Joint assembly and surgical robot

Abstract

The utility model provides a joint assembly and a surgical robot, and the joint assembly comprises a first joint, a second joint, a driving unit and a transmission mechanism; the driving unit is arranged on the first joint; the transmission mechanism comprises a first bevel gear, a second bevel gear, a bearing seat, a first transmission shaft, a second transmission shaft and a first bearing, the first transmission shaft is connected with the output end of the driving unit, and the first bevel gear is coaxially connected with the first transmission shaft; the second bevel gear is meshed with the first bevel gear, and the second transmission shaft is coaxially connected with the second bevel gear; the second joint is connected with the second transmission shaft, the bearing seat is connected with the first joint, the first transmission shaft penetrates through the bearing seat, the outer ring of the first bearing is connected with the bearing seat, and the inner ring of the first bearing is connected with the first bevel gear, so that the structural reliability of the joint assembly is improved, and the stability of the joint assembly during relative rotation is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a joint assembly 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 robotics technology, minimally invasive surgical robots have emerged. Minimally invasive surgical robots can reduce incisions, speed up recovery, and doctors can operate remotely.

[0003] In the related art, the surgical robot includes a movable console and a slave robotic arm, the robotic arm includes multiple joints, the joints are movable or rotatably connected, and the end joints are connected to an actuator, which can be inserted into the patient's body to perform surgical operations. The rotating joint can be driven by a motor.

[0004] However, the reliability of the driving and transmission structure of the rotary joint of the current surgical robot is poor. Utility Model Content

[0005] The present application provides a joint assembly and a surgical robot to solve the technical problem of poor reliability of the driving and transmission structure of the rotary joint of the surgical robot in the related art.

[0006] In the first aspect, the present application provides a joint assembly, which includes a first joint, a second joint, a drive unit and a transmission mechanism; the drive unit is arranged at the first joint; the transmission mechanism includes a first bevel gear, a second bevel gear, a bearing seat, a first transmission shaft, a second transmission shaft and a first bearing, the first transmission shaft is connected to the output end of the drive unit, and the first bevel gear is coaxially connected to the first transmission shaft; the second bevel gear is meshed with the first bevel gear, and the second transmission shaft is coaxially connected to the second bevel gear; the second joint is connected to the second transmission shaft.

[0007] Among them, the bearing seat is connected to the first joint, the first transmission shaft is passed through the bearing seat, the outer ring of the first bearing is connected to the bearing seat, and the inner ring of the first bearing is connected to the first bevel gear.

[0008] The joint assembly provided in the embodiment of the present application improves the structural reliability of the joint assembly and the stability of the joint assembly during relative rotation by setting the drive unit on the main joint, using bevel gears for power transmission, and supporting the output end of the drive unit and the bevel gear with a bearing seat and a bearing.

[0009] As an optional embodiment, the bearing seat may include a supporting body, a first baffle and a second baffle, the first baffle and the second baffle are respectively connected to the two ends of the supporting body along the axial direction of the first transmission shaft; the driving unit includes a motor body and an output shaft, the motor body is connected to the first baffle, the motor body is configured to drive the output shaft to rotate, and the output shaft is connected to the first transmission shaft; the second baffle is at least partially blocked on the side of the first bearing away from the driving unit.

[0010] As an optional embodiment, the first transmission shaft has a mounting hole, the output shaft is at least partially inserted into the mounting hole, and the output shaft and the first transmission shaft are key-connected; a positioning hole is provided on the side of the first transmission shaft, a positioning pin is provided in the positioning hole, and the positioning pin abuts against the outer wall of the output shaft.

[0011] As an optional implementation, there may be multiple first bearings, the multiple first bearings are coaxially arranged, and the multiple first bearings are arranged in sequence along the axial direction of the first transmission shaft.

[0012] As an optional embodiment, the first bevel gear is sleeved on the outside of the first transmission shaft, the inner wall of the first bevel gear is provided with a groove, the outer wall of the first transmission shaft is provided with a protrusion, the protrusion is located in the groove and abuts against the groove wall of the groove.

[0013] As an optional embodiment, the second transmission shaft may include a first shaft segment and a second shaft segment, the first shaft segment and the second shaft segment are coaxially connected, a step portion is provided between the first shaft segment and the second shaft segment, the second bevel gear is coaxially connected to the first shaft segment, and the second bevel gear abuts against the step portion.

[0014] As an optional embodiment, the first joint may include a joint body and a support plate, the support plate is connected to the joint body, and the support plate is located on the side of the second bevel gear away from the second shaft segment; the joint assembly also includes a second bearing, the inner ring of the second bearing is connected to the first shaft segment, and the outer ring of the second bearing is connected to the support plate.

[0015] As an optional embodiment, the second transmission shaft may further include a third shaft segment and a connecting flange, the third shaft segment being connected to one end of the second shaft segment away from the first shaft segment, and the connecting flange being connected to one end of the third shaft segment away from the second shaft segment; the joint assembly may further include a third bearing, the third bearing being sleeved on the outside of the third shaft segment, the inner ring of the third bearing being connected to the connecting flange, and the outer ring of the third bearing being connected to the joint body.

[0016] As an optional embodiment, the joint assembly may further include a brake unit, the inner wall of the joint body is provided with an annular protrusion surrounding the second transmission shaft, the brake unit is sleeved on the outer side of the second shaft segment, and the brake unit is connected to the annular protrusion.

[0017] In a second aspect, the present application provides a surgical robot, which includes a robot body and a joint assembly in the above technical solution, wherein the joint assembly is connected to the robot body.

[0018] The present application provides a joint assembly and a surgical robot, wherein the joint assembly includes a first joint, a second joint, a drive unit and a transmission mechanism; the drive unit is arranged at the first joint; the transmission mechanism includes a first bevel gear, a second bevel gear, a bearing seat, a first transmission shaft, a second transmission shaft and a first bearing, the first transmission shaft is connected to the output end of the drive unit, and the first bevel gear is coaxially connected to the first transmission shaft; the second bevel gear is meshed with the first bevel gear, and the second transmission shaft is coaxially connected to the second bevel gear; the second joint is connected to the second transmission shaft, the bearing seat is connected to the first joint, the first transmission shaft is penetrated by the bearing seat, the outer ring of the first bearing is connected to the bearing seat, and the inner ring of the first bearing is connected to the first bevel gear, thereby improving the structural reliability of the joint assembly and improving the stability of the joint assembly during relative rotation.

[0019] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the joint assembly and surgical robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0021] Figure 1 A schematic diagram of the structure of a joint assembly provided in an embodiment of the present application;

[0022] Figure 2 An internal structural view of a joint assembly provided in an embodiment of the present application;

[0023] Figure 3 A partial top view of the internal structure of a joint assembly provided in an embodiment of the present application;

[0024] Figure 4 A cross-sectional view of a joint assembly provided in an embodiment of the present application;

[0025] Figure 5 for Figure 4 Partial view of the A position in the middle;

[0026] Figure 6 A schematic diagram of the structure of a first transmission shaft in a joint assembly provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of the structure of a second transmission shaft in a joint assembly provided in an embodiment of the present application;

[0028] Figure 8 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0029] Description of reference numerals:

[0030] 10- Joint assembly;

[0031] 100-first joint; 110-joint body; 111-annular protrusion; 120-support plate;

[0032] 200 - second joint;

[0033] 300-driving unit; 310-motor body; 320-output shaft;

[0034] 400-transmission mechanism; 410-first bevel gear; 411-groove; 420-second bevel gear; 430-bearing seat; 431-support body; 432-first baffle; 433-second baffle; 440-first transmission shaft; 441-mounting hole; 442-positioning hole; 443-protrusion; 450-second transmission shaft; 451-first shaft section; 452-second shaft section; 453-third shaft section; 454-connecting flange; 460-first bearing; 470-second bearing; 480-third bearing;

[0035] 500-brake unit;

[0036] 20-Robot body. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be amplified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, minimally invasive surgical robot technology has emerged. Common minimally invasive surgical robots are composed of a doctor's console (master hand), a patient surgical platform (slave hand) and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instrument, so as to perform precise surgical operations.

[0043] The patient surgical platform (slave hand) includes a movable body and a robotic arm that performs surgical operations. The operator can control the robotic arm to move through the console to perform surgical operations. The robotic arm includes multiple joints, which are movable or rotatably connected. The end joints are connected to actuators, which can be inserted into the patient's body for surgical operations. The rotating joints can be driven by motors.

[0044] However, the current rotary joints of surgical robots generally output power through frameless motors, which are connected to harmonic reducers. The reliability of their drive and transmission structures is poor. When the rotary joints of the robotic arm need to be locked, there will be play at the output end of the harmonic reducer, causing the joint components to shake and have poor stability.

[0045] In view of the above problems, the present application provides a joint assembly and a surgical robot. Through the design of the rotational drive and transmission structure in the joint assembly, bevel gears are used for transmission, and when the bevel gears and the motor transmit power, a reliable support structure is used for support to avoid force between the motor output ends, thereby improving the reliability and stability of the joint assembly drive and transmission structure.

[0046] To facilitate understanding, the application scenarios of the joint assembly and surgical robot provided in the embodiments of the present application are first described below.

[0047] The surgical robot in the embodiment of the present application includes a master-hand robot and a slave-hand robot, wherein the operator controls the master-hand robot, and the slave-hand robot performs surgical operations according to the control signal of the master-hand robot, and the joint assembly provided in the embodiment of the present application is used in the slave-hand robot. It should be noted that the surgical robot provided in the embodiment of the present application is a minimally invasive surgical robot, which is used for performing minimally invasive surgical operations, and the embodiment of the present application will not be elaborated here.

[0048] Figure 1 A schematic diagram of the structure of a joint assembly provided in an embodiment of the present application, Figure 2 This is a view of the internal structure of the joint assembly provided in the embodiment of the present application. Figure 3 A partial top view of the internal structure of a joint assembly provided in an embodiment of the present application, Figure 4 A cross-sectional view of a joint assembly provided in an embodiment of the present application, Figure 5 for Figure 4 Partial view of position A in the middle.

[0049] like Figures 1 to 5 As shown, the embodiment of the present application provides a joint assembly 10, which includes a first joint 100, a second joint 200, a drive unit 300 and a transmission mechanism 400. The drive unit 300 is arranged at the first joint 100, and the transmission mechanism 400 is connected between the first joint 100 and the second joint 200. The first joint 100 serves as a master joint, and the second joint 200 serves as a slave joint. The drive unit 300 provides power and drives the second joint 200 to rotate relative to the first joint 100 through the transmission mechanism 400.

[0050] The transmission mechanism 400 includes a first bevel gear 410, a second bevel gear 420, a bearing seat 430, a first transmission shaft 440, a second transmission shaft 450 and a first bearing 460. The first transmission shaft 440 is connected to the output end of the driving unit 300, and the first bevel gear 410 is coaxially connected to the first transmission shaft 440. The second bevel gear 420 is meshed with the first bevel gear 410, and the second transmission shaft 450 is coaxially connected to the second bevel gear 420. The second joint 200 is connected to the second transmission shaft 450.

[0051] It is understandable that the driving unit 300 drives the first transmission shaft 440 to rotate, and transmits power to the first bevel gear 410 through the first transmission shaft 440. The first bevel gear 410 drives the second bevel gear 420 to rotate, and the axial directions of the first bevel gear 410 and the second bevel gear 420 have an angle, thereby changing the output direction of the power. The second bevel gear 420 drives the second transmission shaft 450 to rotate, and the second transmission shaft 450 drives the second joint 200 to rotate.

[0052] In some embodiments, the bearing seat 430 is connected to the first joint 100, the first transmission shaft 440 is passed through the bearing seat 430, the outer ring of the first bearing 460 is connected to the bearing seat 430, and the inner ring of the first bearing 460 is connected to the first bevel gear 410. The first bearing 460 and the bearing seat 430 can support the first bevel gear 410 to prevent the output end of the driving unit 300 from being subjected to radial pressure.

[0053] Exemplarily, the end of the first bevel gear 410 facing the first transmission shaft 440 may have a connecting section, the connecting section is a cylindrical structure, and the inner ring of the first bearing 460 may be interference fit with the outer wall of the connecting section. The bearing seat 430 has through holes penetrating along the axial ends of the first transmission shaft 440, and the outer ring of the first bearing 460 may be interference fit with the inner wall of the through hole of the bearing seat 430.

[0054] It should be noted that in the joint assembly 10 provided in the embodiment of the present application, the drive unit 300 is arranged on the main joint, the bevel gear is used for power transmission, and the output end of the drive unit 300 and the bevel gear are supported by the bearing seat 430 and the first bearing 460, thereby improving the structural reliability of the joint assembly 10. In addition, when the second joint 200 is locked relative to the first joint 100, the second joint 200 is prevented from shaking relative to the first joint 100, thereby improving the stability of the second joint 200 and the first joint 100 during relative rotation.

[0055] The axial direction of the first transmission shaft 440 is defined as the X direction, and the axial direction of the second transmission shaft 450 is defined as the Y direction.

[0056] First, the specific assembly structure of the driving unit 300 and the first bevel gear 410 and the bearing seat 430 will be described in detail below.

[0057] Please continue to refer to Figures 1 to 5 In a possible implementation, the bearing seat 430 may include a support body 431, a first baffle 432 and a second baffle 433, and the first baffle 432 and the second baffle 433 are respectively connected to the two ends of the support body 431 along the axial direction of the first transmission shaft 440. That is, the first baffle 432 and the second baffle 433 are respectively connected to the two ends of the bearing seat 430 along the X direction.

[0058] The driving unit 300 includes a motor body 310 and an output shaft 320. The motor body 310 is connected to the first baffle 432. The motor body 310 is configured to drive the output shaft 320 to rotate, and the output shaft 320 is connected to the first transmission shaft 440. A through hole is provided on the first baffle 432. The motor body 310 is located on a side of the first baffle 432 away from the support body 431. The output shaft 320 can pass through the through hole on the first baffle 432 and connect to the first transmission shaft 440.

[0059] During assembly, the motor body 310 may be mounted on the first baffle plate 432 by bolts, and then the first baffle plate 432 may be mounted on the support body 431 .

[0060] It is understandable that the output shaft 320 may be provided with a bearing, the inner ring of the bearing may be interference fit with the output shaft 320, and the outer ring of the bearing may be interference fit with the through hole on the first baffle 432. In this way, the stability and reliability of the output shaft 320 when outputting power can be improved.

[0061] In some embodiments, the second baffle 433 is at least partially disposed on the side of the first bearing 460 away from the drive unit 300. The inner wall of the support body 431 is provided with a step groove, and the first bearing 460 can be disposed in the step groove, and the outer ring of the first bearing 460 is interference fit with the step groove.

[0062] It can be understood that, during assembly, the first bearing 460 can be first assembled into the support body 431, and then the second baffle 433 can be installed to the end of the support body 431 by fasteners such as bolts, so that the second baffle 433 is blocked on the side of the first bearing 460 facing the outside of the support body 431. In this way, the first bearing 460 can be prevented from loosening or falling off from the support body 431 during the power transmission process.

[0063] Figure 6 This is a schematic diagram of the structure of the first transmission shaft in the joint assembly provided in an embodiment of the present application.

[0064] Please refer to Figures 1 to 6In some embodiments, the first transmission shaft 440 has a mounting hole 441, the output shaft 320 is at least partially inserted into the mounting hole 441, and the output shaft 320 and the first transmission shaft 440 are key-connected. A positioning hole 442 is provided on the side of the first transmission shaft 440, and a positioning pin is provided in the positioning hole 442, and the positioning pin abuts against the outer wall of the output shaft 320.

[0065] It is understandable that the first transmission shaft 440 and the output shaft 320 can be coaxially connected. The first transmission shaft 440 and the output shaft 320 can be interference fit. The mounting hole 441 is located at one end of the first transmission shaft 440 facing the drive unit 300. The inner wall of the mounting hole 441 and the outer wall of the output shaft 320 are both provided with key slots. When the first transmission shaft 440 and the output shaft 320 are assembled, the key slots on the two are opposite, and the key can be set in the key slots of the two, so that when the output shaft 320 drives the first transmission shaft 440 to rotate, the force is mainly applied by the key, thereby improving the transmission reliability.

[0066] In some embodiments, there may be a plurality of first bearings 460 , the plurality of first bearings 460 are coaxially disposed, and the plurality of first bearings 460 are sequentially arranged along the axial direction of the first transmission shaft 440 .

[0067] It can be understood that the plurality of first bearings 460 can increase the support surface for the first bevel gear 410 , thereby improving the reliability and stability of the first transmission shaft 440 and the first bevel gear 410 during rotation.

[0068] For example, adjacent first bearings 460 may be closely arranged, or there may be a gap between adjacent first bearings 460. The number of first bearings 460 may be two, three or more, which is not specifically limited in the embodiment of the present application.

[0069] In some embodiments, the first bevel gear 410 is sleeved on the outside of the first transmission shaft 440, the inner wall of the first bevel gear 410 is provided with a groove 411, and the outer wall of the first transmission shaft 440 is provided with a protrusion 443, which is located in the groove 411 and abuts against the groove wall of the groove 411.

[0070] It can be understood that when the first transmission shaft 440 drives the first bevel gear 410 to rotate, the protrusion 443 abuts against the side wall of the groove 411, that is, when the first transmission shaft 440 and the first bevel gear 410 rotate synchronously, the protrusion 443 is mainly subjected to force, thereby improving the assembly reliability between the first transmission shaft 440 and the first bevel gear 410 and avoiding relative rotation between the two.

[0071] Exemplarily, the first bevel gear 410 and the first transmission shaft 440 may be interference fit. An end plate may be provided at one end of the first bevel gear 410 away from the drive unit 300, and the end plate covers the end face of the first transmission shaft 440 and at least part of the end face of the first bevel gear 410 at the same time, and the end plate may be connected to the end face of the first transmission shaft 440 by fasteners such as bolts. The end plate can ensure that the ends of the first bevel gear 410 and the first transmission shaft 440 are flush, avoid axial stringing between the two, and improve assembly accuracy.

[0072] The specific assembly structure of the second transmission shaft 450 is described in detail below.

[0073] Figure 7 This is a schematic diagram of the structure of the second transmission shaft in the joint assembly provided in an embodiment of the present application.

[0074] Please refer to Figures 1 to 7 In one possible implementation, the second transmission shaft 450 may include a first shaft segment 451 and a second shaft segment 452, the first shaft segment 451 and the second shaft segment 452 are coaxially connected, and there is a step portion between the first shaft segment 451 and the second shaft segment 452, the second bevel gear 420 is coaxially connected to the first shaft segment 451, and the second bevel gear 420 abuts against the step portion.

[0075] It is understood that the first transmission shaft 440 extends along the Y direction, wherein the X direction may be perpendicular to the Y direction. The X direction may be a horizontal direction, and the Y direction may be a vertical direction. The first shaft section 451 is located at the top, and the second shaft section 452 is located at the bottom. The second joint 200 may be connected to the bottom of the first joint 100 along the Y direction. The diameter of the second shaft section 452 is greater than the diameter of the first shaft section 451 to form a step portion.

[0076] Exemplarily, the second bevel gear 420 has a through hole, and the outer wall of the first shaft segment 451 can be connected to the inner wall of the through hole of the second bevel gear 420. The second bevel gear 420 and the first shaft segment 451 can be interference fit.

[0077] It should be noted that the connection method between the second bevel gear 420 and the first shaft segment 451 may be the same as or similar to the connection method between the first bevel gear 410 and the first transmission shaft 440 , and will not be described in detail herein.

[0078] In some embodiments, the first joint 100 may include a joint body 110 and a support plate 120, the support plate 120 is connected to the joint body 110, and the support plate 120 is located on the side of the second bevel gear 420 away from the second shaft segment 452. The joint assembly 10 may also include a second bearing 470, the inner ring of the second bearing 470 is connected to the first shaft segment 451, and the outer ring of the second bearing 470 is connected to the support plate 120.

[0079] It is understandable that the transmission mechanism 400 can be disposed at the end of the first joint 100. The circumferential edge of the support plate 120 can be connected to the inner wall of the end of the first joint 100 by fasteners such as bolts. The support plate 120 can be interference fit with the outer ring of the second bearing 470, and the first shaft section 451 can be interference fit with the inner ring of the second bearing 470.

[0080] In some embodiments, the second transmission shaft 450 may further include a third shaft segment 453 and a connecting flange 454, wherein the third shaft segment 453 is connected to one end of the second shaft segment 452 away from the first shaft segment 451, and the connecting flange 454 is connected to one end of the third shaft segment 453 away from the second shaft segment 452. The joint assembly 10 may further include a third bearing 480, wherein the third bearing 480 is sleeved on the outer side of the third shaft segment 453, the inner ring of the third bearing 480 is connected to the connecting flange 454, and the outer ring of the third bearing 480 is connected to the joint body 110.

[0081] It is understandable that the connection flange 454 is below the third bearing 480, and the connection flange 454 can be connected to the inner ring of the third bearing 480 by fasteners such as bolts. The third bearing 480 is located in the lower accommodation groove of the joint body 110, and the outer ring of the third bearing 480 can be connected to the joint body 110 by fasteners such as bolts. The second joint 200 can be connected to the lower side of the connection flange 454 by fasteners such as bolts.

[0082] Exemplarily, the third bearing 480 may be a cross roller bearing to improve the support reliability of the second transmission shaft 450 .

[0083] In some embodiments, the joint assembly 10 may further include a brake unit 500 , the inner wall of the joint body 110 is provided with an annular protrusion 111 surrounding the second transmission shaft 450 , the brake unit 500 is sleeved on the outer side of the second shaft segment 452 , and the brake unit 500 is connected to the annular protrusion 111 .

[0084] It is understandable that there is a containing space above the annular protrusion 111, so that there is a spacing between the annular protrusion 111 and the second bevel gear 420, and the brake unit 500 can be connected above the annular protrusion 111 along the Y direction. The brake unit 500 is located between the annular protrusion 111 and the second bevel gear 420. The brake unit 500 is used to brake the second transmission shaft 450, so that when the second joint 200 rotates to the preset position required for the surgical operation, the second joint 200 can be locked relative to the first joint 100 by the brake unit 500 to prevent shaking.

[0085] Figure 8 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0086] Please refer to Figure 8 Combined with Figure 1 An embodiment of the present application provides a surgical robot, which may include a main operating robot and a slave executing robot. The main operating robot may be operated to control the slave executing robot to perform surgery, wherein both the main operating robot and the slave executing robot may be movable on the ground.

[0087] Among them, the main operating robot can be provided with an operating platform and a display device, and the medical operator can control the slave execution robot through the operating platform, and can observe the end effector of the slave execution robot through the display device and display the operation screen.

[0088] In some embodiments, the slave execution robot in the surgical robot includes a robot body 20, a mechanical arm and the joint assembly 10 in the above technical solution, and the mechanical arm is connected to the robot body 20. The mechanical arm may include multiple joints, and the joint assembly 10 may constitute part of the joints of the mechanical arm.

[0089] It should be noted that the surgical robot provided in the embodiment of the present application may include all the technical solutions and technical effects of the flexible joint assembly 10 of the above-mentioned technical solution, which will not be repeated here.

[0090] The embodiment of the present application provides a joint assembly 10 and a surgical robot, wherein the joint assembly 10 includes a first joint 100, a second joint 200, a drive unit 300 and a transmission mechanism 400; the drive unit 300 is arranged at the first joint 100; the transmission mechanism 400 includes a first bevel gear 410, a second bevel gear 420, a bearing seat 430, a first transmission shaft 440, a second transmission shaft 450 and a first bearing 460, the first transmission shaft 440 is connected to the output end of the drive unit 300, and the first bevel gear 410 is connected to the first transmission shaft 440. 0 is coaxially connected; the second bevel gear 420 is meshed with the first bevel gear 410, and the second transmission shaft 450 is coaxially connected to the second bevel gear 420; the second joint 200 is connected to the second transmission shaft 450, the bearing seat 430 is connected to the first joint 100, the first transmission shaft 440 is penetrated by the bearing seat 430, the outer ring of the first bearing 460 is connected to the bearing seat 430, and the inner ring of the first bearing 460 is connected to the first bevel gear 410, thereby improving the structural reliability of the joint assembly 10 and improving the stability of the joint assembly 10 during relative rotation.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint assembly, characterized in that: It includes a first joint, a second joint, a driving unit and a transmission mechanism; the driving unit is arranged at the first joint; the transmission mechanism includes a first bevel gear, a second bevel gear, a bearing seat, a first transmission shaft, a second transmission shaft and a first bearing, the first transmission shaft is connected to the output end of the driving unit, and the first bevel gear is coaxially connected to the first transmission shaft; The second bevel gear is meshed with the first bevel gear, the second transmission shaft is coaxially connected with the second bevel gear; the second joint is connected with the second transmission shaft; The bearing seat is connected to the first joint, the first transmission shaft is passed through the bearing seat, the outer ring of the first bearing is connected to the bearing seat, and the inner ring of the first bearing is connected to the first bevel gear.

2. The joint assembly according to claim 1, characterized in that: The bearing seat includes a supporting body, a first baffle and a second baffle, and the first baffle and the second baffle are respectively connected to the two ends of the supporting body along the axial direction of the first transmission shaft; the driving unit includes a motor body and an output shaft, the motor body is connected to the first baffle, and the motor body is configured to drive the output shaft to rotate, and the output shaft is connected to the first transmission shaft; the second baffle is at least partially blocked on the side of the first bearing away from the driving unit.

3. The joint assembly according to claim 2, characterized in that: The first transmission shaft has a mounting hole, the output shaft is at least partially inserted into the mounting hole, and the output shaft and the first transmission shaft are key-connected; a positioning hole is provided on the side of the first transmission shaft, a positioning pin is provided in the positioning hole, and the positioning pin abuts against the outer wall of the output shaft.

4. The joint assembly according to any one of claims 1 to 3, characterized in that: There are multiple first bearings, the multiple first bearings are coaxially arranged, and the multiple first bearings are arranged in sequence along the axial direction of the first transmission shaft.

5. The joint assembly according to any one of claims 1 to 3, characterized in that: The first bevel gear is sleeved on the outer side of the first transmission shaft, the inner wall of the first bevel gear is provided with a groove, the outer wall of the first transmission shaft is provided with a protrusion, the protrusion is located in the groove and abuts against the groove wall of the groove.

6. The joint assembly according to any one of claims 1 to 3, characterized in that: The second transmission shaft includes a first shaft section and a second shaft section, the first shaft section and the second shaft section are coaxially connected, a step portion is provided between the first shaft section and the second shaft section, the second bevel gear is coaxially connected to the first shaft section, and the second bevel gear abuts against the step portion.

7. The joint assembly according to claim 6, characterized in that: The first joint includes a joint body and a support plate, wherein the support plate is connected to the joint body and is located on the side of the second bevel gear away from the second shaft segment; the joint assembly also includes a second bearing, wherein the inner ring of the second bearing is connected to the first shaft segment and the outer ring of the second bearing is connected to the support plate.

8. The joint assembly according to claim 7, characterized in that: The second transmission shaft also includes a third shaft segment and a connecting flange, the third shaft segment is connected to one end of the second shaft segment away from the first shaft segment, and the connecting flange is connected to one end of the third shaft segment away from the second shaft segment; the joint assembly also includes a third bearing, the third bearing is sleeved on the outside of the third shaft segment, the inner ring of the third bearing is connected to the connecting flange, and the outer ring of the third bearing is connected to the joint body.

9. The joint assembly according to claim 7, characterized in that: The joint assembly further comprises a brake unit. The inner wall of the joint body is provided with an annular protrusion surrounding the second transmission shaft. The brake unit is sleeved on the outer side of the second shaft segment and connected to the annular protrusion.

10. A surgical robot, characterized in that: It comprises a robot body and a joint assembly as described in any one of claims 1 to 9, wherein the joint assembly is connected to the robot body.

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