Rotational joints and surgical robots

Abstract

This application relates to a rotary joint and a surgical robot. The rotary joint includes: a fixing member, the fixing member including a ring portion; a rotating inner ring, the rotating inner ring being rotatably disposed within an inner annular cavity enclosed by the ring portion, the rotating inner ring and the ring portion forming an annular space, the rotating inner ring rotating relative to the fixing member about a first axis; a driving device, the driving device including an output shaft, the output shaft rotating about a second axis; a cable assembly, the cable assembly including at least one cable, a first end of the cable being fixed relative to the fixing member, and a second end of the cable being fixed relative to the rotating inner ring; wherein, the maximum stroke of the rotating inner ring is in the range of 360° to 720°, at least a portion of the cable runs along the rotating inner ring within the annular space, and the length of the cable forming an arc around the rotating inner ring can vary with the rotation of the rotating inner ring.

Description

Technical Field

[0001] This application relates to the field of medical technology, and more particularly to a rotary joint and surgical robot. Background Technology

[0002] The application of surgical robots in the field of medical technology helps improve the precision of surgeons' operations, solves problems such as hand tremors, fatigue, and muscle nerve feedback, and enables doctors to perform surgical procedures in the most comfortable state. This is of great value in improving the success rate of surgery and reducing patient suffering. In recent years, its research has become a new field of medical device application.

[0003] Surgical robots are typically equipped with end effectors and rotary joints. The rotary joints enable rotational changes in the end effector to adapt to the orientation requirements during surgery. Summary of the Invention

[0004] This application provides a rotary joint and a surgical robot to address the shortcomings of related technologies.

[0005] According to a first aspect of the embodiments of this application, a rotary joint is provided, comprising:

[0006] The fastener includes a ring portion;

[0007] The inner ring is rotatably disposed within the inner ring cavity formed by the ring portion, and an annular space is formed between the inner ring and the ring portion. The inner ring rotates about a first axis relative to the fixing member.

[0008] The drive device includes an output shaft that rotates about a second axis;

[0009] A cable assembly, the cable assembly including at least one cable, the first end of the cable being fixed relative to the fixing member, and the second end of the cable being fixed relative to the rotating inner ring;

[0010] The maximum stroke of the inner rotating ring ranges from 360° to 720°. At least a portion of the cable runs along the inner rotating ring within the annular space. The length of the cable forming an arc around the inner rotating ring can vary with the rotation of the inner rotating ring.

[0011] According to a second aspect of the embodiments of this application, a rotary joint is provided, comprising:

[0012] A fastener, comprising a ring portion and a protrusion extending outward from the ring portion along a radial direction, the ring portion having an inner ring cavity, the protrusion having a mounting cavity, the inner ring cavity and the mounting cavity communicating with each other;

[0013] The inner ring is rotatably disposed within the inner ring cavity;

[0014] The driving device includes a drive motor detachably connected to the protrusion, and the output shaft of the drive motor extends into the mounting cavity.

[0015] The transmission assembly includes an input section and an output section. The output section is configured as a gear component, which is circumferentially connected to the outer side of the rotating inner ring. The input section is located in the mounting cavity and is fixedly disposed with the output shaft.

[0016] The rotation axis of the output shaft of the drive device is perpendicular to the rotation axis of the inner rotating ring.

[0017] According to a third aspect of the embodiments of this application, a surgical robot is provided, comprising:

[0018] Motion module;

[0019] As described in any of the above embodiments, the inner ring of the rotary joint is fixedly connected to the motion module.

[0020] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0021] As can be seen from the above embodiments, the rotating inner ring in this application can rotate relative to the fixed part, realizing the rotational degree of freedom of the rotating joint. The annular space between the rotating inner ring and the ring part can accommodate the cable group, which can avoid the cable group being placed outside and protect the cable group.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] Figure 1 This is a schematic diagram of a rotary joint according to an exemplary embodiment.

[0025] Figure 2 yes Figure 1 A cross-sectional schematic diagram of a mid-rotation joint.

[0026] Figure 3 yes Figure 1 A partial schematic diagram of a mid-rotation joint.

[0027] Figure 4 yes Figure 1 Exploded view of a mid-rotation joint.

[0028] Figure 5 This is a schematic diagram illustrating the assembly of a rotary joint and a motion module according to an exemplary embodiment.

[0029] Figure 6 yes Figure 5 A schematic diagram of its breakdown.

[0030] Figure 7 yes Figure 1 Another partial schematic diagram of the mid-rotation joint.

[0031] Figure 8 yes Figure 1 A partial schematic diagram of the central rotational joint in its first limiting state.

[0032] Figure 9 yes Figure 1 A partial schematic diagram of the rotary joint in a state of free movement.

[0033] Figure 10 yes Figure 1 A partial schematic diagram of the mid-rotation joint in its second limiting state.

[0034] Figure 11 yes Figure 1 Another exploded diagram of a mid-rotation joint.

[0035] Figure 12 yes Figure 1 A schematic diagram of another angle of the mid-rotation joint.

[0036] Figure 13 yes Figure 1 A schematic diagram showing the positions of the rotating inner ring and the ring portion of the fixing component.

[0037] Figure 14 yes Figure 1 A schematic diagram of the cable layout for a rotary joint.

[0038] Figure 15 This is an exploded schematic diagram of a rotary joint and motion module according to an exemplary embodiment.

[0039] Figure 16 yes Figure 15 An exploded view of some structures of the mid-rotation joint.

[0040] Figure 17 yes Figure 15 An exploded view of another part of the structure of the mid-rotation joint.

[0041] Figure 18 yes Figure 15 Schematic diagram of cable arrangement for the mid-rotation joint.

[0042] Figure 19 This is an exploded schematic diagram of another rotary joint and motion module according to an exemplary embodiment.

[0043] Figure 20 yes Figure 19 A partial structural breakdown diagram of the mid-rotation joint.

[0044] Figure 21 yes Figure 20 Schematic diagram of cable arrangement for the mid-rotation joint. Detailed Implementation

[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0046] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0047] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0048] Figure 1 This is a schematic diagram of a rotary joint according to an exemplary embodiment. Figure 2 yes Figure 1 Cross-sectional diagram of a mid-rotation joint. Figure 3 yes Figure 1 A partial schematic diagram of a mid-rotation joint. Figure 4 yes Figure 1 An exploded view of a mid-rotation joint. (See diagram below.) Figures 1-4As shown, the rotary joint includes a fixed member 1, a rotating inner ring 2, a driving device 3, and a transmission assembly 4. The transmission assembly 4 enables power transmission between the driving device 3 and the rotating inner ring 2, thereby driving the rotating inner ring 2 to rotate relative to the fixed member 1 via the driving device 3.

[0049] In some embodiments, the fixing member 1 may include a ring portion 11 and a protrusion 12. The protrusion 12 protrudes radially outward from the ring portion 11. The ring portion 11 has an inner annular cavity 111, and the protrusion 12 has a mounting cavity 121, which communicates with the inner annular cavity 111. It should be noted that the fixing member 1 does not imply that the fixing member 1 itself is in a fixed state, but merely serves as a reference basis for other components in this application that have different motion states. The rotary joint as a whole may have motion states different from "fixed" at certain times, and these states do not affect the implementation of the various structural parts belonging to the rotary joint in this application.

[0050] The inner rotating ring 2 is rotatably disposed within the inner ring cavity 111. For example, the inner rotating ring 2 and the inner ring cavity 111 can be coaxially arranged, thereby forming an annular space between the inner rotating ring 2 and the ring portion 11. The inner rotating ring 2 and the ring portion 11 can be connected by a rotating support member, such as one or more bearings, thereby realizing the rotational arrangement of the inner rotating ring 2 relative to the ring portion 11. The drive device 3 is detachably connected to the protrusion 12. For example, the mounting cavity 121 can penetrate the protrusion 12, and the drive device 3 can be connected to the outer end face of the protrusion 12 away from the ring portion 11. The output shaft 31 of the drive device 3 extends into the mounting cavity 121. The transmission assembly 4 may include an output part and an input part disposed between the drive device 3 and the inner rotating ring 2. The input part is connected to the output shaft 31 of the drive device 3, and the input part is coaxial with the output shaft 31. The output part is connected to the inner rotating ring 2, and the output part is coaxial with the inner rotating ring 2.

[0051] Optionally, the output section can be configured as a gear 41, which is arranged circumferentially on the outer side of the inner rotating ring 2. The input section can be disposed within the mounting cavity 121, and the power input end of the input section is fixedly connected to the output shaft 31 of the drive device 3. The rotation axis of the output shaft 31 of the drive device 3 is perpendicular to the rotation axis of the inner rotating ring 2. For example... Figure 2 As shown, assuming the inner rotating ring 2 rotates about a first axis relative to the fixed member 1, the output shaft 31 of the drive device 3 rotates about a second axis, which passes through the mounting cavity 121 of the protrusion 12, so as to... Figure 2For example, the first axis is set vertically, and the second axis is set horizontally, with the first and second axes perpendicular to each other. Compared to related technologies where the drive axis is the same as the rotation axis of the inner ring 2, which limits the drive device 3 to the rotation center of the inner ring 2, this application allows for flexible adjustment of the drive device 3's position. For instance, it can be set outside the inner ring cavity 111, avoiding occupying space within the inner ring cavity 111 and facilitating the layout of the motion module connected to the inner ring 2. Furthermore, the drive device 3 is detachably connected to the protrusion 12, so when the drive device 3 reaches the end of its lifespan or is damaged, only the drive device 3 can be replaced while other parts are still usable, reducing maintenance costs.

[0052] Regarding the connection between the rotating inner ring 2 and the motion module, the rotating inner ring 2 includes a mounting block 26 disposed on its inner side. The mounting block 26 is connected to the motion module to achieve synchronous rotation of the motion module and the rotating inner ring 2. Optionally, the mounting block 26 and the motion module can be connected by snap-fit, welding, or locking components; this application does not impose any limitations on this. Regarding the connection between the rotating inner ring 2 and the ring portion 11, to prevent the bearing located between the rotating inner ring 2 and the fixing component 1 from moving, the rotary joint also includes a flexible pressure ring 29. The flexible pressure ring 29 may include a connecting portion 291 and a pressing portion 292. The connecting portion 291 is disposed on the end face of the ring portion 11 along the rotation axis of the rotating inner ring 2, and the connecting portion 291 can be fixedly connected to the ring portion 11, for example, by bonding, welding, or screw connection. The pressing portion 292 abuts against the outer ring of the bearing and the ring portion 11, and the deformation of the pressing portion 292 presses the outer ring of the bearing, thereby improving the structural stability of the rotary joint.

[0053] Optionally, the gear component 41 and the rotating inner ring 2 can be two independent parts, fixedly connected by a conventional mechanical connection method. Thus, when the input part drives the gear component 41 to rotate, the gear component 41 drives the rotating inner ring 2 to rotate relative to the fixed part 1. Alternatively, the gear component 41 and the rotating inner ring 2 can be a single piece, that is, multiple teeth can be formed on the outer side of the rotating inner ring 2 to obtain the gear component 41.

[0054] The annular space may include a transmission area and a wiring area. The transmission area is used to install at least part of the transmission component 4, and the wiring area can be used to set up the cable group 5. The transmission area and the wiring area can be arranged along the direction of the first axis, that is, the transmission area and the wiring area are arranged along the axial direction of the rotating inner ring 2, realizing the partitioning of the annular space and avoiding interference between the setting of the cable group 5 and the setting of the transmission component 4. The ring portion 11 is provided with an opening that can connect the inner ring cavity 111 and the mounting cavity 121, and the opening is connected to the transmission area of ​​the annular space in the radial direction of the rotating inner ring 2. In this way, the wiring area of ​​the annular space can be set towards the inner wall of the ring portion 11, and the cables in the wiring area are protected by the inner wall to prevent them from being rubbed by other parts.

[0055] In some implementations, such as Figure 5 and Figure 6 As shown, the rotating inner ring 2 can be connected to the motion module. The rotation of the inner ring 2 relative to the fixed member 1 drives the motion module to rotate around the first axis. It is understood that in the field of medical devices, this motion module is typically used to hold surgical instruments, thus requiring power and communication. Therefore, the rotating joint can also include a cable group 5, which may include one or more cables. The first end of the cable is fixed relative to the fixed member 1, and the second end is fixed relative to the rotating inner ring 2. The second end can be electrically connected to the relevant circuitry of the motion module, thereby transmitting data to the outside of the rotating inner ring 2. At least a portion of the cable runs around the outside of the rotating inner ring 2 within the annular space, thus forming a certain arc around the rotating inner ring 2. For example, when the cable is close to the outside of the rotating inner ring 2, the curvature of this arc can be equal to the curvature of the rotating inner ring 2. During the rotation of the inner ring 2, the length of the cable forming the arc can change with the rotation of the inner ring 2. For example, taking the setting where part of the cable is attached to the outer side of the inner ring 2 as an example, the length of any cable attached to the inner ring 2 will change during the rotation of the inner ring 2 to adapt to the positional change between the inner ring 2 and the fixing member 1, thereby preventing the first end of the cable from separating from the second end. The maximum stroke of the inner ring 2 is in the range of 360°-720°. The maximum stroke range can be understood as the angle by which the inner ring 2 rotates from any limited position to another limited position, or returns to any limited position.

[0056] In some embodiments, the transmission assembly 4 can be a primary bevel gear transmission assembly, which can change the direction of power transmission. One bevel gear in this primary bevel gear transmission assembly is connected to the output shaft 31 of the drive device 3, and the other bevel gear is the aforementioned gear component 41. The arrangement of this bevel gear can refer to the aforementioned embodiments. In other embodiments, the transmission assembly 4 can be configured as a secondary gear transmission assembly, which can include at least one set of bevel gears to change the direction of power transmission.

[0057] For example, the two-stage gear transmission assembly may include a first bevel gear 42, a second bevel gear 43, a first spur gear 44, and a second spur gear. The second spur gear serves as the output part of the transmission assembly 4, that is, the second spur gear can serve as the gear component 41 in the aforementioned embodiment. The first bevel gear 42 serves as the input part of the transmission assembly 4. The first bevel gear 42 is fixedly connected to the output shaft of the drive device 3. The first bevel gear 42 can rotate coaxially with the output shaft of the drive device 3, for example, the first bevel gear 42 can be keyed to the output shaft of the drive device 3. The second bevel gear 43 meshes with the first bevel gear 42. The second bevel gear 43 can rotate around a third axis under the action of the first bevel gear 42. The third axis can be parallel to the first axis. The first spur gear 44 is fixed relative to the second bevel gear 43, that is, the first spur gear 44 can rotate coaxially with the second bevel gear 43. The first spur gear 44 meshes with the second spur gear for transmission. The second spur gear is fixed relative to the rotating inner ring 2, and the second spur gear rotates coaxially with the rotating inner ring 2.

[0058] The transmission ratio of the first bevel gear 42 and the second bevel gear 43 is greater than 1, meaning the number of teeth on the first bevel gear 42 is less than the number of teeth on the second bevel gear 43, thus achieving speed reduction. Optionally, the transmission ratio of the first spur gear 44 and the second spur gear is greater than 1, meaning the number of teeth on the first spur gear 44 is less than the number of teeth on the second spur gear, thus achieving speed reduction. In some designs, the transmission ratio of the first bevel gear 42 and the second bevel gear 43 can be greater than 1, and the transmission ratio of the first spur gear 44 and the second spur gear can also be greater than 1, thereby achieving two-stage speed reduction with a large transmission ratio.

[0059] like Figures 1-7As shown, for the installation of the transmission assembly 4, the rotary joint includes a mounting base 6, which is fixedly connected to the fixing member 1. The mounting base 6 may include a gear mounting part 61, which has a through hole 62 along the second axis. A second bevel gear 43 and a first straight gear 44 are disposed at opposite ends of the through hole 62. The gear mounting part 61 supports the second bevel gear 43 and the first straight gear 44 through bearings, so that both the second bevel gear 43 and the first straight gear 44 can rotate relative to the gear mounting part 61. A transmission shaft 45 along the second axis can also pass through the through hole 62. The transmission shaft 45 is fixedly connected to the bevel gear 43 and the first straight gear 44, and a bearing is connected between the transmission shaft 45 and the gear mounting part 61, thereby enabling the transmission shaft 45 to rotate relative to the gear mounting part 61. By connecting the second bevel gear 43 and the first straight gear 44 through the transmission shaft 45, synchronous rotation between the second bevel gear 43 and the first straight gear 44 can be achieved. In some embodiments, the second bevel gear 43, the first spur gear 44, and the drive shaft 45 can be three independent parts. In other embodiments, the drive shaft 45 can be integrated with the second bevel gear 43, or the drive shaft 45 can be integrated with the first spur gear 44. Of course, the drive shaft 45, the second bevel gear 43, and the first spur gear 44 can also be integrated. The specific design can be customized as needed, and this application does not impose any restrictions on this.

[0060] Optionally, the mounting base 6 can also be connected to the drive device 3, for example, the mounting base 6 can be detachably connected to the drive device 3. The mounting base 6 can be installed on the protrusion 12 from the far side to the near side, that is, the mounting base 6 can pass through the mounting cavity 121 from the side of the protrusion 12 away from the ring 11, and at least a portion of the mounting base 6 can extend from the mounting cavity 121 to the inner ring cavity 111. The mounting base 6 partially extends into the inner ring cavity 111, that is, at least a portion of the mounting base 6 is located in the annular space between the ring 11 and the rotating inner ring 2. In this way, when assembling the second bevel gear 43 and the first spur gear 44 through the gear mounting part 61 of the mounting base 6, the gap between the first spur gear 44 and the second spur gear can be brought closer, which is beneficial to realizing the meshing between the first spur gear 44 and the second spur gear.

[0061] In some embodiments, the rotary joint further includes a flange 7, which is fixedly disposed on the outer side of the inner rotating ring 2 and extends radially toward the outer side of the inner rotating ring 2. The second spur gear is fixedly connected to the flange 7. For example, in the embodiment provided in this application, the second spur gear is stacked above the flange 7 along the first axis direction. The flange 7 and the second spur gear are fixedly connected, for example, by means of a locking member, or by means of welding or snap-fit, so as to achieve relative fixation between the second spur gear and the inner rotating ring 2. Subsequently, the rotation of the second spur gear can drive the inner rotating ring 2 to rotate relative to the fixed member 1.

[0062] In the above embodiments, the rotary joint may further include a first limiting portion and a second limiting portion, the first limiting portion being fixedly disposed relative to the fixing member 1, for example, such as Figure 7 As shown, the first limiting part can be understood as the fixing block 30 fixedly disposed on the fixing member 1, and the second limiting part is fixedly disposed relative to the rotating inner ring 2. Therefore, the second limiting part can rotate with the rotating inner ring 2 relative to the fixing member 1. The rotary joint may also include a slider 8, which is disposed in the annular space between the fixing member 1 and the rotating inner ring 2, and the slider 8 is connected to the rotating inner ring 2. The slider 8 is capable of rotating around the first axis.

[0063] In this configuration, at least a portion of the first limiting part is within the rotation trajectory of the slider 8, and at least a portion of the second limiting part is within the rotation trajectory of the slider 8, while the first limiting part is outside the rotation trajectory of the second limiting part. In other words, in terms of projection along the first axis, the first limiting part is located outside the trajectory projection of the second limiting part, and at least a portion of the projection of the first limiting part coincides with the trajectory projection of the slider 8, and at least a portion of the projection of the second limiting part coincides with the trajectory projection of the slider 8. That is to say, the first limiting part and the second limiting part can interfere with the rotation of the slider 8 around the first axis, thereby limiting the rotation of the slider 8 through the first limiting part and the second limiting part, and further limiting the rotation of the inner ring 2 through the slider 8.

[0064] Optionally, the slider 8 can also be movably disposed within the rotating inner ring 2. This allows the slider 8 to rotate with the rotating inner ring 2 around the first axis, and also allows it to rotate independently around the first axis under the constraint of the rotating inner ring 2. For example, the rotating inner ring 2 may include an arc-shaped limiting groove 21 disposed along its axis, with the curvature of the arc-shaped limiting groove 21 matching the curvature of the rotating inner ring 2. The slider 8 can be movably disposed within this arc-shaped limiting groove 21, allowing it to rotate with the rotating inner ring 2 around the first axis as the rotating inner ring 2 rotates, and also allowing it to rotate independently within the arc-shaped limiting groove 21 around the first axis. The slider 8 can also be connected to the rotating inner ring 2 via a rotating support member, and the slider 8 can also be connected to the fixing member 1 via a rotating support member, which may include a bearing. Of course, in order to limit the rotation of the slider 8 within the arc-shaped limiting groove 21, the central angle of the arc-shaped limiting groove 21 is less than 360°. Therefore, there are two limiting surfaces in the circumferential direction of the arc-shaped limiting groove 21, which limit the movement of the slider 8 within the arc-shaped limiting groove 21.

[0065] The first limiting part includes a first limiting surface and a second limiting surface. At least a portion of the first limiting surface and at least a portion of the second limiting surface are within the rotation trajectory of the slider 8. When the first limiting surface contacts the slider 8, it stops the slider in a first rotation direction. When the second limiting surface contacts the slider 8, it stops the slider in a second rotation direction. The first rotation direction is opposite to the second rotation direction. Figures 8-10 Taking the illustrated embodiment as an example, with the first rotation direction being clockwise and the second rotation direction being counterclockwise, the first limiting part can be a mounting base 6, which is fixedly disposed with the fixing member 1, and the end of the mounting base 6 is disposed near the gear member. The mounting base can serve as the aforementioned first limiting part or fixing block. The first limiting surface is the first side wall 63 of the mounting base 6, and the second limiting surface is the second side wall 64 of the mounting base 6. The first side wall 63 and the second side wall 64 are opposite sides of the mounting base 6, which can be understood as the first side wall 63 and the second side wall 64 being located on the radial sides of the first spur gear 44 assembled with the mounting base 6. Figure 8 As shown, the first sidewall 63 contacts the slider 8, at which point the slider 8 can only rotate counterclockwise. Therefore, the first sidewall 63 can stop the slider 8 in the clockwise direction; as Figure 9 As shown, when the slider 8 is not in contact with either the first sidewall 63 or the second sidewall 64, the slider 8 can rotate clockwise or counterclockwise; Figure 9As shown, the second sidewall 64 contacts the slider 8, at which point the slider 8 can only rotate clockwise. Therefore, the second sidewall 64 can stop it in the counterclockwise direction. Here, we will use the first limiting part as the mounting base 6, with both constructed as an integral structure, as an example. Alternatively, in other embodiments, the first limiting part can be any part connected to the fixing member 1. It can be a reused part with other functions or a part designed to limit the rotation of the slider. This application does not impose any limitations on this.

[0066] At this time, when the slider 8 is stopped by the first and second limiting surfaces, if the slider 8 is fixedly connected to the inner rotating ring 2, then the position where the slider 8 is stopped is the position where the inner rotating ring 2 is stopped. However, if the slider 8 itself can rotate relative to the inner rotating ring 2 around the first axis, the second limiting part may include a third and a fourth limiting surface. Both the third and fourth limiting surfaces are at least partially within the rotation trajectory of the slider 8. When the third limiting surface contacts the slider 8, the second limiting part and the slider 8 have the same motion state in the first rotation direction, and the motion state of the second limiting part and the slider 8 is different in the second rotation direction. When the fourth limiting surface contacts the slider 8, the second limiting part and the slider 8 have the same motion state in the second rotation direction, and the motion state of the second limiting part and the slider 8 is different in the first rotation direction. The same motion state can immediately mean that the second limiting part and the slider 8 are both stationary or moving synchronously. Different motion states can be understood as the second limiting part and the slider 8 rotating around the first axis at different speeds.

[0067] For example, taking the third and fourth limiting surfaces of the second limiting part as two sidewalls forming an arc-shaped limiting groove 21 in the circumferential direction of the inner rotating ring 2, the arc-shaped limiting groove 21 includes a third limiting surface 211 and a fourth limiting surface 212 spaced apart in the circumferential direction of the inner rotating ring 2. Figure 8 As shown, taking the first rotation direction as clockwise and the second rotation direction as counterclockwise as an example, when the third limiting surface 211 contacts the slider 8, and the first side wall 63 of the mounting base 6 contacts the slider 8, the arc-shaped limiting groove 21 and the slider 8 are both stopped in the clockwise direction and cannot rotate clockwise. At this time, the arc-shaped limiting groove 21 and the slider 8 have the same motion state in the clockwise direction. However, in the counterclockwise direction, the arc-shaped limiting groove 21 can rotate around the first axis with the rotating inner ring 2, and the slider 8 can rotate around the first axis with the rotating inner ring 2. At the same time, the slider 8 itself can rotate around the first axis within the arc-shaped limiting groove 21. Therefore, the slider 8 and the arc-shaped limiting groove 21 have different motion states in the counterclockwise direction.

[0068] like Figure 9As shown, neither the third limiting surface 211 nor the fourth limiting surface 212 is in contact with the slider 8. Therefore, the inner ring 2 can rotate counterclockwise or clockwise under the action of the gear component 41, and the slider 8 can rotate counterclockwise or clockwise in the arc-shaped limiting groove 21. Its rotation direction in the arc-shaped limiting groove 21 can be the same as or different from the rotation direction of the inner ring 2 relative to the fixed component 1.

[0069] like Figure 10 As shown, taking the first rotation direction as clockwise and the second rotation direction as counterclockwise as an example, when the fourth limiting surface 212 contacts the slider 8, and the second side wall 64 of the mounting base 6 contacts the slider 8, the arc-shaped limiting groove 21 and the slider 8 are both stopped in the counterclockwise direction and cannot rotate counterclockwise. At this time, the arc-shaped limiting groove 21 and the slider 8 have the same motion state in the counterclockwise direction. In the clockwise direction, the arc-shaped limiting groove 21 can rotate with the inner ring 2 around the first axis, and the slider 8 can rotate with the inner ring 2 around the first axis. At the same time, the slider 8 itself can rotate around the first axis within the arc-shaped limiting groove 21. Therefore, the slider 8 and the arc-shaped limiting groove 21 have different motion states in the clockwise and counterclockwise directions.

[0070] The slider 8 may include a first sliding portion 81 and a second sliding portion 82, the second sliding portion 82 being connected to the first sliding portion 81. The first sliding portion 81 may be disposed within an arc-shaped limiting groove 21, with the sidewall of the arc-shaped limiting groove 21 in the radial direction of the rotating inner ring 2 limiting the first sliding portion 81. The specific design of the sidewall limiting the first sliding portion 81 is related to the structure forming the arc-shaped limiting groove 21, which will be explained later. The second sliding portion 82 may extend radially from the first sliding portion 81 along the rotating inner ring 2, such that both the first limiting portion and the second limiting portion are at least partially located within the rotation trajectory of the second sliding portion 82. Thus, movement can be limited by the contact between the first sliding portion 81 and the second limiting portion, and movement can be limited by the contact between the second sliding portion 82 and the first limiting portion.

[0071] For example, Figure 8 As shown, the rotary joint is in the first limiting state. At this time, the first sliding part 81 is in contact with the third limiting surface 211, and the second sliding part 82 is in contact with the first side wall 63. At this time, the inner rotating ring 2 is stopped in the clockwise direction and can only rotate counterclockwise; as Figure 10As shown, the rotary joint is in the second limiting state. At this time, the first sliding part 81 is in contact with the fourth limiting surface 212, and the second sliding part 82 is in contact with the second side wall 64. At this time, the inner rotating ring 2 is stopped in the counterclockwise direction and can only rotate clockwise. When the rotary joint switches from the first limiting state to the second limiting state, the rotation angle of the inner rotating ring 2 is 360° plus the rotation angle of the slider 8 in the arc-shaped limiting groove 21. When the rotary joint switches from the first limiting state to the second limiting state and then returns to the first limiting state, the rotation angle of the inner rotating ring 2 is 720°. Therefore, the maximum rotation angle range of the inner rotating ring is within the range of 360°-720°.

[0072] Regarding the aforementioned arc-shaped limiting groove 21, it can be formed by the cooperation of flange 7 and second spur gear, that is, by the cooperation of flange 7 and gear 41. In this case, part of the second limiting part is located on flange 7 and part is located on gear 41. For example, flange 7 has a first groove 71 facing outward, and gear 41 has a second groove 411 facing the rotating inner ring 2. The second groove 411 and the first groove 71 can cooperate and communicate to form arc-shaped limiting groove 21. The first sliding part 81 can be partially connected between flange 7 and gear 41. Part of the third limiting surface is located on one side wall of the first groove 71, and part of the fourth limiting surface is located on the other side wall of the first groove 71. At this time, part of the third limiting surface is also located on one side wall of the second groove 411, and part of the fourth limiting surface is also located on the other side wall of the second groove 411.

[0073] Optionally, an arc-shaped limiting groove 21 can be formed by the first groove 71. In this case, the second limiting part is located on the flange 7, the third limiting surface is one side wall of the first groove 71, and the fourth limiting surface is the other side wall of the first groove 71. Alternatively, an arc-shaped limiting groove 21 can be formed by the second groove 411. In this case, the second limiting part is located on the gear 41, the third limiting surface is one side wall of the second groove 411, and the fourth limiting surface is the other side wall of the second groove 411.

[0074] like Figures 11-14As shown in the above embodiments, the rotating inner ring 2 has a first wiring port 22. The second end of each cable in each cable group 5 can pass through the first wiring port 22 and be fixedly connected to the inner wall of the rotating inner ring 2. In this way, the subsequent motion module can be electrically connected to the second end of the cable after being assembled with the rotating inner ring 2. Optionally, when the cable group 5 includes multiple cables, the multiple cables can pass through one first wiring port 22 and be fixedly connected to the inner wall of the rotating inner ring 2. Alternatively, the multiple cables can pass through multiple first wiring ports 22 and be fixedly connected to the inner wall of the rotating inner ring 2. For example, the multiple cables can be routed one-to-one with multiple first wiring ports 22, or the number of first wiring ports 22 is less than the number of cables, wherein at least one first wiring port 22 can accommodate multiple cables.

[0075] To reduce the probability of the second end of the cable moving freely inside the inner rotating ring 2, the rotating joint also includes a reinforcing plate 28. The reinforcing plate 28 is disposed inside the inner rotating ring 2 and connected to the inner rotating ring 2. The portion of the cable located inside the inner rotating ring 2 is disposed between the inner wall of the inner rotating ring 2 and the reinforcing plate 28. The second end of the cable can extend through the gap between the reinforcing plate 28 and the inner wall of the inner rotating ring 2, thereby restricting the movement of the second end through the reinforcing plate 28. The number of reinforcing plates 28 can be equal to the number of first cable routing ports 22. The reinforcing plates 28 can be disposed corresponding to the first cable routing ports 22, or disposed in the inner wall area of ​​the inner rotating ring 2 near the first cable routing ports 22.

[0076] The rotating inner ring 2 also includes a first guide surface 23 and a second guide surface 24. The first guide surface 23 is located on the side of the rotating inner ring 2 facing the annular space, that is, the first guide surface 23 is positioned facing the annular space. The second guide surface 24 is located on the side of the rotating inner ring 2 away from the annular space, that is, the second guide surface 24 is positioned away from the annular space. The first guide surface 23 extends from the first cable routing port 22 towards the cable routing direction along the outer side of the rotating inner ring 2, and the second guide surface 24 extends from the first cable routing port 22 towards the cable routing direction along the inner side of the rotating inner ring 2. For example, such as... Figure 13 As shown, the cable leading out from the first cable routing port 22 runs counterclockwise around the outer side of the rotating inner ring 2. Therefore, the first guide surface 23 can be inclined and extended in a counterclockwise direction to accommodate the cable routing, prevent the cable from being bent at right angles, and reduce damage to the cable. Similarly, the cable introduced into the inner side of the rotating inner ring 2 from the first cable routing port 22 runs clockwise. Therefore, the second guide surface 24 can be inclined clockwise from the outer side to the inner side to accommodate the cable routing, prevent the cable from being bent at right angles, and reduce damage to the cable.

[0077] In this embodiment, the first guide surface 23 and the second guide surface 24 are used to form the inner wall of the first wiring port 22. In other embodiments, the first guide surface 23 or the second guide surface 24 can also be used as the inner wall of the first wiring port 22, and the other inner wall can be designed as needed.

[0078] In some embodiments, at least a portion of the first guide surface 23 may be curved. Starting from the first cable routing opening 22 and moving away from it (i.e., from the inner side to the outer side of the rotating inner ring 2), the curvature of the first guide surface 23 gradually decreases and gradually approaches the curvature of the rotating inner ring 2, ensuring that the orientation of the first guide surface 23 fully matches the orientation of the rotating inner ring 2, thus achieving a smooth transition of the cable within the first cable routing opening 22 as much as possible. In other embodiments, at least a portion of the first guide surface 22 may be flat. Starting from the first cable routing opening 22 and moving away from it (i.e., from the inner side to the outer side of the rotating inner ring 2), the distance between the first guide surface 22 and the second axis gradually increases; that is, the first guide surface 22 may be tilted outwards relative to the second axis.

[0079] In the above embodiments, each cable of the cable group 5 can be arranged in the annular space in a winding and unwinding manner along the circumference of the rotating inner ring 2. It can be understood that as the rotating inner ring 2 rotates, the cable can be wound around the circumference of the rotating inner ring 2, or unwound from the winding of the rotating inner ring 2, that is, separated from the rotating inner ring 2.

[0080] Still with Figure 6 and 14 As shown, each cable, within the annular space, dynamically comprises an inner peripheral portion 51, a bent portion 52, and an outer peripheral portion 53. These portions are all located between the first and second ends of the cable. The inner peripheral portion 51 is connected to one end of the bent portion 52, and the outer peripheral portion 53 is connected to the other end of the bent portion 52. Both the inner and outer peripheral portions 51 and 53 are routed around the rotating inner ring 2, and their routing directions are different. For example... Figure 14 As shown, the inner circumference portion 51 has a counter-clockwise routing, while the outer circumference portion 53 has a clockwise routing. The inner circumference portion 51 is closer to the rotating inner ring 2 than the outer circumference portion 53. For example, the inner circumference portion 51 can be fitted against the outer wall of the rotating inner ring 2, while the outer circumference portion 53 can be fitted against the inner wall of the ring portion 11. The position of the bent portion 52 on the cable changes as the rotating inner ring rotates, and the lengths of the inner circumference portion 51 and the outer circumference portion 53 increase or decrease with the rotation of the rotating inner ring. Figure 14For example, the cable group 5 may include a first cable 54, a second cable 55, and a third cable 56. The first cable 54 includes a first bend 521, the second cable 55 includes a second bend 522, and the third cable 56 includes a third bend 523. Of course, the first cable 54, the second cable 55, and the third cable 56 may also include corresponding internal portions 51 and external portions 53. Taking the first cable 54 as an example, after passing through the first cable outlet 22, the first cable 54 is wound counterclockwise along the circumference of the rotating inner ring 2 to form the inner portion of the first cable 54, then bent within the annular space to form the first bend 521, and then wound clockwise along the circumference of the ring portion 11 to form the outer portion of the first cable 54. Correspondingly, the second cable 55 can be bent within the annular space to form the second bend 522, and the third cable 56 can be bent within the annular space to form the third bend 523.

[0081] Based on this, taking the first cable 54 as an example, assuming the inner ring 2 rotates counterclockwise, the length of the inner circumference 51 of the first cable 54 increases, the position of the first bend 521 changes dynamically, and the length of the outer circumference 53 of the first cable 54 decreases. The length of the inner circumference 51 can be understood as the length of the cable arranged circumferentially around the inner ring 2, and the length of the outer circumference 53 can be understood as the length of the cable arranged circumferentially around the ring 11. Similarly, the inner circumference 51, the second bend 522, and the outer circumference 53 of the second cable 55 will also undergo the same dynamic changes, as will the inner circumference 51, the second bend 523, and the outer circumference 53 of the third cable 56.

[0082] In this case, the inner circumference 51 of the first cable 54, the second cable 55, and the third cable 56 have the same winding direction, and the outer circumference 53 has the same winding direction, for example... Figure 14 As shown, the inner periphery 51 of the first cable 54, the second cable 55, and the third cable 56 are all arranged counterclockwise along the circumference of the inner rotating ring 2, and the outer periphery 53 of the first cable 54, the second cable 55, and the third cable 56 are all arranged clockwise along the circumference of the ring portion 11. The bent portions 52 of the first cable 54, the second cable 55, and the third cable 56 are arranged around the circumference of the inner rotating ring 2, specifically, the bent portions 52 of the first cable 54, the second cable 55, and the third cable 56 can be evenly arranged around the circumference of the inner rotating ring.

[0083] It should be noted that, in the embodiments provided in this application, the cable group 5 includes three cables: a first cable 54, a second cable 55, and a third cable 56. In other embodiments, the cable group 5 may also include two cables or four or more cables. When the cable group 5 includes multiple cables, the inner peripheral portions 51 of at least two or all of the cables have the same winding direction, and the outer peripheral portions 53 of at least two or all of the cables have the same winding direction.

[0084] The inner periphery 51, the bend 52 and the outer periphery 53 of each cable have a smooth transition, avoiding right-angle bends that cause stress concentration and helping to extend the service life of the cable.

[0085] When the inner ring 2 rotates, the change in length of the inner circumference 22 is basically equal to the change in length of the outer circumference 23, thereby avoiding pulling on the first end of the cable set on the fixing member 1.

[0086] In the above embodiments, the second end of each cable can pass through the first cable routing port 22 and be fixedly connected to the inner wall of the rotating inner ring 2. Each cable may also include a first end, which can pass through the first cable routing port 22 and be fixed to the ring portion 11. Optionally, the first end of the cable can be fixed to the inner wall of the ring portion 11; alternatively, the ring portion 11 may also include a second cable routing port 112, through which the cable can pass and be fixed to the outer side of the ring portion 11; still alternatively, the first end of the cable may also pass through the mounting cavity 121 and be disposed on the outer side of the ring portion 11. The inner wall of the second cable routing port 112 can form a guide surface. The specific arrangement of the guide surface can refer to the arrangement of the first guide surface 23 and the second guide surface 24, and will not be repeated here. The second ends of multiple cables can be led out through the same second cable routing port 112, or they can be led out through multiple second cable routing ports 112.

[0087] When the ring portion 11 includes a second cable routing port 112, the rotary joint also includes a clamping block 20. The clamping block 20 is disposed on the outer side of the ring portion 11, and its specifications match the shape of the second cable routing port 112. The first end of the cable passing through the second cable routing port 112 can extend along the clamping block 20 toward the outer side of the ring portion 11, thereby clamping the portion of the cable near the first end with the clamping block 20 to prevent the cable from moving freely on the outer side of the ring portion 11. The number of clamping blocks 20 can be the same as the number of second cable routing ports 112, with each clamping block 20 corresponding to a single second cable routing port 112.

[0088] In some embodiments, to enhance the strength of the cable, the rotating joint further includes a wire clamping assembly, which includes at least a wire clamping structure. The wire clamping structure is dynamically disposed within the annular space and can dynamically abut against the inner circumference 51. When the inner ring 2 rotates around the first axis, the wire clamping structure can also dynamically rotate around the first axis by an angle. The rotation of the wire clamping structure around the first axis adapts to the dynamic changes of the inner circumference 51. At the same time, the bending portion 52 changes position due to the force exerted by the wire clamping structure. That is, during the rotation of the wire clamping structure around the first axis, the force exerted by the wire clamping structure on the inner circumference 51 will spread to the bending portion 52, thereby causing the bending portion 52 to change position with the position change of the inner circumference 51.

[0089] In some embodiments, the wire clamping assembly includes a flexible strip 9, and each cable of the cable group 5 can be stacked with at least one set of flexible strips 9 to attach the inner circumference 51 to the outer circumference of the rotating inner ring 2 and the outer circumference 53 to the inner side of the ring portion 11 via the flexible strips 9. For example Figure 14 As shown, when the cable group 5 includes three cables, the rotating joint may also include three flexible strips. The three flexible strips and the three cables can be stacked one by one, and the stacked cables and flexible strips 9 can pass through the same first cable routing port 22. For example, the flexible strip 9 may include a first flexible strip 91, a second flexible strip 92, and a third flexible strip 93. The first flexible strip 91 is stacked with the first cable 54, the second flexible strip 92 is stacked and attached to the second cable, and the third flexible strip 93 is stacked with the third cable 56. The first flexible strip 91 and the first cable 54, the second flexible strip 92 and the second cable 55, and the third flexible strip 93 and the third cable 56 are respectively led out from their corresponding first cable routing ports 22 into the annular space.

[0090] Within this annular space, the stacked cables and flexible strips follow the same routing method. For example, the first flexible strip 91 can also be routed around the circumference of the inner rotating ring 2, similar to the first cable 54, to form the first flexible strip bend 911, which then routes around the circumference of the ring 11. The routing direction of the portion of the first flexible strip 91 near the inner rotating ring 2 is the same as that of the portion of the first cable 54 near the inner rotating ring 2, which is the same as the routing direction of the inner circumference 51 of the first cable 54. The routing direction of the portion of the first flexible strip 91 near the ring 11 is the same as that of the portion of the first cable 54 near the ring 11, which is the same as the routing direction of the outer circumference 53 of the first cable 54. Similarly, the second flexible strip 92 can be stacked with the second cable 55, and the second flexible strip 92 can be bent in the annular space to form a second flexible strip bend 921. The routing of the second flexible strip 92 near the inner rotating ring 2 is the same as the routing of the inner periphery 51 of the second cable 55, and the routing of the second flexible strip 92 near the ring 11 is the same as the routing of the outer periphery 53 of the second cable 55. The third flexible strip 93 can be stacked with the third cable 56, and the third flexible strip 93 can be bent in the annular space to form a third flexible strip bend 931. The routing of the third flexible strip 93 near the inner rotating ring 2 is the same as the routing of the inner periphery 51 of the third cable 56, and the routing of the third flexible strip 93 near the ring 11 is the same as the routing of the outer periphery 53 of the third cable 56. For a stacked set of cables and straps, along the routing direction of the cable closer to the inner rotating ring 2, that is, along the routing direction of the inner circumference 51, the stacked straps 9 and the bent portions of the cables can be arranged back and forth along the routing direction, for example, Figure 14As shown, the inner circumferences 51 of the first cable 54, the second cable 55, and the third cable 56 all run counterclockwise along the inner rotating ring 2. Therefore, in the counterclockwise direction, the first flexible tape bend 911 of the first flexible tape 91 is located at the rear end of the first bend 521 of the first cable 54; similarly, the second flexible tape bend 921 of the second flexible tape 92 is located at the rear end of the second bend 522 of the second cable 55, and the second flexible tape bend 931 of the third flexible tape 93 is located at the rear end of the first bend 523 of the third cable 56. This avoids interference between the three sets of cables and the three sets of flexible tapes. Simultaneously, the flexible tape 9 at the front end presses the cables at the rear end against the inner rotating ring 2 and the ring portion 11, preventing the cables from lifting. Of course, without affecting the routing between multiple sets of cables and flexible tapes, for stacked flexible tapes and cables, the bend of the flexible tape 9 can also be located at the front end of the bend of the stacked cable. In the case where the rotating joint includes a single cable, the bent portion of the flexible strip 9 that is attached to the single cable is located at the front end of the bent portion of the single cable.

[0091] The rotating joint includes multiple cables and multiple flexible strips stacked on top of the cables. Each cable is stacked with one flexible strip. The bent portions of the multiple flexible strips can be arranged circumferentially around the inner rotating ring 2, and the bent portions of the multiple flexible strips and the bent portions of the multiple cables can be alternately arranged circumferentially around the inner rotating ring. For example, Figure 14 As shown, the first flexible tape bend 911, the second flexible tape bend 921, the third flexible tape bend 931, the first bend 521, the second bend 522, and the third bend 523, in the cable routing direction, press the cable located at the rear end with the flexible tape located at the front end. Further, for example, the bends of multiple flexible tapes and multiple cable bends can be evenly arranged circumferentially on the inner rotating ring 2. For example, Figure 14 As shown, the first flexible tape bend 911, the second flexible tape bend 921, the third flexible tape bend 931, the first bend 521, the second bend 522, and the third bend 523 are evenly arranged in the circumferential direction of the rotating inner ring 2. Of course, in some other embodiments, each cable can be stacked with multiple flexible tapes, in which case the multiple bends of the multiple flexible tapes can be located between adjacent bends belonging to different cables.

[0092] In the above embodiment, the bending direction of the cable's bent portion 52 remains unchanged during the rotation of the inner ring 2. Figure 14 For example, from the end where the bent portion 52 connects to the inner peripheral portion 51 to the end where the bent portion 52 connects to the outer peripheral portion, the bending direction of the bent portion 52 is always clockwise. Therefore, during the rotation of the inner ring 2, the bending direction of each bent portion 52 should remain clockwise. Combining this with the first and second limiting states of the rotary joint in the aforementioned embodiments, such as... Figure 14As shown, in order to ensure that the bending direction of the bent part 52 remains unchanged, the inner rotating ring 2 can only rotate counterclockwise and not clockwise. Therefore Figure 14 The rotating joint is in the first limit state. Since the stacked soft strips 9 and the cables follow the same direction in the annular space, the bending direction of the bent part of the soft strip 9 does not change during the rotation of the inner ring 2.

[0093] In other embodiments, such as Figures 15-18 As shown, the rotating joint includes a roller mounting bracket 10, multiple rollers 13, and a planetary gear set 14. The roller mounting bracket 10 is rotatably disposed on the outside of the rotating inner ring 2 relative to the rotating inner ring 2. The roller mounting bracket 10 includes multiple mounting rods 101 extending along the axis of the rotating inner ring 2. Each roller 13 is rotatably connected to a single mounting rod 101. The circumferential surface of each roller 13 can press each cable of the cable group 5 against the outer wall of the rotating inner ring 2 and the inner wall of the ring portion 11. At this time, the roller 13 is the cable pressing structure described in the previous embodiment, so as to reduce the probability of the cable lifting during the rotation of the rotating inner ring 2. In addition, each roller 13 avoids the first bend 521, the second bend 522, and the third bend 523 to avoid interference. The planetary gear set 14 includes an internal gear ring 141, an external gear ring 142, and a plurality of planetary gears 143 that mesh with the internal gear ring 141 and the external gear ring 142 respectively. The internal gear ring 141 is fixedly connected to the rotating inner ring 2, and the external gear ring 142 is fixedly connected to the ring portion 11. Each planetary gear 143 can be fixedly connected to any mounting rod 101. In this way, on the one hand, the rotation of the roller 13 relative to the mounting rod 101 can be used to press the cable, and on the other hand, the planetary gear set 14 can drive the roller 13 and the roller mounting bracket 10 to rotate at a differential speed relative to the rotating inner ring 2, ensuring that the rotation speed of the roller mounting bracket 10 relative to the rotating inner ring 2 matches the movement of the cable assembly 5.

[0094] The rotation of the roller mounting bracket 10 relative to the inner rotating ring 2 can be achieved by a rotating support. For example, the roller mounting bracket 10 may include an annular groove 102 recessed inward from the side facing the inner rotating ring 2. The rotating support can be disposed in the annular groove 102 and fixedly connected to the roller mounting bracket 10. The rotating support is disposed on the outside of the inner rotating ring 2. The rotating support can be a bearing, and the relative rotation between the roller mounting bracket 10 and the inner rotating ring 2 is achieved through the bearing.

[0095] The number of mounting rods 101 can be equal to the number of rollers 13. Each mounting rod 101 is rotatably connected to a corresponding roller 13. One or more of the mounting rods 101 are also fixedly connected to planetary gears 143. In other words, at least one mounting rod 101 connects both a roller 13 and a planetary gear 143. The rollers 13 and planetary gears 143 connected to the same mounting rod 101 can be arranged along the extending direction of the mounting rod 101, with the planetary gear 143 positioned above the roller 13. Optionally, the number of mounting rods 101 can also be the sum of the number of planetary gears 143 and the number of rollers 13, with each mounting rod 101 connected to either a roller 13 or a planetary gear 143; alternatively, some of the planetary gears 143 may be connected to the same mounting rod 101 as the rollers 13, while others may be connected to mounting rods 101 that are not connected to the rollers 13. The specific design can be customized as needed, and this application does not impose any limitations on this.

[0096] In some embodiments, the roller mounting bracket 10 can be a one-piece structure. In other embodiments, for ease of installation, the roller mounting bracket 10 can include multiple split brackets 103, each of which is provided with a mounting rod 101. The multiple split brackets 103 are connected to the outer side of the rotating inner ring 2. The split design of the roller mounting bracket 10 facilitates structural assembly, such as simplifying the assembly of the roller mounting bracket 10 with the rotating support. When the roller mounting bracket 10 includes multiple split brackets 103, each of the multiple split brackets 103 has an inwardly recessed groove, and the communication of the multiple recessed grooves forms an annular groove that cooperates with the rotating support.

[0097] In some implementations, such as Figures 19-21 As shown, the rotary joint includes a flexible wheel 15, an inner flexible wheel ring 16, and an outer flexible wheel ring 17. The flexible wheel 15 is the wire pressing structure in the aforementioned embodiment. The inner flexible wheel ring 16 is connected to the outside of the rotating inner ring 2, and the inner flexible wheel ring 16 can rotate synchronously with the rotating inner ring 2. The inner flexible wheel ring 16 includes a third wire routing port 161. The outer flexible wheel ring 17 is disposed between the inner flexible wheel ring 16 and the ring portion 11. The flexible wheel 15 can mesh with the inner flexible wheel ring 16 and the outer flexible wheel ring 17 respectively. The outer flexible wheel ring 17 can... With the fourth cable routing port 171 included, the cable of the cable group 5 can pass through the first cable routing port 22 of the rotating inner ring 2, then through the third cable routing port 161 of the flexible inner ring 16, and further through the fourth cable routing port 171, so that the second end of the cable is located in the ring portion 11. For example, it can be located inside the ring portion 11, or it can pass through the second cable routing port 112 of the ring portion 11 and be located outside the ring portion 11, or the cable can also be routed from inside the mounting cavity 121. The specific design can be customized as needed. Each flexible wheel 15 avoids the first bend 521, the second bend 522, and the third bend 523 to prevent interference.

[0098] In this embodiment, after the cable passes through the first cable routing port 22 and the third cable routing port 161, it can be bent within the gap between the inner ring 16 and the outer ring 17 of the flexible wheel, thereby forming a bent portion 52 located between the inner ring 16 and the outer ring 17. The outer circumferential surface of the flexible wheel 15 can press the cable against the outer side of the inner ring 16 and the inner side of the outer ring 17, so that the inner circumferential portion 51 of the cable fits against the inner side of the inner ring 16, and the outer circumferential portion 53 fits against the inner side of the outer ring 17. Through the meshing of the flexible wheel 15 with the inner ring 16 and the outer ring 17, differential motion between the bent portion 52 of the cable and the rotating inner ring 2 is achieved. The gap between the inner ring 16 and the outer ring 17 is actually part of the annular space between the rotating inner ring 2 and the ring portion 11, thus still satisfying the condition that the bent portion 52 of the cable is set within the annular space.

[0099] In some embodiments, the rotating inner ring 2 and the flexible inner ring 16 can be welded, connected by a locking element, or snapped together to achieve synchronous rotation between the rotating inner ring 2 and the flexible inner ring 16. Optionally, the flexible inner ring 16 may include a first anti-rotation groove 162, the rotating inner ring 2 may include a second anti-rotation groove 25, and the rotary joint also includes an anti-rotation key 18, which is inserted into the first anti-rotation groove 162 and the second anti-rotation groove 25. The anti-rotation key 18 can prevent relative rotation between the rotating inner ring 2 and the flexible inner ring 16, thereby achieving synchronous rotation between the rotating inner ring 2 and the flexible inner ring 16.

[0100] The flexible wheel outer ring 17 includes a horizontal portion 172 and a vertical portion 173. The vertical portion 173 extends along the rotation axis of the rotating inner ring 2, and the horizontal portion 172 extends radially from the vertical portion 173 along the rotation axis of the rotating inner ring 2. In the direction of the rotation axis, the projection of the horizontal portion 172 is a ring-shaped shadow. The cable is pressed against the vertical portion 173 by the flexible wheel 15. Specifically, the outer periphery 53 of the cable can be pressed against the vertical portion 173. The horizontal portion 172 is provided with gear teeth that mesh with the flexible wheel 15. The fourth cable outlet 171 is provided in the vertical portion 173. By adjusting the distance between the gear teeth on the horizontal portion 172 and the vertical portion 173, the gap between the flexible wheel 15 and the outer periphery 53 can be adjusted to ensure that the outer periphery 53 can be pressed against the vertical portion 173 by the flexible wheel 15.

[0101] The flexible outer ring 17 may include multiple ring branches 174, which are connected end-to-end along the axial direction of the flexible outer ring 17. The two ring branches 174 at the ends may have horizontal portions 172, which engage with the flexible wheel 15. Each ring branch 174 may have a partial vertical portion 173. Based on this, by engaging the two ring branches 174 at the ends of the flexible outer ring 17 with the flexible wheel 15, the flexible wheel 15 is engaged between the two horizontal portions 172. This achieves the assembly of the flexible wheel 15 and limits its position in the direction of the rotation axis of the inner ring 2. For example, in the embodiment provided in this application, the flexible outer ring 17 includes two ring branches 174, which are connected along the rotation axis of the inner ring 2. The horizontal portions 172 of the two ring branches 174 engage with the flexible wheel 15, and the portions of the two ring branches 174 that form the vertical portions 173 are in contact with the cable.

[0102] Along the rotation axis of the inner ring 2, two ring branches 174 at the ends are provided with corresponding slots 175. The rotating joint also includes a buckle 19. The same buckle 19 can be engaged with a set of slots 175 corresponding to the rotation axis of the inner ring 2. In this way, multiple ring branches 174 can be secured by the buckle 19 along the rotation axis of the inner ring 2 to prevent displacement. At the same time, the force of the buckle 19 helps to maintain the meshing accuracy between the flexible outer ring 17 and the flexible wheel 15. Of course, in order to improve the strength of the flexible outer ring 17, adjacent ring branches 174 can also be connected by snap-fitting, bonding, or welding.

[0103] For example, one of two adjacent ring branches 174 may include a positioning block 176, and the other may include a positioning groove 177 that cooperates with the positioning block. For example, in the embodiment provided in this application, it is assumed that the flexible outer ring 17 includes two ring branches 174, the upper ring branch 174 is provided with a positioning groove 177, and the lower ring branch 174 is provided with a positioning block 176 that cooperates with the positioning groove 177. In this way, through the cooperation of the positioning groove 177 and the positioning block 176, positioning can be achieved while preventing the two adjacent ring branches 174 from moving around in the circumferential direction of the rotating inner ring 2.

[0104] Based on the technical solution of this application, a surgical robot is also provided. This surgical robot may include a motion module and a rotary joint as described in any of the above embodiments. The motion module is fixedly connected to the inner rotating ring 2 of the rotary joint. The rotation of the inner rotating ring 2 relative to the fixed member 1 is used to realize the rotation of the motion module relative to the fixed member 1. In addition to rotating with the inner rotating ring 2, the motion module itself can also be configured with other degrees of freedom, such as a sliding degree of freedom along the rotation axis of the inner rotating ring 2. The specific design can be customized as needed, and this application does not impose any limitations on this.

[0105] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0106] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A rotary joint, characterized in that, include: The fastener includes a ring portion; The inner ring is rotatably disposed within the inner ring cavity formed by the ring portion, and an annular space is formed between the inner ring and the ring portion. The inner ring rotates about a first axis relative to the fixing member. The drive device includes an output shaft that rotates about a second axis; A cable assembly, the cable assembly including at least one cable, the first end of the cable being fixedly disposed relative to the fixing member, and the second end of the cable being fixedly disposed relative to the rotating inner ring; The rotation angle range of the inner rotating ring from any limited position to another limited position or back to the any limited position is 360°~720°. At least a portion of the cable runs along the inner rotating ring within the annular space. The length of the cable forming an arc around the inner rotating ring can change with the rotation of the inner rotating ring. The fastener includes a ring portion and a protrusion that protrudes radially outward along the ring portion. The ring portion has an inner ring cavity, and the protrusion has a mounting cavity. The inner ring cavity and the mounting cavity are connected, and the second axis passes through the mounting cavity.

2. The rotary joint according to claim 1, characterized in that, The second axis is perpendicular to the first axis.

3. The rotary joint according to claim 1, characterized in that, The rotary joint also includes a transmission assembly, the input part of which is coaxial with the output shaft of the drive device, and the output part of which is coaxial with the inner rotating ring.

4. The rotary joint according to claim 3, characterized in that, The transmission assembly is configured as a single-stage bevel gear transmission assembly; or The transmission assembly is configured as a two-stage gear transmission assembly, which includes at least one set of bevel gears.

5. The rotary joint according to claim 4, characterized in that, The transmission assembly includes a two-stage gear transmission assembly, which includes: The first bevel gear serves as the input part of the transmission assembly. The first bevel gear is fixedly connected to the output shaft of the drive device and is capable of rotating coaxially with the output shaft of the drive device. The second bevel gear meshes with the first bevel gear for transmission, and the second bevel gear rotates about the third axis. The first spur gear is fixedly disposed relative to the second bevel gear, and the first spur gear is capable of rotating coaxially with the second bevel gear; The second spur gear serves as the output part of the transmission assembly, and the second spur gear meshes with the first spur gear for transmission. The second spur gear is fixed relative to the rotating inner ring, and the second spur gear rotates coaxially with the rotating inner ring.

6. The rotary joint according to claim 5, characterized in that, The transmission ratio between the first bevel gear and the second bevel gear is greater than 1; and / or The transmission ratio between the first spur gear and the second spur gear is greater than 1.

7. The rotary joint according to claim 5, characterized in that, The rotary joint also includes a mounting base, which is fixedly connected to the fixing member. The mounting base has a gear mounting part, which has a through hole along the second axis. The second bevel gear and the first spur gear are located at opposite ends of the through hole. The gear mounting part supports the second bevel gear and the first spur gear through bearings.

8. The rotary joint according to claim 7, characterized in that, The first spur gear and the second bevel gear are fixedly connected to a drive shaft, which passes through the through hole and is connected to the gear mounting part by a bearing.

9. The rotary joint according to claim 5, characterized in that, The rotary joint also includes a flange, which is fixedly disposed on the outside of the inner rotating ring and extends toward the outside of the inner rotating ring. The second spur gear is fixedly connected to the flange.

10. The rotary joint according to claim 5, characterized in that, The third axis is parallel to the first axis.

11. The rotary joint according to claim 1, characterized in that, The rotary joint also includes a mounting base, which is fixedly disposed relative to the fixing member, and the driving device is fixedly disposed on the mounting base.

12. The rotary joint according to claim 1, characterized in that, The rotary joint also includes a mounting base, which is mounted on the protrusion from far to near, and at least a portion of the mounting base extends from the mounting cavity to the inner annular cavity.

13. The rotary joint according to claim 1, characterized in that, The rotary joint also includes: A first limiting part is fixedly disposed relative to the fixing member. The second limiting part is fixedly disposed relative to the rotating inner ring. A slider, located in the annular space, is rotatable about a first axis. Wherein, the first limiting part is at least partially within the rotation trajectory of the slider, the second limiting part is at least partially within the rotation trajectory of the slider, and the first limiting part is outside the rotation trajectory of the second limiting part.

14. The rotary joint according to claim 13, characterized in that, The first limiting part includes a first limiting surface and a second limiting surface. At least a portion of the first limiting surface and at least a portion of the second limiting surface are within the rotation trajectory of the slider. When the first limiting surface contacts the slider, the first limiting surface stops the slider in a first rotation direction. When the second limiting surface contacts the slider, the second limiting surface stops the slider in a second rotation direction. The first rotation direction is opposite to the second rotation direction.

15. The rotary joint according to claim 14, characterized in that, The second limiting portion includes a third limiting surface and a fourth limiting surface, both of which are at least partially within the rotation trajectory of the slider. When the third limiting surface contacts the slider, the second limiting portion and the slider have the same motion state in the first rotation direction. When the fourth limiting surface contacts the slider, the second limiting portion and the slider have the same motion state in the second rotation direction. When the third limiting surface contacts the slider, the second limiting part and the slider move in different states in the second rotation direction. When the fourth limiting surface contacts the slider, the second limiting part and the slider move in different states in the first rotation direction.

16. The rotary joint according to claim 15, characterized in that, The rotary joint further includes a flange, which is fixedly disposed on the outside of the inner rotating ring and extends toward the outside of the inner rotating ring. At least a portion of the second limiting portion is located on the flange. The flange has a first groove opening toward the outside of the flange. At least a portion of the third limiting surface is located on one side wall of the first groove, and at least a portion of the fourth limiting surface is located on the other side wall of the first groove; and / or The rotary joint further includes a gear component, which is fixedly disposed on the outer side of the inner rotating ring. At least a portion of the second limiting portion is located on the gear component. The gear component has a second groove on one side facing the inner rotating ring. At least a portion of the third limiting surface is located on one side wall of the second groove, and at least a portion of the fourth limiting surface is located on the other side wall of the second groove.

17. The rotary joint according to claim 13, characterized in that, The rotary joint also includes a mounting base, which is fixedly disposed relative to the fixing member, and the first limiting part and the mounting base are constructed as a one-piece structure.

18. The rotary joint according to claim 13, characterized in that, The slider is connected to the rotating inner ring via a rotating support; or The slider and the fixing member are connected by a rotating support member.

19. The rotary joint according to claim 1, characterized in that, The rotating inner ring is connected to the ring portion via a rotating support member.

20. The rotary joint according to claim 1, characterized in that, The annular space includes: A transmission area for mounting at least a portion of the transmission components; The wiring area is used to set up cable groups; The transmission area and the wiring area are arranged along the direction of the first axis.

21. The rotary joint according to claim 20, characterized in that, The fastener further includes a protrusion that protrudes radially outward along the ring portion, the protrusion having a mounting cavity, and the ring portion having an opening for communicating with the mounting cavity through the annular space, the opening communicating with the transmission area in the radial direction of the rotating inner ring.

22. The rotary joint according to claim 1, characterized in that, The rotating inner ring has a first cable routing port, and the second end of the cable passes through the first cable routing port and is fixedly connected to the inner wall of the rotating inner ring.

23. The rotary joint according to claim 22, characterized in that, The cable assembly includes multiple cables, which pass through a first cable routing port and are fixedly connected to the inner wall of the rotating inner ring; or The cable group includes multiple cables, which pass through multiple first cable routing ports and are fixedly connected to the inner wall of the rotating inner ring.

24. The rotary joint according to claim 22, characterized in that, The rotating inner ring has a first guiding surface located on the side of the rotating inner ring facing the annular space. The first guiding surface extends from the first cable routing port toward the cable along the cable routing direction outside the rotating inner ring; and / or The rotating inner ring has a second guide surface located on the side of the rotating inner ring away from the annular space. The second guide surface extends from the first cable routing port toward the cable routing direction inside the rotating inner ring.

25. The rotary joint according to claim 24, characterized in that, At least a portion of the first guide surface is curved, and starting from the first trace opening and moving away from the first trace opening, a portion of the curvature of the first guide surface gradually decreases and gradually approaches the curvature of the rotating inner ring; and / or At least a portion of the first guide surface is a flat surface, and the distance between the first guide surface and the second axis gradually increases from the first wiring port and away from the first wiring port.

26. The rotary joint according to claim 1, characterized in that, The cable is arranged in the annular space along the circumference of the rotating inner ring in a winding and unwinding manner.

27. The rotary joint according to claim 26, characterized in that, The cable, within the annular space, dynamically comprises an inner periphery, a bent portion, and an outer periphery. The inner periphery is closer to the rotating inner ring than the outer periphery. The position of the bent portion changes with the rotation of the rotating inner ring. The lengths of the inner and outer periphery increase or decrease with the rotation of the rotating inner ring.

28. The rotary joint according to claim 27, characterized in that, The inner periphery, the bent portion, and the outer periphery transition smoothly.

29. The rotary joint according to claim 28, characterized in that, When the inner ring rotates, the change in length of the inner circumference is approximately equal to the change in length of the outer circumference.

30. The rotary joint according to claim 27, characterized in that, The cable group includes at least two cables, the inner circumferences of the at least two cables are wound in the same direction, and the outer circumferences of the at least two cables are wound in the same direction.

31. The rotary joint according to claim 27, characterized in that, The rotating joint also includes a pressure wire assembly, which includes a pressure wire structure. The pressure wire structure dynamically abuts against the inner circumference. When the rotating joint rotates around the first axis, the pressure wire structure also dynamically rotates around the first axis by an angle, and the bending part changes position due to the force exerted by the pressure wire structure.

32. A rotary joint, characterized in that, include: A fastener, comprising a ring portion and a protrusion extending outward from the ring portion along a radial direction, the ring portion having an inner ring cavity, the protrusion having a mounting cavity, the inner ring cavity and the mounting cavity communicating with each other; The inner ring is rotatably disposed within the inner ring cavity; A driving device, wherein the driving device is detachably connected to the protrusion, and the output shaft of the driving device extends toward the mounting cavity; The transmission assembly includes an input section and an output section. The output section is configured as a gear component, which is circumferentially connected to the outer side of the rotating inner ring. The input section is located in the mounting cavity and is fixedly disposed with the output shaft. The rotation axis of the output shaft of the drive device is perpendicular to the rotation axis of the inner rotating ring.

33. The rotary joint according to claim 32, characterized in that, The rotary joint includes an arc-shaped limiting groove arranged circumferentially along the inner ring of rotation, and the arc-shaped limiting groove includes a third limiting surface and a fourth limiting surface spaced apart circumferentially on the inner ring of rotation. The rotary joint further includes a fixed block and a slider. The fixed block is fixedly disposed relative to the fixed member. The slider includes a first sliding part and a second sliding part connected to the first sliding part. The first sliding part is disposed in the arc-shaped limiting groove. The rotating inner ring and the gear member limit the first sliding part in the radial direction of the rotating inner ring. The second sliding part extends outward from the first sliding part along the radial direction of the rotating inner ring. In the first limiting state, the first sliding part is in contact with the third limiting surface, and the second sliding part is in limiting contact with the first side wall of the fixed block. In the second limiting state, the second sliding part is in contact with the fourth limiting surface, and the second sliding part is in limiting contact with the second side wall of the fixed block. The first side wall and the second side wall are opposite sides of the fixed block.

34. The rotary joint according to claim 33, characterized in that, The transmission assembly includes a mounting base and a first spur gear rotatably disposed on the mounting base. The first spur gear meshes with the gear component. In the radial direction of the inner rotating ring, the end of the mounting base is disposed close to the gear component. The mounting base is the fixed block. The first sidewall and the second sidewall are located on both sides of the first spur gear in the radial direction.

35. The rotary joint according to claim 33, characterized in that, The gear component and the rotating inner ring are integral parts; Alternatively, the gear component and the rotating inner ring are independent parts, and the gear component and the rotating inner ring are fixedly connected.

36. The rotary joint according to claim 33, characterized in that, The rotating inner ring includes a flange extending radially outward, and the flange is fixedly connected to the gear along the axial direction of the rotating inner ring. The flange and the gear are respectively provided with grooves, and the grooves of the flange and the gear are connected to form the arc-shaped limiting groove. The first sliding part is abutted between the flange and the gear.

37. The rotary joint according to claim 33, characterized in that, The central angle of the arc-shaped limiting groove is less than 360°.

38. The rotary joint according to claim 35, characterized in that, The mounting cavity extends through the protrusion, and the driving device is fixedly connected to the outer end face of the protrusion away from the ring.

39. The rotary joint according to claim 32, characterized in that, Also includes: Multiple bearings, each of which is disposed between the rotating inner ring and the ring portion; A flexible pressure ring, comprising a connecting portion and a clamping portion, wherein the connecting portion is pressed against the end face of the ring portion along the rotation axis of the inner ring and connected to the ring portion, and the clamping portion abuts against the outer ring of the bearing and the ring portion.

40. The rotary joint according to claim 32, characterized in that, An annular space is formed between the ring portion and the rotating inner ring, and the rotating inner ring includes at least one first wiring port; The rotating joint also includes a cable assembly, which includes at least one cable. Each cable includes a first end and a second end. The first end is disposed relative to the fixing member, and the second end passes through the first cable routing port and is fixedly disposed on the inner wall of the rotating inner ring. The portion of the cable located between the first end and the second end is located within the annular space.

41. The rotary joint according to claim 40, characterized in that, The ring portion includes a second cable routing port, and the first end of the cable passes through the second cable routing port and is fixed to the outside of the ring portion.

42. The rotary joint according to claim 41, characterized in that, Also includes: A pressure block is disposed on the outside of the ring portion and matches the second wiring port. The first end of the pressure block, which passes through the second wiring port, extends along the side of the pressure block toward the rotating inner ring to the outside of the ring portion.

43. The rotary joint according to claim 40, characterized in that, Also includes: A reinforcing plate is disposed on the inner side of the rotating inner ring and connected to the rotating inner ring. A portion of the cable located on the inner side of the rotating inner ring is disposed between the reinforcing plate and the inner wall of the rotating inner ring, and the second end extends out of the gap between the reinforcing plate and the inner wall of the rotating inner ring.

44. The rotary joint according to claim 40, characterized in that, The rotating inner ring has a first guiding surface located on the side of the rotating inner ring facing the annular space. The first guiding surface extends from the first cable routing port toward the cable along the cable routing direction outside the rotating inner ring; and / or The rotating inner ring has a second guide surface located on the side of the rotating inner ring away from the annular space. The second guide surface extends from the first cable routing port toward the cable routing direction inside the rotating inner ring.

45. The rotary joint according to claim 40, characterized in that, Each of the cables includes a bend located within the annular space, wherein the cables at both ends of the bend are routed around the rotating inner ring within the annular space, and the routing direction of the portion of the cable connected to one end of the bend is opposite to the routing direction of the portion of the cable connected to the other end of the bend.

46. ​​The rotary joint according to claim 45, characterized in that, The rotary joint includes multiple cables, with multiple bends in the cables arranged circumferentially around the inner rotating ring.

47. The rotary joint according to claim 46, characterized in that, Multiple bends of the cables are evenly arranged around the circumference of the rotating inner ring.

48. The rotary joint according to claim 45, characterized in that, The rotary joint also includes at least one set of flexible straps, with each cable stacked with at least one flexible strap and passing through the same first cable routing port to extend into the annular space; The stacked cables and flexible strips are routed in the same way within the annular space, and along the routing direction of the cable closer to the inner rotating ring, the bent portion of the flexible strip is located at the front or rear end of the bent portion of the cable.

49. The rotary joint according to claim 48, characterized in that, The rotating joint includes multiple cables, each cable stacked with a flexible strip, and the bent portions of the multiple cables and the bent portions of the multiple flexible strips are alternately arranged along the circumference of the inner rotating ring.

50. The rotary joint according to claim 49, characterized in that, The bends in the flexible strip and the cable are evenly arranged in the circumferential direction of the inner rotating ring.

51. The rotary joint according to claim 45, characterized in that, During the rotation of the inner ring, the bending direction of the cable's bend remains unchanged.

52. The rotary joint according to claim 45, characterized in that, Also includes: A roller mounting bracket is rotatably disposed on the outside of the rotating inner ring relative to the rotating inner ring, and the roller mounting bracket includes a plurality of mounting rods extending along the axis of the rotating inner ring; Multiple rollers, each roller being rotatably connected to a single mounting rod, with the circumference of each roller pressing the cable against the outer wall of the rotating inner ring and the inner wall of the ring portion; A planetary gear set, comprising an internal gear ring, an external gear ring, and a plurality of planetary gears meshing with the internal gear ring and the external gear ring respectively. The internal gear ring is fixedly connected to the rotating inner ring, the external gear ring is fixedly connected to the ring portion, and each planetary gear is fixedly connected to any of the mounting rods.

53. The rotary joint according to claim 52, characterized in that, The roller mounting frame includes multiple split frames, and each split frame is respectively provided with the mounting rod; Multiple separate frames are connected end to end and surround the outer side of the rotating inner ring.

54. The rotary joint according to claim 52, characterized in that, The roller mounting bracket includes an annular groove recessed from one side toward the inner rotating ring; A rotating support member is disposed within the annular groove and fixedly connected to the roller mounting bracket, and the rotating support member is disposed on the outer side of the rotating inner ring.

55. The rotary joint according to claim 52, characterized in that, At least one of the plurality of mounting rods is connected to the roller and the planetary gear respectively, with the planetary gear located above the roller.

56. The rotary joint according to claim 45, characterized in that, Also includes: Flexible wheel; The flexible inner ring is connected to the outside of the rotating inner ring and rotates synchronously with the rotating inner ring. The flexible inner ring includes a third cable routing port. The flexible wheel outer ring is disposed between the flexible wheel inner ring and the ring portion. The flexible wheel meshes with the flexible wheel inner ring and the flexible wheel outer ring respectively. The flexible wheel outer ring includes a fourth cable routing port. The bent portion of the cable is located between the inner ring and the outer ring of the flexible wheel, and the outer circumferential surface of the flexible wheel presses the cable against the outer side of the inner ring and the inner side of the outer ring.

57. The rotary joint according to claim 56, characterized in that, The inner ring of the flexible wheel includes a first anti-rotation groove; the inner ring of the rotating wheel includes a second anti-rotation groove. The rotary joint includes an anti-rotation key, which is inserted into the first anti-rotation groove and the anti-rotation groove.

58. The rotary joint according to claim 56, characterized in that, The flexible outer ring includes a horizontal portion and a vertical portion. The vertical portion extends along the rotation axis of the rotating inner ring, and the horizontal portion extends radially from the vertical portion along the rotating inner ring. The cable is attached to the vertical portion through the flexible wheel. The horizontal portion is provided with gear teeth that mesh with the flexible wheel, and the fourth cable routing port is provided in the vertical portion.

59. The rotary joint according to claim 58, characterized in that, The flexible wheel outer ring includes multiple axially connected ring branches of the flexible wheel outer ring; The two ring branches at the ends are provided with the horizontal portion, and each ring branch is provided with a portion of the vertical portion.

60. The rotary joint according to claim 59, characterized in that, Along the rotation axis of the inner ring, the two ring branches at the ends are provided with corresponding slots. The rotating joint also includes a buckle, and the same buckle engages with a set of corresponding slots.

61. The rotary joint according to claim 59, characterized in that, Therefore, one of the two adjacent ring branches includes a positioning block, and the other includes a positioning groove that cooperates with the positioning block.

62. The rotary joint according to claim 32, characterized in that, The rotating inner ring includes a mounting block disposed on the inner side, which is used to connect with a motion module matched to the rotating joint, so that the motion module rotates synchronously with the rotating inner ring.

63. A surgical robot, characterized in that, include: Motion module; The rotary joint as described in any one of claims 1-31 or any one of claims 32-62, wherein the inner rotating ring of the rotary joint is fixedly connected to the motion module.

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