Damping device and surgical robot

Abstract

The invention provides a damping device and a surgical robot. The damping device comprises a first flange, a second flange, a rotating mechanism and a buffering mechanism. The rotating mechanism is arranged between the first flange and the second flange, the first flange is provided with a first face, the second flange is provided with a second face opposite to the first face, the first face and the second face are spaced, and at least one of the first flange and the second flange can rotate relative to the rotating mechanism so that the first face and the second face can deflect relatively. The buffering mechanism comprises at least one limiting piece and at least one buffering piece abutting between the first face and the second face, and the limiting pieces are connected between the first flange and the second flange and used for restraining relative rotation of the first flange and the second flange in the axis direction. The buffering piece can elastically deform in the direction from the first flange to the second flange. The damping device absorbs vibration force or impact force transmitted when the first flange deflects through elastic deformation of the buffering piece so as to buffer the vibration force or the impact force.

Description

Technical Field

[0001] This invention belongs to the field of medical equipment technology, and particularly relates to a shock absorption device and a surgical robot. Background Technology

[0002] Currently, in joint replacement surgery using orthopedic surgical robots, the robotic arm needs to hold an end effector for bone grinding or prosthesis implantation. During the grinding or implantation process, the end effector is subjected to vibration or impact, which is transmitted to the robotic arm. The robotic arm is highly sensitive to such vibrations and impacts, often triggering emergency stops or joint locking mechanisms, leading to surgical interruptions and affecting the smoothness of the procedure. Summary of the Invention

[0003] The purpose of this invention is to provide a shock absorption device and a surgical robot, which aims to solve the technical problem that existing robotic arms cannot maintain design accuracy while withstanding vibration or impact.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] In one aspect, a shock-absorbing device is provided, comprising a first flange, a second flange, a rotating mechanism, and a buffer mechanism;

[0006] The rotating mechanism is disposed between the first flange and the second flange. The first flange has a first surface, and the second flange has a second surface opposite to the first surface. The first surface and the second surface are spaced apart. At least one of the first flange and the second flange can rotate relative to the rotating mechanism so that the first surface and the second surface are deflected relative to each other. The buffering mechanism includes at least one limiting member and at least one buffer member abutting between the first surface and the second surface. The limiting member is connected between the first flange and the second flange and is used to suppress the relative rotation of the first flange and the second flange in the direction about the axis. The buffer member can undergo elastic deformation in the direction from the first flange to the second flange.

[0007] In one embodiment of the first aspect, the buffer mechanism includes a plurality of buffer members disposed around the periphery of the rotating mechanism, and the buffer mechanism further includes an adjusting member connected to the buffer members, the adjusting member being used to adjust the stiffness of the buffer members.

[0008] In one embodiment of the first aspect, the first flange has a plurality of through holes, which are respectively disposed around the rotating mechanism. The limiting member includes a plurality of limiting pins, each limiting pin including a rod and a head. One end of the rod is connected to the second flange, and the head is disposed at the other end of the rod. Each rod is respectively disposed through one of the through holes. There is a gap between the rod and the wall of the through hole, and the head abuts against the side of the first flange away from the second flange.

[0009] In one embodiment of the first aspect, each of the buffer members is respectively fitted onto one of the rod portions.

[0010] In one embodiment of the first aspect, the shock-absorbing device further includes a protective cover connected to the side of the first flange opposite to the second flange, the protective cover abutting against the head of the limiting pin.

[0011] In one embodiment of the first aspect, the rotating mechanism includes a rotating ball, a first groove is formed on the first surface, a second groove is formed on the second surface, and the rotating ball is partially received in the first groove and partially received in the second groove.

[0012] In one embodiment of the first aspect, the limiting member further includes a resilient limiting pin connected to the first flange and the second flange, and used to suppress relative rotation between the first flange and the second flange in the direction about the axis.

[0013] In one embodiment of the first aspect, the rotating mechanism includes a connecting flange and two rotating shafts. The two rotating shafts are arranged along the direction from the first flange to the second flange. The connecting flange is disposed between the two rotating shafts. The first flange is spaced apart from the connecting flange, and the second flange is spaced apart from the connecting flange. The central axes of the two rotating shafts are perpendicular to the central axis of the connecting flange and are arranged at an angle. The first flange and the connecting flange are rotatably connected by one rotating shaft, and the second flange and the connecting flange are rotatably connected by the other rotating shaft.

[0014] In one embodiment of the first aspect, the shock-absorbing device further includes a sealing ring disposed between the first flange and the second flange, the sealing ring and the first flange and the second flange together forming a sealing cavity, and the rotating mechanism and the buffer mechanism are both located in the sealing cavity.

[0015] In a second aspect, a surgical robot is provided, including a robotic arm and a shock-absorbing device as described in the above embodiments, wherein one of the first flange and the second flange is connected to the end of the robotic arm, and the other of the first flange and the second flange is used to connect to an end effector.

[0016] The technical advantages of this invention compared to the prior art are as follows: The first flange and the second flange of this shock-absorbing device achieve relative deflection of the first surface and the second surface through the support of the rotating mechanism and the suppression of rotation around the axis. When the end tool is subjected to vibration or impact, the end tool transmits the vibration force or impact force to the first flange, and the first surface and the second surface deflect relative to each other. At this time, the shock-absorbing device absorbs the vibration force or impact force transmitted by the first flange during deflection through the elastic deformation of the buffer component that abuts against the first surface and the second surface, so as to buffer the vibration force or impact force and prevent most of the vibration force or impact force from continuing to be transmitted to the robotic arm, thereby avoiding triggering the robotic arm emergency stop or joint lock-up protection mechanism, which would lead to the interruption of the operation and ensure the smoothness of the operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a cross-sectional view of the shock absorption device provided in an embodiment of the present invention;

[0019] Figure 2 This is a partial exploded view of the shock absorption device provided in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] 10. First flange; 101. First groove; 102. Through hole; 103. First receiving groove; 104. First connecting groove; 11. First face; 12. Stepped structure; 20. Second flange; 201. Second groove; 202. Threaded hole; 203. Second receiving groove; 204. Second connecting groove; 21. Second face; 30. Rotating mechanism; 31. Rotating ball; 40. Buffer mechanism; 41. Limiting element; 411. Limiting pin; 4111. Rod; 4112. Head; 412. Limiting pin; 42. Buffer element; 421. Disc spring; 50. Protective cover; 60. Sealing ring. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] This invention provides a surgical robot, which includes a robotic arm and a shock absorption device. The shock absorption device is installed at the end of the robotic arm, and the robotic arm is connected to an end effector through the shock absorption device. The surgical robot controls the end effector to perform surgical actions through the robotic arm, and the shock absorption device is used to absorb the vibration or impact force experienced by the end effector during the operation.

[0028] Please see Figure 1 and Figure 2 The shock absorption device in this embodiment includes a first flange 10, a second flange 20, a rotating mechanism 30, and a buffer mechanism 40.

[0029] A first flange 10 and a second flange 20 are sequentially arranged in the thickness direction of the shock absorber. The first flange 10 has a first surface 11, and the second flange 20 has a second surface 21 opposite to the first surface 11. The first surface 11 and the second surface 21 are two opposite surfaces of the shock absorber in the thickness direction, with the first surface 11 facing the second flange 20 and the second surface 21 facing the first flange 10. Both the first flange 10 and the second flange 20 can be made of polyether ether ketone (PEEK). One of the first flange 10 and the second flange 20 is connected to the end effector of a robotic arm, and the other is used to connect to an end effector tool. In the following embodiment, the first flange 10 is connected to the robotic arm, and the second flange 20 is connected to the end effector tool as an example.

[0030] The rotating mechanism 30 is located between the first flange 10 and the second flange 20. The first flange 10 and the second flange 20 are both against the rotating mechanism 30 and are separated by the rotating mechanism 30. The first surface 11 and the second surface 21 are separated. At least one of the first flange 10 and the second flange 20 can rotate relative to the rotating mechanism 30 so that the first surface 11 and the second surface 21 are deflected relative to each other.

[0031] The buffer mechanism 40 includes a limiting member 41 and at least one buffer member 42. The limiting member 41 is connected between the first flange 10 and the second flange 20 and is used to suppress relative rotation between the first flange 10 and the second flange 20 in the direction about their axes. That is, the limiting member 41 can suppress the rotation of the first flange 10 relative to the second flange 20 in the direction about its own axis, and can also suppress the rotation of the second flange 20 relative to the first flange 10 in the direction about its own axis.

[0032] The buffer member 42 rests between the first surface 11 and the second surface 21, and the buffer member 42 is capable of elastic deformation in the direction from the first flange 10 to the second flange 20. That is, when the first surface 11 and the second surface 21 are deflected relative to each other, the buffer member 42 is capable of elastic deformation in the thickness direction of the damping device. It should be noted that this elastic deformation can be compressive deformation or tensile deformation.

[0033] The first flange 10 and the second flange 20 of this shock absorption device achieve relative deflection of the first surface 11 and the second surface 21 by the support of the rotating mechanism 30 and the suppression of rotation around the axis by the limiting member 41. When the end tool is subjected to vibration or impact, the end tool transmits the vibration or impact force to the first flange 10, and the first surface 11 and the second surface 21 deflect relative to each other. At this time, the shock absorption device absorbs the vibration or impact force transmitted by the first flange 10 during deflection by the elastic deformation of the buffer member 42 that abuts against the first surface 11 and the second surface 21, so as to buffer the vibration or impact force and prevent most of the vibration or impact force from continuing to be transmitted to the robotic arm, thereby avoiding triggering the robotic arm emergency stop or joint lock-up protection mechanism, which would lead to the interruption of the operation and ensure the smoothness of the operation.

[0034] When the end tool is not under stress, the first surface 11 and the second surface 21 of the shock-absorbing device can be parallel. The buffer 42 can undergo slight elastic deformation due to the gravity of the first flange 10 or the second flange 20, or it can have a certain deformation. At this time, the buffer 42 has a certain pre-tightening elastic force to increase the stiffness of the buffer 42 in the thickness direction of the shock-absorbing device, further reducing the deflection between the first flange 10 and the second flange 20 when the end tool is subjected to vibration or impact, and improving the surgical accuracy.

[0035] In some embodiments, please refer to Figure 1 and Figure 2 The rotating mechanism 30 includes a rotating ball 31. A first groove 101 is formed on the first surface 11, and a second groove 201 is formed on the second surface 21. The rotating ball 31 is a sphere, partially housed in the first groove 101 and partially housed in the second groove 201. This not only prevents the rotating ball 31 from detaching from the first flange 10 and the second flange 20, but also shortens the distance between the first surface 11 and the second surface 21, thereby reducing the space occupied by the shock absorber in the thickness direction and reducing the material used in the buffer member 42, which facilitates increasing the preload elasticity of the buffer member 42. The depth of the first groove 101 and the depth of the second groove 201 can both be smaller than the radius of the rotating ball 31, and both the first groove 101 and the second groove 201 are adapted to the rotating ball 31.

[0036] Optionally, the rotating ball 31 can rotate in both the first groove 101 and the second groove 201. At the same time, the spherical surface of the rotating ball 31 makes smooth contact with the groove wall of the first groove 101 and the groove wall of the second groove 201 to reduce the frictional force when the first flange 10 and the second flange 20 rotate relative to the rotating ball 31, so as to facilitate the relative deflection between the first flange 10 and the second flange 20.

[0037] In other embodiments, the rotatable ball 31 may rotate only within the first groove 101 and remain stationary relative to the second groove 201, or it may rotate only within the second groove 201 and remain stationary relative to the first groove 101; no limitation is made here.

[0038] In some embodiments, please refer to Figure 1 and Figure 2 The buffer mechanism 40 includes multiple buffer elements 42, which are distributed around the rotating mechanism 30. In this way, the buffer mechanism 40 can support multiple positions on the circumference of the rotating mechanism 30 between the first flange 10 and the second flange 20 through the multiple buffer elements 42, so as to buffer the deflection of the first flange 10 and the second flange 20 in different directions and improve the shock absorption capacity of the shock absorption device to absorb vibration or impact forces.

[0039] In some embodiments, please refer to Figure 1 and Figure 2 The first flange 10 has multiple through holes 102, which are distributed around the rotating mechanism 30. The limiting member 41 includes multiple limiting pins 411, each including a rod 4111 and a head 4112. One end of the rod 4111 is connected to the second flange 20, and the head 4112 is located at the other end of the rod 4111. Each rod 4111 passes through a through hole 102, and the head 4112 abuts against the side of the first flange 10 away from the second flange 20. In this way, the first flange 10 is limited between the second flange 20 and the head 4112 to prevent the first flange 10 and the second flange 20 from separating and to suppress rotation of the first flange 10 and the second flange 20 around their axis. The multiple limiting pins 411 can circumferentially limit the first flange 10 and the second flange 20. The rod 4111 has a gap between itself and the wall of the through hole 102, which provides space for the relative deflection of the first flange 10 and the second flange 20. It should be noted that the head 4112 ensures that the amount of relative deflection between the first flange 10 and the second flange 20 is within a preset range; that is, when the first flange 10 and the second flange 20 deflect within this preset range, the head 4112 does not restrict the increase of the gap between the first flange 10 and the second flange 20.

[0040] Optionally, the through hole 102 may have a stepped structure 12, and the head 4112 may be fully or partially housed in the through hole 102 and abut against the stepped structure 12. In this way, the through hole 102 can protect the head 4112 and prevent the head 4112 from being bumped and causing the limiting pin 411 to loosen.

[0041] Optionally, the second flange 20 may have multiple threaded holes 202, each threaded hole 202 being directly opposite the through hole 102 in the thickness direction of the damping device. During installation, the end of the limiting pin 411 furthest from the head 4112 can be passed through the through hole 102 first, then inserted into the threaded hole 202 and threadedly connected to it until the head 4112 abuts against the side of the first flange 10 away from the second flange 20. At this point, the limiting pin 411 is fixedly connected to the first flange 10. The threaded hole 202 can be a blind hole.

[0042] Optionally, the end of the rod 4111 away from the head 4112 can be rotatably connected to the second flange 20, and its rotation axis can be perpendicular to the central axis of the second flange 20. Alternatively, the rod 4111 can be omnidirectionally rotated relative to the second flange 20 to facilitate the deflection between the first flange 10 and the second flange 20.

[0043] In some embodiments, please refer to Figure 1 The shock absorption device also includes a protective cover 50, which is connected to the side of the first flange 10 away from the second flange 20. The protective cover 50 abuts against the head 4112 of the limiting pin 411. In this way, the limiting pin 411 is limited by the protective cover 50, which not only prevents relative shaking between the first flange 10 and the limiting pin 411, but also prevents the limiting pin 411 from coming out of the through hole 102.

[0044] Optionally, to improve the limiting effect of the limiting pin 411, the shock absorption device may also include a limiting pad disposed between the protective cover 50 and the head 4112. The limiting pad may be elastic, and when the first flange 10 is deflected relative to the second flange 20, the head 4112 of the limiting pin 411 always abuts against the limiting pad to further prevent the limiting pin 411 from shaking.

[0045] In some embodiments, please refer to Figure 1 and Figure 2 Each buffer element 42 is respectively sleeved on a rod portion 4111. The rod portion 4111 can limit the buffer element 42 to prevent the buffer element 42 from moving radially.

[0046] In some embodiments, please refer to Figure 1 and Figure 2The buffer 42 may include at least one disc spring 421. The axial direction of the disc spring 421 is the thickness direction of the shock absorption device. The disc spring 421 can undergo axial elastic deformation. When the first flange 10 and the second flange 20 are relatively deflected, the radial gap between the first surface 11 and the second surface 21 decreases at one end and increases at the other end. The end with the smaller gap compresses the disc spring 421, and the disc spring 421 undergoes radial thickness reduction compression deformation to absorb the vibration force or impact force transmitted by the first flange 10. Compared to a spring, the disc spring 421 has greater stiffness in both the axial and radial directions, preventing radial torsion. Simultaneously, the disc spring 421 is thinner, allowing it to adapt to the narrow gap between the first surface 11 and the second surface 21. It can absorb a large amount of vibration or impact force with relatively small axial deformation, providing excellent buffering and preventing most of the vibration or impact force from being transmitted towards the robotic arm, thus ensuring that the robotic arm is not subjected to excessive vibration or impact. Furthermore, the smaller axial deformation reduces the amount of deflection between the first flange 10 and the second flange 20, ensuring surgical precision.

[0047] Optionally, the two ends of the disc spring 421 in the axial direction can also be fixedly connected to the first flange 10 and the second flange 20 respectively. In this way, the end with the increased radial gap between the first surface 11 and the second surface 21 can also axially stretch the disc spring 421. The disc spring 421 in the end with the increased gap absorbs the vibration force or impact force transmitted by the first flange 10 through stretching deformation, so as to further improve the buffering effect.

[0048] Optionally, the disc spring 421 is sleeved on the rod 4111. When the end tool is subjected to an impact force including a rotational force about the axis, the first flange 10 and the second flange 20 tend to rotate about the axis. The rod 4111 can apply a radial force to the disc spring 421, causing the disc spring 421 to undergo a slight radial deformation. The disc spring 421 can absorb the radial force through this slight radial deformation, thereby buffering the rotational force and reducing the transmission of the rotational force toward the robotic arm.

[0049] In some embodiments, please refer to Figure 1 The stiffness of the buffer 42 can be determined by the number of disc springs 421. When the buffer 42 needs to provide greater stiffness, it can include multiple disc springs 421 stacked axially. The arrangement of multiple disc springs 421 can also accommodate a larger distance between the first surface 11 and the second surface 21. These multiple disc springs 421 can be stacked in the same direction, stacked in opposite directions, partially stacked in the same direction and partially stacked in opposite directions, or stacked alternately in opposite directions. The specific number can be set according to the requirements of the damping capacity of the shock absorption device. It should be noted that the number of disc springs 421 among different buffers 42 can be the same or different; no restriction is placed here.

[0050] When the axial thickness of the buffer member 42 is greater than the distance between the first flange 10 and the second flange 20, a first receiving groove 103 can be formed on the first surface 11, and a second receiving groove 203 can be formed on the second surface 21. The first receiving groove 103 and the second receiving groove 203 are arranged opposite to each other in the thickness direction of the shock absorption device. Part of the buffer member 42 is received in the first receiving groove 103, and part of it is received in the second receiving groove 203. It should be noted that at this time, the bottom surface of the first receiving groove 103 is a part of the first surface 11, and the bottom surface of the second receiving groove 203 is a part of the second surface 21. The buffer member 42 being located between the first surface 11 and the second surface 21 is equivalent to the buffer member 42 being located between the bottom surface of the first receiving groove 103 and the bottom surface of the second receiving groove 203.

[0051] In other embodiments, the first receiving groove 103 may be formed only on the first surface 11 without the second receiving groove 203, or the second receiving groove 203 may be formed only on the second surface 21 without the first receiving groove 103; no limitation is made here.

[0052] In some embodiments, the buffer mechanism 40 further includes an adjusting member connected to the buffer member 42, the adjusting member being used to adjust the stiffness of the buffer member 42. In this way, the damping device can adjust the stiffness of the buffer member 42 through the adjusting member to adapt to the needs of different application scenarios, without the need to replace the damping device, which is convenient to operate and saves time.

[0053] Optionally, the adjusting component can be connected to the first flange 10 and the second flange 20 respectively, and can adjust the gap between the first flange 10 and the second flange 20 to change the axial thickness of the buffer 42, thereby adjusting the preload of the buffer 42. The adjusting component can also be connected to the buffer 42 and can directly adjust the axial thickness of the buffer 42 to adjust the preload of the buffer 42.

[0054] Of course, in other embodiments, the buffer 42 may also be a spring, a sheet, an elastic pad, etc. It should be noted that the elastic deformation of the buffer 42 is a visual manifestation, that is, the rebound force increases when the axial thickness decreases and the rebound force decreases when the axial thickness increases. The buffer 42 is not limited to having elasticity. The buffer 42 may also be a structure that achieves visual elastic deformation through electric control, air pressure adjustment or magnetic adjustment. There are no restrictions here.

[0055] In some embodiments, please refer to Figure 1 and Figure 2The limiting member 41 also includes an elastic limiting pin 412, which is connected to the first flange 10 and the second flange 20 and is used to suppress the relative rotation of the first flange 10 and the second flange 20 in the direction about the axis. The elastic pin can undergo axial elastic deformation. When the first flange 10 and the second flange 20 are not under force, the elastic pin can be in a natural state without tension or compression, or it can be in a stretched state. When the first flange 10 and the second flange 20 rotate relative to each other in the direction about the axis, the elastic pin undergoes tensile deformation. In this way, when the first flange 10 and the second flange 20 are subjected to the rotational force of relative rotation in the direction about the axis, the limiting pin 412 can absorb the rotational force between the first flange 10 and the second flange 20 through its own elastic deformation, thereby buffering the rotation of the first flange 10 and the second flange 20 in the direction about the axis, thereby reducing the transmission of the rotational force toward the robotic arm.

[0056] Optionally, a first connecting groove 104 is provided on the first surface 11, and a second connecting groove 204 is provided on the second surface 21. The first connecting groove 104 and the second connecting groove 204 are arranged opposite to each other in the thickness direction of the shock absorption device. The two ends of the limiting pin 412 are respectively connected to the bottom wall or side wall of the first connecting groove 104 and the bottom wall or side wall of the second connecting groove 204. In this way, the axial length of the limiting pin 412 is not limited by the interval between the first surface 11 and the second surface 21. At the same time, the first connecting groove 104 and the second connecting groove 204 can also limit the limiting pin 412.

[0057] In other embodiments, the first connecting groove 104 may be provided only on the first surface 11 without the second connecting groove 204, or the second connecting groove 204 may be provided only on the second surface 21 without the first connecting groove 104; no limitation is made here.

[0058] Optionally, the buffer 42 can also be sleeved outside the limiting pin 412, which can radially limit the buffer 42.

[0059] In some embodiments, please refer to Figure 1 and Figure 2 The vibration damping device also includes a sealing ring 60 disposed between the first flange 10 and the second flange 20. The sealing ring 60, together with the first flange 10 and the second flange 20, forms a sealing cavity, within which the rotating mechanism 30 and the buffer mechanism 40 are located. This prevents impurities from entering between the first surface 11 and the second surface 21, thus avoiding interference with the relative deflection between the first flange 10 and the second flange 20 and reducing the difficulty of cleaning the vibration damping device. The sealing ring 60 may be elastic, allowing it to absorb some of the vibration or impact force transmitted by the first flange 10, thereby assisting the buffer member 42 in cushioning. The sealing ring 60 may be made of rubber.

[0060] In some embodiments, the rotating mechanism 30 includes a connecting flange and two rotating shafts. The connecting flange and the two rotating shafts are both located between the first flange 10 and the second flange 20. The two rotating shafts are arranged along the direction from the first flange 10 to the second flange 20. The rotating shaft closer to the first flange 10 can be named the first rotating shaft, and the rotating shaft closer to the second flange 20 can be named the second rotating shaft. The connecting flange is located between the first rotating shaft and the second rotating shaft. The first flange 10 is spaced apart from the connecting flange, and the second flange 20 is spaced apart from the connecting flange. The central axis of the first rotating shaft and the central axis of the second rotating shaft are both perpendicular to the central axis of the connecting flange they abut against. The connecting flange and the first flange 10 are rotatably connected through the first rotating shaft, and the connecting flange and the second flange 20 are rotatably connected through the second rotating shaft. The central axes of the rotation axes of the first rotating shaft and the rotation axes of the second rotating shaft are both set at an angle. Understandably, the connecting flange has a third and a fourth face facing away from each other. The third face faces the first face 11 and is spaced apart from it, while the fourth face faces the second face 21 and is spaced apart from it. The first rotating shaft is located between the first face 11 and the third face, and its rotation axis is parallel to both the first face 11 and the third face. The second rotating shaft is located between the second face 21 and the fourth face, and its rotation axis is parallel to both the second face 21 and the fourth face. This arrangement of the first and second rotating shafts allows the first flange 10 to lock one degree of freedom and the second flange 20 to lock one degree of freedom. The cooperation of these two degrees of freedom between the first flange 10 and the second flange 20 enables relative deflection in multiple directions. This method provides better positioning accuracy compared to the rotating ball 31.

[0061] In this embodiment, buffer members 42 are provided between the first flange 10 and the connecting flange and between the second flange 20 and the connecting flange, and buffer members 42 are also provided on both sides of the first rotating shaft in the radial direction and on both sides of the second rotating shaft in the radial direction.

[0062] Optionally, the rotation axis of the first rotating shaft is perpendicular to the rotation axis of the second rotating shaft to achieve relative deflection of the first flange 10 and the second flange 20 in various directions. To improve the rotational stability of the first flange 10 and the second flange 20, the rotation axis of the first rotating shaft intersects with the central axis of the first flange 10, and the rotation axis of the second rotating shaft intersects with the central axis of the second flange 20.

[0063] For example, both the first and second rotating shafts can be fixedly connected to the connecting flange. The first rotating shaft abuts against the first flange 10 and can rotate relative to it, thus achieving a rotatable connection between the first rotating shaft and the first flange 10. The second rotating shaft abuts against the second flange 20 and can rotate relative to it, thus achieving a rotatable connection between the second rotating shaft and the second flange 20. In this way, the rotating mechanism 30 can be formed as a whole, which is convenient for installation and makes the structure of the shock absorption device compact and highly stable. A third groove can be provided on the first surface 11, and the first rotating shaft portion can be received in the third groove. A fourth groove can be provided on the second surface 21, and the second rotating shaft portion can be received in the fourth groove, to limit the movement of the rotating mechanism 30.

[0064] For example, the first rotating shaft is fixedly connected to the first flange 10, and the second rotating shaft is fixedly connected to the second flange 20. The connecting flange abuts against the first and second rotating shafts and can rotate relative to the first and second rotating shafts to achieve a rotatable connection with them. This facilitates the assembly of the connecting flange, making the shock-absorbing device compact and highly stable. A third groove can be provided on the third surface, into which the first rotating shaft is partially housed; a fourth groove can be provided on the fourth surface, into which the second rotating shaft is partially housed, to limit the movement of the connecting flange.

[0065] In other embodiments, one of the two rotating shafts may be fixedly connected to the connecting flange, and the other may be rotatably connected to the first flange 10 or the second flange 20. Alternatively, the first rotating shaft may be rotatably connected to both the first flange 10 and the connecting flange, and the second rotating shaft may be rotatably connected to both the second flange 20 and the connecting flange. No limitation is imposed here.

[0066] Optionally, the rotating shaft may include only one cylindrical shaft or multiple cylindrical shafts located on the same axis. The arrangement of multiple cylindrical shafts can be used to avoid other structural components and can also reduce the weight of the rotating mechanism 30.

[0067] In other embodiments, the rotating mechanism 30 may also include N connecting flanges and N+1 rotating shafts, with the rotating shafts and connecting flanges alternately arranged along the direction from the first flange 10 to the second flange 20, and the rotation axes of adjacent rotating shafts being arranged at an angle. Optionally, N is a natural number greater than 1 and less than 4.

[0068] The above description is merely a preferred embodiment of the present invention and only specifically describes the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present invention.

Claims

1. A shock absorption device, characterized in that, It includes a first flange (10), a second flange (20), a rotating mechanism (30), and a buffer mechanism (40). The rotating mechanism (30) is disposed between the first flange (10) and the second flange (20). The first flange (10) has a first surface (11), and the second flange (20) has a second surface (21) opposite to the first surface (11). The first surface (11) and the second surface (21) are spaced apart. At least one of the first flange (10) and the second flange (20) can rotate relative to the rotating mechanism (30) so that the first surface (11) and the second surface (21) are relatively deflected. The buffer mechanism (40) includes a limiting member (41) and at least one buffer member (42) abutting between the first surface (11) and the second surface (21). The limiting member (41) is connected between the first flange (10) and the second flange (20) and is used to suppress the relative rotation of the first flange (10) and the second flange (20) in the direction about the axis. The buffer member (42) can undergo elastic deformation in the direction from the first flange (10) to the second flange (20).

2. The shock absorption device as described in claim 1, characterized in that, The buffer mechanism (40) includes a plurality of buffer elements (42), which are disposed on the periphery of the rotating mechanism (30). The buffer mechanism (40) also includes an adjusting element connected to the buffer element (42), which is used to adjust the stiffness of the buffer element (42).

3. The shock absorption device as described in claim 2, characterized in that, The first flange (10) has multiple through holes (102) which are distributed around the rotating mechanism (30). The limiting member (411) includes multiple limiting pins (411). Each limiting pin (411) includes a rod (4111) and a head (4112). One end of the rod (4111) is connected to the second flange (20), and the head (4112) is located at the other end of the rod (4111). Each rod (4111) passes through a through hole (102). There is a gap between the rod (4111) and the wall of the through hole (102). The head (4112) abuts against the side of the first flange (10) away from the second flange (20).

4. The shock absorption device as described in claim 3, characterized in that, Each of the buffer components (42) is respectively sleeved on one of the rod portions (4111).

5. The shock absorption device as described in claim 3, characterized in that, The shock-absorbing device also includes a protective cover (50), which is connected to the side of the first flange (10) away from the second flange (20) and abuts against the head (4112) of the limiting pin (411).

6. The shock absorption device according to any one of claims 1 to 5, characterized in that, The rotating mechanism (30) includes a rotating ball (31), the first surface (11) has a first groove (101), the second surface (21) has a second groove (201), and the rotating ball (31) is partially received in the first groove (101) and partially received in the second groove (201).

7. The shock absorption device as described in claim 6, characterized in that, The limiting member (411) further includes a resilient limiting pin (412), which is connected to the first flange (10) and the second flange (20) and is used to suppress the relative rotation of the first flange (10) and the second flange (20) in the direction about the axis.

8. The shock absorption device according to any one of claims 1 to 5, characterized in that, The rotating mechanism (30) includes a connecting flange and two rotating shafts. The two rotating shafts are arranged along the direction from the first flange (10) to the second flange (20). The connecting flange is located between the two rotating shafts. The first flange (10) is spaced apart from the connecting flange, and the second flange (20) is spaced apart from the connecting flange. The central axes of the two rotating shafts are perpendicular to the central axis of the connecting flange and are arranged at an angle. The first flange (10) and the connecting flange are rotatably connected by one rotating shaft, and the second flange and the connecting flange are rotatably connected by the other rotating shaft.

9. The shock absorption device according to any one of claims 1 to 5, characterized in that, The shock absorption device further includes a sealing ring (60) disposed between the first flange (10) and the second flange (20). The sealing ring (60), together with the first flange (10) and the second flange (20), forms a sealing cavity. The rotating mechanism (30) and the buffer mechanism (40) are both located in the sealing cavity.

10. A surgical robot, characterized in that, Includes a robotic arm and a shock-absorbing device as described in any one of claims 1 to 9, wherein one of the first flange (10) and the second flange (20) is connected to the end of the robotic arm, and the other of the first flange (10) and the second flange (20) is used to connect to an end tool.

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