Protective structure of spherical joint and surgical robot

Abstract

The utility model provides a protective structure of a spherical joint and a surgical robotic.The protective structure of the spherical joint comprises a first component, a second component, the spherical joint and a protective piece, the first end of the spherical joint is connected with the first component, and the second end of the spherical joint is connected with the second component, so that the first component and the second component can move relatively; the protection part comprises a telescopic flexible protection cover, the two ends of the flexible protection cover are open, the opening of the first end of the flexible protection cover is closed and rotatably assembled at the end, connected with the spherical joint, of the first component, and the opening of the second end of the flexible protection cover is closed and rotatably assembled at the end, connected with the spherical joint, of the second component. And the spherical joint is sealed in the flexible protective cover. According to the protective structure of the spherical joint, the flexible protective cover capable of relatively rotating is arranged outside the spherical joint between the first component and the second component, so that the spherical joint is protected, and meanwhile, the movement flexibility of the spherical joint is ensured.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a protective structure for a ball joint and a surgical robot. Background Technology

[0002] Surgical robots, as a crucial component of modern medical technology, require extremely high precision and stability, while ensuring absolute safety during operation. Joints are a vital mechanical connection component in surgical robots, achieving multi-degree-of-freedom rotation or oscillation through spherical contact structures, thus adapting to complex motion requirements.

[0003] Currently, most joints used in medical devices typically lack dedicated protective structures or are only protected by simple external covers. Such simplistic protective designs generally offer poor protection, restricting the joint's range of motion and potentially leading to movement jamming or material damage. This severely reduces the reliability and freedom of movement of surgical robots, and some structures are cumbersome and difficult to adjust during installation, impacting assembly efficiency and reliability. Utility Model Content

[0004] The purpose of this application is to provide a protective structure for a ball joint to solve the problem of poor motion freedom of the protective structure for a ball joint in the prior art; in addition, the purpose of this application is also to provide a surgical robot including the protective structure for the ball joint.

[0005] To achieve this objective, the following technical solution is adopted in this application:

[0006] This application provides a protective structure for a ball joint, comprising a first component, a second component, a ball joint, and a protective element, wherein:

[0007] The first end of the ball joint is connected to the first component, and the second end of the ball joint is connected to the second component, so that the first component and the second component can move relative to each other;

[0008] The protective component includes a retractable flexible protective cover with openings at both ends. The first end of the flexible protective cover is closed and rotatably mounted on the end of the first component connected to the ball joint. The second end of the flexible protective cover is closed and rotatably mounted on the end of the second component connected to the ball joint, so as to enclose the ball joint within the flexible protective cover.

[0009] Optionally, the first end opening of the flexible protective cover is closed by a first rotating assembly or a second rotating assembly and rotatably mounted on one end of the first component, and the second end opening of the flexible protective cover is closed by a first rotating assembly or a second rotating assembly and rotatably mounted on one end of the second component.

[0010] Optionally, the first rotating component includes a first groove and a first protrusion. The first end of the flexible protective cover is provided with an annular first groove, and the first protrusion is provided at the end of the first component in conjunction with the first groove. The first protrusion is slidably installed in the first groove in the circumferential direction.

[0011] Optionally, a first metal ring is pre-embedded at the first end of the flexible protective cover. The first metal ring has a "U"-shaped groove with an opening facing outward, so as to form a first sliding groove with a "U"-shaped cross section at the first end of the flexible protective cover.

[0012] Optionally, the second rotating assembly includes a first slip ring and a second slip ring. The first slip ring is fixedly installed at the end of the second component, and the first end of the flexible protective cover is fixedly connected to the second slip ring. The first slip ring is adapted to the second slip ring and can rotate relative to the second slip ring.

[0013] Optionally, a second sliding groove with a "U" shaped cross-section is provided on the first slip ring. The opening of the second sliding groove faces the first end of the flexible protective cover. The first slip ring is located inside the second sliding groove and contacts the inner wall of the second sliding groove.

[0014] Optionally, the second end of the ball joint is provided with a threaded section and a limiting plate. A through hole is opened in the middle of the first slip ring. The threaded section passes through the through hole so that the limiting plate abuts against the outside of the first slip ring. The diameter of the limiting plate is larger than the inner diameter of the opening at the second end of the flexible protective cover. The nut on the threaded section is tightened to a preset position and presses against the inside of the first slip ring so that the limiting plate presses against the second end of the flexible protective cover and the first slip ring.

[0015] Optionally, the second end of the flexible protective cover has several locking blocks evenly distributed along the circumferential direction, and the second slip ring has several corresponding locking slots, with the locking blocks and locking slots being compatible.

[0016] Optionally, the flexible protective cover is configured as a corrugated tube made of silicone material.

[0017] A surgical robot comprising a protective structure for any of the aforementioned ball joints.

[0018] Compared with the prior art, the protective structure for a ball joint proposed in this application has the following advantages:

[0019] 1) By setting a flexible protective cover that can rotate relative to each other outside the ball joint between the first component and the second component, not only is the ball joint protected, but the flexibility and freedom of movement of the ball joint are also ensured.

[0020] 2) By setting a first rotating component and / or a second rotating component at both ends of the flexible protective cover, on the one hand, multiple rotation methods are provided for the flexible protective cover between the first component and the second component, and on the other hand, it is ensured that the flexible protective cover can be connected to the first component and the second component more stably, without affecting the degree of freedom of joint movement.

[0021] 3) The cooperation of the first slip ring and the second slip ring effectively reduces the friction when the flexible protective cover rotates, ensuring that the rotation between the protective cover and the second component is more flexible and improving the smoothness of rotation. Attached Figure Description

[0022] To more clearly illustrate and understand the technical solutions in the embodiments of this application, the accompanying drawings used in the background technology and embodiment descriptions of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this application and these drawings without creative effort.

[0023] Figure 1 This is a cross-sectional view of the protective structure of the ball joint provided in the embodiments of this application;

[0024] Figure 2 This is a three-dimensional structural diagram of the flexible protective cover of the protective structure of the ball joint provided in the embodiments of this application;

[0025] Figure 3 This is a three-dimensional structural diagram of the second slip ring of the protective structure of the ball joint provided in the embodiments of this application;

[0026] Figure 4 yes Figure 1 Enlarged view of point A in the middle;

[0027] Figure 5 yes Figure 1 Enlarged diagram of point B in the middle. Detailed Implementation

[0028] To facilitate understanding of this application, a more complete description of the application will be provided below with reference to the accompanying drawings. Preferred embodiments of the application are shown in the drawings. However, the application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] Please see Figures 1 to 5 As shown in the embodiment of this application, a protective structure for a ball joint includes a first component 10, a second component 20, a ball joint 30, and a protective member, wherein:

[0030] The first end of the ball joint 30 is connected to the first component 10, and the second end of the ball joint 30 is connected to the second component 20, so that the first component 10 and the second component 20 can move relative to each other;

[0031] The protective component includes a retractable flexible protective cover 40 with openings at both ends. The first end of the flexible protective cover 40 is closed and rotatably mounted on the end of the first component 10 connected to the ball joint 30. The second end of the flexible protective cover 40 is closed and rotatably mounted on the end of the second component 20 connected to the ball joint 30, so as to enclose the ball joint 30 within the flexible protective cover 40.

[0032] By providing a flexible protective cover 40 that can rotate relative to each other outside the ball joint 30 between the first component 10 and the second component 20, not only is the ball joint 30 protected, but the flexibility and freedom of movement of the ball joint 30 are also ensured.

[0033] In one embodiment, the first end opening of the flexible protective cover 40 is closed by the first rotating component 41 or the second rotating component 42 and is rotatably mounted on one end of the first component 10, and the second end opening of the flexible protective cover 40 is closed by the first rotating component 41 or the second rotating component 42 and is rotatably mounted on one end of the second component 20.

[0034] Specifically, the first rotating component 41 is disposed at the first end of the flexible protective cover 40, and the second rotating component 42 is disposed at the second end of the flexible protective cover 40.

[0035] Through the cooperation of the first rotating component 41 and the second rotating component 42, on the one hand, the flexible protective cover 40 provides multiple rotation modes between the first component 10 and the second component 20, and on the other hand, it ensures that the flexible protective cover 40 can be connected to the first component 10 and the second component 20 more stably, without affecting the degree of freedom of joint movement.

[0036] In one embodiment, the first rotating component 41 includes a first groove 410 and a first protrusion 411. The first end of the flexible protective cover 40 is provided with an annular first groove 410, and the first protrusion 411 is provided at the end of the first component 10 in conjunction with the first groove 410. The first protrusion 411 is slidably installed in the first groove 410 in the circumferential direction.

[0037] The cooperation between the first groove 410 and the first protrusion 411 provides a simple and reliable connection method, which not only achieves a tight connection between the flexible protective cover 40 and the first component 10, but also ensures that the protective cover can adapt to the multi-degree-of-freedom movement of the ball joint 30.

[0038] In one embodiment, a first metal ring 43 is pre-embedded at the first end of the flexible protective cover 40. The first metal ring 43 has a "U"-shaped groove with an opening facing outward, so as to form a first sliding groove 410 with a "U"-shaped cross section at the first end of the flexible protective cover 40.

[0039] By pre-embedding a first metal ring 43 at the first end of the flexible protective cover 40, the structural strength of the first groove 410 is enhanced, allowing the flexible protective cover 40 to be more firmly connected to the first component 10, thus ensuring the stability and reliability of the flexible protective cover 40 during movement.

[0040] In one embodiment, the second rotating assembly 42 includes a first slip ring 420 and a second slip ring 421. The first slip ring 420 is fixedly installed at the end of the second component 20, and the first end of the flexible protective cover 40 is fixedly connected to the second slip ring 421. The first slip ring 420 is adapted to the second slip ring 421 and can rotate relative to the second slip ring 421.

[0041] The cooperation of the first slip ring 420 and the second slip ring 421 effectively reduces the friction when the flexible protective cover 40 rotates, ensuring that the rotation between the flexible protective cover 40 and the second component 20 is more flexible and improving the smoothness of rotation.

[0042] In one embodiment, a second sliding groove with a "U"-shaped cross-section is provided on the first slip ring 420. The opening of the second sliding groove faces the first end of the flexible protective cover 40. The first slip ring 420 is located in the second sliding groove and is in contact with the inner wall of the second sliding groove.

[0043] By setting a "U"-shaped groove on the first slip ring 420, the first slip ring 420 can rotate smoothly in the second groove, thereby reducing friction and resistance during rotation. At the same time, it can better guide the second slip ring 421 to rotate on the preset motion trajectory, thereby improving the stability of the sliding process.

[0044] In one embodiment, the second end of the ball joint 30 is provided with a threaded section 31 and a limiting plate 32. A through hole is provided in the middle of the first slip ring 420. The threaded section 31 passes through the through hole so that the limiting plate 32 abuts against the outside of the first slip ring 420. The diameter of the limiting plate 32 is larger than the inner diameter of the opening at the second end of the flexible protective cover 40. The nut 33 on the threaded section is screwed to a preset position and presses against the inside of the first slip ring 420 so that the limiting plate 32 presses against the second end of the flexible protective cover 40 and the first slip ring 420.

[0045] The combination of threaded section 31, nut 33 and limiting plate 32 effectively prevents the flexible protective cover 40 from falling off or loosening during use, improves the overall protective performance and ensures movement stability.

[0046] In one embodiment, a plurality of locking blocks 44 are evenly distributed along the circumferential direction at the second end of the flexible protective cover 40, and a plurality of locking grooves 45 are correspondingly provided on the second slip ring 421, with the locking blocks 44 and the locking grooves 45 being adapted to each other.

[0047] The cooperation of the locking block 44 and the locking slot 45 provides a simple and quick locking method, which improves the accuracy and stability of the connection between the flexible protective cover 40 and the second slip ring 421.

[0048] In one embodiment, the flexible protective cover 40 is configured as a corrugated tube made of silicone material.

[0049] By setting the flexible protective cover 40 as a corrugated tube made of silicone material, the good flexibility and elasticity of silicone material can effectively adapt to the deformation and bending requirements of the ball joint 30 under different motion states, and can provide a better sealing effect, thereby improving the safety of the flexible protective cover 40 during use.

[0050] A surgical robot comprising a protective structure for any of the aforementioned ball joints 30.

[0051] The above embodiments merely illustrate the basic principles and characteristics of this application. This application is not limited to the above examples. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A protective structure of a ball joint, characterized by comprising: The protective structure of the ball joint includes a first component, a second component, a ball joint, and a protective element, wherein: The first end of the ball joint is connected to the first component, and the second end of the ball joint is connected to the second component, so that the first component and the second component can move relative to each other; The protective component includes a retractable flexible protective cover with openings at both ends. The first end of the flexible protective cover is closed and rotatably mounted on the end of the first component connected to the ball joint. The second end of the flexible protective cover is closed and rotatably mounted on the end of the second component connected to the ball joint, so as to enclose the ball joint within the flexible protective cover.

2. The protective structure of a ball joint according to claim 1, wherein The first end opening of the flexible protective cover is closed by a first rotating component or a second rotating component and is rotatably mounted to one end of the first component, and the second end opening of the flexible protective cover is closed by a first rotating component or a second rotating component and is rotatably mounted to one end of the second component.

3. The protective structure of a ball joint according to claim 2, wherein The first rotating component includes a first groove and a first protrusion. The first end of the flexible protective cover is provided with an annular first groove, and a first protrusion is provided at the end of the first component in conjunction with the first groove. The first protrusion is slidably installed in the first groove in the circumferential direction.

4. The protective structure of a ball joint according to claim 3, wherein A first metal ring is pre-embedded at the first end of the flexible protective cover. The first metal ring has a "U"-shaped groove with the opening facing outward, so as to form a first sliding groove with a "U"-shaped cross section at the first end of the flexible protective cover.

5. The protective structure of a ball joint according to claim 2, wherein The second rotating assembly includes a first slip ring and a second slip ring. The first slip ring is fixedly installed at the end of the second component. The first end of the flexible protective cover is fixedly connected to the second slip ring. The first slip ring is adapted to the second slip ring and can rotate relative to the second slip ring.

6. The protective structure for the ball joint according to claim 5, characterized in that, The first slip ring has a second slip groove with a "U" shaped cross section. The opening of the second slip groove faces the first end of the flexible protective cover. The first slip ring is located inside the second slip groove and is in contact with the inner wall of the second slip groove.

7. The protective structure of a ball joint according to claim 5, wherein The second end of the ball joint is provided with a threaded section and a limiting plate. A through hole is opened in the middle of the first slip ring. The threaded section passes through the through hole so that the limiting plate abuts against the outside of the first slip ring. The diameter of the limiting plate is larger than the inner diameter of the opening at the second end of the flexible protective cover. The nut on the threaded section is tightened to a preset position and presses against the inside of the first slip ring so that the limiting plate presses against the second end of the flexible protective cover and the first slip ring.

8. The protective structure of a ball joint according to claim 5, wherein The second end of the flexible protective cover has a number of locking blocks evenly distributed along the circumference, and the second slip ring is provided with a number of corresponding locking slots, the locking blocks being adapted to the locking slots.

9. The protective structure of a ball joint according to claim 1, wherein The flexible protective cover is configured as a corrugated tube made of silicone material.

10. A surgical robot, characterized by The surgical robot includes a protective structure for the ball joint as described in any one of claims 1-9.

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