Robot arm mechanism and surgical robot

Abstract

The invention discloses a mechanical arm mechanism and a surgical robot. The mechanical arm mechanism comprises a first joint arm, a second joint arm and an angle detection assembly. The second articulated arm is rotationally connected with the first articulated arm and rotates around a first axis. The angle detection assembly comprises a first device and a second device, one of the first device and the second device is a detection device, and the other is a detected device. The first device is fixedly arranged relative to the first joint arm, the second device can rotate relative to the first device, and the second device and the second joint arm can synchronously rotate. The mechanical arm mechanism comprises a plurality of angle detection assemblies, and at least one of the angle detection assemblies is offset relative to the first axis. According to the mechanical arm mechanism, the size on the rotating axis can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a robotic arm mechanism and a surgical robot. Background Art

[0002] At present, surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, and no fear of radiation and infection. They are widely used in various surgeries.

[0003] In the related art, the surgical robot includes a plurality of mechanical arms. When the adjacent mechanical arms rotate, it is necessary to determine the angle of rotation, so as to determine the specific position of the current mechanical arm. However, the angle detection components of the mechanical arms are often separately arranged and separately connected to the shaft component or the shaft-like component of the rotary joint. For example, the angle detection components are arranged at different positions and are all arranged on the axis of the rotary joint. To a certain extent, the rotary joint has too many structural arrangements in the direction of the rotation axis, and the structures are stacked and large. Summary of the invention

[0004] In view of this, the present application provides a robotic arm mechanism and a surgical robot, wherein the robotic arm mechanism can reduce the volume on the rotation axis.

[0005] Specifically, the present application is implemented through the following technical solutions.

[0006] According to a first aspect of an embodiment of the present application, a robotic arm mechanism is provided, comprising a first joint arm, a second joint arm and an angle detection assembly. The second joint arm is rotatably connected to the first joint arm and rotates around a first axis. The angle detection assembly comprises a first device and a second device, one of the first device and the second device is a detection device, and the other is a detected device. The first device is fixedly arranged relative to the first joint arm, the second device is rotatable relative to the first device, and the second device can rotate synchronously with the second joint arm. Among them, the robotic arm mechanism comprises a plurality of angle detection assemblies, and at least one of the plurality of angle detection assemblies is offset relative to the first axis.

[0007] The technical solution provided by the embodiments of the present application may include the following beneficial effects.

[0008] The mechanical arm mechanism works so that when the first joint arm and the second joint arm rotate relative to each other, the first device is fixedly arranged with the first joint arm, and the second device is synchronously driven with the second joint arm, so that the first device and the second device rotate relative to each other. Thus, the detection device can detect the angle of rotation of the detected device relative to the detection device, that is, the relative rotation angle of the first joint arm and the second joint arm. By offsetting at least one of the multiple angle detection components relative to the first axis, the stacking of the multiple angle detection components on the rotation axis is reduced, thereby reducing the space occupied by the multiple angle detection components on the rotation axis. In addition, the volume of the mechanical arm mechanism on the rotation axis is reduced.

[0009] The technical solution of the present application is further described below.

[0010] In one embodiment, the robot arm mechanism includes two angle detection components, and the two angle detection components include a second device that rotates coaxially with the first axis.

[0011] In one embodiment, the robot arm mechanism includes two angle detection components, and both angle detection components are offset relative to the first axis.

[0012] In one embodiment, the two angle detection components include two second components, and the two second components rotate non-colinearly with the first axis. The rotation axes of the two second components are not colinear.

[0013] In one embodiment, the rotation axes of the two second components are parallel to the first axis.

[0014] In one embodiment, one of the first device and the second device is a magnetic displacement sensor, and the other is a magnet. The magnetic displacement sensor and the magnet can generate electromagnetic induction.

[0015] In one embodiment, the detection device further includes a plurality of rotating members, the plurality of rotating members are rotatably disposed on the first joint arm, at least one of the plurality of rotating members is transmission-connected to the second joint arm, and the plurality of rotating members can rotate with the second joint arm, and at least one rotating member rotates around a second axis that is not coaxial with the first axis. The plurality of angle detection components correspond one-to-one to the plurality of rotating members, and the angle detection components can measure the rotation angle of the corresponding rotating member.

[0016] In one embodiment, the first axis is parallel to, intersects with, or is not in the same plane as the second axis.

[0017] In one embodiment, the plurality of rotating members include a driven member and a driving member staggeredly disposed on a first joint arm, the driving member is fixedly connected to the second joint arm and rotates around a first axis, and the driven member rotates around a second axis. The plurality of angle detection components include a driven angle detection component for detecting a rotation angle of the driven member and an active angle detection component for detecting a rotation angle of the active rotating member.

[0018] In one embodiment, the plurality of rotating members include a first follower and a second follower staggeredly disposed on the first joint arm, the first follower rotates around a second axis, and the second follower rotates around a third axis that is coaxial with both the first axis and the second axis. The plurality of angle detection components include a first follower angle detection component for detecting a rotation angle of the first follower and a second follower angle detection component for detecting a rotation angle of the second follower.

[0019] In one embodiment, the second axis is parallel to or intersects the third axis.

[0020] In one embodiment, the first axis, the second axis and the third axis are parallel to each other.

[0021] In one embodiment, the angle detection component includes a magnetic displacement sensor and a magnet fixed on the rotating member, and the magnetic displacement sensor and the magnet can generate electromagnetic induction.

[0022] In one embodiment, the plurality of rotating members include a first rotating member and a second rotating member staggeredly disposed on the first joint arm, and at least one of the first rotating member and the second rotating member rotates non-coaxially with the second joint arm. The plurality of angle detection components include a first angle detection component and a second angle detection component, the first angle detection component is used to detect the rotation angle of the first rotating member, and the second angle detection component is used to detect the rotation angle of the second rotating member.

[0023] In one embodiment, the first rotating member and the second rotating member rotate non-coaxially with the second joint arm respectively, and / or the diameter of the first rotating member is greater than the diameter of the second rotating member.

[0024] In one embodiment, the detection device further includes a first transmission unit and a second transmission unit, the first rotating member rotates synchronously with the second articulated arm through the first transmission unit, and the second rotating member rotates synchronously with the second articulated arm through the second transmission unit.

[0025] In one embodiment, the first transmission unit includes a belt, the first rotating member and the second rotating member are both connected to a driven pulley, and the second articulated arm includes a driving pulley, and the driving pulley drives the driven pulley to rotate through the belt.

[0026] Alternatively, the first transmission unit includes a chain, the first rotating member and the second rotating member are both connected to a driven sprocket, the second articulated arm includes a driving sprocket, and the driving sprocket drives the driven sprocket to rotate through the chain.

[0027] Alternatively, the first transmission unit includes a gear unit, the first transmission unit and the second transmission unit include a driven gear, the second articulated arm includes a driving gear, and the driving gear drives the driven gear to rotate through the gear unit.

[0028] In one embodiment, the first rotating member and the second rotating member include a driven gear, and the second articulated arm is provided with a driving gear, and the driving gear meshes with the driven gear for transmission.

[0029] In one embodiment, one of the first rotating member and the second rotating member is fixedly connected to the second joint arm and rotates around the first axis, and the other rotates non-coaxially with the second joint arm. And / or, the diameter of the first rotating member is greater than the diameter of the second rotating member.

[0030] In one embodiment, the detection device further includes a third transmission unit, and the first rotating member rotates synchronously with the second rotating member through the third transmission unit.

[0031] In one embodiment, the third transmission unit includes a belt, the first rotating member is provided with a driving pulley, the second rotating member is provided with a driven pulley, and the driving pulley drives the driven pulley to rotate through the belt.

[0032] Alternatively, the third transmission unit comprises a chain, the first rotating member is provided with a driving sprocket, the second rotating member is provided with a driven sprocket, and the driving sprocket drives the driven sprocket to rotate through the chain.

[0033] Alternatively, the third transmission unit includes a gear unit, the second articulated arm is provided with a driving gear, the third transmission unit includes a driven gear, and the driving gear drives the driven gear to rotate through the gear unit.

[0034] In one embodiment, the first rotating member is provided with a driving gear, and the second rotating member is provided with a driven gear, and the driving gear and the driven gear are meshed for transmission.

[0035] In one embodiment, the first rotating member rotates coaxially with the second joint arm. The first rotating member includes a fixed body, a matching body spaced apart from the fixed body to form an avoidance space, and a connecting body connecting the fixed body and the matching body. The fixed body is fixedly connected to the second joint arm so that the matching body rotates coaxially with the second joint arm. The first angle detection component is used to detect the rotation angle of the matching body.

[0036] In one of the embodiments, the detection device further includes a tensioning assembly, the tensioning assembly is disposed on the first articulated arm, and the tensioning assembly includes a tensioning wheel for pressing the belt.

[0037] In one embodiment, the tensioning assembly further comprises a connecting member, which is arranged on the first joint arm. The tensioning wheel is rotatably arranged on the connecting member.

[0038] In one embodiment, the first articulated arm is provided with a first supporting protrusion, and the connecting member is slidably connected to the first articulated arm. The detection device also includes a screw rod, which is threadedly engaged with the first supporting protrusion, and one end of the screw rod is rotatably connected to the connecting member to adjust the spacing between the tensioning wheel and the first supporting protrusion.

[0039] In one embodiment, the connecting member includes a first connecting body slidably connected to the first joint arm and a second connecting body arranged opposite to the first connecting body, the first connecting body and the second connecting body form an installation cavity, and the tensioning wheel can be rotatably arranged in the installation cavity. The tensioning assembly also includes a first elastic member, and the second connecting body is connected to the first joint arm through the first elastic member so that the tensioning wheel can elastically press against the belt.

[0040] In one embodiment, the first articulated arm is provided with a first supporting protrusion, and the first connecting body is slidably connected to the first articulated arm. The detection device also includes a screw rod, which is threadedly engaged with the first supporting protrusion, and one end of the screw rod is rotatably connected to the first connecting body to adjust the spacing between the tensioning wheel and the first supporting protrusion.

[0041] In one embodiment, the first joint arm is provided with a second supporting protrusion arranged opposite to the first supporting protrusion, one end of the first elastic member is connected to the second supporting protrusion, and the other end is connected to the second connecting member, so that the tensioning wheel elastically presses the belt.

[0042] In one embodiment, the connecting member is rotatably arranged on the first joint arm, the connecting member includes a first arm and a second arm, and the length of the first arm is smaller than the length of the second arm. The tensioning wheel is arranged on the second arm, and the tensioning assembly also includes a second elastic member, and the first arm is connected to the first joint arm through the second elastic member, so that the first arm drives the tensioning wheel to elastically press the belt.

[0043] In one embodiment, the first arm includes a first side wall disposed toward the belt, and at least a portion of the first side wall is arc-shaped to avoid the second joint arm.

[0044] In one embodiment, a first arc-shaped matching surface is provided at the end of the first arm, and a second arc-shaped matching surface is provided at one end of the second elastic member to abut against the first arc-shaped matching surface.

[0045] In one embodiment, the second elastic member includes a spring body and an abutment body, one end of the spring body abuts against the first joint arm, the other end of the spring body is connected to one end of the abutment body, and the abutment body is provided with a second arc-shaped mating surface.

[0046] In one embodiment, the first joint arm is provided with a first accommodating groove, the spring body is arranged in the first accommodating groove, one end of the second elastic member abuts against the side wall of the first accommodating groove, at least a portion of the abutting body is inserted into the first accommodating groove, and a protrusion is provided, which is plugged into and cooperates with the spring body to limit the spring body to the first accommodating groove.

[0047] In one embodiment, the first articulated arm includes a first cavity, a second cavity, and a partition separating the first cavity from the second cavity, the partition is provided with a through hole connecting the first cavity and the second cavity, and the angle detection component is arranged in the first cavity. The second articulated arm includes a rotating part inserted into the second cavity and a transmission part protruding from the rotating part, the rotating part is rotatably connected to the second cavity, the transmission part passes through the through hole and is fixedly connected to the second device, and the transmission part rotates around the first axis.

[0048] In one embodiment, the robotic arm also includes a first bearing assembly, the rotating part rotates with the second cavity through the first bearing assembly, and the rotating part and the inner wall of the second cavity are spaced apart to form a first protective cavity, and the first bearing assembly is disposed in the first protective cavity.

[0049] In one embodiment, the rotating part is hollow, and the first joint arm also includes a cylinder fixed to the partition, the cylinder is connected to the through hole, and the cylinder is arranged in the second cavity and inserted into the rotating part, and the cylinder is rotatably connected to the rotating part.

[0050] In one embodiment, the second articulated arm includes a transmission shaft and a third cavity fixedly connected to the rotating part to form a second protective cavity. One end of the transmission shaft is fixed to the third cavity, and the other end of the transmission shaft is provided with a transmission part, which passes through the cylinder and is fixedly connected to the transmission member.

[0051] In one embodiment, the third cavity is fixedly connected to the rotating part to form a second protective cavity. The mechanical arm also includes a second bearing assembly, the inner side wall of the rotating part is rotatably connected to the cylinder through the second bearing assembly, and the second bearing assembly is arranged in the second protective cavity.

[0052] In one of the embodiments, the first cavity is provided with an opening arranged opposite to the through hole, and the first articulated arm further comprises an end cover connected to the first cavity to cover the opening.

[0053] According to a second aspect of an embodiment of the present application, a surgical robot is provided, comprising the robotic arm mechanism in any one of the above embodiments.

[0054] The technical solution provided by the embodiments of the present application may include the following beneficial effects.

[0055] The surgical robot applies the robotic arm mechanism in any of the above embodiments, which can avoid the stacking of the surgical robot structure.

[0056] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] BRIEF DESCRIPTION OF THE DRAWINGS The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 Schematic diagram of the structure of a surgical robot shown in one embodiment.

[0060] Figure 2 for Figure 1 The structural schematic diagram of the multi-axis motion device shown.

[0061] Figure 3 for Figure 2 The structural schematic diagram of the articulated arm provided with a detection device is shown.

[0062] Figure 4 for Figure 3 The structural schematic diagram of the detection device shown.

[0063] Figure 5 for Figure 3 The structural schematic diagram of the detection device shown.

[0064] Figure 6 for Figure 4 A schematic diagram of the cross-sectional structure of the detection device shown.

[0065] Figure 7 It is a schematic diagram of the structure of a detection device shown in an embodiment.

[0066] Figure 8 It is a structural schematic diagram of a chain transmission shown in an embodiment.

[0067] Fig. 9 Schematic diagram of the structure of the gear transmission shown in one embodiment.

[0068] Fig.10 for Figure 4 The structural schematic diagram of the tensioning assembly is shown.

[0069] Fig.11 for Fig.10An exploded schematic diagram of the tensioning assembly is shown.

[0070] Fig.12 for Figure 3 Schematic diagram of the cross-sectional structure of the articulated arm shown.

[0071] Description of Figure Numbers.

[0072] 1. Surgical robot 10. Multi-axis motion device 11. Robotic arm mechanism

[0073] 11a, articulated arm 12, instrument driver 100, detection device

[0074] 110, bearing member 111, first supporting protrusion 112, second supporting protrusion 113, first receiving groove 120, transmission member 121, driving pulley

[0075] 122, driving sprocket 123, driving gear 130, rotating part

[0076] 131, driven member 132, active member 133, first driven member

[0077] 134, second driven member 135, first rotating member 1351, fixed body

[0078] 1352, matching body 1353, adapter body 136, second rotating member

[0079] 137, driven pulley 138, driven sprocket 139, driven gear

[0080] 140. Angle detection component 1401. First device 1402. Second device

[0081] 141. Driven angle detection component 142. Active angle detection component

[0082] 143. First driven angle detection component 144. Second driven angle detection component

[0083] 145. First angle detection component 146. Second angle detection component

[0084] 147, magnetic displacement sensor 148, magnet 150, first transmission unit 151, belt 152, driven pulley 153, chain

[0085] 154, gear unit 160, second transmission unit 170, third transmission unit 180, tensioning assembly 181, tensioning wheel 182, connecting piece

[0086] 1821, installation cavity 101, first connector 102, second connector

[0087] 103, first arm 104, second arm 105, first arc-shaped mating surface

[0088] 183, screw rod 184, first elastic member 185, second elastic member

[0089] 106, second arc-shaped matching surface 107, spring body 108, abutment body

[0090] 109, convex part 200, first joint arm 210, first cavity

[0091] 211, opening 220, second cavity 230, partition

[0092] 231, through hole 240, cylinder 250, end cover

[0093] 300, second joint arm 310, rotating part 320, transmission part

[0094] 330, first protection chamber 340, transmission shaft 350, second protection chamber

[0095] 360, third cavity 400, first bearing assembly 500, second bearing assembly

[0096] A. First axis B. Second axis C. Third axis DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solution and advantages of this application more clear, the following is a further detailed description of this application in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described here are only used to explain this application and do not limit the scope of protection of this application.

[0098] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0099] At present, with the development of surgical robots, there are many brands for hospitals to choose from, and the competition is getting more and more fierce. How to reduce the maintenance cost of surgical robots has become an issue that the industry pays more and more attention to.

[0100] In the related art, the surgical robot includes a multi-axis motion device, which includes a plurality of manipulators, and the manipulators have a plurality of articulated arms. Adjacent articulated arms move relative to each other with specific degrees of freedom, so that the end of the manipulator can achieve multi-degree-of-freedom movement. When adjacent articulated arms rotate, it is necessary to determine the angle of rotation, so as to determine the specific position of the current manipulator. However, the angle detection components of the manipulators are often separately arranged and separately connected to the shaft component or the quasi-shaft component of the rotary joint. For example, the angle detection components are arranged at different positions and are all arranged on the axis of the rotary joint. To a certain extent, the rotary joint has too many structural arrangements in the direction of the rotary axis, and the structures are stacked and large.

[0101] Based on this, the present application provides a robotic arm mechanism, which can avoid excessive structural arrangement, structural stacking, and large structure in the direction of the rotation axis.

[0102] In order to better understand the robotic arm mechanism of the present application, a surgical robot including the robotic arm mechanism is used for explanation.

[0103] like Figure 1 as well as Figure 2 As shown, a surgical robot 1 is provided, including a multi-axis motion device 10, which can drive the surgical instrument to move to achieve corresponding surgical actions. Specifically, the surgical robot 1 also includes a control device 20 and an imaging device 30, and the control device 20 is communicatively connected with the imaging device 30 and the multi-axis motion device 10. In this way, it is convenient for the doctor to control the multi-axis motion device 10 to move through the control device 20 to perform the corresponding action of the surgical instrument. During this process, the doctor can observe the operation according to the imaging device 30.

[0104] Optionally, in some embodiments, the control device 20 includes a display unit for displaying the surgical instrument environment and a control mechanism for the doctor to operate. The display unit is provided with an observation window for the doctor to observe. The doctor controls the multi-axis motion device 10 to move by operating the control mechanism to complete the corresponding action of the surgical instrument.

[0105] Optionally, in some embodiments, the control device 20 also has other control switches that are convenient for hands or feet to touch or press, so as to perform various functional operations and complete human-computer interaction.

[0106] Optionally, in some embodiments, the imaging system includes at least one of a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0107] In some embodiments, Figure 2As shown, the multi-axis motion device 10 includes a robot arm mechanism 11 and an instrument driver 12. The robot arm mechanism 11 has at least two joint arms 11a connected in sequence. Two adjacent joint arms 11a move relative to each other with specific degrees of freedom, so that the end of the robot arm mechanism 11 can achieve multi-degree-of-freedom movement. The instrument driver 12 is installed at the end arm of the robot arm mechanism 11 to drive the surgical instrument to achieve operations such as gripping, deflection, and pitching.

[0108] In the embodiments of the present application, Figure 3 As shown, the robot arm mechanism 11 has a first joint arm 200 and a second joint arm 300 connected in sequence, and the first joint arm 200 and the second joint arm 300 can pivot, and the rotation axis of the first joint arm 200 and the second joint arm 300 is set to the first axis A. In an embodiment, the connection between the first joint arm 200 and the second joint arm 300 can be arranged in the direction of the first axis A and connected by a specific structure. For example, in the field of surgical robots, a drive device, a brake device, a transmission device, a wiring structure or a detection device can or may be installed between the joint arms, but in the connection structure of two adjacent joint arms, the drive device, the brake device, the transmission device and the wiring structure are not the key to the present invention, and are not within the consideration of the main inventive concept of this case, so they are not introduced in detail in this case.

[0109] In the field of surgical robots, the robot arm mechanism 11 needs to be as thin as possible, and accordingly, the rotary joint structure of the robot arm mechanism 11 is also as small as possible. As mentioned above, in the connection structure of two adjacent joint arms, there may be a drive device, a brake device or a transmission device, a wiring mechanism, etc., and in some cases, one or more of these structures are necessary and cannot be reduced. Therefore, how to reduce the volume of the robot arm mechanism 11 is a problem.

[0110] Researchers have found that in the prior art, the same robotic arm mechanism 11 is often provided with two angle detection components 140, and the two angle detection components 140 are often provided separately and are separately connected to the shaft component or shaft-like component of the rotary joint. For example, the two angle detection components 140 are provided at different positions and are both arranged on the axis of the rotary joint. To a certain extent, this causes the rotary joint to have too many structural arrangements in the direction of the rotary axis, and the structures are stacked and large.

[0111] In the embodiment of the present application, the robot arm mechanism 11 includes a first joint arm 200, a second joint arm 300 and a plurality of angle detection components 140. Figures 3 to 6, exemplarily, the first articulated arm 200 is fixedly connected with a shaft. The second articulated arm 300 and the first articulated arm 200 are staggered in the direction of the first axis A, and the shaft extends to the second articulated arm 300. The first articulated arm 200 and the second articulated arm 300 are rotatably connected, and the first articulated arm 200 and the second articulated arm 300 can rotate around the first axis A with respect to each other. Correspondingly, the shaft can rotate around the first axis A relative to the second articulated arm 300. The angle detection component 140 includes a first device 1401 and a second device 1402, one of which can be set as a detection device, and the other of the first device 1401 and the second device 1402 can be set as a detected device. Among them, the first device 1401 is fixedly arranged relative to the first articulated arm 200, the second device 1402 is rotatable relative to the first device 1401, and the second device 1402 can rotate simultaneously with the second articulated arm 300. Specifically, the robot arm mechanism 11 may include a plurality of angle detection components 140 , at least one of which is offset relative to the first axis A. In this way, the structural stacking of the joint on the rotation axis can be reduced to a certain extent, thereby reducing the volume of the joint on the rotation axis.

[0112] In some embodiments, the plurality of angle detection assemblies 140 include a second device 1402 that rotates coaxially with the first axis.

[0113] It should be noted that “the second device 1402 can rotate simultaneously with the second articulated arm 300” should be understood in a broad sense. For example, the rotation state of the second device 1402 is correlated with the rotation state of the second articulated arm 300, indicating that the rotation state of the second device 1402 is constrained by the rotation state of the second articulated arm 300. The dynamic and static states of the two are consistent, and the movements of the two are simultaneous, but any parameters of the angular velocity, angle and direction of the two rotations may be consistent or inconsistent. Accordingly, the motion state of the second device 1402 is constrained by the second articulated arm 300.

[0114] However, in the practice of this application, the researchers found that the difference in the motion state of the first device 1401 and the second device 1402 relative to the first articulated arm 200 and the second articulated arm 300 will have a certain impact on the stability of the connection between the detection component and electrical components such as communication cables or PCBs. Therefore, in the embodiments of this application, the first device 1401 that is relatively fixed to the first articulated arm 200 is given priority as the detection device, while the second device 1402 is not necessarily in a fixed and stationary state relative to the second articulated arm 300, but the motion state may be different, so the second device 1402 is used as the detected device. The detection device in the detection component and electrical components such as communication cables or PCBs are in a relatively fixed or stationary state with the first articulated arm 200, which can improve the stability of the electrical connection.

[0115] In some embodiments, the angle detection component can be configured as a magnetic encoder, wherein the first device 1401 includes at least a magnetic sensitive element, and the second device 1402 includes at least a magnetic element. In other embodiments, the angle detection component can also be configured as an optical encoder, wherein the first device 1401 includes at least a light source and a code disk, and the second device 1402 includes at least a photosensitive element.

[0116] In some embodiments, one of the first device 1401 and the second device 1402 is a magnetic displacement sensor 147, and the other is a magnet 148, and the magnetic displacement sensor 147 and the magnet 148 can generate electromagnetic induction. Thus, when one of the first device 1401 and the second device 1402 rotates, the magnet 148 will rotate, and then the electromagnetic induction between the magnetic displacement sensor 147 and the magnet 148 is used to detect the rotation angle of the magnet 148, that is, the relative rotation angle of the first device 1401 and the second device 1402.

[0117] Based on any of the above embodiments, Figure 4 as well as Figure 5 As shown, in one embodiment, the robot arm mechanism 11 includes two angle detection components 140, and both angle detection components 140 are offset relative to the first axis A. In this way, the structural stacking of the joint on the rotation axis can be further reduced, thereby reducing the volume of the joint on the rotation axis.

[0118] In some embodiments, Figure 4 as well as Figure 5 As shown, the two angle detection components 140 include two second components 1402 , and both of the two second components 1402 rotate non-colinearly with the first axis; the rotation axes of the two second components 1402 are not colinear.

[0119] In some embodiments, Figure 4 as well as Figure 5 As shown, the rotation axes of the two second components 1402 are parallel to the first axis A.

[0120] The researchers also discovered that in the prior art, the two angle detection devices are not only separately provided, but also require separate bearing structures, which also affects the volume or length of the rotary joint in the direction of the rotation axis. At the same time, the structural design and equipment are time-consuming and labor-intensive.

[0121] In an embodiment of the present application, the angle detection device also includes a supporting component. The two first devices 1401 in the two angle detection devices are both arranged on the same supporting component, which can reduce the number of components in the direction of the first axis A, and to a certain extent can also reduce the volume of the joint in the direction of the first axis A. At the same time, the two angle detection devices can also be modularly designed, thereby improving design efficiency and assembly efficiency.

[0122] The angle detection component 140 can be directly assembled on the robot arm mechanism 11, and can also be indirectly assembled and installed on the robot arm mechanism 11 through other connecting devices.

[0123] For example, Figure 4 as well as Figure 5 As shown, in some embodiments, the detection device 100 includes a carrier 110, a transmission member 120 and an angle detection assembly 140. The transmission member 120 can be rotatably arranged on the carrier 110 and rotate around the first axis A. The first articulated arm 200 is fixedly connected to the carrier 110, and the second articulated arm 300 is transmission-connected to the transmission member 120. In this way, the detection device 100 can be assembled into a module, and then the angle detection assembly 140 can be modularly installed to the robot arm mechanism 11 by fixing the first articulated arm 200 to the carrier 110 and the second articulated arm 300 to the transmission member 120, thereby improving the assembly efficiency of the robot arm mechanism 11.

[0124] The first device 1401 is fixedly arranged relative to the carrier 110, the second device 1402 is rotatable relative to the first device 1401, and the second device 1402 can rotate synchronously with the transmission member 120. The detection device 100 includes a plurality of angle detection components 140, and at least one of the plurality of angle detection components 140 is offset relative to the first axis A. In addition, when the detection device 100 is mounted to the robot arm mechanism 11 as a module, one of the first articulated arm 200 and the second articulated arm 300 is in transmission connection with the transmission member 120, and the other is fixedly connected to the carrier 110.

[0125] In this way, when the first articulated arm 200 and the second articulated arm 300 rotate relative to each other, the transmission member 120 and the supporting member 110 will rotate relative to each other. The first device 1401 and the supporting member 110 are fixedly arranged, and the second device 1402 and the transmission member 120 are synchronously driven, so that the first device 1401 and the second device 1402 also rotate relative to each other. Thereby, the detection device can detect the angle of rotation of the detected device relative to the detection device, that is, the relative rotation angle of the first articulated arm 200 and the second articulated arm 300. By offsetting at least one of the multiple angle detection components 140 relative to the first axis A, the stacking of the multiple angle detection components 140 on the rotation axis is reduced, thereby reducing the space occupied by the multiple angle detection components 140 on the rotation axis. In turn, the volume of the robot arm mechanism 11 on the rotation axis is reduced.

[0126] Specifically, in one embodiment of the present application, Figure 4 as well as Figure 5 As shown, the detection device 100 further includes a plurality of rotating members 130, which are rotatably disposed on the bearing member 110, at least one of the plurality of rotating members 130 is transmission-connected to the transmission member 120, and the plurality of rotating members 130 can rotate along with the transmission member 120, and at least one rotating member 130 rotates around a second axis B that is not coaxial with the first axis A. In addition, the plurality of angle detection assemblies 140 correspond one-to-one to the plurality of rotating members 130, so as to measure the rotation angle of the corresponding rotating member 130.

[0127] In this way, the angle detection component 140 measures the rotation angle of the corresponding rotating member 130, that is, measures the rotation angle of the transmission member 120, thereby measuring the relative rotation angle of the first articulated arm 200 and the second articulated arm 300. By providing multiple angle detection components 140, it is possible to avoid the failure of the detection device 100 as a whole when some angle detection components 140 fail, thereby improving the reliability of the detection device 100.

[0128] It can be understood that the transmission member 120 can be rotatably disposed on the supporting member 110 to drive the multiple rotating members 130 to rotate, thereby transmitting the rotational motion to the multiple rotating members 130, and then enabling the angle detection component 140 corresponding to the rotating member 130 to detect the rotation angle of the rotating member 130.

[0129] It can be understood that at least one of the plurality of rotating members 130 is in transmission connection with the transmission member 120, and the plurality of rotating members 130 can rotate with the transmission member 120. The plurality of rotating members 130 can be directly connected to the transmission member 120 to achieve transmission. The plurality of rotating members 130 can also be connected to the rotating member 130 that is already in transmission connection with the transmission member 120, so as to be indirectly connected with the transmission member 120 to achieve transmission.

[0130] In some embodiments, the first axis A is parallel, intersecting or skewed with the second axis B. In this way, the multiple angle detection components 140 are non-coaxially arranged to avoid axial stacking of the multiple angle detection components 140, thereby saving the space occupied by the detection device 100 in the axial direction.

[0131] Based on the above embodiments, Figure 7 As shown, in one embodiment, the plurality of rotating members 130 include a driven member 131 and an active member 132 staggered on the bearing member 110, the active member 132 is fixedly connected to the transmission member 120 and rotates around the first axis A, and the driven member 131 rotates around the second axis B. The plurality of angle detection components 140 include a driven angle detection component 141 for detecting the rotation angle of the driven member 131 and an active angle detection component 142 for detecting the rotation angle of the active rotating member 130. In this way, staggered arrangement of the driven member 131 and the active member 132 can avoid stacking of the plurality of angle detection components 140, thereby saving the internal space of the detection device 100. In addition, the use of a plurality of angle detection components 140 can avoid the failure of one of the angle detection components 140 causing the failure of the entire detection device 100. This improves the reliability of the detection device 100.

[0132] In addition, in the related art, the mechanical arm mechanism 11 and the detection device 100 usually use a transmission mechanism to transmit motion. In this embodiment, the active member 132 and the transmission member 120 are directly fixedly connected, so that the transmission between the active member 132 and the transmission member 120 does not need to pass through the transmission mechanism, thereby avoiding the failure of the transmission mechanism to cause the failure of the transmission between the active member 132 and the transmission member 120. Thereby, the reliability of the detection device 100 is improved. The reliability of the mechanical arm mechanism 11 and the surgical robot 1 using the detection device 100 is high.

[0133] See you later Figure 5 In some other embodiments, the plurality of rotating members 130 include a first follower 133 and a second follower 134 staggeredly arranged on the carrier 110, the first follower 133 rotates around the second axis B, and the second follower 134 rotates around a third axis C that is not coaxial with the first axis A and the second axis B. The plurality of angle detection components 140 include a first driven angle detection component 143 for detecting the rotation angle of the first follower 133 and a second driven angle detection component 144 for detecting the rotation angle of the second follower 134. In this way, the first follower 133 and the second follower 134 are rotated around an axis different from the first axis A, so that the first follower 133 and the second follower 134 are staggered with the transmission member 120, which can avoid stacking between the plurality of angle detection components 140 and the transmission member 120, thereby saving the internal space of the detection device 100.

[0134] In some embodiments, the second axis B is parallel to or intersects the third axis C.

[0135] In the related art, the axial space of the articulated arm is crowded, and if the axial length of the articulated arm is increased, the movements of the multiple robot arm mechanisms 11 may interfere with each other or the movement range may be limited.

[0136] In some embodiments, Figure 4 as well as Figure 5 As shown, the first axis A, the second axis B and the third axis C are parallel to each other. In this way, the rotating member 130 and the transmission member 120 can rotate non-coaxially to avoid axial stacking, thereby saving space for the detection device 100. In turn, the axial space occupied by the detection device 100 in the joint arm is reduced, thereby reducing the axial length of the joint arm, and avoiding interference between the movements of the multiple robot arm mechanisms 11 or limitation of the movement range.

[0137] Based on any of the above embodiments, Figure 4 as well as Figure 7 As shown, in one embodiment, the plurality of rotating members 130 include a first rotating member 135 and a second rotating member 136 staggeredly disposed on the carrier 110, and at least one of the first rotating member 135 and the second rotating member 136 rotates non-coaxially with the transmission member 120. The plurality of angle detection components 140 include a first angle detection component 145 and a second angle detection component 146, and the first angle detection component 145 is used to detect the rotation angle of the first rotating member 135, and the second angle detection component 146 is used to detect the rotation angle of the second rotating member 136. In this way, by rotating at least one of the first rotating member 135 and the second rotating member 136 non-coaxially with the transmission member 120, it is possible to avoid the rotating member 130 and the transmission member 120 from being stacked on each other, thereby saving the internal space of the detection device 100.

[0138] like Figure 4 As shown, in some embodiments, the first rotating member 135 and the second rotating member 136 rotate non-coaxially with the transmission member 120. The first rotating member 135, the second rotating member 136 and the transmission member 120 are staggered to further avoid stacking, and reduce the space occupied by the detection device 100 in the axial direction of the joint arm. Interference between the movements of the mechanical arm mechanisms 11 or limitation of the movement range is avoided.

[0139] Based on any of the above embodiments, Figure 4As shown, in one embodiment, the detection device 100 further includes a first transmission unit 150 and a second transmission unit 160, the first rotating member 135 rotates synchronously with the transmission member 120 through the first transmission unit 150, and the second rotating member 136 rotates synchronously with the transmission member 120 through the second transmission unit 160. Thus, the rotation angle of the transmission member 120 is synchronously transmitted to the first rotating member 135 and the second rotating member 136 respectively.

[0140] In some embodiments, Figure 5 As shown, the first transmission unit 150 includes a belt 151, the first rotating member 135 and the second rotating member 136 are connected to a driven pulley 137, and the transmission member 120 includes a driving pulley 121, and the driving pulley 121 drives the driven pulley 137 to rotate through the belt 151. In this way, the use of belt transmission is convenient for avoiding other components, so that the internal structure of the detection device 100 is more compact and the space utilization rate is improved. In addition, the use of flexible transmission can facilitate installation and maintenance.

[0141] In some embodiments, Figure 8 As shown, the first transmission unit 150 includes a chain 153 , the first rotating member 135 and the second rotating member 136 are connected to a driven sprocket 138 , and the transmission member 120 includes a driving sprocket 122 , and the driving sprocket 122 drives the driven sprocket 138 to rotate through the chain 153 .

[0142] In some embodiments, Fig. 9 As shown, the first transmission unit 150 includes a gear unit 154 , the first transmission unit 150 and the second transmission unit 160 include a driven gear 139 , the transmission member 120 includes a driving gear 123 , and the driving gear 123 drives the driven gear 139 to rotate through the gear unit 154 .

[0143] Based on the above embodiments, Fig. 9 As shown, in one embodiment, the first rotating member 135 and the second rotating member 136 include a driven gear 139, and the transmission member 120 includes a driving gear 123, and the driving gear 123 is meshed with the driven gear 139 for transmission. Thus, the transmission member 120 drives the first rotating member 135 and the second rotating member 136.

[0144] Based on the above embodiments, Figure 7As shown, in one embodiment, one of the first rotating member 135 and the second rotating member 136 is fixedly connected to the transmission member 120 and rotates around the first axis A, and the other rotates non-coaxially with the transmission member 120. In this way, the transmission between one of the first rotating member 135 and the second rotating member 136 and the transmission member 120 does not need to pass through the transmission mechanism, thereby avoiding the failure of the transmission mechanism to cause the transmission failure between one of the first rotating member 135 and the second rotating member 136 and the transmission member 120, thereby improving the reliability of the detection device 100.

[0145] Based on the above embodiment, in one embodiment, the diameter of the first rotating member 135 is greater than the diameter of the second rotating member 136. Thus, at the same linear velocity, the smaller the diameter, the greater the angular velocity. Thus, the rotation angle of the second rotating member 136 is magnified, and the angle detection accuracy is improved.

[0146] In some embodiments, Figure 7 As shown, the detection device 100 further includes a third transmission unit 170 , and the first rotating member 135 rotates synchronously with the second rotating member 136 via the third transmission unit 170 .

[0147] In some embodiments, Figure 7 As shown, the third transmission unit 170 includes a belt 151 , the first rotating member 135 is provided with a driving pulley 121 , and the second rotating member 136 is provided with a driven pulley 137 . The driving pulley 121 drives the driven pulley 137 to rotate through the belt 151 .

[0148] In some embodiments, Figure 8 As shown, the third transmission unit 170 includes a chain 153 , the first rotating member 135 is provided with a driving sprocket 122 , the second rotating member 136 is provided with a driven sprocket 138 , and the driving sprocket 122 drives the driven sprocket 138 to rotate through the chain 153 .

[0149] In some embodiments, Fig. 9 As shown, the third transmission unit 170 includes a gear unit 154, the transmission member 120 is provided with a driving gear 123, and the third transmission unit 170 includes a driven gear 139. The driving gear 123 drives the driven gear 139 to rotate through gear meshing transmission.

[0150] Based on the above embodiments, Figure 7 as well as Fig. 9 As shown, in one embodiment, the first rotating member 135 is connected to the driving gear 123, and the second rotating member 136 includes a driven gear 139, and the driving gear 123 and the driven gear 139 are meshed and transmitted. Thus, the first rotating member 135 drives the second rotating member 136.

[0151] In some embodiments, Figure 7As shown, the first rotating member 135 rotates coaxially with the transmission member 120, and the first rotating member 135 includes a fixed body 1351, a matching body 1352 spaced apart from the fixed body 1351 to form an escape space, and a switching body 1353 connecting the fixed body 1351 and the matching body 1352. The fixed body 1351 is fixedly connected to the transmission member 120 so that the matching body 1352 rotates coaxially with the transmission member 120, and the first angle detection component 145 is used to detect the rotation angle of the matching body 1352. In this way, through the escape space formed between the fixed body 1351 and the matching body 1352, the escape space can be used to place internal wires and other components, which can save space in the detection device 100 and avoid interference between components.

[0152] Based on any of the above embodiments, Figure 6 As shown, in one embodiment, the angle detection component 140 includes a magnetic displacement sensor 147 and a magnet 148 fixed on the rotating member 130, and the magnetic displacement sensor 147 and the magnet 148 can generate electromagnetic induction. In this way, when the rotating member 130 rotates, the magnet 148 can be driven to rotate, and then the electromagnetic induction between the magnetic displacement sensor 147 and the magnet 148 is used to detect the rotation angle of the magnet 148, that is, the rotation angle of the rotating member 130.

[0153] In the related art, a flexible transmission method (such as a belt, etc.) is usually used to transmit motion, and the flexible transmission method is convenient for avoiding other components, thereby making the internal structure of the detection device 100 more compact, thereby reducing the space occupied by the detection device 100 in the surgical robot 1 and improving the space utilization rate of the surgical robot 1. In addition, the use of flexible transmission can facilitate installation and maintenance.

[0154] In order to further improve the transmission accuracy and detection accuracy. Based on the above embodiment, Fig.10 As shown, in one embodiment, the detection device 100 further includes a tensioning assembly 180, which can tension the belt 151. The tensioning assembly 180 is disposed on the carrier 110, and the tensioning assembly 180 includes a tensioning wheel 181 for pressing the belt 151. In this way, the tensioning wheel 181 of the tensioning assembly 180 presses against the belt 151, so that the belt 151 is tightened, which can effectively prevent the belt 151 from slipping, thereby improving the transmission accuracy. In addition, the detection accuracy of the detection device 100 is improved, thereby improving the control accuracy of the mechanical arm mechanism 11 and the surgical robot 1 to which the detection device 100 is applied.

[0155] Based on the above embodiments, Fig.10As shown, in one embodiment, the tensioning assembly 180 further includes a connecting member 182, and the connecting member 182 is disposed on the bearing member 110. The tensioning wheel 181 is rotatably disposed on the connecting member 182. In this way, the friction force of the tensioning wheel 181 on the belt 151 during the transmission process can be reduced, the wear of the belt 151 can be reduced, and its service life can be increased.

[0156] like Fig.10 As shown, in some embodiments, the carrier 110 is provided with a first supporting protrusion 111, and the connecting member 182 is slidably connected to the carrier 110. The detection device 100 also includes a screw 183, the screw 183 is threadedly connected to the first supporting protrusion 111, and one end of the screw 183 is rotatably connected to the connecting member 182 to adjust the spacing of the tensioning wheel 181 relative to the first supporting protrusion 111. In this way, when the tensioning wheel 181 is used to adjust the tightness of the belt 151, one end of the screw 183 is rotatably connected to the connecting member 182, and is threadedly connected to the first supporting protrusion 111, so that the screw 183 can move relative to the first supporting protrusion 111 when rotating, thereby pushing the tensioning wheel 181 set on the connecting member 182 to move, thereby realizing active adjustment of the tightness of the belt 151.

[0157] Further, in some embodiments, the connector 182 includes a first connector 101 slidably connected to the carrier 110. The screw 183 is threadedly engaged with the first supporting protrusion 111, and one end of the screw 183 is rotatably connected to the first connector 101 to adjust the spacing between the tensioning wheel 181 and the first supporting protrusion 111.

[0158] like Fig.10 As shown, based on the above embodiment, in one embodiment, the connecting member 182 further includes a second connecting member 102 arranged opposite to the first connecting member 101, the first connecting member 101 and the second connecting member 102 form an installation cavity 1821, and the tensioning wheel 181 is rotatably arranged in the installation cavity 1821; the tensioning assembly 180 further includes a first elastic member 184, and the second connecting member 102 is connected to the bearing member 110 through the first elastic member 184, so that the tensioning wheel 181 elastically presses against the belt 151. In this way, the first elastic member 184 is connected to the second connecting member 102, and applies an elastic force to the second connecting member 102, thereby pulling the connecting member 182, and then the tensioning wheel 181 located on the connecting member 182 elastically presses against the belt 151.

[0159] Furthermore, if Fig.10As shown, in one embodiment, the bearing member 110 is provided with a second supporting protrusion 112 arranged opposite to the first supporting protrusion 111, one end of the first elastic member 184 is connected to the second supporting protrusion 112, and the other end is connected to the second connecting member 182, so that the tensioning wheel 181 elastically presses against the belt 151. The first supporting protrusion 111 and the second supporting protrusion 112 are located on both sides of the transmission area of ​​the belt 151, and the first elastic member 184 can be configured as a tension spring, and the tension spring acts on the second connecting member 102, so that the tensioning wheel 181 elastically presses against the belt 151.

[0160] In the field of surgical robots, the volume of the surgical robot 1 is affected by the size of the components inside it. Therefore, reducing the space occupied by the components inside the surgical robot 1 becomes a factor that must be considered.

[0161] like Fig.10 As shown, on the basis of any of the above embodiments, in one embodiment, the connecting member 182 is rotatably arranged on the bearing member 110, and the connecting member 182 includes a first arm 103 and a second arm 104, and the length of the first arm 103 is less than the length of the second arm 104. The tensioning wheel 181 is arranged on the second arm 104, and the tensioning assembly 180 also includes a second elastic member 185. The first arm 103 is connected to the bearing member 110 through the second elastic member 185, so that the second elastic member 185 drives the first arm 103 to rotate, so that the tensioning wheel 181 elastically presses against the belt 151. In this way, when a force is applied to the first arm 103 to make the tensioning wheel 181 on the second arm 104 press against the belt 151, the distance that the first arm 103 needs to rotate can be reduced, so that the required swinging space is smaller. Thereby saving the internal space of the detection device 100.

[0162] like Fig.11 As shown, in some embodiments, the first arm 103 includes a first side wall disposed toward the belt 151 . To avoid interference between components, at least a portion of the first side wall may be configured to be arc-shaped to avoid the transmission member 120 .

[0163] Furthermore, in order to avoid interference between components, the shape of the connector 182 can be designed to fit other components, and no excessive restrictions are placed on the specific shape of the connector 182.

[0164] like Fig.11 As shown, in some embodiments, the end of the first arm 103 is provided with a first arc-shaped mating surface 105, and one end of the second elastic member 185 is provided with a second arc-shaped mating surface 106 that abuts against the first arc-shaped mating surface 105. In this way, by matching the first arc-shaped mating surface 105 and the second arc-shaped mating surface 106, stress concentration between the first arm 103 and the second elastic member 185 is avoided, and the service life of the first arm 103 and the second elastic member 185 is improved.

[0165] Furthermore, if Fig.11 As shown, in some embodiments, the second elastic member 185 includes a spring body 107 and an abutting body 108, one end of the spring body 107 abuts against the bearing member 110, and the other end of the spring body 107 is connected to one end of the abutting body 108, and the abutting body 108 is provided with a second arc-shaped matching surface 106. In this way, when the tensioning assembly tensions the belt, the abutting body 108 abuts against the first arc-shaped matching surface 105 at the end of the first arm 103 through the second arc-shaped matching surface 106, and the abutting body 108 is pushed by the spring body 107 to rotate the first arm 103, so that the tensioning wheel 181 on the second arm 104 elastically presses the belt 151.

[0166] like Fig.11 As shown, in some embodiments, the carrier 110 is provided with a first receiving groove 113, the spring body 107 is arranged in the first receiving groove 113, one end of the second elastic member 185 abuts against the side wall of the first receiving groove 113, at least part of the abutting body 108 is inserted into the first receiving groove 113, and a convex portion 109 is provided, and the convex portion 109 is plugged with the spring body 107 to limit the spring body 107 to the first receiving groove 113. In this way, the abutting body 108 uses the convex portion 109 to plug and match with the spring body 107, which facilitates the installation and removal of the abutting body 108 and the spring body 107. And by arranging at least part of the spring body 107 and the abutting body 108 in the first receiving groove 113, the space occupied by the spring body 107 and the abutting body 108 can be saved. In addition, the first receiving groove 113 also plays a role in limiting the spring body 107.

[0167] Based on the above-mentioned embodiment of the detection device, Fig.12 As shown, in some embodiments, the first articulated arm 200 includes a first cavity 210, a second cavity 220, and a partition 230 separating the first cavity 210 from the second cavity 220, the partition 230 is provided with a through hole 231 connecting the first cavity 210 and the second cavity 220, and the detection device 100 is arranged in the first cavity 210. The second articulated arm 300 includes a rotating part 310 inserted into the second cavity 220 and a transmission part 320 protruding from the rotating part 310, the rotating part 310 is rotatably connected to the second cavity 220, the transmission part 320 is fixedly connected to the transmission member 120 through the through hole 231, and the transmission part 320 rotates around the first axis A. Thereby, the rotation angle of the transmission part 320 is transmitted to the transmission member 120. Then, the detection device 100 is used to detect the rotation angle between the first articulated arm 200 and the second articulated arm 300.

[0168] In some embodiments, the transmission part 320 is fixedly connected to the second device 1402 through the through hole 231 , and the transmission part 320 rotates around the first axis A.

[0169] Based on the above embodiments, Fig.12 As shown, in one embodiment, the robot arm mechanism 11 further includes a first bearing assembly 400, the rotating part 310 is rotatably matched with the second cavity 220 through the first bearing assembly 400, and the rotating part 310 and the inner side wall of the second cavity 220 are spaced apart to form a first protective cavity 330, and the first bearing assembly 400 is disposed in the first protective cavity 330. In this way, the first bearing is disposed in the first protective cavity 330, so that the first protective cavity 330 plays a dust-proof role for the first bearing assembly 400, and the first bearing assembly 400 can also be lubricated by adding lubricant into the first protective cavity 330.

[0170] like Fig.12 As shown, in some embodiments, the rotating part 310 is hollow, and the first articulated arm 200 further includes a cylinder 240 fixed to the partition 230, the cylinder 240 is communicated with the through hole 231, and the cylinder 240 is disposed in the second cavity 220 and inserted into the rotating part 310, and the cylinder 240 is rotatably connected to the rotating part 310. The first articulated arm 200 and the second articulated arm 300 are rotatably connected.

[0171] like Fig.12 As shown, in some embodiments, the second articulated arm 300 includes a transmission shaft 340 and a third cavity 360 fixedly connected to the rotating part 310 to form a second protective cavity 350, one end of the transmission shaft 340 is fixed to the third cavity 360, and the other end of the transmission shaft 340 is provided with a transmission part 320, and the transmission part 320 passes through the cylinder 240 and is fixedly connected to the transmission member 120. In this way, when the second articulated arm 300 rotates, the rotation angle will be transmitted to the transmission part 320 through the transmission shaft 340, and then transmitted to the transmission member 120 of the detection device 100 through the transmission part 320, so that the rotation angle of the second articulated arm 300 is detected by the detection device 100.

[0172] like Fig.12 As shown, in some embodiments, the third cavity 360 is fixedly connected to the rotating part 310 to form a second protective cavity 350. The robot arm mechanism 11 also includes a second bearing assembly 500, and the inner wall of the rotating part 310 is rotatably connected to the cylinder 240 through the second bearing assembly 500, and the second bearing assembly 500 is arranged in the second protective cavity 350. In this way, the second bearing assembly 500 is arranged in the second protective cavity 350, so that the second protective cavity 350 plays a dust-proof role for the second bearing assembly 500, and the second bearing assembly 500 can also be lubricated by adding lubricant into the second protective cavity 350.

[0173] like Fig.12As shown, in some embodiments, the first cavity 210 is provided with an opening 211 arranged opposite to the through hole 231, and the first articulated arm 200 further includes an end cover 250, which is connected to the first cavity 210 to cover the opening 211. In this way, the detection device 100 can be installed or removed in the robot arm mechanism 11 through the opening 211, and by providing the end cover 250 to cover the opening 211, the detection device 100 is dustproof and protected.

[0174] In combination with any of the above embodiments of the bearing member 110, in other embodiments, the bearing member 110 is first assembled to the first joint arm 200 as a part of the first joint arm 200. The transmission member is first assembled to the second joint arm 300 as a part of the second joint arm 300. In this case, the angle detection component 140 can be directly assembled to the robot arm mechanism 11.

[0175] Similarly, the rotating member 130 of any of the above-mentioned embodiments can be rotatably arranged on the first joint arm 200, at least one rotating member 130 among the multiple rotating members 130 is transmission-connected to the second joint arm 300, and the multiple rotating members 130 can rotate with the second joint arm 300, and at least one rotating member 130 rotates around a second axis that is not coaxial with the first axis; the multiple angle detection components 140 correspond one-to-one to the multiple rotating members 130, and the angle detection components 140 can measure the rotation angle of the corresponding rotating member 130 to obtain the rotation angle of the second joint arm 300 relative to the first joint arm 200.

[0176] The components included in the "component", "device" and "equipment" of this application can be flexibly combined, that is, modular production can be carried out according to actual conditions, modular assembly can be carried out as an independent module; or they can be assembled separately to form a module in this device. For example, the detection device can be modularly assembled onto the robot arm mechanism as an independent module, or it can be directly integrated with the robot arm mechanism.

[0177] The division of the above components in the present application is only one of the embodiments, for the convenience of reading, rather than limiting the scope of protection of the present application, as long as the above components are included and have the same function, it should be understood that they are equivalent technical solutions of the present application. In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0178] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0179] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0180] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0181] It should be noted that when an element is referred to as being "fixed to", "disposed on", "fixedly arranged on" or "installed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. Furthermore, when an element is considered to be "fixedly connected to" another element, the two may be fixed in a detachable connection manner or in a non-detachable connection manner, such as socketing, snap-fitting, integral molding, welding, etc., which can be achieved in traditional technologies and will not be repeated here.

[0182] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the inventive concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A robotic arm mechanism, characterized in that: include: First articulated arm; A second articulated arm, the second articulated arm is rotatably connected to the first articulated arm and rotates about a first axis; An angle detection component, the angle detection component includes a first device and a second device, one of the first device and the second device is a detection device, and the other is a detected device; the first device is fixed relative to the first joint arm, the second device is rotatable relative to the first device, and the second device can rotate synchronously with the second joint arm; Wherein, the robotic arm mechanism comprises a plurality of the angle detection components, and at least one of the plurality of the angle detection components is offset relative to the first axis.

2. The mechanical arm mechanism according to claim 1, characterized in that: The robotic arm mechanism includes two angle detection components, and the two angle detection components include a second device that rotates coaxially with the first axis.

3. The mechanical arm mechanism according to claim 1, characterized in that: The robotic arm mechanism comprises two angle detection components, and both of the angle detection components are offset relative to the first axis.

4. The mechanical arm mechanism according to claim 3, characterized in that: The two angle detection components include two second components, and both of the two second components rotate non-collinearly with the first axis; the rotation axes of the two second components are not collinear.

5. The mechanical arm mechanism according to claim 4, characterized in that: The rotation axes of the two second components are parallel to the first axis.

6. The mechanical arm mechanism according to claim 1, characterized in that: One of the first device and the second device is a magnetic displacement sensor, and the other is a magnet. The magnetic displacement sensor and the magnet can generate electromagnetic induction.

7. The mechanical arm mechanism according to claim 1, characterized in that: The mechanical arm mechanism also includes: A plurality of rotating parts can be rotatably arranged on the first joint arm, at least one of the plurality of rotating parts is transmission-connected to the second joint arm, and the plurality of rotating parts can rotate with the second joint arm, and at least one rotating part rotates around a second axis that is not coaxial with the first axis; the plurality of angle detection components correspond one-to-one to the plurality of rotating parts, and the angle detection components can measure the rotation angle of the corresponding rotating parts.

8. The mechanical arm mechanism according to claim 7, characterized in that: The first axis is parallel to, intersects with, or is not in the same plane as the second axis.

9. The mechanical arm mechanism according to claim 8, characterized in that: The plurality of rotating members include a driven member and a driving member staggeredly disposed on the first joint arm, the driving member is fixedly connected to the second joint arm and rotates around the first axis, and the driven member rotates around the second axis; The plurality of angle detection components include a driven angle detection component for detecting the rotation angle of the driven member and an active angle detection component for detecting the rotation angle of the active rotating member.

10. The mechanical arm mechanism according to claim 8, characterized in that: The multiple rotating parts include a first follower and a second follower staggeredly arranged on the first joint arm, the first follower rotates around the second axis, and the second follower rotates around a third axis that is not coaxial with the first axis and the second axis; the multiple angle detection components include a first follower angle detection component for detecting the rotation angle of the first follower and a second follower angle detection component for detecting the rotation angle of the second follower.

11. The mechanical arm mechanism according to claim 10, characterized in that: The second axis is parallel to or intersects with the third axis.

12. The mechanical arm mechanism according to claim 11, characterized in that: The first axis, the second axis and the third axis are parallel to each other.

13. The mechanical arm mechanism according to claim 7, characterized in that: The angle detection component includes a magnetic displacement sensor and a magnet fixed on the rotating member, and the magnetic displacement sensor and the magnet can generate electromagnetic induction.

14. The mechanical arm mechanism according to claim 7, characterized in that: The plurality of rotating members include a first rotating member and a second rotating member staggeredly disposed on the first joint arm, and at least one of the first rotating member and the second rotating member rotates non-coaxially with the second joint arm; The plurality of angle detection components include a first angle detection component and a second angle detection component, wherein the first angle detection component is used to detect the rotation angle of the first rotating member, and the second angle detection component is used to detect the rotation angle of the second rotating member.

15. The mechanical arm mechanism according to claim 14, characterized in that: The first rotating member and the second rotating member rotate non-coaxially with the second joint arm respectively; and / or the diameter of the first rotating member is greater than the diameter of the second rotating member.

16. The mechanical arm mechanism according to claim 15, characterized in that: The robotic arm mechanism further includes a first transmission unit and a second transmission unit. The first rotating member rotates synchronously with the second articulated arm through the first transmission unit, and the second rotating member rotates synchronously with the second articulated arm through the second transmission unit.

17. The mechanical arm mechanism according to claim 16, characterized in that: The first transmission unit includes a belt, the first rotating member and the second rotating member are both connected to a driven pulley, the second articulated arm includes a driving pulley, and the driving pulley drives the driven pulley to rotate through the belt; Alternatively, the first transmission unit includes a chain, the first rotating member and the second rotating member are both connected to a driven sprocket, the second articulated arm includes a driving sprocket, and the driving sprocket drives the driven sprocket to rotate through the chain; Alternatively, the first transmission unit includes a gear unit, the first transmission unit and the second transmission unit include a driven gear, the second articulated arm includes a driving gear, and the driving gear drives the driven gear to rotate through the gear unit.

18. The mechanical arm mechanism according to claim 15, characterized in that: The first rotating member and the second rotating member are both connected with a driven gear, and the second articulated arm is provided with a driving gear, and the driving gear is meshed with the driven gear for transmission.

19. The mechanical arm mechanism according to claim 14, characterized in that: One of the first rotating member and the second rotating member is fixedly connected to the second joint arm and rotates around the first axis, and the other rotates non-coaxially with the second joint arm; and / or the diameter of the first rotating member is greater than the diameter of the second rotating member.

20. The mechanical arm mechanism according to claim 19, characterized in that: The mechanical arm mechanism further includes a third transmission unit, and the first rotating member rotates synchronously with the second rotating member through the third transmission unit.

21. The mechanical arm mechanism according to claim 20, characterized in that: The third transmission unit comprises a belt, the first rotating member is provided with a driving pulley, the second rotating member is provided with a driven pulley, and the driving pulley drives the driven pulley to rotate through the belt; Alternatively, the third transmission unit comprises a chain, the first rotating member is provided with a driving sprocket, the second rotating member is provided with a driven sprocket, and the driving sprocket drives the driven sprocket to rotate through the chain; Alternatively, the third transmission unit comprises a gear unit, the second articulated arm is provided with a driving gear, the third transmission unit comprises a driven gear, and the driving gear drives the driven gear to rotate through the gear meshing transmission.

22. The mechanical arm mechanism according to claim 19, characterized in that: The first rotating member is provided with a driving gear, and the second rotating member is provided with a driven gear, and the driving gear is meshed with the driven gear for transmission.

23. The mechanical arm mechanism according to claim 19, characterized in that: The first rotating member rotates coaxially with the second articulated arm. The first rotating member includes a fixed body, a matching body spaced apart from the fixed body to form an avoidance space, and a connecting body connecting the fixed body and the matching body. The fixed body is fixedly connected to the second articulated arm so that the matching body rotates coaxially with the second articulated arm. The first angle detection component is used to detect the rotation angle of the matching body.

24. The mechanical arm mechanism according to claim 17 or 21, characterized in that: The mechanical arm mechanism also includes a tensioning assembly, which is arranged on the first articulated arm and includes a tensioning wheel for pressing the belt.

25. The mechanical arm mechanism according to claim 24, characterized in that: The tensioning assembly also includes a connecting piece, and the connecting piece is arranged on the first joint arm; the tensioning wheel is rotatably arranged on the connecting piece.

26. The mechanical arm mechanism according to claim 25, characterized in that: The first articulated arm is provided with a first supporting protrusion, and the connecting piece is slidably connected to the first articulated arm; the mechanical arm mechanism also includes a screw rod, which is threadedly engaged with the first supporting protrusion, and one end of the screw rod is rotatably connected to the connecting piece to adjust the spacing of the tensioning wheel relative to the first supporting protrusion.

27. The mechanical arm mechanism according to claim 25, characterized in that: The connecting member includes a first connecting body slidingly connected to the first articulated arm and a second connecting body arranged opposite to the first connecting body, the first connecting body and the second connecting body form an installation cavity, and the tensioning wheel can be rotatably arranged in the installation cavity; the tensioning assembly also includes a first elastic member, and the second connecting body is connected to the first articulated arm through the first elastic member so that the tensioning wheel elastically presses against the belt.

28. The mechanical arm mechanism according to claim 27, characterized in that: The first articulated arm is provided with a first supporting protrusion, and the first connecting body is slidably connected to the first articulated arm; the mechanical arm mechanism also includes a screw, which is threadedly engaged with the first supporting protrusion, and one end of the screw is rotatably connected to the first connecting body to adjust the spacing of the tensioning wheel relative to the first supporting protrusion.

29. The mechanical arm mechanism according to claim 28, characterized in that: The first articulated arm is provided with a second supporting protrusion spaced apart from the first supporting protrusion, one end of the first elastic member is connected to the second supporting protrusion, and the other end is connected to the second connecting member, so that the tensioning wheel elastically presses the belt.

30. The mechanical arm mechanism according to claim 25, characterized in that: The connecting member can be rotatably set on the first joint arm, and the connecting member includes a first arm and a second arm, and the length of the first arm is smaller than the length of the second arm; the tensioning wheel is set on the second arm, and the tensioning assembly also includes a second elastic member. The first arm is connected to the first joint arm through the second elastic member, so that the first arm drives the tensioning wheel to elastically press the belt.

31. The mechanical arm mechanism according to claim 30, characterized in that: The first arm comprises a first side wall disposed toward the belt, and at least a portion of the first side wall is arc-shaped to avoid the second joint arm.

32. The mechanical arm mechanism according to claim 30, characterized in that: A first arc-shaped matching surface is provided at the end of the first arm, and a second arc-shaped matching surface abutting against the first arc-shaped matching surface is provided at one end of the second elastic member.

33. The mechanical arm mechanism according to claim 32, characterized in that: The second elastic member includes a spring body and an abutment body, one end of the spring body abuts against the first joint arm, the other end of the spring body is connected to one end of the abutment body, and the abutment body is provided with the second arc-shaped matching surface.

34. The mechanical arm mechanism according to claim 33, characterized in that: The first joint arm is provided with a first accommodating groove, the spring body is arranged in the first accommodating groove, one end of the second elastic member abuts against the side wall of the first accommodating groove, at least part of the abutting body is inserted into the first accommodating groove, and a protrusion is provided, and the protrusion is plugged into and cooperated with the spring body to limit the spring body to the first accommodating groove.

35. The mechanical arm mechanism according to claim 1, characterized in that: The first articulated arm includes a first cavity, a second cavity and a partition separating the first cavity from the second cavity, the partition is provided with a through hole connecting the first cavity and the second cavity, and the angle detection component is arranged in the first cavity; the second articulated arm includes a rotating part inserted into the second cavity and a transmission part protruding from the rotating part, the rotating part is rotatably connected to the second cavity, the transmission part passes through the through hole and is fixedly connected to the second device, and the transmission part rotates around the first axis.

36. The mechanical arm mechanism according to claim 35, characterized in that: The robotic arm also includes a first bearing assembly, the rotating part is rotatably matched with the second cavity through the first bearing assembly, and the rotating part and the inner side wall of the second cavity are spaced apart to form a first protective cavity, and the first bearing assembly is arranged in the first protective cavity.

37. The mechanical arm mechanism according to claim 35, characterized in that: The rotating part is hollow, and the first joint arm also includes a cylinder fixed to the partition, the cylinder is communicated with the through hole, and the cylinder is arranged in the second cavity and inserted into the rotating part, and the cylinder is rotatably connected to the rotating part.

38. The mechanical arm mechanism according to claim 37, characterized in that: The second articulated arm includes a transmission shaft and a third cavity fixedly connected to the rotating part to form a second protective cavity. One end of the transmission shaft is fixed to the third cavity, and the other end of the transmission shaft is provided with the transmission part. The transmission part passes through the cylinder and is fixedly connected to the second device.

39. The mechanical arm mechanism according to claim 38, characterized in that: The third cavity is fixedly connected to the rotating part to form a second protective cavity; the robotic arm also includes a second bearing assembly, the inner side wall of the rotating part is rotatably connected to the cylinder through the second bearing assembly, and the second bearing assembly is arranged in the second protective cavity.

40. The mechanical arm mechanism according to claim 35, characterized in that: The first cavity is provided with an opening arranged opposite to the through hole, and the first articulated arm further comprises an end cover, and the end cover is connected to the first cavity to cover the opening.

41. A surgical robot, characterized in that: A robotic arm mechanism comprising any one of claims 1 to 40.

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