阅读说明：本技术 调节装置、机械臂及牙科种植手术机器人 (Adjusting device, mechanical arm and dental implant surgery robot ) 是由 沈金理 郭逸鹏 于 2021-08-27 设计创作，主要内容包括：本发明涉及一种调节装置、机械臂以及牙科种植手术机器人。调节装置包括：平动关节和转动关节中的至少一个关节；所述调节装置一端用于安装于机械臂主体的末端,另一端用于安装牙科种植器械；通过所述至少一个关节的动作能够实现所述牙科种植器械相对于所述机械臂主体转动和/或平移。上述的调节装置,当机械臂主体带动牙科种植器械到达缺牙患者的口腔内的指定位置时,可通过转动关节的动作微调牙科种植器械的角度,可通过平动关节的动作微调牙科种植器械的位置,从而能够实现在口腔这种小腔体内微调牙科种植器械的角度和/或位置,且调节装置运动惯性小,调节精度高。(The invention relates to an adjusting device, a mechanical arm and a dental implant surgery robot. The adjusting device comprises: at least one of a translational joint and a rotational joint; one end of the adjusting device is used for being installed at the tail end of the mechanical arm main body, and the other end of the adjusting device is used for installing a dental implanting instrument; rotation and/or translation of the dental implantation instrument relative to the robot arm body can be achieved by action of the at least one joint. According to the adjusting device, when the mechanical arm main body drives the dental implant instrument to reach the designated position in the oral cavity of the edentulous patient, the angle of the dental implant instrument can be finely adjusted through the action of the rotary joint, and the position of the dental implant instrument can be finely adjusted through the action of the translational joint, so that the angle and/or the position of the dental implant instrument can be finely adjusted in the small oral cavity, and the adjusting device is small in motion inertia and high in adjusting precision.)

1. An adjustment device, comprising: at least one of a translational joint and a rotational joint; one end of the adjusting device is used for being installed at the tail end of the mechanical arm main body, and the other end of the adjusting device is used for installing a dental implanting instrument; rotation and/or translation of the dental implantation instrument relative to the robot arm body can be achieved by action of the at least one joint.

2. The adjustment device of claim 1, comprising: at least a set of revolute joint subassembly, every group the revolute joint subassembly includes revolute joint, revolute joint includes revolute joint body and rotation piece, rotate the piece with correspond the revolute joint body rotates and connects, rotate the piece for corresponding revolute joint body rotation axis when rotating be used for with dental implantation instrument's drilling direction is the angle setting.

3. The adjustment device of claim 2, wherein the revolute joint assembly further comprises: and the braking parts are used for locking or unlocking the corresponding rotary joints.

4. The adjustment device according to claim 3,

the number of the rotary joint components is two, namely a first rotary joint component and a second rotary joint component, and the first rotary joint component is connected with the second rotary joint component;

the first rotary joint assembly comprises a first rotary joint comprising a first rotary member and a first rotary joint body, the first rotary member being rotatable relative to the first rotary joint body about a first axis of rotation;

the second rotating joint assembly comprises a second rotating joint, and the second rotating joint comprises a second rotating part and a second rotating joint body; the second rotational element can rotate about a second rotational axis relative to the second rotational joint body, wherein the second rotational axis is arranged at an angle to the first rotational axis.

5. The adjustment device of claim 4, wherein the first rotational joint assembly further comprises: and the first encoder is arranged on the first rotating part and is used for acquiring the rotation angle data of the first rotating part.

6. The adjustment device of claim 4, wherein the first rotational joint body comprises: the first part and the second part are fixedly connected and oppositely arranged; the first rotating member is rotatably connected to the first portion.

7. The adjustment device of claim 6, further comprising a mounting structure, the mounting structure comprising: the mounting body is used for mounting the dental implanting instrument; the first shaft extension and the second shaft extension are respectively arranged on different sides of the mounting body, and the first shaft extension is coaxially connected with the first rotating piece; the second shaft is rotatably connected to the second portion.

8. The adjustment device of claim 7, wherein said first rotational joint assembly includes a first brake member mounted to said second portion and sleeved about said second shaft extension for braking said second shaft extension; the second shaft extension has a dimension in the axial direction greater than a dimension of the first shaft extension in the axial direction.

9. The adjustment device according to any one of claims 4 to 8, characterized in that the second revolute joint assembly further comprises: and the second encoder is arranged on the second rotating part and is used for acquiring the rotation angle data of the second rotating part.

10. The adjustment device of claim 9, wherein the second revolute joint assembly further comprises: and the second driving part is provided with a free mode and a driving mode, the second driving part can drive the second rotating part to rotate around the second rotating axis in the driving mode, and the second driving part can remove the limitation on the rotation of the second rotating part in the free mode.

11. The adjustment device according to claim 10,

the second revolute joint assembly further comprising:

the gear disc is coaxially connected with the second rotating piece; and

the transmission gear is meshed with the gear disc and is driven by the second driving piece;

the second rotary joint assembly includes a second brake member capable of braking or releasing the gear plate.

12. The adjustment device of claim 4, wherein the second revolute joint assembly further comprises: a torque sensor for detecting a torque of the second rotating member.

13. The adjustment device according to claim 4, characterized in that the axial end of the second revolute joint body is provided with angle graduation marks; the end part of the first rotating joint body is provided with an angle indicating mark, and the angle indicating mark is used for indicating angle scales on the angle scale marks.

14. The adjustment device of claim 1, further comprising: the translational joint assembly comprises a translational joint body and a translational moving piece, and the translational moving piece can translate relative to the translational joint body.

15. The adjustment device according to claim 14,

the at least one group of translation joint components comprise first translation joint components, the first translation joint components comprise first translation joints, and the first translation joints comprise first translation joint bodies and first translation moving pieces;

the first translational joint assembly further comprises a first translational drive assembly for driving the first translational moving member to move in a first direction relative to the first translational joint body, wherein the first direction is used to correspond to a drilling direction of the dental implant apparatus.

16. The adjustment device of claim 15, wherein the first translational drive component comprises:

the guide rod is arranged on the first translational joint body, and the extending direction of the guide rod is along the first direction;

the first driving wheel is in spiral transmission with the guide rod; and

the first driving part is installed on the first translational moving part and used for driving the first driving wheel to rotate around the axis of the first driving wheel, so that the first driving wheel can move along the first direction through the screw transmission of the guide rod, and the first driving wheel can drive the first driving part and the first translational moving part to move along the first direction together.

17. The adjustment device of claim 16, wherein the first translational drive assembly further comprises:

the second driving wheel is arranged in parallel with the first driving wheel at intervals and is coaxially connected with an output shaft of the first driving piece; and

and the transmission belt is respectively surrounded on the second transmission wheel and the first transmission wheel and is respectively in transmission fit with the second transmission wheel and the first transmission wheel.

18. The adjustment device according to claim 14,

the at least one translational joint assembly comprises: the second translational joint component is connected with the third translational joint component;

the second translational joint component comprises a second translational joint, and the second translational joint comprises a second translational moving piece and a second translational joint body; the second translational moving member is capable of translating relative to the second translational joint body along a second direction;

the third translational joint assembly includes a third translational joint including a third translational movement and a third translational joint body; the third translational moving part can translate relative to the third translational joint body along a third direction; wherein, the second direction, the third direction is used for being the angular setting with the drilling direction of dental implantation instrument respectively.

19. A robot arm comprising a robot arm main body and the adjusting device according to any one of claims 1 to 18, wherein the adjusting device is attached to a distal end of the robot arm main body.

20. A dental implant surgery robot comprising the mechanical arm of claim 19 and a dental implant instrument mounted to the adjustment device.

21. A dental implant surgery robot, comprising:

a robot arm comprising a robot arm main body and the adjusting device of any one of claims 5 to 18, the adjusting device being mounted to a distal end of the robot arm main body;

a dental implant instrument mounted to the adjustment device; and

and the control device is used for receiving and storing the rotation angle data of the first rotating member acquired by the first encoder.

22. A dental implant surgery robot according to claim 21, characterized in that the adjustment device further comprises a drive control board, which is in communication with the control device and the first encoder, respectively.

23. A dental implant surgery robot, comprising:

a robot arm comprising a robot arm main body and the adjusting device of any one of claims 9 to 18, the adjusting device being mounted to a distal end of the robot arm main body;

a dental implant instrument mounted to the adjustment device; and

and the control device is used for receiving and storing the rotation angle data of the second rotating member acquired by the second encoder.

24. Dental implant surgery robot according to claim 23,

the second revolute joint assembly further comprising: a second driving member having a free mode and a driving mode, the second driving member being capable of driving the second rotating member to rotate about the second rotation axis in the driving mode, the second driving member being capable of releasing restriction of rotation of the second rotating member in the free mode;

the control device is also used for controlling the second driving piece to drive the second rotating piece according to the rotation angle data of the second rotating piece.

25. A dental implant surgery robot according to claim 23 or 24, characterized in that the adjustment device further comprises a drive control board in communication with the control device and the second encoder, respectively.

Technical Field

The invention relates to the technical field of dental implantation equipment, in particular to an adjusting device, a mechanical arm and a dental implantation surgical robot.

Background

The dental implant technology refers to a tooth missing restoration method for supporting and retaining an upper dental restoration based on a lower structure implanted into bone tissue. It comprises a lower supporting implant and an upper dental prosthesis. It adopts artificial material (such as metal, ceramic, etc.) to make implant (generally similar to tooth root form), and adopts the operation method to implant into tissue (generally upper and lower jaws) and obtain firm retention support of bone tissue, and utilizes special device and mode to connect and support the dental prosthesis of upper portion. The implant can obtain the repairing effect which is very similar to the function, the structure and the beautiful effect of the natural tooth, and becomes the first-choice repairing mode of more and more patients with tooth deficiency.

When performing dental implant surgery, it is first necessary to drill a jawbone (maxilla or mandible) of a patient with a missing tooth, thereby providing an implant space for an implant. In the conventional technology, the dental implant robot is adopted for drilling, the implant instrument is specifically installed at the tail end of the mechanical arm through the clamping device, and the mechanical arm is controlled to move according to a planned path before an operation, so that the implant instrument reaches the specified position in the mouth of a patient with missing teeth, positioning and guiding are provided for the drilling operation, and the implant instrument can accurately drill.

However, when the current dental implant robot is used to drill the jawbone of the edentulous patient, the following technical problems exist: when the implanting instrument reaches the mouth of the edentulous patient, if the position or the angle of the implanting instrument needs to be adjusted, the implanting instrument needs to be adjusted by dragging the mechanical arm, and the inertia of the mechanical arm is large, so that the moving range is large, the adjusting precision is poor, and the implanting instrument is not suitable for adjusting in a small cavity of the oral cavity.

Disclosure of Invention

Based on this, it is necessary to provide an adjusting device, a mechanical arm and a dental implant surgery robot which are convenient for adjusting the position and/or the angle of the dental implant instrument in a small cavity of the oral cavity, aiming at the technical problem that the traditional dental implant surgery robot is not suitable for adjusting the position and/or the angle of the dental implant instrument in the small cavity of the oral cavity.

An embodiment of the present application provides an adjusting device, includes: at least one of a translational joint and a rotational joint; one end of the adjusting device is used for being installed at the tail end of the mechanical arm main body, and the other end of the adjusting device is used for installing a dental implanting instrument; rotation and/or translation of the dental implantation instrument relative to the robot arm body can be achieved by action of the at least one joint.

According to the adjusting device, when the mechanical arm main body drives the dental implant instrument to reach the designated position in the oral cavity of the edentulous patient, the angle of the dental implant instrument can be finely adjusted through the action of the rotary joint, and the position of the dental implant instrument can be finely adjusted through the action of the translational joint, so that the angle and/or the position of the dental implant instrument can be finely adjusted in the small oral cavity, and the adjusting device is small in motion inertia and high in adjusting precision.

In one embodiment, the adjusting device comprises: at least a set of revolute joint subassembly, every group the revolute joint subassembly includes revolute joint, revolute joint includes revolute joint body and rotation piece, rotate the piece with correspond the revolute joint body rotates and connects, rotate the piece for corresponding revolute joint body rotation axis when rotating be used for with dental implantation instrument's drilling direction is the angle setting.

In one embodiment, the revolute joint assembly further comprises: and the braking parts are used for locking or unlocking the corresponding rotary joints.

In one embodiment, the number of the rotary joint components is two, and the two rotary joint components are respectively a first rotary joint component and a second rotary joint component, and the first rotary joint component is connected with the second rotary joint component;

the first rotary joint assembly comprises a first rotary joint comprising a first rotary member and a first rotary joint body, the first rotary member being rotatable relative to the first rotary joint body about a first axis of rotation;

the second rotating joint assembly comprises a second rotating joint, and the second rotating joint comprises a second rotating part and a second rotating joint body; the second rotational element can rotate about a second rotational axis relative to the second rotational joint body, wherein the second rotational axis is arranged at an angle to the first rotational axis.

In one embodiment, the first rotary joint assembly further comprises: and the first encoder is arranged on the first rotating part and is used for acquiring the rotation angle data of the first rotating part.

In one embodiment, the first rotational joint body includes: the first part and the second part are fixedly connected and oppositely arranged; the first rotating member is rotatably connected to the first portion.

In one embodiment, the adjustment device further comprises a mounting structure, the mounting structure comprising: the mounting body is used for mounting the dental implanting instrument; the first shaft extension and the second shaft extension are respectively arranged on different sides of the mounting body, and the first shaft extension is coaxially connected with the first rotating piece; the second shaft is rotatably connected to the second portion.

In one embodiment, the first rotational joint assembly includes a first braking member, the first braking member is mounted on the second portion and sleeved on the second shaft for braking the second shaft; the second shaft extension has a dimension in the axial direction greater than a dimension of the first shaft extension in the axial direction.

In one embodiment, the second revolute joint assembly further comprises: and the second encoder is arranged on the second rotating part and is used for acquiring the rotation angle data of the second rotating part.

In one embodiment, the second revolute joint assembly further comprises: and the second driving part is provided with a free mode and a driving mode, the second driving part can drive the second rotating part to rotate around the second rotating axis in the driving mode, and the second driving part can remove the limitation on the rotation of the second rotating part in the free mode.

In one embodiment, the second revolute joint assembly further comprises:

the gear disc is coaxially connected with the second rotating piece; and

the transmission gear is meshed with the gear disc and is driven by the second driving piece;

the second rotary joint assembly includes a second brake member capable of braking or releasing the gear plate.

In one embodiment, the second revolute joint assembly further comprises: a torque sensor for detecting a torque of the second rotating member.

In one embodiment, an axial end of the second revolute joint body is provided with angle scale marks; the end part of the first rotating joint body is provided with an angle indicating mark, and the angle indicating mark is used for indicating angle scales on the angle scale marks.

In one embodiment, the adjusting device further comprises: the translational joint assembly comprises a translational joint body and a translational moving piece, and the translational moving piece can translate relative to the translational joint body.

In one embodiment, the at least one set of translational joint assemblies comprises a first translational joint assembly comprising a first translational joint body and a first translational moving member;

the first translational joint assembly further comprises a first translational drive assembly for driving the first translational moving member to move in a first direction relative to the first translational joint body, wherein the first direction is used to correspond to a drilling direction of the dental implant apparatus.

In one embodiment, the first translational drive assembly includes:

the guide rod is arranged on the first translational joint body, and the extending direction of the guide rod is along the first direction;

the first driving wheel is in spiral transmission with the guide rod; and

the first driving part is installed on the first translational moving part and used for driving the first driving wheel to rotate around the axis of the first driving wheel, so that the first driving wheel can move along the first direction through the screw transmission of the guide rod, and the first driving wheel can drive the first driving part and the first translational moving part to move along the first direction together.

In one embodiment, the first translational drive assembly further comprises:

the second driving wheel is arranged in parallel with the first driving wheel at intervals and is coaxially connected with an output shaft of the first driving piece; and

and the transmission belt is respectively surrounded on the second transmission wheel and the first transmission wheel and is respectively in transmission fit with the second transmission wheel and the first transmission wheel.

In one embodiment, the at least one translational joint assembly comprises: the second translational joint component is connected with the third translational joint component;

the second translational joint component comprises a second translational joint, and the second translational joint comprises a second translational moving piece and a second translational joint body; the second translational moving member is capable of translating relative to the second translational joint body along a second direction;

the third translational joint assembly includes a third translational joint including a third translational movement and a third translational joint body; the third translational moving part can translate relative to the third translational joint body along a third direction; wherein, the second direction, the third direction is used for being the angular setting with the drilling direction of dental implantation instrument respectively.

The application further provides a mechanical arm, which comprises a mechanical arm main body and the adjusting device of any one of the above items, wherein the adjusting device is mounted at the tail end of the mechanical arm main body.

Another embodiment of the present application further provides a dental implant surgery robot, including the mechanical arm and a dental implant apparatus, the dental implant apparatus being mounted to the adjusting device.

Yet another embodiment of the present application also provides a dental implant surgery robot, including:

a robot arm comprising a robot arm main body and the adjusting device of any one of the above, the adjusting device being mounted to a distal end of the robot arm main body;

a dental implant instrument mounted to the adjustment device; and

and the control device is used for receiving and storing the rotation angle data of the first rotating member acquired by the first encoder.

In one embodiment, the adjusting device further comprises a driving control board, which is respectively connected with the control device and the first encoder in communication.

Yet another embodiment of the present application further provides a dental implant surgery robot, including:

a robot arm comprising a robot arm main body and the adjusting device of any one of the above, the adjusting device being mounted to a distal end of the robot arm main body;

a dental implant instrument mounted to the adjustment device; and

and the control device is used for receiving and storing the rotation angle data of the second rotating member acquired by the second encoder.

In one embodiment, the second revolute joint assembly further comprises: a second driving member having a free mode and a driving mode, the second driving member being capable of driving the second rotating member to rotate about the second rotation axis in the driving mode, the second driving member being capable of releasing restriction of rotation of the second rotating member in the free mode;

the control device is also used for controlling the second driving piece to drive the second rotating piece according to the rotation angle data of the second rotating piece.

In an embodiment, the adjusting device further includes a driving control board, which is respectively connected to the control device and the second encoder in communication.

Drawings

FIG. 1 is a schematic structural diagram of an adjusting device according to an embodiment;

FIG. 2 is a schematic view of the adjustment device of FIG. 1 in connection with a dental implant apparatus;

FIG. 3 is a schematic view of the adjustment device of FIG. 1 applied to a dental implant surgery robot;

FIG. 4 is a cross-sectional view of the adjustment device of FIG. 1;

FIG. 5 is a right side view of the first rotary joint assembly of FIG. 1;

FIG. 6 is a schematic view of the mounting structure of FIG. 4;

FIG. 7 is a top view of the mounting structure of FIG. 6;

FIG. 8 is a schematic structural view of the second revolute joint assembly of FIG. 1;

FIG. 9 is an enlarged view of a portion of area A of FIG. 1;

figure 10 is a cross-sectional view of the third revolute joint assembly of figure 4.

Description of reference numerals:

a dental implant surgery robot 1; an adjustment device 10; a robot arm main body 20; a dental implant instrument 30;

a first rotary joint assembly 100;

a first revolute joint body 110; a first portion 111; a second portion 112; a third portion 113; a first shaft end cap 114; a second axial end cap 115;

a first rotating member 120; a first rotating body 121; a first flange 122; a bearing 123;

a first stopper 130; a first manual push-button switch 131;

a first encoder 150;

a second revolute joint assembly 200;

a second revolute joint body 210; a second rotating member 220; a bearing 221; a second stopper 230; brake lever 231; a second encoder 240; a second driving member 250; a gear plate 260; a drive gear 270; a torque sensor 280; angle tick marks 290; end caps 291; angle indication marks 292;

a first translational joint assembly 300; a first translational joint body 310; a first translational moving member 320; a guide bar 331; a first driving member 333; a second drive wheel 334; a belt 335; a mounting bracket 336;

a mounting structure 400; a mounting body 410; a first shaft extension 420; a second shaft extension 430; a bearing 431; a hoop 440; a positioning block 450; a clamping space 401;

a first stopper wire passage 101; a first encoder wire pass channel 102;

a first rubber sleeve 510; a second rubber sleeve 520; a third rubber boot 530; a drive control board 610; hex stud 620.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, an adjusting device 10 is provided in the present embodiment. Referring again to fig. 2 and 3, the adjusting device 10 is applied to the robot arm of the dental implant surgery robot 1. The dental implant surgery robot 1 includes a robot arm and a dental implant instrument 30. The robot arm includes a robot arm main body 20 and an adjusting device 10. The adjusting device 10 has one end for being mounted to the distal end of the robot arm body 20 and the other end for mounting the dental implant instrument 30, so that the dental implant instrument 30 can be mounted to the distal end of the robot arm body 20 through the adjusting device 10. When dental implant surgery robot 1 drills to the jawbone of the edentulous patient, through control arm main part 20 according to planning route motion before the art for dental implant apparatus 30 reaches the assigned position in the patient's oral cavity of the edentulous, thereby can carry out drilling to the jawbone of the patient of the edentulous through dental implant apparatus 30. When the dental implant apparatus 30 reaches the oral cavity of the edentulous patient, the adjusting device 10 is used to fine-tune the angle and/or position of the dental implant apparatus 30 to achieve accurate drilling of the jawbone of the edentulous patient.

The adjustment device 10 includes at least one of a translational joint and a rotational joint. The dental implant instrument 30 can be rotated and/or translated relative to the robot arm body 20 by the action of the at least one joint in the adjustment device 10, so that the angle and/or position of the dental implant instrument 30 can be fine-tuned.

Specifically, in the present embodiment, the adjusting device 10 includes: a revolute joint assembly and a revolute joint assembly. Referring to fig. 1, the number of the rotating joint components is two, namely, a first rotating joint component 100 and a second rotating joint component 200. The number of the translational joint components is one group, and the translational joint components are the first translational joint components 300. The first rotary joint assembly 100, the second rotary joint assembly 200, and the first translational joint assembly 300 are sequentially connected in series. Referring to fig. 2 and 3, when the adjusting device 10 is applied to the dental implant surgery robot 1, the first rotary joint assembly 100 is configured to be connected to the dental implant instrument 30, and the first translational joint assembly 300 is configured to be connected to the end of the robot arm body 20, so that the dental implant instrument 30 can be mounted to the end of the robot arm body 20 through the adjusting device 10.

Each set of revolute joint components (100, 200) comprises a revolute joint, the revolute joint comprises a revolute joint body (110, 210) and a revolute piece (120, 220), the revolute piece (120, 220) is rotationally connected with the corresponding revolute joint body (110, 210), and the corresponding rotation axis of the revolute piece (120, 220) when rotating relative to the corresponding revolute joint body (110, 210) is used for forming an angle with the drilling direction of the dental implant instrument 30.

Specifically, as shown in fig. 4, in the present embodiment, the rotary joint corresponding to the first rotary joint assembly 100 is a first rotary joint, the rotary joint body corresponding to the first rotary joint is a first rotary joint body 110, and the rotary member corresponding to the first rotary joint is a first rotary member 120. The first rotation member 120 is used for connecting with the dental implant device 30. The rotary joint corresponding to the second rotary joint assembly 200 is a second rotary joint, the rotary joint body corresponding to the second rotary joint is a second rotary joint body 210, and the rotary member corresponding to the second rotary joint is a second rotary member 220. The second rotating member 220 is connected to the first rotating joint body 110.

The first rotating member 120 is rotatable about a first rotation axis relative to the first rotary joint body 110. The second rotational member 220 is rotatable about a second rotational axis relative to the second rotational joint body 210. The second axis of rotation is disposed at an angle to the first axis of rotation. When the dental implant device 30 drills a jaw bone of a patient with a missing tooth, the second rotation axis and the first rotation axis are respectively disposed at an angle to the drilling direction of the dental implant device 30. More specifically, in the present embodiment, the first rotary joint is a pitch joint, and when the first rotary member 120 rotates about the first rotation axis with respect to the first rotary joint body 110, the first rotary joint performs a pitch motion. Therefore, when the dental implant device 30 reaches the oral cavity of the edentulous patient, the first rotating member 120 drives the dental implant device 30 to perform a pitching motion through the pitching motion of the first rotating joint, so as to adjust the pitch angle of the dental implant device 30. The second rotational joint is a rolling joint, and when the second rotational member 220 rotates around the second rotational axis relative to the second rotational joint body 210, the second rotational joint performs a rolling motion. Therefore, when the dental implant device 30 reaches the oral cavity of the edentulous patient, the second rotating member 220 drives the first rotating joint and the dental implant device 30 to jointly perform a rolling motion through the rolling motion of the second rotating joint, so as to adjust the rolling angle of the dental implant device 30.

Each group of translation joint components comprises a translation joint, each translation joint comprises a translation joint body (310) and a translation moving piece (320), and each translation moving piece (320) can translate relative to the corresponding translation joint body (310). In this embodiment, the translational joint corresponding to the first translational joint assembly 300 is a first translational joint, the translational joint body corresponding to the first translational joint is a first translational joint body 310, and the translational moving member corresponding to the first translational joint is a first translational moving member 320. The first translational joint body 310 is configured to be mounted to the end of the robot arm main body 20, and the first translational moving member 320 is connected to the second rotational joint body 210. The first translational movement member 320 is capable of translating in a first direction with respect to the first translational joint body 310, wherein the first direction is along a drilling direction when the jaw bone of the edentulous patient is drilled by the dental implant instrument 30. When the pitch angle, the roll angle, the position and the like of the dental implant apparatus 30 are adjusted in place, the first translational joint can be used for performing translational motion, so that the first translational moving member 320 drives the second rotary joint (the roll joint), the first rotary joint (the pitch joint) and the dental implant apparatus 30 to move along the first direction (the drilling direction) together, the drill bit of the dental implant apparatus 30 can be guaranteed to be fed along the first direction during drilling, and the situation that the drill bit does not deviate from the preoperative planning path in the drilling process can be guaranteed.

The adjustment device 10 of the present application is not limited to the provision of two rotational joints and one translational joint. In other embodiments, the number of the rotational joints may also be 0, 1, etc., and when the number of the rotational joints is 1, the rotational joints may be roll joints or pitch joints. When the number of the translational joints is 1, the direction of the degree of freedom of the translational joints is not limited to the first direction, and may be other directions, so that the position of the dental implant device 30 in the other directions can be finely adjusted by the motion of the translational joints.

In another embodiment, the number of translational joints may also be 0, 2, 3, etc., similar to rotational joints. When the number of the translation joints is multiple, the number of the translation joint components is multiple groups. The multiple translational joint assemblies can further comprise a second translational joint assembly and/or a third translational joint assembly. The specific structure of the second and/or third translational joint assemblies may employ the same structure as the first translational joint assembly 300. The translational moving piece corresponding to the second translational joint component can translate relative to the corresponding translational joint body along the second direction, so that the dental implantation instrument can be directly or indirectly driven to adjust the position along the second direction. The translational moving piece corresponding to the third translational joint component can translate relative to the corresponding translational joint body along the third direction, so that the position of the dental implant instrument can be directly or indirectly adjusted along the third direction. The second direction and the third direction are respectively arranged at an angle with the drilling direction (i.e. the first direction) of the dental implant apparatus 30, so that the position of the dental implant apparatus can be finely adjusted in more translational freedom directions.

When the total number of the rotary joints and/or the translational joints in the adjustment device 10 is two or more, these rotary joints and/or translational joints are connected in series in turn. Moreover, the connection sequence between the rotary joint and the translational joint, between the rotary joint and the rotary joint, and between the translational joint and the translational joint can be changed at will, so that the position and/or the angle of the dental implant device 30 can be finely adjusted in the small cavity of the oral cavity.

When the mechanical arm body 20 drives the dental implant apparatus 30 to reach the designated position in the oral cavity of the edentulous patient, the adjusting device 10 can finely adjust the angle of the dental implant apparatus 30 through the action of the rotary joint, and can finely adjust the position of the dental implant apparatus 30 through the action of the translational joint, so that the fine adjustment of the angle and/or the position of the dental implant apparatus 30 in the small cavity of the oral cavity can be realized.

Traditional dental implantation surgical robot, when dental implantation apparatus reachd the assigned position in the oral cavity of edentulous patient, still adjust the position and the angle of dental implantation apparatus in the oral cavity through the motion of arm main part, and motion inertia is big, and the regulation precision is poor. However, compared to the conventional dental implant surgery robot, in the embodiment of the present application, the adjustment device 10 finely adjusts the angle and/or position of the dental implant instrument 30, so that the movement inertia is small and the adjustment accuracy is high.

In addition, when the angle and/or the position of the dental implant apparatus 30 are adjusted in place, the drill of the dental implant apparatus 30 can perform a translational motion through the first translational joint during drilling, so that the dental implant apparatus 30 moves along the first direction (drilling direction), thereby ensuring that the drill of the dental implant apparatus 30 feeds along the first direction during drilling, and further ensuring that the drill does not deviate from the preoperative planned path during drilling.

In an embodiment, the revolute joint assembly (100, 200) further comprises a brake (130, 230), the brake (130, 230) being adapted to lock or unlock the respective revolute joint.

Specifically, as shown in fig. 4, in the present embodiment, the brake member corresponding to the first rotary joint assembly 100 is the first brake member 130. The first stopper 130 is used to lock or unlock the first rotational joint. Accordingly, the corresponding brake member of the second rotary joint assembly 200 is the second brake member 230. The second brake 230 is used to lock or unlock the second rotational joint. The braking members (130, 230) may be constructed in the prior art, and thus the detailed construction and braking principle thereof will not be described.

When the pitch angle of the dental implant device 30 needs to be adjusted, the first rotary joint can be unlocked through the unlocking action of the first brake member 130 to release the degree of freedom of the first rotary joint, so that the dental implant device 30 can be manually dragged to enable the first rotary joint to be in the pitch action, and the pitch angle of the dental implant device 30 can be adjusted through a manual operation mode. When the pitch angle of the dental implant device 30 is adjusted, the first rotary joint may be locked by the locking operation of the first stopper 130 to lock the degree of freedom of the first rotary joint, so that the pitch angle of the dental implant device 30 may be locked.

Similarly, when the roll angle of the dental implant apparatus 30 needs to be adjusted, the second rotational joint may be unlocked by the unlocking action of the second brake member 230 to release the degree of freedom of the second rotational joint, so that the dental implant apparatus 30 and the first rotational joint may be manually pulled, the second rotational joint may be rolled, and the roll angle of the dental implant apparatus 30 may be adjusted by manual operation. When the roll angle of the dental implant device 30 is adjusted, the second rotational joint may be locked by the locking action of the second stopper 230 to lock the degree of freedom of the second rotational joint, so that the roll angle of the dental implant device 30 can be locked.

In the embodiment, the first stopper 130 is used for independently locking or unlocking the degree of freedom of the first rotary joint, so that the pitch angle of the dental implant apparatus 30 can be conveniently adjusted in a manual operation mode, and the second stopper 230 is used for independently locking or unlocking the degree of freedom of the second rotary joint, so that the roll angle of the dental implant apparatus 30 can be conveniently adjusted in a manual operation mode, and the experience of the dental implant of an operator (dentist) in free hands (i.e. manual operation without external equipment) can be conveniently exerted. In addition, no speed reducer is arranged in each rotary joint assembly (100, 200), so that the friction torque of the corresponding rotary joint during action is reduced to the maximum extent, and the manual dragging function of the mechanical arm is further favorably and fully exerted in combination with the experience of a free hand.

In other embodiments, similarly, corresponding braking members can be configured for corresponding translational joints in each translational joint assembly, so that the corresponding translational joints can be independently locked or unlocked, the position of the dental implant instrument can be conveniently finely adjusted in the direction of the corresponding translational degree of freedom in a manual dragging mode, and the experience of the dental implant of the free hand of an operator can be conveniently exerted.

Furthermore, if the dental implant surgery robot 1 fails to adjust the pitch angle and/or the position of the dental implant device 30 automatically, it may be supplemented by manual operation.

Furthermore, when the dental implant device 30 drills a jaw bone in the oral cavity of the edentulous patient, the degrees of freedom of other rotational joints and/or translational joints except the first translational joint can be locked by corresponding braking parts, so that the dental implant device 30 is not easy to cause vibration when drilling the jaw bone of the edentulous patient, and the tail end of the mechanical arm is not easy to shake.

When the motion of any one of the rotary joints or the translational joint is adjusted, the degrees of freedom of other joints can be locked through corresponding braking parts or driving parts, so that the other joints can be prevented from being interfered to generate unnecessary motion.

In one embodiment, the braking members have manual push-button switches provided to the corresponding rotational joint bodies for controlling the locking and unlocking motions of the corresponding braking members.

Specifically, referring to fig. 5, the first stopper 130 has a first manual button switch 131. The first manual button switch 131 is disposed on the first rotary joint body 110, and is used for manually controlling the locking and unlocking actions of the first brake member 130, thereby facilitating the operation. Similarly, the second stopper 230 has a second manual button switch (not shown). The second manual button switch is disposed on the second rotary joint body 210, and is used for manually controlling the locking and unlocking actions of the second brake member 230, which is convenient for operation.

In other embodiments, the pitch angle and/or the pitch angle of the dental implant instrument 30 may also be adjusted by controlling the movement of the first brake 130 and/or the movement of the second brake 230 by a control device (not shown) provided separately for the adjustment device 10 or by a control device of the dental implant surgery robot 1.

In other embodiments, similarly, corresponding manual button switches may be configured for the braking members corresponding to the respective translational joints, and the corresponding manual button switches are disposed on the corresponding translational joint bodies, so as to facilitate manual operation and control of the locking and unlocking actions of the corresponding braking members. Of course, the motion of the braking members corresponding to the translational joints can also be controlled by a control device (not shown) separately provided for the adjustment device, or by a control device of the dental implant surgery robot.

Referring to fig. 4, in an embodiment, the first rotary joint assembly 100 further includes a first encoder 150. The first encoder 150 is mounted to the first rotating member 120 so as to be able to acquire the rotation angle of the first rotating member 120, and thus the pitch angle data of the dental implant 30.

Different drilling procedures exist in the process of drilling the jawbone of the edentulous patient, and different drill bits are sometimes used for drilling in different drilling procedures, so that the drill bit of the dental implant device 30 needs to be replaced. When the pitch angle of the dental implant device 30 is adjusted in the previous process, the drill bit in the previous process can be adjusted to an appropriate pitch angle, and at this time, the pitch angle data of the dental implant device 30 when the adjustment is completed can be fed back to the control device of the dental implant surgery robot 1 through the first encoder 150 and stored. After the drill bit is replaced in the subsequent procedure, the drill bit in the subsequent procedure can be directly manually dragged (or automatically adjusted) to the proper pitch angle (that is, the pitch angle is consistent with that of the drill bit in the previous procedure) according to the pitch angle data of the dental implant instrument 30 from the previous procedure stored in the dental implant surgical robot 1, and then the pitch angle of the drill bit in the subsequent procedure can be accurately and quickly adjusted.

Referring to fig. 4, in an embodiment, the second rotating joint assembly 200 further includes a second encoder 240. The second encoder 240 is mounted to the second rotating member 220 so that the rotation angle of the second rotating member 220 can be obtained, and thus the roll angle data of the dental implant 30 can be obtained. Similarly to the first encoder 150, when the adjustment of the roll angle of the dental implant instrument 30 is completed in the previous process, the roll angle data of the dental implant instrument 30 at the time of the adjustment can be fed back to the control device of the dental implant surgical robot 1 and stored by the second encoder 240. After the drill bit is replaced in the subsequent process, the drill bit in the subsequent process can be directly manually dragged (or automatically adjusted) to an appropriate roll angle (that is, the roll angle is consistent with that of the drill bit in the previous process) according to the roll angle data of the dental implant instrument 30 from the previous process stored in the dental implant surgical robot 1, and then the roll angle of the drill bit in the subsequent process can be accurately and quickly adjusted.

Referring to fig. 1 and 4, in an embodiment, the first rotational joint body 110 includes: a first portion 111 and a second portion 112, the first portion 111 and the second portion 112 being fixedly connected and disposed opposite to each other. Specifically, in the present embodiment, the first rotational joint body 110 further includes a third portion 113. The first portion 111 and the second portion 112 are connected to both ends of the third portion 113, respectively. As shown in fig. 4, the first rotating member 120 includes a first rotating body 121 and a first flange 122 fixedly connected. The first flange 122 radially protrudes from the first rotating body 121, and extends circumferentially along the first rotating body 121. The first rotating body 121 is rotatably connected to the first part 111 by a bearing 123. The code wheel of the first encoder 150 is mounted to the first flange 122. The dental implant instrument 30 is intended to be mounted between the first part 111 and the second part 112.

Referring to fig. 2 and 4, the adjustment device 10 further includes a mounting structure 400 disposed between the first portion 111 and the second portion 112 for mounting the dental implant instrument 30. Referring again to fig. 6 and 7, the mounting structure 400 includes a mounting body 410, a first shaft 420, and a second shaft 430. The first and second shaft extensions 420 and 430 are disposed on different sides of the mounting body 410. The first shaft extension 420 is coaxially connected with the first rotating member 120. The second shaft extension 430 is rotatably coupled to the second portion 112 by a bearing 431.

In this embodiment, the first stopper 130 is mounted on the second portion 112 and sleeved on the second shaft 430, so that the first stopper 130 can directly brake the mounting structure 400, thereby indirectly braking the first rotating member 120 and the dental implant device 30, and further locking the degree of freedom of the first rotating joint and the pitch angle of the dental implant device 30.

The second shaft extension 430 has a greater dimension in the axial direction than the first shaft extension 420. Referring to fig. 4, in the embodiment, since the first rotating member 120 is mounted on the first portion 111 and the first encoder 150 is mounted on the first rotating member 120, the mounting space for mounting the first shaft extension 420 is small, and the first shaft extension 420 has a short dimension along the axial direction, which is convenient for mounting. The second shaft 430 is rotatably connected to the second portion 112, and has a longer axial dimension, which is beneficial to the stability and smoothness of the second shaft 430 when rotating relative to the second portion 112, and moreover, because of the longer axial dimension, the first stopper 130 is conveniently sleeved on the second shaft 430, thereby providing an installation space for the first stopper 130. It can be seen that, by the fact that the dimension of the second shaft extension 430 in the axial direction is larger than the dimension of the first shaft extension 420 in the axial direction, the assembly structure of the first rotary joint and the mounting structure 400 is compact, and the structure of two sides of the mounting structure 400 is balanced.

Referring to fig. 1 and 4, in an embodiment, the first rotating joint assembly 100 further includes a first shaft end blocking cover 114 disposed at an end of the first portion 111 facing away from the second portion 112 for blocking the first rotating member 120 and the bearing 123, so that the first rotating member 120 and the bearing 123 are not exposed. The first rotary joint assembly 100 further includes a second shaft end blocking cap 115 disposed at an end of the second portion 112 facing away from the first portion 111 for blocking the second shaft 430 and the bearing 431 such that the second shaft 430 and the bearing 431 are not exposed to the outside.

Referring to fig. 4, fig. 6 and fig. 7, in an embodiment, the mounting structure 400 is a clamping structure. The mounting body 410 has a clamping space 401, the clamping space 401 being adapted to receive the dental implant instrument 30. The mounting structure 400 further comprises a hoop 440 for clasping the mounting body 410 to the dental implant device 30 such that the dental implant device 30 is clamped.

Specifically, referring to fig. 7, the inner wall of the clamping space 401 is further provided with a positioning block 450 for matching with a positioning groove (not shown) on the dental implant apparatus 30 to ensure the positioning of the dental implant apparatus 30 and the mounting body 410.

In other embodiments, the mounting structure is not limited to the structure of the clamping structure described above, but may be other structures.

Referring to fig. 4 in conjunction with fig. 8, in an embodiment, the second revolute joint body 210 is a hollow cylindrical structure. The second rotating member 220 is a hollow flange structure and is inserted into the hollow area inside the second rotating joint body 210. The second rotating member 220 is rotatably coupled to an inner wall of the second revolute joint body 210 through a bearing 221.

Referring to fig. 4, in an embodiment, the second rotating joint assembly 200 further includes: a second driving member 250. The second driver 250 has a free mode and a driving mode. The second driving unit 250 can drive the second rotation unit 220 to rotate around the second rotation axis in the driving mode, and the second driving unit 250 can release the restriction of the rotation of the second rotation unit 220 in the free mode.

In particular, the second driving member 250 may be a motor. The motor is switchable between a free mode and a drive mode. In the driving mode, the second rotation member 220 can be automatically driven by the motor to rotate around the second rotation axis, so that the roll angle of the dental implant apparatus 30 can be automatically adjusted. If the motor is switched to the free mode, so that the output shaft of the motor can rotate freely, at this time, the dental implant device 30 and the first rotary joint assembly 100 can be pulled manually, so that the second rotary member 220 rotates around the second rotary axis, and the manual adjustment of the roll angle of the dental implant device 30 can be realized. Therefore, when the roll angle of the dental implant instrument 30 is adjusted, the second driving part 250 can flexibly switch between manual adjustment and automatic adjustment, so that the adjustment mode can be selected conveniently and flexibly.

In the present embodiment, the first rotary joint assembly 100 is not provided with a driver for driving the first rotary joint to move, so that when adjusting the pitch angle of the dental implant instrument 30, only the manual operation mode can be used for adjustment. When drilling the jawbone of the edentulous patient, the first rotary joint assembly 100 is connected with the dental implant device 30, which is located near the inside of the oral cavity. Because the first rotary joint assembly 100 is not provided with a driving part, the whole volume of the first rotary joint assembly 100 is small, and the pitch angle of the dental implant apparatus 30 can be adjusted conveniently in a small cavity of the oral cavity.

Referring to fig. 4, in one embodiment, the second revolute joint assembly 200 further includes a gear plate 260 and a transmission gear 270. The gear plate 260 is disposed at an end of the second rotating member 220 away from the first rotating joint assembly 100, and is coaxially connected to the second rotating member 220. The second encoder 240 is provided to the gear plate 260. The transmission gear 270 is engaged with the gear plate 260 and driven by the second driving member 250, so that the transmission gear 270 drives the gear plate 260 to rotate, and further drives the second rotating member 220 to rotate. Further, the brake lever 231 of the second brake member 230 is switchable between an extended position and a retracted position, and the brake lever 231 is engageable with the gear plate 260 when extended to the extended position, thereby indirectly braking the second rotating member 220 to lock the second rotating joint. Retraction of the brake lever 231 to the retracted position releases the gear disc 260 and thus the second rotational member 220 to unlock the second rotational joint. It can be seen that the provision of the gear wheel 260 facilitates both the automatic driving of the second rotation member 220 for rotation when the roll angle of the dental implant device 30 is automatically adjusted and the braking of the second rotation member 220.

Referring to fig. 4, in an embodiment, the second rotating joint assembly 200 further includes: the torque sensor 280 is configured to detect a torque of the corresponding second rotating member 220, so that when the roll angle of the dental implant apparatus is adjusted through manual operation or automatic adjustment, the torque sensor 280 can feed back a dragging force applied to the second rotating member 220 to a control device of the dental implant surgical robot 1, so as to implement a force feedback loop. The torque sensor 280 may be disposed at a position such as a connection between the output shaft of the second driver 250 and the transmission gear 270.

Referring to fig. 8 and 9 in combination with fig. 1, in an embodiment, an axial end of the second revolute joint body 210 is provided with angle scale lines 290, and the angle scale lines 290 are arranged around the second rotation axis. An angle indication mark 292 is provided at one end of the first revolute joint body 110 near the second revolute joint assembly 200. The angle indication marks 292 are used to indicate the angle scale on the angle scale line 290.

Specifically, as shown in fig. 4, 8, and 9, in the present embodiment, the second rotary joint assembly 200 further includes an end cap 291, and the end cap 291 is disposed at one end of the second rotary joint body 210 near the first rotary joint assembly 100. The angle graduation 290 is provided at the end cap 291.

Referring to fig. 7, the angle indicator 292 is disposed on the first rotary joint body 110 and can rotate around the second rotation axis synchronously with the dental implant device 30, the first rotary joint assembly 100 and the second rotary member 220. Therefore, the rolling angle of the dental implant instrument 30 can be obtained through the scales on the angle scale 290 indicated by the angle indication marks 292, so that the rolling angle data can be conveniently read visually when the rolling angle of the dental implant instrument 30 is manually adjusted, and the manual adjustment operation is further facilitated.

Referring to fig. 4 and 10, in an embodiment, the first translational joint component 300 further includes a first translational driving component. The first translational driving component is used for driving the first translational moving part 320 to move along the first direction relative to the first translational joint body 310, so that when the dental implantation instrument 30 performs a drilling operation, the drill bit of the dental implantation instrument 30 can be automatically controlled to feed along the first direction conveniently.

Referring to fig. 4 and 10, in an embodiment, the first translational driving component includes: a guide bar 331, a first drive wheel (not shown) and a first drive member 333.

Specifically, the guide bar 331 is provided to the first translational joint body 310, and the extending direction of the guide bar 331 is along the first direction. A first driving wheel (not shown) is sleeved on the guide rod 331 and is in screw transmission with the guide rod 331. In this embodiment, the first driving member 333 is a motor and is mounted to the first translational moving member 320 via a mounting bracket 336. The first driving member 333 is used to drive the first driving wheel to rotate about its axis so that the first driving wheel moves in the first direction by screw-driving with the guide bar 331. When the first driving wheel moves in the first direction, the first driving part 333 and the first translational moving part 320 can be driven to move together in the first direction.

Referring to fig. 4 and 10, in an embodiment, the first translational driving assembly further includes: a second drive wheel 334 and a drive belt 335. The second drive wheel 334 is coaxially connected to the output shaft of the first drive member 333 and is spaced parallel to the first drive wheel. A belt 335 is looped around the second drive wheel 334 and the first drive wheel, respectively, and engages the second drive wheel 334 and the first drive wheel, respectively. The first driving member 333 drives the second driving wheel 334 to rotate, and the driving belt 335 is driven to rotate. In this embodiment, the first driving wheel and the second driving wheel 334 are disposed in parallel and spaced apart, the second driving wheel 334 is coaxially connected to the first driving member 333, and the first driving wheel can be indirectly driven to rotate by the driving belt 335, so as to facilitate the location of the first driving member 333.

Referring to fig. 4, in an embodiment, the adjusting apparatus 10 further includes a driving control board 610. The driving control plate 610 may be mounted to the second revolute joint body 210 by a hexagonal stud 620. The drive control board 610 is used for being in communication connection with relevant elements in each rotary joint assembly and/or each translational joint assembly, and is in communication connection with a control device of the dental implant surgery robot 1. For example, the data measured by the first encoder 150 and the data measured by the second encoder 240 may be transmitted to the control device of the dental implant surgery robot 1 by the driving control board 610, respectively. The control device of the dental implant surgery robot 1 may send instructions to the respective brake members and the respective driving members through the driving control board 610.

Referring to fig. 4, in an embodiment, the second portion 112 of the first rotary joint body 110 has a first brake wire passing channel 101 therein. The first portion 111 of the first rotary joint body 110 is provided with a first encoder wire passage 102 therein. The first rotary joint body 110 is a hollow structure, and a hollow area inside the first rotary joint body can be used as a first wire passing channel. The second rotary joint body 210 is a hollow structure, and the hollow area inside the second rotary joint body can be used as a second wire passing channel. The first translational joint is of a hollow structure, and the hollow area inside the first translational joint can be used as a third wire passing channel.

The connecting wires of the first brake 130 can be connected to the driving control board 610 through the first brake wire passing channel 101 and the first and second wire passing channels. The connecting wires of the first encoder 150 can be connected to the driving control board 610 through the first encoder wire channel 102 and the first and second wire channels. The connection wire of the second driving member 250 and the connection wire of the second braking member 230 may be connected to the driving control board 610 through second wire passage, respectively. The connection wire of the first driving member 333 may be connected to the driving control board 610 through the second wire passage. All the wires connected to the driving control board 610 can be led out to the outside of the first translational joint assembly 300 after passing through the second wire passing channel and the third wire passing channel, and then are connected to the control device of the dental implant surgery robot.

Referring to fig. 4, in an embodiment, the adjusting device 10 further includes a first rubber sleeve 510. The first rubber sleeve 510 is disposed on an inner wall of the first wire passing channel, and is used for clamping a wire passing through the first wire passing channel. The adjustment device 10 further comprises a second rubber sleeve 520. The second rubber sleeve 520 is disposed on an inner wall of the second wire passage for clamping a wire passing through the second wire passage. The adjustment device 10 further comprises a third rubber sleeve 530. The third rubber sleeve 530 is disposed at a connection position between an inner wall of the second wire passing channel and an inner wall of the third wire passing channel, and is used for clamping a wire passing through the third wire passing channel.

An embodiment of the application also provides a mechanical arm. The robot arm includes the robot arm main body 20 and the adjusting device 10 in any of the above embodiments.

An embodiment of the present application further provides a dental implant surgery robot 1. The dental implant surgery robot 1 includes the robot arm and the dental implant instrument 30 described above.

Another embodiment of the present application also provides a dental implant surgery robot, including: mechanical arm, dental implantation apparatus and controlling means. The robot arm comprises a robot arm body and the adjusting device of any one of the above. The adjusting device is arranged at the tail end of the mechanical arm main body. The dental implant apparatus is mounted to the adjustment device. The control device is used for receiving and storing the rotation angle data of the first rotating member acquired by the first encoder.

In the present embodiment, the rotational angle data of the first rotating member is the data of the pitch angle. Different drilling procedures exist in the process of drilling the jawbone of a patient with the missing tooth, and different drill bits are sometimes used for drilling in different drilling procedures, so that the drill bit of the dental implant instrument needs to be replaced. Thereby when the pitch angle adjustment with dental implant instrument is accomplished through adjusting first rotating member in the preceding process, the drill bit of preceding process then can adjust to suitable pitch angle, and at this moment, the pitch angle data feedback of dental implant instrument when the adjustment is accomplished to the control device of dental implant surgery robot of accessible first encoder and save. After the drill bit is replaced in the next procedure, the drill bit in the next procedure can be directly and manually dragged (or automatically adjusted) to the proper pitch angle (namely, the pitch angle is consistent with that of the drill bit in the previous procedure) according to the pitch angle data of the dental implanting instrument from the previous procedure stored in the dental implanting operation robot, and then the pitch angle of the drill bit in the next procedure can be accurately and quickly adjusted.

In an embodiment, the adjusting device further includes a driving control board, and the driving control board is in communication connection with the control device and the first encoder respectively, and is used for realizing information transmission between the control device and the first encoder.

Yet another embodiment of the present application further provides a dental implant surgery robot, including: mechanical arm, dental implantation apparatus and controlling means.

The mechanical arm comprises a mechanical arm main body and any one of the adjusting devices, wherein the adjusting device is arranged at the tail end of the mechanical arm main body. The dental implant apparatus is mounted to the adjustment device. The control device is used for receiving and storing the rotation angle data of the second rotating piece acquired by the second encoder.

In this embodiment, similarly to the first encoder, when the roll angle adjustment of the dental implant instrument is completed in the previous process, the roll angle data of the dental implant instrument (i.e., the rotational angle data of the second rotating member) at the time of the adjustment completion may be fed back to the control device of the dental implant surgical robot by the second encoder and stored. After the drill bit is replaced in the next procedure, the drill bit in the next procedure can be directly and manually dragged (or automatically adjusted) to a proper roll angle (namely, the roll angle is consistent with that of the drill bit in the previous procedure) according to the roll angle data of the dental implanting instrument from the previous procedure, which is stored in the dental implanting operation robot, so that the roll angle of the drill bit in the next procedure can be accurately and quickly adjusted.

In one embodiment, the second revolute joint assembly further comprises: and the second driving piece has a free mode and a driving mode, the second driving piece can drive the second rotating piece to rotate around the second rotating axis in the driving mode, and the second driving piece can release the limitation on the rotation of the second rotating piece in the free mode. The control device is also used for controlling the second driving part to drive the second rotating part according to the rotation angle data of the second rotating part, so that the drill bit in the next procedure can be automatically adjusted to a proper roll angle.

In an embodiment, the adjusting device further includes a driving control board, which is in communication connection with the control device and the second encoder respectively, for implementing information transmission between the control device and the first encoder.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.