Joint driving device for surgical robot

Abstract

The joint driving device for the surgical robot comprises a driving motor and a brake, the driving motor comprises a stator and a rotor, the stator is provided with a stator cavity, at least part of the rotor is located in the stator cavity, and the stator can drive the rotor to rotate through electromagnetic force; the brake is connected with the rotor, at least part of the brake is located in the stator cavity, and the brake can brake the rotor. At least part of the rotor is located in the stator cavity, so that the size occupation of the rotor in the axial direction is reduced; at least part of the rotor is located in the stator cavity, so that part of space is vacated, at least part of the brake is also located in the stator cavity after the brake is connected with the first end of the rotor, the brake and the stator share part of the axial size of the joint driving device, and therefore the occupied size of the brake in the axial direction is reduced; and therefore, the overall axial size of the joint driving device is reduced, the axial occupied space is smaller, and miniaturization design is facilitated.

Description

Technical Field

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

[0002] The continuous development of control technology has greatly improved the movement accuracy and control accuracy of the machine. Along with it comes a new revolution in the automation of medical devices. Surgical robots are one of the products of medical device revolution, serving as auxiliary equipment for doctors to perform surgery on patients.

[0003] Surgical robots need to use robotic arms to carry out surgical instruments such as scalpels and endoscopes. The robotic arms achieve multi-degree-of-freedom movements through a large number of joints, and the movements between the joints are driven by joint drive devices. However, traditional joint drive devices take up a lot of space, which is not conducive to the miniaturization of the entire robotic arm. Summary of the invention

[0004] Based on this, it is necessary to provide a joint drive device for a surgical robot that occupies a smaller axial space in order to address the problem that traditional joint drive devices occupy a large space.

[0005] The present application provides a joint driving device for a surgical robot, comprising:

[0006] A drive motor, the drive motor comprising a stator and a rotor, the stator having a stator cavity, at least a portion of the rotor being located in the stator cavity, and the stator being capable of driving the rotor to rotate by electromagnetic force;

[0007] A brake is connected to the rotor, at least a portion of the brake is located in the stator cavity, and the brake can brake the rotor.

[0008] In one embodiment, the stator cavity has a first cavity opening, the first end of the rotor is located in the stator cavity, and there is a first distance between the first end and the first cavity opening; the brake includes a friction plate, a brake seat and a brake plate, the friction plate is connected to the rotor and can rotate with the rotor, the friction plate is located in the stator cavity, the brake seat is fixedly arranged, and the brake plate is movably arranged on the brake seat, and the brake plate can move along the axial direction of the stator so as to be able to contact or separate from the friction plate.

[0009] In one embodiment, the drive motor also includes a motor shaft, the rotor is arranged on the outer periphery of the motor shaft, the rotor also has a second end opposite to the first end, the stator cavity also has a second cavity opening opposite to the first cavity opening, the second end is located in the stator cavity, and there is a second distance between the second end and the second cavity opening, and the friction plate is arranged on the motor shaft; the joint drive device also includes a reducer, which is transmission-connected to the motor shaft, the rotor is located between the reducer and the brake, and at least part of the reducer is located in the stator cavity.

[0010] In one embodiment, the reducer has an input shaft and an output shaft, a portion of the input shaft is located in the stator cavity and is drivingly connected to the motor shaft;

[0011] The input shaft has a first shaft cavity, the motor shaft has a second shaft cavity, the second shaft cavity is connected to the first shaft cavity and is coaxially arranged, the joint drive device also includes a joint shaft, the output shaft of the reducer is transmission-connected to the joint shaft, and the joint shaft is sequentially arranged in the first shaft cavity and the second shaft cavity.

[0012] In one embodiment, the motor shaft extends outside the stator cavity, and the joint shaft extends outside the second shaft cavity; the joint drive device also includes a first encoder and a second encoder, the first encoder is arranged on the motor shaft and can detect the rotational speed of the motor shaft, the second encoder is arranged on the joint shaft and can detect the rotational speed of the joint shaft, and the first encoder and the second encoder are both located on the side of the brake away from the rotor.

[0013] In one embodiment, the first encoder includes a first code disk and a first reader, the first code disk is arranged on the motor shaft and can rotate with the motor shaft, and the first reader is fixedly arranged and can read the first code disk; the second encoder includes a second code disk and a second reader, the second code disk is arranged on the joint shaft and can rotate with the joint shaft, and the second code disk is arranged on the part of the joint shaft extending outside the second shaft cavity, and the second reader is fixedly arranged and can read the second code disk.

[0014] In one embodiment, the first code disk, the second code disk and the second reader are arranged in sequence and spaced apart in the axial direction of the motor shaft, the first reader is located between the first code disk and the second reader in the axial direction of the motor shaft, and in the radial direction of the joint shaft, the first reader is located on the outer peripheral side of the second code disk and spaced apart.

[0015] In one embodiment, the drive motor also includes a motor housing, and the stator is fixed in the motor housing; the joint drive device also includes a support base fixed to the motor housing, the brake is fixed to the support base, and at least part of the brake is located in the motor housing, and the first reader and the second reader are both fixed to the support base.

[0016] In one embodiment, the support seat includes a support frame extending along the radial direction of the motor shaft, the motor shaft is inserted into the support frame and can rotate relative to the support frame, and the brake and the first encoder are respectively located on opposite sides of the support frame;

[0017] The joint driving device also includes a cover plate fixed to the support base, and the first encoder and the second encoder are both located between the cover plate and the support base.

[0018] In one embodiment, the rotor includes a plurality of circumferentially arranged magnets, and the joint drive device also includes a Hall component, which is disposed on the inner wall of the stator cavity, and the position of the Hall component corresponds to the rotor in the radial direction of the rotor, and the Hall component can sense the magnets to detect the rotation speed and / or direction of the rotor.

[0019] In the joint drive device for the surgical robot, since at least part of the rotor is located in the stator cavity, the axial size occupied by the rotor is reduced; at the same time, since at least part of the rotor is located in the stator cavity, part of the space is freed up, so that after the brake is connected to the first end of the rotor, at least part of the brake is also located in the stator cavity. Compared with the case where the brake is completely arranged outside the stator cavity, the brake and the stator share part of the axial size of the joint drive device, thereby reducing the axial size occupied by the brake, thereby reducing the overall axial size of the joint drive device, and occupying less space in the axial direction, so as to facilitate miniaturization design. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of a joint driving device for a surgical robot according to an embodiment of the present application.

[0021] Figure 2 for Figure 1 AA cross-sectional view of a joint driving device for a surgical robot in the illustrated embodiment.

[0022] Figure 3 for Figure 1 A structural diagram of a joint drive device for a surgical robot in the illustrated embodiment.

[0023] Figure 4 for Figure 1Another cross-sectional view of the joint drive device for a surgical robot in the illustrated embodiment.

[0024] Figure 5 for Figure 1 An exploded view of a joint drive device for a surgical robot in the illustrated embodiment.

[0025] Figure 6 for Figure 1 An exploded view of the joint shaft, drive motor and brake in the illustrated embodiment.

[0026] Figure 7 for Figure 1 An assembly diagram of the support base, the first encoder and the second encoder in the illustrated embodiment.

[0027] Figure 8 for Figure 7 An exploded view of the support base, the first encoder and the second encoder in the illustrated embodiment.

[0028] Figure Number:

[0029] 1000, joint shaft; 2000, reducer; 3000, drive motor; 4000, brake; 6000, motor shaft; 7000, input shaft; 8000, support seat; 9000, cover plate; 2100, rigid wheel adapter plate; 2200, flexible wheel adapter plate; 2300, skeleton oil seal; 2400, wave generator; 3100, motor housing; 3200, rotating shaft; 3300, rotor; 3400, stator; 3500, Hall element; 3300a, first end; 3300b, second end; 34 00a, stator cavity; 3400a1, first cavity opening; 3400a2, second cavity opening; 4100, brake seat; 4200, friction plate; 4300, brake plate; 5100, first code disc seat; 5200, first code disc; 5300, second code disc seat; 5400, second code disc; 5500, first reader; 5600, second reader; 6000a, second shaft cavity; 7000a, first shaft cavity; 8100, support frame; 8200, first component; 8300, second component; 9100, wire sleeve. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0036] This embodiment provides a joint drive device for a surgical robot. The surgical robot includes a robotic arm. The robotic arm includes a plurality of joint arms connected in series. The joint drive device is used to be arranged between two adjacent joint arms to drive the joint arms to swing, thereby realizing the movement of the robotic arm.

[0037] See also Figures 1 to 4 The joint driving device for the surgical robot includes a driving motor 3000 and a brake 4000. The driving motor 3000 includes a stator 3400 and a rotor 3300. The stator 3400 is fixedly arranged. The stator 3400 has a stator cavity 3400a. At least part of the rotor 3300 is located in the stator cavity 3400a. The stator cavity 3400a is opened through the axial direction of the stator 3400. The rotor 3300 is extended along the axial direction of the stator 3400. Figure 5 As shown, the rotor 3300 has a first end 3300a and a second end 3300b, and the first end 3300a and the second end 3300b are two ends of the rotor 3300 that are opposite in the axial direction. The first end 3300a of the rotor 3300 is located in the stator cavity 3400a. The stator 3400 can drive the rotor 3300 to rotate by electromagnetic force. The brake 4000 is connected to the rotor 3300, for example, connected to the first end 3300a, and at least part of the brake 4000 is located in the stator cavity 3400a, and the brake 4000 can brake the rotor 3300.

[0038] It can be seen that the driving of the joint driving device relies on the stator 3400 driving the rotor 3300 through electromagnetic force, so that the rotor 3300 can provide driving force outward by rotating. At the same time, the brake 4000 is connected to the rotor 3300, and the function of the brake 4000 is to brake the rotor 3300.

[0039] In the joint driving device for a surgical robot, since at least part of the rotor 3300 is located in the stator cavity 3400a of the stator 3400, the axial size occupied by the first end 3300a of the rotor 3300 is reduced, so that the joint driving device has a smaller axial size.

[0040] At the same time, since at least part of the rotor 3300 is retracted into the stator cavity 3400a, space is freed up for the brake 4000 to occupy; the brake 4000 is connected to the rotor 3300, and at least part of the brake 4000 is also located in the stator cavity 3400a. Therefore, compared with the case where the brake 4000 is completely arranged outside the stator cavity 3400a, the brake 4000 and the stator 3400 share part of the axial dimension, thereby further reducing the axial dimension occupied by the brake 4000, thereby reducing the overall axial dimension of the joint device and occupying a smaller axial space, so as to facilitate miniaturization design.

[0041] Continue reading Figure 5 As shown, in one embodiment, the stator cavity 3400a has a first cavity opening 3400a1 and a second cavity opening 3400a2 opposite to each other. Figure 2 and Figure 5 As shown, the first end 3300a is located between the first cavity 3400a1 and the second cavity 3400a2. There is a first distance between the first end 3300a and the first cavity 3400a1, so that the first end 3300a of the rotor 3300 is retracted toward the inner side of the stator cavity 3400a, and space is vacated in the axial direction. The brake 4000 includes a friction plate 4200, a brake seat 4100 and a brake plate 4300. The friction plate 4200 is connected to the rotor 3300 and can rotate with the rotor 3300. The friction plate 4200 is located in the stator cavity 3400a. For example, the friction plate 4200 is located between the first end 3300a and the first cavity 3400a1. The brake seat 4100 is fixedly arranged, and the brake plate 4300 is movably arranged on the brake seat 4100. The brake plate 4300 can move along the axial direction of the stator 3400 so as to be able to contact or separate from the friction plate 4200.

[0042] When the brake 4000 is in a powered-on state, the brake plate 4300 is separated from the friction plate 4200, and the friction plate 4200 rotates with the rotor 3300; when the brake 4000 is in a powered-off state, the brake plate 4300 moves toward the friction plate 4200 relative to the brake seat 4100 and contacts the friction plate 4200 to generate a friction force, so that the friction plate 4200 cannot rotate, thereby realizing the braking function of the brake 4000 on the rotor 3300 or the drive motor 3000.

[0043] The first end 3300a is located between the first cavity opening 3400a1 and the second cavity opening 3400a2, which is equivalent to the first end 3300a of the rotor 3300 retracting from the outside of the stator cavity 3400a to the inside of the stator cavity 3400a, so that a part of the space of the stator cavity 3400a in the axial direction can be vacated, and this vacated part of the space is used to accommodate at least a part of the brake 4000. The friction plate 4200 of the brake 4000 is arranged in this space to effectively reduce the space occupied by the brake 4000 in the axial direction.

[0044] like Figure 2 As shown, the friction plate 4200 and the brake plate 4300 are both located inside the stator cavity 3400a, a portion of the brake seat 4100 is located inside the stator cavity 3400a, and the other portion is located outside the stator cavity 3400a, thereby shortening the axial dimension of the joint drive device compared to the case where the brake 4000 is located outside the stator cavity 3400a or the case where only the friction plate 4200 is located inside the stator cavity 3400a and the rest are located outside the stator cavity 3400a.

[0045] In one embodiment, Figure 2 , Figure 4 and Figure 5 As shown, the drive motor 3000 further includes a motor shaft 6000, a rotor 3300 is disposed on the outer periphery of the motor shaft 6000, the rotor 3300 has a second end 3300b opposite to the first end 3300a, and a second distance is provided between the second end 3300b and the second cavity 3400a2. For example, the second end 3300b is located between the first cavity 3400a1 and the second cavity 3400a2, and the friction plate 4200 is disposed on the motor shaft 6000.

[0046] Since the second end 3300b of the rotor 3300 is also located between the first cavity opening 3400a1 and the second cavity opening 3400a2, the entire axial length of the rotor 3300 is located inside the stator cavity 3400a. The rotor 3300 does not occupy any additional axial dimension, and the interior of the stator cavity 3400a is comprehensively utilized for layout, which greatly shortens the axial space occupied by the drive motor 3000, thereby effectively reducing the axial dimension of the overall assembly structure of the joint drive device.

[0047] Figure 2In the illustrated embodiment, the friction plate 4200 is located in the stator cavity 3400a, while the brake plate 4300 is approximately located outside the stator cavity 3400a or just at the first cavity opening 3400a1 of the stator cavity 3400a, and a portion of the brake seat 4100 is located in the stator cavity 3400a, so that the friction plate 4100 can be rotatably mounted on the brake seat 4100 and sleeved on the motor shaft 6000 and rotate with the motor shaft 6000. In other embodiments, the brake plate 4300 may also be located in the stator cavity 3400a, the brake plate 4300 may be located on a side of the friction plate 4200 close to the first cavity opening 3400a1 or on a side away from the first cavity opening 3400a1, and the brake plate 4300 does not rotate with the motor shaft 6000, and has a through hole for the motor shaft 6000 to pass through without interference, which will not be described in detail.

[0048] In one embodiment, Figures 1 to 5 As shown, the joint driving device for the surgical robot may also include a reducer 2000, which is transmission-connected to the motor shaft 6000, the rotor 3300 is located between the reducer 2000 and the brake 4000, and at least a portion of the reducer 2000 is located in the stator cavity 3400a.

[0049] like Figure 2 or Figure 5 As shown, since the reducer 2000 and the brake 4000 are located on opposite sides of the rotor 3300, and the second end 3300b of the rotor 3300 is retracted toward the stator cavity 3400a, part of the structure of the reducer 2000 can be arranged using the space in the stator cavity 3400a and connected to the motor shaft 6000, thereby shortening the space occupied by the reducer 2000 in the axial direction.

[0050] like Figure 5 As shown, compared with the conventional structure in which both ends of the rotor 3300 extend out of the stator cavity 3400a, in this embodiment, the first end 3300a of the rotor 3300 is retracted toward the stator cavity 3400a, thereby leaving part of the space in the axial direction for at least a part of the brake 4000 to occupy; and the second end 3300b of the rotor 3300 is also retracted toward the stator cavity 3400a, thereby leaving part of the space in the axial direction for at least a part of the reducer 2000 to occupy, thereby comprehensively reducing the axial occupied space of the joint drive device.

[0051] In one embodiment, the driving motor 3000 further includes a rotating shaft 3200, which is sleeved and fixed on the outer circumference of the motor shaft 6000, and the rotor 3300 is disposed on the outer circumference of the rotating shaft 3200. The rotating shaft 3200 is equivalent to a mounting seat for mounting the rotor 3300, and when the stator 3400 drives the rotor 3300 to rotate, the rotor 3300, the rotating shaft 3200 and the motor shaft 6000 rotate synchronously.

[0052] In one embodiment, Figure 2 As shown, the reducer 2000 has an input shaft 7000 and an output shaft (not shown), a portion of the input shaft 7000 is located in the stator cavity 3400a and is in transmission connection with the motor shaft 6000, so that a portion of the reducer 2000 is arranged in the stator cavity 3400a of the drive motor 3000, reducing the occupation of the axial space. Figure 2 and Figure 5 As shown, the input shaft 7000 has a first shaft cavity 7000a, and the motor shaft 6000 has a second shaft cavity 6000a, and the second shaft cavity 6000a is connected to the first shaft cavity 7000a and is coaxially arranged. The joint drive device may also include a joint shaft 1000, and the output shaft of the reducer 2000 is transmission-connected to the joint shaft 1000, and the joint shaft 1000 is sequentially arranged in the first shaft cavity 7000a and the second shaft cavity 6000a.

[0053] The rotor 3300 rotates and drives the motor shaft 6000 to rotate, and the motor shaft 6000 transmits the rotational power to the reducer 2000 through the input shaft 7000. The reducer 2000 outputs the power to the joint shaft 1000 through the output shaft after the reduction process. The joint shaft 1000 is the output part of the joint drive device, and the rotation speed of the joint shaft 1000 is the output rotation speed of the joint drive device.

[0054] like Figure 2 As shown, after the joint shaft 1000 is connected to the output shaft of the reducer 2000 by transmission, the joint shaft 1000 passes through the input shaft 7000 of the reducer 2000 and the motor shaft 6000 of the drive motor 3000 in sequence, thereby utilizing the axial space of the reducer 2000 and the drive motor 3000 to arrange the joint shaft 1000, thereby reducing the axial space occupied by the entire joint drive device.

[0055] like Figure 2 As shown, the output shaft of the reducer 2000 is located on the side of the reducer 2000 away from the drive motor 3000, the joint shaft 1000 is transmission-connected to the output shaft of the reducer 2000, and the joint shaft 1000 extends toward the side close to the drive motor 3000 and passes through the reducer 2000 and the drive motor 3000 to make the structure more compact and reduce the axial space occupied.

[0056] like Figure 2As shown, the reducer 2000 has a wave generator 2400, a flexspline, a flexspline adapter plate 2200, a rigid wheel, a rigid wheel adapter plate 2100, and a skeleton oil seal 2300. The flexspline adapter plate 2200 is fixed to the motor housing 3100 of the drive motor 3000, and the flexspline is fixed to the flexspline adapter plate 2200. The rigid wheel adapter plate 2100 is equivalent to the output shaft or output part of the reducer 2000, and can be fixed to the joint shaft 1000 by means of screws, etc., and the rigid wheel is arranged on the rigid wheel adapter plate 2100. The wave generator 2400 is connected to the flexible wheel and the rigid wheel respectively, and the flexible wheel, the rigid wheel, the flexible wheel adapter plate 2200 and the rigid wheel adapter plate 2100 are all rotatably sleeved on the outer periphery of the input shaft 7000 through bearings. The skeleton oil seal 2300 is arranged between the rigid wheel adapter plate 2100 and the input shaft 7000 to achieve grease sealing. Of course, it can also be arranged between the flexible wheel adapter plate 2200 and the input shaft 7000 to achieve grease sealing. Of course, the sealing between the various components in the reducer 2000 is not limited to being carried out by means of skeleton oil seals, sealing rings, etc. In one embodiment, the rigid wheel adapter plate 2100 can serve as the output shaft of the reducer 2000.

[0057] In one embodiment, Figure 2 As shown, both axial ends of the rotating shaft 3200 are located in the stator cavity 3400a, the rotating shaft 3200 has a circumferentially extending surface, and the rotor 3300 is arranged around the circumferentially extending surface of the rotating shaft 3200. One end of the motor shaft 6000 is located in the stator cavity 3400a and is fixed to the input shaft 7000 extending into the stator cavity 3400a, for example, by screws, and the other end of the motor shaft 6000 extends out of the stator cavity 3400a.

[0058] Optionally, the portion of the motor shaft 6000 located in the stator cavity 3400a is provided with at least one limit table, and the friction plate 4200 of the brake 4000 has a first through hole for the motor shaft 6000 to pass through, and the hole wall of the first through hole has a mating surface matching the aforementioned limit table, so that after the friction plate 4200 is sleeved on the motor shaft 6000, the limit table cooperates with the mating surface to limit the circumferential movement of the friction plate 4200 relative to the motor shaft 6000, so that the friction plate 4200 can rotate synchronously with the motor shaft 6000 when the motor shaft 6000 rotates.

[0059] In one embodiment, Figure 2 and Figure 4 As shown, the motor shaft 6000 extends to the outside of the stator cavity 3400a, and the joint shaft 1000 extends to the outside of the second shaft cavity 6000a. Figure 2As shown, the joint shaft 1000 is inserted through the reducer 2000 and the motor shaft 6000 of the driving motor 3000. The joint driving device for the surgical robot also includes a first encoder and a second encoder, the first encoder is arranged on the motor shaft 6000 and can detect the rotation speed of the motor shaft 6000, the second encoder is arranged on the joint shaft 1000 and can detect the rotation speed of the joint shaft 1000, and the first encoder and the second encoder are both located on the side of the brake 4000 away from the rotor 3300.

[0060] The first encoder and the second encoder respectively detect the rotational speed of the motor shaft 6000 and the rotational speed of the joint shaft 1000, so as to determine whether the output rotational speed of the drive motor 3000 and the output rotational speed of the joint drive device are in line with expectations. If not, adjustment may be required or determination may be made as to whether a fault has occurred, so as to ensure normal production.

[0061] In one embodiment, Figure 2 and Figure 5 As shown, the first encoder includes a first code disc 5200 and a first reading head 5500. The first code disc 5200 is arranged on the motor shaft 6000 and can rotate with the motor shaft 6000. The first reading head 5500 is fixedly arranged and can read the first code disc 5200 to obtain the rotation speed of the motor shaft 6000. The second encoder includes a second code disc 5400 and a second reading head 5600. The second code disc 5400 is arranged on the joint shaft 1000 and can rotate with the joint shaft 1000. The second code disc 5400 is arranged on the part of the joint shaft 1000 extending outside the second shaft cavity 6000a. The second reading head 5600 is fixedly arranged and can read the second code disc 5400 to obtain the rotation speed of the joint shaft 1000.

[0062] The motor shaft 6000 extends outside the stator cavity 3400a, creating the premise and conditions for the first code disk 5200 of the first encoder to be arranged on the motor shaft 6000; at the same time, the joint shaft 1000 extends outside the second shaft cavity 6000a, creating the premise and conditions for the second code disk 5400 of the second encoder to be arranged on the joint shaft 1000, thereby realizing the specific arrangement of the first encoder and the second encoder.

[0063] In one embodiment, Figure 2 and Figure 4 As shown, the first encoder may further include a first code wheel seat 5100, and the second encoder may further include a second code wheel seat 5300, wherein the first code wheel 5200 may be fixed to the first code wheel seat 5100 by, for example, bonding, and the second code wheel 5400 may be fixed to the second code wheel seat 5300 by, for example, bonding.

[0064] In one embodiment, the first code disc seat 5100 may have a circumferential first ring structure, so that the first ring structure is fixedly sleeved to the outer periphery of the motor shaft 6000 by screws, so as to achieve the fixation of the first code disc seat 5100 and the motor shaft 6000. Similarly, the second code disc seat 5300 may have a circumferential second ring structure, so that the second ring structure is fixedly sleeved to the outer periphery of the joint shaft 1000 by screws, so as to achieve the fixation of the second code disc seat 5300 and the joint shaft 1000.

[0065] Optionally, the first code wheel 5200 and the second code wheel 5400 are both annular code wheels.

[0066] In one embodiment, Figure 2 As shown, the first code disc 5200, the second code disc 5400 and the second reader 5600 are arranged in sequence and spaced apart in the axial direction of the motor shaft 6000, the first reader 5500 is located between the first code disc 5200 and the second reader 5600 in the axial direction of the motor shaft 6000, and the first reader 5500 is also arranged in the radial direction of the joint shaft 1000, and the first reader 5500 is located on the outer peripheral side of the second code disc 5400 and is arranged at intervals.

[0067] In a traditional structure, encoders are usually stacked and occupy independent axial spaces, resulting in more axial space. In this embodiment, the first encoder and the second encoder share part of the axial space, so that the overall space occupied by the encoder is reduced. Specifically, the first reader 5500 of the first encoder and the second code disk 5400 of the second encoder are staggered in the radial direction, so as to share the axial space, and the joint shaft 1000 extends to the outside of the motor shaft 6000, which provides conditions and prerequisites for the second code disk 5400 to be radially arranged on the radial inner side of the first reader 5500, and because the first reader 5500 and the second code disk 5400 are spaced apart in the radial direction, when the second code disk 5400 rotates with the joint shaft, the fixed first reader 5400 will not interfere with the rotation of the second code disk 5400.

[0068] In one embodiment, Figure 4 , Figure 5 and Figure 7 As shown, the driving motor 3000 further includes a motor housing 3100, and the stator 3400 is fixed in the motor housing 3100. The joint driving device further includes a support base 8000 fixed to the motor housing 3100, the brake 4000 is fixed to the support base 8000, and at least part of the brake 4000 is located in the motor housing 3100, and the first reading head 5500 and the second reading head 5600 are both fixed to the support base 8000.

[0069] The motor housing 3100 is used as a component for fixing the stator 3400 and protecting internal components such as the stator 3400 and the rotor 3300. The support seat 8000 is used to provide installation and fixation for the first encoder and the second encoder so that the drive motor 3000 and the first encoder and the second encoder form an integral structure.

[0070] The support base 8000 can be an integral structure or a plurality of annular or non-annular shell structures fixed together to respectively meet the fixing requirements of the first reader 5500 and the second reader 5600. The support base 8000 can be separated from the motor housing 3100 or an integral structure, which will not be described in detail.

[0071] In one embodiment, Figure 2 , Figure 7 and Figure 8 As shown, the support seat 8000 includes a support frame 8100 extending radially along the motor shaft 6000, the motor shaft 6000 is penetrated by the support frame 8100 and can rotate relative to the support frame 8100, and the brake 4000 and the first encoder are respectively assembled on opposite sides of the support frame 8100.

[0072] like Figure 2 As shown, the support frame 8100 is a part of the support seat 8000, which extends along the radial direction of the motor shaft 6000 and forms an annular structure. The motor shaft 6000 is arranged on the support frame 8100. When the motor shaft 6000 rotates, the support frame 8100 will not interfere with the rotation of the motor shaft 6000. The brake 4000 is fixed to one side of the support frame 8100, for example, the brake seat 4100 of the brake 4000 is fixed to the support frame 8100, and the first encoder is located on the other side of the support frame 8100. When the first code disk 5200 of the first encoder rotates with the motor shaft 6000, the support frame 8100 will also not interfere with the rotation of the first code disk 5200.

[0073] In one embodiment, the support base 8000 also includes a first component 8200 and a second component 8300. The first component 8200 is fixed to the support frame 8100, and the second component 8300 is fixed to the first component 8200. The first reading head 5500 is fixed to the first component 8200, and the second reading head 5600 is fixed to the second component 8300. This arrangement is used to complete the fixed setting of the first reading head 5500 and the second reading head 5600.

[0074] Optionally, the support frame 8100, the first component 8200 and the second component 8300 may be an integral structure.

[0075] Optionally, the first component 8200 and the second component 8200 may be annular structures or non-annular arc-shaped components.

[0076] In one embodiment, Figure 2 and Figure 5 The joint driving device for the surgical robot also includes a cover plate 9000 fixed to the support base 8000 , and the first encoder and the second encoder are both located between the cover plate 9000 and the support frame 8100 .

[0077] The cover plate 9000 and the support base 8000 cooperate together to form a whole, and the drive motor 3000, the first encoder and the second encoder are arranged inside the whole to protect the drive motor 3000, the first encoder and the second encoder.

[0078] Alternatively, if Figure 2 As shown, the cover plate 9000 is fixed to the support frame 8100, and the cover plate 9000 has a second through hole coaxial with the motor shaft 6000, so that a wire sleeve 9100 is sleeved on the cover plate 9000 through the second through hole to facilitate the routing of the joint drive device. Figure 2 As shown, the motor shaft 6000 is a hollow shaft, and there is a gap between the end of the motor shaft 6000 and the wire sleeve 9100. The cables of the joint driving device can be routed through the wire sleeve 9100 and the shaft cavity of the motor shaft 6000 to save space.

[0079] In one embodiment, Figure 5 As shown, the rotor 3300 includes a plurality of circumferentially arranged magnets. The joint drive device for the surgical robot also includes a Hall component, which is disposed on the inner wall of the stator cavity 3400a. The position of the Hall component corresponds to the rotor 3300 in the radial direction of the rotor 3300. The Hall component can sense the magnets to detect the rotation speed and / or direction of the rotor 3300.

[0080] The Hall assembly cooperates with the plurality of magnets of the rotor 3300 to detect the rotation speed and / or direction of the rotor 3300. The plurality of magnets may be arranged in an interval or non-interval manner along the circumferential direction.

[0081] The position of the Hall component corresponds to the radial direction of the rotor 3300 , which means that when the magnet of the rotor 3300 rotates under the action of the stator 3400 , the position of the Hall component can enable the Hall component to sense the magnet to measure the rotation speed and / or direction of the rotor 3300 .

[0082] For example, the Hall component can be used only to detect the rotation speed of the rotor 3300 to obtain the output rotation speed of the drive motor 3000. In other embodiments, the Hall component can also be used only to detect the direction of the rotor 3300, such as the direction detection at startup to perform steering control. Of course, the Hall component can also detect the direction of the rotor 3300 at startup and the rotation speed of the rotor 3300 during the rotation operation after startup.

[0083] In addition, theoretically, the speed of the motor shaft 6000 detected by the first encoder should be equal to the speed of the rotor 3300. Therefore, by comparing whether the speed detected by the first encoder is equal to the speed detected by the Hall component, it can be determined whether the joint drive device has a fault to ensure safety. Since the Hall component detects the direct speed of the rotor 3300, unless the drive motor 3000 fails, the speed of the rotor 3300 detected by the Hall component is reliable, and the speed detected by the first encoder is the speed of the rotor 3300 after being transferred through components such as the motor shaft 6000, and the relative reliability will be reduced. Therefore, if a fault occurs, it is highly likely that the speed obtained by the first encoder will be distorted. At this time, the Hall component can be enabled to detect the speed of the rotor 3300 as a backup for the speed.

[0084] In one embodiment, a controller is further included, the controller is electrically connected to the first encoder and the Hall assembly, and the controller can compare the first speed signal output by the first encoder with the second speed signal output by the Hall assembly. When the first speed signal and the second speed signal are not equal or the difference exceeds expectations, the controller sends an alarm signal.

[0085] In one embodiment, Figure 5 As shown, the Hall assembly includes at least three Hall elements 3500, all of which are located in the radial projection area of ​​the magnet of the rotor 3300, so that the rotation speed and / or direction of the rotor 3300 can be detected by induction with the magnet. The magnet can be a magnetic sheet, a magnetic block, etc.

[0086] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A joint driving device for a surgical robot, characterized in that: include: A drive motor, the drive motor comprising a stator and a rotor, the stator having a stator cavity, at least a portion of the rotor being located in the stator cavity, and the stator being capable of driving the rotor to rotate by electromagnetic force; A brake is connected to the rotor, at least a portion of the brake is located in the stator cavity, and the brake can brake the rotor.

2. The joint driving device for a surgical robot according to claim 1, characterized in that: The stator cavity has a first cavity opening, the first end of the rotor is located in the stator cavity, and a first distance is provided between the first end and the first cavity opening; the brake comprises a friction plate, a brake seat and a brake plate, the friction plate is connected to the rotor and can rotate with the rotor, the friction plate is located in the stator cavity, the brake seat is fixedly arranged, the brake plate is movably arranged on the brake seat, and the brake plate can move along the axial direction of the stator so as to be able to contact or separate from the friction plate.

3. The joint driving device for a surgical robot according to claim 2, characterized in that: The drive motor also includes a motor shaft, the rotor is arranged on the outer periphery of the motor shaft, the rotor also has a second end opposite to the first end, the stator cavity also has a second cavity opening opposite to the first cavity opening, the second end is located in the stator cavity, and there is a second distance between the second end and the second cavity opening, and the friction plate is arranged on the motor shaft; the joint drive device also includes a reducer, which is transmission-connected to the motor shaft, the rotor is located between the reducer and the brake, and at least part of the reducer is located in the stator cavity.

4. The joint driving device for a surgical robot according to claim 3, characterized in that: The reducer has an input shaft and an output shaft, a portion of the input shaft is located in the stator cavity and is drivingly connected to the motor shaft; The input shaft has a first shaft cavity, the motor shaft has a second shaft cavity, the second shaft cavity is connected to the first shaft cavity and is coaxially arranged, the joint drive device also includes a joint shaft, the output shaft of the reducer is transmission-connected to the joint shaft, and the joint shaft is sequentially arranged in the first shaft cavity and the second shaft cavity.

5. The joint driving device for a surgical robot according to claim 4, characterized in that: The motor shaft extends outside the stator cavity, and the joint shaft extends outside the second shaft cavity; the joint drive device also includes a first encoder and a second encoder, the first encoder is arranged on the motor shaft and can detect the rotational speed of the motor shaft, the second encoder is arranged on the joint shaft and can detect the rotational speed of the joint shaft, and the first encoder and the second encoder are both located on the side of the brake away from the rotor.

6. The joint driving device for a surgical robot according to claim 5, characterized in that: The first encoder includes a first code disk and a first reader, the first code disk is arranged on the motor shaft and can rotate with the motor shaft, and the first reader is fixedly arranged and can read the first code disk; the second encoder includes a second code disk and a second reader, the second code disk is arranged on the joint shaft and can rotate with the joint shaft, and the second code disk is arranged on the part of the joint shaft extending outside the second shaft cavity, and the second reader is fixedly arranged and can read the second code disk.

7. The joint driving device for a surgical robot according to claim 6, characterized in that: The first code disk, the second code disk and the second reader are arranged in sequence at intervals in the axial direction of the motor shaft. The first reader is located between the first code disk and the second reader in the axial direction of the motor shaft, and in the radial direction of the joint shaft, the first reader is located on the outer peripheral side of the second code disk and arranged at intervals.

8. The joint driving device for a surgical robot according to claim 7, characterized in that: The driving motor also includes a motor housing, and the stator is fixed in the motor housing; the joint driving device also includes a support base fixed to the motor housing, the brake is fixed to the support base, and at least part of the brake is located in the motor housing, and the first reader and the second reader are both fixed to the support base.

9. The joint driving device for a surgical robot according to claim 8, characterized in that: The support seat comprises a support frame extending in the radial direction of the motor shaft, the motor shaft is passed through the support frame and can rotate relative to the support frame, and the brake and the first encoder are respectively located on opposite sides of the support frame; The joint driving device also includes a cover plate fixed to the support base, and the first encoder and the second encoder are both located between the cover plate and the support base.

10. The joint driving device for a surgical robot according to any one of claims 1 to 9, characterized in that: The rotor includes a plurality of circumferentially arranged magnets, and the joint drive device also includes a Hall component, which is disposed on the inner wall of the stator cavity, and the position of the Hall component corresponds to the rotor in the radial direction of the rotor. The Hall component can sense the magnets to detect the rotation speed and / or direction of the rotor.

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