Rotary joint and surgical robot

Abstract

The utility model provides a rotary joint and a surgical robot, the surgical robot comprises the rotary joint, and the rotary joint comprises a driving part used for outputting rotary motion; the driving wheel is connected with the output end of the driving part; the output wheel is in meshing transmission with the driving wheel; the driven wheel is in meshing transmission with the output wheel; the damping structure is connected with the driven wheel and used for providing preset rotation resistance for the driven wheel; the first brake is used for braking the driving wheel; the second brake is used for braking the driven wheel. When the driving part drives the driving wheel to rotate, due to the fact that the damping structure has the preset rotation resistance to the driven wheel, the tooth surface of the driven wheel is attached to the tooth surface of the output wheel all the time, and therefore the back clearance between gear transmission can be eliminated, the transmission precision is improved, and the surgical risk is reduced. The driving wheel and the driven wheel are braked through the first brake and the second brake respectively, the tooth faces on the two sides of the output wheel can be effectively braked, the braking effectiveness of the output wheel is improved, and shaking in the braking process is avoided.

Description

Technical Field

[0001] The present application belongs to the technical field of medical devices, and more specifically, to a rotary joint and a surgical robot. Background Art

[0002] With the advancement of science and technology, it has become a development trend for surgical robots to assist surgeons in laparoscopic minimally invasive surgery. Surgeons operate surgical robots through some surgical actions, and the corresponding control mechanisms and sensors inside the surgical robots respond in time, so that the end effector of the surgical robot reproduces the surgeon's hand movement information, achieving cutting, hemostasis, suturing and other treatments on diseased tissues.

[0003] In order to drive the end effector to complete various actions, the surgical robot includes multiple rotary joints. The rotary joints generally output rotation through gear transmission. However, due to errors in design and processing, the gear transmission mechanism is prone to rotational backlash or hysteresis, which affects the transmission accuracy of the rotary joint and brings risks to the operation. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a rotary joint and a surgical robot to solve the technical problem in the prior art that the gear transmission mechanism is prone to backlash, resulting in low transmission accuracy of the rotary joint.

[0005] To achieve the above purpose, the technical solution adopted by the present application is: to provide a rotary joint, comprising:

[0006] A driving member, for outputting a rotational motion;

[0007] A driving wheel connected to the output end of the driving member;

[0008] An output wheel meshing with the driving wheel for transmission;

[0009] A driven wheel meshing with the output wheel for transmission;

[0010] A damping structure, connected to the passive wheel and used to provide a preset rotation resistance for the passive wheel;

[0011] A first brake, used for braking the driving wheel;

[0012] The second brake is used for braking the passive wheel.

[0013] In one embodiment, the pitch circle diameter of the driving wheel is smaller than the pitch circle diameter of the output wheel;

[0014] And / or, the pitch circle diameter of the driven wheel is smaller than the pitch circle diameter of the output wheel.

[0015] In one embodiment, the pitch circle diameter of the driving wheel is equal to the pitch circle diameter of the driven wheel;

[0016] Alternatively, the pitch circle diameter of the driving wheel is not equal to the pitch circle diameter of the driven wheel.

[0017] In one embodiment, the first brake is a permanent magnet brake;

[0018] And / or, the second brake is a permanent magnet brake.

[0019] In one embodiment, the rotary joint further includes a controller, the first brake, the second brake and the driving member are electrically connected to the controller respectively, and the controller controls the first brake and the second brake to work synchronously.

[0020] In one embodiment, the damping structure is used to provide a friction load to the passive wheel;

[0021] Alternatively, the damping structure is used to directly provide a torque load to the passive wheel.

[0022] In one embodiment, the damping structure is a friction plate abutting against one axial end of the passive wheel;

[0023] Alternatively, the damping structure is a friction plate that hugs the circumference of the passive wheel;

[0024] Alternatively, the damping structure is a torsion spring connected to the passive wheel.

[0025] In one embodiment, the rotary joint further comprises:

[0026] case;

[0027] A driving shaft is rotatably mounted on the housing, the driving wheel is fixedly mounted on the driving shaft, and the first brake is connected to the driving shaft; and / or,

[0028] An output shaft is rotatably mounted on the housing, and the output wheel is fixedly mounted on the output shaft; and / or,

[0029] The passive shaft is rotatably arranged on the housing, the passive wheel is fixedly sleeved on the passive shaft, the second brake is connected to the passive shaft, and the damping structure is connected to the passive shaft.

[0030] In one embodiment, the damping structure includes a steel ball, an elastic member and a locking member, the steel ball abuts against one axial end of the passive shaft, the elastic member abuts between the steel ball and the locking member, and the locking member is threadedly mounted on the shell.

[0031] On the other hand, the present application also provides a surgical robot comprising the above-mentioned rotation joint.

[0032] The beneficial effects of the rotary joint and surgical robot provided by the present application are: on the basis of the active wheel and the output wheel, a passive wheel meshing with the output wheel is added, and the passive wheel is connected with a damping structure, and a preset rotational resistance is provided for the passive wheel through the damping structure, so that when the driving member drives the active wheel to rotate, the active wheel drives the output wheel to rotate, and the output wheel drives the passive wheel to rotate. Since the damping structure has a preset rotational resistance for the passive wheel, the tooth surface of the passive wheel is always in contact with the tooth surface of the output wheel, thereby eliminating the backlash between the gear transmission, providing transmission accuracy, and reducing surgical risks. In addition, the active wheel and the passive wheel are braked by the first brake and the second brake respectively, so that the tooth surfaces on both sides of the output wheel can be effectively braked, thereby improving the braking effectiveness of the output wheel and avoiding shaking during the braking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the three-dimensional structure of a surgical robot provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the top view of the rotary joint provided in an embodiment of the present application;

[0036] Figure 3 for Figure 2 AA cross-sectional structure diagram of the middle revolute joint;

[0037] Figure 4 for Figure 2 BB cross-sectional structure diagram of the middle rotary joint;

[0038] Figure 5 A schematic diagram of the structure behind the rotary joint driving housing provided in an embodiment of the present application;

[0039] Figure 6 A transmission diagram of the driving wheel, the output wheel and the passive wheel in the rotary joint provided in an embodiment of the present application when the driving wheel rotates counterclockwise;

[0040] Figure 7 This is a transmission diagram of the driving wheel, the output wheel and the passive wheel in the rotary joint provided in an embodiment of the present application when the driving wheel rotates clockwise.

[0041] Among them, the reference numerals in the figure are:

[0042] 1. Rotary joint; 100. Driving member; 200. Active wheel; 210. First tooth; 211. First left tooth surface; 212. First right tooth surface; 300. Output wheel; 310. Second tooth; 311. Second left tooth surface; 312. Second right tooth surface; 400. Passive wheel; 410. Third tooth; 411. Third left tooth surface; 412. Third right tooth surface; 500. First brake; 600. Second brake; 700. Damping structure; 710. Steel ball; 720, elastic member; 730, locking member; 800, shell; 810, base; 811, bottom plate; 812, side plate; 8121, step; 813, mounting cavity; 820, cover plate; 900, driving shaft; 910, first limit plate; 1000, output shaft; 1100, passive shaft; 1110, second limit plate; 1200, first bearing; 1300, second bearing; 1400, third bearing; 1500, mounting plate; 2, movable joint. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 application.

[0046] In addition, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] Laparoscopic minimally invasive surgery is increasingly favored by doctors and patients due to its advantages of small wounds, mild pain, quick recovery, less bleeding, and short hospital stay. With the advancement of science and technology, it has become a development trend for surgical robots to assist surgeons in laparoscopic minimally invasive surgery. Surgeons operate surgical robots through some surgical movements, and the corresponding control mechanisms and sensors inside the surgical robot respond in a timely manner, so that the end effector of the surgical robot reproduces the surgeon's hand movement information to achieve cutting, hemostasis, suturing and other treatments of diseased tissues.

[0048] In order to drive the end effector to complete various actions, the surgical robot includes multiple rotary joints. The rotary joints generally output rotation through gear transmission. However, due to errors in design and processing, the gear transmission mechanism is prone to rotational backlash or hysteresis, which affects the transmission accuracy of the rotary joint and brings risks to the operation.

[0049] In order to solve the above problems, the embodiment of the present application provides a rotary joint and a surgical robot. On the basis of the active wheel and the output wheel, a passive wheel meshing with the output wheel is added, and the passive wheel is connected with a damping structure. The damping structure provides a preset rotational resistance for the passive wheel, so that when the driving member drives the active wheel to rotate, the active wheel drives the output wheel to rotate, and the output wheel drives the passive wheel to rotate. Since the damping structure has a preset rotational resistance for the passive wheel, the tooth surface of the passive wheel is always in contact with the tooth surface of the output wheel, thereby eliminating the backlash between the gear transmission, providing transmission accuracy, and reducing surgical risks. In addition, the first brake and the second brake are used to brake the active wheel and the passive wheel respectively, so that the tooth surfaces on both sides of the output wheel can be effectively braked, thereby improving the braking effectiveness of the output wheel and avoiding shaking during the braking process.

[0050] See also Figure 1 Now, the surgical robot provided in the embodiment of the present application is described. The surgical robot includes at least one rotary joint 1, and the rotary joint 1 is used to complete rotary transmission.

[0051] Among them, the number of rotating joints 1 can be determined according to the action that the end effector of the surgical robot needs to perform. The rotating joints 1 can be one, two, three or more. In addition, the moving joints 2 can be interspersed on the basis of the rotating joints 1. The moving joints 2 are used to realize moving actions, such as driving the end effector to move horizontally, vertically or tilted.

[0052] Please also read Figures 2 to 5The rotary joint 1 provided in the embodiment of the present application is now described. The rotary joint 1 is mainly used in a surgical robot to realize the rotation drive of the end effector. It can be understood that in other embodiments of the present application, the rotary joint 1 can also be used in other products that require joints, such as walking robots, processing robots, etc., which is not the only limitation here.

[0053] The rotary joint 1 comprises a driving member 100, a driving wheel 200, an output wheel 300, a driven wheel 400, a first brake 500, a second brake 600 and a damping structure 700. The driving member 100 is used to output a rotary motion; the driving wheel 200 is connected to the output end of the driving member 100; the output wheel 300 is meshed with the driving wheel 200 for transmission; the driven wheel 400 is meshed with the output wheel 300 for transmission; the damping structure 700 is connected to the driven wheel 400 and is used to provide a preset rotation resistance for the driven wheel 400; the first brake 500 is used to brake the driving wheel 200; and the second brake 600 is used to brake the driven wheel 400.

[0054] The driving wheel 200 and the output wheel 300 are meshed for transmission, and the output wheel 300 and the driven wheel 400 are meshed for transmission, that is, the driving wheel 200, the output wheel 300 and the driven wheel 400 are all gears. Figure 6 and Figure 7 For the convenience of description, the teeth of the driving wheel 200, the teeth of the output wheel 300, and the teeth of the driven wheel 400 are named as the first tooth 210, the second tooth 310, and the third tooth 410, respectively. In addition, each tooth has two tooth surfaces arranged opposite to each other. For the convenience of description, the tooth surface of the first tooth 210 facing the counterclockwise direction is the first left tooth surface 211, and the tooth surface of the first tooth 210 facing the clockwise direction is the first right tooth surface 212; the tooth surface of the second tooth 310 facing the counterclockwise direction is the second left tooth surface 311, and the tooth surface of the second tooth 310 facing the clockwise direction is the second right tooth surface 312; the tooth surface of the third tooth 410 facing the counterclockwise direction is the third left tooth surface 411, and the tooth surface of the third tooth 410 facing the clockwise direction is the third right tooth surface 412. In addition, the driving wheel 200 and the output wheel 300 are externally meshed, and the output wheel 300 and the driven wheel 400 are also externally meshed. The first teeth 210 , the second teeth 310 and the third teeth 410 are all formed on the outside of the driving wheel 200 , the output wheel 300 and the driven wheel 400 .

[0055] The damping structure 700 is used to provide a preset rotational resistance for the passive wheel 400, which is greater than the starting torque of the driving member 100 and is less than the rotational driving force of the driving wheel 200. When the passive wheel 400 is driven to rotate due to the rotation of the output wheel 300, the damping structure 700 will block the rotation of the passive wheel 400, causing the rotation of the passive wheel 400 to lag. However, since the rotational driving force of the driving wheel 200 is greater than the preset rotational resistance of the damping structure 700, the tooth surface of the output wheel 300 will eventually fit tightly against the tooth surface of the passive wheel 400, and the passive wheel 400 can be driven to rotate by the output wheel 300, thereby eliminating the rotational backlash between the driving wheel 200 and the output wheel 300. Similarly, when the driving wheel 200 changes direction, the driving wheel 200 drives the output wheel 300 to rotate, and the output wheel 300 drives the passive wheel 400 to rotate, and the damping structure 700 also provides the passive wheel 400 with a preset rotation resistance to ensure that the tooth surface of the output wheel 300 fits with the tooth surface of the passive wheel 400. In general, no matter in which direction the passive wheel 400 has a tendency to rotate, the damping structure 700 will prevent the rotation of the passive wheel 400 to ensure that the tooth surface of the output wheel 300 fits with the tooth surface of the passive wheel 400, thereby eliminating the backlash of the gear transmission.

[0056] Specifically, Figure 6 As shown, when the driving member 100 outputs counterclockwise rotation, the driving member 100 drives the driving wheel 200 to rotate counterclockwise, and the first left tooth surface 211 of the driving wheel 200 contacts the second right tooth surface 312 of the output wheel 300, thereby driving the output wheel 300 to rotate clockwise. At the same time, due to the resistance of the damping structure 700, the second left tooth surface 311 of the output wheel 300 finally contacts the third right tooth surface 412 of the driven wheel 400, thereby driving the driven wheel 400 to rotate counterclockwise. When the driving member 100 outputs a clockwise rotational motion, the driving member 100 drives the driving wheel 200 to rotate clockwise, and the first right tooth surface 212 of the driving wheel 200 contacts the second left tooth surface 311 of the output wheel 300, thereby driving the output wheel 300 to rotate counterclockwise. At the same time, due to the resistance of the damping structure 700, the second right tooth surface 312 of the output wheel 300 finally contacts the third left tooth surface 411 of the driven wheel 400, thereby driving the driven wheel 400 to rotate clockwise.

[0057] The above arrangement ensures that no matter whether the driving wheel 200 rotates clockwise or counterclockwise, the second left tooth surface 311 and the second right tooth surface 312 of the output wheel 300 can fit with the corresponding tooth surfaces, that is, the output wheel 300 is in a left-right clamped state, eliminating the backlash of the output wheel 300 due to design and manufacturing errors during the transmission process, improving the transmission accuracy of the gear transmission, and improving the movement accuracy of the rotary joint 1.

[0058] In addition, by respectively arranging the first brake 500 and the second brake 600 on the driving wheel 200 and the driven wheel 400, when the output wheel 300 needs to be stopped in a certain state, the driving wheel 200 and the driven wheel 400 can be locked respectively by the first brake 500 and the second brake 600, and the second left tooth surface 311 and the second right tooth surface 312 of the output wheel 300 are respectively in continuous contact with the driving wheel 200 and the driven wheel 400, thereby ensuring that the output wheel 300 can be locked at any time in any direction, and the situation of backlash-free output is achieved. At this time, if the output wheel 300 continues to rotate in the original direction of rotation due to inertia, it will be braked because the tooth surface of the driven wheel 400 is pressed against it. On the contrary, if it rotates in the opposite direction, it will be braked because the tooth surface of the driving wheel 200 is pressed against it, thereby achieving the effect of locking, avoiding shaking during the braking process, and improving the control effect.

[0059] In one embodiment, see Figure 6 , the pitch circle diameter of the driving wheel 200 is smaller than the pitch circle diameter of the output wheel 300, that is, the transmission ratio between the driving wheel 200 and the output wheel 300 is greater than 1, and the small torque locking of the driving wheel 200 by the first brake 500 can achieve a large torque locking of the output wheel 300, thereby achieving the locking of the joint brake. In other words, when it is necessary to provide the same magnitude of torque locking to the output wheel 300, it is only necessary to use the first brake 500 of relatively small size to lock the driving wheel 200 to achieve the locking of the output wheel 300, thereby reducing the size and occupied space of the first brake 500, which is conducive to reducing the size of the rotary joint or other electromechanical systems. In addition, since the transmission ratio between the driving wheel 200 and the output wheel 300 is greater than 1, the driving member 100 only needs to provide a smaller torque to drive the output shaft 1000, thereby also reducing the size and occupied space of the driving member 100.

[0060] Specifically, the transmission ratio between the driving wheel 200 and the output wheel 300 can be set according to actual needs. For example, the transmission ratio can be set to 1.5, 2, 2.5 or 3.

[0061] In one embodiment, see Figure 6 , the pitch circle diameter of the passive wheel 400 is smaller than the pitch circle diameter of the output wheel 300, that is, the transmission ratio between the passive wheel 400 and the output wheel 300 is greater than 1, and the small torque locking of the passive wheel 400 by the second brake 600 can achieve a large torque locking of the output wheel 300, thereby achieving the joint brake locking. In other words, when it is necessary to provide the same magnitude of torque locking to the output wheel 300, it is only necessary to use the second brake 600 of relatively small size to lock the passive wheel 400 to achieve the locking of the output wheel 300, thereby reducing the size and occupied space of the second brake 600, which is conducive to reducing the size of the rotary joint or other electromechanical systems.

[0062] Specifically, the transmission ratio between the driven wheel 400 and the output wheel 300 can be set according to actual needs. For example, the transmission ratio can be set to 1.5, 2, 2.5 or 3.

[0063] In one embodiment, see Figure 6 , the pitch circle diameter of the driving wheel 200 is equal to the pitch circle diameter of the driven wheel 400, so that during the design process, the driving wheel 200 and the driven wheel 400 can be designed to have the same structure, which can reduce the design and production costs of the driven wheel 400. At the same time, during the entire transmission process, the rotation speed of the driving wheel 200 and the driven wheel 400 is the same, and during the braking process, the first brake 500 and the second brake 600 need to provide the same rotation torque, so that the first brake 500 and the second brake 600 can also be designed to have the same structure, thereby reducing the design and production costs of the second brake 600.

[0064] In another embodiment of the present application, the pitch circle diameter of the driving wheel 200 and the pitch circle diameter of the driven wheel 400 can also be designed to be unequal. In this case, the rotational speeds of the driving wheel 200 and the driven wheel 400 are different, and the braking torques that need to be output by the first brake 500 and the second brake 600 are different. However, as long as the tooth surface of the output wheel 300 can be in contact with the tooth surface of the driven wheel 400 during rotation, and the second brake 600 can lock the driven wheel 400 and the output wheel 300, it will be sufficient.

[0065] It should be noted that when the pitch circle diameters of the passive wheel 400 and the active wheel 200 are equal, the models of the first brake 500 and the second brake 600 can be unified. When the pitch circle diameters of the passive wheel 400 and the active wheel 200 are not equal, the sizes of the first brake 500 and the second brake 600 can be adjusted to achieve the same locking torque effect on both sides of the output wheel 300. For example, the braking force requirement of the second brake 600 is 36Nm, the reduction ratio of the active wheel 200 and the output wheel 300 is 6:1, the first brake 500 can be selected as a 6Nm model, the reduction ratio of the passive wheel 400 and the output wheel 300 is 9:1, and the second brake 600 can be selected as a 4Nm model, and the structural space can be adjusted accordingly.

[0066] In one embodiment, the rotary joint 1 further includes a controller, and the first brake 500, the second brake 600 and the driving member 100 are electrically connected to the controller respectively. The controller is used to control the start and stop, forward rotation and reverse rotation of the driving member 100, and is used to control the first brake 500 to hold or release the active shaft 900, and is used to control the second brake 600 to hold or release the passive shaft 1100. In addition, the controller is also used to control the first brake 500 and the second brake 600 to work synchronously, that is, the controller simultaneously inputs control signals to the first controller and the second controller, so that the first brake 500 and the second brake 600 simultaneously hold the active shaft 900 and the passive shaft 1100, so that the active shaft 900 and the passive shaft 1100 are locked at the same time, that is, the second left tooth surface 311 and the second right tooth surface 312 of the output wheel 300 are locked at the same time, thereby improving the locking effect of the output wheel 300, preventing shaking, and eliminating locking backlash.

[0067] In one embodiment, the first brake 500 is a permanent magnet brake, and the second brake 600 is a permanent magnet brake. A permanent magnet brake is a device that uses electromagnetic force to brake or stop a shaft or a rotating body. When current passes through the magnetic coil of the electromagnetic brake, the electromagnetic force attracts the brake pad, and the brake pad is used to release the brake disc, and the transmission shaft operates normally or starts. When the current is cut off, the brake pad is separated from the brake disc, and a friction torque is generated between the brake disc, the brake pad and the flange, and the transmission shaft stops quickly. The permanent magnet brake has the advantages of low noise, fast response, long life, low heat, and low power consumption. In this embodiment, by setting the first brake 500 and the second brake 600 to permanent magnet brakes, when the controller sends instructions to the first brake 500 and the second brake 600, the first brake 500 and the second brake 600 can quickly lock the active shaft 900 and the passive shaft 1100, so that the output shaft 1000 and the output wheel 300 can be locked at the first time. In addition, the permanent magnet brake is a rotary structure with a simple structure and is easy to install. When the braking torque to be output is smaller, its diameter will be smaller and the space occupied will be smaller. It can be understood that in other embodiments of the present application, the first brake 500 and the second brake 600 can also use other types of brakes, as long as they can achieve the braking of the active shaft 900 and the passive shaft 1100, for example, they can be friction brakes, hydraulic brakes or pneumatic brakes.

[0068] In one embodiment, the driving member 100 is a rotary motor, which is used to deliver rotary motion. It can be understood that in other embodiments of the present application, the driving member 100 can also be a rotary cylinder.

[0069] In one embodiment, see Figures 3 to 5The rotary joint 1 further comprises a housing 800, a driving shaft 900, an output shaft 1000 and a passive shaft 1100. The driving member 100 is mounted on the housing 800, the driving shaft 900 is rotatably disposed on the housing 800, the driving wheel 200 is fixedly sleeved on the driving shaft 900, and the first brake 500 is connected to the driving shaft 900; the output shaft 1000 is rotatably disposed on the housing 800, the output wheel 300 is fixedly sleeved on the output shaft 1000; the passive shaft 1100 is rotatably disposed on the housing 800, the passive wheel 400 is fixedly sleeved on the passive shaft 1100, the second brake 600 is connected to the passive shaft 1100, and the damping structure 700 is connected to the passive shaft 1100.

[0070] Among them, the shell 800 serves as the supporting body of the entire rotary joint 1, and is used to support the driving member 100, the driving shaft 900, the driving wheel 200, the first brake 500, the output shaft 1000, the output wheel 300, the passive shaft 1100, the passive wheel 400 and the second brake 600 to ensure smooth movement of each structure.

[0071] The driving shaft 900 is used to support the driving wheel 200 and to form a connection between the driving wheel 200 and the housing 800, so as to ensure that the driving wheel 200 rotates smoothly in the housing 800. At the same time, the driving shaft 900 is also used to support the first brake 500, so as to realize the braking of the driving wheel 200 by the first brake 500. Specifically, the driving shaft 900 can be integrally connected with the driving wheel 200, or the driving wheel 200 can be fixed to the driving shaft 900 by a key or a screw. It can be understood that in other embodiments of the present application, the driving shaft 900 may not be additionally provided, but a first connecting shaft is extended outwardly at both axial ends of the driving wheel 200 to connect with the housing 800, and the first brake 500 is provided on the first connecting shaft.

[0072] The output shaft 1000 is used to support the output wheel 300 and to form a connection between the output wheel 300 and the housing 800, so as to ensure that the output wheel 300 rotates smoothly in the housing 800. At the same time, the output shaft 1000 is also used to extend out of the housing 800 to connect with the next joint or the end effector to transmit the rotational motion of the entire rotary joint 1 outward. Specifically, the output shaft 1000 can be integrally connected with the output wheel 300, or the output wheel 300 can be fixed to the output shaft 1000 by a key or a screw. It can be understood that in other embodiments of the present application, the output shaft 1000 may not be additionally provided, but a second connecting shaft may be extended outward at both axial ends of the output wheel 300 to connect with the housing 800.

[0073] The passive shaft 1100 is used to support the passive wheel 400 and to form a connection between the passive wheel 400 and the housing 800 to ensure that the passive wheel 400 rotates smoothly in the housing 800. The passive shaft 1100 is also used to support the second brake 600 to achieve the braking of the passive wheel 400 by the second brake 600, and the passive shaft 1100 is connected to the damping structure 700, and the damping structure 700 can achieve the rotation damping of the passive wheel 400 by applying a preset rotation resistance to the passive shaft 1100. Specifically, the passive shaft 1100 can be integrally connected with the passive wheel 400, or the passive wheel 400 can be fixed to the passive shaft 1100 by a key or a screw. It can be understood that in other embodiments of the present application, the passive shaft 1100 may not be additionally provided, but a third connecting shaft is extended outward at both axial ends of the passive wheel 400 to connect with the housing 800, and the third brake is provided on the third connecting shaft.

[0074] In one embodiment, see Figure 3 and Figure 5 The rotary joint 1 also includes two first bearings 1200, which are respectively mounted on the housing 800, and the opposite ends of the driving shaft 900 are respectively mounted on the two first bearings 1200. The driving shaft 900 is supported by the two first bearings 1200 to improve the rotation reliability and rotation accuracy of the driving shaft 900 and the driving wheel 200.

[0075] In one embodiment, see Figure 3 and Figure 4 The rotary joint 1 also includes two second bearings 1300, which are respectively mounted on the housing 800, and the opposite ends of the output shaft 1000 are respectively mounted on the two second bearings 1300. The output shaft 1000 is supported by the two second bearings 1300 to improve the rotation reliability and rotation accuracy of the output shaft 1000 and the output wheel 300.

[0076] In one embodiment, see Figure 4 and Figure 5 The rotary joint 1 also includes two third bearings 1400, which are respectively mounted on the housing 800, and the opposite ends of the passive shaft 1100 are respectively mounted on the two third bearings 1400. The passive shaft 1100 is supported by the two third bearings 1400 to improve the rotation reliability and rotation accuracy of the passive shaft 1100 and the passive wheel 400.

[0077] In one embodiment, the damping structure 700 is used to provide a friction load to the passive wheel 400; or, the damping structure 700 is used to directly provide a torque load to the passive wheel 400. The friction load refers to the friction with the passive wheel 400, and the knob torque is formed by the friction force, so that the rotation of the passive wheel 400 is resisted, and the resistance is greater than the starting torque of the driving member 100, thereby ensuring that the tooth surface of the passive wheel 400 fits with the tooth surface of the output wheel 300. The torque load directly provides a rotational pulling force in the opposite direction to the rotation of the passive wheel 400, and the rotational pulling force is less than the starting torque of the driving member 100, thereby ensuring that the tooth surface of the passive wheel 400 fits with the tooth surface of the output wheel 300.

[0078] In one embodiment, see Figure 4 The damping structure 700 includes a steel ball 710, an elastic member 720 and a locking member 730. The steel ball 710 abuts against one axial end of the passive shaft 1100, the elastic member 720 abuts between the steel ball 710 and the locking member, and the locking member 730 is threadedly mounted on the housing 800. By rotating the locking member 730 to compress the elastic member 720, the steel ball 710 and the passive shaft 1100 can be pressed tightly, thereby generating a certain friction load on the passive shaft 1100. When the passive shaft 1100 is driven to rotate, the friction load provides a reverse torque to the passive shaft 1100.

[0079] Wherein, the locking member 730 can be a locking screw, and the end of the locking screw abuts on the elastic member 720. By rotating the locking member 730, the locking member 730 is axially moved on the housing 800, thereby axially squeezing the elastic member 720, so that the elastic member 720 has elastic pressure on the steel ball 710, and then the steel ball 710 has axial pressure on the passive shaft 1100 to form a friction load. Specifically, an arc groove is formed on the passive shaft 1100, and at least part of the steel ball 710 is limited in the groove. In this embodiment, the setting of the steel ball 710 can not only provide a pressing friction force to the passive shaft 1100, but also prevent the steel ball 710 from damaging the passive shaft 1100.

[0080] Optionally, the elastic member 720 may be felt or foamed polyurethane, that is, elasticity is achieved by forming multiple holes in the block material, thereby ensuring the structural compression stability of the elastic member 720 .

[0081] In another embodiment of the present application, the damping structure 700 may also be a friction plate that abuts against one axial end of the passive wheel 400. Specifically, the friction plate is mounted on the housing 800 and is used to abut against one axial end of the passive shaft 1100 so that the passive shaft 1100 has friction resistance when rotating. In addition, in other embodiments, the damping structure 700 may also be a glass bead screw, or other structure that can provide rotational resistance to the passive shaft 1100. In other embodiments, the damping structure 700 may also be a friction plate that hugs the circumference of the passive shaft 1100 or the passive wheel 400.

[0082] In addition, in other embodiments, when the damping structure 700 is used to provide a torque load to the passive wheel 400, the damping structure 700 may be a torsion spring, or may be another force-applying structure with a set torque force, which is not limited here.

[0083] In one embodiment, see Figure 3 The shell 800 includes a base 810 and a cover 820. The base 810 has an installation cavity 813 that passes through the top. The cover 820 covers the top opening of the installation cavity 813. The cover 820 and the base 810 form a detachable connection. For example, the cover 820 and the base 810 are locked by screws, or the cover 820 and the base 810 are clamped together.

[0084] The base 810 includes a bottom plate 811 and a side plate 812 formed on a peripheral edge of the bottom plate 811. The bottom plate 811 and the side plate 812 together enclose a mounting cavity 813. The cover plate 820 is connected to the side of the side plate 812 away from the bottom plate 811. The opposite ends of the driving shaft 900, the output shaft 1000 and the driven shaft 1100 are rotatably disposed on the cover plate 820 and the bottom plate 811, respectively. The two first bearings 1200, the two second bearings 1300 and the two third bearings 1400 are respectively disposed on the bottom plate 811 and the cover plate 820. The driving member 100 is mounted on the top outer side of the cover plate 820, and the damping structure 700 is mounted on the bottom plate 811.

[0085] In one embodiment, see Figure 3 and Figure 4 A mounting plate 1500 is also provided in the mounting cavity 813. The first brake 500 and the second brake 600 are respectively mounted on the outside of the active shaft 900 and the passive shaft 1100, and the stators of the first brake 500 and the second brake 600 are fixedly mounted on the mounting plate 1500, thereby ensuring that the first brake 500 and the second brake 600 are stably installed in the mounting cavity 813.

[0086] For details, please refer to Figure 3 and Figure 4A step 8121 is formed on the inner wall of the side plate 812, and the peripheral edge of the mounting plate 1500 is attached to the step 8121, so as to limit the mounting plate 1500 in the mounting cavity 813. In addition, the mounting plate 1500 can be locked on the step 8121 by screw locking, or fixed on the step 8121 by bonding or clamping.

[0087] In one embodiment, see Figure 3 The bottom plate 811 is formed with a first mounting groove, in which a first bearing 1200 is received, and a first limiting plate 910 is extended near the bottom end of the driving shaft 900, and the first limiting plate 910 abuts against the outer end surface of the first mounting groove, so that the first bearing 1200 can be axially limited by the first limiting plate 910. At the same time, the first brake 500 is sleeved on the driving shaft 900, and the first brake 500 abuts between the mounting plate 1500 and the first limiting plate 910 along the axial direction.

[0088] In one embodiment, see Figure 4 The bottom plate 811 is formed with a second mounting groove, in which a third bearing 1400 is received, and a second stopper plate 1110 is extended near the bottom end of the passive shaft 1100, and the second stopper plate 1110 abuts against the outer end surface of the second mounting groove, so that the third bearing 1400 can be axially limited by the second stopper plate 1110. At the same time, the second brake 600 is sleeved on the passive shaft 1100, and the second brake 600 abuts between the mounting plate 1500 and the second stopper plate 1110 along the axial direction.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A rotary joint (1), characterized in that: include: A driving member (100) for outputting a rotational motion; A driving wheel (200) connected to the output end of the driving member (100); An output wheel (300) meshes with the driving wheel (200) for transmission; A passive wheel (400) meshes with the output wheel (300) for transmission; A damping structure (700) connected to the passive wheel (400) and used to provide a preset rotation resistance for the passive wheel (400); A first brake (500) for braking the driving wheel (200); The second brake (600) is used for braking the passive wheel (400).

2. The rotary joint (1) according to claim 1, characterized in that: The pitch circle diameter of the driving wheel (200) is smaller than the pitch circle diameter of the output wheel (300); And / or, the pitch circle diameter of the driven wheel (400) is smaller than the pitch circle diameter of the output wheel (300).

3. The rotary joint (1) according to claim 1, characterized in that: The pitch circle diameter of the driving wheel (200) is equal to the pitch circle diameter of the driven wheel (400); Alternatively, the pitch circle diameter of the driving wheel (200) is not equal to the pitch circle diameter of the driven wheel (400).

4. The rotary joint (1) according to any one of claims 1 to 3, characterized in that: The first brake (500) is a permanent magnet brake; And / or, the second brake (600) is a permanent magnet brake.

5. The rotary joint (1) according to any one of claims 1 to 3, characterized in that: The rotary joint (1) further comprises a controller, the first brake (500), the second brake (600) and the driving member (100) are respectively electrically connected to the controller, and the controller controls the first brake (500) and the second brake (600) to work synchronously.

6. The rotary joint (1) according to any one of claims 1 to 3, characterized in that: The damping structure (700) is used to provide a friction load to the passive wheel (400); Alternatively, the damping structure (700) is used to directly provide a torque load to the passive wheel (400).

7. The rotary joint (1) according to any one of claims 1 to 3, characterized in that: The damping structure (700) is a friction plate abutting against one axial end of the passive wheel (400); Alternatively, the damping structure (700) is a friction plate that hugs the circumference of the passive wheel; Alternatively, the damping structure (700) is a torsion spring connected to the passive wheel (400).

8. The rotary joint (1) according to any one of claims 1 to 3, characterized in that: The rotary joint (1) further comprises: Housing (800); A driving shaft (900) is rotatably mounted on the housing (800), the driving wheel (200) is fixedly sleeved on the driving shaft (900), and the first brake (500) is connected to the driving shaft (900); and / or, An output shaft (1000) is rotatably mounted on the housing (800), and the output wheel (300) is fixedly sleeved on the output shaft (1000); and / or, The passive shaft (1100) is rotatably mounted on the housing (800), the passive wheel (400) is fixedly sleeved on the passive shaft (1100), the second brake (600) is connected to the passive shaft (1100), and the damping structure (700) is connected to the passive shaft (1100).

9. The rotary joint (1) according to claim 8, characterized in that The damping structure (700) includes a steel ball (710), an elastic member (720) and a locking member (730); the steel ball (710) abuts against one axial end of the passive shaft (1100); the elastic member (720) abuts between the steel ball (710) and the locking member (730); and the locking member (730) is threadedly mounted on the housing (800).

10. A surgical robot, characterized in that: It comprises a rotary joint (1) as claimed in any one of claims 1 to 9.

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