Transmission joint and surgical robot

Abstract

The utility model provides a transmission joint and a surgical robot. The transmission joint comprises a first joint and a second joint. Wherein a mounting cavity is formed in the first joint; the second joint is perpendicular to the first joint and rotates relative to the first joint; a driving piece consistent with the first joint in direction and a transmission assembly consistent with the second joint in direction are arranged in the mounting cavity; the output end of the transmission assembly protrudes out of the first joint and is connected with the second joint, and the transmission assembly is connected with the driving piece and driven by the driving piece to drive the second joint to rotate. The driving part and the transmission assembly are integrally arranged in the first joint, so that the driving part and the transmission assembly are located in the same cavity, the distance between the driving part and the transmission assembly is shortened as far as possible, a force arm and a gap are reduced, force transmission is facilitated, miniaturization of the structure is promoted, and meanwhile the rotation stability is improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a transmission 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 have the advantages of smaller incisions, faster recovery, and remote operation. 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 art, the rotary joints on the surgical robot are generally driven by a driving member, and an encoder is used to detect the rotation angle of the joint. Due to structural limitations, there is a gap between the output end of the driving member and the rotating arm, which will cause unstable operation of the rotating arm. Utility Model Content

[0004] The present application provides a transmission joint and a surgical robot, which are used to solve the problem that a gap exists between the output end of a driving member and a rotating arm, resulting in unstable operation of the rotating arm.

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

[0006] a first joint, the first joint forming a mounting cavity;

[0007] The second joint is arranged perpendicular to the first joint and rotates relative to the first joint;

[0008] A driving member in the same direction as the first joint and a transmission assembly in the same direction as the second joint are arranged in the installation cavity; the output end of the transmission assembly protrudes from the first joint and is connected to the second joint, and the transmission assembly is connected to the driving member and is driven by the driving member to drive the second joint to rotate.

[0009] The transmission joint of this structure has a driving member and a transmission assembly as an integral part in the first joint, so that the driving member and the transmission assembly are in the same cavity, the distance between the driving member and the transmission assembly is shortened as much as possible, the force arm and the gap are reduced, which is beneficial to the transmission of force, not only promoting the miniaturization of the structure, but also improving the rotation stability.

[0010] In some embodiments, the transmission assembly includes:

[0011] A worm, one end of which is drivingly connected to a driving member;

[0012] A worm wheel is meshed with the worm, and the worm wheel drives the second joint to rotate synchronously;

[0013] The setting direction of the worm is consistent with the direction of the first joint, the setting direction of the worm wheel is consistent with the direction of the second joint, and the worm is arranged perpendicular to the worm wheel.

[0014] In the transmission joint of this structure, the driving member can drive the worm to rotate with the output end of the driving member as the rotation center. When the worm rotates, it will drive the meshing worm wheel to rotate, and drive the second joint to rotate synchronously. The setting direction of the worm is consistent with the direction of the first joint, which can reduce the volume of the first joint. The setting direction of the worm wheel is consistent with the second joint, which can reduce the volume of the second joint. The vertical setting of the worm and the worm wheel can further reduce the volume of the connection between the first joint and the second joint. The worm wheel and the worm are both set in the installation cavity, which can reduce the gap between the first joint and the second joint, thereby realizing the miniaturization of the structure.

[0015] In some embodiments, the transmission assembly further includes a transmission shaft that rotates synchronously with the worm gear. The transmission shaft is fixed in the second joint via a plurality of first bearings and rotates relative to the second joint. One end of the transmission shaft protrudes from the first joint and is connected to the second joint.

[0016] In the transmission joint of this structure, the transmission shaft can rotate synchronously with the worm wheel under the drive of the worm wheel, and the first bearing can reduce the rotational friction between the second joint and the transmission shaft, and provide auxiliary support for the transmission shaft.

[0017] In some embodiments, the transmission assembly further includes: a brake, the brake is disposed in the second joint, and the brake is at least partially fixedly connected to the worm gear;

[0018] The brake comprises an armature and a stator, the armature and the stator are arranged in cooperation, the stator is arranged at intervals on the outer peripheral wall of the transmission shaft, and the stator is fixedly connected to the second joint or the first joint; the armature is arranged at intervals on the outer peripheral wall of the transmission shaft, and the armature is fixedly connected to the worm gear;

[0019] The worm gear is arranged on the side of the armature facing away from the stator.

[0020] In the transmission joint of this structure, the brake can make the worm gear decelerate, stop or keep it in a stopped state, so that the transmission shaft can synchronously follow the worm gear to decelerate, stop or keep it in a stopped state, thereby providing safety protection for the transmission joint.

[0021] The armature and the stator cooperate to make the worm gear slow down, stop or keep it stopped, so that the transmission shaft can synchronously follow the worm gear to slow down, stop or keep it stopped, thereby protecting the transmission joint safely.

[0022] In some embodiments, the driving member is a motor, and the motor is connected to a side of the worm gear away from the worm wheel through a coupling;

[0023] The motor can drive the coupling to rotate with the output shaft of the motor as the rotation center, and drive the worm to rotate, and the worm rotation transmission drives the worm wheel to rotate.

[0024] The transmission joint of this structure uses a motor to drive a coupling to drive a worm to drive a worm wheel to rotate. This has the advantages of being easy to control the operation of the motor, and has the advantages of convenient connection and strong operation stability.

[0025] In some embodiments, the motor is disposed in the installation cavity, the motor is extended along a side consistent with the direction of the first joint, and the output shaft of the motor is disposed perpendicular to the second joint.

[0026] In the transmission joint of this structure, the motor is extended along a side consistent with the direction of the first joint, which can reduce the volume occupied by the first joint in the direction of the second joint, thereby reducing the volume occupied by the first joint; the output shaft of the motor is arranged perpendicular to the second joint, which can shorten the transmission path between the output shaft of the motor and the second joint, thereby improving the energy transmission efficiency of the motor.

[0027] In some embodiments, it further comprises:

[0028] A first support member, disposed on one of the mounting cavity and the driving member;

[0029] a second support member disposed on the other of the mounting cavity and the driving member;

[0030] The first support member is connected to the second support member to limit the relative movement between the mounting cavity and the driving member;

[0031] The first support member and the second support member can be combined to form a bracket, one end of the bracket is connected to the driving member, and the other end of the bracket is connected to the installation cavity, and the bracket can support the driving member.

[0032] In the transmission device of this structure, the first support member and the second support member cooperate to support the driving member, so as to reduce the difficulty of installing the driving member.

[0033] In some embodiments, it further comprises:

[0034] The encoder is arranged on the side of the transmission shaft away from the second joint. The encoder is formed with a mounting portion and a measuring portion. The mounting portion of the encoder is arranged in the accommodating cavity. The measuring portion of the encoder is connected to the transmission shaft. The encoder is used to measure the rotation angle of the transmission shaft.

[0035] For the transmission joint of this structure, the encoder can measure the rotation angle of the transmission shaft, thereby measuring the rotation angle of the second joint.

[0036] In some embodiments, it further comprises:

[0037] A mounting plate is arranged between the worm gear and the encoder, and the mounting plate is fixedly mounted inside the first joint; the mounting portion of the encoder is fixedly mounted on the mounting plate;

[0038] The second bearing, the inner ring of the second bearing is fixedly mounted on the transmission shaft, and the outer ring of the second bearing is fixedly connected to the mounting plate.

[0039] The wiring board is set on the side of the encoder away from the mounting plate.

[0040] In the height direction perpendicular to the first joint, the wiring board, the encoder, the mounting plate and the worm gear are arranged in sequence and at intervals;

[0041] The wiring board and the mounting plate enclose a protection cavity, and the encoder is arranged in the protection cavity.

[0042] The transmission joint of this structure has a mounting plate for supporting the transmission shaft, and the transmission shaft is rotatably mounted on the mounting plate through a second bearing, which has the advantages of convenient installation and strong connection stability; the wiring plate is used to guide the wires inside the first joint to the outside world, so as to reduce the interference of the wires inside the first joint with the parts inside the first joint, thereby extending the service life of the parts inside the first joint; the protective cavity can protect the encoder to isolate the interference of other parts inside the first joint with the encoder, thereby improving the operating stability of the encoder and extending the service life of the encoder.

[0043] 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 transmission joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 This is a schematic diagram of the first joint structure in the embodiment of the present application;

[0046] Figure 2 This is the second schematic diagram of the first joint structure in the embodiment of the present application;

[0047] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0048] Figure 4 is a schematic diagram of the connection between the first transmission assembly and the second transmission assembly in the embodiment;

[0049] Figure 5 This is the third schematic diagram of the first joint structure in the embodiment of the present application;

[0050] Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure at BB in the middle.

[0051] Description of reference numerals:

[0052] 1-first joint; 11-wiring board; 12-mounting plate; 13-second bearing;

[0053] 2- Second joint;

[0054] 3- driving member;

[0055] 4-transmission assembly; 41-worm; 42-worm wheel; 43-transmission shaft; 44-first bearing; 45-brake; 451-armature; 452-stator;

[0056] 5- encoder;

[0057] 6- Bracket.

[0058] 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

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] like Figures 1 to 6 As shown, an embodiment of the present application provides a transmission device, including a first joint 1 and a second joint 2. The first joint 1 is formed with a mounting cavity; the second joint 2 is arranged perpendicular to the first joint 1 and rotates relative to the first joint 1; a driving member 3 in the same direction as the first joint 1 and a transmission assembly 4 in the same direction as the second joint 2 are arranged in the mounting cavity; the output end of the transmission assembly 4 protrudes from the first joint 1 and is connected to the second joint 2, and the transmission assembly 4 is connected to the driving member 3 and driven by the driving member 3 to drive the second joint 2 to rotate.

[0065] It should be noted that the driving member 3 and the transmission assembly 4 are integrally arranged in the first joint 1, so that the driving member 3 and the transmission assembly are in the same cavity, the distance between the driving member 3 and the transmission assembly 4 is shortened as much as possible, the force arm and the gap are reduced, which is beneficial to the transmission of force, not only promoting the miniaturization of the structure, but also improving the rotation stability.

[0066] The transmission assembly 4 provided in the embodiment of the present application includes: a worm 41 and a worm wheel 42; one end of the worm 41 is transmission-connected to the driving member 3; the worm wheel 42 is meshed with the worm 41, and the worm wheel 42 drives the second joint 2 to rotate synchronously; the setting direction of the worm 41 is consistent with the direction of the first joint 1, the setting direction of the worm wheel 42 is consistent with the direction of the second joint 2, and the worm 41 is arranged perpendicular to the worm wheel 42.

[0067] It should be noted that the driving member 3 can drive the worm 41 to rotate with the output end of the driving member 3 as the rotation center. When the worm 41 rotates, it will drive the meshing worm wheel 42 to rotate, and drive the second joint 2 to rotate synchronously with the worm wheel 42. The setting direction of the worm 41 is consistent with the direction of the first joint 1, which can reduce the volume of the first joint 1. The setting direction of the worm wheel 42 is consistent with the second joint 2, which can reduce the volume of the second joint 2. The worm 41 is arranged perpendicular to the worm wheel 42, which can further reduce the volume of the connection between the first joint 1 and the second joint 2. The worm wheel 42 and the worm 41 are both arranged in the installation cavity, which can reduce the gap between the first joint 1 and the second joint 2, thereby realizing the miniaturization of the structure.

[0068] The transmission assembly 4 provided in the embodiment of the present application also includes a transmission shaft 43 that rotates synchronously with the worm gear 42. The transmission shaft 43 is fixed in the second joint 2 through a plurality of first bearings 44 and rotates relative to the second joint 2. One end of the transmission shaft 43 protrudes from the first joint 1 and is connected to the second joint 2.

[0069] It should be noted that the inner ring of the first bearing 44 is mounted on the outer peripheral wall of the transmission shaft 43 , and the outer ring of the first bearing 44 is mounted on the second joint 2 .

[0070] It should be noted that the transmission shaft 43 can rotate synchronously with the worm gear 42 when driven by the worm gear 42 , and the first bearing 44 can reduce the rotational friction between the second joint 2 and the transmission shaft 43 , and provide auxiliary support for the transmission shaft 43 .

[0071] It should be noted that a through hole is provided on the first joint 1 , and the through hole is used to accommodate the transmission shaft 43 , so that the transmission shaft 43 can pass through the first joint 1 to enter the second joint 2 , and support the transmission shaft 43 .

[0072] The transmission assembly 4 provided in the embodiment of the present application further includes: a brake 45, which is disposed in the second joint 2 and is at least partially fixedly connected to the worm gear 42; the brake 45 can decelerate, stop or keep the worm gear 42 in a stopped state, so that the transmission shaft 43 can synchronously follow the worm gear 42 to decelerate, stop or keep the stopped state, thereby providing safety protection for the transmission joint.

[0073] It should be noted that the brake 45 includes an armature 451 and a stator 452, which are arranged in coordination with each other, the stator 452 is arranged at intervals on the outer peripheral wall of the transmission shaft 43, and the stator 452 is fixedly connected to the second joint 2 or the first joint 1, the armature 451 is arranged at intervals on the outer peripheral wall of the transmission shaft 43, and the armature 451 is fixedly connected to the worm gear 42; the worm gear 42 is arranged on the side of the armature 451 away from the stator 452.

[0074] It should be noted that the stator 452 is an annular stator 452, the inner ring of which is nested on the outer peripheral wall of the transmission shaft 43, and the diameter of the inner ring of the annular stator 452 is larger than the diameter of the outer peripheral wall of the transmission shaft 43; the armature 451 is an annular armature 451, the inner ring of which is nested on the outer peripheral wall of the transmission shaft 43, and the diameter of the inner ring of the annular armature 451 is larger than the diameter of the outer peripheral wall of the transmission shaft 43.

[0075] It is understandable that the armature 451 and the stator 452 cooperate to make the worm wheel 42 decelerate, stop or keep it stopped, so that the transmission shaft 43 can synchronously follow the worm wheel 42 to decelerate, stop or keep it stopped, thereby protecting the transmission joint safely.

[0076] It should be noted that the stator 452 has a variety of different installation positions, and the installation positions of the stator 452 are illustrated below one by one.

[0077] In a feasible implementation manner, the stator 452 is fixedly mounted on the second joint 2, and the worm gear 42, the armature 451 and the stator 452 are sequentially arranged at intervals.

[0078] In another feasible implementation manner, the stator 452 is installed on the first joint 1, and the worm gear 42, the armature 451 and the stator 452 are sequentially arranged at intervals.

[0079] It is understandable that there is no restriction on the specific installation position of the stator 452 and it can be selected according to actual use requirements, as long as the combination of the stator 452 and the armature 451 can slow down and stop the worm gear 42.

[0080] The driving member 3 provided in the embodiment of the present application is a motor, which is connected to the side of the worm 41 away from the worm wheel 42 through a coupling; the motor can drive the coupling to rotate with the output shaft of the motor as the rotation center, and drive the worm 41 to rotate, and the rotation of the worm 41 drives the worm wheel 42 to rotate, so that the worm wheel 42 can rotate relative to the second joint 2.

[0081] It should be noted that the method of using a motor to drive a coupling to drive the worm 41 to drive the worm wheel 42 to rotate has the advantages of being easy to control the operation of the motor, and has the advantages of convenient connection and strong operation stability.

[0082] The motor provided in the embodiment of the present application is arranged in the installation cavity, the motor is extended along a side consistent with the direction of the first joint 1, and the output shaft of the motor is arranged perpendicular to the second joint 2.

[0083] It can be understood that the motor is extended along a side consistent with the direction of the first joint 1, which can reduce the occupied volume of the first joint 1 in the direction of the second joint 2, thereby reducing the occupied volume of the first joint 1; the output shaft of the motor is arranged perpendicular to the second joint 2, which can shorten the transmission path between the output shaft of the motor and the second joint 2, thereby improving the energy transmission efficiency of the motor.

[0084] The transmission device provided in the embodiment of the present application further includes: a first support member and a second support member, wherein the first support member and the second support member are connected to limit the relative movement between the installation cavity and the driving member 3 .

[0085] It should be noted that the first support member and the second support member have a variety of different installation positions. The installation positions of the first support member and the second support member are illustrated in turn below.

[0086] In a feasible embodiment, the first support member is arranged on the installation cavity, the second support member is arranged on the driving member 3, and the first support member and the second support member are connected to limit the relative movement between the installation cavity and the driving member 3 to provide safety protection for the driving member 3.

[0087] In another feasible embodiment, the first support member is arranged on the driving member 3, and the second support member is arranged on the mounting cavity. The first support member and the second support member are connected to limit the relative movement between the mounting cavity and the driving member 3 to provide safety protection for the driving member 3.

[0088] It is understandable that there is no restriction on the specific installation positions of the first support member and the second support member, and they can be selected according to actual use requirements. It is only necessary to ensure that the first support member and the second support member are connected and limit the relative movement between the installation cavity and the driving member 3.

[0089] It should be noted that there are many different connection modes between the first support member and the second support member. The connection modes between the first support member and the second support member are described below with examples one by one.

[0090] In a feasible implementation manner, the first support member and the second support member are detachably connected.

[0091] It should be noted that the detachable connection between the first support member and the second support member has the advantage of convenient processing.

[0092] In another possible implementation manner, the first support member and the second support member are fixedly connected.

[0093] It should be noted that the fixed connection between the first support member and the second support member has the advantage of high connection strength.

[0094] It is understandable that there is no restriction on the connection method between the first support member and the second support member, and it can be selected according to actual use requirements, as long as the connection between the first support member and the second support member can limit the relative movement between the mounting cavity and the driving member 3.

[0095] It should be noted that, in the case where the first support member and the second support member are detachably connected, the first support member and the second support member can be arranged in a variety of different ways. The following describes the arrangements of the first support member and the second support member in turn with examples.

[0096] In a feasible implementation manner, the first support member is a buckle, the second support member is a slot, and the first support member and the second support member are buckled together.

[0097] In another feasible implementation manner, the first support member is a bolt, the second support member is a threaded hole, and the bolt and the threaded hole are threadedly connected.

[0098] It can be understood that when the first support member and the second support member are detachably connected, the specific setting method of the first support member and the second support member is not limited and can be selected according to actual usage requirements. It is only necessary to ensure that the first support member and the second support member cooperate to limit the relative movement between the mounting cavity and the driving member 3.

[0099] It should be noted that the first support member and the second support member can be combined to form a bracket 6 , one end of the bracket 6 is connected to the driving member 3 , and the other end of the bracket 6 is connected to the installation cavity, and the bracket 6 can support the driving member 3 .

[0100] The transmission device provided in the embodiment of the present application also includes: an encoder 5, which is arranged on the side of the transmission shaft 43 away from the second joint 2, and the encoder 5 is formed with a mounting portion and a measuring portion, wherein the mounting portion of the encoder 5 is arranged in the accommodating cavity, and the measuring portion of the encoder 5 is connected to the transmission shaft 43, and the encoder 5 is used to measure the rotation angle of the transmission shaft 43.

[0101] It should be noted that the encoder 5 can measure the rotation angle of the second joint 2 by measuring the rotation angle of the transmission shaft 43 .

[0102] The transmission device provided in the embodiment of the present application also includes: a mounting plate 12, a second bearing 13 and a wiring plate 11; wherein the mounting plate 12 is arranged between the worm gear 42 and the encoder 5, and the mounting plate 12 is fixedly installed inside the first joint 1; the mounting part of the encoder 5 is fixedly installed on the mounting plate 12; the inner ring of the second bearing 13 is fixedly installed on the transmission shaft 43, and the outer ring of the second bearing 13 is fixedly connected to the mounting plate 12; the wiring plate 11 is installed on the side of the encoder 5 away from the mounting plate 12; in the height direction perpendicular to the first joint 1, the wiring plate 11, the encoder 5, the mounting plate 12 and the worm gear 42 are arranged in sequence at intervals; the wiring plate 11 and the mounting plate 12 enclose a protective cavity, and the encoder 5 is arranged in the protective cavity.

[0103] It should be noted that the mounting plate 12 is used to support the transmission shaft 43, and the transmission shaft 43 is rotatably mounted on the mounting plate 12 through the second bearing 13, which has the advantages of convenient installation and strong connection stability; the wiring board 11 is used to guide the wires inside the first joint 1 to the outside world, so as to reduce the interference of the wires inside the first joint 1 on the parts inside the first joint 1, thereby extending the service life of the parts inside the first joint 1; the protective cavity can protect the encoder 5 to isolate the interference of other parts inside the first joint 1 on the encoder 5, thereby improving the operating stability of the encoder 5 and extending the service life of the encoder 5.

[0104] 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 transmission device provided in the above embodiment is provided.

[0105] 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.

[0106] 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 transmission joint, characterized in that: include, a first joint, the first joint forming a mounting cavity; The second joint is arranged perpendicular to the first joint and rotates relative to the first joint; A driving member in the same direction as the first joint and a transmission assembly in the same direction as the second joint are arranged in the installation cavity; the output end of the transmission assembly protrudes from the first joint and is connected to the second joint, and the transmission assembly is connected to the driving member and is driven by the driving member to drive the second joint to rotate.

2. A transmission joint according to claim 1, characterized in that: The transmission assembly comprises: A worm, one end of which is drivingly connected to the driving member; A worm wheel is meshed with the worm, and the worm wheel drives the second joint to rotate synchronously; The setting direction of the worm is consistent with the first joint direction, the setting direction of the worm wheel is consistent with the second joint direction, and the worm is perpendicular to the worm wheel.

3. A transmission joint according to claim 2, characterized in that: The transmission assembly also includes a transmission shaft that rotates synchronously with the worm gear. The transmission shaft is fixed in the second joint through a plurality of first bearings and rotates relative to the second joint. One end of the transmission shaft protrudes from the first joint and is connected to the second joint.

4. A transmission joint according to claim 3, characterized in that: The transmission assembly further includes: a brake, which is disposed in the second joint and is at least partially fixedly connected to the worm gear; The brake comprises an armature and a stator, the armature and the stator are arranged in cooperation, the stator is arranged at intervals on the outer peripheral wall of the transmission shaft, and the stator is fixedly connected to the second joint or the first joint; the armature is arranged at intervals on the outer peripheral wall of the transmission shaft, and the armature is fixedly connected to the worm gear; The worm gear is arranged on a side of the armature facing away from the stator.

5. A transmission joint according to any one of claims 2 to 4, characterized in that: The driving member is a motor, and the motor is connected to a side of the worm gear away from the worm wheel through a coupling; The motor can drive the coupling to rotate with the output shaft of the motor as the rotation center, and drive the worm to rotate, and the worm rotation transmission drives the worm wheel to rotate.

6. A transmission joint according to claim 5, characterized in that: The motor is arranged in the installation cavity, the motor is extended along a side consistent with the direction of the first joint, and the output shaft of the motor is arranged perpendicular to the second joint.

7. A transmission joint according to claim 1 or 6, characterized in that: Also includes: A first support member, disposed on one of the mounting cavity and the driving member; a second support member, disposed on the other of the mounting cavity and the driving member; The first support member and the second support member are connected to limit the relative movement between the installation cavity and the driving member; The first support member and the second support member can be combined to form a bracket, one end of the bracket is connected to the driving member, and the other end of the bracket is connected to the installation cavity, and the bracket can support the driving member.

8. A transmission joint according to claim 3, characterized in that: Also includes: The encoder is arranged on the side of the transmission shaft away from the second joint. The encoder is formed with a mounting portion and a measuring portion. The mounting portion of the encoder is arranged in the accommodating cavity. The measuring portion of the encoder is connected to the transmission shaft. The encoder is used to measure the rotation angle of the transmission shaft.

9. A transmission joint according to claim 8, characterized in that: Also includes: A mounting plate is arranged between the worm gear and the encoder, and the mounting plate is fixedly mounted inside the first joint; the mounting portion of the encoder is fixedly mounted on the mounting plate; A second bearing, wherein the inner ring of the second bearing is fixedly mounted on the transmission shaft, and the outer ring of the second bearing is fixedly connected to the mounting plate; A wiring board is arranged on a side of the encoder away from the mounting board; In the height direction perpendicular to the first joint, the wiring board, the encoder, the mounting plate and the worm gear are sequentially arranged at intervals; The wiring board and the mounting plate enclose a protection cavity, and the encoder is arranged in the protection cavity.

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 transmission joint as claimed in any one of claims 1 to 9.

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