Rotating device and surgical robot
By cooperating the first and second protrusions in the limiting assembly, the problem of difficulty and high cost of adjusting the rotation angle of the surgical robot robot arm is solved, and the effect of simplifying operation and reducing costs is achieved.
Patent Information
- Application Number
- CN202422007209.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-16
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-08-16
AI Technical Summary
When adjusting the rotatable angle of the robot arm, existing surgical robots are difficult and costly to operate, and need to replace the limit block and limit seat.
Using a limiting assembly, including a plurality of first and second projections, limiting the rotation angle by cooperating with each other, simplifying the operation steps and reducing the cost of replacing parts.
The adjustment steps of the robotic arm rotation angle are simplified, the cost of replacing parts is reduced, and the efficiency and reliability of surgical robots are improved.
Smart Images
Figure CN223263008U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical devices, and in particular to a rotating device and a surgical robot. Background Art
[0002] With the development of surgical robots, doctors can control the robotic arm through the main control device to perform related surgical operations, which can achieve precise operations and improve the safety and success rate of the operation. Existing surgical robots require the robotic arm to have multiple motion directions, such as moving, rotating, lifting, etc.
[0003] In related technologies, surgical robots use a rotatable base to rotate their robotic arms. To precisely control the arm's rotation angle, a rotation-limiting block and a stopper are typically installed between the arm and the base. The block and stopper are secured together with screws, creating a cavity within which the block can move.
[0004] However, when adjusting the rotatable angle of the robotic arm of the above-mentioned surgical robot, the limit block and the limit seat need to be replaced, which is difficult to operate and has high costs. Utility Model Content
[0005] The embodiments of the present application provide a rotating device and a surgical robot, which can reduce the difficulty of operation and reduce costs when the surgical robot adjusts the rotatable angle of the robotic arm.
[0006] In a first aspect, an embodiment of the present application provides a rotating device, comprising:
[0007] case;
[0008] A driver is disposed in the housing, and the driver has a rotatable drive shaft;
[0009] a rotating platform, one end of which is connected to the driving shaft and is disposed close to the housing, wherein the driving shaft is used to drive the rotating platform to rotate; and
[0010] A limiting assembly includes a first protrusion and a second protrusion, wherein the first protrusions are multiple and arranged at intervals, and the second protrusion is located between any two adjacent first protrusions;
[0011] The first protrusion is located on one of the shell and the rotating platform, and the second protrusion is located on the other of the shell and the rotating platform.
[0012] In a possible implementation manner, along the rotation axis of the rotation platform, the rotation platform is detachably connected to the driver, and the second protrusion is movably disposed between any two adjacent first protrusions.
[0013] In a possible implementation manner, the distance between any two adjacent first protrusions is different.
[0014] In a possible implementation, along the rotation direction of the rotating platform, the distance between any two adjacent first protrusions increases or decreases sequentially.
[0015] In a possible implementation, there are two limit assemblies, and the two limit assemblies are centrally symmetrical along the rotation axis of the rotating platform.
[0016] In a possible implementation, the rotating platform includes a platform body and a rotating shaft;
[0017] One end of the rotating shaft is connected to the platform body, and the other end is connected to the driving shaft;
[0018] The limiting components are distributed along the rotation direction of the rotating platform.
[0019] In a possible embodiment, the plurality of first protrusions are all provided on the platform body and are located on the same side of the platform body as the rotation axis, and the plurality of first protrusions are spaced apart from the rotation axis.
[0020] The second protrusion is arranged on the outer circumference of the shell.
[0021] In a possible embodiment, a plurality of first protrusions are arranged at intervals on the outer circumference of the shell;
[0022] The second protrusion is arranged on the platform body and is located on the same side of the platform body as the rotation axis. The second protrusion and the rotation axis are arranged at an interval.
[0023] In a possible implementation manner, the connecting lines between two adjacent first protrusions and the rotation axis of the rotating platform are respectively a first connecting line and a second connecting line;
[0024] The angle between the first connecting line and the second connecting line ranges from 25° to 35°.
[0025] In a second aspect, an embodiment of the present application provides a surgical robot, comprising a lifting device, a robotic arm, and the aforementioned rotating device;
[0026] The output end of the lifting device is connected to the fixed end of the rotating device, and the lifting device is used to drive the rotating device to move up and down;
[0027] The fixed end of the rotating device is connected to the mechanical arm, and the rotating device is used to drive the mechanical arm to rotate.
[0028] The rotation device and surgical robot provided in the embodiments of the present application can solve the problem in the related art that the limit block and limit seat need to be replaced to adjust the rotation angle of the robotic arm. Angle limitation is achieved through a limit assembly. The limit assembly includes a plurality of first protrusions and a second protrusion, which limit the rotation angle by cooperating with each other. By respectively arranging the first protrusion and the second protrusion on the housing and the rotating platform, the effective operation of the limit assembly is achieved. In this way, not only the operating steps are simplified, but also the cost of replacing parts is reduced, and the efficiency and reliability of the surgical robot are improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the implementation methods in the embodiments of the present application or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technology descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0030] Figure 1 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application;
[0031] Figure 2 A schematic diagram of the structure of a rotating device of a surgical robot provided in an embodiment of the present application;
[0032] Figure 3 A schematic diagram of a first structure of the housing of the rotating device of the surgical robot provided in an embodiment of the present application;
[0033] Figure 4 A schematic diagram of the structure of the rotating platform of the rotating device of the surgical robot provided in an embodiment of the present application;
[0034] Figure 5 A schematic diagram of the structure of the rotating platform of the rotating device of the surgical robot provided in an embodiment of the present application from a bottom view;
[0035] Figure 6 A second structural schematic diagram of the housing of the rotating device of the surgical robot provided in an embodiment of the present application;
[0036] Figure 7 This is a schematic top view of the structure of the housing and driver of the rotating device of the surgical robot provided in an embodiment of the present application.
[0037] Description of reference numerals:
[0038] 10-surgical robot; A-rotation axis; B-first connecting line; C-second connecting line;
[0039] 100-rotating device;
[0040] 110-housing;
[0041] 120-Driver;
[0042] 130-rotating platform; 131-platform body; 132-rotating axis;
[0043] 140-limiting assembly; 141-first protrusion; 142-second protrusion;
[0044] 200-lifting device;
[0045] 300-Robotic Arm.
[0046] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION
[0047] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, not all of the embodiments.
[0048] It should be noted that the brief descriptions of terms in this application are only for the purpose of facilitating the understanding of the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.
[0049] In addition, the terms "comprises" and "comprising" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to those components expressly listed but may include other components not expressly listed or inherent to such product or device.
[0050] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.
[0051] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.
[0052] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.
[0053] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0054] Reference Figure 1 In a first aspect, an embodiment of the present application provides a surgical robot 10 , comprising a lifting device 200 , a robotic arm 300 , and a rotating device 100 .
[0055] The surgical robot 10 may be a robotic system used to perform surgical procedures. The lifting device 200 controls the vertical movement of the surgical robot 10. The robotic arm 300 is a mechanical structure used to perform surgical operations and is capable of multi-degree-of-freedom motion. The rotating device 100 controls the rotational movement of the robotic arm 300.
[0056] By integrating the lifting device 200, the robotic arm 300, and the rotating device 100, the surgical robot 10 can achieve multi-degree-of-freedom motion, meeting the requirements of complex surgical operations. The combination of these devices enables the surgical robot 10 to perform precise and flexible operations in multiple directions, improving the success rate and safety of the surgery.
[0057] The output end of the lifting device 200 is connected to the fixed end of the rotating device 100 , and the lifting device 200 is used to drive the rotating device 100 to move up and down.
[0058] By connecting the output end of the lifting device 200 to the fixed end of the rotating device 100 , the vertical lifting movement of the rotating device 100 can be achieved, thereby increasing the degree of freedom of movement of the surgical robot 10 .
[0059] The output end of the lifting device 200 is connected to the fixed end of the rotating device 100, and the lifting device 200 is used to drive the rotating device 100 to rise and fall. The vertical lifting function enables the surgical robot 10 to operate in a wider range, meeting the needs of different surgical scenarios.
[0060] The fixed end of the rotating device 100 is connected to the robotic arm 300, and the rotating device 100 is used to drive the robotic arm 300 to rotate. By connecting the fixed end of the rotating device 100 to the robotic arm 300, the robotic arm 300 can be rotated, increasing the freedom of movement of the surgical robot 10. The rotation function enables the robotic arm 300 to perform precise operations in multiple directions, improving the flexibility and accuracy of the surgery.
[0061] By designing the above-mentioned surgical robot 10, which includes a lifting device 200, a robotic arm 300, and a rotating device 100, multi-degree-of-freedom motion can be achieved, improving the success rate and safety of the surgery. The output end of the lifting device 200 is connected to the fixed end of the rotating device 100, enabling the vertical lifting motion of the rotating device 100, increasing the degrees of freedom of movement and operating range of the surgical robot 10. The fixed end of the rotating device 100 is connected to the robotic arm 300, enabling the rotational motion of the robotic arm 300, improving the flexibility and precision of the surgery. This design not only improves the stability and reliability of the system, but also simplifies the structure and maintenance process, meeting the needs of complex surgical operations.
[0062] Reference Figure 2 In a second aspect, an embodiment of the present application provides a rotating device 100 . The rotating device 100 includes a housing 110 , a driver 120 , a rotating platform 130 , and a limiting assembly 140 .
[0063] It should be noted that, when the rotating device 100 is applied to the aforementioned surgical robot 10 , the rotating device 100 can be used to connect the lifting device 200 and the robotic arm 300 to achieve multi-degree-of-freedom movement of the surgical robot 10 .
[0064] It is understood that when the rotating device 100 is applied to the aforementioned surgical robot 10, the housing 110 can be used to connect to the lifting device 200. As the external structure of the rotating device 100, the housing 110 can provide a stable foundation for connecting the lifting device 200, thereby ensuring the stability and reliability of the entire device.
[0065] The driver 120 is disposed within the housing 110 and includes a rotatable drive shaft. The driver 120 provides rotational power, which is transmitted to the rotating platform 130 via the drive shaft, thereby rotating the robotic arm 300. The driver 120 disposed within the housing 110 is protected from external environmental influences, thereby enhancing the durability of the rotating device 100.
[0066] One end of the rotating platform 130 is connected to the drive shaft and is positioned near the housing 110. It will be appreciated that when the rotating device 100 is used in the aforementioned surgical robot 10, the other end of the rotating platform 130 can be connected to the robotic arm 300, with the drive shaft used to drive the rotating platform 130 to rotate. The rotating platform 130 serves as an intermediate structure connecting the drive shaft and the robotic arm 300, and the rotation of the drive shaft drives the rotation of the robotic arm 300. The rotating platform 130 ensures that the robotic arm 300 can perform precise rotation operations in multiple directions.
[0067] In order to solve the problem in the prior art that the limit block and the limit seat need to be replaced in order to adjust the rotation angle of the robot arm 300, a solution is proposed to achieve angle limitation through a limit assembly 140.
[0068] The limiting assembly 140 includes a first protrusion 141 and a second protrusion 142 . There are multiple first protrusions 141 , which are arranged at intervals. The second protrusion 142 is located between any two adjacent first protrusions 141 .
[0069] The limiting assembly 140 limits the rotation angle of the rotating platform 130 by interlocking the first protrusions 141 and the second protrusions 142. The multiple first protrusions 141 are arranged at intervals, allowing the limiting assembly 140 to change the rotation angle by adjusting the position of the second protrusions 142 without replacing parts, thereby simplifying the operation steps and reducing costs.
[0070] The first protrusion 141 is located on one of the housing 110 and the rotating platform 130 , and the second protrusion 142 is located on the other of the housing 110 and the rotating platform 130 .
[0071] The first protrusion 141 is located on one of the housing 110 and the rotating platform 130 , and the second protrusion 142 is located on the other of the housing 110 and the rotating platform 130 .
[0072] By respectively arranging the first protrusion 141 and the second protrusion 142 on the housing 110 and the rotating platform 130, it is possible to ensure that the limiting assembly 140 always maintains an effective limiting function during the rotation process. In this way, the structure of the limiting assembly 140 is relatively compact, and the limiting effect is relatively stable and reliable.
[0073] Reference Figure 4-Figure 7As an optional embodiment, the rotating platform 130 and the driver 120 are detachably connected along the rotating axis A of the rotating platform 130.
[0074] The rotation axis A of the rotating platform 130 refers to the rotation of the rotating platform 130 around its central axis. The detachable connection allows the connection between the rotating platform 130 and the driver 120 to be easily disassembled, facilitating maintenance and replacement of components, thereby extending the service life of the device.
[0075] When the driver 120 or the rotating platform 130 needs to be replaced or upgraded, it is not necessary to replace the entire device, but only the relevant parts need to be disassembled, which can increase flexibility.
[0076] The second protrusion 142 can be movably disposed between any two adjacent first protrusions 141 .
[0077] By adjusting the position of the second protrusion 142, the rotation angle of the rotating platform 130 can be flexibly changed to meet different surgical requirements. In this way, different rotation angles can be achieved without replacing the limit block and the limit seat, simplifying the operation steps.
[0078] As an optional implementation, the distance between any two adjacent first protrusions 141 is different.
[0079] By setting different spacing distances, the rotation angle of the rotating platform 130 can be precisely controlled to meet the needs of different surgical operations. In this way, the user can select different adjacent protrusions according to specific needs to achieve the desired rotation angle. At the same time, multiple rotation angles can be provided, allowing the surgical robot 10 to adapt to various surgical scenarios.
[0080] For example, a plurality of first protrusions 141 are provided on the housing 110, and the intervals between two adjacent first protrusions 141 are 10°, 20°, 30°, and 40°, respectively. The second protrusion 142 can move between these first protrusions 141, and the rotation angle can be adjusted by selecting different adjacent protrusions. For example:
[0081] When the second protrusion 142 is located between two first protrusions 141 with an interval of 10°, the rotation angle of the rotating platform 130 is limited to 10°; when the second protrusion 142 is located between two first protrusions 141 with an interval of 20°, the rotation angle of the rotating platform 130 is limited to 20°.
[0082] Similarly, the user can select different adjacent protrusions according to specific needs to achieve the desired rotation angle.
[0083] Reference Figure 3As an optional embodiment, along the rotation direction of the rotating platform 130, the distance between any two adjacent first protrusions 141 increases or decreases in sequence.
[0084] The rotation direction of the rotating platform 130 refers to a rotation direction around the central axis of the rotating platform 130 .
[0085] By sequentially increasing or decreasing the distance between adjacent protrusions, precise and gradual adjustment of the rotation angle of the rotating platform 130 can be achieved, meeting the needs of different surgical procedures and allowing the user to intuitively select the desired rotation angle, making operation more simple and intuitive. The sequentially increasing or decreasing spacing makes the structure of the limit assembly 140 more rational and optimized, reducing design complexity.
[0086] As an optional implementation, there are two limiting components 140 , and each limiting component 140 includes a first protrusion 141 and a second protrusion 142 , for limiting the rotation angle of the rotating platform 130 .
[0087] Through this arrangement, the two limiting assemblies 140 provide a dual limiting effect, ensuring that the rotating platform 130 is stable and reliable during rotation. This dual limiting effect effectively prevents accidents caused by the failure of a single limiting assembly 140, thereby improving system safety. Furthermore, the two limiting assemblies 140 balance the forces acting on the rotating platform 130 during rotation, reducing the burden on a single limiting assembly 140 and extending the life of the device.
[0088] The two limiting components 140 are centrally symmetrical along the rotation axis A of the rotating platform 130 .
[0089] Along the rotation axis A of the rotating platform 130 refers to the central axis along which the rotating platform 130 rotates. Being centrally symmetrical means that the two limiting components 140 are symmetrically distributed on both sides of the rotation axis A of the rotating platform 130 .
[0090] The centrally symmetrical design evens out the forces acting on the rotating platform 130 during rotation, reducing stress concentration in a single direction and extending the device's service life. Furthermore, it improves system stability by preventing the rotating platform 130 from shifting or shaking during rotation. Finally, the centrally symmetrical design simplifies the installation and adjustment of the stop assembly 140, reducing design and installation complexity.
[0091] For example, when the rotating platform 130 rotates to a certain angle, the first protrusion 141 and the second protrusion 142 of the two limiting assemblies 140 cooperate with each other to limit further rotation of the rotating platform 130. Because the two limiting assemblies 140 are symmetrically distributed along the rotation axis A of the rotating platform 130, the rotating platform 130 is subjected to balanced forces during rotation, reducing stress concentration in a single direction and improving the stability and service life of the system.
[0092] Reference Figure 4 As an optional embodiment, the rotating platform 130 includes a platform body 131 and a rotating shaft 132. Dividing the rotating platform 130 into the platform body 131 and the rotating shaft 132 makes the structure clearer and facilitates design and manufacturing.
[0093] It is understood that when the rotating device 100 is applied to the aforementioned surgical robot 10, the side of the platform body 131 facing away from the rotation axis 132 can be used to connect to the robotic arm 300, so that the robotic arm 300 can be rotated by rotating the platform 130. By clearly defining the connection position, the connection between the robotic arm 300 and the platform body 131 is ensured to be more stable and secure.
[0094] One end of the rotating shaft 132 is connected to the platform body 131, and the other end is connected to the driving shaft, so as to realize the transmission of power from the driver 120 to the platform body 131, so that the robot arm 300 can rotate, ensuring the stability and reliability of the power transmission process.
[0095] The limiting components 140 are distributed along the rotation direction of the rotating platform 130. Distributed along the rotation direction of the rotating platform 130 means that the limiting components 140 are arranged and distributed according to the rotation direction of the rotating platform 130.
[0096] Through the above configuration, the limiter assembly 140 can effectively limit the rotation angle of the rotating platform 130, ensuring the accuracy of the rotation. The limiter assemblies 140 distributed along the rotation direction can evenly distribute the force, reduce stress concentration, and improve the stability and durability of the system.
[0097] The following describes in detail embodiments of different positions of the limiting assembly 140 .
[0098] Reference Figure 4 and Figure 5 As an optional embodiment, the plurality of first protrusions 141 are all provided on the platform body 131 , and are located on the same side of the platform body 131 as the rotation axis 132 .
[0099] This allows for centralized positioning, facilitating design and adjustment. Furthermore, the same-side positioning allows for a more compact structure formed by the positioning assembly 140 and the platform body 131, reducing space requirements. The centralized positioning of the first protrusions 141 facilitates inspection and maintenance, improving system reliability.
[0100] The plurality of first protrusions 141 and the rotating shaft 132 are spaced apart.
[0101] The spaced first protrusions 141 allow for more precise positioning, meeting varying rotation angle requirements. Furthermore, the spaced first protrusions 141 can reduce interference between the first protrusions 141, improving the stability of the positioning effect. Furthermore, the spaced first protrusions 141 can make adjustment of the positioning assembly 140 more flexible and convenient.
[0102] The second protrusion 142 is disposed on the outer circumference of the housing 110 and can effectively cooperate with the first protrusion 141 to limit the position of the rotating platform 130 .
[0103] It should be noted that the second protrusions 142 provided on the periphery facilitate adjustment of their positions to achieve different limiting angles, and the second protrusions 142 can provide a greater limiting force to improve the stability of the system.
[0104] In some embodiments, the first protrusion 141 can be an integral part with the platform body 131, and the second protrusion 142 can be an integral part with the shell 110. In this way, the structural strength between the first protrusion 141 and the platform body 131 can be enhanced, and the structural strength between the second protrusion 142 and the shell 110 can be enhanced to improve the structural stability of the rotating device 100.
[0105] It is understood that the first protrusion 141 and the platform body 131 can be forged into an integral piece, and the second protrusion 142 can also be forged into an integral piece with the housing 110. The embodiment of the present application is not limited to the above-mentioned method of forming an integral piece, nor is it limited to the above-mentioned example.
[0106] Reference Figure 3 As another optional embodiment, a plurality of first protrusions 141 are arranged at intervals on the outer circumference of the shell 110 , which can effectively limit the rotation angle of the rotating platform 130 .
[0107] It is understandable that the first protrusions 141 arranged at intervals can reduce mutual interference and improve the stability of the limiting effect. In addition, when the first protrusions 141 are arranged on the periphery, it is easy to adjust their positions to achieve different limiting angles.
[0108] The second protrusion 142 is provided on the platform body 131 to achieve centralized positioning, which is convenient for design and adjustment.
[0109] The second protrusion 142 and the rotating shaft 132 are both located on the same side of the platform body 131, which makes the structure more compact and can reduce space occupation. At the same time, it is convenient for inspection and maintenance, and improves the reliability of the system.
[0110] The second protrusions 142 are spaced apart from the rotation axis 132. The spaced second protrusions 142 enable more precise positioning, meeting varying rotation angle requirements. Furthermore, the spaced second protrusions 142 reduce interference between the second protrusions 142 and the rotation axis 132, improving the stability of the positioning effect. Furthermore, the spaced second protrusions 142 make adjustment of the positioning assembly 140 more flexible and convenient.
[0111] In some embodiments, the second protrusion 142 can be an integral part with the platform body 131, and the first protrusion 141 can be an integral part with the shell 110. In this way, the structural strength between the second protrusion 142 and the platform body 131 can be enhanced, and the structural strength between the first protrusion 141 and the shell 110 can be enhanced to improve the structural stability of the rotating device 100.
[0112] It is understood that the second protrusion 142 and the platform body 131 can be forged into an integral piece, and the first protrusion 141 can also be forged into an integral piece with the housing 110. The embodiment of the present application is not limited to the above-mentioned method of forming an integral piece, nor is it limited to the above-mentioned example.
[0113] Reference Figure 5 As an optional embodiment, the lines connecting two adjacent first protrusions 141 and the rotation axis A of the rotating platform 130 are respectively the first line B and the second line C, and the first line B and the second line C refer to the line from the first adjacent first protrusion 141 to the rotation axis A and the line from the second adjacent first protrusion 141 to the rotation axis A, respectively.
[0114] By defining the first connecting line B and the second connecting line C, the geometric relationship between adjacent protrusions and the rotation axis A is clarified, which helps to accurately design and adjust, and can more conveniently perform calculations and optimizations, thereby improving design efficiency.
[0115] The angle between the first connecting line B and the second connecting line C ranges from 25° to 35°.
[0116] It should be noted that the angle between the first connecting line B and the second connecting line C refers to the angle a formed between the first connecting line B and the second connecting line C starting from the rotation axis A of the rotating platform 130 .
[0117] By setting the angle range between the first connecting line B and the second connecting line C, precise control of the rotation angle of the rotating platform 130 can be achieved.
[0118] It can be understood that the specific angle between the first line B and the second line C can be 25°, 26°, 27°, 28°, 29°, 30°, 31°, 32°, 33°, 34°, 35°, etc. The embodiment of the present application does not limit the specific angle between the first line B and the second line C, nor is it limited to the above examples.
[0119] 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 them. 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 make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
[0120] For ease of explanation, the above description has been made with reference to specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations are possible. The above embodiments are selected and described to better explain the principles and practical applications, so that those skilled in the art can better utilize the embodiments and various different variations of the embodiments suitable for specific use considerations.
Claims
1. A rotating device (100), characterized in that: include: Housing (110); A driver (120) is disposed in the housing (110), and the driver (120) has a rotatable drive shaft; a rotating platform (130), one end of which is connected to the driving shaft and is disposed close to the housing (110), and the driving shaft is used to drive the rotating platform (130) to rotate; and A limiting assembly (140) includes a first protrusion (141) and a second protrusion (142), wherein the first protrusions (141) are multiple in number, the multiple first protrusions (141) are arranged at intervals, and the second protrusion (142) is located between any two adjacent first protrusions (141); The first protrusion (141) is located on one of the housing (110) and the rotating platform (130), and the second protrusion (142) is located on the other of the housing (110) and the rotating platform (130).
2. The rotating device (100) according to claim 1, characterized in that Along the rotation axis (A) of the rotating platform (130), the rotating platform (130) and the driver (120) are detachably connected, and the second protrusion (142) can be movably arranged between any two adjacent first protrusions (141).
3. The rotating device (100) according to claim 2, characterized in that The distances between any two adjacent first protrusions (141) are different.
4. The rotating device (100) according to claim 3, characterized in that Along the rotation direction of the rotating platform (130), the distance between any two adjacent first protrusions (141) increases or decreases in sequence.
5. The rotating device (100) according to any one of claims 1 to 4, characterized in that: There are two position-limiting assemblies (140), and the two position-limiting assemblies (140) are centrally symmetrical along the rotation axis (A) of the rotating platform (130).
6. The rotating device (100) according to any one of claims 1 to 4, characterized in that: The rotating platform (130) comprises a platform body (131) and a rotating shaft (132); One end of the rotating shaft (132) is connected to the platform body (131), and the other end is connected to the driving shaft; The limiting components (140) are distributed along the rotation direction of the rotating platform (130).
7. The rotating device (100) according to claim 6, characterized in that The plurality of first protrusions (141) are all arranged on the platform body (131) and are located on the same side of the platform body (131) as the rotation axis (132). The plurality of first protrusions (141) and the rotation axis (132) are all arranged at intervals. The second protrusion (142) is arranged on the outer periphery of the shell (110).
8. The rotating device (100) according to claim 6, characterized in that A plurality of the first protrusions (141) are arranged at intervals on the outer periphery of the housing (110); The second protrusion (142) is arranged on the platform body (131) and is located on the same side of the platform body (131) as the rotation axis (132). The second protrusion (142) and the rotation axis (132) are arranged at intervals.
9. The rotating device (100) according to any one of claims 1 to 3, characterized in that: The connecting lines between two adjacent first protrusions (141) and the rotation axis (A) of the rotating platform (130) are respectively a first connecting line (B) and a second connecting line (C); The angle between the first connecting line (B) and the second connecting line (C) ranges from 25° to 35°.
10. A surgical robot (10), characterized in that: comprising a lifting device (200), a mechanical arm (300), and a rotating device (100) according to any one of claims 1 to 9; The output end of the lifting device (200) is connected to the fixed end of the rotating device (100), and the lifting device (200) is used to drive the rotating device (100) to move up and down; The fixed end of the rotating device (100) is connected to the mechanical arm (300), and the rotating device (100) is used to drive the mechanical arm (300) to rotate.