CN118074434A - Joint module and surgical robot - Google Patents

Abstract

The application discloses a joint module and an operation robot, wherein the joint module comprises: the motor comprises a stator and a rotor, and the rotor is rotationally arranged on the stator; the speed reducer is coaxially arranged with the motor and comprises an input piece and an output piece, and the input piece is relatively fixed with the rotor; the rotating output part is arranged on one side of the speed reducer, which is away from the motor, and is fixed relative to the output piece; the input sensing grid group is arranged on one side of the motor, which is away from the speed reducer; the output sensing grid group is arranged on one side of the rotation output part, which is away from the speed reducer. The joint module selects the motor without the brake and the encoder, so that the sizes of the motor and the joint module in the height direction can be effectively reduced. According to the application, the input sensing grid set and the output sensing grid set are respectively arranged at two ends of the joint module, a complex transmission structure and a circuit structure are not required to be designed, the input sensing grid set and the output sensing grid set can be independently wired at two ends of the joint module, the internal structure of the joint module can be simplified, and the height dimension can be shortened.

Description

Joint module and surgical robot

Technical Field

The application belongs to the technical field of medical equipment, and particularly relates to a joint module and an operation robot.

Background

In products such as robots, a rotary joint module for outputting rotation is generally required to be configured, however, the type of the joint module commonly used in time is single, the size is often large, and miniaturization of the robot and the robot cannot be satisfied.

Disclosure of Invention

The application provides a joint module and a surgical robot, which aim to solve the technical problem of larger size of the joint module.

In order to solve the technical problems, the application adopts a technical scheme that: a joint module, comprising: the motor comprises a stator and a rotor, and the rotor is rotationally arranged on the stator; the speed reducer is coaxially arranged with the motor and comprises an input piece and an output piece, and the input piece and the rotor are relatively fixed; the rotating output part is arranged on one side, away from the motor, of the speed reducer, and the rotating output part and the output piece are relatively fixed; the input sensing grid group is arranged on one side of the motor, which is away from the speed reducer; the output sensing grid group is arranged on one side of the rotation output part, which is away from the speed reducer.

According to one embodiment of the application, the rotor comprises a relatively fixed rotor body and an output shaft, wherein the rotor body is arranged between the stator and the input sensing grid group, one end of the output shaft is connected with the rotor body, and the other end of the output shaft penetrates through the stator and is used for being relatively fixed with the input piece.

According to an embodiment of the present application, the joint module further includes: the module installation seat is arranged between the stator and the speed reducer and is provided with a bearing positioning hole for the output shaft to penetrate out; the bearing is arranged in the bearing positioning hole, the inner ring of the bearing is attached to the output shaft, and the outer ring of the bearing is attached to the module mounting seat.

According to one embodiment of the application, the speed reducer is a harmonic speed reducer, the harmonic speed reducer comprises a wave generator, a flexible gear and a steel gear, the flexible gear is sleeved on the outer side of the wave generator, the steel gear is sleeved on the outer side of the flexible gear, the steel gear and the stator are relatively fixed, the wave generator is the input piece, and the flexible gear is the output piece.

According to one embodiment of the application, on the side of the harmonic reducer facing the module mounting seat, the wave generator is recessed relative to the flexible wheel and the steel wheel to form a hollow area; the module mount pad includes integrated into one piece's first installation department and second installation department, first installation department laminating set up in the stator, in the edge on the axis direction of output shaft, the second installation department protrusion in first installation department, the second installation department is seted up the locating hole, the second installation department with the bearing is located hollow region.

According to an embodiment of the present application, the module mounting seat extends into the positioning hole to form a step portion, one side of the bearing abuts against the step portion, and the joint module further includes: the combining ring is sleeved outside the output shaft and located in the hollow area, the combining ring is abutted to the other side of the bearing, and the combining ring is relatively fixed with the wave generator and is locked to the output shaft through a first fastener.

According to an embodiment of the present application, the input sense gate set includes: the input grid sensing code disc is arranged on one side of the rotor main body, which is away from the stator; the input grating sensing heads are arranged at intervals opposite to the input grating sensing code discs and are fixed opposite to the stator.

According to an embodiment of the present application, the joint module further includes an input sensing grid seat, one end of the input sensing grid seat is fixed to the module mounting seat, the other end of the input sensing grid seat extends to be disposed opposite to the rotor main body, a first mounting groove disposed opposite to the rotor main body is formed in the input sensing grid seat, and the input sensing grid reading head is disposed in the first mounting groove.

According to an embodiment of the present application, the input grating code disc is adhesively fixed to the rotor body, and the input grating reading head is adhesively fixed to the input grating seat.

According to an embodiment of the present application, the output sense gate set includes: the output sensing grid code disc is arranged on one side of the rotation output part, which is away from the harmonic speed reducer; the output grid sensing read heads are arranged at intervals opposite to the output grid sensing code discs and are fixed opposite to the steel wheels.

According to an embodiment of the present application, the joint module further includes an output sensing grid seat, one end of the output sensing grid seat is fixed to the steel wheel, the other end of the output sensing grid seat extends to be disposed opposite to the rotation output portion, a second mounting groove disposed opposite to the rotation output portion is formed in the output sensing grid seat, and the output sensing grid reading head is disposed in the second mounting groove.

According to an embodiment of the present application, the output grating code disc is adhesively fixed to the rotary output part, and the output grating reading head is adhesively fixed to the output grating seat.

According to an embodiment of the present application, the rotation output section includes: the mounting plate is coaxially arranged on one side, away from the motor, of the harmonic reducer, and the mounting plate and the flexible gear are relatively fixed; the switching rod is connected to the outer side surface of the mounting plate and used for being connected with an external mechanism, and two sides of the switching rod perpendicular to the axial direction of the mounting plate are respectively provided with an optocoupler mounting hole; and the optical coupler trigger plate is arranged on the switching rod through the optical coupler mounting hole.

According to an embodiment of the present application, the joint module further includes: the first sealing piece is arranged between the harmonic speed reducer and the module mounting seat; and the second sealing piece is arranged between the harmonic speed reducer and the rotation output part.

In order to solve the technical problems, the application adopts another technical scheme that: a surgical robot comprising a rotation adjustment assembly, the rotation adjustment assembly comprising: rotating the platform base; the right joint module is arranged on the rotary platform base and adopts the joint module; the left joint module is arranged at intervals with the right joint module, the left joint module is arranged on the rotating platform base, and the left joint module adopts the joint module; one end of the first right connecting rod is connected with the rotation output part of the right joint module; the second right connecting rod is rotationally connected to one end, far away from the right joint module, of the first right connecting rod; one end of the first left connecting rod is connected with the rotation output part of the left joint module; the second left connecting rod is rotationally connected to one end, far away from the left joint module, of the first left connecting rod, the second right connecting rod is far away from the end of the first right connecting rod and the end, far away from the first left connecting rod, of the second left connecting rod are rotationally connected to form a connecting rod output hinge, and the connecting rod output hinge is used for installing tools.

The beneficial effects of the application are as follows: the joint module selects the motor without the brake and the encoder, so that the sizes of the motor and the joint module in the height direction can be effectively reduced. In addition, the input sensing grid set and the output sensing grid set are respectively arranged at two ends of the joint module, a complex transmission structure and a circuit structure are not required to be designed, the input sensing grid set and the output sensing grid set can be independently wired at two ends of the joint module, the internal structure of the joint module can be simplified, and the height dimension can be shortened; and the input sensing grid set and the output sensing grid set can be independently connected for power-on test, and the test is integrated into an applied product structure or other systems after passing the test. Compared with the existing joint module, the joint module has the advantages of small structural size, light weight, simple wiring and no brake, and can realize the miniaturization and the light weight of the joint module and the applied products thereof.

Drawings

For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:

FIG. 1 is a schematic perspective view of a joint module according to an embodiment of the application;

FIG. 2 is a schematic view of an exploded view of a joint module according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a motor of a joint module according to an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view of a motor and module mount of a joint module according to an embodiment of the present application;

FIG. 5 is a schematic view of a harmonic reducer of a joint module according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a harmonic reducer of a joint module according to another embodiment of the present application;

FIG. 7 is a schematic cross-sectional view of a joint module according to an embodiment of the application;

FIG. 8 is a schematic view of an input sensor grid seat of a joint module according to an embodiment of the application;

FIG. 9 is a schematic diagram of an input grating sensor head of a joint module according to an embodiment of the present application mounted in an input grating seat;

FIG. 10 is a schematic diagram of an output grid seat of a joint module according to an embodiment of the application;

FIG. 11 is a schematic view illustrating a structure of a rotation output portion of a joint module according to an embodiment of the application;

FIG. 12 is a schematic view of a rotational output portion of a joint module according to another embodiment of the present application;

FIG. 13 is a schematic diagram illustrating an installation of an input raster code wheel of a joint module according to an embodiment of the present application;

FIG. 14 is a schematic view showing the overall structure of a surgical robot according to an embodiment of the present application;

FIG. 15 is a simplified schematic view of a surgical robot according to an embodiment of the present application;

fig. 16 is a schematic view showing the overall structure of a surgical robot according to still another embodiment of the present application.

In the figure: 100. a joint module; 110. a motor; 111. a stator; 1111. a stator body; 1112. a stator positioning column; 1113. a motor flat cable; 112. a rotor; 1121. a rotor body; 1122. an output shaft; 101. a speed reducer; 102. an input member; 103. an output member; 120. a harmonic speed reducer; 121. a wave generator; 1211. a wave generator positioning hole; 122. a flexible wheel; 1221. a flexible wheel positioning column; 1222. an internal threaded hole; 123. a steel wheel; 1231. a steel wheel positioning hole; 1232. mounting through holes; 1233. a second inner seat hole; 125. a hollow region; 126. a first seal; 127. a second seal; 130. a rotation output section; 131. a mounting plate; 1312. a glue groove; 1313. locking the through hole; 1314. mounting the bulge; 132. a transfer rod; 133. an optocoupler trigger plate; 1331. an optocoupler mounting hole; 1311. a flexible wheel positioning hole; 140. inputting a sensing grid group; 141. inputting a sensing grid code disc; 142. an input grating sensing head; 1421. a first positioning notch; 143. an input sensing grid seat; 1431. a first mounting groove; 1432. a first positioning column; 1433. a first bonding wire opening; 1434. a first glue injection groove; 1435. a first glue injection hole; 150. outputting a sensing grid group; 151. outputting a sensing grid code disc; 152. outputting a gate-sensitive reading head; 153. outputting a sensing grid seat; 1531. a second mounting groove; 1532. a sensing grid positioning column; 1533. a second positioning column; 1534. a second bonding wire opening; 1535. a second glue injection groove; 1536. a second glue injection hole; 160. a module mounting base; 161. a first mounting portion; 1611. a first inner seat hole; 162. a second mounting portion; 1621. a bearing positioning hole; 163. a bearing; 164. a step portion; 165. steel wheel positioning column; 166. a module threaded hole; 167. a motor positioning hole; 170. a binding ring; 171. a first fastener; 172. radial threaded holes; 173. an axial threaded hole;

10. a sensing grid bonding tool; 11. a tool chassis; 12. positioning the edge; 13. a tooling positioning column; 14. an end face notch; 15. a side notch;

200. A surgical robot; 201. a rotation adjustment assembly; 210. rotating the platform base; 220. a right joint module; 221. a first right link; 222. a second right link; 230. a left joint module; 231. a first left link; 232. a second left link; 241. a virtual fixing rod; 242. a right virtual link; 243. a left virtual link; d1, a right side power hinge; d2, left side power hinge; d3, a connecting rod outputs a hinge; d4, a movable end hinge; d5, a fixed end hinge; x, a first direction; y, second direction; 250. a driver; 260. a first translation assembly; 270. and a second translation assembly.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The long-term research of the inventor of the present application shows that the joint module on the existing market is generally provided with a structure and an electric part of a brake, such as an electromagnetic brake or a gear-shaping brake, and the brake can be integrated on a motor or can be arranged at the input end or the output end of the joint module, and the brake generally occupies a larger space and increases the quality of the joint module; in addition, a motor provided with an encoder is generally selected as a universal joint module in the market, and the motor is often large in height direction (axial direction) size; meanwhile, in order to facilitate the integration of the structure and the electronic element of the serial robot, the input encoder and the output encoder are usually placed at the input end of the motor, the encoder at the output end is required to be arranged at the input end, a complex transmission structure is required to be designed, a plurality of wire harnesses of the joint module are integrated into one strand, a switching circuit board or a switching wire harness is also required, the electronic element of the joint module integrated by the wire harnesses is complex and large in size, and the miniaturization and the light weight of the robot cannot be met.

Referring to fig. 1 and 2, fig. 1 is a schematic perspective view of a joint module according to an embodiment of the application; fig. 2 is an exploded view of a joint module according to an embodiment of the present application.

An embodiment of the present application provides a joint module 100. The joint module 100 includes a motor 110, a speed reducer 101, a rotation output 130, an input sensing grid set 140, and an output sensing grid set 150. The motor 110 includes a stator 111 and a rotor 112, and the rotor 112 is rotatably disposed on the stator 111. The speed reducer 101 is disposed coaxially with the motor 110. The speed reducer 101 includes an input member 102 and an output member 103 (see fig. 5). The input member 102 is fixed relative to the rotor 112. The rotation output part 130 is disposed at a side of the speed reducer 101 away from the motor 110, and the rotation output part 130 is fixed relative to the output member 103, for outputting rotation outwards. The input sensing grid set 140 is disposed on a side of the motor 110 facing away from the speed reducer 101. The output grating set 150 is disposed on a side of the rotation output portion 130 facing away from the speed reducer 101. The motor 110 transmits power output to the rotation output unit 130 through the speed reducer 101, and realizes rotation output of the joint module 100.

First, the joint module 100 of the present application selects the motor 110 without the brake and the encoder, so that the dimensions of the motor 110 and the joint module 100 in the height direction can be effectively reduced. In addition, the input sensing grid set 140 and the output sensing grid set 150 are respectively arranged at two ends of the joint module 100, so that a complex transmission structure and a circuit structure are not required to be designed, the input sensing grid set 140 and the output sensing grid set 150 can be independently wired at two ends of the joint module 100, the internal structure of the joint module 100 can be simplified, and the height dimension can be shortened; and the input sense gate set 140 and the output sense gate set 150 may be individually wired for power-on testing, and integrated into the applied product structure or other system after the test passes. Compared with the existing joint module 100, the joint module 100 of the application has the advantages of small structural size, light weight, simple wiring and no brake, and can realize the miniaturization and the light weight of the joint module 100 and the applied products thereof.

When the joint module 100 is applied to some robots without high rotation speed and with low rotation angle adjustment requirements, the speed reducer 101 can play a good role in rotation speed adjustment because the rated rotation speed of the motor 110 reaches thousands of rotations per second, so that the output of the motor 110 rotates the rotation output requirement of the output part 130.

With continued reference to fig. 3, fig. 3 is a schematic diagram illustrating a motor of the joint module according to an embodiment of the application. Specifically, the rotor 112 includes a relatively fixed rotor body 1121 and an output shaft 1122. The rotor body 1121 is disposed between the stator 111 and the input grill 140, and one end of the output shaft 1122 is connected to the rotor body 1121, and the other end penetrates the stator 111 to be fixed relative to the input member 102. The input grill 140 reads rotation information such as a rotation angle and a rotation speed of the input end of the joint module 100 by reading rotation of the rotor body 1121.

Wherein the stator 111 includes a stator body 1111, stator positioning posts 1112, and a motor flat wire 1113. The stator main body 1111 is disposed on an end surface of the rotor main body 1121, and the stator positioning column 1112 is disposed in a middle portion of the stator main body 1111, through which the output shaft 1122 passes, so that the stator positioning column 1112 can better support the output shaft 1122.

During use of the motor 110, and particularly when the miniature motor 110 is used in the present application, the rotor body 1121 is not exposed to radial forces that would otherwise be transmitted to the stator 111 and cause damage. With continued reference to fig. 4, fig. 4 is a schematic cross-sectional view of a motor and module mount 160 of an articulation module according to an embodiment of the application. In some embodiments, the articulation module 100 further includes a module mount 160 and a bearing 163. The module mounting base 160 is mounted between the stator 111 and the speed reducer 101, and the module mounting base 160 is provided with a bearing positioning hole 1621 for the output shaft 1122 to pass through. The bearing 163 is disposed in the bearing positioning hole 1621, the inner ring of the bearing 163 is bonded to the output shaft 1122, and the outer ring of the bearing 163 is bonded to the module mounting seat 160. The bearing 163 provides radial support and positioning for the output shaft 1122, the output shaft 1122 can be borne by the bearing 163 when the output shaft 1122 receives radial force and axial force in the whole transmission chain, and the bearing 163 transmits the radial force to the module mounting seat 160 and cannot transmit the radial force to the stator 111 of the motor 110, so that the stator 111 of the motor 110 is prevented from being damaged due to stress, the normal use of the motor 110 is ensured, and the service life of the motor 110 is prolonged. This design prevents the motor 110 from being damaged during installation, debugging, disassembly and maintenance.

Specifically, the bearing 163 may be a bearing 163 with a seal groove containing lubricating grease.

With continued reference to fig. 5 and 6, fig. 5 is a schematic structural diagram of a harmonic reducer of a joint module according to an embodiment of the application; fig. 6 is a schematic structural diagram of a harmonic reducer of a joint module according to another embodiment of the application. In order to reduce the overall size of the joint module 100, in some embodiments, the speed reducer 101 is a harmonic speed reducer 120. The harmonic reducer 120 has the characteristic of smaller return difference and smaller overall size. The harmonic reducer 120 includes a wave generator 121, a flexible gear 122 and a steel gear 123, wherein the flexible gear 122 is sleeved on the outer side of the wave generator 121, and the steel gear 123 is sleeved on the outer side of the flexible gear 122. Wherein the input member 102 is a wave generator, and the rotor 112 is fixed relative to the wave generator 121; the output part 103 is a flexible wheel 122, and the rotary output part 130 is relatively fixed with the flexible wheel 122; the steel wheel 123 is fixed relative to the stator 111. Of course, in other embodiments, the output member 103 may be a steel wheel 123, where the steel wheel 123 is relatively fixed to the rotary output portion 130, and the flexible wheel 122 is relatively fixed to the stator 111.

With continued reference to fig. 4 and 7, fig. 7 is a schematic cross-sectional view of a joint module according to an embodiment of the application. In order to further reduce the overall size of the joint module 100, the wave generator 121 is recessed relative to the flexspline 122 and the steel spline 123 to form a hollow region 125 on the side of the harmonic reducer 120 facing the module mount 160. The module mount 160 includes integrally formed first and second mounting portions 161, 162. The first attachment portion 161 is provided in contact with the stator 111, and the second attachment portion 162 protrudes from the first attachment portion 161 in the axial direction along the output shaft 1122. The second mounting portion 162 is provided with a bearing positioning hole 1621, and the second mounting portion 162 and the bearing 163 are located in the hollow region 125. By disposing the bearing 163 in the hollow region 125 of the harmonic reducer 120, an increase in the radial and axial dimensions of the joint module 100 can be avoided, and the components of the joint module 100 are locally rational and compact.

In some embodiments, referring to fig. 4, the module mounting base 160 extends into the bearing positioning hole 1621 to form a step portion 164, one side of the bearing 163 abuts against the step portion 164, and the joint module 100 further includes a coupling ring 170. The coupling ring 170 is sleeved outside the output shaft 1122 and is positioned in the hollow area 125, the coupling ring 170 is abutted against the other side of the bearing 163, and the coupling ring 170 is positioned on the output shaft 1122 through the first fastener 171. When the bearing 163 is mounted in the bearing positioning hole 1621, the coupling ring 170 may be fitted over the output shaft 1122 such that the bearing 163 is brought into contact with the stepped portion 164, the coupling ring 170 is brought into contact with the bearing 163, and the coupling ring 170 is locked to the output shaft 1122 by the first fastener 171. At this time, the coupling ring 170 and the step portion 164 are respectively abutted against both sides of the bearing 163, so that the bearing 163 can be positioned, and the bearing 163 is ensured to be stably disposed between the module mount 160 and the output shaft 1122. The coupling ring 170 is also fixed relative to the wave generator 121, so that the wave generator 121 is fixed relative to the output shaft 1122, and the motor 110 can transmit power to the harmonic reducer 120.

Specifically, the coupling ring 170 has a radial threaded bore 172 and an axial threaded bore 173. The first fastening member 171 is in threaded connection with the radial threaded hole 172, and since the coupling ring 170 and the output shaft 1122 have a shaft hole matching relationship, the coupling ring 170 can be locked on the output shaft 1122 by pressing the radially installed first fastening member 171 against the output shaft 1122, and the first fastening member 171 radially locked in the radial threaded hole 172 occupies the hollow area 125 of the harmonic reducer 120, so that the radial and axial dimensions of the whole joint module 100 are not increased.

In addition, the coupling ring 170 and the wave generator 121 are relatively fixed by being engaged with the axial screw hole 173 by a fastener. Specifically, the wave generator 121 is provided with a wave generator positioning hole 1211, the wave generator positioning hole 1211 is correspondingly arranged with the axial threaded hole 173 of the coupling ring 170, and the wave generator 121 and the coupling ring 170 can be relatively fixed by passing through the wave generator positioning hole 1211 through a fastener and being in threaded connection with the axial threaded hole 173. Since the coupling ring 170 is positioned and locked on the output shaft 1122, and the coupling ring 170 is positioned and locked with the wave generator 121, the wave generator 121 can be limited in the axial direction, and the wave generator 121 is prevented from shaking or separating from the flexspline 122.

Specifically, referring to fig. 4 and 5, the first mounting portion 161 of the module mounting base 160 protrudes toward one side of the harmonic reducer 120 to form a steel wheel positioning column 165, and the steel wheel positioning column 165 is matched with a steel wheel positioning hole 1231 correspondingly formed on the steel wheel 123, so as to ensure that the module mounting base 160 and the steel wheel 123 are mutually attached and stably abutted, and further realize the relative fixation of the steel wheel 123 and the stator 111. The module mounting seat 160 is also provided with a module threaded hole 166, the steel wheel 123 is correspondingly provided with a mounting through hole 1232, and the steel wheel 123 can pass through the mounting through hole 1232 through a fastener to be matched with the module threaded hole 166 so as to be fixed with the module mounting seat 160.

Specifically, referring to fig. 4, a motor positioning hole 167 is formed on a side of the module mounting base 160 facing the stator 111, the motor positioning hole 167 is communicated with a bearing positioning hole 1621, and a stator positioning column 1112 is located in the motor positioning hole 167. The module mount 160 is engaged with the stator 111, so that the size of the module mount 160 in the axial direction can be reduced while ensuring stable docking.

The module mounting base 160 can ensure mutual engagement of the harmonic reducer 120, the module mounting base 160 and the motor 110 by forming the steel wheel positioning posts 165 and the motor positioning holes 167 on both sides respectively, and can ensure stable connection of the three and simultaneously compress the axial dimension of the joint module 100.

Because the flexspline 122 of the harmonic reducer 120 and the wave generator 121 need to be lubricated during use, particularly the wave generator 121 is an input part of the harmonic reducer 120, the rotational speed tends to be high, and more need to be lubricated to avoid excessive wear, in some embodiments, referring to fig. 2, the joint module 100 further includes a first seal 126 and a second seal 127. The first seal 126 is disposed between the harmonic reducer 120 and the module mount 160. The second seal 127 is provided between the harmonic reducer 120 and the rotation output section 130. The first sealing member 126 and the second sealing member 127 are arranged on two sides of the harmonic speed reducer 120, so that lubricating grease inside the harmonic speed reducer 120 can be sealed inside the harmonic speed reducer 120, no invasion of foreign matters is ensured, stable operation of the harmonic speed reducer 120 is ensured, excessive abrasion of the harmonic speed reducer 120 is avoided, the service life of the harmonic speed reducer 120 is prolonged, the maintenance times are reduced, and the maintenance is convenient.

With continued reference to FIG. 4, in some embodiments, the input raster group 140 includes an input raster code disk 141 and an input raster read head 142. The input raster code wheel 141 is disposed on the side of the rotor body 1121 facing away from the stator 111. The input grating read head 142 is fixed relative to the stator 111. The input raster read head 142 is disposed at a distance from the input raster code disk 141. When the rotor body 1121 rotates relative to the stator 111, the input raster read head 142 rotates relative to the input raster code wheel 141, and rotation information such as the rotation angle and the rotation speed of the input end of the joint module 100 can be acquired. The input sensor grating group 140 formed by the input sensor grating head 142 and the input sensor grating code wheel 141 has the advantage of small size compared with the input encoder of the existing joint module in the market, and can reduce the overall size of the joint module 100.

In order to reduce the overall axial size of the joint module 100, the input raster code wheel 141 is adhesively secured to the rotor body 1121. The input raster code wheel 141 and the rotor body 1121 may be bonded directly or with assistance of an auxiliary tool.

With continued reference to fig. 4 and 8, fig. 8 is a schematic structural diagram of an input grid seat of a joint module according to an embodiment of the application. Further, the joint module 100 further includes an input sensing grid seat 143. One end of the input grill 143 is fixed to the module mount 160, and the other end extends to be disposed opposite to the rotor body 1121. The input grill 143 has a first mounting groove 1431 provided opposite to the rotor body 1121. The input grating read head 142 is disposed in the first mounting groove 1431. The input grating read head 142 is fixed to the module mount 160 by the input grating mount 143, and is fixed to the stator 111.

Specifically, the side wall of the module mounting base 160 is provided with a first inner base hole 1611, and the input grille base 143 is fixed to the module mounting base 160 by matching the fastener with the first inner base hole 1611.

With continued reference to fig. 8 and 9, fig. 9 is a schematic structural diagram of an input grating readhead of a joint module according to an embodiment of the present application mounted in an input grating seat. Specifically, the first mounting groove 1431 is provided with a first positioning column 1432 on the inner side wall, the input grating read head 142 is provided with a first positioning notch 1421 matched with the first positioning column 1432, and when the input grating read head 142 is placed in the first mounting groove 1431, the first positioning column 1432 is clamped with the first positioning notch 1421, so that accurate mounting of the input grating read head 142 in the first mounting groove 1431 is realized. In addition, the first positioning notch 1421 has a radial distance requirement with the center of the input sensing grid code wheel 141, and a gap distance requirement is provided between the sensing surfaces of the input sensing grid read head 142 and the input sensing grid code wheel 141, so that the detection accuracy is ensured, and the specific distance can be determined according to practical situations.

Specifically, the input grating seat 143 is provided with a first bonding wire opening 1433, and the first bonding wire opening 1433 is communicated with the first mounting groove 1431, so that the input grating reading head 142 is inserted from the first bonding wire opening 1433 and is communicated with an external wiring.

In order to reduce the overall axial size of the joint module 100, the input grating readhead 142 is adhesively secured to the input grating mount 143. Wherein, the bottom wall of the first mounting groove 1431 is provided with a first glue injection groove 1434, the bottom surface of the input gate seat 143 corresponding to the first mounting groove 1431 is provided with a first glue injection hole 1435, and the first glue injection hole 1435 is communicated with the first glue injection groove 1434. After the input grating read head 142 is placed in the first mounting groove 1431, glue can be injected into the first glue injection groove 1434 through the first glue injection hole 1435, and the back surface of the input grating read head 142 is fully adhered to the first mounting groove 1431. The structural design of the glue injection process features can ensure the accurate positioning of the input gate-sensitive read head 142 and is convenient for glue injection; while also avoiding contamination of the bond wire area of the input grating read head 142.

Similarly, referring to fig. 1 and 10, fig. 10 is a schematic structural diagram of an output sensor grid seat of a joint module according to an embodiment of the application. In some embodiments, the output raster group 150 includes an output raster code disk 151 and an output raster read head 152. The output raster code wheel 151 is disposed on a side of the rotation output section 130 facing away from the harmonic reducer 120. The output grating read head 152 is fixed relative to the steel wheel 123. The output pickoff heads 152 are disposed in spaced relation to the output pickoff code wheel 151. When the rotation output part 130 fixed relative to the flexible wheel 122 rotates relative to the steel wheel 123, the output grating sensing head 152 and the output grating sensing code plate 151 rotate relative to each other, so that rotation information such as a rotation angle and a rotation speed of the output end of the joint module 100 can be obtained. The output sensor grating group 150 formed by the output sensor grating reading head 152 and the output sensor grating code disc 151 has the advantage of small size compared with the output encoder of the existing joint module in the market, and can reduce the overall size of the joint module 100.

In order to reduce the overall axial size of the joint module 100, the output raster code wheel 151 is adhesively secured to the rotary output 130. The output raster code wheel 151 and the rotary output unit 130 may be bonded directly or with assistance of an auxiliary tool.

Further, the joint module 100 further includes an output sensing grid 153. One end of the output grill 153 is fixed to the steel wheel 123, and the other end extends to be disposed opposite to the rotation output portion 130. The output grill 153 is provided with a second mounting groove 1531 provided opposite to the rotation output portion 130. The output grating read head 152 is disposed in the second mounting groove 1531. The output grating readhead 152 is fixed to the steel wheel 123 by an output grating mount 153.

Specifically, the edge of the steel wheel 123 is provided with a second inner seat hole 1233, one end of the output grid seat 153 is formed with a grid positioning column 1532, after the grid positioning column 1532 is placed in the second inner seat hole 1233, the output grid seat 153 can be ensured to be installed in place, and the output grid seat 153 can be fixed on the steel wheel 123 by passing through the grid positioning column 1532 and matching with the second inner seat hole 1233 through a fastener.

Specifically, the inner side wall of the second mounting groove 1531 is provided with a second positioning post 1533, the output grating read head 152 is provided with a second positioning notch (not shown in the figure) matched with the second positioning post 1533, and when the output grating read head 152 is placed in the second mounting groove 1531, the second positioning post 1533 is clamped with the second positioning notch, so as to realize accurate mounting of the output grating read head 152 in the first mounting groove 1431. In addition, the second positioning notch has a radial distance requirement with the center of the circle of the output sensing grid code disc 151, and a gap distance requirement is provided between the sensing surfaces of the output sensing grid read head 152 and the output sensing grid code disc 151, so that the detection precision is ensured, and the specific distance can be determined according to actual conditions.

Specifically, the output grating seat 153 is provided with a second bonding wire opening 1534, and the second bonding wire opening 1534 is communicated with the second mounting groove 1531, so that the output grating reading head 152 is inserted from the second bonding wire opening 1534 and is communicated with an external wiring.

In order to reduce the overall axial size of the joint module 100, the output grating readhead 152 is adhesively secured to the output grating mount 153. Wherein, the bottom wall of the second mounting groove 1531 is provided with a second glue injection groove 1535, the bottom surface of the output gate seat 153 corresponding to the second mounting groove 1531 is provided with a second glue injection hole 1536, and the second glue injection hole 1536 is communicated with the second glue injection groove 1535. After the output grating read head 152 is placed in the second mounting groove 1531, glue can be injected into the second glue injection groove 1535 through the second glue injection hole 1536, and the back surface of the output grating read head 152 is sufficiently adhered to the second mounting groove 1531. The structural design of the glue injection process features can ensure the accurate positioning of the output gate-sensitive read head 152 and is convenient for glue injection; while also avoiding contamination of the bond wire area of the output grating read head 152.

In some embodiments, please continue to refer to fig. 1 and 11, fig. 11 is a schematic structural diagram illustrating a view of a rotation output portion of a joint module according to an embodiment of the application. The rotation output part 130 includes a mounting plate 131, an adapter rod 132, and an optocoupler trigger plate 133. Wherein, mounting plate 131 is coaxial to be installed in harmonic reducer 120 and deviate from motor 110 one side, and mounting plate 131 and flexbile gear 122 are fixed relatively. The adapter rod 132 is connected to the outer side surface of the mounting plate 131. The adapter rod 132 is used for connection to an external mechanism. Two sides of the adapter rod 132 perpendicular to the axial direction of the mounting plate 131 are respectively provided with an optocoupler mounting hole 1331. The optocoupler trigger plate 133 may be mounted to the adapter rod 132 through optocoupler mounting holes 1331 on either side.

Since the optocoupler mounting holes 1331 are distributed on both sides of the transfer lever 132, two symmetrical rotation output parts 130 can be formed by mounting the optocoupler trigger plates 133 on the optocoupler mounting holes 1331 mounted on both sides of the transfer lever 132, respectively, and serve as left and right links of the robot. By providing the optocoupler mounting holes 1331 on both sides of the transfer lever 132, the applicability of the rotation output part 130 can be improved, the manufacturing types of the rotation output part 130 can be reduced, and the production efficiency can be improved.

Specifically, referring to fig. 5 and 12, fig. 12 is a schematic structural view of another view of the rotation output portion of the joint module according to an embodiment of the application. The mounting plate 131 is formed with a flexspline positioning hole 1311 toward the flexspline 122, and the flexspline 122 is formed with a flexspline positioning post 1221 toward the mounting plate 131, and when the rotational output unit 130 is mounted on the harmonic reducer 120, the flexspline positioning post 1221 is fitted into the flexspline positioning hole 1311. The mounting plate 131 and the flexible gear 122 are mutually embedded, so that the axial dimension of the joint module 100 is reduced while stable butt joint of the rotation output part 130 and the harmonic reducer 120 is ensured.

Specifically, the side of the mounting plate 131 facing away from the flexspline 122 is used for bonding with the output raster code wheel 151. A glue groove 1312 is formed in one side of the mounting plate 131, which is opposite to the flexible wheel 122, and the glue groove 1312 extends to the outer edge of the mounting plate 131. The glue is injected into the glue groove 1312, so that the output gate code disc 151 and the mounting plate 131 are fully adhered, and the positioning of the output gate code disc 151 is not affected by the glue. The structure of the glue groove 1312 is convenient for not only injecting glue and solidifying the output gate code disc 151, but also detaching the output gate code disc 151, when the rotary output part 130 needs to be detached, or the harmonic speed reducer 120 and the motor 110 need to be replaced or maintained, the output gate code disc 151 can be pried off from the glue groove 1312 by using a tool, and then all the components are detached in sequence.

In addition, a mounting protrusion 1314 is disposed on a side of the mounting plate 131 facing the output sensing grid code disc 151, and the mounting protrusion 1314 is used for being embedded with the output sensing grid code disc 151, so as to ensure accurate positioning of the output sensing grid code disc 151.

Specifically, the mounting plate 131 is provided with a locking through hole 1313, and the flexspline 122 is correspondingly provided with an internal threaded hole 1222. The mounting plate 131 and the flexspline 122 are secured by fasteners passing through locking through holes 1313 to mate with internally threaded holes 1222.

Specifically, the switching rod 132 may be rotatably connected to an external mechanism as a connecting rod, or the switching rod 132 may be directly and fixedly connected to the external mechanism, which may be determined according to practical situations.

The following embodiments provide the steps of installing the joint module 100:

A. with continued reference to fig. 13, fig. 13 is a schematic diagram illustrating an installation mode of an input raster code wheel of a joint module according to an embodiment of the application. The input sensing grid code wheel 141 in the input sensing grid group 140 is installed with the motor 110, the auxiliary installation of the sensing grid bonding tool 10 can be utilized, the sensing grid bonding tool 10 comprises a tool chassis 11, a positioning edge 12 and a tool positioning column 13, the positioning edge 12 is arranged on the periphery of the tool chassis 11, the tool positioning column 13 is arranged in the middle of the tool chassis 11, an end face notch 14 is formed in the tool chassis 11 in a penetrating manner, and a side face notch 15 is formed in the positioning edge 12 in a penetrating manner:

(1) Firstly, an input sensing grid code disc 141 is placed in a sensing grid bonding tool 10, and a tool positioning column 13 is inserted into a central hole of the input sensing grid code disc 141;

(2) Glue is uniformly applied to the end face of the rotor body 1121 far from the stator 111;

(3) The sensing grid bonding tool 10 provided with the input sensing grid code disk 141 is buckled on the rotor main body 1121, so that the tool positioning column 13 is abutted against the end face of the rotor main body 1121, and the positioning edge 12 is buckled on the outer peripheral wall of the rotor main body 1121; at this time, the sensing grid bonding tool 10 and the rotor main body 1121 form accurate matching, and as the input sensing grid code disc 141 and the sensing grid bonding tool 10 form accurate matching, the input sensing grid code disc 141 and the rotor main body 1121 can be accurately bonded, so that the coaxiality requirement of the input sensing grid code disc 141 and the rotor main body 1121 is ensured;

(4) Through the end face notch 14, the tool is used for applying force to press the input grid code disk 141, so that the input grid code disk 141 is tightly adhered to the rotor main body 1121, and the glue solidification speed is accelerated;

(5) The glue solidification condition can be observed through the side notch 15, and after a certain time, the glue is solidified, so that the grid-sensing bonding tool 10 can be taken down.

B. The input grating head 142 and the input grating mount 143 in the input grating group 140 are mounted:

(1) Inserting the input grating read head 142 from the first wire bonding opening 1433 into the first mounting slot 1431;

(2) So that the first positioning notch 1421 of the grating read head is aligned with the first positioning post 1432 in the first mounting slot 1431, pressing the input grating read head 142 to the bottom wall of the first mounting slot 1431;

(3) Glue is injected into the first glue injection groove 1434 through the first glue injection hole 1435, and the back surface of the input grating reading head 142 can be adhered in the first mounting groove 1431.

C. mounting the module mount 160 with the motor 110:

(1) Pressing the bearing 163 into the bearing positioning hole 1621 of the module mounting seat 160 until the end surface of the bearing 163 is attached to the step 164;

(2) Mounting the motor 110 with the input sensing grid code wheel 141 and the input sensing grid seat 143 with the input sensing grid joint to the module mounting seat 160;

(3) The coupling ring 170 is fitted over the output shaft 1122 such that the coupling ring 170 abuts the bearing 163, and the coupling ring 170 is locked to the output shaft 1122 by the first fastener 171.

D. The harmonic reducer 120 is mounted on the module mount 160:

(1) The first sealing member 126 is arranged on the end face of the module installation seat 160 facing the side of the harmonic reducer 120, the hole site on the first sealing member 126 is aligned with the module threaded hole 166 on the module installation seat 160 and the installation through hole 1232 on the steel wheel 123, then the steel wheel positioning column 165 is aligned with the steel wheel positioning hole 1231, and a fastener bonded with the threaded glue penetrates through the installation through hole 1232 to be matched with the module threaded hole 166, so that the steel wheel 123 and the module installation seat 160 can be fixed;

(2) At this time, the wave generator 121 of the harmonic reducer 120 and the output shaft 1122 of the motor 110 form a precise shaft hole fit, and the wave generator 121 and the coupling ring 170 are mutually attached; a proper amount of lubricating grease is injected through the wave generator positioning hole 1211 of the harmonic reducer 120, and the fastener with the thread glue is locked on the axial threaded hole 173 of the coupling ring 170 through the wave generator positioning hole 1211 of the harmonic reducer 120, and at this time, the wave generator 121 is locked and positioned with the output shaft 1122.

E. the rotation output unit 130 and the output grid set 150 are mounted to the harmonic reducer 120:

(1) Mounting the second seal 127 to the end face of the harmonic reducer 120 on the side facing away from the module mounting base 160, and aligning the hole site on the second seal 127 with the internally threaded hole 1222 on the flexspline 122;

(2) The mounting manner of the output grating read head 152 and the output grating seat 153 in the output grating set 150 is basically the same as the mounting manner of the input grating read head 142 and the input grating seat 143, and will not be described again here;

(3) The output grating seat 153 with the glued output grating reading head 152 is inserted into the second inner seat hole 1233 of the steel wheel 123, a fastener with the glued thread glue passes through the grating positioning column 1532 to be in threaded connection with the second inner seat hole 1233, and the output grating seat 153 is in positioning connection with the steel wheel 123;

(4) Aligning the flexible wheel positioning hole 1311 of the rotation output part 130 with the flexible wheel positioning column 1221, pressing the rotation output part 130 on the end surface of the second sealing member 127, and enabling a fastener bonded with a thread compound to pass through the locking through hole 1313 to be matched with the internal thread hole 1222 so as to realize the relative fixation of the rotation output part 130 and the flexible wheel 122; at this time, the lubricating grease is sealed between the first sealing member 126 and the second sealing member 127, and plays a role in lubricating the operation of the harmonic speed reducer 120;

(5) Since the output sensing grid seat 153 cannot be axially mounted due to interference in the axial direction, the output sensing grid code disc 151 needs to be inserted from the side, then the central hole of the output sensing grid code disc 151 is embedded with the mounting boss 1314 of the mounting plate 131, and a proper amount of glue is injected into the glue groove 1312 of the mounting plate 131, so that the output sensing grid code disc 151 can be positioned and bonded on the rotary output part 130.

Through the above steps, the joint module 100 is installed.

With continued reference to fig. 14, fig. 14 is a schematic view illustrating an overall structure of a surgical robot according to an embodiment of the application. Yet another embodiment of the present application provides a surgical robot 200. Surgical robot 200 includes a rotation adjustment assembly 201. The rotation adjustment assembly 201 includes a rotation platform base 210, a right joint module 220, a left joint module 230, a first right link 221, a second right link 222, a first left link 231, a second left link 232. The right joint module 220 is disposed on the rotating platform base 210, and the right joint module 220 is the joint module 100 in any of the above embodiments. The left joint module 230 is disposed on the rotating platform base 210, and the left joint module 230 is the joint module 100 according to any of the above embodiments. One end of the first right link 221 is connected to the rotation output portion 130 of the right joint module 220, and the second right link 222 is rotatably connected to one end of the first right link 221 away from the right joint module 220. One end of the first left link 231 is connected to the rotation output part 130 of the left joint module 230, and the second left link 232 is rotatably connected to one end of the first left link 231 far away from the left joint module 230. The end of the second right link 222 remote from the first right link 221 is rotatably connected with the end of the second left link 232 remote from the first left link 231, and forms a link output hinge D3, the link output hinge D3 being used for installation of a tool.

The left and right joint modules 230 and 220, and the links and articulated ends are simplified as shown in fig. 15, fig. 15 is a simplified schematic diagram of a surgical robot according to an embodiment of the present application. The hinge point of the first right link 221 and the two right links is taken as a right power hinge D1, and the hinge point of the first left link 231 and the second left link 232 is taken as a left power hinge D2. Through the forward and backward rotation of the right joint module 220 and the left joint module 230, the first right connecting rod 221 can be driven to perform forward and backward rotation by taking the right joint module 220 as a rotation center point, and the first left connecting rod 231 can be driven to perform forward and backward rotation by taking the left joint module 230 as a rotation center point, and the rotation power is transmitted to the right power hinge D1 and the left power hinge D2, and then the right power hinge D1 and the left power hinge D2 transmit the power to the second right connecting rod 222 and the second left connecting rod 232. The second right link 222 and the second left link 232 respectively take the right power hinge D1 and the left power hinge D2 as rotation centers to jointly act on the link output hinge D3, so as to realize the movement of the link output hinge D3 in a predetermined plane. The movement of the link output hinge D3 can be decomposed into movements in the first direction X and the second direction Y within a predetermined plane, the first direction X and the second direction Y being perpendicular to each other.

It will be appreciated that the virtual fixed link 241 is formed by the connection of the centers of rotation of the right and left joint modules 220 and 230 on the rotating platform base 210, the movement of the first and second right links 221 and 222 forms a right virtual link 242 of varying length, and the movement of the first and second left links 231 and 232 forms a left virtual link 243 of varying length. The virtual fixed lever 241, the right virtual link 242 and the left virtual link 243 constitute a plane triangle having the virtual fixed lever 241 as a fixed side length, the sides of the right virtual link 242 and the left virtual link 243 being varied, and the output thereof being represented by movement of the link output hinge D3 in a predetermined plane in which the first direction X and the second direction Y are located.

The first right link 221 and the first left link 231 may be directly fixed to the rotation output part 130, or when the rotation output part 130 includes the switching lever 132, the switching lever 132 may be directly used as the first right link 221 and the first left link 231.

Specifically, the right joint module 220 and the left joint module 230 may be formed by disposing the stator 111 or the module mount 160 to the rotary platform base 210.

Specifically, the link output hinge D3 can be used for mounting tools such as a puncture needle.

In some embodiments, please continue to refer to fig. 16, fig. 16 is a schematic view of an overall structure of a surgical robot according to still another embodiment of the present application. The surgical robot 200 further includes a first translation component 260 and a second translation component 270, where the first translation component 260 is used to drive the rotation adjustment component 201 to move integrally along the first direction X, and the second translation component 270 is used to drive the rotation adjustment component 201 to move integrally along the second direction Y, so as to implement position adjustment of the rotation platform base 210, and increase the working range of the surgical robot 200.

It should be noted that, the movable end hinge D4 may be further rotatably disposed on the link output hinge D3, the rotary platform base 210 may be further provided with the fixed end hinge D5, and the tool installation tool is clamped by the cooperation of the movable end hinge D4 and the fixed end hinge D5, so as to realize stable clamping of the tool and use of multi-angle rotation, guidance or other modes.

Since the surgical robot 200 of the present application adopts the joint module 100 of the above embodiment, it has the advantages of small structural size and light weight, and is optimized in both axial and radial dimensions, so that the dimension of the rotary platform base 210 in the height direction can be reduced, and the width dimension of the rotary platform base 210 can be reduced; because the radial dimension of the joint module 100 is small, the driver 250 driving the rotary table base 210 to move can also be moved toward the center of the rotary table base 210, reducing the length dimension of the entire rotary table base 210. Therefore, the surgical robot 200 according to the present application can be miniaturized and light-weighted, and thus occupies less space in an operating room.

It should be noted that the terms "horizontal", "vertical" and the like do not denote that the component is required to be absolutely horizontal or vertical, but may be slightly inclined; the terms "parallel", "perpendicular" and the like also do not denote absolute parallelism or perpendicularity between the fittings, but may form an angular offset. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. Furthermore, references to orientations or positional relationships of the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., are based on the orientation or positional relationships shown in the drawings, or are orientation or positional relationships conventionally placed when the product of the present application is used, are merely for convenience in describing embodiments of the present application and to simplify description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.

Claims (15)

1. A joint module, comprising:

A motor (110), the motor (110) comprising a stator (111) and a rotor (112), the rotor (112) being rotatably arranged on the stator (111);

The speed reducer (101) is coaxially arranged with the motor (110), the speed reducer (101) comprises an input piece (102) and an output piece (103), and the input piece (102) and the rotor (112) are relatively fixed;

A rotation output part (130) arranged on one side of the speed reducer (101) away from the motor (110), wherein the rotation output part (130) and the output piece (103) are relatively fixed;

an input sensing grid set (140) arranged on one side of the motor (110) away from the speed reducer (101);

And an output grid group (150) which is arranged on one side of the rotation output part (130) which is away from the speed reducer (101).

2. The joint module according to claim 1, wherein the rotor (112) comprises a relatively fixed rotor (112) body and an output shaft (1122), the rotor (112) body is disposed between the stator (111) and the input sensing grid set (140), one end of the output shaft (1122) is connected to the rotor (112) body, and the other end penetrates through the stator (111) for relatively fixing with the input member (102).

3. The joint module according to claim 2, wherein the joint module (100) further comprises:

The module installation seat (160), the module installation seat (160) is installed between the stator (111) and the speed reducer (101), and the module installation seat (160) is provided with a bearing (163) positioning hole (1621) for the output shaft (1122) to penetrate out;

the bearing (163) is arranged in the bearing (163) positioning hole (1621), the inner ring of the bearing (163) is attached to the output shaft (1122), and the outer ring of the bearing (163) is attached to the module mounting seat (160).

4. A joint module according to claim 3, wherein the speed reducer (101) is a harmonic speed reducer (120), the harmonic speed reducer (120) comprises a wave generator (121), a flexible wheel (122) and a steel wheel (123), the flexible wheel (122) is sleeved on the outer side of the wave generator (121), the steel wheel (123) is sleeved on the outer side of the flexible wheel (122), the steel wheel (123) and the stator (111) are relatively fixed, the wave generator (121) is the input piece (102), and the flexible wheel (122) is the output piece (103).

5. The joint module according to claim 4, wherein on the side of the harmonic reducer (120) facing the module mount (160), the wave generator (121) is recessed relative to the flexspline (122) and the steel spline (123) to form a hollow region (125); the module mount pad (160) include integrated into one piece's first installation department (161) and second installation department (162), first installation department (161) laminating set up in stator (111), in along on the axis direction of output shaft (1122), second installation department (162) protrusion in first installation department (161), set up in second installation department (162) the locating hole, second installation department (162) with bearing (163) are located cavity region (125).

6. The joint module according to claim 5, wherein the module mount (160) is formed with a stepped portion (164) extending into the positioning hole, and one side of the bearing (163) abuts against the stepped portion (164), the joint module (100) further comprising:

The combining ring (170) is sleeved outside the output shaft (1122) and is positioned in the hollow area (125), the combining ring (170) is abutted against the other side of the bearing (163), and the combining ring (170) and the wave generator (121) are relatively fixed and locked on the output shaft (1122) through a first fastener (171).

7. A joint module according to claim 3, wherein the input sensory grid set (140) comprises:

an input raster code wheel (141) arranged on one side of the rotor (112) main body, which is away from the stator (111);

an input grating sensing head (142) is arranged at an interval relative to the input grating code disk (141) and is fixed relative to the stator (111).

8. The joint module according to claim 7, wherein the joint module (100) further comprises an input sensing grid seat (143), one end of the input sensing grid seat (143) is fixed on the module mounting seat (160), the other end of the input sensing grid seat extends to be arranged opposite to the rotor (112) main body, a first mounting groove (1431) arranged opposite to the rotor (112) main body is formed in the input sensing grid seat (143), and the input sensing grid reading head (142) is arranged in the first mounting groove (1431).

9. The joint module according to claim 8, characterized in that the input grating code wheel (141) is adhesively fixed to the rotor (112) body, and the input grating read head (142) is adhesively fixed to the input grating seat (143).

10. The joint module of claim 4, wherein the output sensory grid set (150) comprises:

An output gate code disc (151) arranged on one side of the rotation output part (130) away from the harmonic reducer (120);

And the output grating sensing heads (152) are arranged at intervals opposite to the output grating code plates (151) and are fixed opposite to the steel wheels (123).

11. The joint module according to claim 10, wherein the joint module (100) further comprises an output sensing grid seat (153), one end of the output sensing grid seat (153) is fixed on the steel wheel (123), the other end of the output sensing grid seat extends to be arranged opposite to the rotation output part (130), a second mounting groove (1531) arranged opposite to the rotation output part (130) is formed in the output sensing grid seat (153), and the output sensing grid reading head (152) is arranged in the second mounting groove (1531).

12. The joint module according to claim 11, characterized in that the output grating code wheel (151) is adhesively fixed to the rotary output part (130), and the output grating read head (152) is adhesively fixed to the output grating seat (153).

13. The joint module according to claim 4, wherein the rotational output (130) comprises:

The mounting plate (131) is coaxially arranged on one side, deviating from the motor (110), of the harmonic reducer (120), and the mounting plate (131) and the flexible gear (122) are relatively fixed;

The switching rod (132) is connected to the outer side surface of the mounting plate (131), the switching rod (132) is used for being connected with an external mechanism, and two sides of the switching rod (132) perpendicular to the axial direction of the mounting plate (131) are respectively provided with an optocoupler mounting hole (1331);

and the optocoupler trigger plate (133) is arranged on the switching rod (132) through the optocoupler mounting hole (1331).

14. The joint module according to claim 4, wherein the joint module (100) further comprises:

A first seal (126) disposed between the harmonic reducer (120) and the module mount (160);

And a second seal (127) provided between the harmonic speed reducer (120) and the rotation output unit (130).

15. Surgical robot comprising a rotation adjustment assembly (201), said rotation adjustment assembly (201) comprising:

A rotating platform base (210);

a right joint module (220), the right joint module (220) being arranged on the rotary platform base (210), the right joint module adopting the joint module (100) according to any one of claims 1-14;

A left joint module (230) and the right joint module (220) are arranged at intervals, the left joint module (230) is arranged on the rotating platform base (210), and the left joint module (230) adopts the joint module (100) according to any one of claims 1-14;

a first right link (221), one end of which is connected to a rotation output unit (130) of the right joint module (220);

a second right link (222) rotatably connected to one end of the first right link (221) remote from the right joint module (220);

a first left link (231) having one end connected to the rotation output unit (130) of the left joint module (230);

The second left connecting rod (232) is rotationally connected to one end, far away from the left joint module (230), of the first left connecting rod (231), the end, far away from the first right connecting rod (221), of the second right connecting rod (222) is rotationally connected with the end, far away from the first left connecting rod (231), of the second left connecting rod (232), a connecting rod output hinge (D3) is formed, and the connecting rod output hinge (D3) is used for installing tools.