Movable joint and surgical robot

Abstract

The invention provides a moving joint and a surgical robot, the surgical robot comprises the moving joint, and the moving joint comprises a base body; the synchronous belt structure comprises a driving part, a synchronous belt wheel connected with the output end of the driving part, idle wheels arranged on the two opposite sides of the synchronous belt wheel and a synchronous belt wound around the synchronous belt wheel and the idle wheels respectively, and the two opposite ends of the synchronous belt are fixed to the base body respectively; the moving part is connected with the synchronous belt wheel and moves along with the synchronous belt wheel; a stroke gap is formed between the moving part and the base body; and the shielding structure is connected between the moving part and the base body and used for shielding the stroke gap. Driving is conducted through the synchronous belt structure, the weight of the movable joint can be reduced, and the movement precision of the movable joint is improved; excessive motion resistance is avoided, and the moving stability of the moving joint is guaranteed.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and more specifically, relates to a mobile joint and surgical robot. Background Technology

[0002] Surgical robots are increasingly favored by surgeons due to their small incisions, minimal bleeding, and rapid recovery. Typically, surgical robots have multiple joints that work together to perform corresponding movements. The moving joints in surgical robots are generally supported by guide rails and driven by lead screws via motors. However, lead screws are quite heavy, and their weight increases with length, increasing the moment of inertia of the moving joints and reducing their motion accuracy, which is detrimental to precise operation by the surgical robot. Furthermore, as the lead screw length increases, its straightness deteriorates, resulting in greater motion resistance and further reducing the motion accuracy of the moving joints, which is also detrimental to precise operation of the moving joints in surgical robots. Summary of the Invention

[0003] The purpose of this application is to provide a mobile joint and a surgical robot to solve the technical problem of low motion accuracy of mobile joints in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a movable joint, comprising:

[0005] Matrix;

[0006] A synchronous belt structure includes a driving component, a synchronous pulley connected to the output end of the driving component, idler pulleys located on opposite sides of the synchronous pulley, and a synchronous belt wound around the synchronous pulley and the idler pulleys respectively, with the opposite ends of the synchronous belt fixed to the base.

[0007] A movable component is connected to and moves with the synchronous pulley; a travel notch is provided between the movable component and the base.

[0008] A shielding structure, connected between the moving part and the base, is used to shield the travel gap.

[0009] In one embodiment, the synchronous belt structure further includes a first mounting seat and a tensioning seat. The tensioning seat is mounted on the base, and the first mounting seat is mounted on the base in an adjustable manner. The first mounting seat and the tensioning seat are connected by a locking member, and at least one end of the synchronous belt is mounted on the first mounting seat.

[0010] In one embodiment, the first mounting base has a first mounting hole extending along the moving direction of the movable member, and the base has a second mounting hole, wherein fasteners lock different positions of the first mounting hole to the second mounting hole.

[0011] In one embodiment, the base is provided with a guide rail, and a slide plate is slidably mounted on the guide rail. The driving component, the timing pulley, the idler pulley, and the moving component are all mounted on the slide plate.

[0012] In one embodiment, the skateboard is provided with a first limit switch and a second limit switch, and the base is equipped with a first triggering element and a second triggering element. When the skateboard moves to a first limit position, the first limit switch is triggered by the first triggering element; when the skateboard moves to a second limit position, the second limit switch is triggered by the second triggering element; the first limit switch and the second limit switch are respectively communicatively connected to the controller.

[0013] In one embodiment, a position detection component for counting the motion cycles of the skateboard is provided between the skateboard and the base;

[0014] The drive component is provided with an angle detection component for counting the motion cycle of the drive component.

[0015] Both the angle detection component and the position detection component are communicatively connected to the controller, which is used to calculate the motion accuracy of the moving joint based on the first count value of the position detection component and the second count value of the angle detection component.

[0016] In one embodiment, the movable member is connected to a brake that is communicatively connected to a controller, and the substrate has a suction member extending along the moving direction of the movable member. The controller is used to control the brake to suction the suction member or release the suction member.

[0017] In one embodiment, the movable joint further includes a detection device and a controller. The detection device is disposed in the substrate and is used to detect in real time whether the blocking structure is pushed into the substrate. The controller is used to receive the detection result of the detection device and control the movable component to move or stop moving according to the detection result.

[0018] In one embodiment, an electrostatic protection plate is provided in the substrate, and the electrostatic protection plate encloses an electrostatic cavity, in which the circuitry of the driving component, the controller, and the detection device are all located.

[0019] On the other hand, this application also provides a surgical robot including the aforementioned movable joint.

[0020] The beneficial effects of the mobile joint and surgical robot provided in this application are as follows: By setting a synchronous belt structure, which includes a driving component, a synchronous pulley, two idler pulleys, and a synchronous belt, the opposite ends of the synchronous belt are fixed to the base. The synchronous belt is connected to the synchronous pulley for transmission, so that when the driving component drives the synchronous pulley to rotate, the synchronous pulley can move along the synchronous belt, thereby driving the mobile component and the shielding structure to move. Since the synchronous belt is relatively lightweight, the weight of the entire mobile joint can be reduced, improving the mobility and accuracy of the entire mobile joint. At the same time, since the synchronous belt and the synchronous pulley are meshed, and the synchronous belt is pressed onto the synchronous belt by the two idler pulleys, the transmission stability between the synchronous belt and the synchronous pulley is ensured. The situation where the movement resistance increases due to the excessive length of the synchronous belt will not occur, thus ensuring the movement stability of the mobile joint and providing movement accuracy and the operational accuracy of the entire surgical robot. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a side view of the movable joint perpendicular to a third direction, provided in an embodiment of this application.

[0023] Figure 2 A schematic cross-sectional view of the movable joint perpendicular to the second direction provided in an embodiment of this application;

[0024] Figure 3 for Figure 2 Another cross-sectional schematic diagram of the mid-mobility joint;

[0025] Figure 4 This is a schematic diagram of the synchronous belt structure in a movable joint provided in an embodiment of this application;

[0026] Figure 5 This is an assembly diagram of the drive component, timing belt, idler pulley, and timing belt pulley in a movable joint provided in an embodiment of this application;

[0027] Figure 6 A schematic diagram of the mounting structure of the opposite ends of the timing belt in a movable joint provided in an embodiment of this application;

[0028] Figure 7 A cross-sectional schematic diagram of the position of the moving joint corresponding to the driving component and perpendicular to the first direction provided in the embodiments of this application;

[0029] Figure 8 A schematic cross-sectional view of the movable joint perpendicular to a third direction provided in an embodiment of this application;

[0030] Figure 9 This is a schematic diagram of the structure of the moving joint position detection component provided in an embodiment of this application.

[0031] The following are the labeling elements in the figure:

[0032] 100. Base; 110. First side plate; 120. Second side plate; 130. Mounting cavity; 140. First limiting baffle; 150. Second limiting baffle; 200. Shielding structure; 210. Flexible shield; 211. Movable end; 212. Fixed end; 220. Winding assembly; 230. Guide wheel; 300. Moving part; 400. Synchronous belt structure; 410. Driving part; 420. Synchronous belt pulley; 430. Idler pulley; 440. Synchronous belt; 450. First mounting base; 451. First fixing plate; 452. First pressure plate; 4521. First mating groove; 460. Tensioning seat; 470. Locking part; 480. Second mounting base; 481. Second fixing plate; 482. Second pressure plate; 48 21. Second mating groove; 490. Mounting flange; 500. Detection device; 510. Photoelectric switch; 520. Reflector; 530. Reflector bracket; 600. Guide rail; 700. Slide plate; 800. Slider; 900. First limit switch; 1000. Second limit switch; 1100. First trigger element; 1200. Second trigger element; 1300. Position detection assembly; 1310. Grid ruler; 1320. Position detection element; 1400. Controller; 1500. Brake; 1600. Targeted part; 1700. Static electricity protection plate; 1800. First shield; 1900. Second shield; 2000. Stroke notch; X, First direction; Y, Second direction; Z, Third direction. Detailed Implementation

[0033] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0034] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0035] 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 application 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 application.

[0036] 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 application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] Surgical robots have multiple joints that work together to perform corresponding actions. The moving joints in a surgical robot are typically supported by guide rails and driven by lead screws via motors. However, lead screws are quite heavy, and their weight increases with length, increasing the moment of inertia of the moving joint and reducing its motion accuracy, which is detrimental to the precise operation of the surgical robot. Furthermore, as the lead screw length increases, its straightness deteriorates, resulting in greater motion resistance and further reducing the motion accuracy of the moving joint, which is also detrimental to the precise operation of the moving joints in the surgical robot.

[0038] To address the aforementioned issues, this application provides a mobile joint and a surgical robot. A synchronous belt structure 400 drives the moving component 300, with the synchronous belt 440 fixed at both ends. The synchronous pulley 420 and the driving component 410 move through meshing transmission, thereby moving the moving component 300. Since the synchronous belt 440 is lightweight and the meshing transmission between it and the pulley 420 prevents increased resistance due to distance, ensuring smooth transmission and improving the moving accuracy of the mobile joint. This, in turn, enhances the motion control accuracy of the surgical robot and improves the precision of surgical operations.

[0039] First, the surgical robot provided in the embodiments of this application will be described. The surgical robot includes at least one movable joint, which is used to complete a movement action. The movement action is used to drive the movement of the robot end effector, such as driving the end effector to move horizontally, vertically or tilted.

[0040] The number of locomotor joints can be determined based on the actions that the end effector of the surgical robot needs to perform. There can be one or more locomotor joints. In addition, rotary joints can be interspersed on the basis of locomotor joints to achieve rotational actions.

[0041] Please refer to the following: Figures 1 to 4 The movable joint provided in the embodiments of this application will now be described. The movable joint includes a base 100, a timing belt structure 400, a movable member 300, and a blocking structure 200. The timing belt structure 400 includes a driving member 410, a timing pulley 420 connected to the output end of the driving member 410, idler pulleys 430 disposed on opposite sides of the timing pulley 420, and a timing belt 440 respectively wound around the timing pulley 420 and the idler pulleys 430. The opposite ends of the timing belt 440 are respectively fixed to the base 100. The movable member 300 is connected to the timing pulley 420 and moves with the timing pulley 420. There is a stroke gap 2000 between the movable member 300 and the base 100. The blocking structure 200 is connected between the movable member 300 and the base 100 and is used to block the stroke gap 2000.

[0042] The base 100 serves as the supporting structure for the entire movable joint. It supports the timing belt structure 400, the movable component 300, and the shielding structure 200. The base 100 also facilitates the installation of the movable joint within the surgical robot. Typically, to protect the timing belt structure 400, the shielding structure 200, and the movable component 300, the base 100 has a mounting cavity 130 with an opening on one side. The movable component 300 is movably positioned within the mounting cavity 130 under the influence of the timing belt structure 400, and it extends through the opening. The gap between the movable component 300 and the base 100 at the opening is called the stroke notch 2000. Meanwhile, since the moving part 300 moves at the opening, and assuming that the moving part 300 reciprocates in the first direction X, the moving part 300 forms a stroke gap 2000 with the base 100 on the opposite sides along the first direction X. A blocking structure 200 is provided for each stroke gap 2000, and the blocking structure 200 always blocks the stroke gap 2000 when the moving part 300 moves to any position.

[0043] Please see Figure 4 and Figure 5The synchronous belt structure 400 includes a drive component 410, a synchronous pulley 420, two idler pulleys 430, and a synchronous belt 440. The two ends of the synchronous belt 440 are respectively fixed to the two ends of the base 100 along the first direction X. The synchronous belt 440 has a toothed side and a toothless side arranged opposite to each other. The toothed side of the synchronous belt 440 is wound around the synchronous pulley 420 and forms a meshing transmission with the synchronous pulley 420. The two idler pulleys 430 are respectively arranged on opposite sides of the synchronous pulley 420 along the first direction X. The portion of the synchronous belt 440 that wraps around the opposite sides of the synchronous pulley 420 is wound around the two idler pulleys 430, and the toothless side of the synchronous belt 440 is wound around the idler pulleys 430. The two idler pulleys 430 are used to guide and limit the synchronous belt 440 to the corresponding synchronous pulley 420 along the first direction X to ensure reliable transmission between the synchronous belt 440 and the synchronous pulley 420. When the drive unit 410 outputs rotational motion, the synchronous pulley 420 rotates with the drive unit 410. Since the two ends of the synchronous belt 440 are fixed, the synchronous pulley 420 can move along the synchronous belt 440 while rotating, thereby driving the drive unit 410, the two idler pulleys 430 and the moving unit 300 to move in the first direction X, and then driving the blocking structure 200 to move. While driving the moving unit 300 to move, the blocking structure 200 is also driven.

[0044] The movable joint provided in this application utilizes a synchronous belt structure 400, which includes a driving member 410, a synchronous pulley 420, two idler pulleys 430, and a synchronous belt 440. The two ends of the synchronous belt 440 are fixed to the base 100, and the synchronous belt 440 is connected to the synchronous pulley 420 via a transmission connection. This allows the synchronous pulley 420 to move along the synchronous belt 440 when the driving member 410 drives it to rotate, thereby moving the movable member 300 and the blocking structure 200. Since the synchronous belt 440 is relatively heavy... The lightweight design reduces the overall weight of the moving joint, improving its flexibility and precision. Furthermore, the meshing transmission between the synchronous belt 440 and the synchronous pulley 420, along with the two idler pulleys 430 pressing the synchronous belt 440 against itself, ensures stable transmission between the synchronous belt 440 and the pulley 420. This prevents increased resistance due to excessive length of the synchronous belt 440, thus guaranteeing the stability of the moving joint and enhancing its motion and overall operational precision.

[0045] In one embodiment, see Figure 1 and Figure 2The shielding structure 200 includes a flexible shielding element 210 and a winding assembly 220. The flexible shielding element 210 is used to shield the stroke gap 2000. The flexible shielding element 210 includes a movable end 211 and a fixed end 212. The movable end 211 and the fixed end 212 are arranged opposite to each other. The movable end 211 of the flexible shielding element 210 is connected to the moving member 300, and the fixed end 212 of the flexible shielding element 210 is connected to the winding assembly 220. The winding assembly 220 is used to wind the flexible shielding element 210 and has a rotational preload on the flexible shielding element 210.

[0046] Two winding assemblies 220 are respectively disposed in the mounting cavity 130, located at opposite edges of the mounting cavity 130 along the first direction X. The movable ends 211 of the two flexible shields 210 are respectively connected to opposite sides of the moving member 300 and can move with the moving member 300. The fixed ends 212 of the two flexible shields 210 are respectively connected to the two winding assemblies 220. Because the winding assemblies 220 exert a rotational preload on the flexible shields 210, the flexible shields 210 are always kept taut. Figure 1 Taking the orientation as an example, when the moving part 300 moves to the left, the distance between the moving part 300 and the left winding assembly 220 decreases, and the left winding assembly 220 pre-tightens the flexible shield 210 to make the left flexible shield 210 taut; at the same time, the distance between the moving part 300 and the right winding assembly 220 increases, and the right winding assembly 220 appropriately relaxes the right flexible shield 210 to avoid the right flexible shield 210 being broken.

[0047] The flexible shield 210 refers to a thin layer structure that is flexible and can be stretched taut at the edges. For example, it can be an elastic flexible strip or a non-elastic flexible cloth. In addition, it can also be metal, plastic or rubber.

[0048] In this embodiment, the travel gap 2000 is blocked by a flexible shield 210, and the flexible shield 210 is pre-tightly wound by a winding assembly 220. Because the flexible shield 210 occupies a small volume, has low movement resistance, and a neat and aesthetically pleasing surface, the entire moving joint has a compact structure, sensitive movement, and a neat and aesthetically pleasing appearance. It is understood that in other embodiments of this application, the aforementioned shielding structure 200 can also be a roller shutter protective cover or a bellows cover, etc., and is not limited to this specific embodiment.

[0049] In one embodiment, see Figure 4 and Figure 6The synchronous belt structure 400 also includes a first mounting base 450 and a tensioning base 460. The tensioning base 460 is mounted on the base 100, and the first mounting base 450 is mounted on the base 100 in an adjustable manner. The first mounting base 450 and the tensioning base 460 are connected by a locking member 470. At least one end of the synchronous belt 440 is mounted on the first mounting base 450.

[0050] The tensioning seat 460 is mounted on the base 100, meaning that after installation, there will be no relative movement between the tensioning seat 460 and the base 100. The first mounting seat 450 is mounted on the base 100 in an adjustable manner, meaning that the first mounting seat 450 can be mounted at different positions on the base 100 according to the tension of the timing belt 440, and after installation, there will be no relative movement between the first mounting seat 450 and the base 100.

[0051] The tensioning seat 460 and the first mounting seat 450 are spaced apart along the first direction X. The tensioning seat 460 is positioned away from the timing belt 440 relative to the first mounting seat 450. If the timing belt 440 is found to be slack during assembly, the first mounting seat 450 needs to be moved towards the tensioning seat 460 to tension the timing belt 440. Then, the first mounting seat 450 is locked onto the base 100, and finally, the first mounting seat 450 and the base 100 are locked together by the locking member 470. Conversely, the operation is performed in reverse.

[0052] Please see Figure 4 The synchronous belt structure 400 includes a first mounting base 450 and a tensioning seat 460, with one end of the synchronous belt 440 mounted on the first mounting base 450. It is understood that in other embodiments of this application, the first mounting base 450 and tensioning seat 460 may also be provided at opposite ends of the synchronous belt 440 to allow for tension adjustment at each end; this is not a limiting factor.

[0053] In this embodiment, by mounting the first mounting base 450 on the base 100 in an adjustable position, the position of one end of the timing belt 440 mounted on the first mounting base 450 on the base 100 is adjustable, thereby allowing adjustment of the tension of the timing belt 440 to ensure stable transmission between the timing belt 440 and the timing pulley 420. Furthermore, the tensioning seat 460 can lock the position of the first mounting base 450 after adjustment, ensuring a secure mounting of the first mounting base 450 on the base 100. It is understood that in other embodiments of this application, a pre-tensioning spring can be connected to one side of the first mounting base 450 for tensioning, or an additional tensioning pulley can be installed for tensioning; this is not the only possible approach.

[0054] In one embodiment, see Figure 4 and Figure 6 The locking component 470 is a locking screw, which passes through the tension seat 460 and the first mounting seat 450 along the first direction X. The head end of the locking screw is threaded to the first mounting seat 450, and the tail end of the locking screw stops on the side of the tension seat 460 away from the first mounting seat 450. By rotating the locking screw, the distance between the first mounting seat 450 and the tension seat 460 can be adjusted, and the first mounting seat 450 and the tension seat 460 can be locked relative to each other.

[0055] In one specific embodiment, please refer to Figure 6 The first mounting base 450 has a first mounting hole that extends along the moving direction of the moving member 300, that is, along the first direction X. The base 100 has a second mounting hole, and fasteners lock different positions of the first mounting hole to the second mounting hole.

[0056] During assembly, fasteners can be inserted into the first mounting hole and the second mounting hole respectively. Then, the first mounting seat 450 is moved along the first direction X to adjust the position of the first mounting seat 450 to ensure that the timing belt 440 is in a tensioned state. Finally, the fasteners are rotated so that the fasteners lock the first mounting seat 450 onto the base 100.

[0057] In one embodiment, see Figure 4 and Figure 6 The synchronous belt structure 400 also includes a second mounting base 480, which is mounted on the base 100. For example, the second mounting base 480 is fixed to the base 100 by screws. The end of the synchronous belt 440 facing away from the first mounting base 450 is mounted on the second mounting base 480. Since the position of the second mounting base 480 on the base 100 is not adjustable, the end of the synchronous belt 440 corresponding to the second mounting base 480 is also relatively fixed.

[0058] In one embodiment, see Figure 6 The first mounting base 450 includes a first fixing plate 451 and a first pressure plate 452. The toothless side of the timing belt 440 is attached to the first fixing plate 451. The first pressure plate 452 is locked to the first fixing plate 451. The first pressure plate 452 is pressed against the toothed side of the timing belt 440. A first mating groove 4521 is formed on the side of the first pressure plate 452 facing the timing belt 440. The first mating groove 4521 is engaged with the teeth of the timing belt 440, so that one end of the timing belt 440 can be securely locked and fixed by the first pressure plate 452 and the first fixing plate 451.

[0059] In one embodiment, see Figure 6The second mounting base 480 includes a second fixing plate 481 and a second pressure plate 482. The toothless side of the timing belt 440 is attached to the second fixing plate 481. The second pressure plate 482 is locked to the second fixing plate 481. The second pressure plate 482 is pressed against the toothed side of the timing belt 440. A second mating groove 4821 is formed on the side of the second pressure plate 482 facing the timing belt 440. The second mating groove 4821 is engaged with the teeth of the timing belt 440. Thus, the end of the timing belt 440 corresponding to the second mounting base 480 can be securely locked and fixed by the second pressure plate 482 and the second fixing plate 481.

[0060] In one embodiment, see Figure 5 The synchronous belt structure 400 also includes a mounting flange 490, a drive unit 410 which is a rotary motor, the drive unit 410 is mounted on the mounting flange 490, a synchronous belt pulley 420 is rotatably mounted on the mounting flange 490, and two idler pulleys 430 are rotatably mounted on the mounting flange 490 respectively.

[0061] In one embodiment, see Figure 7 and Figure 8 The base 100 is provided with a guide rail 600, and a slide plate 700 is slidably mounted on the guide rail 600. The drive component 410, the synchronous pulley 420, the idler pulley 430, and the moving component 300 are all mounted on the slide plate 700. When the synchronous pulley 420 engages with the synchronous belt 440 and moves along the synchronous belt 440, it drives the slide plate 700 to move along the guide rail 600, thereby causing the drive component 410, the two idler pulleys 430, and the moving component 300 to slide along the guide rail 600 along with the slide plate 700.

[0062] Specifically, the guide rail 600 extends along the first direction X, thereby guiding the slider 800 to slide along the first direction X.

[0063] Specifically, the mounting flange 490 is fixedly mounted on the slide plate 700, thereby mounting the drive unit 410, the timing pulley 420 and the two idler pulleys 430 onto the slide plate 700 respectively.

[0064] Optionally, please refer to Figure 8 The base 100 has two guide rails 600, which are spaced apart along a second direction Y. The slide plate 700 is slidably mounted on the two guide rails 600 on opposite sides along the second direction Y. The second direction Y is the width direction of the base 100, and its specific details are as follows: Figure 1 and Figure 8 The middle arrow points to the third direction, Z, which is the height direction of the base 100. Figure 2 As shown, the third direction Z is the axial direction of the driving member 410, and the third direction Z is the direction in which the moving member 300 extends outward from the base 100.

[0065] For details, please refer toFigure 7 A slider 800 is provided on the side of the slide plate 700 facing the guide rail 600, and the slider 800 is slidably disposed in the guide rail 600.

[0066] In one embodiment, see Figure 3 The slide plate 700 is equipped with a first limit switch 900 and a second limit switch 1000. The base 100 is equipped with a first trigger element 1100 and a second trigger element 1200. When the slide plate 700 moves to the first limit position, the first limit switch 900 is triggered by the first trigger element 1100; when the slide plate 700 moves to the second limit position, the second limit switch 1000 is triggered by the second trigger element 1200. The first limit switch 900 and the second limit switch 1000 are respectively connected to the controller 1400 for communication.

[0067] Specifically, when the skateboard 700 moves along the first direction X, it has a first limit position and a second limit position. The first trigger element 1100 is located at the first limit position, and the second trigger element 1200 is located at the second limit position. When the skateboard 700 moves to the first limit position, the first limit switch 900 is triggered by the first trigger element 1100, and the first limit switch 900 sends a first trigger signal to the controller 1400. The controller 1400 controls the drive unit 410 to rotate in the opposite direction, so as to drive the skateboard 700 to move in the opposite direction. When the skateboard 700 moves to the second limit position, the second limit switch 1000 is triggered by the second trigger element 1200, and the second limit switch 1000 sends a second trigger signal to the controller 1400. The controller 1400 controls the drive unit 410 to rotate in the opposite direction, so as to drive the skateboard 700 to move in the opposite direction.

[0068] Optionally, the first limit switch 900 is a normally open switch, and the first trigger element 1100 is a pressure block. When the first trigger element 1100 approaches the first limit switch 900, it presses the contacts of the first limit switch 900 closed, thereby connecting the first limit switch 900 to send a first trigger signal to the controller 1400. Similarly, the second limit switch 1000 is also a normally open switch, and the second trigger element 1200 is a pressure block. It is understood that in other embodiments of this application, the first limit switch 900 and the second limit switch 1000 may also be other structures for detecting travel, such as photoelectric sensors, displacement sensors, or pressure sensors, and are not limited to these here.

[0069] In one embodiment, see Figure 8Inside the base 100, at positions corresponding to opposite ends of the guide rail 600, there are first limiting baffles 140 and second limiting baffles 150, respectively. The first limiting baffles 140 and second limiting baffles 150 are used to mechanically limit the movement of the slide plate 700. Specifically, when one or more of the first limiting switch 900, the second limiting switch 1000, the first trigger element 1100, the second trigger element 1200, the controller 1400, or the drive unit 410 malfunction, the first limiting baffles 140 and the second limiting baffles 150 can block the slide plate 700 when it slides to its limit position, thereby preventing the slide plate 700 from moving unrestricted along the guide rail 600 and sliding off the guide rail 600.

[0070] In one embodiment, see Figure 7 and Figure 9 A position detection component 1300 for counting the motion cycles of the slide plate 700 is provided between the slide plate 700 and the base 100; an angle detection component for counting the motion cycles of the drive component 410 is provided on the drive component 410; both the angle detection component and the position detection component 1300 are communicatively connected to the controller 1400, and the controller 1400 is used to calculate the motion accuracy of the moving joint based on the first count value of the position detection component 1300 and the second count value of the angle detection component.

[0071] The motion cycle of the skateboard 700 refers to one reciprocating movement of the skateboard 700. The motion cycle of the drive component 410 refers to one rotation of the drive component 410.

[0072] In this embodiment, the movable joint is first driven by the drive component 410. The drive component 410 is driven by the transmission connection between the synchronous pulley 420 and the synchronous belt 440. Through the connection between the drive component 410, the mounting flange 490, the slide plate 700, and the movable component 300, the sliding of the slide plate 700 is finally formed. Theoretically, there is a specific relationship between the number of rotations of the drive component 410 and the number of reciprocations of the slide plate 700, that is, there is a specific relationship between the first count value and the second count value, specifically B = A * π * PD * GR, where A is the second count value of the angle detection component, B is the first count value of the position detection component 1300, PD is the pitch circle diameter of the synchronous pulley 420, and GR is the reduction ratio of the reducer (if a reducer is present, it is the reduction ratio; in this example, if no reducer is installed, GR = 1). When the controller 1400 substitutes the first count value and the second count value into the above formula, if the two sides of the formula are not equal, it indicates that there is an accuracy error in the movable joint. The controller 1400 has a preset error value. When the accuracy error is less than the preset error value, it means that the accuracy of the moving joint is within an acceptable range and can continue to be used. When the accuracy error is greater than the preset error value, it means that there is a big problem with the moving joint. At this time, the moving joint needs to be suspended from use and maintained. This will enable the moving joint to have greater motion accuracy when in use, thereby improving the motion accuracy of the surgical robot.

[0073] Optionally, the controller is a rotary motor, and the angle detection component is an encoder.

[0074] In one embodiment, see Figure 9 The position detection component 1300 includes a grating ruler 1310 and a position detection element 1320. The grating ruler 1310 is mounted on the base 100 and extends along the moving direction of the moving member 300. The position detection element 1320 is disposed on the slide plate 700 and moves with the slide plate 700. The position detection element 1320 cooperates with the grating ruler 1310 in real time to detect the position of the slide plate 700 and feeds it back to the controller 1400. The controller 1400 counts the motion cycle of the slide plate 700. It can be understood that in other embodiments of this application, the motion cycle of the slide plate 700 can also be calculated by other structures. For example, the first limit switch 900 can be communicatively connected to the controller 1400. The controller 1400 calculates once every two times it receives a signal from the first limit switch 900, thereby realizing the counting of the motion of the slide plate 700.

[0075] In one embodiment, see Figure 7 The moving part 300 is connected to a brake 1500 that is communicatively connected to the controller 1400. The base 100 is provided with a suction part 1600 extending along the moving direction of the moving part 300. The controller 1400 is used to control the brake 1500 to suction the suction part 1600 or release the suction part 1600.

[0076] Specifically, when the movable joint needs to move, the brake 1500 receives a signal from the controller 1400 and disengages from the attracted component 1600. At this time, the gap between the brake 1500 and the attracted component 1600 is greater than 0, enabling the movable joint to move. When it is necessary to stop the movable component 300, the controller 1400 controls the drive component 410 to stop driving. The drive component 410 stops rotating, and the synchronous pulley 420 stops rotating and moving, thus stopping the movement of the movable component 300. At the same time, the controller 1400 controls the brake 1500 to attract the attracted component 1600. The brake 1500 and the attracted component 1600 have no gap, and the brake 1500 is stopped, thus stopping the movable component 300 as well. This configuration ensures smooth braking of the movable component 300 and achieves backlash-free braking. Specifically, the flexible transmission of the synchronous belt 440 eliminates transmission backlash; at the same time, the brake 1500 is positioned at the motion output end and is not connected to other moving components (motors), thus achieving backlash-free braking.

[0077] In one embodiment, see Figure 7 The brake 1500 is mounted on the slide plate 700. When the brake 1500 is attracted to the attracted part 1600, the brake 1500 stops moving, and the slide plate 700 also stops moving, thereby stopping the moving part 300.

[0078] Optionally, the brake 1500 is an electromagnet, and the attracted part 1600 is an armature plate. When the electromagnet is energized, it has magnetism and attracts the armature plate. When the electromagnet is de-energized, it loses magnetism and separates from the armature plate.

[0079] In one embodiment, see Figure 2 The movable joint also includes a detection device 500 and a controller 1400. The detection device 500 is located inside the base 100 and is used to detect in real time whether the shielding structure 200 is pushed into the base 100, specifically whether the flexible shielding object 210 is pushed into the base 100. The controller 1400 is used to receive the detection results of the detection device 500 and control the movable part 300 to move or stop moving according to the detection results.

[0080] Because the flexible shield 210 is flexible, it has poor resistance to foreign substances. If a user's finger is accidentally inserted into the travel notch 2000, it will be accidentally injured. Therefore, this application includes a detection device 500 and a controller 1400. The detection device 500 is located inside the mounting cavity 130. The detection device 500 is used to detect whether the flexible shield 210 is being pushed into the base 100. Here, "inward" refers to the mounting cavity 130. For example, when a user's finger is extended from the outside into the travel notch 2000, it will push the flexible shield 210 into the base 100. The controller 1400 is used to receive the detection result from the detection device 500. When the detection result is that the flexible shield 210 is being pushed into the base 100, the controller 1400 controls the moving part 300 to stop moving, thereby avoiding injury to the user's finger due to the movement of the moving part 300. When the detection result is that the flexible shield 210 is not being pushed up, the controller 1400 controls the moving part 300 to continue moving. In this embodiment, by setting up the detection device 500 and the controller, it is possible to detect in real time whether the flexible shield 210 is pushed into the base 100, and to control the moving part 300 in a timely manner to avoid accidents and play a second protection role, thereby ensuring the safety of the moving joint.

[0081] In one embodiment, the detection device 500 is a photoelectric detection device 500. The photoelectric detection device 500 uses light for detection, achieving detection without direct contact with the flexible barrier 210, without affecting the movement of the flexible barrier 210, and exhibits high detection sensitivity, good detection effect, and real-time detection capability. It is understood that in other embodiments of this application, the detection device 500 may also be a safety light grating or an array laser.

[0082] In one specific embodiment, please refer to Figure 2 The detection device 500 includes a photoelectric switch 510 and a reflector 520. The photoelectric switch 510 includes a photoelectric emitter and a photoelectric receiver, which are spaced apart. The reflector 520 is positioned opposite the photoelectric emitter and the photoelectric receiver, along the first direction X. The reflector 520 is located on one side of the travel gap 2000, and the photoelectric emitter and the photoelectric receiver are located on the other side of the travel gap 2000. The photoelectric emitter emits light to the reflector 520 in real time, and the reflector 520 reflects the light back to be received by the photoelectric receiver. When the photoelectric receiver does not receive light, it indicates that the flexible obstruction 210 is pushed into the substrate 100 and blocks the light. At this time, the controller 1400 controls the moving part 300 to stop moving.

[0083] Specifically, the photoelectric switch 510 is connected to the moving member 300 and moves with the moving member 300. The reflector 520 is fixed in the base 100, thereby ensuring that the reflector 520 and the photoelectric switch 510 are always located on opposite sides of the travel gap 2000, facilitating the detection of the flexible obstruction 210. It is understood that in other embodiments of this application, the reflector 520 may also be connected to the moving member 300 and move with the moving member 300, while the photoelectric switch 510 is fixed in the base 100; this is not the only possible embodiment.

[0084] In one embodiment, see Figure 2 A reflector bracket 530 is installed within the mounting cavity 130 of the substrate 100. The reflector 520 is a reflector plate, which is vertically mounted on the reflector bracket 530 with its reflective surface facing the photoelectric switch 510. The reflector plate is fixed to the reflector bracket 530 by adhesive, screws, or riveting. It is understood that in other embodiments of this application, the reflector 520 may also be a reflective sticker, or a reflective layer formed on the reflector bracket 530 by spraying or printing; this is not a limiting factor.

[0085] In one embodiment, see Figure 2 An electrostatic discharge (ESD) protection plate 1700 is provided inside the substrate 100, forming an ESD cavity. The circuit components of the drive unit 410, controller 1400, and detection device 500 are all located within the ESD cavity. The ESD cavity allows the electrical components within the substrate 100 to be housed within it for ESD protection.

[0086] Specifically, the substrate 100 is provided with two electrostatic protection plates 1700, which are spaced apart along the first direction X. The two electrostatic protection plates 1700 are respectively connected to the slide plate 700, and the two electrostatic protection plates 1700 and the slide plate 700 together form an electrostatic cavity.

[0087] In one embodiment, see Figure 2The shielding structure 200 also includes a guide wheel 230, which is located between the movable member 300 and the winding assembly 220 and is used to support and guide the flexible shielding object 210. In this application, since the movable member 300 needs to move, the stroke gap 2000 is relatively large, and there is a certain distance between the movable member 300 and the winding assembly 220, in order to ensure that the flexible shielding object 210 is always in a taut state, the guide wheel 230 is provided between the movable member 300 and the winding assembly 220, so that the flexible shielding object 210 can be supported. According to the reciprocating movement of the movable member 300, the flexible shielding object 210 will be wound or released on the winding assembly 220, that is, the movement direction of the flexible shielding object 210 will change. The guide wheel 230 can guide the movement direction of the flexible shielding object 210, ensuring that the flexible shielding object 210 moves smoothly.

[0088] In one embodiment, see Figure 2 The guide wheel 230 is mounted on the reflector bracket 530, that is, the flexible shield 210 is wrapped around the back of the reflector bracket 530 to connect with the winding assembly 220.

[0089] In one embodiment, see Figure 1 The base 100 has two first side plates 110 arranged opposite each other along a first direction X and two second side plates 120 arranged opposite each other along a second direction Y. A first shielding plate 1800 is also installed on each of the two first side plates 110, and the first shielding plate 1800 is used to shield the guide wheel 230, the reflector bracket 530, and the winding assembly 220. Second shielding plates 1900 are also distributed on each of the two second side plates 120, and the second shielding plates 1900 are used to shield the gap between the flexible shielding object 210 and the two second side plates 120.

[0090] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A movable joint, characterized in that, include: Matrix (100); The synchronous belt structure (400) includes a drive member (410), a synchronous pulley (420) connected to the output end of the drive member (410), idler pulleys (430) disposed on opposite sides of the synchronous pulley (420), and a synchronous belt (440) respectively wound around the synchronous pulley (420) and the idler pulleys (430), with the opposite ends of the synchronous belt (440) respectively fixed on the base (100); A movable component (300) is connected to and moves with the synchronous pulley (420); a stroke notch (2000) is provided between the movable component (300) and the base (100); A shielding structure (200) is connected between the moving part (300) and the base (100) to shield the travel notch (800).

2. The movable joint as described in claim 1, characterized in that, The synchronous belt structure (400) further includes a first mounting base (450) and a tensioning seat (460). The tensioning seat (460) is mounted on the base (100). The first mounting base (450) is mounted on the base (100) in an adjustable manner. The first mounting base (450) and the tensioning seat (460) are connected by a locking member (470). At least one end of the synchronous belt (440) is mounted on the first mounting base (450).

3. The movable joint as described in claim 2, characterized in that, The first mounting base (450) has a first mounting hole that extends along the moving direction of the moving member (300), and the base (100) has a second mounting hole. Fasteners lock different positions of the first mounting hole to the second mounting hole.

4. The movable joint as described in any one of claims 1 to 3, characterized in that, The base (100) is provided with a guide rail (600), and a slide plate (700) is slidably mounted on the guide rail (600). The driving component (410), the synchronous pulley (420), the idler wheel (430) and the moving component (300) are all mounted on the slide plate (700).

5. The movable joint as described in claim 4, characterized in that, The slide plate (700) is provided with a first limit switch (900) and a second limit switch (1000). The base (100) is equipped with a first trigger element (1100) and a second trigger element (1200). When the slide plate (700) moves to the first limit position, the first limit switch (900) is triggered by the first trigger element (1100). When the slide plate (700) moves to the second limit position, the second limit switch (1000) is triggered by the second trigger element (1200). The first limit switch (900) and the second limit switch (1000) are respectively connected to the controller (1400).

6. The movable joint as described in claim 4, characterized in that, A position detection component (1300) for counting the motion cycles of the skateboard (700) is provided between the skateboard (700) and the base (100); The drive unit (410) is provided with an angle detection component for counting the motion cycle of the drive unit (410); Both the angle detection component and the position detection component (1300) are communicatively connected to the controller (1400). The controller (1400) is used to calculate the motion accuracy of the moving joint based on the first count value of the position detection component (1300) and the second count value of the angle detection component.

7. The movable joint as described in any one of claims 1 to 3, characterized in that, The movable member (300) is connected to a brake (1500) which is communicatively connected to a controller (1400). The base (100) is provided with a suction member (1600) extending along the moving direction of the movable member (300). The controller (1400) is used to control the brake (1500) to suction the suction member (1600) or release the suction member (1600).

8. The movable joint as described in any one of claims 1 to 3, characterized in that, The movable joint also includes a detection device (500) and a controller (1400). The detection device (500) is disposed in the base (100) and is used to detect in real time whether the shielding structure (200) pushes into the base (100). The controller (1400) is used to receive the detection result of the detection device (500) and control the movable component (300) according to the detection result.

9. The movable joint as described in claim 8, characterized in that, The substrate (100) is provided with an electrostatic protection plate (1700), which encloses an electrostatic cavity. The circuit parts of the drive (410), the controller (1400) and the detection device (500) are all located in the electrostatic cavity.

10. A surgical robot, characterized in that, Includes the movable joint as described in any one of claims 1 to 9.

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