Rotating joints, robotic arms, and surgical robots

Abstract

This application provides a rotary joint, a robotic arm, and a surgical robot. The rotary joint includes a housing and an output member. The housing includes a first housing portion and a second housing portion. The first housing portion and the second housing portion are spaced apart and arranged opposite to each other in a first direction. The output member is located at the interval between the first housing portion and the second housing portion. The output member is rotatably connected to the housing about a first axis parallel to the first direction. By arranging the output member at the interval between the first housing portion and the second housing portion, this application helps to improve the symmetry of the gravitational moment distribution on both sides of the axial direction of the output member, thereby reducing the output torque required for the rotary joint.

Description

Technical Field

[0001] This application relates generally to the technical field of medical devices, and more specifically to a rotary joint, a robotic arm, and a surgical robot. Background Technology

[0002] A surgical robot is a robot that can be remotely controlled to perform surgery. It consists of three components: a doctor's console, a patient-side robotic arm system, and an imaging system. The patient-side robotic arm system includes several robotic arms, each with several connecting arms. Adjacent connecting arms are connected by rotary joints, allowing them to move relative to each other with specific degrees of freedom. This enables the end effector of the robotic arm to achieve multiple degrees of freedom. Surgical instruments or endoscopes are mounted at the end effector of the robotic arm. During surgery, these instruments are inserted through tissues such as the chest and abdominal wall, replacing the human hand in performing the procedure.

[0003] In related technologies, the output end of a rotary joint is typically located at one axial end of the joint. Adjacent connecting arms are usually arranged offset. This results in poor symmetry in the gravitational moment distribution of the rotary joint, thus requiring a larger output torque. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, a first aspect of this application provides a rotary joint, the rotary joint comprising:

[0006] The housing includes a first housing portion and a second housing portion, the first housing portion and the second housing portion being spaced apart and arranged opposite to each other in a first direction; and

[0007] An output member is located at the interval between the first housing portion and the second housing portion, and the output member is rotatably connected to the outer casing about a first axis parallel to the first direction.

[0008] According to the rotary joint of the first aspect of this application, by arranging the output member at the interval between the first housing portion and the second housing portion, the symmetry of the gravitational moment distribution on both sides of the axial direction of the output member is improved, thereby reducing the output torque requirement of the rotary joint. Furthermore, arranging the output member between the first housing portion and the second housing portion results in a smaller footprint, reduced collision risk, and improved reliability.

[0009] Optionally, the first housing portion has a first cavity, and the second housing portion has a second cavity.

[0010] The rotary joint also includes:

[0011] A motor assembly, at least a portion of which is located in the first cavity.

[0012] The deceleration assembly, at least a portion of which is located in the second cavity,

[0013] The motor assembly is connected to the reduction gear assembly, which is connected to the output component to drive the output component to rotate.

[0014] Optionally, the motor assembly includes a rotor shaft, the reduction assembly includes an input shaft and an output shaft, the input shaft and the rotor shaft are arranged coaxially, the input shaft is connected to the rotor shaft, and the output shaft is connected to the output component.

[0015] Optionally, the axis of the input shaft, the axis of the output shaft, and the axis of the rotor shaft all coincide with the first axis, and the output shaft is sleeved outside the input shaft.

[0016] Optionally, the motor assembly is located in the first cavity, and the input shaft extends from the second cavity to the first cavity.

[0017] Optionally, the rotary joint further includes a torque sensor connected to the output shaft and the output member.

[0018] Optionally, the output component is an output roller, which is rotatably sleeved on the outside of the output shaft, and the output roller and the output shaft are arranged coaxially.

[0019] Optionally, the rotating joint further includes a first bearing and a second bearing, which are located at opposite ends of the output roller in the axial direction. The first bearing is closer to the first cavity than the second bearing. One end of the output roller in the axial direction is supported on the first housing portion by the first bearing, and the other end of the output roller in the axial direction is supported on the output shaft by the second bearing.

[0020] Optionally, the torque sensor is located at the end of the output shaft.

[0021] Optionally, the deceleration assembly is configured as a harmonic deceleration assembly, which further includes a harmonic rigid wheel and a harmonic flexible wheel meshing with each other. The harmonic rigid wheel is fixed to the second housing portion, the harmonic flexible wheel is fixed to the output shaft, and the harmonic flexible wheel is driven to the input shaft.

[0022] Optionally, the rotary joint further includes an input encoder, which includes a first moving part and a first fixed part, the first moving part being connected to the rotor shaft and the first fixed part being fixedly disposed relative to the housing, the input encoder being configured to generate a sensing signal when the rotor shaft rotates relative to the housing.

[0023] Optionally, the rotary joint further includes an output encoder, which includes a second moving part and a second fixed part. The second moving part is connected to the input shaft, and the second fixed part is fixedly disposed relative to the housing. The output encoder is configured to generate a sensing signal when the input shaft rotates relative to the housing.

[0024] Optionally, the rotating joint further includes a braking assembly, which includes a first braking member and a second braking member. The first braking member is connected to the rotor shaft, and the second braking member is connected to the housing. The braking assembly has an engaged state and a disengaged state. When the braking assembly is in the engaged state, the first braking member engages with the second braking member to prevent the rotor shaft from rotating. When the braking assembly is in the disengaged state, the first braking member disengages from the second braking member to allow the rotor shaft to rotate.

[0025] Optionally, the rotary joint further includes a connector fixed to the output member, the connector being at least adapted to connect to the housing of a connecting arm or another rotary joint.

[0026] Optionally, the housing further includes a connecting portion connected to the first housing portion and the second housing portion, the first housing portion and the second housing portion being arranged symmetrically about the output member.

[0027] A second aspect of this application provides a robotic arm, the robotic arm comprising:

[0028] At least two of the above-described rotary joints, at least one of the rotary joints including an output member and a connector, the output member being connected to the housing of another adjacent rotary joint via the connector.

[0029] According to the robotic arm of the second aspect of this application, by connecting the connector of one rotary joint to the housing of another adjacent rotary joint, it is possible to connect two adjacent joints in series. This allows for more degrees of freedom of movement while reducing the space occupied by the robotic arm, thereby improving the flexibility of the robotic arm.

[0030] A third aspect of this application provides a robotic arm, the robotic arm comprising:

[0031] Two adjacent connecting arms; and

[0032] The aforementioned rotary joint includes a housing, an output component, and a connector. The housing is fixed to one of two adjacent connecting arms, and the output component is connected to the other of the two adjacent connecting arms via the connector.

[0033] According to the robotic arm of the third aspect of this application, by applying the aforementioned rotary joint, a rotary connection between two adjacent connecting arms can be achieved, thereby enabling the two adjacent connecting arms to have a degree of freedom of rotation relative to each other. Furthermore, compared to rotary joints in related technologies, the gravitational torque distribution on both sides of the output component of the rotary joint of this application is more symmetrical.

[0034] A fourth aspect of this application provides a robotic arm, the robotic arm comprising:

[0035] The aforementioned rotary joint includes a housing and an output roller;

[0036] A connecting arm, the first end of which is connected to the housing of the rotary joint;

[0037] Driven wheel, the driven wheel being rotatably connected to the second end of the connecting arm about a second axis;

[0038] A drive belt, connected to the output roller and the driven roller, for transmitting power between the output roller and the driven roller; and

[0039] An end assembly is rotatably connected to a second end of the connecting arm about a second axis and is fixed to the driven wheel to rotate with the driven wheel.

[0040] According to the robotic arm of the fourth aspect of this application, the connecting arm and the end effector are connected by the aforementioned rotary joint, and the arm is connected to the driven wheel via an output roller and a transmission belt, thereby driving the end effector to rotate. Because the gravitational torque on both sides of the output roller of the rotary joint is well symmetrical, the required output torque for the output roller can be reduced.

[0041] A fifth aspect of this application provides a surgical robot, the surgical robot comprising:

[0042] The aforementioned rotary joint, or the aforementioned robotic arm.

[0043] According to the surgical robot of the fifth aspect of this application, by applying the above-mentioned rotary joint or robotic arm, the symmetry of the gravitational torque distribution at the rotary joint can be improved, thereby optimizing the gravitational torque distribution, and further optimizing the space occupied and increasing the range of working angles. Attached Figure Description

[0044] The following drawings, which illustrate embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings depict embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0045] Figure 1 A schematic diagram of a surgical robot according to an embodiment of this application;

[0046] Figure 2 A partial perspective view of a robotic arm according to an embodiment of this application;

[0047] Figure 3 for Figure 2 Sectional view of part A in the middle;

[0048] Figure 4 for Figure 2 An enlarged view of part B in the image; and

[0049] Figure 5 for Figure 2 A magnified view of section C in the image.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1: Robotic arm system 2: Control system

[0052] 3: Imaging System 100: Rotating Joint

[0053] 101: Outer shell 102: First outer shell section

[0054] 103: Second housing part; 104: Side cover

[0055] 105: First bearing; 106: First cavity

[0056] 107: Second cavity 108: Connecting part

[0057] 200: Motor assembly; 201: Motor housing

[0058] 202: Frameless torque motor; 203: Rotor sleeve

[0059] 204: Rotor shaft; 205: First motor bearing

[0060] 206: Input encoder; 206a: First moving part

[0061] 206b: First fixed part 207 Brake assembly

[0062] 208: Second motor bearing; 209: First end cover

[0063] 301: Output component; 302: Connector.

[0064] 400: Reduction gear assembly; 401: Input shaft

[0065] 402: Wave generator; 403: Harmonic flexure.

[0066] 404: Harmonic Drive Gear; 405: Output Shaft

[0067] 406: Crossed roller bearing; 407: Second bearing

[0068] 408: Torque sensor; 409: Output encoder

[0069] 409a: Second moving part; 409b: Second fixed part

[0070] 410: Second end cap; 500: Connecting arm

[0071] 501: Arm body; 502: Arm cover

[0072] 503: Arm space; 505: Steel strip.

[0073] 506: Driven wheel; 600: End assembly

[0074] 601: Weapon-holding arm; 701: First arm

[0075] 702: Second arm; 703: Third arm

[0076] AX1: First axis line; AX2: Second axis line

[0077] D1: First Direction Detailed Implementation

[0078] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0079] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0080] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0081] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0082] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0083] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0084] Now, refer to Figures 1 to 5 Exemplary embodiments according to this application will be described in more detail.

[0085] The surgical robot according to embodiments of this application can be remotely controlled to perform surgery. The surgical robot may also be referred to as a medical system or medical robot. The surgical robot may include a control system 2, an imaging system 3, and a robotic arm system 1, which can communicate with each other.

[0086] Control system 2, also known as the doctor's console or control device, includes a display unit for showing surgical instruments or the endoscopic environment, control mechanisms for the doctor's operation, and handrails. The display unit has an observation window for the doctor to observe. The control mechanisms are configured to perform various actions corresponding to the movements of surgical instruments or the endoscope. The handrails are for supporting the doctor's arms. In addition, the doctor's console has other conveniently accessible control switches for hand or foot touch or press, enabling various functional operations and facilitating human-machine interaction.

[0087] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. This allows the operator to see the patient's internal organs more clearly.

[0088] Continue reading Figure 1 The robotic arm system 1, also known as the patient-side robotic arm system, is positioned next to the patient and has an end effector at its distal end for performing various surgical procedures. The robotic arm has several connecting arms, with adjacent connecting arms connected by a rotary joint and moving relative to each other with specific degrees of freedom, allowing the end effector to achieve multiple degrees of freedom (e.g., seven degrees of freedom, depending on the instrument). The end effector may include tools for surgical operations such as tissue cutting, such as hooks, spatulas, electrocautery devices, clamps, scissors, and vascular occluders, or endoscopic lenses for image acquisition. The robotic arm system 1 may include at least one robotic arm. In other words, the end effector may include surgical instruments or endoscopes. Further, the surgical instruments may include a rear-end mechanism, a main pipeline extending from the rear-end mechanism to the front end, and an end effector with a wrist mechanism located at the front end of the main pipeline. Typically, an instrument driver drives the movement of the rear-end mechanism through multiple cables in the main pipeline, thereby driving the wrist mechanism. During surgery, some of the main circuits and wrist mechanisms of the surgical instruments are passed through tissues such as the chest and abdominal wall, replacing the human hand to perform the surgery.

[0089] The inventors discovered that the output end of the rotary joint in related technologies is typically located at one axial end of the rotary joint. Adjacent connecting arms are usually arranged in an offset configuration. This results in poor symmetry in the gravitational moment distribution of the rotary joint, thus requiring a larger output torque.

[0090] To overcome or improve at least one of the above-mentioned problems, embodiments of this application provide a rotary joint 100 and a surgical robot. The following will be combined with... Figures 2 to 5 The rotary joint 100 and the surgical robot having the rotary joint 100 of the embodiments of this application are described in detail.

[0091] The rotating joint 100 according to this application may include a housing 101 and an output member 301. The housing 101 may include a first housing portion 102 and a second housing portion 103. The first housing portion 102 and the second housing portion 103 are spaced apart and arranged opposite to each other in a first direction D1. The output member 301 is located at the space between the first housing portion 102 and the second housing portion 103. The output member 301 is rotatably connected to the housing 101 about a first axis AX1 parallel to the first direction D1.

[0092] The first housing portion 102 and the second housing portion 103 are two spaced-apart parts within the outer casing 101. The first housing portion 102 and the second housing portion 103 are arranged at a distance from each other in a direction parallel to the first axis AX1. The output member 301 is located between the first housing portion 102 and the second housing portion 103 in a direction parallel to the first axis AX1. The interval between the first housing portion 102 and the second housing portion 103 can be understood as the middle or near the middle of the outer casing 101 in the direction parallel to the first axis AX1, rather than the end portion of the outer casing 101 in the direction parallel to the first axis AX1.

[0093] According to the rotary joint 100 of this application, by arranging the output member 301 at the interval between the first housing portion 102 and the second housing portion 103, the symmetry of the gravitational torque distribution on both sides of the first direction D1 of the output member 301 is improved, thereby reducing the output torque requirement of the rotary joint 100. Furthermore, the arrangement of the output member between the first housing portion 102 and the second housing portion 103 results in a smaller footprint, reduced collision risk, and improved reliability.

[0094] See Figure 3 The first housing portion 102 forms a first cavity 106. The second housing portion 103 forms a second cavity 107. The rotating joint 100 may further include a motor assembly 200 and a reduction assembly 400. At least a portion of the motor assembly 200 is located in the first cavity 106. At least a portion of the reduction assembly 400 is located in the second cavity 107. The motor assembly 200 is connected to the reduction assembly 400. The reduction assembly 400 is connected to the output member 301 to drive the output member 301 to rotate. By arranging at least a portion of the motor assembly 200 in the first cavity 106 and at least a portion of the reduction assembly 400 in the second cavity 107, it helps to reduce or eliminate the difference in the gravitational torque distribution on both sides of the output member 301 in the first direction D1 of the rotating joint 100, thereby improving the symmetry of the gravitational torque distribution on both sides of the output member 301 in the first direction D1 of the rotating joint 100.

[0095] Continue reading Figure 3 For example, motor assembly 200 may include a rotor shaft 204. Reduction assembly 400 may include an input shaft 401 and an output shaft 405. The input shaft 401 and rotor shaft 204 are arranged coaxially. The input shaft 401 is connected to the rotor shaft 204. The output shaft 405 is connected to the output member 301. Specifically, power is indirectly supplied to the output member 301 via the rotor shaft 204 of motor assembly 200 through reduction assembly 400. In this process, reduction is achieved through reduction assembly 400, thereby increasing the output torque.

[0096] Optionally, the axes of the input shaft 401, the output shaft 405, and the rotor shaft 204 all coincide with the first axis AX1. This facilitates the arrangement of the reduction gear assembly 400 and the motor assembly 200. The output shaft 405 is sleeved outside the input shaft 401. This improves the radial compactness of the reduction gear assembly 400.

[0097] In one example, the motor assembly 200 is located in the first cavity 106. The input shaft 401 extends from the second cavity 107 to the first cavity 106.

[0098] Optionally, the rotor shaft 204 can transmit torque to the input shaft 401 through various keys such as splines, couplings, or other shaft connection methods, so that the motor assembly 200 can serve as the power input for the reduction assembly 400.

[0099] In other examples, the motor assembly 200 is located in the first cavity 106. The input shaft 401 is located in the second cavity 107. The rotor shaft 204 can be indirectly connected to the input shaft 401 via an intermediate shaft.

[0100] Further, the motor assembly 200 may include a frameless torque motor 202, a motor housing 201, a first end cover 209, and a rotor sleeve 203. The stator of the frameless torque motor 202 is fixed to the motor housing 201 by adhesive bonding or set screws. The rotor of the frameless torque motor 202 is fixed to the rotor sleeve 203 by adhesive bonding or clamping in the first direction D1. The rotor sleeve 203 is fixed to the rotor shaft 204 by key connection or clamping in the first direction D1. The rotor sleeve 203 and the input encoder 206 limit the first motor bearing 205 in the first direction D1. The first motor bearing 205 is clamped and fixed to the rotor shaft 204 in the first direction D1 to prevent movement in the first direction D1. The rotor sleeve 203 and the rotor shaft 204 limit the second motor bearing 208 in the first direction D1. The second motor bearing 208 is clamped and fixed to the motor housing 201 in the first direction D1 to prevent movement in the first direction D1. The frameless torque motor 202 can drive the rotor shaft 204 to rotate.

[0101] Continue reading Figure 3 For example, the reduction assembly 400 is configured as a harmonic reduction assembly 400. The harmonic reduction assembly 400 may further include a harmonic rigid wheel 404 and a harmonic flexible wheel 403 meshing with each other. The harmonic rigid wheel 404 is fixed to the second housing portion 103, that is, the harmonic rigid wheel 404 is fixed relative to the second housing portion 103. The harmonic flexible wheel 403 is fixed to the output shaft 405 to drive the output shaft 405 to rotate. The harmonic flexible wheel 403 is drively connected to the input shaft 401. The use of the harmonic reduction assembly 400 here achieves the reduction function while reducing space occupation.

[0102] Furthermore, the input shaft 401 is fixedly connected to the harmonic generator 402. The input shaft 401 drives the harmonic generator 402 to rotate. The harmonic generator 402 causes the harmonic flexible wheel 403 to deform radially. The harmonic flexible wheel 403 undergoes deceleration motion due to the cooperation between the harmonic rigid wheel 404 and the harmonic flexible wheel 403. The harmonic flexible wheel 403 is fixedly connected to the output shaft 405. In this way, a complete speed reduction transmission chain is formed between the input shaft 401 and the output shaft 405.

[0103] Optionally, a crossed roller bearing 406 is installed between the output shaft 405 and the harmonic roller 404. The crossed roller bearing 406 is used to support the output shaft 405.

[0104] Continue reading Figure 3 Furthermore, the harmonic deceleration assembly 400 may also include a second end cap 410. This second end cap 410 is fixed to the end of the harmonic rigid wheel 404 away from the first cavity 106 in a first direction D1. The second end cap 410 is spaced apart from the input shaft 401 and the wave generator 402 in the first direction D1. An output encoder 409 is located at the interval between the second end cap 410 and the input shaft 401.

[0105] Continue reading Figure 3 Furthermore, the rotating joint 100 may also include a torque sensor 408. The torque sensor 408 is connected to the output shaft 405 and the output component 301. By adding the torque sensor 408, on the one hand, the transmission connection between the output shaft 405 and the output component 301 can be realized to meet the power transmission requirements. On the other hand, by adding the torque sensor 408, the output torque of the output shaft 405 can be detected, thereby facilitating real-time knowledge of the output torque of the output shaft 405.

[0106] In one example, the output component 301 is an output roller. The output roller is rotatably mounted on the outside of the output shaft 405, and the output roller and the output shaft 405 are arranged coaxially. Here, the output roller is connected to the output shaft 405 via the aforementioned torque sensor 408. The output roller can rotate relative to the housing 101 to transmit power outward.

[0107] Specifically, the input end of the torque sensor 408 is fixedly connected to the output shaft 405. The output end of the torque sensor 408 is fixedly connected to the output roller. Thus, a complete torque sensor 408 transmission chain is formed, which can realize precise feedback and control of the torque transmitted from the output shaft 405 to the output roller.

[0108] In other examples, the output component 301 can be a structural form other than the output roller.

[0109] Continue reading Figure 3Furthermore, the rotating joint 100 may also include a first bearing 105 and a second bearing 407. The first bearing 105 and the second bearing 407 are located at opposite ends of the output roller in the first direction D1. The first bearing 105 is closer to the first cavity 106 than the second bearing 407. One end of the output roller in the first direction D1 is supported on the first housing portion 102 by the first bearing 105. The other end of the output roller in the first direction D1 is supported on the output shaft 405 by the second bearing 407. The first direction D1 is parallel to the first axis AX1. To ensure the function of the torque sensor 408, the output roller and the output shaft 405 cannot be in direct contact; therefore, the first bearing 105 and the second bearing 407 are added here.

[0110] The first bearing 105 is supported between one end of the output roller in the first direction D1 and the first housing portion 102.

[0111] The second bearing 407 is supported between the other end of the output roller in the first direction D1 and the output shaft 405.

[0112] Continue reading Figure 3 For example, the torque sensor 408 is located at the end of the output shaft 405. This reduces the radial space occupied by the torque sensor 408 on the rotary joint 100. At the same time, this also helps to improve the distribution of gravitational torque on both sides of the output member 301, thereby further improving the symmetry of the gravitational torque distribution on both sides of the output member 301 of the rotary joint 100.

[0113] In the illustrated example, the torque sensor 408 is arranged at the end of the output shaft 405 near the first cavity 106.

[0114] Continue reading Figure 3 Furthermore, the rotating joint 100 may also include an input encoder 206. The input encoder 206 may include a first moving part 206a and a first fixed part 206b. The first moving part 206a is connected to the rotor shaft 204 to rotate with the rotor shaft 204. The first fixed part 206b is fixed relative to the housing 101 to remain stationary with the housing 101. The input encoder 206 is configured to generate a sensing signal when the rotor shaft 204 rotates relative to the housing 101. By providing the input encoder 206, the rotation angle of the rotor shaft 204 can be detected, thereby facilitating the determination of the rotational speed of the rotor shaft 204.

[0115] For example, the input encoder 206 here can be a rotary encoder.

[0116] Optionally, the rotary encoder is one of the following rotary encoders: magneto-electric encoder, photoelectric encoder, etc. Magneto-electric encoder can also be called a Hall encoder.

[0117] In the illustrated example, the first moving part 206a is fixed to the rotor shaft 204. The first stationary part 206b is fixed to the first end cover 209. The detection data from the input encoder 206 can be used as feedback data to achieve precise control of the motor assembly 200.

[0118] Continue reading Figure 3 Furthermore, the rotating joint 100 may also include an output encoder 409. The output encoder 409 may include a second moving part 409a and a second fixed part 409b. The second moving part 409a is connected to the input shaft 401 to rotate with the input shaft 401. The second fixed part 409b is fixed relative to the housing 101 to keep the second fixed part 409b stationary. The output encoder 409 is configured to generate a sensing signal when the input shaft 401 rotates relative to the housing 101. By providing the output encoder 409, the rotation angle of the input shaft 401 can be detected, thereby facilitating the determination of the rotational speed of the rotor shaft 204.

[0119] Alternatively, in the example where both the input encoder 206 and the output encoder 409 described above are provided on the rotary joint 100, the torque loss can also be determined by calculating the difference between the detection data of the input encoder 206 and the output encoder 409.

[0120] Continue reading Figure 3 Furthermore, the rotating joint 100 may also include a brake assembly 207. The brake assembly 207 may include a first brake member and a second brake member. The first brake member is connected to the rotor shaft 204. The second brake member is directly or indirectly connected to the housing 101. The brake assembly 207 has an engaged state and a disengaged state. The engaged state can also be referred to as the braking state, and the disengaged state can also be referred to as the released braking state. When the brake assembly 207 is in the engaged state, the first brake member engages with the second brake member to prevent rotation of the rotor shaft 204. When the brake assembly 207 is in the disengaged state, the first brake member disengages from the second brake member to allow rotation of the rotor shaft 204. By providing the brake assembly 207 between the rotor shaft 204 and the housing 101, it is convenient to control the rotor shaft 204 to stop rotating as needed without stopping the machine or without disconnecting power to the motor assembly 200, thereby achieving a braking function.

[0121] In the illustrated example, the brake hub, serving as the first braking component, is fixed to the rotor sleeve 203. The second braking component is fixed to the first end cap 209.

[0122] Continue reading Figure 3Furthermore, the rotating joint 100 may also include a connector 302. The connector 302 is fixed to the output member 301. The connector 302 is at least adapted to connect to the housing 101 of the connecting arm 500 or another rotating joint 100. By adding the connector 302, it is convenient to connect the output member 301 to other housings 101 such as the connecting arm 500 or another rotating joint 100.

[0123] Optionally, the connector 302 can be integrally formed with the output component 301. For example, the connector 302 can be integrally molded with the output component 301. Alternatively, the connector 302 can be fixed to the output component 301 by welding or other methods, so that the connector 302 and the output component 301 become an inseparable whole. Here, "separation" can be understood as a method of separation that ensures that the connector 302 and the output component 301 can perform their respective functions again.

[0124] In one example, connector 302 is a connecting flange.

[0125] In other examples, connector 302 can be a different structural form than a connecting flange.

[0126] Continue reading Figure 3 Furthermore, the housing 101 may also include a connecting portion 108. The connecting portion 108 is connected to the first housing portion 102 and the second housing portion 103, such that the first housing portion 102 and the second housing portion 103 are fixed relative to the connecting portion 108. The first housing portion 102 and the second housing portion 103 are arranged symmetrically about the output member 301. This enables the housing 101 to achieve structural symmetry with respect to the output member 301 in the first direction D1, thereby helping to optimize the structural layout of the housing 101, as well as the spatial distribution of the motor assembly 200 and the reduction assembly 400 within the housing 101, and ultimately facilitating the symmetrical distribution of torque on both sides of the output member 301 of the rotary joint 100 in the first direction D1.

[0127] Optionally, the connecting part 108, the first housing part 102, and the second housing part 103 are an integral component.

[0128] Continue reading Figure 3 For example, at least one of the first housing portion 102 and the second housing portion 103 has an opening (not shown) at its distal end. The housing 101 may also include a side cover 104. The side cover 104 covers the opening. The side cover 104 facilitates the installation of components in the respective cavities.

[0129] Optionally, the first housing portion 102 and the second housing portion 103 each have an opening, and each opening is covered with a side cover 104. By removing the side cover 104, it is convenient to assemble, disassemble, and repair components such as the motor assembly 200 and the reduction gear assembly 400.

[0130] Regarding the wiring of the rotating joint 100 in this embodiment, wiring can be routed on the outside of the rotating joint 100, or it can be routed inside the rotating joint 100 by setting an annular groove or other wiring methods. Wiring can also be achieved by using an electrical slip ring.

[0131] According to the embodiments of this application, the rotary joint 100 has its output member 301 positioned at or near the center of the housing 101. Therefore, the connecting arm 500 or joint to which the output member 301 is to be connected can be directly arranged at or near the center of the rotary joint 100. On one hand, this optimizes the distribution of gravitational torque, reducing the demand on the output torque of the rotary joint 100. On the other hand, it occupies less space, provides a larger working space, reduces the risk of collision, and improves reliability. Figure 2 As shown, the robotic arm may include a first arm 701, a second arm 702, and a third arm 703. The first arm 701 is connected to the second arm 702 via a rotary joint 100. The second arm 702 is connected to the third arm 703 via a rotary joint 100. The end of the third arm 703 is provided with three rotary joints 100, a connecting arm 500, and an end effector 600 connected in sequence. The following describes the process in conjunction with... Figure 2 The embodiments shown at points A, B, and C further illustrate the robotic arm of the embodiments of this application.

[0132] like Figure 2 Point A in the middle and Figure 3 Another embodiment of this application provides a robotic arm. The robotic arm may include two adjacent connecting arms 500 and the aforementioned rotary joint 100. The rotary joint 100 may include a housing 101, an output member 301, and a connector 302. The housing 101 is fixed to one of the two adjacent connecting arms 500. The output member 301 is connected to the other of the two adjacent connecting arms 500 via the connector 302.

[0133] According to the embodiments of this application, the robotic arm, by applying the aforementioned rotary joint 100, enables the rotational connection of two adjacent connecting arms 500, thereby allowing the two adjacent connecting arms 500 to have a degree of freedom of rotation relative to each other. Furthermore, compared to the rotary joint 100 in related technologies, the gravitational torque distribution on both sides of the output member 301 of the rotary joint 100 of this application is more symmetrical.

[0134] See Figure 2 Point B in the middle and Figure 4One embodiment of this application provides a robotic arm. The robotic arm may include at least two of the aforementioned rotary joints 100. At least one of the at least two rotary joints 100 may include an output member 301 and a connector 302. The output member 301 is connected to the housing 101 of another adjacent rotary joint 100 via the connector 302.

[0135] According to the embodiments of this application, the robotic arm can achieve series connection of two adjacent joints by connecting the connector 302 of one rotary joint 100 to the housing 101 of another adjacent rotary joint 100. Compared with related technologies, this reduces the distance between two adjacent rotary joints 100, thereby enabling more degrees of freedom of movement while reducing the space occupied by the robotic arm, and thus improving the flexibility of the robotic arm. That is, two adjacent rotary joints 100 can be arranged close to or adjacent to each other.

[0136] See Figure 2 C in the middle and Figure 5 Another embodiment of this application provides a robotic arm. The robotic arm may include the aforementioned rotary joint 100, a connecting arm 500, a driven wheel 506, a drive belt, and an end effector 600. The rotary joint 100 may include a housing 101 and an output roller. A first end of the connecting arm 500 is connected to the housing 101 of the rotary joint 100. The driven wheel 506 is rotatably connected to a second end of the connecting arm 500 about a second axis AX2. A drive belt is connected to the output roller and the driven wheel 506 to transmit power between the output roller and the driven wheel 506. The end effector 600 is rotatably connected to the second end of the connecting arm 500 about a second axis AX2. The end effector 600 is fixed to the driven wheel 506 to rotate with the driven wheel 506 relative to the connecting arm 500. The end effector 600 can be understood to include a holding arm 601. The connecting arm 500 is the arm in the robotic arm system 1 closest to the holding arm 601.

[0137] According to the embodiments of this application, the robotic arm connects the connecting arm 500 and the end effector 600 by applying the aforementioned rotary joint 100, and is connected to the driven wheel 506 via an output roller and a transmission belt, thereby driving the end effector 600 to rotate via the driven wheel 506. Because the gravitational torque on both sides of the output roller of the rotary joint 100 is well symmetrical, the output torque required by the output roller can be reduced.

[0138] like Figure 5 As shown, optionally, the connecting arm 500 may include an arm body 501 and an arm cover 502. The arm cover 502 is connected to the first direction D1 end of the arm body 501. The arm body 501 and the arm cover 502 enclose an arm space 503. The steel belt 505 and the driven wheel 506 are housed within the arm space 503.

[0139] In an alternative example, the connecting arm 500 can rotate about the first axis AX1 relative to the housing 101 of the rotating joint 100 to which it is connected.

[0140] In an alternative example, the connecting arm 500 may be fixed to the housing 101 of the rotating joint 100 to which it is connected.

[0141] For example, the transmission belt can be a 505 steel belt, a regular belt, or a rope. The steel belt can be a single-layer structure or a multi-layered structure.

[0142] It is understood that those skilled in the art can further modify or arbitrarily combine the robotic arm of the above embodiments to obtain more embodiments. For example, multiple rotational joints 100 of this embodiment and other joints can be used continuously or alternately to realize a multi-degree-of-freedom robotic arm.

[0143] Embodiments of this application provide a surgical robot. The surgical robot may include the rotary joint 100 described above, or the robotic arm described above.

[0144] According to the embodiments of this application, the surgical robot, by applying the aforementioned rotary joint 100 or robotic arm, can improve the symmetry of the gravitational torque distribution at the rotary joint 100, thereby optimizing the gravitational torque distribution, and further optimizing the space occupied and increasing the range of working angles.

[0145] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0146] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A rotary joint, characterized in that, The rotary joint includes: The housing includes a first housing portion, a second housing portion, and a connecting portion. The first housing portion and the second housing portion are spaced apart and arranged opposite to each other in a first direction. The first housing portion forms a first cavity, the second housing portion forms a second cavity, and the connecting portion is connected to the first housing portion and the second housing portion. An output member is located at the interval between the first housing portion and the second housing portion, and the output member is rotatably connected to the outer casing about a first axis parallel to the first direction; A motor assembly, located in the first cavity, the motor assembly including a rotor shaft; and A speed reduction assembly, at least partially located in the second cavity, includes an input shaft and an output shaft. The input shaft extends from the second cavity to the first cavity, and the input shaft and the rotor shaft are coaxially arranged and connected to the rotor shaft. The output shaft is connected to the output member. The first housing portion and the second housing portion are arranged symmetrically about the output member, and the motor assembly drives the output member to rotate through the reduction assembly.

2. The rotary joint according to claim 1, characterized in that, The axis of the input shaft, the axis of the output shaft, and the axis of the rotor shaft all coincide with the first axis, and the output shaft is sleeved outside the input shaft.

3. The rotary joint according to claim 2, characterized in that, The rotary joint also includes a torque sensor, which is connected to the output shaft and the output component.

4. The rotary joint according to claim 3, characterized in that, The output component is an output roller, which is rotatably sleeved on the outside of the output shaft, and the output roller and the output shaft are arranged coaxially.

5. The rotary joint according to claim 4, characterized in that, The rotating joint further includes a first bearing and a second bearing, which are located at opposite ends of the output roller in the axial direction. The first bearing is closer to the first cavity than the second bearing. One end of the output roller in the axial direction is supported on the first housing portion by the first bearing, and the other end of the output roller in the axial direction is supported on the output shaft by the second bearing.

6. The rotary joint according to any one of claims 3 to 5, characterized in that, The torque sensor is located at the end of the output shaft.

7. The rotary joint according to any one of claims 1 to 5, characterized in that, The deceleration assembly is constructed as a harmonic deceleration assembly, which further includes a harmonic rigid wheel and a harmonic flexible wheel that mesh with each other. The harmonic rigid wheel is fixed to the second housing part, the harmonic flexible wheel is fixed to the output shaft, and the harmonic flexible wheel is driven to the input shaft.

8. The rotary joint according to any one of claims 1 to 5, characterized in that, The rotating joint further includes an input encoder, which includes a first moving part and a first fixed part. The first moving part is connected to the rotor shaft, and the first fixed part is fixedly disposed relative to the housing. The input encoder is configured to generate a sensing signal when the rotor shaft rotates relative to the housing.

9. The rotary joint according to any one of claims 1 to 5, characterized in that, The rotating joint further includes an output encoder, which includes a second moving part and a second fixed part. The second moving part is connected to the input shaft, and the second fixed part is fixedly disposed relative to the housing. The output encoder is configured to generate a sensing signal when the input shaft rotates relative to the housing.

10. The rotary joint according to any one of claims 1 to 5, characterized in that, The rotating joint further includes a braking assembly, which includes a first braking member and a second braking member. The first braking member is connected to the rotor shaft, and the second braking member is connected to the housing. The braking assembly has an engaged state and a disengaged state. When the braking assembly is in the engaged state, the first braking member engages with the second braking member to prevent the rotor shaft from rotating. When the braking assembly is in the disengaged state, the first braking member disengages from the second braking member to allow the rotor shaft to rotate.

11. The rotary joint according to any one of claims 1 to 5, characterized in that, The rotary joint also includes a connector fixed to the output member, the connector being at least adapted to connect to the housing of a connecting arm or another rotary joint.

12. A robotic arm, characterized in that, The robotic arm includes: At least two rotary joints as described in any one of claims 1 to 11, wherein at least one of the at least two rotary joints includes an output member and a connector, the output member being connected to the housing of another adjacent rotary joint via the connector.

13. A robotic arm, characterized in that, The robotic arm includes: Two adjacent connecting arms; and The rotary joint as claimed in any one of claims 1 to 11, the rotary joint comprising a housing, an output member, and a connector, the housing being fixed to one of two adjacent connecting arms, and the output member being connected to the other of the two adjacent connecting arms via the connector.

14. A robotic arm, characterized in that, The robotic arm includes: The rotary joint as described in any one of claims 1 to 11, the rotary joint comprising a housing and an output roller; A connecting arm, the first end of which is connected to the housing of the rotary joint; Driven wheel, the driven wheel being rotatably connected to the second end of the connecting arm about a second axis; A drive belt, connected to the output roller and the driven roller, for transmitting power between the output roller and the driven roller; and An end assembly is rotatably connected to a second end of the connecting arm about a second axis and is fixed to the driven wheel to rotate with the driven wheel.

15. A surgical robot, characterized in that, The surgical robot includes: The rotary joint as described in any one of claims 1 to 11, or the robotic arm as described in any one of claims 12 to 14.

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