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US 12,733,917 B2Granted
Torque balancing device, self-balancing joint, and surgical robot
AssigneeBeijing Surgerii Robotics Company Limited
InventorsKai Xu, Tiening Ma, Yi Sun, Ke Xiong
Life of this patent
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Abstract
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.
Claims8
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.
7 more elements
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.
9 more elements
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.
9 more elements
Dependencies are inferred from the claim text.