it can achieve circumferential rotation limitation between the positioning protrusion 117, it will not be elaborated here.

[0069] In a preferred embodiment, a sensing component for monitoring the rotation parameters between the housing 100 and the rotating component is further provided between the housing 100 and the rotating component.

[0070] In a preferred embodiment, Figures 1 to 4 , Figure 7 , Figure 8As shown, the sensing component includes a first magnetic grating 330 and a second magnetic grating 340 fixedly arranged on the rotating component, and further includes a mounting sealing plate 310 fixedly arranged on the inner wall of the cavity 110 and two encoder heads 350 fixedly arranged on the mounting sealing plate 310.

[0071] Among them, in the axial direction of the housing 100, the two encoder heads 350 are located between the first magnetic grating 330 and the second magnetic grating 340, and one of the encoder heads 350 cooperates with the first magnetic grating 330 and the other encoder head 350 cooperates with the second magnetic grating 340.

[0072] It can be understood that when the rotating component rotates relative to the housing 100, it can drive the first magnetic grating 330 and the second magnetic grating 340 to rotate relative to the encoder heads 350, so as to measure the motion data of the rotating component relative to the housing 100.

[0073] In a preferred embodiment, one of the first magnetic grating 330 and the second magnetic grating 340 is an absolute magnetic grating and the other is an incremental magnetic grating, and the two encoder heads 350 are an absolute encoder and an incremental encoder respectively.

[0074] In a preferred embodiment, the wiring of the encoder head 350 can extend to the outside of the housing 100 through the wire passing hole 120.

[0075] In a preferred embodiment, as Figures 2 to 4 、 Figure 7 、 Figure 8 shown, the rotating component further includes an adapter seat 430 fixedly arranged at one end of the central rotating shaft 410 away from the rotating flange 420, and the sensing component further includes a magnetic grating seat 320 fixedly arranged on the adapter seat 430.

[0076] Among them, the first magnetic grating 330 is fixedly arranged on the magnetic grating seat 320, and the second magnetic grating 340 is fixedly arranged on the adapter seat 430.

[0077] In a preferred embodiment, as Figure 2 、 Figure 3 shown, the adapter seat 430 includes a bottom plate 431 fixedly connected to the central rotating shaft 410 and a docking guide post 432 fixedly arranged at one end of the bottom plate 431 away from the central rotating shaft 410.

[0078] Among them, the bottom plate 431 and the docking guide post 432 are coaxial, the second magnetic grating 340 is fixedly arranged on the end face of the bottom plate 431 on the side away from the central rotating shaft 410, and the magnetic grating seat 320 is sleeved on the docking guide post 432 and fixedly connected to the adapter seat 430.

[0079] In a preferred embodiment, as Figure 2 、 Figure 3As shown, a limiting ring portion 414 is fixedly provided at one end of the adapter portion 413 away from the supporting portion 412 , and the bottom plate 431 is embedded in the limiting ring portion 414 and fixedly connected to the adapter portion 413 .

[0080] In a preferred embodiment, Figure 2 , Figure 3 , Figure 7 , Figure 8 As shown, a sealing groove 321 coaxial with the housing 100 is provided on the end surface of the magnetic grid seat 320 close to the central rotating shaft 410 , and a sealing ring 311 capable of engaging with the sealing groove 321 is fixedly provided on the end surface of the mounting sealing plate 310 away from the central rotating shaft 410 .

[0081] In an embodiment of the present application, the above-mentioned rotating structure is adopted, and the mounting sealing plate 310 and the magnetic grid seat 320 are fitted and engaged through the sealing ring 311 and the sealing groove 321, which effectively improves the sealing between the mounting sealing plate 310 and the magnetic grid seat 320, thereby protecting the mounting sealing plate 310 and the sensing elements between the rotating components, and improving the dustproof performance inside the outer shell 100.

[0082] In a preferred embodiment, Figure 5 , Figure 6 As shown, the cavity 110 includes a first supporting cavity 111 , a braking cavity 112 , a transition cavity 113 , a second supporting cavity 114 , a detection cavity 115 and a sealing cavity 116 which are sequentially connected along the axial direction of the housing 100 .

[0083] Among them, the sealing cavity 116 is located at the corresponding position of the opening end of the threading hole 120, the installation sealing plate 310 is embedded in the sealing cavity 116 and bolted to the inner wall of the sealing cavity 116, the detection cavity 115 is used to accommodate the first magnetic grid 330, the second magnetic grid 340 and the encoder reader 350, the second bearing member 620 is arranged between the inner wall of the second supporting cavity 114 and the central rotating shaft 410, the transition cavity 113 and the central rotating shaft 410 are clearance-matched, the stator 510 is located in the brake cavity 112 and bolted to the inner wall of the brake cavity 112, and the first bearing member 610 is arranged between the inner wall of the first supporting cavity 111 and the rotating flange 420.

[0084] During assembly, the stator 510 is fastened to the inner wall of the brake cavity 112 with bolts, the rotor 520 is fastened to the mounting seat 530 with bolts, the second bearing member 620 is sleeved on the central rotating shaft 410, then the central rotating shaft 410 is inserted into the cavity 110 from one end of the cavity 110 near the opening of the brake cavity 112, the mounting seat 530 is passed through the central rotating shaft 410 and attracted to the rotor 520, the first bearing member 610 is installed between the inner wall of the first support cavity 111 and the rotating flange 420, and then the rotating flange 420 is fixed to the mounting seat 530 and the central rotating shaft 410 in sequence. The first magnetic grating 330 and the second magnetic grating 340 are respectively fixed to the magnetic grating seat 320 and the connection seat 430 with glue, and the connection seat 430 is fixed to the central rotating shaft 410. The two encoder heads 350 are installed on the mounting cover plate 310, and then the mounting cover plate 310 is fastened to the inner wall of the sealed cavity 116 with bolts, and then the magnetic grating seat 320 is fixed to the connection seat 430, thus completing the assembly of the rotating structure.

[0085] It can be understood that since the number of transmission parts is reduced and the complexity is decreased, the production cost and the difficulty of disassembly and assembly during later assembly and maintenance are reduced.

[0086] In a preferred embodiment, as Figure 5 、 Figure 6 shown, the positioning convex member 117 is fixedly arranged on the inner wall of the transition cavity 113.

[0087] The embodiment of the present application provides a surgical robot, including a telecentric mechanism connected to a robotic arm through a vertical joint, and the vertical joint adopts the rotating structure in the above embodiment.

[0088] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0089] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

Claims

1. A rotating structure, comprising a first joint and a second joint rotatably connected to the first joint, characterized in that The first joint includes a housing member, a cavity is provided through the housing member, and a stator is fixedly provided on the inner wall of the cavity; Wherein, a rotating assembly capable of being fixedly connected to the second joint is rotatably provided in the cavity, the rotating assembly is coaxial with the housing member and a rotor capable of cooperating with the stator is fixedly provided, and the rotor is located at one end of the first joint close to the second joint.

2. The rotational structure according to claim 1, wherein, The rotating assembly includes a central rotating shaft located in the cavity, a rotating flange fixedly connected to the central rotating shaft, and a mounting seat fixedly provided on the rotating flange. The rotor is fixedly provided on the mounting seat, and the second joint is fixedly connected to the end of the rotating flange away from the central rotating shaft; Or, the rotating assembly further includes a limiting cylinder fixedly connected to the rotating flange and located at one end of the housing member close to the rotating flange.

3. A rotating structure according to claim 1 or 2, characterized in that The rotating assembly is axially provided with a central hole through it; Wherein, one end of the housing member is provided with a wire passing hole communicating with the cavity, the wiring of the stator can extend to the outside of the housing member through the wire passing hole, and a glue sealing portion fixedly connected to the wiring is provided at the opening end of the wire passing hole.

4. A rotating structure according to claim 2, characterized in that, A first bearing member is fixedly provided between the rotating flange and the inner wall of the cavity, and a second bearing member is fixedly provided between the end of the central rotating shaft away from the rotating flange and the inner wall of the cavity; Wherein, the first bearing member and the second bearing member are respectively located at corresponding positions at both ends of the housing member.

5. A rotating structure according to claim 1 or 2, characterized in that, A limiting convex portion is fixedly provided on the rotating assembly, and a positioning convex member is fixedly provided on the inner wall of the cavity; Wherein, when the rotating assembly rotates relative to the housing member, the limiting convex portion can abut against the positioning convex member in the circumferential direction of the central axis of the housing member.

6. A rotating structure according to claim 1, characterized in that, An induction assembly is provided between the housing member and the rotating assembly.

7. A rotating structure according to claim 6, characterized in that The induction assembly includes a first magnetic grating and a second magnetic grating fixedly provided on the rotating assembly, and further includes a mounting sealing plate fixedly provided on the inner wall of the cavity and two encoder reading heads fixedly provided on the mounting sealing plate; Wherein, in the axial direction of the housing member, the two encoder reading heads are located between the first magnetic grating and the second magnetic grating and cooperate with the first magnetic grating and the second magnetic grating respectively.

8. A rotating structure according to claim 7, characterized in that The rotating assembly further includes an adapter seat fixedly provided at the end of the central rotating shaft away from the rotating flange, and the induction assembly further includes a magnetic grating seat fixedly provided on the adapter seat; A sealing groove coaxial with the housing member is provided on the end face of the magnetic grating seat close to the central rotating shaft, and a sealing ring capable of being embedded in the sealing groove is fixedly provided on the end face of the mounting sealing plate away from the central rotating shaft; Wherein, the first magnetic grating is fixedly provided on the magnetic grating seat, and the second magnetic grating is fixedly provided on the adapter seat.

9. A rotating structure according to claim 8, characterized in that, A limiting ring portion is fixedly provided at the end of the central rotating shaft away from the rotating flange, and the adapter seat is embedded in the limiting ring portion and fixedly connected to the central rotating shaft.

10. A surgical robot, characterized in that, It includes a remote center mechanism connected to the robotic arm through a vertical joint, and the vertical joint adopts the rotating structure according to any one of claims 1 to 9 above.

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