Torque balancing device, self-balancing joint, and surgical robot
A torque balancing device, a self-balancing joint and a surgical robot are provided. The torque balancing device includes a first body, a second body, an elastic part and a transmission part, the first body includes a first connection end and a first opposite end opposite to the first connection end, the second body includes a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body is rotatably connected to the first connection end of the first body, the elastic part is provided in the first body, and the transmission part is connected to the second body and the elastic part.
1 . A torque balancing device, comprising:
a first body comprising a first connection end and a first opposite end opposite to the first connection end;
a second body comprising a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body being rotatably connected to the first connection end of the first body;
an elastic part arranged in the first body, wherein the elastic part comprises a mounting seat mounted on the first body, at least one sliding press block slidably arranged on the mounting seat, and at least one compression spring arranged between the mounting seat and the sliding press block; and
a transmission part connected to the second body and the at least one sliding press block of the elastic part, the transmission part being configured to be driven by rotation of the second body relative to the first body thereby compressing the at least one compression spring by translational motion of the at least one sliding press block so as to generate a balancing torque,
wherein the at least one compression spring comprises a first group of compression springs, and the at least one sliding press block comprises a first sliding press block,
wherein the first group of compression springs are sleeved on guiding posts between the first sliding press block and a first wing plate of the mounting seat, one end of each of the first group of compression springs abuts against the first wing plate of the mounting seat, and the other end of each of the first group of compression springs abuts against the first sliding press block,
wherein the at least one compression spring further comprises a second group of compression springs, and the elastic part further comprises a pair of sliding press plates,
wherein the pair of sliding press plates are respectively slidably arranged on the guiding posts located on two sides of the first sliding press block, one end of each of the first group of compression springs and one end of each of the second group of compression springs respectively abut against the first and second wing plates of the mounting seat, and the other end of each of the first group of compression springs and the other end of each of the second group of compression springs respectively abut against the pair of sliding press plates, and
wherein at least one limiting block is provided on a web plate of the mounting seat between the pair of sliding press plates.
2 . The torque balancing device according to claim 1 , wherein:
the at least one compression spring further comprises a second group of compression springs, and the at least one sliding press block further comprises a second sliding press block;
the second group of compression springs are sleeved on guiding posts between the second sliding press block and a second wing plate of the mounting seat, one end of each of the second group of compression springs abuts against the second wing plate of the mounting seat, and the other end of each of the second group of compression springs abuts against the second sliding press block; and
at least one limiting block is provided on a web plate of the mounting seat between the first sliding press block and the second sliding press block.
3 . The torque balancing device according to claim 1 , wherein the transmission part is a pulley transmission mechanism, and the pulley transmission mechanism comprises:
an adapter block fixedly arranged at the second connection end of the second body;
a first pulley set; and
a first traction rope located on one side of the adapter block, one end of the first traction rope being connected to the adapter block, the other end of the first traction rope being turned by the first pulley set and then being fixedly connected to the first wing plate of the mounting seat on the same side as the first traction rope, the first traction rope driving the first sliding press block to move by means of the first pulley set, and the first sliding press block driving the pair of sliding press plates to move.
4 . The torque balancing device according to claim 3 , wherein the pulley transmission mechanism further comprises:
a second pulley set; and
a second traction rope located on the other side of the adapter block, one end of the second traction rope being connected to the adapter block, the other end of the second traction rope being turned by the second pulley set and then being fixedly connected to the second wing plate of the mounting seat on the same side as the second traction rope, the second traction rope driving the first sliding press block to move by means of the second pulley set, and the first sliding press block driving the pair of sliding press plates to move.
5 . A self-balancing joint, comprising:
a damping adjustment mechanism and a torque balancing device,
wherein the torque balancing device comprises:
a first body comprising a first connection end and a first opposite end opposite to the first connection end;
a second body comprising a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body being rotatably connected to the first connection end of the first body;
an elastic part arranged in the first body, wherein the elastic part comprises a mounting seat mounted on the first body, at least one sliding press block slidably arranged on the mounting seat, and at least one compression spring arranged between the mounting seat and the sliding press block; and
a transmission part connected to the second body and the at least one sliding press block of the elastic part, the transmission part being configured to be driven by rotation of the second body relative to the first body thereby compressing the at least one compression spring by translational motion of the at least one sliding press block so as to generate a balancing torque,
wherein the at least one compression spring comprises a first group of compression springs, and the at least one sliding press block comprises a first sliding press block,
wherein the first group of compression springs are sleeved on guiding posts between the first sliding press block and a first wing plate of the mounting seat, one end of each of the first group of compression springs abuts against the first wing plate of the mounting seat, and the other end of each of the first group of compression springs abuts against the first sliding press block,
wherein the at least one compression spring further comprises a second group of compression springs, and the elastic part further comprises a pair of sliding press plates,
wherein the pair of sliding press plates are respectively slidably arranged on the guiding posts located on two sides of the first sliding press block, one end of each of the first group of compression springs and one end of each of the second group of compression springs respectively abut against the first and second wing plates of the mounting seat, and the other end of each of the first group of compression springs and the other end of each of the second group of compression springs respectively abut against the pair of sliding press plates, and
wherein at least one limiting block is provided on a web plate of the mounting seat between the pair of sliding press plates.
6 . The self-balancing joint according to claim 5 , wherein:
the damping adjustment mechanism comprises: a rotating part having an inner race and an outer race that are rotatable relative to each other, the outer race of the rotating part being connected to the first body;
a first friction part fixedly connected to the inner race of the rotating part and the second body;
a second friction part axially movably arranged on the first body, and a friction interface being formed between the second friction part and the first friction part; and
an adjustment part connected to the second friction part and configured to drive the second friction part to approach or move away from the first friction part such that frictional damping at the friction interface between the second friction part and the first friction part increases or decreases.
7 . The self-balancing joint according to claim 6 , wherein the rotating part comprises a crossed roller bearing, and the adjustment part comprises:
a retainer fixedly connected to the first body and the outer race of the crossed roller bearing;
a guiding member arranged in the retainer and movable along an axis of the crossed roller bearing; and
a first elastic member with one end of the first elastic member abutting against the guiding member, and the other end of the first elastic member abutting against the second friction part.
8 . A surgical robot, comprising:
at least one kinematic joint, the kinematic joint comprising a torque balancing device,
wherein the torque balancing device comprises:
a first body comprising a first connection end and a first opposite end opposite to the first connection end;
a second body comprising a second connection end and a second opposite end opposite to the second connection end, the second connection end of the second body being rotatably connected to the first connection end of the first body;
an elastic part arranged in the first body, wherein the elastic part comprises a mounting seat mounted on the first body, at least one sliding press block slidably arranged on the mounting seat, and at least one compression spring arranged between the mounting seat and the sliding press block; and
a transmission part connected to the second body and the at least one sliding press block of the elastic part, the transmission part being configured to be driven by rotation of the second body relative to the first body thereby compressing the at least one compression spring by translational motion of the at least one sliding press block so as to generate a balancing torque,
wherein the at least one compression spring comprises a first group of compression springs, and the at least one sliding press block comprises a first sliding press block,
wherein the first group of compression springs are sleeved on guiding posts between the first sliding press block and a first wing plate of the mounting seat, one end of each of the first group of compression springs abuts against the first wing plate of the mounting seat, and the other end of each of the first group of compression springs abuts against the first sliding press block,
wherein the at least one compression spring further comprises a second group of compression springs, and the elastic part further comprises a pair of sliding press plates,
wherein the pair of sliding press plates are respectively slidably arranged on the guiding posts located on two sides of the first sliding press block, one end of each of the first group of compression springs and one end of each of the second group of compression springs respectively abut against the first and second wing plates of the mounting seat, and the other end of each of the first group of compression springs and the other end of each of the second group of compression springs respectively abut against the pair of sliding press plates, and
wherein at least one limiting block is provided on a web plate of the mounting seat between the pair of sliding press plates.