CN114193504A

CN114193504A - Robot joint driving module and surgical robot

Info

Publication number: CN114193504A
Application number: CN202111519090.1A
Authority: CN
Inventors: 刘丹; 王了
Original assignee: Chongqing Jinshan Medical Robot Co ltd
Current assignee: Chongqing Jinshan Medical Robot Co ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-03-18

Abstract

The present case provides a robot joint drive module, including driving motor, harmonic speed reducer ware and shell, driving motor includes two bearings and by interior motor shaft, motor stator and the electric motor rotor that sets gradually outward, and motor shaft one end is equipped with the external splines. The electronic rotor is fixedly connected to the motor shaft. The harmonic reducer comprises a steel wheel, a flexible wheel and a wave generator, wherein the wave generator is provided with an internal spline in transmission fit with the external spline. The first articulated arm of the surgical robot transmits the rotary power generated by the driving motor through the spline between the motor shaft and the wave generator, so that the harmonic reducer outputs power after speed change, and drives the second articulated arm to move, thereby completing the matching of the articulated arm and the joint. The design of the surgical robot joint can be simplified by the arrangement, the complex transmission mechanism is avoided, the size and the weight of the joint are reduced, the design difficulty of the surgical robot is reduced, and the reliability of transmission is improved. The scheme also provides a surgical robot with the robot joint driving module.

Description

Robot joint driving module and surgical robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a robot joint driving module and a surgical robot.

Background

The robot integrated joint driving module is a core component in a robot, professional standardized products or customized products are provided by professional robot module manufacturers at present, but the robot integrated joint driving module is a standard joint module or a customized module, so that the robot integrated joint driving module occupies a large space in structural size, and the components are complicated to connect. In addition, the requirements are not satisfied in terms of function and cost.

Therefore, how to overcome the above technical defects is a problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The invention aims to provide a robot joint driving module and a surgical robot, which simplify the structural design, reduce the number of parts and improve the reliability of transmission.

In order to solve the above technical problems, the present invention provides a robot joint driving module, which comprises a driving motor, a harmonic reducer and a housing,

the driving motor comprises a motor shaft, a motor stator and a motor rotor which are sequentially arranged from inside to outside, one end of the motor shaft is provided with an external spline, the motor shaft is fixedly connected with the motor rotor,

the harmonic reducer comprises a steel wheel, a flexible wheel and a wave generator which are sequentially arranged from outside to inside, wherein the wave generator is provided with an internal spline which is in transmission fit with the external spline, the steel wheel is used for being connected with a first joint arm of the surgical robot,

the outer shell cover is arranged on the motor rotor and is used for being connected with a second joint arm of the surgical robot.

Optionally, the motor shaft and the external spline are of an integrated structure.

Optionally, the wave generator and the internal spline are of an integrated structure.

Optionally, the motor shaft is of a hollow structure, and a hollow cavity of the motor shaft is used for penetrating through the cable.

Optionally, the addendum of the external spline and the internal spline is trimmed.

Optionally, the driving motor further includes two bearings, and the two bearings are respectively disposed at two ends of the motor shaft.

Optionally, the device further comprises a brake mechanism and an encoder which are arranged at the other end of the motor shaft.

Optionally, the steel wheel is connected with the first articulated arm through a mounting flange.

Optionally, an integrated driver and controller, force sensor or torque sensor connected in series is also included.

The invention also provides a surgical robot which comprises the robot joint driving module.

The robot joint driving module and the surgical robot provided by the invention have the beneficial effects that:

the first articulated arm of the surgical robot transmits the rotary power generated by the driving motor through the spline between the motor shaft and the wave generator, so that the harmonic reducer outputs power after speed change, and drives the second articulated arm to move, thereby completing the matching of the articulated arm and the joint. The motor rotor is fixedly connected to the motor shaft, and the motor shaft is connected with the wave generator through the spline, so that the structure is compact, and the design of parts is simplified. The robot joint driving module is adopted, so that the design of the surgical robot joint can be simplified, a complex transmission mechanism is avoided, the size and the weight of the joint are reduced, the design difficulty of the surgical robot is reduced, the design difficulty of a thermal control system of the surgical robot is reduced, and the reliability of transmission is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is an exploded view of a robot joint driving module according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a driving motor and a harmonic reducer provided in an embodiment of the present invention;

fig. 3 is a cross-sectional view of a robot joint driving module according to an embodiment of the present invention.

In the upper diagram:

1-driving a motor; 101-a motor stator; 102-a motor rotor; 103-motor shaft; 1031-outer spline; 104-a bearing;

2-harmonic reducers; 201-steel wheel; 2011-internal splines; 202-a flexible gear; 203-a wave generator; 2031-internal splines;

3-a housing; 4-installing a flange; 5-a brake mechanism; 6-coder.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. The described embodiments are only some embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that, for the convenience of description, only the portions related to the related applications are shown in the drawings. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

The core of the invention is to provide a robot joint driving module and a surgical robot, which simplify the structural design, reduce the number of parts and improve the reliability of transmission.

In order to make those skilled in the art better understand the technical solutions provided by the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1-3, the present invention provides a robot joint driving module, which includes a driving motor 1, a harmonic reducer 2 and a housing 3.

The driving motor 1 includes two bearings 104, and a motor shaft 103, a motor stator 101, and a motor rotor 102 sequentially arranged from inside to outside, the two bearings 104 are respectively disposed at two ends of the motor shaft 103, one end of the motor shaft 103 is provided with an external spline 1031, and the motor rotor 102 is fixedly connected to the motor shaft 103.

The harmonic reducer 2 comprises a steel wheel 201, a flexible wheel 202 and a wave generator 203 which are sequentially arranged from outside to inside, and the wave generator 203 is provided with an internal spline 2031 which is in transmission fit with the external spline 1031. The steel wheel 201 is used for connection with a first articulated arm of the surgical robot. The wave generator 203 and the flexspline 202 are radially deformed. The wave generator 203 belongs to a primary planetary transmission mechanism, and the steel wheel 201 belongs to a secondary planetary transmission mechanism. The steel wheel 201, the flexible wheel 202 and the wave generator 203 are collinear.

The housing 3 is housed on the motor rotor 102 for connection with a second articulated arm of the surgical robot.

The driving motor 1 corresponds to a power source of a robot joint, and rotational power generated by the driving motor 1 is transmitted through a spline between the motor shaft 103 and the wave generator 203, so that the harmonic reducer 2 outputs power after changing the speed. Namely, the first articulated arm of the surgical robot drives the second articulated arm to move through the driving motor 1 and the harmonic reducer 2, and the joint arm and the joint are matched.

The motor rotor 102 is fixedly connected to the motor shaft 103, so that the structure is compact, and the design of parts is simplified.

The present case provides a robot joint drive module, can simplify surgical robot joint design, avoids adopting complicated drive mechanism, reduces articular volume and weight, reduces surgical robot's the design degree of difficulty, reduces surgical robot thermal control system design degree of difficulty, has improved driven reliability.

In the embodiment, the motor shaft 103 and the external spline 1031 are an integrated structure, and the wave generator 203 and the internal spline 2031 are an integrated structure, so that the size can be greatly reduced, the number of parts can be reduced, and the structure is more compact.

In a preferred embodiment, the motor shaft 103 is a hollow structure, and the hollow cavity of the motor shaft 103 is used for penetrating through a cable, so that it is very convenient to connect other joints or active instruments in series at two ends of the robot joint driving module, and the range of motion for installing other joints or active instruments is less limited.

In the specific embodiment, the outer spline 1031 of the motor shaft 103 and the tooth crest of the inner spline 2031 of the wave generator 203 are trimmed, so that the self-aligning of spline transmission can be realized, the machining error and the assembly error of transmission parts can be well compensated, and the machining accuracy and the assembly accuracy of the parts are reduced. Meanwhile, the self-aligning structure can also compensate the uneven deformation of the transmission system caused by external force, temperature and the like, avoid the sudden change of transmission efficiency and improve the reliability of the transmission system.

The scheme also comprises a brake mechanism 5 and an encoder 6 which are arranged at the other end of the motor shaft 103. Of course, the present disclosure may also include one or more of an integrated driver and controller, a force sensor, or a torque sensor connected in series.

The speed reducer, the motor, the encoder, the integrated driver and the controller, the force or torque sensor, the brake mechanism and the like in the joint module are flexible in selection and convenient to design, and through proper development, the requirements of individual products can be better met, and independent control of enterprises is facilitated.

The steel wheel 201 is connected with the first joint arm through a mounting flange 4. As shown in fig. 1, a plurality of bolt holes are circumferentially formed in the outer edge of the steel wheel 201, correspondingly, a plurality of bolt holes corresponding to the steel wheel 201 are circumferentially formed in the mounting flange 4, and the steel wheel 201 and the mounting flange 4 are fastened and connected through bolts.

In addition, the present embodiment further provides a surgical robot, which includes a robot joint driving module, where the robot joint driving module is the robot joint driving module described above.

Since the surgical robot has the robot joint driving module, the surgical robot has the beneficial effects brought by the robot joint driving module, please refer to the above contents, and will not be described herein again.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. A robot joint driving module is characterized by comprising a driving motor (1), a harmonic reducer (2) and a shell (3),

the driving motor (1) comprises a motor shaft (103), a motor stator (101) and a motor rotor (102) which are sequentially arranged from inside to outside, one end of the motor shaft (103) is provided with an external spline (1031), the motor shaft (103) is fixedly connected with the motor rotor (102),

the harmonic reducer (2) comprises a steel wheel (201), a flexible gear (202) and a wave generator (203) which are sequentially arranged from outside to inside, wherein an inner spline (2031) which is in transmission fit with the outer spline (1031) is arranged on the wave generator (203), the steel wheel (201) is used for being connected with a first joint arm of a surgical robot,

the shell (3) is covered on the motor rotor (102) and is used for being connected with a second joint arm of the surgical robot.

2. The robotic joint drive module according to claim 1, wherein the motor shaft (103) and the external spline (1031) are of a unitary construction.

3. The robotic joint drive module according to claim 1, wherein the wave generator (203) and the internal spline (2031) are of a unitary construction.

4. The robot joint driving module according to any of claims 1-3, characterized in that the motor shaft (103) is a hollow structure, and the hollow cavity of the motor shaft (103) is used for penetrating through a cable.

5. The robotic joint drive module according to claim 1, wherein the male spline (1031) and the female spline (2031) are addendum relieved.

6. The robot joint driving module according to claim 1, wherein the driving motor (1) further comprises two bearings (104), and the two bearings (104) are respectively disposed at two ends of the motor shaft (103).

7. The robot joint driving module according to claim 1, further comprising a brake mechanism (5) and an encoder (6) provided at the other end of the motor shaft (103).

8. The robotic joint drive module according to claim 1, wherein the steel wheel (201) is connected to the first articulated arm by a mounting flange (4).

9. The robotic joint drive module of claim 1, further comprising an integrated driver and controller, a force sensor, or a torque sensor connected in series.

10. A surgical robot comprising a robot joint drive module according to any one of claims 1-9.