CN216658013U - Rotating mechanism of mechanical arm and surgical robot - Google Patents

Abstract

The embodiment of the specification provides a rotating mechanism of a mechanical arm and a surgical robot. The rotating mechanism is used for realizing the rotating motion between the first mechanical arm and the second mechanical arm and comprises a motor, a first gear, a second gear, a brake shaft, a brake, a speed reducer and a positioning turntable, wherein the motor, the first gear, the second gear, the brake shaft, the brake and the speed reducer are arranged on the first mechanical arm, and the positioning turntable is used for connecting the first mechanical arm and the second mechanical arm.

Description

Rotating mechanism of mechanical arm and surgical operation robot

Technical Field

The present disclosure relates to the field of mechanical structures and electrical control technologies, and in particular, to a rotating mechanism of a robot arm.

Background

At present, a surgical robot is adopted for surgery, and a mechanical arm of the surgical robot can assist medical staff in clamping surgical instruments. When the surgical robot is used for surgery, positioning operation is required. The positioning includes coarse positioning and fine positioning. Before operation preparation, the mechanical arm of the operation robot needs to be quickly and coarsely positioned at the focus position of a patient, and preparation is made for fine positioning. In order to quickly coarsely position the surgical arm system in space to an effective working position posture, in addition to the translational motion in the X, Y and Z directions, the surgical arm system also needs to be correspondingly rotated around the Z direction to achieve coarse positioning, so that the subsequent manipulator arm can reach the specified working position more accurately and effectively. However, the existing surgical robot systems on the market generally have the problems of large inertia and large load, and are particularly not suitable for female nurses who generally perform preoperative preparation at present, so that a structure for rotating the mechanical arm, which can quickly and smoothly reach a specified position, is needed.

SUMMERY OF THE UTILITY MODEL

One of the embodiments of the present specification provides a rotation mechanism of a robot arm, configured to implement a rotational motion between a first robot arm and a second robot arm, including: the brake device comprises a motor, a first gear, a second gear, a brake shaft, a brake and a speed reducer which are arranged on the first mechanical arm, and a positioning turntable used for connecting the first mechanical arm and the second mechanical arm; the first gear is fixedly sleeved on an output shaft of the motor, the first gear is in meshing transmission connection with the second gear, the second gear is fixedly sleeved on the brake shaft, the second gear is in meshing transmission connection with an input end of the speed reducer, an output end of the speed reducer is connected with the positioning turntable, and the positioning turntable is fixedly connected with the second mechanical arm; the motor can transmit torque to the positioning rotary disc through the first gear, the second gear and the speed reducer; the brake shaft is provided with the brake, and the brake can be controlled to brake the brake shaft so as to limit the rotation of the brake shaft.

In some embodiments, a control button is disposed on the positioning dial or the second mechanical arm, and the control button can control the brake to release the brake.

In some embodiments, the cable guiding device further comprises a routing drum for passing through the cable, wherein the routing drum penetrates through the speed reducer and is fixedly connected with the speed reducer.

In some embodiments, further comprising an inductive encoder upper portion and an inductive encoder lower portion; the lower part of the inductive encoder is fixedly arranged on the wiring cylinder; the upper part of the inductive encoder is fixedly arranged on the first mechanical arm and is opposite to the lower part of the inductive encoder up and down.

In some embodiments, the brake shaft is sleeved with a brake block, a brake flange and a brake hoop, and the brake block is fixedly connected with the brake shaft through the brake flange and the brake hoop; the brake comprises an electromagnet, and the brake piece can be connected with the brake through magnetic attraction.

In some embodiments, a force sensor and a controller are also included; the force sensor is arranged on the positioning turntable or the second mechanical arm to receive stress information of the positioning turntable or the second mechanical arm; the controller is in signal connection with the force sensor and the motor; the controller is used for controlling the steering and/or power of the motor according to the stress information.

In some embodiments, the controller has a signal connection with the brake; the controller is configured to: and receiving the brake releasing information, and controlling the brake to release the brake according to the brake releasing information.

One of the embodiments of the present specification provides a surgical robot, including any one of the above-described rotating mechanisms.

Drawings

The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:

figure 1 is an exemplary block diagram of a rotary mechanism shown in accordance with some embodiments of the present description;

FIG. 2 is an exemplary block diagram of a drive connection according to some embodiments described herein;

FIG. 3 is an exemplary block diagram of a brake according to some embodiments herein;

FIG. 4 is an exemplary block diagram of a positioning carousel according to some embodiments of the present description;

FIG. 5 is an exemplary block diagram of a routing drum according to some embodiments of the present description;

FIG. 6 is an exemplary flow chart of a rotational assist method according to some embodiments described herein.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

In recent years, technical research and product development of medical robots have been advanced, and surgical robots are the most important fields in the medical robot field. The surgical robot is a novel medical instrument integrating multiple disciplines such as clinical medicine, biomechanics, mechanics, computer science, microelectronics and the like. The surgical robot assists a doctor to implement complex surgical operations in a minimally invasive surgical mode through a clear imaging system and flexible mechanical arms, and completes operations such as positioning, cutting, puncturing, hemostasis, suturing and the like in the operations. The mechanical operation arm is used as a supporting, positioning and posture-fixing component of the operation robot, and the stability, reliability and accuracy of the mechanical operation arm can directly determine the success or failure of the operation and even the life safety of a patient. Before an operation, the operation arm of the operation robot is often positioned, and generally, the coarse positioning is performed quickly, and then the fine positioning is performed. However, the surgical robot in the current market is often heavy and large in inertia, medical staff who performs medical preparation is usually women, and when operating the surgical robot, problems such as difficulty in moving and inaccurate positioning are often caused by insufficient force, so that the reliability and accuracy of the surgical robot are reduced, and further risks in the surgical process are increased.

In order to solve the above problems, some embodiments of the present disclosure provide a rotation mechanism for a robotic arm with a light overall weight, and assist medical personnel in positioning the robotic arm by operating the rotation mechanism through a power assisting method performed by the rotation mechanism, so as to avoid risks in a surgical procedure.

Figure 1 is an exemplary block diagram of a rotary mechanism 100 shown in accordance with some embodiments of the present description. The rotating mechanism 100 according to the embodiment of the present specification will be described in detail below. It should be noted that the following examples are only for explaining the present application and do not constitute a limitation to the present application.

As shown in fig. 1, a rotational mechanism 100 of a robotic arm may be used to effect rotational movement between a first robotic arm 110 and a second robotic arm. The first robot arm 110 may be connected to a base of a surgical robot or other robot arms, and the first robot arm 110 may extend or retract or rotate relative to the base; one end of the second robot arm may be rotatably coupled to the first robot arm 110 via the rotation mechanism 100. The second mechanical arm can be one or more, and the second mechanical arm can also be replaced by other instruments, such as a surgical instrument.

In some embodiments, the rotation mechanism 100 may include a motor 111, a first gear 112, a second gear 117, a brake shaft 113, a brake 115, and a decelerator 1110 provided on the first robot arm 110, and a positioning dial 120 for connecting the first robot arm 110 and the second robot arm.

FIG. 2 is an exemplary block diagram of a drive connection according to some embodiments described herein. As shown in fig. 2, the first gear 112 may be fixedly sleeved on an output shaft of the motor 111 for transmitting power output by the motor 111, the first gear 112 is in meshing transmission connection with the second gear 117, the power output by the motor 111 may be transmitted to the second gear 117 through the first gear 112, the second gear 117 is fixedly sleeved on the brake shaft 113, the second gear 117 is in meshing transmission connection with an input end of the speed reducer 1110, the power of the motor 111 is transmitted to the speed reducer 1110, an output end of the speed reducer 1110 is connected with the positioning turntable 120, so that the positioning turntable 120 can rotate, and the positioning turntable 120 is fixedly connected with the second robot arm, thereby driving the second robot arm to rotate.

The motor 111 is used for providing power for the rotating mechanism 100, and the motor 111 transmits power through an output shaft end of the motor 111. In some embodiments, the motor 111 can transmit torque to the positioning dial 120 via the first gear 112, the second gear 117, and the reducer 1110 to achieve or assist the rotational motion between the first robot arm 110 and the second robot arm. In some embodiments, the motor 111 may be a dc motor, an asynchronous motor, or a synchronous motor, which has a smaller mass and meets the power requirement, and the overall mass of the rotating mechanism 100 is reduced to the greatest extent on the basis of ensuring the working performance of the motor 111.

A gear is a mechanical element in which teeth on a rim continuously mesh to transmit motion and power. In some embodiments, the first gear 112 and the second gear 117 may each take the form of gears of various shapes, such as cylindrical gears, bevel gears, non-circular gears, racks, worm gears, and the like, or combinations thereof. Wherein, the first gear 112 and the second gear 117 are matched to realize meshing. In some embodiments, the first gear 112 and the second gear 117 can be reduced in thickness and thus mass, as appropriate, while ensuring their functions.

In some embodiments, a brake 115 is disposed on the brake shaft 113, and the brake 115 can be controlled to brake the brake shaft 113, thereby limiting rotation of the brake shaft 113, interrupting the transmission of power, and thereby limiting movement between the first robot arm 110 and the second robot arm. Good braking can maintain the stability of the relative position between the first robotic arm 110 and the second robotic arm to keep the device stable during the positioning to complete the surgical procedure, providing a stable operating environment for the precise surgical procedure. The brake 115 is a device having a function of decelerating, stopping, or holding a stopped state of a moving member (or a moving machine), and is a machine component that stops or decelerates the moving member in a machine structure. In some embodiments, the rotation or tendency of rotation of the rotating element may be prevented by friction between a non-rotating element fixedly connected to the first robot arm 110 itself and a rotating element drivingly connected to the output shaft of the motor 111, for example, by a braking torque applied to the rotating element by a fixed element therein, a reduction in the rotational angular velocity of the latter, or the like.

FIG. 3 is an exemplary block diagram of the brake 115 according to some embodiments herein. In some embodiments, as shown in fig. 3, the brake shaft 113 may be sleeved with a brake plate 1112, a brake flange 114 and a brake clip 116, and the brake plate 1112 may be fixedly connected to the brake shaft 113 through the brake flange 114 and the brake clip 116. For example only, the brake pads 1112 may be coupled to the brake flange 114 and the brake clip 116 may secure the brake flange 114 to the brake shaft 113 by snap-fit or the like, thereby securing the relative positions of the brake pads 1112 and the brake shaft 113.

In some embodiments, brake 115 may include an electromagnet, and brake pad 1112 may be magnetically attachable to brake 115. The brake plate 1112 is made of a metal that can be attracted to a magnet, for example, iron, nickel, cobalt, or an alloy thereof. In some embodiments, the brake 115 may be fixedly connected to the housing of the first robot arm 110, and an electromagnet may be disposed on an outer surface of the brake 115, and when the power is off/on, the electromagnet on the brake 115 is magnetically connected to the brake disc 1112, so that the brake disc 1112 stops moving, and thus the brake shaft 113 stops moving, and the power transmission is interrupted; when the power is on/off, the brake 115 is demagnetized, the brake disc 1112 and the brake 115 are released from magnetic attraction connection, the brake disc 1112 continues to rotate along with the brake shaft 113, and the gear sleeved on the brake shaft 113 continues to transmit power. In some embodiments, the brake 115 with smaller volume and mass can be used to reduce the weight and save the space while ensuring the braking effect of the brake 115.

In some embodiments, the positioning dial 120 or the second mechanical arm is provided with a control button, and when the worker needs to rotate the positioning dial 120 or move the second mechanical arm, the worker can directly control the brake 115 to release the brake by pressing the control button on the positioning dial 120 or the second mechanical arm, and then the worker can move the second mechanical arm, which is convenient to use. In some embodiments, pressing a control button can directly energize/de-energize the brake 115, thereby enabling the brake 115 to be deactivated. In other embodiments, the brake 115 may be deactivated by pressing a control button to send a brake deactivation message to the controller. In some embodiments, the controller may include an input device through which the operator may input a command to deactivate the brakes. The input device may be selected from keyboard input, touch screen (e.g., with tactile or haptic feedback) input, voice input, eye tracking input, gesture tracking input, brain monitoring system input, image input, video input, or any other similar input mechanism.

In some embodiments, the rotary mechanism 100 may also control the brake 115 to automatically release the brake in response to satisfaction of a preset condition based on whether the preset condition is satisfied. For example only, the preset condition may be that the rotating mechanism 100 is subjected to external force information, that is, the force sensor receives the force information. For example, when the external force applied to the rotary mechanism 100 in the braking state is greater than a certain set threshold, the controller may control the brake 115 to be powered on/off, thereby releasing the braking.

The reducer 1110 is a reduction transmission for use between a prime mover (e.g., the electric motor 111) and a working machine, and functions to match rotational speed and transmit torque between the prime mover and the working machine or an actuator. In some embodiments, the reducer 1110 may include, but is not limited to, one of a parallel axis helical gear reducer 1110, a worm gear reducer 1110, a bevel gear reducer 1110, a planetary gear reducer 1110, a cycloidal pin gear reducer 1110, a worm gear reducer 1110, or a planetary friction type mechanical continuously variable transmission, among others. In a specific embodiment, the reducer 1110 can be a hollow RV reducer 1110, and the transmission of the reducer is a two-stage closed planetary gear train, which is composed of a first-stage involute cylindrical gear planetary reduction mechanism and a second-stage cycloid pin gear reduction mechanism. The RV reducer 1110 has the dual advantages of the planetary reducer 1110 and the cycloidal pin reducer 1110, and has high reliability, impact resistance, and force ratio characteristics. RV reducer 1110 has higher fatigue resistance and rigidity, and longer life-span, the return difference precision is stable.

In some embodiments, the decelerator 1110 may be directly coupled to the positioning turntable 120, and in other embodiments, a protruding circular truncated cone-shaped structure is further disposed at the output end of the decelerator 1110, so that the coupling with the positioning turntable 120 may be more precisely achieved.

The positioning dial 120 is a rotational connection that can be used to position a second robot arm, which may be coupled to the first robot arm 110. Fig. 4 is an exemplary block diagram of positioning dial 120, according to some embodiments herein. As shown in fig. 4, in some embodiments, the positioning turntable 120 may be a flat plate, one end of which is fixedly connected to the output end of the decelerator 1110, and an interface structure for fixedly connecting one or more second robot arms is disposed thereon. In some embodiments, the second robotic arm may be replaced by another instrument, for example, one or more surgical instruments may be directly and fixedly connected to the positioning turret 120 for surgical operations.

Figure 5 is an exemplary block diagram of a track tube 1111 shown in accordance with some embodiments herein. As shown in fig. 5, in some embodiments, the rotation mechanism 100 may further include a wire barrel 1111 for passing through a wire, and the wire barrel 1111 is a through structure, which may be installed through a hollow position of the decelerator 1110. In a surgical robotic system, many conduits or wires may be involved to perform different functions. Such as cables that provide power, information feedback, etc. The cable needs to pass through the inside of the surgical robot, and the cable barrel 1111 can be used for intensively passing through the cable without needing to pass through holes in the inside of the device. In some embodiments, the routing drum 1111 is a hollow structure, and the pipeline is received in the routing drum 1111. In some embodiments, the routing tube 1111 may be embedded in the speed reducer 1110 and fixedly connected to the speed reducer 1110, and this arrangement may greatly reduce the size and save the space.

The encoder is a position detection device and is used for converting the displacement into a digital signal and sending the digital signal to the controller for further processing. For example, the encoder may send a position feedback signal to the controller, which may be compared with a command signal sent by the controller, and if there is a deviation, the position feedback signal may be amplified to control the actuator to move in a direction to eliminate the deviation until the deviation equals zero. An encoder may formulate and convert signals or data into a form of signals that may be used for communication, transmission and storage. In some embodiments, the rotary mechanism 100 may include an inductive encoder that has many advantages over other types of encoders, such as being compact, lightweight, contactless, less abrasive, accurate, and precise. In some embodiments, the inductive encoder may include an inductive encoder upper portion 118 and an inductive encoder lower portion 119; the lower part 119 of the inductive encoder is fixedly arranged on the routing cylinder 1111 and can rotate along with the rotation of the routing cylinder 1111 and the speed reducer 1110, so that the rotational displacement (such as the rotation angle) is converted into a digital pulse signal, and the digital pulse signal is sent to the controller for further processing; the upper inductive encoder portion 118 is fixedly disposed on the first robot arm 110 and vertically faces the lower inductive encoder portion 119.

In some embodiments, the worker can perform rough positioning by manually rotating the positioning dial 120 of the rotating mechanism 100, and the rotating mechanism 100 can acquire the external force applied to the positioning dial 120 or the second mechanical arm. For example only, the rotating mechanism 100 may further include a force sensor disposed on the positioning dial 120 or the second robotic arm to receive force information of the positioning dial 120 or the second robotic arm. The stress information may include the magnitude and/or direction of the external force applied to the positioning turntable 120 or the second mechanical arm. In some embodiments, the force sensor may be fixed to the positioning dial 120 by gluing or screwing. In some embodiments, the force sensor may be a torque sensor disposed at the connection of positioning dial 120 and the output of reducer 1110.

In some embodiments, the rotary mechanism 100 may also include a controller, which may have signal connections with the force sensors and the motor 111. In some embodiments, the signal connection may comprise a wired connection, a wireless connection, or a combination of both. The wired connection may include: connected by electrical, optical, or telephone lines, etc., or any combination thereof. The wireless connection may include: connected via bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile network (e.g., 3G, 4G, or 5G, etc.), etc., or any combination thereof. In some embodiments, the controller may be configured to control the steering and/or power of the motor 111 based on the force information transmitted by the force sensor. For the control of the rotation direction and/or the power of the motor 111, reference may be made to the content of fig. 6 and the related description thereof, which are not repeated herein.

In some embodiments, the controller may also have a signal connection with the brake 115, and the controller may be configured to receive brake release information and control the brake 115 to release the brake based on the brake release information. For the content of the controller controlling the brake 115 to release the brake, the following related description can be referred to, and the description is omitted.

In some embodiments, the controller may also have signal connections with the inductive encoder and components that perform its associated functions (e.g., actuators that cancel motion bias, etc.). For example, the encoder may acquire information related to the displacement amount in the rotating mechanism 100, and the controller may control the relevant actuator to move in the direction of eliminating the deviation according to the feedback signal sent by the encoder until the deviation is eliminated.

Some embodiments of the present description provide a surgical robot that may include a rotation mechanism 100 of a robotic arm. The rotating mechanism 100 may be used for a rotatable connection between two robot arms of a surgical robot, or for a rotatable connection between one robot arm of a surgical robot and a plurality of surgical instruments.

FIG. 6 is an exemplary flow chart 600 of a method of rotational assistance shown in accordance with some embodiments herein. Hereinafter, a rotation assisting method according to an embodiment of the present specification will be described in detail. It should be noted that the following examples are only for explaining the present application and do not constitute a limitation to the present application. The process 600 may be performed by the rotary mechanism 100. As shown in fig. 6, the process 600 includes:

at step 610, force information of the positioning turntable 120 or the second mechanical arm received by the force sensor is obtained.

The force information is information related to an external force applied to the rotating mechanism 100. The force information may be derived from the non-rotating mechanism 100 itself, such as from force applied by a worker, or from force applied by an external device that assists in moving the rotating mechanism 100.

In some embodiments, the worker may move the positioning dial 120 or the second robotic arm of the rotary rotation mechanism 100 to a designated work position, the force applied by the worker to the rotary rotation mechanism 100 may be received by a force sensor, and information of the force received by the sensor may be sent to the controller. In some embodiments, the force information received by the force sensor may include force direction information and force magnitude information. Based on the force information, the controller may obtain the direction of the external force, for example, the external force tries to drive the rotating mechanism 100 to rotate clockwise or counterclockwise; the controller may also obtain the magnitude of the external force, for example, the external force applies 10N of force to the rotating mechanism 100.

And step 620, controlling the motor 111 to assist based on the stress information.

The assisting force assists the rotating mechanism 100 to apply force to the outside, and the assisting force can enable the operation of workers to be easier and more labor-saving. In some embodiments, the assistance force may be to drive the rotation mechanism 100 itself to move in the same direction as the external force. In some embodiments, the assistance force may be an increase in motion power to increase the force in the same direction as the external force.

In some embodiments, the controller may send related instructions to the rotating mechanism 100 to control the rotating mechanism 100 to make corresponding feedback based on the force information, so as to assist the external force application and drive the rotating mechanism 100 to rotate to the target position. For example, the controller may control the steering of the motor 111, regulate the power of the motor 111, and so forth.

In some embodiments, the controller may control the motor 111 to rotate forward or backward based on the direction of the external force applied to the rotating mechanism 100, so as to drive the rotating mechanism 100 to move in the same direction as the applied force. For example, the worker applies a clockwise force to the rotating mechanism 100, the force sensor receives the force and sends the force to the controller, the controller may send a forward rotation command to the motor 111, so that the motor 111 rotates forward, the motor 111 rotates forward to drive the rotating mechanism 100 to rotate clockwise, and the worker controls the rotating mechanism 100 to rotate more smoothly.

In some embodiments, the controller may control the power of the motor 111 based on the magnitude of the external force experienced by the rotary mechanism 100.

In some embodiments, the controller may set a preset value (e.g., a value of force corresponding to the rotation of the rotary mechanism 100 from a standstill) and the controller may compare the preset value with the magnitude of the force, thereby regulating the power of the motor 111.

In some embodiments, when the force is equal to the preset value, the power of the motor 111 may not be changed, and the motor 111 still operates at the preset initial power, so as to ensure smooth rotation of the rotating mechanism 100.

In some embodiments, when the amount of the applied force is smaller than the preset value, the controller may increase the power of the motor 111 (not greater than the maximum power at which the motor 111 can operate normally), so that the torque transmitted by the motor 111 to the positioning turntable 120 is increased, and thus the rotating mechanism 100 can be driven to rotate even when the applied force from the outside is small, and the rotating mechanism 100 is easier and more labor-saving for workers, especially for women with small strength.

In some embodiments, when the force is greater than the preset value, the controller may reduce the power of the motor 111 (not less than the initial power) so that the torque transmitted by the motor 111 to the positioning turntable 120 is reduced, thereby saving the energy consumption of the motor 111 under the condition of a large external force application, and avoiding over-fast rotation, thereby reducing the control difficulty of the worker.

Some embodiments of the present disclosure provide a rotation mechanism that may have benefits including, but not limited to: the rotating mechanism adopts a smaller motor and a smaller brake, the output is amplified through a speed reducer, the occupied space is small, the overall weight is reduced, and the movement is convenient; (2) based on the stress information received by the force sensor, the motor is controlled to assist the rotating mechanism, so that smooth operation is ensured, labor is saved in operation, and the use is facilitated. It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.

Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, certain features, structures, or characteristics may be combined as suitable in one or more embodiments of the specification.

Additionally, the order in which elements and sequences are described in this specification, the use of numerical letters, or other designations are not intended to limit the order of the processes and methods described in this specification, unless explicitly stated in the claims. While various presently contemplated embodiments have been discussed in the foregoing disclosure by way of example, it should be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.

Similarly, it should be noted that in the foregoing description of embodiments of the specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features are required than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.

Claims (8)

1. A rotary mechanism of a robot arm for effecting rotary motion between a first robot arm and a second robot arm, comprising:

the brake device comprises a motor, a first gear, a second gear, a brake shaft, a brake and a speed reducer which are arranged on the first mechanical arm, and a positioning turntable used for connecting the first mechanical arm and the second mechanical arm;

the first gear is fixedly sleeved on an output shaft of the motor, the first gear is in meshing transmission connection with the second gear, the second gear is fixedly sleeved on the brake shaft, the second gear is in meshing transmission connection with an input end of the speed reducer, an output end of the speed reducer is connected with the positioning turntable, and the positioning turntable is fixedly connected with the second mechanical arm;

the motor can transmit torque to the positioning turntable through the first gear, the second gear and the speed reducer;

the brake shaft is provided with the brake, and the brake can be controlled to brake the brake shaft so as to limit the rotation of the brake shaft.

2. The rotary mechanism of claim 1, wherein a control button is disposed on the positioning dial or the second mechanical arm, the control button being capable of controlling the brake to release the brake.

3. The rotary mechanism of claim 1, further comprising a cable drum for passing a cable therethrough, wherein the cable drum extends through the speed reducer and is fixedly connected to the speed reducer.

4. The rotary mechanism of claim 3, further comprising an inductive encoder upper portion and an inductive encoder lower portion; the lower part of the inductive encoder is fixedly arranged on the wiring cylinder; the upper part of the inductive encoder is fixedly arranged on the first mechanical arm and is opposite to the lower part of the inductive encoder up and down.

5. The rotating mechanism according to claim 1, wherein a brake block, a brake flange and a brake hoop are sleeved on the brake shaft, and the brake block is fixedly connected with the brake shaft through the brake flange and the brake hoop; the brake comprises an electromagnet, and the brake piece can be connected with the brake through magnetic attraction.

6. The rotary mechanism of claim 1, further comprising a force sensor and a controller;

the force sensor is arranged on the positioning turntable or the second mechanical arm to receive stress information of the positioning turntable or the second mechanical arm;

the controller is in signal connection with the force sensor and the motor;

the controller is used for controlling the steering and/or power of the motor according to the stress information.

7. The rotary mechanism of claim 6, wherein the controller has a signal connection with the brake; the controller is configured to: and receiving the brake releasing information, and controlling the brake to release the brake according to the brake releasing information.

8. A surgical robot comprising a rotation mechanism as claimed in any one of claims 1 to 7.

Images