Joint module and surgical robot

Abstract

The utility model provides a joint module and surgical robotic.The joint module comprises a motor assembly speed reducer and a joint output shaft which are sequentially in transmission connection and further comprises a torque sensor, and the torque sensor is arranged at the axial end of the joint output shaft; the motor assembly and the speed reducer are arranged on the periphery of the joint output shaft. According to the joint module and the surgical robot, the torque sensor is located at the axial end of the joint module, and disassembly, assembly and maintenance of the torque sensor are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical instruments, more particularly, relates to a joint module and surgical robot. BACKGROUND

[0002] Robots can generally realize multi-degree-of-freedom movement, such as orthopedic robots, neurosurgical robots, and interventional robots, which can assist doctors to more accurately complete surgical operations. Through pre-planning and intraoperative navigation systems, the surgical site can be accurately positioned. The movement of each degree of freedom in the robot is realized through a joint module. The joint module is generally provided with a torque sensor for detecting torque. Some torque sensors are arranged in the middle of the axial direction of the joint module, making it difficult to disassemble and maintain the sensor. SUMMARY

[0003] The utility model discloses a joint module and surgical robot to solve the technical problem that the torque sensor is difficult to disassemble and maintain in the middle of the axial direction in the prior art.

[0004] To achieve the above-mentioned purpose, the utility model adopts the technical scheme of providing a joint module, comprising a motor assembly, a reducer, a joint output shaft and a torque sensor.

[0005] The motor assembly, the reducer and the joint output shaft are sequentially connected in transmission, the torque sensor is arranged at one end of the axial direction of the joint output shaft, and the motor assembly and the reducer are arranged on the outer periphery of the joint output shaft.

[0006] Optionally, the joint output shaft is provided with a support bearing at one end of the axial direction of the torque sensor, the outer ring of the support bearing is fixedly pressed with one end of the axial direction of the torque sensor, and the inner ring of the support bearing is fixedly connected with the ratchet wheel of the reducer.

[0007] Optionally, the joint module further comprises a fixing ring and a first locking member, the fixing ring and the torque sensor are respectively located at both ends of the axial direction of the support bearing, and the first locking member passes through the torque sensor and the outer ring of the support bearing and is connected to the fixing ring.

[0008] Optionally, one end of the support bearing away from the torque sensor is provided with a fixing cover, the motor housing of the motor assembly, the fixing cover, the support bearing and the torque sensor are sequentially arranged in the axial direction, and the fixing cover is fixedly connected with the motor housing, the fixing cover, the ratchet wheel of the reducer and the inner ring of the support bearing are sequentially arranged in the axial direction and are fixedly connected with each other.

[0009] Optionally, one end of the joint output shaft is provided with a shaft connecting portion protruding radially outward; a first rotating bearing is arranged between the inner circumferential wall of the wave generator of the speed reducer and the outer circumferential wall of the joint output shaft, and the axial ends of the first rotating bearing are respectively limited by the internal step of the wave generator and the shaft connecting portion; a second rotating bearing is arranged between the outer circumferential wall of the wave generator and the fixed cover, and the axial ends of the second rotating bearing are respectively limited by the external step of the wave generator and the fixed cover.

[0010] Optionally, the fixed cover and the motor shell are locked and fixed by a second locking member, and are circumferentially positioned by a first connecting pin, one end of the first connecting pin extends into the fixed cover, and the other end of the first connecting pin extends into the motor shell.

[0011] Optionally, the torque sensor comprises a sensor outer ring, a detection area and a sensor inner ring arranged in sequence from outside to inside, the outer ring of the support bearing and the sensor outer ring are mutually pressed and fixed, and the sensor inner ring and the axial end of the joint output shaft are mutually pressed and fixed.

[0012] Optionally, the sensor inner ring and the joint output shaft are fixedly connected by a third locking member, one end of the joint output shaft is provided with a shaft connecting portion protruding radially, the third locking member passes through the sensor inner ring and the flexspline of the speed reducer, and is connected to the shaft connecting portion, and a gasket is arranged between the head of the third locking member and the sensor inner ring.

[0013] Optionally, the joint module further comprises a second connecting pin for circumferentially positioning the sensor inner ring and the flexspline, one end of the second connecting pin extends into the sensor inner ring, and the other end of the second connecting pin extends into the flexspline; the contact surface of the sensor inner ring and the flexspline is filled with a colloid.

[0014] Optionally, the sensor outer ring is used to drive a lower structure to rotate, a pin hole for inserting a third connecting pin is formed on the side of the sensor outer ring away from the support bearing, and a friction plate is arranged on the side of the sensor outer ring away from the support bearing, and the third connecting pin is used to circumferentially position the sensor outer ring and the lower structure.

[0015] Optionally, the joint module further comprises a driver, the driver and the torque sensor are arranged at the axial ends of the joint output shaft respectively; the motor assembly comprises a motor shell, a motor stator fixed in the motor shell, and a motor rotor located in the motor stator and fixedly connected with the wave generator of the speed reducer, the driver is provided with a first encoder for detecting the motor rotor and a second encoder for detecting the joint output shaft.

[0016] The utility model also provides a surgical robot, including mechanical arm, the mechanical arm joint place is provided with above-mentioned joint module.

[0017] The joint module and the surgical robot have the advantages that, compared with the prior art, the joint module comprises a motor assembly, a speed reducer and a joint output shaft connected in sequence, and a torque sensor is fixed to one end of the joint output shaft, so that the torque sensor is located at one end of the axial direction of the joint module, facilitating disassembly, maintenance and assembly of the torque sensor. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0019] Figure 1 The utility model provides a joint module's stereogram of section view for the embodiment of the utility model;

[0020] Figure 2 The utility model provides an explosion structure diagram of joint module under the section view state for the embodiment of the utility model;

[0021] Figure 3 The utility model provides a joint module's section view for the embodiment of the utility model;

[0022] Figure 4 The utility model provides a joint module's stereogram of section view for the embodiment of the utility model;

[0023] Figure 5 The utility model provides a joint module and the side view of substructure for the embodiment of the utility model;

[0024] Figure 6 The utility model provides a joint module and the front view of substructure for the embodiment of the utility model;

[0025] Figure 7 The utility model provides a surgical robot's stereogram for the embodiment of the utility model.

[0026] In the drawings, various reference signs indicate:

[0027] 100 - joint module; 10 - motor assembly; 11 - motor housing; 12 - motor stator; 13 - motor rotor; 20 - reducer; 21 - wave generator; 22 - rigid gear; 23 - flexible gear; 30 - joint output shaft; 31 - shaft connecting part; 40 - torque sensor; 41 - sensor outer ring; 42 - detection area; 43 - sensor inner ring; 51 - support bearing; 52 - fixed ring; 53 - third locking member; 54 - fourth locking member; 55 - fixed cover; 56 - protective cover; 571 - first rotary bearing; 572 - second rotary bearing; 61 - first encoder; 62 - second encoder; 63 - driver; 70 - brake assembly; 71 - brake stator; 72 - brake rotor;

[0028] 200 - lower structure; 300 - fifth locking member; 800 - mechanical arm; 812 - quick release mechanism; 900 - base. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0030] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0032] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0033] Robots can generally achieve multi-degree-of-freedom motion, such as orthopedic robots, neurosurgical robots, interventional robots, etc., which can assist doctors to more accurately complete surgical operations, and can accurately position the surgical site through pre-planning and intraoperative navigation systems. The movement of each degree of freedom in the robot is realized through a joint module. The joint module is generally provided with a torque sensor for detecting torque. Some torque sensors are arranged in the axial middle part of the joint module, which makes it difficult to disassemble and maintain the sensor.

[0034] To alleviate and solve the above technical problems, the utility model provides a joint module 100, including motor assembly 10, speed reducer 20, joint output shaft 30 and torque sensor 40, torque sensor 40 is fixed in one end of joint output shaft 30, and is located in one end of joint module 100, the dismounting and maintenance of torque sensor 40 are convenient.

[0035] The joint module 100 provided in the embodiments of the utility model will be described. The joint module 100 can be applied to various robots, such as orthopedic robots, neurosurgical robots, interventional robots, industrial robots, service robots, humanoid robots, etc.

[0036] Please refer to Figure 1 and Figure 2 , the joint module 100 includes motor assembly 10, speed reducer 20, joint output shaft 30 and torque sensor 40; motor assembly 10, speed reducer 20 and joint output shaft 30 are sequentially connected, torque sensor 40 is arranged at one end of the axial direction of joint output shaft 30, and motor assembly 10 and speed reducer 20 are arranged on the outer periphery of joint output shaft 30.

[0037] The motor assembly 10 is a power assembly that can provide power for the internal movement of the joint module 100. The motor assembly 10 can generally output rotary motion. The motor assembly 10 generally includes a motor housing 11, a motor stator 12 and a motor rotor 13. The motor housing 11 and the motor stator 12 are fixedly arranged. The motor rotor 13 is the movement output end of the motor assembly 10 and is used to output rotary motion.

[0038] The speed reducer 20 is used to reduce the output rotational speed of the joint module 100, i.e. to reduce the rotational speed of the joint output shaft 30, so that the rotational speed of the joint output shaft 30 is less than the rotational speed of the motor rotor 13, to adapt to the rotational speed of the robot structure. The speed reducer 20 is connected with the motor assembly 10, which can be understood as that the movement output end of the motor assembly 10 is fixedly connected with the movement input end of the speed reducer 20. For example, when the speed reducer 20 is a harmonic reducer 20, the wave generator 21 of the harmonic reducer 20 is fixedly connected with the motor rotor 13.

[0039] The joint output shaft 30 is a movement output component of the joint module 100, and can also be understood as a movement output end of the joint module 100. The joint output shaft 30 can be directly connected with the lower structure 200, so as to realize the rotation of the lower structure 200 in the next module driven by the joint module 100. The joint output shaft 30 is connected with the speed reducer 20, and can be understood as that the joint output shaft 30 is fixedly connected with the movement output end of the speed reducer 20. For example, the speed reducer 20 is a harmonic reducer 20, and the joint output shaft 30 is fixedly connected with the flexspline 23 of the harmonic reducer 20. The joint output shaft 30 can be a hollow shaft, and the space inside the hollow shaft can be used for passing through a cable or the like. It should be noted that, in the utility model, the 'axial direction' refers to a direction parallel to the axial direction of the joint output shaft 30, and the 'radial direction' refers to a direction parallel to the radial direction of the joint output shaft 30.

[0040] The torque sensor 40 converts the physical change caused by the torque into an accurate electrical signal. In the utility model, the torque sensor 40 is used to detect the torque received by the joint module 100. The torque sensor 40 is fixedly connected with the joint output shaft 30, and at the same time, the torque sensor 40 is used to be fixedly connected with the lower structure 200 in the next module. Therefore, the torque sensor 40 will be affected by the torque.

[0041] In the utility model, the motor assembly 10 and the speed reducer 20 are arranged on the outer periphery of the joint output shaft 30, and the torque sensor 40 is located at one end of the axial direction of the joint output shaft 30, so that the torque sensor 40 is located at one end of the axial direction of the joint module 100, which facilitates the disassembly and maintenance of the torque sensor 40, and also does not affect the internal space of the joint output shaft 30. The supporting bearing 51 and the harmonic reducer 20 can all be standard parts, and there is no need to design non-standard parts, so that the design and production costs can be reduced. The torque sensor 40 is located at one end of the axial direction of the joint module 100, and correspondingly, the supporting bearing 51 is located at one end of the torque sensor 40 which is closer to the middle part of the axial direction of the joint module 100.

[0042] The joint module 100 in the above embodiment comprises the motor assembly 10, the speed reducer 20 and the joint output shaft 30 which are sequentially connected in transmission, and the torque sensor 40 is fixedly connected at one end of the joint output shaft 30, so that the torque sensor 40 is located at one end of the axial direction of the joint module 100, which facilitates the disassembly and maintenance of the torque sensor 40.

[0043] In some embodiments of the utility model, please refer to Figures 1 to 3 The joint output shaft 30 is provided with the supporting bearing 51 at one end of the axial direction of the torque sensor 40, the outer ring of the supporting bearing 51 is tightly fixed with one end of the axial direction of the torque sensor 40, and the inner ring of the supporting bearing 51 is fixedly connected with the rigid wheel of the speed reducer 20.

[0044] When the torque sensor 40 is arranged at one end of the joint output shaft 30 (joint module), the torque sensor 40 is easily affected by non-torque moments such as bending moment, axial force and radial force, and thus the detection result of the torque sensor 40 is inaccurate. The support bearing 51 is used for supporting the torque sensor 40 to reduce the non-torque action (bending moment, axial force and radial force) borne by the torque sensor 40. Since the strain beam (detection area 42) of the torque sensor 40 is very sensitive, a slight deformation can be converted into a corresponding electrical signal, and thus when the non-torque action is applied to the detection area 42, the detection area 42 also deforms correspondingly, which is superimposed or offset with the deformation caused by the torque action, and thus the torque sensor 40 is inaccurate in detecting the torque size, and thus it is necessary to reduce the non-torque action borne by the torque sensor 40. Specifically, the outer ring of the support bearing 51 is pressed and fixed with the axial end of the torque sensor 40, and the torque sensor 40 is effectively supported, and the inner ring of the support bearing 51 is fixedly arranged, so that the support bearing 51 is a fixed structure, the torque sensor 40 is more stable, and the bending moment, axial force and radial force borne by the torque sensor 40 can be transmitted to the inner ring of the support bearing 51, and the non-torque action borne by the torque sensor 40 is reduced.

[0045] The axial end of the torque sensor 40 is fixedly arranged with the outer ring of the support bearing 51, so that the torque sensor 40 can be supported by the support bearing 51, the influence of the non-circumferential force borne by the torque sensor 40 is reduced, and the detection accuracy of the torque sensor 40 is improved.

[0046] In some embodiments of the utility model, please refer to Figures 1 to 3 The reducer 20 is a harmonic reducer, the harmonic reducer comprises a wave generator 21, a flexspline 23 and a rigid gear 22, the flexspline 23 has an outer gear ring, and the rigid gear 22 has an inner gear ring, so that the flexspline 23 and the rigid gear 22 can be meshed with each other. When the wave generator 21 rotates, the flexspline 23 deforms constantly, and the meshing state of the flexspline 23 and the rigid gear 22 also changes constantly. In the harmonic reducer, the motion input end is the wave generator 21, and the motion output end is the flexspline 23.

[0047] In some embodiments of the utility model, please refer to Figures 2 to 4The joint module 100 further comprises a fixed ring 52 and a first locking member, the fixed ring 52 and the torque sensor 40 are respectively located at the axial two ends of the support bearing 51, and the first locking member passes through the outer ring of the torque sensor 40 and the support bearing 51 and is connected to the fixed ring 52. The fixed ring 52 and the first locking member are structures for fixing the outer ring of the support bearing 51 and the torque sensor 40. The fixed ring 52 is annular and is located at the end of the support bearing 51 away from the torque sensor 40, and the first locking member is used for locking and fixing the torque sensor 40, the outer ring of the support bearing 51 and the fixed ring 52. The first locking member can be a threaded member, and correspondingly, the torque sensor 40 and the support bearing 51 are both provided with through holes for the first locking member to pass through, and the fixed ring 52 is provided with a threaded hole, so that the first locking member is threadedly connected to the threaded hole of the fixed ring 52.

[0048] Through the arrangement of the fixed ring 52, on the one hand, the outer ring of the support bearing 51 can be supported, and the effect of non-torque on the torque sensor 40 is further reduced, and on the other hand, the first locking member is provided with a threaded hole for locking and connecting, and it is not necessary to design a threaded hole on the support bearing 51 and the torque sensor 40 (generally, a standard bearing and a torque sensor 40 are both provided with a through hole, without a threaded hole).

[0049] In some embodiments, the outer diameter of the fixed ring 52 is greater than or equal to the outer diameter of the outer ring of the support bearing 51, and the inner diameter of the fixed ring 52 is equal to the inner diameter of the outer ring of the support bearing 51, so that the fixed ring 52 can completely support the end face of the outer ring of the support bearing 51 and bear the bending moment, radial force and axial force transmitted by the torque sensor 40.

[0050] In other embodiments of the utility model, the joint module 100 further comprises a nut and a first locking member, the nut and the torque sensor 40 are respectively located at the axial two ends of the support bearing 51, and the first locking member passes through the outer ring of the torque sensor 40 and the support bearing 51 and is connected to the nut. The first locking member is a threaded member, and the torque sensor 40 and the support bearing 51 are both provided with through holes for the first locking member to pass through, and through the arrangement of the nut, the first locking member can be provided with a threaded hole for locking and connecting, and it is not necessary to design a threaded hole on the support bearing 51 and the torque sensor 40 (generally, a standard bearing and a torque sensor 40 are both provided with a through hole, without a threaded hole).

[0051] In other embodiments of the utility model, the joint module 100 further comprises a first locking member, the outer ring of the support bearing 51 is provided with a threaded hole, the torque sensor 40 is provided with a through hole, and the first locking member is connected to the support bearing 51 through the torque sensor 40. Alternatively, the joint module 100 further comprises a first locking member, the outer ring of the support bearing 51 is provided with a through hole, the torque sensor 40 is provided with a threaded hole, and the first locking member is connected to the torque sensor 40 through the support bearing 51.

[0052] In some embodiments of the utility model, please refer to Figures 1 to 3 The fixed cover 55 is arranged at one end of the torque sensor 40 opposite to the support bearing 51, the motor shell 11 of the motor assembly 10, the fixed cover 55, the support bearing 51 and the torque sensor 40 are sequentially arranged along the axial direction, and the fixed cover 55 is fixedly connected with the motor shell 11, the fixed cover 55, the rigid wheel 22 of the speed reducer 20 and the inner ring of the support bearing 51 are sequentially arranged along the axial direction and are fixedly connected with each other. The fixed cover 55 is a structure for supporting and fixing the support bearing 51, the motor shell 11 is a fixed structure part of the motor assembly 10, the rigid wheel 22 of the speed reducer 20 is also a fixed part of the speed reducer 20, and the motor assembly 10, the speed reducer 20 and the support bearing 51 can be fixedly connected as a whole through the fixed cover 55.

[0053] The fixed cover 55 is used for fixing the inner ring of the support bearing 51, so that the support bearing 51 is supported and fixed by the fixed cover 55 and the motor shell 11, so that the non-torque borne by the torque sensor 40 can be transmitted to the fixed cover 55 and the motor shell 11 through the outer ring of the support bearing 51, the support ability of the torque sensor 40 is stronger, and the influence of bending, radial force and axial force on the torque sensor 40 is smaller.

[0054] In some embodiments, please refer to Figure 4 The fixed cover 55, the rigid wheel 22 of the speed reducer 20 and the inner ring of the support bearing 51 are fixedly connected through the fourth locking piece 54, the fourth locking piece 54 passes through the fixed cover 55, the rigid wheel 22 and is locked to the inner ring of the support bearing 51. The fourth locking piece 54 can utilize the connecting hole on the rigid wheel 22, increase the number of the fourth locking piece 54, and reduce the risk of slipping between the rigid wheel 22 and the fixed cover 55 and the inner ring of the support bearing 51.

[0055] In some embodiments, when the joint module 100 includes the fixed ring 52, the motor shell 11 of the motor assembly 10, the fixed cover 55, the fixed ring 52, the support bearing 51 and the torque sensor 40 are sequentially arranged along the axial direction, and the fixed cover 55 and the fixed ring 52 are arranged at intervals to avoid interference between the fixed ring 52 and the rotation of the torque sensor 40 and the fixed cover 55.

[0056] In some embodiments, the fixed cover 55 is a bearing end cover, which is used for installing and limiting the bearing for supporting the wave generator 21.

[0057] In some embodiments of the utility model, please refer to Figures 2 to 4, one end of the joint output shaft 30 is provided with a shaft connecting portion 31 which protrudes radially outward, a first rotating bearing 571 is arranged between the inner circumferential wall of the wave generator 21 of the speed reducer 20 and the outer circumferential wall of the joint output shaft 30, the axial two ends of the first rotating bearing 571 are respectively limited by the internal step of the wave generator 21 and the shaft connecting portion 31, a second rotating bearing 572 is arranged between the outer circumferential wall of the wave generator 21 and the fixed cover 55, and the axial two ends of the second rotating bearing 572 are respectively limited by the external step of the wave generator 21 and the fixed cover 55. The shaft connecting portion 31 is formed by protruding radially outward from the outer surface of the joint output shaft 30, so that the shaft connecting portion 31 has a limiting end face away from the end face of the joint output shaft 30. The speed reducer 20 is located on the outer periphery of the joint output shaft 30, more specifically, the wave generator 21 is located on the outer periphery of the joint output shaft 30, and the inner wall of the wave generator 21 has an internal step, which can be referred to as a first limiting step, and the first limiting step and the limiting step limit the axial two ends of the first rotating bearing 571 respectively, wherein the inner ring of the first rotating bearing 571 abuts against the limiting step, and the outer ring of the first rotating bearing 571 abuts against the first limiting step. The external step of the wave generator 21 can be referred to as a second limiting step, and the second limiting step and the fixed cover 55 limit the axial two ends of the second rotating bearing 572 respectively, wherein the inner ring of the second rotating bearing 572 abuts against the second limiting step, and the outer ring of the second rotating bearing 572 abuts against the fixed cover 55.

[0058] The axial two ends of the wave generator 21 are supported by the first rotating bearing 571 and the second rotating bearing 572 respectively, so that the wave generator 21 is stably arranged on the outer periphery of the joint output shaft 30.

[0059] In some embodiments, the number of first rotating bearings 571 is two, and they are sequentially distributed along the axial direction of the joint output shaft 30.

[0060] In some embodiments of the utility model, please refer to Figures 1 to 3 The fixed cover 55 and the motor shell 11 are locked and fixed by the second locking piece, and are circumferentially positioned by the first connecting pin, one end of the first connecting pin extends into the fixed cover 55, and the other end of the first connecting pin extends into the motor shell 11. The second locking piece is used for fixing the motor shell 11 and the fixed cover 55, and the first connecting pin can prevent the fixed cover 55 and the motor shell 11 from circumferentially slipping. When the joint module 100 works, the rigid gear 22 is engaged with the flexible gear 23, the rigid gear 22 will be subjected to a certain circumferential force and transmitted to the fixed cover 55, and when the outer ring of the torque sensor 40 and the support bearing 51 rotates, it will also cause a certain circumferential impact on the fixed cover 55. In order to make the safety factor of the force transmission path connection surface of the whole joint module 100 be at a similar level, the first connecting pin is added between the fixed cover 55 and the motor shell 11.

[0061] By setting the first connecting pin, the ability of the fixed cover 55 and the motor housing 11 to withstand torque is increased, and the possibility of slippage of the joint module 100 at the contact surface of the fixed cover 55 and the motor housing 11 is reduced.

[0062] In some embodiments, the second locking member is a threaded member that passes through the motor housing 11 and is screwed to the fixed cover 55, or the second locking member passes through the fixed cover 55 and is screwed to the motor housing 11. In other embodiments, the second locking member includes a threaded member that passes through the motor housing 11 and the fixed cover 55, and a nut that locks to the threaded member.

[0063] In some embodiments, the number of first connecting pins is one or more. When the number of first connecting pins is more than one, the first connecting pins can be arranged around the central axis of the motor assembly 10.

[0064] In some embodiments of the present application, please refer to Figure 4 The torque sensor 40 includes a sensor outer ring 41, a detection area 42 and a sensor inner ring 43 arranged in sequence from the outside to the inside, the outer ring of the supporting bearing 51 is tightly fixed with the sensor outer ring 41, and the sensor inner ring 43 is tightly fixed with the axial end of the joint output shaft 30. The detection area 42 of the torque sensor 40 is a stress deformation area, the deformation of this area is converted into an electrical signal, so that the torque received by the torque sensor 40 can be detected, and the structure at the detection area 42 is a strain beam. The sensor outer ring 41 and the sensor inner ring 43 are both connecting structures of the torque sensor and other components, the sensor outer ring 41 is supported and fixed by the outer ring of the supporting bearing 51, and the sensor inner ring 43 is tightly fixed with the joint output shaft 30, so that the joint output shaft 30 drives the torque sensor 40 to rotate.

[0065] The sensor outer ring 41 is fixed with the supporting bearing 51, and the sensor inner ring 43 is fixed with the joint output shaft 30, so that the torque sensor 40 is supported while being fixed with the joint output shaft 30, thereby reducing the bending moment, radial force, axial force and the like received by the torque sensor 40.

[0066] In some embodiments, the detection area 42 has a protective cover 56 for shielding the detection area 42, the detection area 42 is sensitive to stress, and the influence of other external factors on the detection area 42 can be reduced.

[0067] In some embodiments of the present application, please refer to Figures 1 to 4The sensor inner ring 43 is fixedly connected with the joint output shaft 30 through a third locking piece 53. The joint output shaft 30 is provided with a shaft connecting portion 31 protruding radially at one end. The third locking piece 53 passes through the sensor inner ring 43 and the flexible gear 23 of the speed reducer 20 and is connected to the shaft connecting portion 31. A gasket is arranged between the head of the third locking piece 53 and the sensor inner ring 43. The shaft connecting portion 31 is formed by protruding radially outward from the outer surface of the joint output shaft 30. In this way, the wall thickness at the shaft connecting portion 31 is relatively thick, facilitating the passing of the third locking piece 53. The third locking piece 53 is a threaded piece. The sensor inner ring 43 and the flexible gear 23 are both provided with smooth through holes. The shaft connecting portion 31 is provided with a threaded hole. The third locking piece 53 passes through the sensor inner ring 43 and the flexible gear 23 and is screwed to the shaft connecting portion 31, thereby achieving the connection of the speed reducer 20 and the joint output shaft 30 and the connection of the joint output shaft 30 and the torque sensor 40.

[0068] The stress concentration of the torque sensor 40 at the position of the head of the third locking piece 53 can be reduced by arranging the gasket. When the third locking piece 53 is locked, the locking force will cause stress concentration at the corresponding position of the sensor inner ring 43, and the stress concentration will be transmitted to the detection area 42.

[0069] In some embodiments, the number of third locking pieces 53 is multiple, and the third locking pieces 53 are arranged around the central axis of the torque sensor 40.

[0070] In some embodiments of the utility model, please refer to Figure 3 The joint module 100 further comprises a second connecting pin for circumferentially positioning the sensor inner ring 43 and the flexible gear 23. One end of the second connecting pin extends into the sensor inner ring 43, and the other end of the second connecting pin extends into the flexible gear 23. The contact surface of the sensor inner ring 43 and the flexible gear 23 is filled with a colloid. The adjacent surfaces of the sensor inner ring 43 and the flexible gear 23 are contact surfaces, and the second connecting pin penetrates the contact surfaces. The colloid can be in a liquid state before being filled and in a solid state after being filled and solidified, so as to fix the contact surfaces of the sensor inner ring 43 and the flexible gear 23.

[0071] The diameter of the distribution circle where the third locking piece 53 is located is small, and the anti-torque capacity is also small. The risk of slippage at the contact surface of the sensor inner ring 43 and the flexible gear 23 is large. The second connecting pin can be used to strengthen the circumferential connection and fixation of the sensor inner ring 43 and the flexible gear 23 and reduce the risk of slippage. Moreover, the contact surface of the sensor inner ring 43 and the flexible gear 23 is filled with a colloid, which can strengthen the connection of the sensor inner ring 43 and the flexible gear 23 and also has the effect of sealing the bearing grease (such as the first rotating bearing 571).

[0072] In some embodiments, the number of second connecting pins is multiple, such as two, four, six, etc., and the second connecting pins are arranged around the central axis of the joint output shaft 30.

[0073] In some embodiments of the utility model, please refer to Figure 5 And Figure 6 Sensor outer ring 41 is used for driving lower structure 200 rotation, sensor outer ring 41 is set up the pin hole for the third connecting pin insertion on the side of support bearing 51 back, and sensor outer ring 41 is provided with friction plate on the side of support bearing 51 back, and the third connecting pin is used for the circumferential positioning sensor outer ring 41 and lower structure 200.Lower structure 200 is the structure that joint module 100 needs to drive, and lower structure 200 can be connecting rod, rotating seat and other structures.Sensor outer ring 41 is used for fixed connection with lower structure 200 on the side of support bearing 51 back, and the circumferential connection of sensor outer ring 41 and lower structure 200 is strengthened through the third connecting pin.Meanwhile, sensor outer ring 41 and lower structure 200 can also be locked and fixed through the fifth locking piece 300.

[0074] Through the setting of the third connecting pin, the circumferential connection of sensor outer ring 41 and lower structure 200 can be strengthened, and the slip risk between joint module 100 and lower structure 200 can be reduced.Meanwhile, friction plate is also provided on the side of support bearing 51 back of sensor outer ring 41, and the static friction between sensor outer ring 41 and lower structure 200 can be increased, and the slip risk is further reduced.

[0075] In some embodiments, the friction plate is fixed to the sensor outer ring 41, or the friction plate is fixed to the lower structure 200.

[0076] In some embodiments, the number of third connecting pins is multiple, such as 2, 4, 6, etc.

[0077] In some embodiments of the utility model, please refer to Figures 1 to 3 Joint module 100 further includes driver 63, and driver 63 and torque sensor 40 are arranged at the axial two ends of joint output shaft 30;Motor assembly 10 includes motor housing 11, motor stator 12 fixed in motor housing 11, and motor rotor 13 located in motor stator 12 and fixedly connected with wave generator 21 of speed reducer 20, and driver 63 has first encoder 61 for detecting motor rotor 13 and second encoder 62 for detecting joint output shaft 30.Driving circuit is arranged on driver 63, which is used for controlling the start-stop and rotation speed of joint module 100, and driver 63 can be circuit board.First encoder 61 can be used for detecting the rotation speed and rotation angle of motor rotor 13, and motor rotor 13 is correspondingly provided with a magnetic head, and second encoder 62 can be used for detecting the rotation speed and rotation angle of joint output shaft 30, and joint output shaft 30 is correspondingly provided with a magnetic head.

[0078] The driver 63 and the torque sensor 40 are arranged at the axial two ends of the joint output shaft 30, so that the driver 63 and the torque sensor 40 are easy to disassemble and maintain. In addition, the first encoder 61 and the second encoder 62 are arranged on the driver 63, that is, arranged at the same end of the joint output shaft 30, so that multiple circuit boards are not needed, and the structure is simplified.

[0079] In some embodiments of the utility model, please refer to Figures 1 to 3 The joint module 100 further comprises a brake assembly 70, the brake assembly 70 comprises a brake stator 71 and a brake rotor 72, the brake stator 71 is fixedly connected with the fixed cover 55, and the brake rotor 72 is fixedly connected with the motor rotor 13. When the brake assembly 70 is powered off, the brake rotor 72 is attracted to the brake stator 71, so that the electronic stator and the wave generator 21 stop rotating.

[0080] Please refer to Figure 7 The utility model further provides a surgical robot, the surgical robot includes a mechanical arm 800, and the joint of the mechanical arm 800 is provided with the joint module 100 in any one of the above-mentioned embodiments. The surgical robot is applied to orthopedic surgery, and one joint module 100 can provide one rotation degree of freedom for the surgical robot.

[0081] The surgical robot provided by the utility model adopts the above-mentioned joint module 100, the joint module 100 comprises a motor assembly 10, a speed reducer 20 and a joint output shaft 30 which are sequentially transmission-connected, a torque sensor 40 is fixed to one end of the joint output shaft 30, so that the torque sensor 40 is located at one axial end of the joint module 100, and the disassembly and maintenance of the torque sensor 40 are facilitated. One axial end of the torque sensor 40 is fixedly arranged with an outer ring of a supporting bearing 51, so that the torque sensor 40 can be supported by the supporting bearing 51, the influence of non-circumferential force on the torque sensor 40 is reduced, and the detection accuracy of the torque sensor 40 is improved.

[0082] In some embodiments of the utility model, please refer to Figure 7 The mechanical arm 800 can be a multi-axis mechanical arm and can realize multi-degree-of-freedom movement. The mechanical arm 800 comprises at least one joint module 100 in any one of the above-mentioned embodiments.

[0083] Alternatively, the mechanical arm 800 is a six-axis mechanical arm, the leading end of the mechanical arm 800 is fixed to a base structure, and the tail end of the mechanical arm 800 is provided with a quick-release structure 812 for connecting a tail end execution structure. The mechanical arm 800 comprises at least one joint module 100 in any one of the above-mentioned embodiments.

[0084] Alternatively, the mechanical arm 800 is installed on a base 900, and the base 900 can be moved through a rolling wheel mechanism or the like, so that the position of the surgical robot can be shifted as required.

[0085] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An articulating module, comprising: The motor assembly (10), the speed reducer (20) and the joint output shaft (30) are sequentially transmission connected, the torque sensor (40) is arranged at one end of the joint output shaft (30) in the axial direction, and the motor assembly (10) and the speed reducer (20) are both arranged on the outer periphery of the joint output shaft (30). The joint output shaft (30) is provided with a support bearing (51) at one end of the torque sensor (40) in the axial direction, the outer ring of the support bearing (51) is fixedly pressed with one end of the torque sensor (40) in the axial direction, and the inner ring of the support bearing (51) is fixedly connected with the rigid wheel of the speed reducer (20).

2. The joint module of claim 1, wherein The joint module (100) further comprises a fixed ring (52) and a first locking member, the fixed ring (52) and the torque sensor (40) are respectively located at the two ends of the support bearing (51) in the axial direction, and the first locking member passes through the torque sensor (40) and the outer ring of the support bearing (51) and is connected to the fixed ring (52).

3. The joint module of claim 2, wherein, The end of the support bearing (51) away from the torque sensor (40) is provided with a fixed cover (55), the motor housing (11) of the motor assembly (10), the fixed cover (55), the support bearing (51) and the torque sensor (40) are sequentially arranged in the axial direction, and the fixed cover (55) is fixedly connected with the motor housing (11), the fixed cover (55), the rigid wheel (22) of the speed reducer (20) and the inner ring of the support bearing (51) are sequentially arranged in the axial direction and are fixedly connected with each other.

4. The joint module of claim 2, wherein, One end of the joint output shaft (30) is radially outwardly protrudingly provided with a shaft connecting portion (31), a first rotating bearing (571) is arranged between the inner peripheral wall of the wave generator (21) of the speed reducer (20) and the outer peripheral wall of the joint output shaft (30), the two ends of the first rotating bearing (571) in the axial direction are respectively limited by the internal step of the wave generator (21) and the shaft connecting portion (31), a second rotating bearing (572) is arranged between the outer peripheral wall of the wave generator (21) and the fixed cover (55), and the two ends of the second rotating bearing (572) in the axial direction are respectively limited by the external step of the wave generator (21) and the fixed cover (55).

5. The joint module of claim 4, wherein, The torque sensor (40) comprises a sensor outer ring (41), a detection area (42) and a sensor inner ring (43) sequentially arranged from the outside to the inside, the outer ring of the support bearing (51) is fixedly pressed with the sensor outer ring (41), and the sensor inner ring (43) is fixedly pressed with one end of the joint output shaft (30) in the axial direction.

6. The joint module of claim 2, wherein, ​ 7. The joint module of claim 6, wherein, The sensor inner ring (43) is fixedly connected with the joint output shaft (30) through a third locking member (53), one end of the joint output shaft (30) is provided with a shaft connecting portion (31) in a radial protrusion manner, the third locking member (53) penetrates through the sensor inner ring (43) and a flexible gear (23) of the speed reducer (20) and is connected to the shaft connecting portion (31), and a gasket is arranged between a head portion of the third locking member (53) and the sensor inner ring (43).

8. The joint module of claim 7, wherein, The joint module (100) further comprises a second connecting pin for circumferentially positioning the sensor inner ring (43) and the flexible gear (23), one end of the second connecting pin extends into the sensor inner ring (43), and the other end of the second connecting pin extends into the flexible gear (23); and a colloid is filled at a contact surface of the sensor inner ring (43) and the flexible gear (23).

9. Joint module according to any one of claims 1-8, characterized in that The joint module (100) further comprises a driver (63), the driver (63) and the torque sensor (40) are respectively arranged at two axial ends of the joint output shaft (30); the motor assembly (10) comprises a motor housing (11), a motor stator (12) fixed in the motor housing (11), and a motor rotor (13) located in the motor stator (12) and fixedly connected with a wave generator (21) of the speed reducer (20), the driver (63) is provided with a first encoder (61) for detecting the motor rotor (13) and a second encoder (62) for detecting the joint output shaft (30).

10. A surgical robot, characterized by The mechanical arm is provided with the joint module (100) according to any one of claims 1-9 at a joint.

Images