Joint module, mechanical arm and robot

Abstract

The application provides a joint module, a mechanical arm and a robot. In the joint module, the transmission shaft and the output shaft are rotatably arranged in the shell, the torque sensor is arranged between the transmission shaft and the output shaft, and is in transmission connection with the transmission shaft and the output shaft respectively, and is used for measuring the output torque of the joint module. The application optimizes the overall structure of the joint module by changing the arrangement position and the mounting structure of the torque sensor, can directly measure the actual output torque of the joint module by using the torque sensor arranged between the transmission shaft and the output shaft, and has high measurement accuracy. Since the torque sensor is arranged in the joint module and is far away from the transmission components such as the speed reducer, the torque sensor is not affected by the transmission components such as the speed reducer arranged in the joint module and the external load, so that the measurement accuracy of the actual output torque of the joint module is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a joint module, a robotic arm, and a robot. Background Technology

[0002] Robotic arms are a crucial component of robots, characterized by high precision, flexibility, and stability, and have a wide range of applications. For example, they can be used in manufacturing, such as in metal processing, polishing, assembly, machine tool loading and unloading, material handling, and sorting. They can also be used in the medical industry, such as in surgical robots, to assist doctors in performing surgery. Surgical robot robotic arms consist of a master arm and a slave arm. The master arm moves through the surgeon's hand movements, while the slave arm moves synchronously with it. Surgical instruments, such as scalpels or endoscopes, can be attached to the end of the slave arm, allowing the surgeon to remotely control the slave arm to perform surgical procedures by controlling the master arm.

[0003] The robotic arm consists of at least multiple joints and links. The rotation of the joints is driven by joint modules, which allows the robotic arm to flexibly adjust its posture in three-dimensional space to meet different usage requirements.

[0004] The posture adjustment of a robotic arm is essentially about controlling its joints, such as controlling the joint's rotation angle or output torque. In joint output torque control, sensors or detection devices are often used to measure the actual output torque of the joint, allowing for dynamic adjustment of the joint torque output. Therefore, the accuracy of measuring the actual output torque of the joint module determines the accuracy of the robotic arm's posture adjustment control.

[0005] There are various methods for measuring the actual output torque of a joint module in related technologies.

[0006] For example, in related technical solution 1, a torque sensor for measuring the actual output torque of the joint is directly installed at the outer end of the output flange of the joint module. However, this torque sensor will directly contact the connecting rod driven by the output flange. Under the action of gravity (especially when the connecting rod is under a large load), the connecting rod and the components carried by the connecting rod are prone to applying a large torque to the torque sensor, affecting the sensing result of the torque sensor and resulting in low measurement accuracy of the torque sensor.

[0007] For example, in related technical solution 2, the actual output torque of the joint is reflected by directly measuring the working current of the motor. However, since there is at least one reducer between the output end of the joint module and the output end of the motor, the reducer also affects the measurement of the actual output torque of the joint.

[0008] The above-mentioned methods for measuring the actual output torque of the joint module all suffer from insufficient measurement accuracy. Therefore, it is necessary to improve the structure of the joint module to enhance the measurement accuracy of the actual output torque of the joint module. Utility Model Content

[0009] The purpose of this application is to provide a joint module, a robotic arm, and a robot to improve the measurement accuracy of the actual output torque of the joint module.

[0010] A joint module, comprising:

[0011] shell;

[0012] Motor assembly;

[0013] The speed reduction device is connected to the motor assembly for transmission.

[0014] A drive shaft is rotatably disposed within the housing and is connected to the motor assembly via the reduction gear.

[0015] The output shaft is rotatably disposed within the housing;

[0016] A torque sensor is disposed between the drive shaft and the output shaft, and is connected to both the drive shaft and the output shaft respectively, for measuring the output torque of the joint module.

[0017] In some embodiments, the motor assembly includes one, two, or more motors, and / or the reduction gear includes a single-stage, two-stage, or multi-stage planetary reducer.

[0018] In some embodiments, the motor assembly includes: a first motor and a second motor; the at least one reduction device includes: a first reducer and a second reducer; the joint module further includes: a transmission gear set.

[0019] The first motor and the first reducer are arranged along the third axis and are connected in a transmission manner;

[0020] The second motor and the second reducer are arranged along the fourth axis and are connected in a transmission manner;

[0021] The transmission gear set is drivingly connected to the first reducer and the transmission shaft, and drivingly connected to the second reducer and the transmission shaft, so that the first motor and the second motor are drivingly connected to the transmission shaft;

[0022] The third axis is parallel to the fourth axis.

[0023] In some embodiments, the transmission gear set includes a first gear, a second gear, and a third gear;

[0024] The first gear is driven by the first reducer, the second gear is driven by the second reducer, and the third gear is driven by the drive shaft;

[0025] The first gear and the second gear are disposed on both sides of the axis of the third gear and mesh with the third gear respectively.

[0026] In some embodiments, the motor assembly includes a third motor and a fourth motor; the reduction assembly includes a third reducer;

[0027] The third motor, the fourth motor, and the third reducer are arranged on the same axis. The third motor and the fourth motor are respectively connected to the third reducer for transmission. The third reducer is connected to the transmission shaft for transmission.

[0028] In some embodiments, the motor assembly includes a fifth motor and a sixth motor, and the reduction gear includes a fourth reducer and a fifth reducer;

[0029] The fifth motor, the sixth motor, the fourth reducer, and the fifth reducer are arranged on the same axis. The fifth motor is driven by the fourth reducer, the sixth motor is driven by the fifth reducer, and both the fourth reducer and the fifth reducer are driven by the drive shaft.

[0030] In some embodiments, the joint module further includes:

[0031] A flexible coupling is disposed between the torque sensor and the drive shaft, providing a transmission connection between the torque sensor and the drive shaft, such that there is a displacement between the torque sensor and the drive shaft in the axial direction of the drive shaft.

[0032] Preferably, the flexible coupling is an inelastic flexible coupling.

[0033] In some embodiments, it also includes:

[0034] The first bearing is disposed inside the housing;

[0035] The output shaft is disposed on the first bearing, and one end of the output shaft has a first shoulder. One side of the first shoulder is fixedly connected to the torque sensor, and the other side abuts against one side of the first bearing.

[0036] Preferably, the first bearing is a crossed roller bearing.

[0037] A robotic arm, comprising:

[0038] At least one link;

[0039] At least one joint module of the above embodiments, wherein the output shaft of the joint module drives the corresponding connecting rod to swing.

[0040] A robot includes: the robotic arm described in the above embodiments.

[0041] Beneficial effects of the embodiments in this application:

[0042] This application provides a joint module, robotic arm, and robot. In the joint module, both the drive shaft and output shaft are rotatably mounted within a housing. A torque sensor is positioned between the drive shaft and output shaft, and is connected to both shafts for measuring the output torque of the joint module. This application optimizes the overall structure of the joint module by changing the placement and mounting structure of the torque sensor. This allows for direct measurement of the actual output torque of the joint module using a torque sensor positioned between the drive shaft and output shaft, resulting in high measurement accuracy. Because the torque sensor is located inside the joint module and far from transmission components such as the reduction gear, it is less susceptible to the combined effects of the internal transmission components and external loads, thus improving the measurement accuracy of the actual output torque of the joint module.

[0043] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0045] Figure 1 This is a schematic diagram of the joint module provided in the embodiments of this application;

[0046] Figure 2 This is a side view of the joint module provided in the embodiments of this application;

[0047] Figure 3 yes Figure 2 A cross-sectional view of the mid-joint module along the AA direction;

[0048] Figure 4 The structure of the transmission gear set of the joint module with two motors arranged side by side is shown;

[0049] Figure 5a The transmission structure of a joint module with two motors coaxially arranged is shown from a first-person perspective;

[0050] Figure 5b A transmission structure for a joint module with two motors coaxially arranged is shown from a second perspective.

[0051] Figure 6 Another transmission structure for a joint module with dual motors coaxially arranged is shown;

[0052] Figure 7 This is a schematic diagram of a single-motor driven joint module provided in an embodiment of this application;

[0053] Figure 8 The structure of an inelastic flexible coupling is shown;

[0054] Figure 9 This illustrates the structure of another inelastic flexible coupling;

[0055] Figure 10 This is an application provided in the embodiments of this application. Figure 9 A schematic diagram of the joint module of a non-elastic flexible coupling with a medium-sized structure;

[0056] Figure 11 yes Figure 10 A schematic diagram of a partial cross-sectional view along the BB direction;

[0057] Figure 12 This is an exploded view of the joint module provided in the embodiments of this application;

[0058] Figure 13 This is a schematic diagram of the encoder arrangement in the joint module provided in the embodiments of this application;

[0059] Figure 14 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application;

[0060] Figure 15 This is a schematic diagram of the main control console of the surgical robot provided in the embodiments of this application.

[0061] The attached figures are labeled as follows:

[0062] The outer casing 10, the first bearing 11, the first bearing 111, the second bearing 12, the second bearing 121, the third bearing 13, the third bearing 131, the base shell 10a, the gear shell 10b, and the end cap 10c.

[0063] Output shaft 20, first shoulder 21;

[0064] Drive shaft 30, second shoulder 31, third shoulder 32, extension shaft 33;

[0065] Motor assembly 41, including first motor 41a, second motor 41b, third motor 41c, fourth motor 41d, fifth motor 41e, and sixth motor 41f; reduction gear 42, including first reducer 42a, second reducer 42b, third reducer 42c, fourth reducer 42d, and fifth reducer 42e; transmission gear set 43, including first gear 431, second gear 432, and third gear 433; third motor shaft 411c; fourth motor shaft 411d; and hollow output shaft 411 of the fifth motor. e, reducer housing 421c, sun gear 422c, first sun gear 4221c, second sun gear 4222c, through hole 42221c of second sun gear, gear ring 423c, planet gear 424c, first planet gear 4241c, second planet gear 4242c, fourth planet carrier 421d, fourth gear ring 422d, fourth planet gear 423d, fourth sun gear 424d, fifth planet carrier 421e, fifth gear ring 422e, fifth planet gear 423e, fifth sun gear 424e;

[0066] Torque sensor 50, first torque sensing unit 51, second torque sensing unit 52;

[0067] Flexible coupling 60, first coupling component 61, second coupling component 62, third coupling component 63, fourth coupling component 64, connector 65, cross-shaped slide groove 611, cross-shaped slider 621, first straight slide groove 631, first straight slider 651, second straight slide groove 652, second straight slider 641, first bolt hole 612, second bolt hole 632;

[0068] Encoder 71, flexible transmission component 72, transmission wheel 73;

[0069] Bolt 81;

[0070] Robotic arm 1100;

[0071] Link 100, first link 110, second link 120, third link 130, joint module 200, first module 210, second module 220, third module 230, swing arm 300, pull rod 400;

[0072] Main console 1200, main robotic arm 1210, binoculars 1220;

[0073] The axis of the drive shaft is in the direction of X. Detailed Implementation

[0074] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0075] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof.

[0076] Although the terms first, second, third, etc., may be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another region, layer, or section.

[0077] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "upper," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure.

[0078] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediate medium, or to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0079] To improve the measurement accuracy of the actual output torque of the joint module, this application provides a joint module that can be applied to a robotic arm. For example, this robotic arm can be used in the robotic arm of an industrial robot, or in the robotic arm of a medical device, such as the robotic arm of a surgical robot; this application does not limit the application to this specific application.

[0080] Figure 1 This is a schematic diagram of the joint module provided in the embodiments of this application. Figure 2 This is a side view structural diagram of the joint module provided in the embodiments of this application. Figure 3 yes Figure 2 A cross-sectional view of the mid-joint module along the AA direction.

[0081] See Figures 1-3 The joint module includes: a housing 10, a motor assembly 41, a reduction gear 42, a drive shaft 30, an output shaft 20, and a torque sensor 50. The drive shaft 30 and the output shaft 20 are rotatably disposed within the housing 10. The reduction gear 42 is driven by the motor assembly 41, and the drive shaft 30 is driven by the motor assembly 41 via the reduction gear 42.

[0082] The drive shaft 30 transmits the torque of the motor assembly 41 to the output shaft 20, causing the output shaft 20 to rotate. The output shaft 20 is the output end of the joint module, used to output torque outward. For example, by connecting the output shaft 20 to an external connecting rod, the joint module provided in this embodiment can drive the external connecting rod to rotate.

[0083] A torque sensor 50 is disposed between the drive shaft 30 and the output shaft 20, and is connected to both the drive shaft 30 and the output shaft 20 respectively, for measuring the actual output torque of the joint module. The torque sensed by the torque sensor 50 can be used to control the output torque of the motor 41.

[0084] Compared with related technical solution 1, in the joint module provided in this application embodiment, the torque sensor 50 is not directly disposed on the outside of the joint module output end, but is disposed close to the inside of the joint module output end, that is, between the drive shaft 30 and the output shaft 20. When the joint module drives the external connecting rod to rotate through the output shaft 20, the torque sensor 50 is less affected by the external connecting rod, which improves the measurement accuracy of the torque sensor 50 for the actual output torque to a certain extent.

[0085] Compared with related technology 2, since the torque sensor 50 in the joint module is connected to the output shaft 20 and is far away from transmission components such as the reduction gear 42, it can directly measure the actual output torque of the output shaft 20. The measurement result is not easily affected by the operation of transmission components such as the reduction gear 42, which improves the measurement accuracy of the actual output torque of the joint module to a certain extent.

[0086] In some embodiments, the motor assembly 41 includes at least one motor, such as one, two, or three motors.

[0087] return Figure 1 , Figure 1A joint module with two motors arranged side-by-side is shown. In some embodiments, the motor assembly 41 includes a first motor 41a and a second motor 41b, and the reduction device 42 includes a first reducer 42a and a second reducer 42b. The first motor 41a and the first reducer 42a are arranged along a third axis and are drive-connected; the second motor 41b and the second reducer 42b are arranged along a fourth axis and are drive-connected. The third axis is parallel to the fourth axis. Optionally, the first reducer 42a and the second reducer 42b can be a single-stage planetary reducer, a two-stage planetary reducer, or a multi-stage planetary reducer, or other commonly used types of reducers, such as worm gear reducers, gear reducers, harmonic reducers, or belt drive reducers.

[0088] Figure 4 The structure of the transmission gear set of the joint module with two motors arranged side by side is shown.

[0089] See Figure 4 In some embodiments, the joint module further includes a transmission gear set 43, which drives the first reducer 42a, the second reducer 42b and the transmission shaft 30, so that the first motor 41a and the second motor 41b jointly drive the transmission shaft 30 to rotate through the transmission gear set 43.

[0090] For example, the transmission gear set 43 includes a first gear 431, a second gear 432, and a third gear 433. The first gear 431 is connected to the first reducer 42a, the second gear 432 is connected to the second reducer 42b, and the third gear 433 is connected to the transmission shaft 30. The three gears mesh with each other in the same plane. The diameters of the gears can be the same or different, and the axes of the gears are parallel. In the same plane, the line connecting the axes of the three gears can form a line segment or a triangle. Preferably, the triangle can be an equilateral triangle or an isosceles triangle. Optionally, the three gears can be spur gears or helical gears.

[0091] Based on the aforementioned transmission gear set 43, when the first motor 41a drives the first gear 431 to rotate via the first reducer 42a, and the second motor 41b drives the second gear 432 to rotate via the second reducer 42b, the first gear 431 and the third gear 433 are tightly meshed in the first rotational direction, and the second gear 432 and the third gear 433 are tightly meshed in the second rotational direction, with the first and second rotational directions being opposite. Therefore, regardless of the direction in which the third gear 433 rotates, the first gear 431 and the second gear 432 can exert a biasing torque on the third gear 433, thereby eliminating the backlash of all gear mechanisms in the transmission chain within the joint module, resulting in smooth operation of the joint module.

[0092] Figure 5a and Figure 5b The transmission structure of a joint module with two motors arranged coaxially is shown from both first and second perspectives. Compared to a joint module with two motors arranged in parallel, the coaxial arrangement is more compact, saves space, and reduces the size of the joint module.

[0093] See Figure 5a and Figure 5b In some embodiments, the motor assembly 41 includes a third motor 41c and a fourth motor 41d; the reduction device 42 includes a third reducer 42c; the third motor 41c, the fourth motor 41d and the third reducer 42c are coaxially arranged, the third motor 41c and the fourth motor 41d are respectively connected to the third reducer 42c for transmission, and the third reducer 42c is connected to the transmission shaft 30 for transmission.

[0094] For example, the third motor 41c and the fourth motor 41d can be connected to the third reducer 42c in the following way: the third motor shaft 411c of the third motor 41c is connected to the third reducer 42c, and the fourth motor shaft 411d of the fourth motor 41d is a hollow shaft, which is sleeved on the third motor shaft 411c, coaxially arranged with the third motor shaft 411c, and connected to the third reducer 42c. In this embodiment of the application, by sleeved on the third motor shaft 411c of the third motor 41c and the fourth motor shaft 411d of the fourth motor 41d, space can be saved, so as to reduce the overall volume of the joint module and facilitate miniaturization.

[0095] Continue reading Figure 5a and Figure 5b For example, the third reducer 42c includes a reducer housing 421c, a sun gear 422c, a ring gear 423c, planet gears 424c, and a first planet carrier (not shown); the planet gears 424c are drivingly connected to the sun gear 422c and the ring gear 423c, the planet gears 424c are rotatably mounted on the first planet carrier, the first planet carrier and the reducer housing 421c are fixed, and the ring gear 423c is drivingly connected to the drive shaft 30.

[0096] For example, there are two sun gears 422c, including a first sun gear 4221c and a second sun gear 4222c. The first sun gear 4221c and the second sun gear 4222c are arranged along the axis of the third motor shaft 411c. The second sun gear 4222c has a through hole 42221c. The third motor shaft 411c passes through the through hole 42221c and is drivingly connected to the first sun gear 4221c. The fourth motor shaft 411d of the fourth motor 41d is a hollow shaft and is drivingly connected to the second sun gear 4222c. There are at least two planet gears 424c, including a first planet gear 4241c and a second planet gear 4242c. The first planet gear 4241c is drivingly connected to the first sun gear 4221c and the ring gear 423c. The second planet gear 4242c is connected to the second sun gear 4222c and the ring gear 423c. The first planet gear 4241c and the second planet gear 4242c are rotatably mounted on the first planet carrier. For example, the first planetary gear 4241c and the second planetary gear 4242c can be mounted on the same shaft, and the first planetary carrier is mounted on the reducer housing 421c.

[0097] For example, the reducer housing 421c can be a cylindrical body, with the gear ring 423c disposed inside the cylindrical body and rotatably connected to it. This allows the cylindrical body to further limit the movement of the gear ring 423c, facilitating a more stable output power. In this example, the first planetary carrier can be fixed to the inner wall of the cylindrical body.

[0098] Figure 6 Another transmission structure for a joint module with dual motors coaxially arranged is shown.

[0099] See Figure 6 In some embodiments, the motor assembly 41 includes a fifth motor 41e and a sixth motor 41f, and the reduction device 42 includes a fourth reducer 42d and a fifth reducer 42e. The fifth motor 41e, the sixth motor 41f, the fourth reducer 42d, and the fifth reducer 42e are arranged coaxially. The fifth motor 41e is driven by the fourth reducer 42d, the sixth motor 41f is driven by the fifth reducer 42e, and both the fourth reducer 42d and the fifth reducer 42e are driven by the drive shaft 30.

[0100] For example, the fourth reducer 42d includes a fourth planetary carrier 421d, a fourth ring gear 422d, a fourth planetary gear 423d, and a fourth sun gear 424d; the fifth reducer 42e includes a fifth planetary carrier 421e, a fifth ring gear 422e, a fifth planetary gear 423e, and a fifth sun gear 424e. The shaft of the fourth planetary carrier 421d passes through the hollow output shaft 411e of the fifth motor 41e and is drive-connected to the shaft of the fifth planetary carrier 421e. The shaft of the fourth planetary carrier 421d is drive-connected to the transmission shaft 30. The fourth ring gear 422d is fixed, and the fourth planetary gear 423d drive-connects the fourth ring gear 422d and the fourth sun gear 424d. The fifth ring gear 422e is fixed, and the fifth planetary gear 423e drive-connects the fifth ring gear 422e and the fifth sun gear 424e. Optionally, the fourth reducer 42d and the fifth reducer 42e can be single-stage planetary reducers, two-stage planetary reducers, or multi-stage planetary reducers.

[0101] Figure 7 This is a schematic diagram of a single-motor driven joint module provided in an embodiment of this application.

[0102] See Figure 7 In some embodiments, the motor assembly 41 is a single motor, and the reduction gear 42 is also a speed reducer. The motor, speed reducer, and drive shaft 30 are sequentially connected. For example, when the drive shaft 30 is driven by only one motor, the output ends of the motor and speed reducer can be coaxially arranged, and the output end of the speed reducer can be parallel to or coaxial with the drive shaft 30. Compared to a dual-motor driven joint module, a single-motor driven joint module has certain spatial advantages.

[0103] return Figure 3 In the joint module, to reduce the impact of axial compressive force on the measurement accuracy of the torque sensor, in some embodiments, the joint module further includes a flexible coupling 60, disposed between the torque sensor 50 and the drive shaft 30, drivingly connecting the torque sensor 50 and the drive shaft 30, such that there is a displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X of the drive shaft 30. For example, the torque sensor 50 has a first torque sensing part 51 and a second torque sensing part 52. The first torque sensing part 51 is drivenly connected to the output shaft 20, and the second torque sensing part 52 is drivenly connected to the flexible coupling 60. The driving connection between the torque sensor 50 and the output shaft 20 and the flexible coupling 60 can be achieved by fixing with screws or bolts, or by other power-transmitting connection methods.

[0104] The flexible coupling 60 only restricts the degrees of freedom of the drive shaft 30 and the output shaft 20 in the rotation direction, ensuring that the drive shaft 30 transmits power to the output shaft 20, without restricting the degrees of freedom of the drive shaft 30 and the output shaft 20 in the axial direction X. Therefore, it can avoid the torque sensor 50 being affected by axial compressive force, ensuring that the torque sensor 50 can only sense the torque in the rotation direction, thus improving the measurement accuracy.

[0105] If the torque sensor 50 is directly mounted to the drive shaft 30 and positioned via the shaft shoulder, the actual relative distance between the end face of the torque sensor 50 and the shaft shoulder of the drive shaft 30 will deviate from the theoretical relative distance. This deviation makes the torque sensor 50 susceptible to compression from the shaft shoulder, affecting the accuracy of the actual output torque measurement. However, in this embodiment, because a flexible coupling 60 is provided within the joint module, the relative compensation displacement between the torque sensor 50 and the drive shaft 30 can compensate for this deviation, thereby reducing the compression force on the torque sensor 50 from the drive shaft 30 and improving the accuracy of the actual output torque measurement of the joint.

[0106] As mentioned earlier, the reduction gear 42 can drive the transmission shaft 30 to rotate through the transmission gear set 43. When the gears in the transmission gear set 43 are helical gears, the meshing area of ​​the helical gear set is large and the width dimension in the axial direction is small, which facilitates the miniaturization of the joint module.

[0107] In practical applications, the helical gear set can further introduce axial pressure, potentially causing the drive shaft 30 to move axially and exert pressure on the torque sensor 50, thus further affecting the measurement results of the torque sensor 50. However, in this embodiment, the introduction of a flexible coupling 60 in the joint module allows for displacement between the torque sensor 50 and the drive shaft 30 in the axial direction X of the drive shaft 30. This displacement compensates for the axial movement of the drive shaft 30, thus preventing the helical gear set from causing axial pressure on the torque sensor 50. This allows the helical gear set to be used as a transmission component in the joint module, facilitating miniaturization of the joint module.

[0108] The setting of the compensation displacement for the flexible coupling 60 can be considered from several factors. For example, if a helical gear set is introduced as a transmission component in the entire transmission chain of the joint module, a larger relative compensation displacement needs to be set considering that the helical gear will introduce axial compressive force. For instance, the compensation displacement can also be set within a suitable range based on the machining accuracy of each component, assembly requirements, and the applicable scenario of the robotic arm. For example, the compensation displacement range can be set to 0.05mm to 4mm, such as 0.1mm, 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, or 4mm, etc.

[0109] When setting up the flexible coupling 60, it is important to ensure the coaxiality and synchronicity of all rotating components in the transmission chain during the process of power transmission from the drive shaft 30 to the output shaft 20. This includes ensuring the coaxiality and synchronicity between the drive shaft 30 and the output shaft 20 to guarantee the performance of the joint module. Specifically, higher coaxiality results in better performance of the joint module.

[0110] Considering this, the flexible coupling 60 in this embodiment can specifically be an inelastic flexible coupling. An inelastic flexible coupling does not introduce elastic elements into the joint module, and the rotation of the torque sensor 50 and output shaft 20 driven by the transmission shaft 30 will not be delayed due to the presence of elastic elements. The output shaft 20 and transmission shaft 30 can maintain good coaxiality and synchronization, and the stiffness of the joint module can also be improved.

[0111] Regarding the design of inelastic flexible couplings, a variety of feasible structures can be adopted.

[0112] Figure 8 The structure of an inelastic flexible coupling is shown.

[0113] See Figure 8 In some embodiments, the flexible coupling 60 includes a first coupling component 61 and a second coupling component 62. One side of the first coupling component 61 is fixedly connected to the torque sensor 50, for example, one side of the first coupling component 61 has a first bolt hole 612 to facilitate a bolted connection with the torque sensor 50. The other side of the first coupling component 61 has a cross-shaped groove 611 extending along the axial direction X. One side of the second coupling component 62 has a cross-shaped slider 621 extending along the axial direction X, and the other side is fixedly connected to the drive shaft 30. The second coupling component 62 and the drive shaft 30 can be separate structures or integrally formed structures.

[0114] The cross-shaped slider 621 of the second coupling component 62 is inserted into the cross-shaped groove 611 of the first coupling component 61, allowing the first coupling component 61 and the second coupling component 62 to slide together, providing the displacement in the axial direction X between the torque sensor 50 and the drive shaft 30. In the actual assembly of the joint module, in addition to considering the coaxiality of the various rotating components, the feasibility of production assembly also needs to be considered. Regarding... Figure 8 The schematic structure requires high machining precision for the cross-shaped groove 611 and the cross-shaped slider 621 to ensure smooth assembly of the joint module. Insufficient machining precision may result in the cross-shaped groove 611 and the cross-shaped slider 621 being misaligned or difficult to align in a certain direction.

[0115] to this end, Figure 9 Another type of inelastic flexible coupling is shown. Figure 10 This is a schematic diagram of the joint module of the inelastic flexible coupling using this structure, provided in an embodiment of this application. Figure 11 yes Figure 10 A schematic diagram of a partial cross-sectional view along the BB direction.

[0116] See Figures 9-11 In some embodiments, the flexible coupling 60 includes a third coupling component 63, a fourth coupling component 64, and a connector 65. One side of the third coupling component 63 is fixedly connected to the torque sensor 50; for example, one side of the third coupling component 63 has a second bolt hole 632 for bolt-fixed connection with the torque sensor 50. The other side of the third coupling component 63 has a first straight groove 631 extending in the axial direction X. The connector 65 has a first straight slider 651 extending in the axial direction X on the side near the third coupling component 63, and a second straight groove 652 extending in the axial direction X on the other side. The fourth coupling component 64 has a second straight slider 641 extending in the axial direction X on the side near the connector 65, and the other side is fixedly connected to the drive shaft 30. The third coupling component 63 and the drive shaft 30 can be separate structures or integrally formed structures.

[0117] The second straight slider 641 of the fourth coupling component 64 is inserted into the second straight groove 652 of the connector 65, so that the fourth coupling component 64 and the connector 65 are slidably connected. The first straight slider 651 of the connector 65 is inserted into the first straight groove 631 of the third coupling component 63, so that the connector 65 and the third coupling component 63 are slidably connected. Together, they provide the displacement of the torque sensor 50 and the drive shaft 30 in the axial direction X.

[0118] exist Figure 9 In the schematic structure of the inelastic flexible coupling, the first straight groove 631 and the second straight groove 652 intersect, allowing for relative movement of assembly gaps between the third coupling component 63 and the connecting block 65, and between the connecting block 65 and the fourth coupling component 64, in both directions of the intersection during assembly of the joint module. Therefore, smaller assembly gaps in both directions are sufficient to assemble the drive shaft 30 and the flexible coupling 60, reducing the machining accuracy requirements of the inelastic flexible coupling, correspondingly lowering machining costs, and also contributing to improved coaxiality between the drive shaft 30 and the output shaft 20.

[0119] return Figure 3In some embodiments, the joint module further includes: a first bearing 111 disposed within the housing 10; an output shaft 20 disposed on the first bearing 111, one end of the output shaft 20 having a first shoulder 21, one side of the first shoulder 21 being fixedly connected to the torque sensor 50, and the other side abutting against one side of the first bearing 111.

[0120] For ease of assembly, the housing 10 may also include Figure 3 The end cap 10c shown has a connection hole (not shown) through which the output shaft 20 passes. The end cap 10c covers one side of the first bearing seat 11 and confines the first bearing 111 within the first bearing seat 11.

[0121] The first bearing 111 is used to apply radial restraint to the output shaft 20. The first shoulder 21 of the output shaft 20 extends radially on the output shaft 20, facilitating axial restraint to the output shaft 20. Under the combined effect of the radial and axial restraints, the rigidity of the output shaft 20 is improved, making it less prone to deformation under the bending moment caused by external loads, and preventing such deformation from compressing the torque sensor 50, thereby improving the measurement accuracy of the torque sensor 50.

[0122] For example, the first bearing 111 can be a crossed roller bearing, which has rollers arranged perpendicularly to each other. This allows the crossed roller bearing to bear greater axial and radial support forces compared to a conventional bearing. Therefore, selecting a crossed roller bearing as the first bearing 111 can further improve the output shaft 20's ability to withstand bending moments, reduce the possibility of deformation of the output shaft 20 under bending moments causing pressure on the torque sensor 50, improve the measurement accuracy of the torque sensor 50, and also help increase the overall output rigidity of the joint module.

[0123] The output shaft 20 in the joint module can be a solid shaft or a hollow shaft. In some embodiments, in order to reduce the weight of the output shaft and facilitate wiring requirements, the output shaft 20 can be set as a hollow shaft. Since the first bearing 111 and the first bearing seat 11 mentioned above can provide support, even if the output shaft 20 is set as a hollow shaft, the output shaft 20 is not easy to deform under bending moment and cause compression to the torque sensor 50.

[0124] For example, the output shaft 20 can be a hollow flange shaft, including a first flange and a second flange on the connecting rod. The first and second flanges are connected by bolts, thereby realizing the transmission connection between the output shaft 20 and the connecting rod. It is understood that in specific implementations, the connection method between the connecting rod and the output shaft 20 is not limited to a flange connection.

[0125] Accordingly, in addition to limiting the output shaft 20, it is also necessary to restrict the axial movement of the drive shaft 30 within the housing. (Continue reading...) Figure 3 In some embodiments, the housing 10 has a first bearing 11, a second bearing 12 and a third bearing 13, with the shaft holes of the three bearings being coaxially arranged. The output shaft 20 is rotatably disposed on the first bearing 11, and the transmission shaft 30 is rotatably disposed on the second bearing 12 and the third bearing 13.

[0126] The second bearing seat 12 is provided with a second bearing 121, and the third bearing seat 13 is provided with a third bearing 131. The drive shaft 30 is supported by the second bearing 121 and the third bearing 131. For example, the drive shaft has a second shoulder 31 and a third shoulder 32. The second shoulder 31 abuts against one side of the second bearing 121, and the third shoulder 32 abuts against one side of the third bearing 131. With this arrangement, the drive shaft 30 is confined between the second bearing 121 and the third bearing 131, preventing axial movement.

[0127] Figure 12 This is an exploded view of the joint module provided in the embodiments of this application.

[0128] See Figure 12 The outer casing 10 includes a base casing 10a and a gear casing 10b. A first bearing 11 is disposed on a first side of the base casing 10a, a second bearing 12 is disposed on a second side of the base casing 10a, and a third bearing 13 is disposed on a first side of the gear casing 10b. A torque sensor 50 and a flexible coupling 60 are disposed inside the base casing 10a, and the flexible coupling 60 is connected to the torque sensor 50 by a plurality of bolts 81. The first side of the gear casing 10b and the second side of the base casing 10a are fastened together and fixed by bolts to form a gearbox, which can be used to house the transmission gear set 43 and the transmission shaft 30.

[0129] In some application scenarios, in addition to controlling the output torque of the joint module, it is also necessary to control the rotation angle or speed of the joint module. For this reason, in some embodiments, an encoder can also be set in the joint module. Figure 13 This is a schematic diagram of the encoder arrangement in the joint module provided in the embodiments of this application.

[0130] See Figure 3 , Figure 13 In some embodiments, the encoder 71 is driven to the drive shaft 30 via an intermediate transmission component. For example, the intermediate transmission component is a flexible transmission member 72, and the drive shaft 30 has an extension shaft 33 extending axially outside the housing 10. The flexible transmission member 72 drivesly connects the extension shaft 33 to the encoder 71. Due to space constraints in the joint module, using the flexible transmission member 72 to connect the drive shaft 30 and the encoder 71 facilitates the installation of the encoder 71.

[0131] For example, the flexible transmission component 72 may include at least one of a transmission belt, a transmission rope, and a transmission chain. Taking the flexible transmission component 72 as a transmission belt as an example, the extension shaft 33 is fitted with a transmission wheel 73, which is connected to the encoder 71 via the transmission belt. The encoder 71 can measure the rotation angle and speed of the transmission shaft 30 to facilitate control of the joint module. For example, to ensure the reliability of the transmission, a tensioning device, such as an adjusting screw or other equivalent functional component for adjusting the tension of the transmission belt, is provided between the transmission wheel 73 and the encoder 71. For example, if there is sufficient space at the end of the transmission shaft 30 away from the output shaft 20, the encoder 71 can also be directly connected to the transmission shaft 30.

[0132] For example, the transmission ratio between the encoder shaft 71 and the drive shaft 30 can be 1, and they rotate synchronously. The measured value of the encoder 71 is the rotation angle and speed of the drive shaft 30. Alternatively, the transmission ratio between the encoder shaft 71 and the drive shaft 30 can be set to be other than 1. The rotation angle and speed of the drive shaft 30 can be calculated based on the measured value of the encoder 71 and the transmission ratio, thus achieving indirect measurement of the rotation angle and speed of the drive shaft 30.

[0133] As can be seen, the joint modules provided in the above embodiments can be applied to robotic arms. Figure 14 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application.

[0134] See Figure 14 In some embodiments, the robotic arm 1100 includes at least one link 100 and at least one joint module 200 of the above embodiments, the joint module 200 being used to drive the link 100 to rotate.

[0135] In some embodiments, the surgical robot's robotic arm includes a master robotic arm and a slave robotic arm. The robotic arm 1100 of the above embodiment can be applied to a master robotic arm or a slave robotic arm. When applied to a master robotic arm, an input device is provided at the end of the robotic arm 1100. When the doctor operates the input device, the joint module 200 in the robotic arm 1100 can provide precise torque output to assist the doctor in controlling the input device.

[0136] In some embodiments, the robotic arm 1100 is composed of multiple links 100. In related technologies, if the center of gravity of the robotic arm is closer to its end, the maneuverability of the robotic arm will be weakened and its stability will be worse. To improve the above problems, the embodiments of this application place the joint modules 200 of some links of the robotic arm 1100 at the front.

[0137] For example, from the beginning to the end of the robotic arm, multiple links 100 are sequentially defined as: a first link 110, a second link 120, and a third link 130; multiple joint modules 200 are sequentially defined as: a first module 210, a second module 220, and a third module 230; the output shaft 20 of the first module 210 is driven to the first end of the first link 110 to drive the first link 110 to swing about the axis of the output shaft 20 of the first module 210; the output shaft 20 of the second module 220 is driven to the first end of the second link 120 to drive the second link 120 to swing about the axis of the output shaft 20 of the second module 220. The first end of the third link 130 and the second end of the second link 120 are rotatably connected. The third module 230 also includes a swing arm 300 and a pull rod 400. The outer shell 10 of the third module 230 is fixed to the second link 120. The first end of the swing arm 300 is drively connected to the output shaft 20 of the third module 230. The second end of the swing arm 300 and the first end of the pull rod 400 are rotatably connected. The second end of the pull rod 400 and the third link 130 are rotatably connected. The second link 120, the third link 130, the pull rod 400, and the swing arm 300 form a four-bar linkage. The input device is located at the second end of the third link 130. Since the third module 230 is located on the second link 120, which is far from the third link 130, the center of gravity of the robotic arm is far from the end of the robotic arm, thus improving the control performance and stability of the robotic arm.

[0138] Since the third module 230 is not located at the connection between the second link 120 and the third link 130, in this embodiment, an encoder can be installed at the rotation point of the second link 120 and the third link 130 to detect the rotation angle and rotation speed of the third link 130 for controlling the third module 230.

[0139] As can be seen, the robotic arm 1100 in the above embodiments can be used with robots, and is not limited to any type of robot. Figure 15 This is a schematic diagram of the main control console of the surgical robot provided in the embodiments of this application.

[0140] See Figure 15 In some embodiments, the surgical robot includes a main console 1200, which includes a master hand robotic arm 1210, which includes the robotic arm 1100 described in the above embodiments.

[0141] The main control console 1200 also includes a binocular lens 1220. During the surgical procedure, the doctor can use the binocular lens 1220 to view the image of the patient's surgical area in real time and drag the master robotic arm 1210 to synchronously control the movement of the slave robotic arm, thereby realizing remote control of the slave robotic arm to perform surgical operations on the patient.

[0142] In some embodiments, there may be two master hand robotic arms 1210, which serve as control components for the doctor's hands respectively.

[0143] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0144] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A joint module, characterized in that, include: Outer shell (10); Motor assembly (41); The speed reduction device (42) is connected to the motor assembly (41) in a transmission manner; The drive shaft (30) is rotatably disposed inside the housing (10) and is connected to the motor assembly (41) via the reduction gear (42); The output shaft (20) is rotatably disposed within the housing (10); A torque sensor (50) is disposed between the drive shaft (30) and the output shaft (20), and is connected to the drive shaft (30) and the output shaft (20) respectively, for measuring the output torque of the joint module.

2. The joint module according to claim 1, characterized in that, The motor assembly (41) includes one, two or more motors, and / or the reduction gear (42) includes a single-stage, two-stage or multi-stage planetary reducer.

3. The joint module according to claim 1, characterized in that, The motor assembly (41) includes a first motor (41a) and a second motor (41b); the reduction device (42) includes a first reducer (42a) and a second reducer (42b); the joint module further includes a transmission gear set (43). The first motor (41a) and the first reducer (42a) are arranged along the third axis and are connected in a transmission manner; The second motor (41b) and the second reducer (42b) are arranged along the fourth axis and are connected in a transmission manner; The transmission gear set (43) is connected to the first reducer (42a) and the transmission shaft (30), and is also connected to the second reducer (42b) and the transmission shaft (30), so that the first motor (41a) and the second motor (41b) are connected to the transmission shaft (30). The third axis is parallel to the fourth axis.

4. The joint module according to claim 3, characterized in that, The transmission gear set (43) includes a first gear (431), a second gear (432) and a third gear (433). The first gear (431) is connected to the first reducer (42a), the second gear (432) is connected to the second reducer (42b), and the third gear (433) is connected to the drive shaft (30). The first gear (431) and the second gear (432) are disposed on both sides of the axis of the third gear (433) and mesh with the third gear (433) respectively.

5. The joint module according to claim 1, characterized in that, The motor assembly (41) includes a third motor (41c) and a fourth motor (41d); the reduction gear (42) includes a third reducer (42c). The third motor (41c), the fourth motor (41d), and the third reducer (42c) are arranged on the same axis. The third motor (41c) and the fourth motor (41d) are respectively connected to the third reducer (42c) for transmission. The third reducer (42c) is connected to the transmission shaft (30) for transmission.

6. The joint module according to claim 1, characterized in that, The motor assembly (41) includes a fifth motor (41e) and a sixth motor (41f), and the reduction device (42) includes a fourth reducer (42d) and a fifth reducer (42e). The fifth motor (41e), the sixth motor (41f), the fourth reducer (42d), and the fifth reducer (42e) are arranged on the same axis. The fifth motor (41e) is driven by the fourth reducer (42d), the sixth motor (41f) is driven by the fifth reducer (42e), and both the fourth reducer (42d) and the fifth reducer (42e) are driven by the transmission shaft (30).

7. The joint module according to any one of claims 1-6, characterized in that, The joint module also includes: A flexible coupling (60) is disposed between the torque sensor (50) and the drive shaft (30), and drives the torque sensor (50) and the drive shaft (30) so that there is a displacement between the torque sensor (50) and the drive shaft (30) in the axial direction (X) of the drive shaft (30).

8. The joint module according to claim 7, characterized in that, The flexible coupling (60) is an inelastic flexible coupling.

9. The joint module according to any one of claims 1-6, characterized in that, Also includes: The first bearing (111) is disposed inside the housing (10); The output shaft (20) is disposed on the first bearing (111). One end of the output shaft (20) has a first shoulder (21). One side of the first shoulder (21) is fixedly connected to the torque sensor (50), and the other side abuts against one side of the first bearing (111).

10. The joint module according to claim 9, characterized in that, The first bearing (111) is a crossed roller bearing.

11. A robotic arm, characterized in that, include: At least one link (100); At least one joint module (200) according to any one of claims 1-10, said joint module (200) being used to drive the link (100).

12. A robot, characterized in that, include: The robotic arm (1100) according to claim 11.

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