Rotary joint and surgical robot

Abstract

The utility model provides a rotary joint and a surgical robot. The rotary joint comprises a first joint, a second joint and a limiting device. Wherein the second joint is rotatably arranged on the first joint through a connecting piece; the limiting device is arranged between the first joint and the second joint and comprises a limiting groove and at least one limiting piece, at least part of the limiting piece extends into the limiting groove, the groove wall of the limiting groove is provided with a first limiting part and a second limiting part, and the limiting piece can move between the first limiting part and the second limiting part relative to the limiting groove. And the limiting groove can accommodate the limiting piece, so that the occupied space of the limiting groove and the limiting piece is saved. The matched mounting surface of the limiting groove and the limiting piece is located between the first joint and the second joint, the limiting groove and the limiting piece can be contained by the first joint and the second joint, interference of the outside to the limiting groove and the limiting piece is reduced, and therefore the connecting stability between the first joint and the second joint is improved.

Description

Technical Field

[0001] The present application relates to the technical field of minimally invasive robots, and in particular to a rotary joint and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. With the development of robotic technology, minimally invasive surgical robots have emerged. Minimally invasive surgical robots can reduce incisions, recover quickly, and doctors can operate remotely. Minimally invasive surgical robots include a base and several robotic arms. The robotic arms are provided with rotatable joints. Driven by the drive element, the rotating joints rotate. The instrument at the end of the robotic arm is positioned by rotating the robotic arm, thereby determining the surgical position.

[0003] In the related technology, the rotating joints on the surgical robot are generally driven by motors, and the rotation angles of the joints are detected by encoders. When the controller controls the rotation of the joints, the stroke of the rotating joints is limited by software. The software limitation is prone to failure. Therefore, the joint rotation limit stability on the current surgical robot is poor, resulting in deviations in the rotation position of the surgical robot and even control failure. Utility Model Content

[0004] The present application provides a rotary joint and a surgical robot to solve the problem that the joint rotation limit stability on the current surgical robot is poor and the software limit is easy to fail, resulting in deviation in the rotation position of the surgical robot and even control failure.

[0005] In one aspect, the present application provides a rotary joint, comprising:

[0006] First joint;

[0007] A second joint is rotatably disposed on the first joint via a connecting member;

[0008] A limiting device is arranged between the first joint and the second joint, the limiting device comprises a limiting groove and at least one limiting member, the limiting groove is arranged on one of the first joint and the second joint, and the limiting member is arranged on the other of the first joint and the second joint;

[0009] At least part of the limiting member extends into the limiting groove, and a first limiting portion and a second limiting portion are formed on the limiting groove wall. The limiting member can move relative to the limiting groove between the first limiting portion and the second limiting portion.

[0010] In the rotating joint of this structure, the limiting groove and the limiting member cooperate to limit the rotation position of the second joint to improve the rotation accuracy of the second joint. The limiting groove and the limiting member are respectively arranged on the first joint and the second joint, and the limiting groove can accommodate the limiting member, thereby saving the space occupied by the limiting groove and the limiting member. The mounting surface where the limiting groove and the limiting member cooperate is located between the first joint and the second joint, and the first joint and the second joint can accommodate the limiting groove and the limiting member to reduce external interference with the limiting groove and the limiting member, thereby improving the connection stability between the first joint and the second joint.

[0011] In some embodiments, it further comprises:

[0012] a first guide member disposed on one of the first joint and the second joint;

[0013] a second guide member disposed on the other of the first joint and the second joint;

[0014] When the first joint rotates relative to the second joint, the first guide member and the second guide member cooperate to guide the rotation direction.

[0015] In the rotary joint of this structure, the first guide member and the second guide member are cooperatively arranged to guide the installation of the first joint and the second joint, thereby reducing the installation difficulty between the first joint and the second joint.

[0016] In some embodiments, in the first guide member and the second guide member, one of them is formed with a protrusion, and the other of them is formed with a recessed portion, and the protrusion and the recessed portion cooperate with each other; a limiting member is arranged on one of the first guide member and the second guide member, and a limiting groove is arranged on the other of the first guide member and the second guide member.

[0017] The rotating joint of this structure has a protruding portion and a recessed portion that are arranged in cooperation, which can assist in limiting the first joint and the second joint when the first joint and the second joint rotate, thereby improving the rotational stability between the first joint and the second joint; the limiting member and the limiting groove are respectively arranged on the first guide member and the second guide member, and when the first guide member and the second guide member cooperate to guide the rotation direction, the limiting member and the limiting groove cooperate to achieve fixation in the rotational position, thereby improving the connection stability between the first joint and the second joint.

[0018] In some embodiments, the limiting groove is an arc groove coaxial with the second joint rotation axis, the first limiting portion is one end portion of the arc groove; the second limiting portion is the other end portion of the arc groove.

[0019] The rotary joint of this structure can change the length of the rotational displacement of the second joint relative to the first joint by changing the length of the arc groove, and can adjust the rotation angle of the second joint relative to the first joint by changing the position of the arc groove, which has the advantage of easy operation.

[0020] In some embodiments, a buffer layer is provided at one end of the limiting member extending into the limiting groove.

[0021] In the rotary joint of this structure, the buffer layer can reduce the sliding friction between the limiting protrusion and the arc groove, thereby making the rotation between the first joint and the second joint smoother, thereby extending the service life of the first joint and the second joint.

[0022] In some embodiments, a plurality of adjustment holes are provided on the first joint or the second joint along the rotation direction, and the limiting member is connected to the first joint or the second joint through the adjustment holes.

[0023] The rotating joint of this structure adjusts the installation position of the limiter by setting the adjustment hole, so as to achieve the purpose of adjusting the rotation angle.

[0024] In some embodiments, two separate limiting members are included, namely limiting member 1 and limiting member 2; when the first joint rotates relative to the second joint, the limiting member and the limiting groove limit the first limit position and the second limit position; in the first limit position, limiting member 1 abuts against the first limit portion; in the second limit position, limiting member 2 abuts against the second limit portion.

[0025] In the rotary joint of this structure, the limiting member is used to cooperate with the limiting groove to limit the rotation of the second joint relative to the first joint.

[0026] In some embodiments, one end of the connecting member is transmission-connected to the first joint, and the other end of the connecting member is transmission-connected to the second joint, and the connecting member is used to connect the first joint and the second joint.

[0027] In the rotating joint of this structure, the second joint can rotate with the connecting member as the rotation center under the drive of external force. The connecting member is used to support the first joint and the second joint to limit the deflection of the second joint relative to the first joint, thereby improving the connection strength between the second joint and the first joint.

[0028] In some embodiments, it further comprises:

[0029] The driving member is arranged in the first joint or the second joint, and the driving member forms an output end, and the output end is transmission-connected with the connecting member. The driving member is used to drive the connecting member to rotate with the output end as the rotation center under the action of its own driving force, and drive the second joint to rotate relative to the first joint.

[0030] The rotary joint of this structure has the advantage of being easy to drive because the driving member can drive one of the first joint or the second joint to rotate relative to the other of the first joint or the second joint.

[0031] On the other hand, the present application provides a surgical robot, including a base, a column, a cantilever and a plurality of mechanical arms, each of which is provided with a rotary joint.

[0032] The present application provides a rotary joint and a surgical robot, wherein the rotary joint can limit the rotation position of the second joint by cooperating with a limit groove and a limit member, so as to improve the rotation accuracy of the second joint. The limit groove and the limit member are respectively arranged on the first joint and the second joint, and the limit groove can accommodate the limit member, thereby saving the space occupied by the limit groove and the limit member. The mounting surface where the limit groove and the limit member cooperate is located between the first joint and the second joint, and the first joint and the second joint can accommodate the limit groove and the limit member, so as to reduce the interference of the outside world on the limit groove and the limit member, thereby improving the connection stability between the first joint and the second joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] Figure 1 A schematic diagram of the main structure of a rotary joint provided in an embodiment of the present application;

[0035] Figure 2 The second schematic diagram of the main structure of the rotary joint provided in the embodiment of the present application;

[0036] Figure 3 The embodiments of the present application provide Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0037] Figure 4 A schematic diagram of the main structure of the first joint provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the main structure of the second joint provided in an embodiment of the present application;

[0039] Figure 6 The second schematic diagram of the main structure of the first joint provided in the embodiment of the present application.

[0040] Description of reference numerals:

[0041] 1- first joint;

[0042] 2- Second joint;

[0043] 3-limiting device; 31-limiting groove; 311-first limiting portion; 312-second limiting portion; 32-limiting member;

[0044] 4-Connectors;

[0045] 5- first guide member;

[0046] 6- Second guide.

[0047] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0049] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0050] Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0051] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0053] The present application provides a rotary joint and a surgical robot. The rotary joint is applied to the surgical robot. When the second joint rotates relative to the first joint, one of the limit slot and the limit member is driven to rotate relative to the other. There is a hard limit between the limit slot and the limit member, which can improve the limiting stability of the second joint relative to the first joint. The limit slot and the limit member are respectively arranged on the first joint and the second joint, which can reduce the space occupied by the first joint and the second joint.

[0054] like Figures 1 to 6 As shown, an embodiment of the present application provides a rotary joint, comprising: a first joint 1, a second joint 2 and a limiting device 3. The second joint 2 is rotatably arranged on the first joint 1 through a connecting member 4; the limiting device 3 is arranged between the first joint 1 and the second joint 2, and the limiting device 3 comprises a limiting groove 31 and at least one limiting member 32, at least part of the limiting member 32 extends into the limiting groove 31, and the groove wall of the limiting groove 31 is formed with a first limiting portion 311 and a second limiting portion 312, and the limiting member 32 can move relative to the limiting groove 31 between the first limiting portion 311 and the second limiting portion 312.

[0055] It should be noted that the limiting groove 31 and the limiting member 32 have a variety of different installation positions. The installation positions of the limiting groove 31 and the limiting member 32 are illustrated below in turn.

[0056] In a feasible embodiment, the limit groove 31 is opened on the first joint 1, and the limit groove 31 is recessed toward the side away from the second joint 2; the limit member 32 is arranged on the second joint 2, and the limit member 32 extends toward the side close to the first joint 1; the side of the limit member 32 away from the second joint 2 is cooperated with the limit groove 31; the limit member 32 is slidably arranged inside the limit groove 31.

[0057] In another feasible embodiment, the limit groove 31 is opened on the second joint 2, and the limit groove 31 is recessed toward the side away from the first joint 1; the limit member 32 is arranged on the first joint 1, and the limit member 32 extends toward the side close to the second joint 2; the side of the limit member 32 away from the first joint 1 is cooperated with the limit groove 31; the limit member 32 is slidably arranged inside the limit groove 31.

[0058] It is understandable that there is no restriction on the specific installation positions of the limiting groove 31 and the limiting member 32 , and they can be selected according to actual use requirements, and it is only necessary to ensure that the limiting member 32 can be slidably disposed in the limiting groove 31 .

[0059] It should be noted that the second joint 2 can rotate relative to the first joint 1 under the drive of an external force.

[0060] It should be noted that the first limiting portion 311 can abut against the limiting member 32, and the first limiting portion 311 is used to limit the movement of the limiting member 32 toward the side close to the first limiting portion 311, so as to limit the rotation of the second joint 2 relative to the first joint 1 toward the side close to the first limiting portion 311.

[0061] It should be noted that the second limiting portion 312 can abut against the limiting member 32, and the second limiting portion 312 is used to limit the movement of the limiting member 32 toward the side close to the second limiting portion 312, so as to limit the rotation of the second joint 2 relative to the first joint 1 toward the side close to the second limiting portion 312.

[0062] It is understandable that the limiting groove 31 and the limiting member 32 cooperate to limit the rotation position of the second joint 2 to improve the rotation accuracy of the second joint 2. The limiting groove 31 and the limiting member 32 are respectively arranged on the first joint 1 and the second joint 2, and the limiting groove 31 can accommodate the limiting member 32, thereby saving the space occupied by the limiting groove 31 and the limiting member 32. The mounting surface where the limiting groove 31 and the limiting member 32 cooperate is located between the first joint 1 and the second joint 2, and the first joint 1 and the second joint 2 can accommodate the limiting groove 31 and the limiting member 32 to reduce external interference with the limiting groove 31 and the limiting member 32, thereby improving the connection stability between the first joint 1 and the second joint 2.

[0063] The rotary joint provided in the embodiment of the present application further includes: a first guide member 5 and a second guide member 6. When the first joint 1 rotates relative to the second joint 2, the first guide member 5 and the second guide member 6 cooperate to guide the rotation direction.

[0064] It should be noted that the first guide member 5 and the second guide member 6 have a variety of different setting positions. The setting positions of the first guide member 5 and the second guide member 6 are illustrated in turn below.

[0065] In a feasible implementation manner, the first guide member 5 is arranged on the first joint 1 , the second guide member 6 is arranged on the second joint 2 , and the first guide member 5 and the second guide member 6 are arranged in coordination.

[0066] In another feasible implementation manner, the first guide member 5 is arranged on the second joint 2, the second guide member 6 is arranged on the first joint 1, and the first guide member 5 and the second guide member 6 are arranged in coordination.

[0067] It is understandable that there is no restriction on the setting positions of the first guide member 5 and the second guide member 6, and they can be selected according to actual use requirements, and it is only necessary to ensure that the first guide member 5 and the second guide member 6 are matched with each other.

[0068] It should be noted that, when the first guide member 5 is arranged on the first joint 1 and the second guide member 6 is arranged on the second joint 2, the first guide member 5 and the second guide member 6 have a variety of different arrangement methods. The following describes the arrangement methods of the first guide member 5 and the second guide member 6 in turn with examples.

[0069] In a feasible embodiment, the first guide member 5 is a protrusion, which is arranged to protrude along the surface of the first joint 1 toward the side close to the second joint 2, and the second guide member 6 is a recessed portion, which is arranged to be recessed along the surface of the second joint 2 toward the side away from the first joint 1, and the protrusion and the recessed portion are cooperatively connected.

[0070] In another feasible embodiment, the first guide member 5 is a recessed portion, which is recessed along the surface of the first joint 1 toward the side away from the second joint 2, and the second guide member 6 is a protruding portion, which is protruding along the surface of the second joint 2 toward the side close to the first joint 1, and the protruding portion and the recessed portion are cooperatively connected.

[0071] It can be understood that when the first guide member 5 is arranged on the first joint 1 and the second guide member 6 is arranged on the second joint 2, there is no restriction on the arrangement of the first guide member 5 and the second guide member 6, which can be selected according to actual use requirements, and it is only necessary to ensure that the protrusion and the recessed portion are matched and connected.

[0072] It should be noted that, when the first guide member 5 is arranged on the second joint 2 and the second guide member 6 is arranged on the first joint 1, the first guide member 5 and the second guide member 6 have a variety of different arrangement methods. The following describes the arrangement methods of the first guide member 5 and the second guide member 6 in turn with examples.

[0073] In a feasible embodiment, the first guide member 5 is a protrusion, which is arranged to protrude along the surface of the second joint 2 toward the side close to the first joint 1, and the second guide member 6 is a recessed portion, which is arranged to be recessed along the surface of the first joint 1 toward the side away from the second joint 2, and the protrusion and the recessed portion are cooperatively connected.

[0074] In another feasible embodiment, the first guide member 5 is a recessed portion, which is recessed along the surface of the second joint 2 toward the side away from the first joint 1, and the second guide member 6 is a protruding portion, which is protruding along the surface of the first joint 1 toward the side close to the second joint 2, and the protruding portion and the recessed portion are cooperatively connected.

[0075] It should be noted that, when the first guide member 5 is arranged on the second joint 2 and the second guide member 6 is arranged on the first joint 1, there is no restriction on the arrangement of the first guide member 5 and the second guide member 6, which can be selected according to actual use requirements, and it is only necessary to ensure that the protrusion and the recessed portion are matched and connected.

[0076] It should be noted that the limiting member 32 and the limiting groove 31 have a variety of different setting positions. The specific setting positions of the limiting member 32 and the limiting groove 31 are illustrated in turn below.

[0077] In a feasible implementation manner, the limiting member 32 is disposed on the first guiding member 5 , and the limiting groove 31 is disposed on the second guiding member 6 .

[0078] In another feasible implementation manner, the limiting member 32 is disposed on the second guiding member 6 , and the limiting groove 31 is disposed on the first guiding member 5 .

[0079] It is understandable that there is no restriction on the specific installation positions of the limiting member 32 and the limiting groove 31 , and they can be selected according to actual use requirements, as long as the limiting member 32 and the limiting groove 31 are matched with each other.

[0080] The limiting groove 31 provided in the embodiment of the present application is an arc groove coaxial with the rotation axis of the second joint, the first limiting portion 311 is one end of the arc groove, and the second limiting portion 312 is the other end of the arc groove; on the connecting surface of the first joint 1 and the second joint 2, the first limiting portion 311 and the second limiting portion 312 are arranged at intervals.

[0081] It should be noted that increasing the length of the arc groove can lengthen the distance between the first limiting portion 311 and the second limiting portion 312, thereby lengthening the moving distance of the limiting member 32. Reducing the length of the arc groove can shorten the distance between the first limiting portion 311 and the second limiting portion 312, thereby shortening the moving distance of the limiting member 32.

[0082] It can be understood that the length of the rotational displacement of the second joint 2 relative to the first joint 1 can be changed by changing the length of the arc groove, and the rotation angle of the second joint 2 relative to the first joint 1 can be adjusted by changing the position of the arc groove, which has the advantage of easy operation.

[0083] The embodiment of the present application provides a buffer layer on one side of the limit member 32 extending into the limit groove 31, and the buffer layer can reduce the sliding friction between the limit member 32 and the limit groove 31, thereby making the rotation between the first joint 1 and the second joint 2 smoother, thereby extending the service life of the first joint 1 and the second joint 2.

[0084] It should be noted that the buffer layer has a variety of different configurations, and the configurations of the buffer layer are described below in turn with examples.

[0085] In a feasible implementation, the buffer layer is a buffer rubber pad, one end of which is arranged on a side of the limiting member 32 close to the limiting groove 31 , and the other end of the buffer rubber pad can be slidably connected to the limiting groove 31 .

[0086] In another feasible implementation manner, the buffer layer is a buffer spring, one end of the buffer spring is fixedly connected to the limiting member 32 , and the other end of the buffer spring is fixedly connected to the limiting groove 31 .

[0087] It is understandable that there is no limitation on the specific configuration of the buffer layer, and it can be selected according to actual usage requirements.

[0088] The rotary joint provided in the embodiment of the present application further includes: a plurality of adjustment holes are provided on the first joint 1 or the second joint 2 along the rotation direction, and the limit member 32 is connected to the first joint 1 or the second joint 2 through the adjustment holes.

[0089] It should be noted that, by providing the adjustment hole, the installation position of the limiter 32 is adjusted, so as to achieve the purpose of adjusting the rotation angle.

[0090] It should be noted that the adjustment hole has a variety of different installation positions, and the installation positions of the adjustment hole are illustrated below in turn.

[0091] In a feasible implementation manner, the adjustment hole is opened on the first joint 1 , one end of the limiting member 32 is installed in the adjustment hole, and the other end of the limiting member 32 is extended toward a side close to the second joint 2 .

[0092] In another feasible implementation manner, the adjustment hole is opened on the second joint 2 , one end of the limiting member 32 is installed in the adjustment hole, and the other end of the limiting member 32 is extended toward a side close to the first joint 1 .

[0093] It is understandable that there is no restriction on the position of the adjustment hole, and the position can be selected according to actual use requirements, as long as the adjustment hole can be used to install the limit member 32.

[0094] The rotating joint provided in the embodiment of the present application includes two separate limit members 32, namely limit member 1 and limit member 2. When the first joint 1 rotates relative to the second joint 2, the limit member 32 and the limit groove 31 have a first limit position and a second limit position; in the first limit position, the limit member 1 abuts against the first limit portion 311; in the second limit position, the limit member 2 abuts against the second limit portion 312.

[0095] It should be noted that, on the connection surface between the first joint 1 and the second joint 2, the limiting member is arranged at a distance from the limiting member.

[0096] It should be noted that, in the first extreme position, the limiting member 1 abuts against the first limiting portion 311 , and the limiting member 2 is located at a side of the limiting member 1 away from the first limiting portion 311 .

[0097] It should be noted that, in the second extreme position, the second limiting member abuts against the second limiting portion 312 , and the first limiting member is located at a side of the second limiting member 32 away from the second limiting portion 312 .

[0098] It can be understood that the limiting member 32 is used to cooperate with the limiting groove 31 to limit the rotation of the second joint 2 relative to the first joint 1 .

[0099] One end of the connecting member 4 provided in the embodiment of the present application is transmission-connected to the first joint 1 , and the other end of the connecting member 4 is transmission-connected to the second joint 2 , and the connecting member 4 is used to connect the first joint 1 and the second joint 2 .

[0100] It should be noted that the second joint 2 can rotate with the connecting member 4 as the rotation center under the drive of external force. The connecting member 4 is used to support the first joint 1 and the second joint 2 to limit the deflection of the second joint 2 relative to the first joint 1, thereby improving the connection strength between the second joint 2 and the first joint 1.

[0101] It should be noted that the connection member 4 has a variety of different configurations, and the specific configurations of the connection member 4 are described below with examples.

[0102] In a feasible implementation, the connecting member 4 is a rotating shaft, one end of which is transmission-connected to the first joint 1 , and the other end of which is transmission-connected to the second joint 2 , and the rotating shaft is used to limit the deflection of the second joint 2 relative to the first joint 1 .

[0103] In another feasible embodiment, the connecting member 4 includes a first guide groove and a second guide groove, the first guide groove is arranged on the first joint 1, and the second guide groove is arranged on the second joint 2, the first guide groove and the second guide groove are arranged in coordination, the second guide groove can rotate relative to the first guide groove, and the first guide groove and the second guide groove are used in coordination to limit the relative offset between the first joint 1 and the second joint 2.

[0104] It is understandable that there is no restriction on the specific setting method of the connecting member 4, which can be selected according to actual use requirements. It only needs to ensure that one end of the connecting member 4 is transmission connected to the first joint 1, and the other end of the connecting member 4 is transmission connected to the second joint 2.

[0105] The rotary joint provided in the embodiment of the present application also includes: a driving member, which is arranged in the first joint 1 or the second joint 2, and the driving member forms an output end, which is transmission-connected to the connecting member 4, and the driving member is used to drive the connecting member 4 to rotate with the output shaft as the rotation center under the action of its own driving force, and drive the second joint 2 to rotate relative to the first joint 1.

[0106] It should be noted that, when the connecting member 4 is a rotating shaft, the output shaft of the driving member is fixedly connected to the rotating shaft, and the driving member can drive the rotating shaft to rotate with the output shaft as the rotation center.

[0107] It should be noted that the rotary joint also includes: a brake, the motor and the brake are connected via a bearing, and the brake is connected to the rotating shaft; the brake can slow down, stop or keep the rotating shaft in a stopped state.

[0108] It should be noted that the driving member has a variety of different installation positions, and the installation positions of the driving member are illustrated below one by one.

[0109] In a feasible implementation manner, one end of the driving member is installed in the first joint 1 , and the other end of the driving member is transmission-connected to the second joint 2 .

[0110] In another feasible implementation manner, one end of the driving member is installed in the second joint 2 , and the other end of the driving member is transmission-connected to the first joint 1 .

[0111] It is understandable that there is no restriction on the installation position of the driving member, and it can be selected according to actual usage requirements.

[0112] It is understandable that, under the action of the first driving force, the driving member can drive the second joint 2 to rotate toward the side close to the first limiting portion 311 , so that the first limiting portion 311 abuts against the limiting member 32 .

[0113] It is understandable that, under the action of the second driving force, the driving member can drive the second joint 2 to rotate toward the side close to the second limiting portion 312 , so that the second limiting portion 312 abuts against the limiting member 32 .

[0114] It can be understood that the driving member drives the second joint 2, which has the advantage of convenient driving.

[0115] The second joint 2 provided in the embodiment of the present application is capable of rotating between a first extreme position and a second extreme position.

[0116] It should be noted that the first extreme position and the second extreme position are set at an angle, and the driving member can drive the second joint 2 to rotate periodically between the first extreme position and the second extreme position, that is, the driving member has a first driving state in which the second joint 2 is driven by the first driving force to rotate from the first extreme position to the second extreme position, and the driving member has a second driving state in which the second joint 2 is driven by the second driving force to rotate from the second extreme position to the first extreme position, and the driving member is switched between the first driving state and the second driving state.

[0117] It can be understood that the driving direction of the first driving force is opposite to the driving direction of the second driving force.

[0118] It can be understood that when the second joint 2 is in the first extreme position, the first limiting portion 311 abuts against the limiting member 32, and the first limiting portion 311 is used to limit the movement of the limiting member 32 toward the side close to the first limiting portion 311, so as to limit the rotation of the second joint 2 relative to the first joint 1 toward the side close to the first limiting portion 311.

[0119] It can be understood that when the second joint 2 is in the second extreme position, the second limiting portion 312 abuts against the limiting member 32, and the second limiting portion 312 is used to limit the movement of the limiting member 32 toward the side close to the second limiting portion 312, so as to limit the rotation of the second joint 2 relative to the first joint 1 toward the side close to the second limiting portion 312.

[0120] It is understandable that, when the second joint 2 rotates relative to the first joint 1 , the first limiting portion 311 , the second limiting portion 312 and the limiting member 32 cooperate to limit the rotation position of the second joint 2 to improve the rotation accuracy of the second joint 2 .

[0121] The limiting member 32 provided in the embodiment of the present application is a limiting protrusion, which is extended toward a side close to the arc groove, and the limiting protrusion is slidably connected to the arc groove.

[0122] It can be understood that the limiting protrusion is at least partially slidably connected to at least partially the arc groove, and the arc groove is used to guide the limiting protrusion to rotate between the first limiting portion 311 and the second limiting portion 312, and the arc groove can accommodate the limiting protrusion to reduce the occurrence of the limiting protrusion detaching from the arc groove, thereby improving the connection stability between the first joint 1 and the second joint 2.

[0123] An embodiment of the present application provides a surgical robot, including a base, a column, a cantilever and a plurality of mechanical arms, on which the rotary joints provided in the above embodiments are provided.

[0124] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0125] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A rotary joint, characterized in that: include: First joint; A second joint is rotatably disposed on the first joint via a connecting member; a limiting device, arranged between the first joint and the second joint, the limiting device comprising a limiting groove and at least one limiting member, the limiting groove being provided on one of the first joint and the second joint, and the limiting member being provided on the other of the first joint and the second joint; At least part of the limiting member extends into the limiting groove, a first limiting portion and a second limiting portion are formed on a wall of the limiting groove, and the limiting member can move relative to the limiting groove between the first limiting portion and the second limiting portion.

2. The rotary joint according to claim 1, characterized in that: Also includes: a first guide member disposed on one of the first joint and the second joint; a second guide member disposed on the other of the first joint and the second joint; When the first joint rotates relative to the second joint, the first guide member and the second guide member cooperate to guide the rotation direction.

3. A rotary joint according to claim 2, characterized in that: In the first guide member and the second guide member, one of them is formed with a protrusion, and the other of them is formed with a recessed portion, and the protrusion and the recessed portion cooperate with each other; the limiting member is arranged on one of the first guide member and the second guide member, and the limiting groove is arranged on the other of the first guide member and the second guide member.

4. A rotary joint according to claim 1, characterized in that: The limiting groove is an arc groove coaxial with the second joint rotation axis, the first limiting portion is one end portion of the arc groove; the second limiting portion is the other end portion of the arc groove.

5. The rotary joint according to claim 1, characterized in that: One end of the limiting member extending into the limiting groove is provided with a buffer layer.

6. The rotary joint according to claim 1, characterized in that: A plurality of adjustment holes are arranged on the first joint or the second joint along the rotation direction, and the limiting member is connected to the first joint or the second joint through the adjustment holes.

7. A rotary joint according to any one of claims 1 to 6, characterized in that: It comprises two separate limiting members, namely limiting member 1 and limiting member 2; when the first joint rotates relative to the second joint, it is limited by the limiting member and the limiting groove to have a first limit position and a second limit position; When in the first limit position, the first limiting member abuts against the first limiting portion; When in the second limit position, the second limiting member abuts against the second limiting portion.

8. A rotary joint according to any one of claims 1 to 6, characterized in that: One end of the connecting member is transmission-connected to the first joint, and the other end of the connecting member is transmission-connected to the second joint. The connecting member is used to connect the first joint and the second joint.

9. A rotary joint according to any one of claims 1 to 6, characterized in that: Also includes: A driving member, wherein the driving member is arranged in the first joint or the second joint, and the driving member is formed with an output end, and the output end is transmission-connected to the connecting member, and the driving member is used to drive the connecting member to rotate with the output end as the rotation center under the action of its own driving force, and drive the second joint to rotate relative to the first joint.

10. A surgical robot, characterized in that: It comprises a base, a column, a cantilever and a plurality of mechanical arms, wherein the mechanical arms are provided with a rotary joint as claimed in any one of claims 1 to 9.

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