Mechanical arm joint

Abstract

The utility model relates to the technical field of medical instruments, and provides a mechanical arm joint. The mechanical arm joint provided by the embodiment of the utility model comprises a first joint, a second joint, a damping adjusting ring and a damping ring, the second joint is rotationally connected with the first joint, and the rotating central axis of the first joint and the rotating central axis of the second joint are collinear; the damping adjusting ring comprises a first ring section, a second ring section and a third ring section; the first ring section sleeves the circumferential outer side of the first joint and is in threaded fit with the first joint; the second ring section is arranged on the circumferential outer side of the second joint in a sleeving manner; one end of the third ring section is connected with the first ring section, the other end of the third ring section is connected with the second ring section, and the inner diameter of the third ring section is smaller than the outer diameter of the first joint and smaller than the outer diameter of the second joint; and the damping ring is clamped between the third ring section and the second joint. According to the mechanical arm joint provided by the embodiment, the mechanical arm is more stable in the operation process.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a mechanical arm joint. Background Art

[0002] Robotic arms for assisting surgical treatment are widely used, and their main purpose is to support and pull the patient's surgical site.

[0003] At present, the weight of the 6-DOF robot arm is relatively heavy. Adding damping can balance part of the weight of the robot arm, making the movement between joints easier. If the damping is not added, the movement between joints is laborious, and the operation feel is not good when adjusting the position. The damping of the robot arm with added damping on the market is not adjustable. The damping will wear out with the application, and the damping will continue to decrease. It needs to be returned to the factory, which is costly and inconvenient to adjust. Utility Model Content

[0004] In order to solve the above technical problem or at least partially solve the above technical problem, the utility model provides a mechanical arm joint.

[0005] The present application provides a mechanical arm joint, which includes: a first joint; a second joint, which is arranged opposite to the first joint, the second joint is rotatably connected to the first joint, and the rotation center axis of the first joint is colinear with the rotation center axis of the second joint; a damping adjustment ring, which includes: a first ring segment, which is sleeved on the circumferential outer side of the first joint and threadedly engaged with the first joint; a second ring segment, which is sleeved on the circumferential outer side of the second joint; a third ring segment, which is connected to the first ring segment at one end and to the second ring segment at the other end, and the inner diameter of the third ring segment is smaller than the outer diameter of the first joint and smaller than the outer diameter of the second joint; a damping ring, which is clamped between the third ring segment and the second joint.

[0006] In this way, by setting a damping ring between the third ring segment of the damping adjustment ring and the second joint, the damping between the first joint and the second joint is increased, and by rotating the damping adjustment ring, the distance between the second joint and the third ring segment can be adjusted, thereby squeezing the damping ring and adjusting the damping between the first joint and the second joint, so that the robot arm is more stable during operation. When the damping wears out with application and the damping decreases, the damping can be adjusted by rotating the damping adjustment ring, thereby extending the service life of the robot arm joint and reducing maintenance costs.

[0007] In some embodiments of the present application, the robotic arm joint further includes: an adjusting bolt, the first ring segment is provided with a first threaded hole matching with the adjusting bolt, and the adjusting bolt can pass through the first ring segment and abut against the first joint.

[0008] In some embodiments of the present application, an outer peripheral surface of the first joint is provided with an adjustment groove, the adjustment groove extends along the axial direction of the first joint and passes through a thread on the outer peripheral surface of the first joint.

[0009] In some embodiments of the present application, there are multiple adjustment grooves, and the multiple adjustment grooves are spaced apart in the circumferential direction of the first joint.

[0010] In some embodiments of the present application, the robot arm joint includes: a first sealing ring, which is clamped between the inner circumference of the first ring segment and the outer circumference of the first joint.

[0011] In some embodiments of the present application, a first annular groove is provided on the circumferential outer side of the first joint, the first annular groove extends along the circumference of the first joint, and the first sealing ring is inserted into the first annular groove.

[0012] In some embodiments of the present application, the robot arm joint includes: a second sealing ring, which is clamped between the inner circumference of the second ring segment and the outer circumference of the second joint.

[0013] In some embodiments of the present application, a second annular groove is provided on the circumferential outer side of the second joint, the second annular groove extends along the circumference of the second joint, and the second sealing ring is inserted into the second annular groove.

[0014] In some embodiments of the present application, the robotic arm joint also includes: a first rotating bearing, the rotation center axis of the first rotating bearing is colinear with the rotation center axis of the first joint, the first rotating bearing is rotationally connected to the first joint, and is rotationally connected to the second joint.

[0015] In some embodiments of the present application, a first rotating column is provided at one end of the first joint facing the second joint, and the first rotating bearing is sleeved on the circumferential outer side of the first rotating shaft and is rotatably connected to the first rotating shaft; a rotating groove is provided at one end of the second joint facing the first joint, and the rotating groove is sleeved on the circumferential outer side of the first rotating bearing and is rotatably connected to the first rotating bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present utility model, and together with the description, are used to explain the principles of the present utility model.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 An exploded view of a mechanical arm joint provided for some embodiments of the present application;

[0019] Figure 2 for Figure 1 A schematic diagram of the first joint outer cylinder shown in ;

[0020] Figure 3 for Figure 1 Schematic diagram of the first connector shown in ;

[0021] Figure 4 for Figure 1 A schematic diagram of the second joint outer cylinder shown in ;

[0022] Figure 5 for Figure 1 Schematic diagram of the second connector shown in ;

[0023] Figure 6 for Figure 1 Schematic diagram of the damping adjustment ring shown in .

[0024] Reference numerals:

[0025] 100. Robotic arm joints;

[0026] 110, first joint; 111, first connecting body; 1111, first rotating column; 112, first joint outer cylinder; 1121, first annular groove;

[0027] 120, second joint; 121, second connector; 1211, rotation groove; 1212, second rotation column; 122, second joint outer cylinder; 1221, second ring groove;

[0028] 130, damping adjustment ring; 131, first ring segment; 1311, first threaded hole; 132, second ring segment; 133, third ring segment;

[0029] 140, damping ring;

[0030] 150. Adjusting bolt;

[0031] 160, first sealing ring;

[0032] 170, second sealing ring;

[0033] 180, a first rotating bearing;

[0034] 190. Second rotating bearing. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the scheme of the utility model will be further described below. It should be noted that the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0037] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more.

[0039] In the description of the embodiments of the present invention, the term "and / or" refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" is a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0040] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the two are connected to each other and the relative position relationship after the connection remains unchanged. In addition, the directional terms mentioned in the embodiments of the present utility model, such as "inside", "outside", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model.

[0041] Currently, in the field of medical devices, robotic arms for auxiliary surgical treatments are widely used, and their main purpose is to support and pull the patient's surgical site.

[0042] As for the current 6-DOF robotic arms, the weight of the robotic arms is relatively heavy. Increasing the damping between the joints of the robotic arms can balance part of the weight of the robotic arms, making the movement between the joints easier. If the damping is not increased, the movement between the joints is laborious, and the operation feel is not good when adjusting the position.

[0043] For the robotic arms on the market that have added damping, the damping is not adjustable. The damping will wear out with use, and the damping will continue to decrease. The damping size needs to be adjusted in the factory, which is costly and inconvenient to adjust.

[0044] To solve the above technical problems, please refer to Figure 1 , Figure 1 This is an exploded view of a robotic arm joint 100 provided in some embodiments of the present application. The present application provides a robotic arm joint 100 , which may include: a first joint 110 , a second joint 120 , a damping adjustment ring 130 and a damping ring 140 .

[0045] Specifically, the first joint 110 and the second joint 120 are arranged opposite to each other, the first joint 110 and the second joint 120 are rotatably connected, the rotation center axis of the first joint 110 and the rotation center axis of the second joint 120 are colinear, and the first joint 110 and the second joint 120 are both formed in a cylindrical shape.

[0046] Among them, a first rotating bearing 180 is provided between the first joint 110 and the second joint 120, a first rotating column 1111 is provided on the side surface of the first joint 110 facing the second joint 120, and a rotating groove 1211 is provided on the side surface of the second joint 120 facing the first joint 110. The first rotating bearing 180 is sleeved on the circumferential outer side of the first rotating shaft and is rotatably connected to the first rotating shaft. The rotating groove 1211 is sleeved on the circumferential outer side of the first rotating bearing 180 and is rotatably connected to the first rotating bearing 180. Therefore, the first rotating bearing 180 is provided between the first joint 110 and the second joint 120 to realize the rotational connection between the first joint 110 and the second joint 120.

[0047] In some embodiments of this application, please refer to Figure 2 and Figure 3 , Figure 2 for Figure 1 A schematic diagram of the first joint outer cylinder 112 shown in FIG. Figure 3 for Figure 1 Schematic diagram of the first connecting body 111 shown in the figure; the first joint 110 may include a first joint outer tube 112 and a first connecting body 111, the first joint outer tube 112 is sleeved on the circumferential outer side of the first connecting body 111 and is threadedly matched with the first connecting body 111, and the first rotating column 1111 is arranged on the first connecting body 111.

[0048] In some embodiments of this application, please continue to refer to Figure 1 , and refer to Figure 4 and Figure 5 , Figure 4 for Figure 1 A schematic diagram of the second joint outer cylinder 122 shown in FIG. Figure 5 for Figure 1 Schematic diagram of the second connector 121 shown in . The robot arm joint 100 may also include a second rotating bearing 190, the second joint 120 may include a second joint outer cylinder 122 and a second connector 121, the second joint outer cylinder 122 is sleeved on the circumferential outer side of the second connector 121, and is threadedly matched with the second connector 121, the second connector 121 includes a first surface and a second surface opposite to each other, the first surface faces the first joint 110, the rotating groove 1211 is arranged on the first surface, and the second surface is provided with a second rotating column 1212, the second rotating bearing 190 is sleeved on the circumferential outer side of the second rotating column 1212, and the free end of the second rotating column 1212 is provided with a limiting end cover, the radial dimension of the limiting end cover is greater than the inner ring diameter of the second rotating bearing 190, to prevent the second rotating bearing 190 from falling off.

[0049] Therefore, by providing the first rotating bearing 180 and the second rotating bearing 190 , the rotation between the first joint 110 and the second joint 120 is made smoother, and the skewness between the first joint 110 and the second joint 120 is reduced, thereby improving the use stability of the robot arm joint 100 .

[0050] Please continue reading Figure 1 , and refer to Figure 6 , Figure 6 for Figure 1 Schematic diagram of the damping adjustment ring 130 shown in FIG. The damping adjustment ring 130 may include a first ring segment 131, a second ring segment 132 and a third ring segment 133. The first ring segment 131 is sleeved on the circumferential outer side of the first joint 110 and is threadedly matched with the first joint 110. It should be noted that the first joint 110 has an external thread, and specifically, the first joint outer tube 112 has an external thread and an internal thread. The second ring segment 132 is sleeved on the circumferential outer side of the second joint 120.

[0051] One end of the third ring segment 133 is connected to the first ring segment 131, and the other end is connected to the second ring segment 132. The inner diameter of the third ring segment 133 is smaller than the outer diameter of the first joint 110, and smaller than the outer diameter of the second joint 120. In other words, the first joint 110 and the second joint 120 cannot pass through the third ring segment 133.

[0052] In some embodiments of the present application, the first ring segment 131 , the second ring segment 132 and the third ring segment 133 are integrally formed.

[0053] Please continue reading Figure 1 The damping ring 140 is sandwiched between the third ring segment 133 and the second joint 120 to provide damping for the rotation between the first joint 110 and the second joint 120. The damping ring 140 has a certain elasticity and surface finish. During the movement between the first joint 110 and the second joint 120, the interface damping energy is generated by friction. This can not only provide damping for the rotation between the first joint 110 and the second joint 120, but also reduce the noise of the rotation between the first joint 110 and the second joint 120.

[0054] Among them, through the threaded cooperation between the first ring segment 131 and the first joint 110, the circumferential rotation of the damping adjustment ring 130 is converted into the axial movement of the damping adjustment ring 130, and then the distance between the third ring segment 133 and the second joint 120 is adjusted, thereby achieving different degrees of squeezing of the damping ring 140, thereby achieving the effect of adjusting the damping between the first joint 110 and the second joint 120.

[0055] Specifically, the damping ring 140 may be a rubber part, a silicone part, a plastic part, etc.

[0056] In this way, the robotic arm joint 100 provided in the present application provides damping for the rotation between the first joint 110 and the second joint 120 by setting a damping ring 140 between the first joint 110 and the second joint 120. Furthermore, after the first joint 110 and the second joint 120 are used for a long time, the damping ring 140 will be worn, resulting in insufficient damping between the first joint 110 and the second joint 120. The damping adjustment ring 130 can be rotated to move the damping adjustment ring 130 toward the second joint 120, and the third ring segment 133 squeezes the second joint 120, thereby increasing the damping between the first joint 110 and the second joint 120, so that the damping between the first joint 110 and the second joint 120 is restored.

[0057] Therefore, the damping between the first joint 110 and the second joint 120 can be adjusted without replacing the damping ring 140 , thereby extending the service life of the robot arm joint 100 and reducing the maintenance cost of the robot arm joint 100 .

[0058] In some embodiments of this application, please continue to refer to Figure 1 The robot arm joint 100 may further include an adjusting bolt 150. The first ring segment 131 is provided with a first threaded hole 1311 that matches the adjusting bolt 150. The adjusting bolt 150 can pass through the first ring segment 131 and abut against the first joint 110. Therefore, by providing the adjusting bolt 150 and the first threaded hole 1311, the stability of the fixation between the damping adjustment ring 130 and the first joint 110 can be further ensured.

[0059] Specifically, when the damping adjustment ring 130 needs to be rotated, the adjustment bolt 150 is first loosened, and when the damping adjustment ring 130 is rotated to a preset position, the adjustment bolt 150 is tightened.

[0060] In some embodiments of the present application, an adjustment groove is provided on the outer peripheral surface of the first joint 110, and the adjustment groove extends along the circumference of the first joint 110 and is passed through the external thread of the first joint 110. In this way, the number of rotations of the damping adjustment ring 130 can be determined by the position between the first threaded hole 1311 and the adjustment groove, and then the travel distance of the damping adjustment ring 130 can be determined.

[0061] Specifically, taking the initial state in which the first threaded hole 1311 is aligned with the adjustment groove as an example, when the first threaded hole 1311 is aligned with the adjustment groove for the second time, it means that the damping adjustment ring 130 has rotated one circle. Taking the stroke of the damping adjustment ring 130 rotating one circle as 0.1 mm as an example, the damping adjustment ring 130 has traveled 0.1 mm.

[0062] In some other embodiments of the present application, the travel of the damping adjustment ring 130 for one rotation may also be 1 mm.

[0063] In some embodiments of the present application, there are multiple adjustment grooves, and the multiple adjustment grooves are arranged at intervals in the circumferential direction of the first joint 110 .

[0064] Specifically, there are two adjustment grooves, and the corresponding central angle between the two adjustment grooves is 180 degrees. Taking the stroke of the damping adjustment ring 130 rotating one circle as 0.1 mm, and the initial state in which the first threaded hole 1311 is aligned with the adjustment groove as an example, when the first threaded hole 1311 is aligned with the adjustment groove for the second time, the damping adjustment ring 130 has moved 0.05 mm.

[0065] In some other embodiments, the number of the adjustment grooves is three, and the corresponding central angle between two adjacent adjustment grooves is 120 degrees.

[0066] In some other embodiments, the number of the adjustment grooves is four, and the corresponding central angle between two adjacent adjustment grooves is 90 degrees.

[0067] In some other embodiments, the number of the adjustment grooves is six, and the corresponding central angle between two adjacent adjustment grooves is 60 degrees.

[0068] Furthermore, an angular scale is provided on the circumferential side surface of the damping adjustment ring 130 , and the stroke of the damping adjustment ring 130 is determined by the angle through which the damping adjustment ring 130 is rotated.

[0069] In some embodiments of this application, please continue to refer to Figure 1, and refer to Figure 2 and Figure 3 The robot arm joint 100 further includes a first sealing ring 160, which is sandwiched between the inner circumference of the first ring segment 131 and the outer circumference of the first joint 110. Thus, the first sealing ring 160 is provided to ensure the sealing between the first joint 110 and the damping adjustment ring 130, thereby achieving a waterproof effect, and at the same time providing a certain rotation damping for the rotation between the first joint 110 and the second joint 120.

[0070] Specifically, a first annular groove 1121 is provided on the circumferential outer side of the first joint 110, and the first annular groove 1121 extends along the circumference of the first joint 110. The first sealing ring 160 is inserted into the first annular groove 1121. Thus, by setting the first annular groove 1121, a mounting position is provided for the first sealing ring 160, while preventing the first sealing ring 160 from axial movement in the first joint 110.

[0071] In some embodiments of the present application, the inner circumferential surface of the first ring segment 131 may be provided with a third ring groove that matches the first ring groove 1121 , and the first sealing ring is clamped between the first ring groove 1121 and the third ring groove.

[0072] In some embodiments of this application, please continue to refer to Figure 1 , and refer to Figure 4 and Figure 5 The robot arm joint 100 may further include a second sealing ring 170, which is sandwiched between the inner circumference of the second ring segment 132 and the outer circumference of the second joint 120. Thus, the second sealing ring 170 is provided to ensure the sealing between the second joint 120 and the damping adjustment ring 130, thereby achieving a waterproof effect and providing a certain rotation damping for the rotation between the first joint 110 and the second joint 120.

[0073] Specifically, a second annular groove 1221 is provided on the circumferential outer side of the second joint 120, and the second annular groove 1221 extends along the circumference of the second joint 120. The second sealing ring 170 is inserted into the second annular groove 1221. Thus, the second annular groove 1221 is provided to provide an installation position for the second sealing ring 170, while preventing the second sealing ring 170 from axial movement in the second joint 120.

[0074] In some embodiments of the present application, the inner circumferential surface of the second ring segment 132 may be provided with a fourth ring groove that matches the second ring groove 1221 , and the second sealing ring 170 is clamped between the second ring groove 1221 and the fourth ring groove.

[0075] In the description of the embodiments of the present utility model, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0076] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm joint, characterized in that: include: First joint; a second joint, the second joint being arranged opposite to the first joint, the second joint being rotatably connected to the first joint, and the rotation center axis of the first joint being collinear with the rotation center axis of the second joint; A damping adjustment ring, the damping adjustment ring comprising: A first ring segment, the first ring segment is sleeved on the circumferential outer side of the first joint and is threadedly engaged with the first joint; A second ring segment, wherein the second ring segment is sleeved on the circumferential outer side of the second joint; a third ring segment, one end of the third ring segment is connected to the first ring segment, and the other end is connected to the second ring segment, and the inner diameter of the third ring segment is smaller than the outer diameter of the first joint, and smaller than the outer diameter of the second joint; A damping ring is sandwiched between the third ring segment and the second joint.

2. The mechanical arm joint according to claim 1, characterized in that: Also includes: An adjusting bolt, wherein the first ring segment is provided with a first threaded hole matched with the adjusting bolt, and the adjusting bolt can pass through the first ring segment and abut against the first joint.

3. The mechanical arm joint according to claim 2, characterized in that: An adjusting groove is provided on the outer peripheral surface of the first joint. The adjusting groove extends along the axial direction of the first joint and penetrates through the thread on the outer peripheral surface of the first joint.

4. The mechanical arm joint according to claim 3, characterized in that: There are multiple adjustment grooves, and the multiple adjustment grooves are arranged at intervals in the circumferential direction of the first joint.

5. The mechanical arm joint according to claim 1, characterized in that: include: A first sealing ring is sandwiched between the inner peripheral surface of the first ring segment and the outer peripheral surface of the first joint.

6. The mechanical arm joint according to claim 5, characterized in that: A first annular groove is provided on the circumferential outer side of the first joint. The first annular groove extends along the circumference of the first joint, and the first sealing ring is inserted into the first annular groove.

7. The mechanical arm joint according to claim 1, characterized in that: include: A second sealing ring is sandwiched between the inner peripheral surface of the second ring segment and the outer peripheral surface of the second joint.

8. The mechanical arm joint according to claim 7, characterized in that: A second annular groove is provided on the circumferential outer side of the second joint. The second annular groove extends along the circumference of the second joint, and the second sealing ring is inserted into the second annular groove.

9. The mechanical arm joint according to claim 1, characterized in that: Also includes: A first rotating bearing, wherein a rotation center axis of the first rotating bearing is colinear with a rotation center axis of the first joint, the first rotating bearing is rotationally connected to the first joint, and is rotationally connected to the second joint.

10. The mechanical arm joint according to claim 9, characterized in that: A first rotating column is provided at one end of the first joint facing the second joint, and the first rotating bearing is sleeved on the circumferential outer side of the first rotating shaft and is rotatably connected to the first rotating shaft; A rotation groove is provided at one end of the second joint facing the first joint. The rotation groove is sleeved on the circumferential outer side of the first rotation bearing and is rotationally connected to the first rotation bearing.

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