Position joint and surgical robot

Abstract

The invention provides a position joint and a surgical robot, and relates to the technical field of robots. The position joint comprises a supporting frame, a winding shaft, a guide wheel, a wire spool and a metal wire, the winding shaft and the wire spool are rotationally arranged on the supporting frame, a rotating shaft of the winding shaft is arranged in the first direction, a rotating shaft of the wire spool is arranged in the second direction, and the peripheral tangent plane of the winding shaft and the peripheral tangent plane of the wire spool are not coplanar; the guide wheel is arranged between the winding shaft and the winding disc; the metal wire is wound on the winding shaft, the guide wheel and the wire spool in sequence, and the winding shaft drives the wire spool to rotate through the metal wire; the guide wheel is provided with a guide groove, the extending direction of the guide groove is tangent to the winding shaft in the plane perpendicular to the first direction, and the extending direction of the guide groove is tangent to the wire spool in the plane perpendicular to the second direction. According to the position joint, the metal wires can be prevented from being broken, and the reliability of the position joint is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a position joint and a surgical robot. Background Art

[0002] Minimally invasive surgery offers advantages over traditional surgical methods, including less trauma, less pain, and faster recovery. Minimally invasive surgery utilizes minimally invasive surgical robots to perform procedures within human cavities. These robots use positional joints to control the position and posture of the end-use instrument.

[0003] The positional joint consists of a winding shaft and a winding drum, which are driven by a wire. The shaft and drum rotate in different directions, so a guide wheel is placed between them to redirect the wire. The wire is wound sequentially around the shaft, the guide wheel, and the winding drum. The rotating axes of the shaft, the winding drum, and the guide wheel are typically perpendicular to each other.

[0004] Because the direction in which the metal wire disengages from the winding shaft and the direction in which it enters the winding reel are not in the same plane, the direction in which the metal wire enters the guide wheel or disengages from the guide wheel is tilted. The metal wire rubs against the side and edge of the guide groove of the guide wheel, which can easily cause the metal wire to break, reducing the reliability of the position joint. Summary of the Invention

[0005] In view of the above problems, the embodiments of the present application provide a positioning joint and a surgical robot, which can prevent metal wire breakage and improve the reliability of the positioning joint.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, the present application provides a position joint that can be rotatably arranged on a main hand robot, including a support frame, a winding shaft, a guide wheel, and a winding disk, wherein the winding shaft can be rotatably arranged on the support frame, and the winding shaft axis is arranged along a first direction;

[0008] The winding drum is rotatably arranged on the support frame, the winding drum rotation axis is arranged along the second direction, and the outer peripheral section of the winding axis and the outer peripheral section of the winding drum are not coplanar;

[0009] The guide wheel is rotatably arranged on the support frame, and the guide wheel is arranged between the winding shaft and the winding drum;

[0010] The position joint also includes a metal wire, which is wound on a winding shaft, a guide wheel and a winding disk in sequence, and the winding shaft drives the winding disk to rotate through the metal wire;

[0011] The guide wheel is provided with a guide groove. In a plane perpendicular to the first direction, the extending direction of the guide groove is tangent to the winding axis. In a plane perpendicular to the second direction, the extending direction of the guide groove is tangent to the winding drum.

[0012] The position joint provided by the present application is such that when the metal wire of the position joint detaches from the winding shaft and enters the guide groove, the metal wire is tangent to the outer peripheral surface of the winding shaft. Furthermore, the extension direction of the guide groove is tangent to the winding shaft. The direction of the metal wire after detaching from the winding shaft is the same as the extension direction of the guide groove. When the metal wire detaches from the guide groove and enters the winding reel, the metal wire is tangent to the outer peripheral surface of the winding reel. Furthermore, the extension direction of the guide groove is tangent to the winding reel, and the routing of the metal wire is the same as the extension direction of the guide groove. Therefore, the direction of the metal wire entering the guide groove is the same as the extension direction of the guide groove, and the direction of the metal wire detaching from the guide groove is the same as the extension direction of the guide groove. This can prevent the metal wire from rubbing against the groove edge of the guide groove, thereby preventing the metal wire from breaking and improving the reliability of the position joint.

[0013] In some embodiments of the present application, in a plane perpendicular to the second direction, the distance between the rotation axis of the winding shaft and the rotation axis of the winding reel is smaller than the radius of the winding reel;

[0014] An entry portion is provided at a position where the guide groove contacts the metal wire, and a separation portion is provided at a position where the guide groove separates from the metal wire. The entry portion is closer to the winding drum shaft than the separation portion.

[0015] This arrangement can reduce the space occupied by the winding shaft and the winding drum, thereby improving the space utilization of the position joint. In addition, it can meet the layout requirements of different position joints and improve the applicability of the position joint.

[0016] In some embodiments of the present application, in a plane perpendicular to the first direction, the angle between the direction from the entry portion to the exit portion and the second direction is a first angle, and the first angle is greater than or equal to 5 degrees and less than or equal to 9 degrees.

[0017] This arrangement can improve the compactness and stability of the position joint.

[0018] In some embodiments of the present application, in a plane perpendicular to the second direction, the angle between the direction from the entry portion to the exit portion and the first direction is a second angle, and the second angle is greater than or equal to 5 degrees and less than or equal to 9 degrees.

[0019] Such an arrangement can improve the compactness and stability of the position joint.

[0020] In some embodiments of the present application, the extension direction of the portion of the metal wire located between the winding shaft and the guide groove is perpendicular to the first direction, and the extension direction of the portion of the metal wire located between the guide groove and the winding drum is perpendicular to the second direction.

[0021] This arrangement can prevent the metal wire from slipping sideways due to a tilted path during winding or releasing.

[0022] The length of the metal wire in contact with the guide groove is greater than one quarter of the total length of the guide groove.

[0023] This makes the contact length between the metal wire and the guide groove longer, increases the friction between the metal wire and the guide groove, and the metal wire drives the guide wheel to rotate synchronously, thereby reducing the friction between the metal wire and the guide groove.

[0024] In some embodiments of the present application, the winding shaft is provided with a spiral winding groove along the first direction, and the winding groove is used to accommodate the metal wire.

[0025] This evenly distributes the wire along the axial direction, preventing it from stacking or crossing. This maintains constant wire tension during winding and unwinding, ensuring precise and responsive wire transmission. Furthermore, this increases the contact area between the wire and the winding shaft, improving the transmission's load capacity, reducing wire wear, and extending the service life of the position joint.

[0026] In some embodiments of the present application, the support frame is provided with a support shaft, and the support shaft is rotatably connected to the guide wheel;

[0027] In a plane perpendicular to the first direction, a portion of the support shaft is perpendicular to the extending direction of the guide groove.

[0028] Alternatively, in a plane perpendicular to the second direction, part of the support shaft is perpendicular to the extending direction of the guide groove.

[0029] This ensures that the metal wire moves along the guide groove track during transmission, avoiding derailment or friction loss caused by path deviation.

[0030] In some embodiments of the present application, the support shaft includes a support base, a first support shaft, and a second support shaft, the support base is disposed on the support frame, and the support base, the first support shaft, and the second support shaft are connected in sequence;

[0031] The diameter of the first support shaft is larger than that of the second support shaft, and the guide wheel is rotatably arranged on the second support shaft;

[0032] In a plane perpendicular to the first direction, the axis of the second support shaft is perpendicular to the extending direction of the guide groove.

[0033] Such arrangement facilitates the processing of the support shaft and reduces the manufacturing complexity of the support shaft. In addition, the layout or installation of the support shaft is facilitated and the applicability of the support shaft is improved.

[0034] In a second aspect, the present application provides a surgical robot comprising the position joint as described above.

[0035] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A schematic structural diagram of the first position joint provided in an embodiment of the present application;

[0038] Figure 2 An exploded view of the first position joint provided in an embodiment of the present application;

[0039] Figure 3 A front view of a joint in the first position provided in an embodiment of the present application;

[0040] Figure 4 for Figure 3 A partial enlarged schematic diagram of point A in the middle;

[0041] Figure 5 for Figure 3 Full cross-section of the middle BB;

[0042] Figure 6 A schematic structural diagram of the second position joint provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of the structure of the guide wheel and the support shaft provided in an embodiment of the present application;

[0044] Figure 8 A schematic structural diagram of the support shaft provided in an embodiment of the present application.

[0045] Reference numerals:

[0046] 100-position joints;

[0047] 110-support frame; 111-support shaft; 1111-support seat; 1112-first support shaft; 1113-second support shaft;

[0048] 120-winding shaft; 121-winding groove;

[0049] 130 - guide wheel; 131 - guide groove; 1311 - entry portion; 1312 - exit portion;

[0050] 140-winding reel;

[0051] 150-metal wire;

[0052] 160-motor;

[0053] X-first direction; Y-second direction; a1-first angle; a2-second angle. DETAILED DESCRIPTION

[0054] Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. However, due to the limitations of incision size, minimally invasive surgery can increase the difficulty of the procedure. Furthermore, during prolonged procedures, fatigue can lead to hand tremors or other unstable movements, compromising the outcome. Therefore, minimally invasive surgery can utilize a minimally invasive surgical robot to perform procedures within the human body. A minimally invasive surgical robot typically comprises a master robot, a slave robot, and a display device. The master and slave robots are electrically connected, and the display device displays real-time images of the surgical process, assisting the operator in performing precise operations on the control console. The operator operates the master robot, inputting operational commands, which are then transmitted to the slave robot, enabling the slave robot's end-use instrument to perform the procedure within the human body. The master robot is equipped with a rotatable position joint that allows the slave robot to be adjusted to control the position and posture of the end-use instrument.

[0055] The position joint includes a winding shaft and a winding reel, and the winding shaft and the winding reel realize transmission through metal wire. The directions of the winding shaft and the winding reel are inconsistent, and a guide wheel is set between the winding shaft and the winding reel to change the direction of the metal wire. The metal wire is wound around the winding shaft, the guide wheel and the winding reel in sequence. The rotating axes of the winding shaft, the winding reel and the guide wheel are usually perpendicular to each other. Because the direction in which the metal wire escapes from the winding shaft and the direction in which it enters the winding reel are not in the same plane, the direction in which the metal wire enters the guide wheel or escapes from the guide wheel is tilted, and the metal wire rubs against the side of the guide groove of the guide wheel, which easily causes the metal wire to break, reducing the reliability of the position joint.

[0056] In order to solve the above problems, the present application provides a positioning joint, in which when the metal wire of the positioning joint detaches from the winding shaft and enters the guide groove, the metal wire is tangent to the outer peripheral surface of the winding shaft. In addition, the extension direction of the guide groove is tangent to the winding shaft. The direction of the metal wire after detaching from the winding shaft is the same as the extension direction of the guide groove. When the metal wire detaches from the guide groove and enters the winding reel, the metal wire is tangent to the outer peripheral surface of the winding reel. In addition, the extension direction of the guide groove is tangent to the winding reel, and the routing of the metal wire is the same as the extension direction of the guide groove. Therefore, the direction of the metal wire entering the guide groove is the same as the extension direction of the guide groove, and the direction of the metal wire detaching from the guide groove is the same as the extension direction of the guide groove. This can prevent the metal wire from rubbing against the groove edge of the guide groove, thereby preventing the metal wire from breaking and improving the reliability of the positioning joint.

[0057] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0058] The surgical robot in the embodiments of the present application includes a master-hand robot and a slave-hand robot. An operator controls the master-hand robot, and the slave-hand robot performs surgical operations based on control signals from the master-hand robot. The position joints provided in the embodiments of the present application are used for the master-hand robot. It should be noted that the surgical robot provided in the embodiments of the present application is a minimally invasive surgical robot, used for performing minimally invasive surgical procedures. The embodiments of the present application will not be further described here.

[0059] The positioning joint is rotatably mounted on the master hand robot. It is used to adjust the position and posture of the slave hand robot's end-use instrument, thereby meeting the flexibility and precision requirements of the surgical robot during minimally invasive surgery.

[0060] Combine Figure 1 and Figure 2 As shown, the position joint 100 includes a support frame 110 , which provides a mounting base for various components of the position joint 100 , thereby ensuring the stability of the position joint 100 when subjected to external forces or motion loads.

[0061] The position joint 100 includes a winding shaft 120, which is rotatably mounted on a support frame 110. For example, a motor 160 is fixed to the support frame 110 and connected to the winding shaft 120 via a coupling. The motor 160 drives the winding shaft 120 to rotate, providing traction for the winding shaft 120.

[0062] The position joint 100 includes a winding drum 140, which is rotatably mounted on a support frame 110. For example, the support frame 110 is provided with a mounting hole, and a rotating shaft of the winding drum 140 is mounted in the mounting hole via a rolling bearing.

[0063] The outer circumferential section of the winding shaft 120 and the outer circumferential section of the winding drum 140 are not coplanar. This arrangement allows the winding shaft 120 and the winding drum 140 to be independently arranged in three-dimensional space, avoiding interference between the components caused by a traditional coplanar layout, thereby optimizing the layout of the position joint 100 and improving the integration of the position joint 100.

[0064] The rotation axis of the winding shaft 120 is arranged along the first direction X, and the rotation axis of the winding drum 140 is arranged along the second direction Y.

[0065] It should be noted that the first direction X and the second direction Y may be perpendicular to each other, or approximately perpendicular to each other, for example, the angle between the first direction X and the second direction Y is 90±10 degrees.

[0066] Reference Figure 3 As shown, the position joint 100 further includes a metal wire 150. The metal wire 150 is wound around the outer circumference of the winding shaft 120, and the metal wire 150 is wound around the outer circumference of the winding drum 140. The winding shaft 120 drives the winding drum 140 to rotate through the metal wire 150.

[0067] For example, the metal wire 150 can be made of tungsten wire. Tungsten wire has high density, a high melting point, and an extremely low thermal expansion coefficient, allowing it to withstand greater loads despite its small diameter. Furthermore, the wear resistance of tungsten wire can extend its service life, making it suitable for applications requiring long-term, high-frequency motion.

[0068] For another example, the metal wire 150 can be made of steel wire, which has excellent tensile strength and low cost-effectiveness.

[0069] Combine Figure 3 and Figure 4 As shown, along the first direction X, the winding shaft 120 is provided with a spiral winding groove 121, which is used to accommodate the metal wire 150. The spiral winding groove 121, through its continuous helical angle, can evenly distribute the metal wire 150 along the axial direction, preventing the metal wire 150 from stacking or crossing, thereby maintaining a constant tension in the metal wire 150 during the winding and releasing process, thereby ensuring the accuracy and responsiveness of the transmission of the metal wire 150. In addition, this can increase the contact area between the metal wire 150 and the winding shaft 120, improve the load capacity of the transmission, reduce the wear of the metal wire 150, and extend the service life of the position joint 100.

[0070] For example, the winding spool 120 is provided with a fixing hole, and the metal wire 150 is passed through the fixing hole, and a sufficient length is reserved on both sides of the metal wire 150 passing through the fixing hole. The metal wire 150 is inserted into the jacket, and the jacket is clamped to fix the metal wire 150, thereby facilitating the fixation of the metal wire 150.

[0071] Because the winding shaft 120 rotates along a first direction X and the winding drum 140 rotates along a second direction Y, the winding shaft 120 and the winding drum 140 rotate in different directions. Position joint 100 also includes a guide wheel 130. Guide wheel 130 is disposed between winding shaft 120 and winding drum 140 and is used to change the direction of metal wire 150.

[0072] Guide wheel 130 is formed with a guide groove 131 to confine wire 150 within guide wheel 130, preventing it from escaping from guide wheel 130 or shifting laterally during high-speed transmission, thereby improving the reliability and safety of wire 150 transmission. Furthermore, guide wheel 130 is rotatably mounted on support frame 110, and movement of wire 150 drives guide wheel 130 rotation, reducing vibration and friction between wire 150 and guide groove 131, thereby improving the reliability of wire 150 transmission.

[0073] Continue to refer to Figure 3 and Figure 4 As shown, the metal wire 150 is wound around the winding shaft 120 , the guide wheel 130 and the winding drum 140 in sequence, and the winding shaft 120 drives the winding drum 140 to rotate through the metal wire 150 .

[0074] Specifically, the first end of the metal wire 150 is fixed to the winding spool 120. After being wound around the winding spool 120 for 2-3 turns, the wire 150 is released from the winding spool 120. The wire 150, which has been released from the winding spool 120, is guided by the guide groove 131, changing its direction. After being released from the guide groove 131, the wire 150 is wound around the winding drum 140 and fixed thereto. As the winding spool 120 rotates, the wire 150 is wound around or unwound from the winding spool 120, driving the wire 150 to wind or unwind from the winding drum 140, thereby driving the winding drum 140 to rotate.

[0075] Reference Figure 3 and Figure 5As shown, in a plane perpendicular to the first direction X, the extension direction of the guide groove 131 is tangent to the winding shaft 120. At the same time, in a plane perpendicular to the second direction Y, the extension direction of the guide groove 131 is tangent to the winding drum 140. That is to say, when the metal wire 150 detaches from the winding shaft 120 and enters the guide groove 131, the metal wire 150 is tangent to the outer peripheral surface of the winding shaft 120. Because the extension direction of the guide groove 131 is tangent to the winding shaft 120, the direction of the metal wire 150 after detaching from the winding shaft 120 is the same as the extension direction of the guide groove 131. When the metal wire 150 detaches from the guide groove 131 and enters the winding drum 140, the metal wire 150 is tangent to the outer peripheral surface of the winding drum 140. Because the extension direction of the guide groove 131 is tangent to the winding drum 140, the routing of the metal wire 150 is the same as the extension direction of the guide groove 131. Therefore, the direction of the metal wire 150 entering the guide groove 131 is the same as the extension direction of the guide groove 131, and the direction of the metal wire 150 leaving the guide groove 131 is the same as the extension direction of the guide groove 131. This can prevent the metal wire 150 from rubbing against the groove edge of the guide groove 131, thereby preventing the metal wire 150 from breaking and improving the reliability of the position joint 100.

[0076] In addition, the direction of the metal wire 150 is the same as the extending direction of the guide groove 131, which can avoid local stress concentration caused by path bending or sudden changes and improve the transmission stability.

[0077] Reference Figure 3 and Figure 5 As shown, in a plane perpendicular to the second direction Y, the distance between the rotating axis of the winding shaft 120 and the rotating axis of the winding drum 140 is smaller than the radius of the winding drum 140, which can reduce the space occupied by the winding shaft 120 and the winding drum 140, thereby improving the space utilization of the position joint 100.

[0078] In some possible embodiments, in a plane perpendicular to the second direction Y, the distance between the rotating axis of the winding shaft 120 and the rotating axis of the winding reel 140 is greater than the radius of the winding reel 140, and the entry portion 1311 is farther away from the rotating axis of the winding reel 140 than the separation portion 1312, which can meet the layout requirements of joints 100 in different positions and improve the applicability of the position joint 100.

[0079] Reference Figure 4 and Figure 5 As shown, the position where the guide groove 131 contacts the metal wire 150 is provided with an entry portion 1311, and the position where the guide groove 131 and the metal wire 150 separate is provided with a separation portion 1312. In other words, the entry portion 1311 is the initial contact position where the metal wire 150 enters the guide groove 131, where the metal wire 150 contacts the guide groove 131 to form an arc-shaped path, and the separation portion 1312 is the terminal contact position where the metal wire 150 separates from the guide groove 131.

[0080] To reduce the distance between the rotating axes of the spool 120 and the reel 140, the length of the wire 150 between the spool 120 and the reel 140 is reduced, shortening the power transmission path and improving the response speed of the position joint 100. The distance between the rotating axes of the spool 120 and the reel 140 is smaller than the radius of the reel 140, and the entry portion 1311 is closer to the reel 140 axis than the exit portion 1312.

[0081] Reference Figure 5 As shown, in some possible embodiments, in a plane perpendicular to the first direction X, the angle between the direction from the entry portion 1311 to the exit portion 1312 and the second direction Y is a first angle a1. If the first angle a1 is less than 5 degrees, the direction of the metal wire 150 in the guide groove 131 will tend to be parallel to the rotation axis of the winding reel 140, thereby increasing the space occupied by the position joint 100 and reducing the compactness of the position joint 100. If the first angle a1 is greater than 9 degrees, the direction of the metal wire 150 in the guide groove 131 will change significantly. This larger angle will cause the metal wire 150 to be affected by multiple forces such as friction and constraint force during the transmission process, making the force situation of the metal wire 150 in the guide groove 131 more complicated. The metal wire 150 may shake, vibrate, etc., thereby affecting the stability of the position joint 100.

[0082] Therefore, the first angle a1 is greater than or equal to 5 degrees and less than or equal to 9 degrees to improve the compactness and stability of the position joint 100. The first angle a1 can be set to 5 degrees, 6 degrees, 7 degrees, 8 degrees, or 9 degrees.

[0083] Reference Figure 6 As shown, in some other possible embodiments, in a plane perpendicular to the second direction Y, the angle between the direction from the entry portion 1311 to the exit portion 1312 and the second direction Y is a second angle a2. If the second angle a2 is less than 5 degrees, the direction of the metal wire 150 in the guide groove 131 will tend to be parallel to the axis of rotation of the winding reel 140, thereby increasing the space occupied by the position joint 100 and reducing the compactness of the position joint 100. If the second angle a2 is greater than 9 degrees, the direction of the metal wire 150 in the guide groove 131 will change significantly. This larger angle will cause the metal wire 150 to be subjected to multiple forces such as friction and constraint force during the transmission process, making the force situation of the metal wire 150 in the guide groove 131 more complicated. The metal wire 150 may shake, vibrate, etc., thereby affecting the stability of the position joint 100.

[0084] Therefore, the second angle a2 is greater than or equal to 5 degrees and less than or equal to 9 degrees to improve the compactness and stability of the position joint 100. The second angle a2 can be set to 5 degrees, 6 degrees, 7 degrees, 8 degrees, or 9 degrees.

[0085] The installation structure of the guide wheel is introduced in detail below.

[0086] Combine Figure 3 and Figure 7 As shown, the guide wheel 130 is mounted on the support frame 110 via a support shaft 111. The support frame 110 is provided with a support shaft 111, which is used to support the guide wheel 130. The support shaft 111 is rotatably connected to the guide wheel 130. For example, the inner ring of the bearing is mounted on the support shaft 111, and the outer ring of the bearing is fixed to the guide wheel 130.

[0087] The support frame 110 and the support shaft 111 can be integrally formed, which can reduce the number of components of the position joint 100 .

[0088] In a plane perpendicular to the first direction X, a portion of the support shaft 111 is perpendicular to the extension direction of the guide slot 131. In other words, the axis of the support shaft 111 is parallel to the plane perpendicular to the first direction X, and the axis of a portion of the support shaft 111 is perpendicular to the rotation trajectory of the guide slot 131. This ensures that the metal wire 150 moves along the trajectory of the guide slot 131 during transmission, preventing it from slipping out of the slot or friction loss caused by path deviation.

[0089] Reference Figure 8 As shown, further, the support shaft 111 includes a support base 1111, a first support shaft 1112 and a second support shaft 1113. The support base 1111 is arranged on the support frame 110, and the support base 1111, the first support shaft 1112 and the second support shaft 1113 are connected in sequence. Such an arrangement facilitates the processing of the support shaft 111 and can reduce the manufacturing complexity of the support shaft 111. For example, the support base 1111, the first support shaft 1112 and the second support shaft 1113 can be made by one-piece molding, which reduces the dimensional error of each part and can also improve the rigidity of the support shaft 111. The support base 1111, the first support shaft 1112 and the second support shaft 1113 can be made by machining technology, which can reduce manufacturing costs.

[0090] Specifically, the support base 1111 is provided with a mounting hole, and the support base 1111 is mounted on the support frame 110 through the mounting hole and bolts.

[0091] The diameter of first support shaft 1112 is larger than that of second support shaft 1113, and guide wheel 130 is rotatably mounted on second support shaft 1113. The larger diameter of first support shaft 1112 increases its rigidity, allowing it to support and connect to second support shaft 1113. Furthermore, when second support shaft 1113 is rotatably connected to guide wheel 130 via a bearing, the larger diameter of first support shaft 1112 limits the position of the bearing.

[0092] In a plane perpendicular to the first direction X, the axis of the second support shaft 1113 is perpendicular to the extension direction of the guide groove 131 to ensure that the guide groove 131 rotates around the axis of the second support shaft 1113 when the metal wire 150 is transmitted, thereby preventing the metal wire 150 from being cut by the guide groove 131. The axis of the first support shaft 1112 and the axis of the second support shaft 1113 can be different, and the axis direction of the first support shaft 1112 can be adjusted independently. In other words, the axis of the first support shaft 1112 and the axis of the second support shaft 1113 are parallel to the plane perpendicular to the first direction X, and the axis of the first support shaft 1112 and the axis of the second support shaft 1113 have a certain angle. This facilitates the layout or installation of the support shaft 111 and improves the applicability of the support shaft 111.

[0093] Combine Figure 6 and Figure 7 As shown, in some possible embodiments, within a plane perpendicular to the second direction Y, a portion of the support shaft 111 is perpendicular to the extension direction of the guide slot 131. In other words, the axis of the support shaft 111 is parallel to the plane perpendicular to the second direction Y, and the axis of a portion of the support shaft 111 is perpendicular to the rotation trajectory of the guide slot 131. This ensures that the metal wire 150 moves along the trajectory of the guide slot 131 during transmission, preventing derailment or friction loss caused by path deviation.

[0094] In a plane perpendicular to the second direction Y, the axis of the second support shaft 1113 is perpendicular to the extension direction of the guide groove 131 to ensure that the guide groove 131 rotates around the axis of the second support shaft 1113 when the metal wire 150 is transmitted, thereby preventing the metal wire 150 from being cut by the guide groove 131. The axis of the first support shaft 1112 and the axis of the second support shaft 1113 can be different, and the axis direction of the first support shaft 1112 can be adjusted independently. In other words, the axis of the first support shaft 1112 and the axis of the second support shaft 1113 are parallel to the plane perpendicular to the second direction Y, and the axis of the first support shaft 1112 and the axis of the second support shaft 1113 have a certain angle. This facilitates the layout or installation of the support shaft 111 and improves the applicability of the support shaft 111.

[0095] In some possible embodiments, the axis of part of the support shaft 111 is not arranged perpendicular to the rotation trajectory of the guide groove 131. The axis of the support shaft 111 coincides with the axis of the guide wheel 130, while the rotation trajectory of the guide groove 131 is arranged at an angle to the rotation trajectory of the guide wheel 130. The guide groove 131 is arranged at an angle to the axis of the guide wheel 130. The guide wheel 130 only needs to change the layout of the guide groove 131 to meet various usage requirements. Compared with the design and layout of the support shaft 111, changing the design and layout of the guide groove 131 can improve processing efficiency.

[0096] Between the winding spool 120 and the guide slot 131, the direction in which the wire 150 extends is perpendicular to the first direction X (the axial direction of the winding spool 120). This ensures that when the wire 150 is drawn from the winding spool 120, it aligns with the rotation plane of the winding spool 120. This prevents lateral slippage of the wire 150 due to a tilted path during winding or unwinding. Similarly, between the guide slot 131 and the winding drum 140, the direction in which the wire 150 extends is perpendicular to the second direction Y (the axial direction of the winding drum 140). This ensures that after the wire 150 is released from the guide slot 131, it can smoothly enter the winding drum 140 in a vertical direction, thus preventing tangles of the wire 150 due to sudden changes in the path.

[0097] The length of the metal wire 150 in contact with the guide groove 131 is greater than one-quarter of the total length of the guide groove 131, so that the length of the metal wire 150 in contact with the guide groove 131 is longer, which increases the friction between the metal wire 150 and the guide groove 131. The metal wire 150 drives the guide wheel 130 to rotate synchronously, thereby reducing the friction between the metal wire 150 and the guide groove 131 and preventing the metal wire 150 from being broken by friction.

[0098] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0099] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A position joint rotatably arranged on a main hand robot, characterized in that: The device comprises a support frame (110), a winding shaft (120), a guide wheel (130), and a winding disk (140); the winding shaft (120) is rotatably arranged on the support frame (110); and the rotating axis of the winding shaft (120) is arranged along a first direction (X); The winding drum (140) is rotatably arranged on the support frame (110), the rotating shaft of the winding drum (140) is arranged along the second direction (Y), and the outer peripheral section of the winding shaft (120) and the outer peripheral section of the winding drum (140) are not coplanar; The guide wheel (130) is rotatably arranged on the support frame (110), and the guide wheel (130) is arranged between the winding shaft (120) and the winding drum (140); The position joint (100) further includes a metal wire (150), the metal wire (150) being sequentially wound around the winding shaft (120), the guide wheel (130), and the winding disk (140), and the winding shaft (120) drives the winding disk (140) to rotate via the metal wire (150); The guide wheel (130) is provided with a guide groove (131). In a plane perpendicular to the first direction (X), the extension direction of the guide groove (131) is tangent to the winding shaft (120); in a plane perpendicular to the second direction (Y), the extension direction of the guide groove (131) is tangent to the winding drum (140).

2. The position joint according to claim 1, characterized in that: In a plane perpendicular to the second direction (Y), the distance between the rotation axis of the winding shaft (120) and the rotation axis of the winding drum (140) is smaller than the radius of the winding drum (140); An entry portion (1311) is provided at a position where the guide groove (131) contacts the metal wire (150), and a separation portion (1312) is provided at a position where the guide groove (131) separates from the metal wire (150). The entry portion (1311) is closer to the rotating shaft of the winding drum (140) than the separation portion (1312).

3. The position joint according to claim 2, characterized in that: In a plane perpendicular to the first direction (X), the angle between the direction from the entry portion (1311) to the separation portion (1312) and the second direction (Y) is a first angle (a1), and the first angle (a1) is greater than or equal to 5 degrees and less than or equal to 9 degrees.

4. The position joint according to claim 2, characterized in that: In a plane perpendicular to the second direction (Y), the angle between the direction from the entry portion (1311) to the exit portion (1312) and the first direction (X) is a second angle (a2), and the second angle (a2) is greater than or equal to 5 degrees and less than or equal to 9 degrees.

5. The position joint according to claim 1, characterized in that: The extension direction of the portion of the metal wire (150) located between the winding shaft (120) and the guide groove (131) is perpendicular to the first direction (X), and the extension direction of the portion of the metal wire (150) located between the guide groove (131) and the winding drum (140) is perpendicular to the second direction (Y).

6. The position joint according to claim 1, characterized in that: The length of the metal wire (150) in contact with the guide groove (131) is greater than one quarter of the total length of the guide groove (131).

7. The position joint according to claim 1, characterized in that: Along the first direction (X), the winding shaft (120) is provided with a spiral winding groove (121), and the winding groove (121) is used to accommodate the metal wire (150).

8. The position joint according to any one of claims 1 to 7, characterized in that: The support frame (110) is provided with a support shaft (111), and the support shaft (111) is rotatably connected to the guide wheel (130); In a plane perpendicular to the first direction (X), a portion of the support shaft (111) is perpendicular to the extension direction of the guide groove (131); Alternatively, in a plane perpendicular to the second direction (Y), a portion of the support shaft (111) is perpendicular to the extending direction of the guide groove (131).

9. The position joint according to claim 8, characterized in that: The support shaft (111) comprises a support seat (1111), a first support shaft (1112) and a second support shaft (1113); the support seat (1111) is arranged on the support frame (110); the support seat (1111), the first support shaft (1112) and the second support shaft (1113) are connected in sequence; The diameter of the first support shaft (1112) is greater than the diameter of the second support shaft (1113), and the guide wheel (130) is rotatably disposed on the second support shaft (1113); In a plane perpendicular to the first direction (X), the axis of the second support shaft (1113) is perpendicular to the extension direction of the guide groove (131); Alternatively, in a plane perpendicular to the second direction (Y), the axis of the second support shaft (1113) is perpendicular to the extension direction of the guide groove (131).

10. A surgical robot, characterized in that: The invention comprises the position joint (100) according to any one of claims 1 to 9.

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