CN114714392A - Robot wrist and surgical robot - Google Patents
Robot wrist and surgical robot Download PDFInfo
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- CN114714392A CN114714392A CN202210318056.6A CN202210318056A CN114714392A CN 114714392 A CN114714392 A CN 114714392A CN 202210318056 A CN202210318056 A CN 202210318056A CN 114714392 A CN114714392 A CN 114714392A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 125
- 230000017525 heat dissipation Effects 0.000 claims description 32
- 239000002184 metal Substances 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 10
- 238000009423 ventilation Methods 0.000 claims description 10
- 238000001816 cooling Methods 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000008646 thermal stress Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot wrist, which is characterized in that a first module mounting cavity and a second module mounting cavity are enclosed by a wrist connecting rod structure and a side plate and rear plate structure of the wrist connecting rod structure to simultaneously mount and support a terminal joint module and an arm joint module, and support and position electrical functional components. The invention also provides a surgical robot.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a robot wrist and a surgical robot.
Background
The robot wrist is the part connecting the arms and the end effector, at the extreme end of the robot manipulator body. The minimally invasive surgery robot can relieve the trauma of a patient, can realize better recovery after surgery, is convenient to operate, can save the physical strength of a doctor and improve the degree of freedom and accuracy of operation, and has a plurality of advantages. In the process of performing an operation, an operator operates the master hand tool to realize the control of the master hand, acquires the motion information of the master hand through the sensor and maps the motion information to the slave hand, and further realizes the control of the slave hand and instruments in a patient body. For the control from hands, a stable, accurate and easily controlled mechanical structure is needed, the amplitude and frequency of the motion of the wrist part are large, the requirement on flexibility is high, and the mechanical performance of the wrist part is very important. This puts high demands on the structural design of the wrist part, and the quality of this part directly affects and restricts the performance of the minimally invasive surgical robot.
The wrist structure of the existing surgical robot has the following defects that on one hand, the wrist structure is large in size, the surgical placing space is influenced or limited, and the wrist structure is heavy in weight, so that the load burden of the elbow of the mechanical arm is increased, the flange interface of the mechanical arm is longer from the axis position of the arm piece, and the load of the wrist is influenced. On the other hand, the heat of the robot wrist is poor, a plurality of circuit boards and electronic elements are arranged at the position of the robot wrist, the circuit boards and the electronic elements are a heating source, in addition, the motor is a main heat source, the heat increases the heat dissipation difficulty in a narrow space, the reliability and the service life of a circuit system are influenced due to poor heat dissipation, and the failure rate is increased. Meanwhile, the robot wrist has the defects of poor electromagnetic shielding function, high assembly difficulty, complexity and the like.
Disclosure of Invention
In view of the above, the present invention provides a robot wrist to improve the structural performance of the robot wrist; the invention also provides a surgical robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot wrist comprises a wrist connecting rod, a tail end joint module and an arm joint module;
the wrist connecting rod is provided with a first side plate, a second side plate and a rear plate surface, the first side plate and the second side plate enclose a first module mounting cavity, and the first module mounting cavity is used for mounting an end joint module;
a second module mounting cavity is defined between the rear plate surface and the first side plate and between the rear plate surface and the second side plate, and the second module mounting cavity is used for mounting an arm joint module;
the electric functional component is fixedly arranged on the outer plate surfaces of the first side plate, the second side plate and the rear plate surface.
Preferably, in the robot wrist described above, an axial direction of the first module mounting cavity is arranged perpendicular to a mounting direction of the second module mounting cavity.
Preferably, in the robot wrist described above, the electrical functional component includes a plurality of circuit boards fixedly mounted on the first side plate, the second side plate and/or the rear plate surface and communicating with a control circuit on the wrist connecting rod.
Preferably, in the robot wrist, the rear panel surface is provided with a cooling air inlet penetrating through the second module mounting cavity, and the electrical functional component includes a cooling fan having an air outlet direction facing the cooling air inlet.
Preferably, in the robot wrist, a housing for sealing the inside of the wrist connecting rod is further covered on the wrist connecting rod, an inward-concave lapping concave table is reserved at the sealing end of the wrist connecting rod, a lapping convex table in press fit with the lapping concave table is reserved at an inner ring of the housing, and a lapping gap between the lapping convex table and the lapping concave table is filled with conductive adhesive.
Preferably, in the robot wrist, a back air outlet is arranged on the housing, a heat dissipation air duct communicating the first motor of the end joint module and the second motor of the arm joint module to the back air outlet is arranged inside the wrist connecting rod, and a main cooling fan is arranged in the heat dissipation air duct.
Preferably, in the robot wrist, an inner wall surface of the first module installation cavity is provided with a first heat conduction contact position which is attached to and clasps an extending end of the tail end joint module, and the first heat conduction contact position conducts working heat of the tail end joint module to the heat dissipation air duct.
Preferably, in the robot wrist, an inner wall surface of the second module installation cavity has a second heat conduction contact position that is attached to and clasps an extending end of the arm joint module, and the second heat conduction contact position conducts the working heat of the arm joint module to the heat dissipation air duct.
Preferably, in the robot wrist, an electromagnetic shielding metal net and a pressing cover fixedly pressing the electromagnetic shielding metal net are arranged on the air outlet of the back part.
Preferably, in the robot wrist, the back air outlet and the pressing cover are provided with ventilation grids arranged in opposite ventilation directions, and a dust screen for preventing dust at the back air outlet is further arranged between the pressing cover and the electromagnetic shielding metal mesh.
A surgical robot comprises a robot arm for performing surgical operation, wherein a robot wrist is arranged between a tail end arm piece and a tail end executor of the robot arm, and the robot wrist is the robot wrist.
The robot wrist provided by the invention comprises a wrist connecting rod, a tail end joint module and an arm joint module; the wrist connecting rod is provided with a first side plate, a second side plate and a rear plate surface, the first side plate and the second side plate enclose a first module mounting cavity, and the first module mounting cavity is used for mounting the tail end joint module; a second module mounting cavity is defined between the rear plate surface and the first side plate and between the rear plate surface and the second side plate, and the second module mounting cavity is used for mounting the arm joint module; the electric functional component is fixedly arranged on the outer plate surfaces of the first side plate, the second side plate and the rear plate surface. Through wrist connecting rod structure, utilize its curb plate and back face structure, enclose into first module installation cavity and second module installation cavity and carry out the installation support of terminal joint module and arm piece joint module simultaneously, and realize the support location to electric function part, utilize the wrist connecting rod as joint module and electric function part's synchronous support carrier, bearing structure is more compact, reduce the operation and put the position degree of difficulty, reduce the load, and utilize the module installation cavity of presetting on the wrist connecting rod, the assembly degree of difficulty reduces, the working property of robot wrist has been 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an external structure of a robot wrist provided by the present invention;
FIG. 2 is a schematic view of the housing orientation structure of the wrist of the robot in FIG. 1;
FIG. 3 is a cross-sectional view of the wrist of the robot of FIG. 2 taken in the direction B-B;
fig. 4 is a schematic diagram of a wrist link structure of the wrist of the robot in fig. 1.
Detailed Description
The invention discloses a robot wrist, which improves the structural performance of the robot wrist; the invention also provides a surgical robot.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, fig. 1 is a schematic view of an external structure of a robot wrist provided by the present invention; FIG. 2 is a schematic view of the housing orientation structure of the wrist of the robot in FIG. 1; FIG. 3 is a cross-sectional view of the wrist of the robot of FIG. 2 taken in the direction B-B; fig. 4 is a schematic diagram of a wrist link structure of the wrist of the robot in fig. 1.
The embodiment provides a robot wrist, which comprises a wrist connecting rod 1, a tail end joint module 4 and an arm joint module 3; the wrist connecting rod 1 is provided with a first side plate 5, a second side plate 6 and a rear plate surface 7, the first side plate 5 and the second side plate 6 enclose a first module mounting cavity 104, and the first module mounting cavity 104 is used for mounting the tail end joint module 4; a second module installation cavity 13 is defined between the rear plate surface 7 and the first side plate 5 and the second side plate 6, and the second module installation cavity 103 is used for installing the arm piece joint module 3; also comprises an electrical functional component fixedly arranged on the outer plate surfaces of the first side plate 5, the second side plate 6 and the rear plate surface 7. Through wrist link structure, utilize its curb plate and back face structure, enclose into first module installation cavity 104 and second module installation cavity 103 and carry out the installation support of terminal joint module 4 and arm piece joint module 3 simultaneously, and realize the support location to electric function part, utilize wrist link 1 to regard as joint module and electric function part's synchronous support carrier simultaneously, bearing structure is more compact, reduce the operation and put the position degree of difficulty, reduce the load, and utilize the module installation cavity of presetting on the wrist link, the assembly degree of difficulty reduces, the working property of robot wrist has been improved.
In one embodiment of the present disclosure, the axial direction of the first module mounting cavity 104 is perpendicular to the mounting direction of the second module mounting cavity 103. Two module installation cavities for installing the tail end joint module 4 and the arm piece joint module 3 are simultaneously arranged on the wrist connecting rod 1, and the installation positions of the two joint modules can be directly restrained. Preferably, the axial direction of the first module mounting cavity 104 is perpendicular to the mounting direction of the second module mounting cavity 103, as shown in fig. 3, in this embodiment, it is preferred that the end joint module 4 is located above the arm joint module 3, that is, the end joint module 4 is perpendicular to the joint axis of the arm joint module 3, so as to achieve axial position limitation, easily achieve that the axes of three adjacent joint axes of the robot wrist intersect at one point, and can easily satisfy the Pieper criterion, thereby enabling the robot kinematics inverse solution to simultaneously have an analytic solution and a numerical solution, reducing the control difficulty operation intensity of the robot, shortening the operation time, and improving the control performance.
Specifically, the arm joint modules 3 and the end joint modules 4 are mounted on the wrist link 1 by screws and pins. After the arm piece joint module 3 and the tail end joint module 4 are installed on the wrist connecting rod 1, the driving ends of the arm piece joint module and the tail end joint module are fixedly installed on the wrist connecting rod 1 through screws, the extending ends of the two joint modules and the module installation cavity are tightly attached, the moment of the two joint modules is stably transmitted by using the friction force of the contact surface and the pins, the connecting structure is simple, meanwhile, the large variable load and the impact load can be borne, and the structure strength is good.
The arm joint module 3 and the end joint module 4 are vertically arranged, wherein the end joint module 4 serves as the 7 th joint of the robot and the arm joint module 3 serves as the 6 th joint of the robot, and in the structure shown in fig. 3, the axial lengths of the two are reduced and the minimum installation gap is maintained, so that the distance from the end of the end joint module 4 extending into the axis of the arm joint module 3 is minimized. Theoretically, the farther the end of the wrist is from the joint axis of the wrist, the greater the load it bears at the same degree of flexibility. The length of the wrist is reduced, the loading capacity of the robot wrist is improved, and meanwhile, the energy consumption is reduced. Meanwhile, the three shafts intersect at one point, so that the space occupied by the wrist during operation is reduced, the operation is facilitated to be placed, and the interference with an adjacent robot mechanical arm is avoided.
In one embodiment of the present disclosure, the electrical functional component includes a plurality of circuit boards fixedly mounted on the first side plate 5, the second side plate 6 and/or the rear plate 7 and communicating with the control circuit on the wrist link 1. The main structure of the wrist connecting rod 1 is formed by a first side plate 5, a second side plate 6 and a rear plate 7 in an enclosing mode, the arm joint module 3 and the tail end joint module 4 are connected with a front control circuit and a rear control circuit in an ensured mode, wiring is carried out in a circuit board integrated control mode, an inner module cavity and an outer plate structure which are formed by enclosing of the plate structures are utilized, a circuit board which is controlled by electric functions is fixedly installed on the outer sides of the first side plate 5, the second side plate 6 and the rear plate 7, and the circuit board can be optimally arranged on different plates according to the size and the spatial layout. The circuit board and the joint module are independently installed by the mode that the side plates and the plate surface are enclosed into the module cavity.
Further, a heat dissipation cold air inlet 8 penetrating through the second module installation cavity 103 is formed in the rear plate surface 7, and the electric functional component comprises a heat dissipation fan with an air outlet direction facing the heat dissipation cold air inlet 8. The inside two module installation cavity structures that enclose into by first curb plate 5 and second curb plate 6 of robot wrist, arm piece joint module and two motor work production heat of terminal joint module concentrate on the inner chamber space of wrist connecting rod 1, with seting up heat dissipation cold wind entry 8 on the back face 7, heat dissipation cold wind blows on arm piece joint module 3 after, enters into the bottom of terminal joint module 4, carries out the forced air cooling heat dissipation to the motor of two joint modules.
In a specific embodiment of the present application, a housing 2 for sealing the inside of the wrist connecting rod 1 is further covered on the wrist connecting rod 1, an inward-concave overlapping concave station 12 is reserved at the sealing end of the wrist connecting rod 1, an overlapping convex station 13 which is in press fit with the overlapping concave station 12 is reserved at the inner ring of the housing 2, and a conductive adhesive is filled in an overlapping gap between the overlapping convex station 13 and the overlapping concave station 12.
Further, a back air outlet 9 is arranged on the shell, a heat dissipation air duct which is communicated with a first motor of the tail end joint module and a second motor of the arm piece joint module to the back air outlet is arranged in the wrist connecting rod 1, and a main air cooling fan is arranged in the heat dissipation air duct. The wrist connecting rod 1 is a frame space enclosed by side plates and a back plate surface 7, after a first joint module mounting cavity 104 enclosed by a first side plate 5 and a second side plate 6, one side of the two side plates close to the shell 2 is arranged to be an open structure, a second joint module mounting cavity 103 enclosed by the first side plate 5, the second side plate 6 and the back plate surface 7 is designed to be a basic closed structure, only the bottom end of the first joint module mounting cavity 104 relative to the second joint module mounting cavity 103 is arranged to be a communicated structure, cold air entering from a heat dissipation cold air inlet 8 is guaranteed to be blown to the bottom of a terminal joint module 4 and finally blown out from the open structure position, correspondingly, a back air outlet is arranged on the shell 2 corresponding to the open structure position, the working heat of the joint module is led out, so that the working heat of the joint module flows through the second joint module mounting cavity 103 and the second joint module mounting cavity 104, until the opening structure is led out to the heat dissipation air duct of the back air outlet 9.
In an embodiment of the present disclosure, the inner wall surface of the first module installation cavity 104 has a first heat conduction contact portion 11 closely attached to the extending end of the end joint module 4, and the working heat of the end joint module 4 from the first heat conduction contact portion 11 is conducted to the heat dissipation air duct.
In an embodiment of the present disclosure, the inner wall surface of the second module installation cavity has a second heat conduction contact 10 attached to the extending end of the arm joint module 3, and the second heat conduction contact 10 conducts the working heat of the arm joint module to the heat dissipation air duct. Wrist connecting rod 1 is for guaranteeing compact structure nature, arm piece joint module 3's the end of stretching into pastes and tightly installs in second joint module installation cavity 103, the end of stretching into of terminal joint module 4 pastes and tightly installs in first joint module installation cavity 104, the air volume intensity in heat dissipation wind channel of flowing through has been restricted, through setting up first heat contact position 11 and the second heat contact position 10 of leading, first curb plate 5, second curb plate 6 and back face 7 undertake simultaneously and carry out heat-conduction heat dissipation function to the heat, directly pass to the outside of wrist connecting rod 1 with the heat and dispel the heat, through air-cooled and heat-conduction heat dissipation mode, the heat-sinking capability of robot wrist is improved.
In an embodiment of the present disclosure, the back air outlet 9 is provided with an electromagnetic shielding metal net and a pressing cover for tightly pressing and fixing the electromagnetic shielding metal net. The back air outlet and the gland are provided with ventilation grids which are arranged oppositely in the ventilation direction, and a dustproof net for preventing dust from entering the back air outlet is arranged between the gland and the electromagnetic shielding metal net.
The back air outlet 9 is an air-cooled main heat outlet, and can take heat of a main module heat source of the joint module in the robot wrist. In addition, an air cooling fan is arranged on the abdomen of the wrist of the robot, and at least one fan is arranged on the abdomen for air cooling and heat dissipation, so that the heat dissipation capability of the tail end joint module is improved. The cold wind passes through the joint module of high temperature, especially module motor position, aligns module motor heat source with heat dissipation cold wind entry 8, takes away the heat, blows off from back air outlet 9. The first heat conduction contact position 11 and the second heat conduction contact position 10 are arranged in the inner cavities of the two modules and are respectively contacted with the two joint modules, and heat of the modules is quickly led out to the wrist connecting rod 1 by utilizing the contact, so that the heat is homogenized, the temperature of the whole wrist is more homogenized, and the local thermal stress concentration is avoided. Thereby improve performances such as dynamic nature, controllability and life-span of module through above heat dissipation design measure.
Meanwhile, because a plurality of circuit boards are integrally installed on the wrist connecting rod 1, the electromagnetic environment of the circuit hardware of the robot wrist control system is complex, and how to shield the electromagnetism is a comprehensive problem.
As shown in fig. 3, the structure of the shell 2 is matched with the lapping concave station 12 and the lapping convex station 13 of the connecting rod 1, the shell 2 is covered on the wrist connecting rod 1, the lapping structure of the lapping concave station 12 and the lapping convex station 13 is used, the lapping concave station 12 is provided with a guide chute 17 which guides the shell 2 to be packed, when the shell is installed, the shell 2 is installed on the wrist connecting rod 1 along the guide chute 17 in a sliding way, the shell 2 is provided with a locking threaded hole, the corresponding wrist connecting rod is provided with an installation convex station 18, and the tight connection of the shell 2 and the wrist connecting rod 1 is realized. Considering the mechanical contact structure of the two, the function that the electromagnetic wave is not easy to reflect out or enter can be achieved after the two are tightly attached, and further, the conductive adhesive is filled in the gap between the lapping concave table 12 and the lapping convex table 13, so that the shielding capability is further enhanced. This can be achieved by simply locking the housing 2 to the wrist link 1 screws.
In addition, an electromagnetic shielding metal net 14 is added at the position of the back ventilation opening 9, so that the effects of ventilation and electromagnetic shielding can be achieved. In order to reduce the difficulty of installation, the electromagnetic shielding metal mesh 14 is attached to the inner side of the housing 2 and then pressed and compressed by a pressing cover 16. The ventilation grating of the gland 16 corresponds to the ventilation grating of the shell 2, the electromagnetic shielding metal net 14 and the dust screen 15 are tightly pressed in the middle of the grating, the dust screen 15 is made of sponge or plastic materials, and the metal net 14 can be tightly pressed by utilizing the elasticity of the compressed dust screen 15. The gland 16 is screwed to the housing 2, being integral with the housing 2. The wrist electromagnetic shielding capability of the surgical robot is enhanced through the design.
Based on the robot wrist provided in the above embodiment, the present invention further provides a surgical robot, including a robot arm for performing a surgical operation, a robot wrist is provided between a distal arm member of the robot arm and an end effector, and the robot wrist provided on the surgical robot is the robot wrist provided in the above embodiment.
Since the surgical robot adopts the robot wrist of the above embodiment, please refer to the above embodiment for the beneficial effects of the surgical robot brought by the robot wrist.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A robot wrist is characterized by comprising a wrist connecting rod, a tail end joint module and an arm joint module;
the wrist connecting rod is provided with a first side plate, a second side plate and a rear plate surface, the first side plate and the second side plate enclose a first module mounting cavity, and the first module mounting cavity is used for mounting a tail end joint module;
a second module mounting cavity is defined between the rear plate surface and the first side plate and between the rear plate surface and the second side plate, and the second module mounting cavity is used for mounting an arm joint module;
the electric functional component is fixedly arranged on the outer plate surfaces of the first side plate, the second side plate and the rear plate surface.
2. A robot wrist according to claim 1, characterised in that the axial direction of the first module mounting cavity is arranged perpendicular to the mounting direction of the second module mounting cavity.
3. A robot wrist according to claim 1, characterised in that the electrical features comprise a plurality of circuit boards fixedly mounted to the first side plate, the second side plate and/or the rear plate surface and communicating with control circuitry on the wrist links.
4. A robot wrist according to claim 3, wherein the rear plate surface is provided with a cool air heat dissipation inlet penetrating to the second module mounting cavity, and the electrical functional component includes a heat dissipation fan having an air outlet direction facing the cool air heat dissipation inlet.
5. A robot wrist according to claim 4, characterized in that a housing for sealing the inside of the wrist connecting rod is further covered on the wrist connecting rod, an inward lapping concave table is reserved at the sealing end of the wrist connecting rod, a lapping convex table which is in press fit with the lapping concave table is reserved at the inner ring of the housing, and a lapping gap between the lapping convex table and the lapping concave table is filled with conductive adhesive.
6. A robot wrist according to claim 5, wherein a back air outlet is arranged on the housing, a heat dissipation air duct communicating the first motor of the end joint module and the second motor of the arm joint module to the back air outlet is arranged inside the wrist connecting rod, and a main cooling fan is arranged inside the heat dissipation air duct.
7. A robot wrist according to claim 6, wherein the inner wall surface of the first module mounting cavity has a first heat conduction contact portion that abuts against the extending end of the end joint module, and the first heat conduction contact portion conducts the working heat of the end joint module to the heat dissipation air duct.
8. A robot wrist according to claim 7, wherein an inner wall surface of the second module mounting cavity has a second heat conduction contact portion that abuts against and embraces the extending end of the arm joint module, and the second heat conduction contact portion conducts the working heat of the arm joint module to the heat dissipation air duct.
9. A robot wrist according to claim 8, characterized in that an electromagnetic shielding metal net and a gland fixedly pressing the electromagnetic shielding metal net are arranged on the back air outlet.
10. A robot wrist according to claim 9, wherein ventilation grids are disposed on the back air outlet and the pressing cover in opposite arrangement in ventilation directions, and a dust screen for preventing dust from entering the back air outlet is disposed between the pressing cover and the electromagnetic shielding metal mesh.
11. A surgical robot comprising a robot arm for performing a surgical operation, a robot wrist being arranged between an end arm and an end effector of the robot arm, characterized in that the robot wrist is a robot wrist according to any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318056.6A CN114714392A (en) | 2022-03-29 | 2022-03-29 | Robot wrist and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318056.6A CN114714392A (en) | 2022-03-29 | 2022-03-29 | Robot wrist and surgical robot |
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| Publication Number | Publication Date |
|---|---|
| CN114714392A true CN114714392A (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210318056.6A Pending CN114714392A (en) | 2022-03-29 | 2022-03-29 | Robot wrist and surgical robot |
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