Robotic arm mechanism and surgical robot

Abstract

This invention discloses a robotic arm mechanism and a surgical robot. The robotic arm mechanism includes a first articulated arm, a second articulated arm, and an angle detection component. The second articulated arm is rotatably connected to the first articulated arm and rotates about a first axis. The angle detection component includes a first device and a second device, one of which is a detection device and the other is the device being detected. The first device is fixed relative to the first articulated arm, and the second device is rotatable relative to the first device, capable of rotating synchronously with the second articulated arm. The robotic arm mechanism includes multiple angle detection components, at least one of which is offset relative to the first axis. This robotic arm mechanism can reduce its volume along the rotation axis.

Description

TECHNICAL FIELD

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

[0002] At present, surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, fearlessness of radiation and infection, and are widely used in various surgeries.

[0003] In related technologies, a surgical robot includes multiple mechanical arms, and the angle of rotation needs to be determined when adjacent mechanical arms rotate, so as to determine the specific position of the current mechanical arm. However, the angle detection assembly of the mechanical arm is often separately arranged and separately connected with the shaft part or shaft-like part of the rotary joint. For example, the angle detection assembly is arranged at different positions and arranged on the axis of the rotary joint. To some extent, this causes excessive arrangement of the rotary joint in the direction of the rotation axis, and the structure is stacked and large. SUMMARY

[0004] Therefore, the present application provides a mechanical arm mechanism and a surgical robot, which can reduce the volume on the rotation axis.

[0005] Specifically, the present application is realized by the following technical solutions.

[0006] According to a first aspect of the embodiments of the present application, a mechanical arm mechanism is provided, which includes a first joint arm, a second joint arm, and an angle detection assembly. The second joint arm is rotationally connected with the first joint arm and rotates around a first axis. The angle detection assembly 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 fixedly arranged relative to the first joint arm, and the second device is rotatable relative to the first device. The second device can rotate synchronously with the second joint arm. The mechanical arm mechanism includes multiple angle detection assemblies, and at least one of the multiple angle detection assemblies is offset relative to the first axis.

[0007] The technical solutions provided by the embodiments of the present application can 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 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 plurality of angle detection assemblies relative to the first axis, the stacking of the plurality of angle detection assemblies on the rotation axis is reduced, thereby reducing the space occupied by the plurality of angle detection assemblies on the rotation axis. In turn, the volume of the mechanical arm mechanism on the rotation axis is reduced.

[0009] The technical solutions of the present application are further described below.

[0010] In one of the embodiments, the mechanical arm mechanism includes two angle detection assemblies, and the two angle detection assemblies include a second device rotating coaxially with the first axis.

[0011] In one of the embodiments, the mechanical arm mechanism includes two angle detection assemblies, and the two angle detection assemblies are both offset relative to the first axis.

[0012] In one of the embodiments, the two angle detection assemblies include two second devices, and the two second devices both rotate non-collinearly with the first axis. The rotation axes of the two second devices are non-collinear.

[0013] In one of the embodiments, the rotation axes of the two second devices are both parallel to the first axis.

[0014] In one of the embodiments, 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 of the embodiments, the detection device further includes a plurality of rotating members, the plurality of rotating members are rotatably arranged on the first joint arm, at least one of the plurality of rotating members is in transmission connection with the second joint arm, and the plurality of rotating members can rotate with the second joint arm. At least one of the rotating members rotates around a second axis different from the first axis. The plurality of angle detection assemblies correspond one-to-one to the plurality of rotating members, and the angle detection assemblies can measure the rotation angle of the corresponding rotating members.

[0016] In one of the embodiments, the first axis is parallel to, intersects with, or is in different planes from the second axis.

[0017] In one of the embodiments, the plurality of rotating members includes a driven member and a driving member which are arranged in a staggered manner on the first joint arm, the driving member is fixedly connected with the second joint arm and rotates around the first axis, and the driven member rotates around the second axis.

[0018] In one of the embodiments, the plurality of rotating members includes a first driven member and a second driven member which are arranged in a staggered manner on the first joint arm, the first driven member rotates around the second axis, and the second driven member rotates around a third axis which is different from the first axis and the second axis. The plurality of angle detection assemblies includes a first driven angle detection assembly for detecting the rotation angle of the first driven member and a second driven angle detection assembly for detecting the rotation angle of the second driven member.

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

[0020] In one of the embodiments, the first axis, the second axis and the third axis are parallel to each other in pairs.

[0021] In one of the embodiments, the angle detection assembly includes a magnetic displacement sensor and a magnet fixedly arranged on the rotating member, and the magnetic displacement sensor and the magnet can generate electromagnetic induction.

[0022] In one of the embodiments, the plurality of rotating members includes a first rotating member and a second rotating member which are arranged in a staggered manner on the first joint arm, 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 assemblies includes a first angle detection assembly for detecting the rotation angle of the first rotating member and a second angle detection assembly for detecting the rotation angle of the second rotating member.

[0023] In one of the embodiments, 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 of the embodiments, the detection device further includes a first transmission unit and a second transmission unit, the first rotating member rotates synchronously with the second joint arm through the first transmission unit, and the second rotating member rotates synchronously with the second joint arm through the second transmission unit.

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

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

[0027] Alternatively, the first transmission unit comprises a gear unit, the first transmission unit and the second transmission unit comprise driven gears, and the second joint arm comprises a driving gear, the driving gear drives the driven gears to rotate through the gear unit.

[0028] In one of the embodiments, the first rotating member and the second rotating member comprise driven gears, the second joint arm is provided with a driving gear, and the driving gear is in meshing transmission with the driven gears.

[0029] In one of the embodiments, one of the first rotating member and the second rotating member is fixedly connected with 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 of the embodiments, the detection device further comprises a third transmission unit, the first rotating member synchronously rotates with the second rotating member through the third transmission unit.

[0031] In one of the embodiments, 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.

[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 comprises a gear unit, the second joint arm is provided with a driving gear, the third transmission unit comprises driven gears, and the driving gear drives the driven gears to rotate through the gear unit.

[0034] In one of the embodiments, the first rotating member is provided with a driving gear, the second rotating member is provided with a driven gear, and the driving gear is in meshing transmission with the driven gear.

[0035] In one of the embodiments, the first rotating member rotates coaxially with the second joint arm, the first rotating member comprises a fixed body, a cooperating body which is arranged in a spaced manner with the fixed body to form an avoiding space, and a connecting body which connects the fixed body and the cooperating body, the fixed body is fixedly connected with the second joint arm to make the cooperating body rotate coaxially with the second joint arm, and the first angle detection assembly is used for detecting the rotation angle of the cooperating body.

[0036] In one of the embodiments, the detection device further comprises a tensioning assembly, the tensioning assembly is arranged on the first joint arm, and the tensioning assembly comprises a tensioning wheel which is used for pressing the belt.

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

[0038] In one of the embodiments, the first articulated arm is provided with a first supporting protrusion, and the connecting member is in sliding connection with the first articulated arm. The detection device further comprises a screw rod, which is in screw connection with the first supporting protrusion, and one end of the screw rod is in rotational connection with the connecting member, so as to adjust the distance between the tensioning wheel and the first supporting protrusion.

[0039] In one of the embodiments, the connecting member comprises a first connecting body in sliding connection with the first articulated arm and a second connecting body arranged opposite to the first connecting body, and the first connecting body and the second connecting body are formed with a mounting cavity, and the tensioning wheel is rotatably arranged in the mounting cavity. The tensioning assembly further comprises a first elastic member, and the second connecting body is connected with the first articulated arm through the first elastic member, so as to elastically press the tensioning wheel against the belt.

[0040] In one of the embodiments, the first articulated arm is provided with a first supporting protrusion, and the first connecting body is in sliding connection with the first articulated arm. The detection device further comprises a screw rod, which is in screw connection with the first supporting protrusion, and one end of the screw rod is in rotational connection with the first connecting body, so as to adjust the distance between the tensioning wheel and the first supporting protrusion.

[0041] In one of the embodiments, the first articulated 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 of the first elastic member is connected to the second connecting body, so as to elastically press the tensioning wheel against the belt.

[0042] In one of the embodiments, the connecting member is rotatably arranged on the first articulated arm, and the connecting member comprises a first arm and a second arm, and the length of the first arm is less than the length of the second arm. The tensioning wheel is arranged on the second arm, and the tensioning assembly further comprises a second elastic member, and the first arm is connected with the first articulated arm through the second elastic member, so as to elastically press the first arm and the tensioning wheel against the belt.

[0043] In one of the embodiments, the first arm comprises a first side wall arranged towards the belt, and at least a part of the first side wall is in arc shape, so as to avoid the second articulated arm.

[0044] In one of the embodiments, the end of the first arm is provided with a first arc-shaped matching surface, and one end of the second elastic member is provided with a second arc-shaped matching surface which abuts against the first arc-shaped matching surface.

[0045] In one of the embodiments, the second elastic member comprises a spring body and an abutting body, one end of the spring body abuts against the first articulated arm, the other end of the spring body is connected with one end of the abutting body, and the abutting body is provided with the second arc-shaped matching surface.

[0046] In one of the embodiments, the first articulated 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 the abutting body is provided with a protrusion, the protrusion is inserted into the spring body in a fit manner, so as to limit the spring body in the first accommodating groove.

[0047] In one of the embodiments, the first articulated arm comprises a first cavity, a second cavity and a partition plate separating the first cavity from the second cavity, the partition plate is provided with a through hole communicating the first cavity and the second cavity, and the angle detection assembly is arranged in the first cavity. The second articulated arm comprises a rotating part inserted into the second cavity and a transmission part protruding from the rotating part, the rotating part is rotationally connected with the second cavity, the transmission part is fixedly connected with the second device through the through hole, and the transmission part rotates around the first axis.

[0048] In one of the embodiments, the mechanical arm further comprises a first bearing assembly, the rotating part is rotationally connected with the second cavity through the first bearing assembly, and the rotating part and the inner side wall of the second cavity are arranged in a spaced manner to form a first protection cavity, and the first bearing assembly is arranged in the first protection cavity.

[0049] In one of the embodiments, the rotating part is hollow, and the first articulated arm further comprises a barrel fixed to the partition plate, the barrel communicates with the through hole, and the barrel is arranged in the second cavity and inserted into the rotating part, and the barrel is rotationally connected with the rotating part.

[0050] In one of the embodiments, the second articulated arm comprises a transmission shaft and a third cavity fixedly connected with the rotating part to form a second protection cavity, one end of the transmission shaft is fixed to the third cavity, the other end of the transmission shaft is provided with a transmission part, and the transmission part is fixedly connected with the transmission device through the barrel.

[0051] In one of the embodiments, the third cavity is fixedly connected with the rotating part to form the second protection cavity. The mechanical arm further comprises a second bearing assembly, the inner side wall of the rotating part is rotationally connected with the barrel through the second bearing assembly, and the second bearing assembly is arranged in the second protection cavity.

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

[0053] According to the second aspect of the embodiments of the present application, a surgical robot is provided, which comprises the mechanical arm mechanism in any of the above embodiments.

[0054] The technical scheme provided by the embodiments of the present application can have the following beneficial effects.

[0055] The surgical robot applies the mechanical arm mechanism in any of the above embodiments, and the structure stacking of the surgical robot can be avoided.

[0056] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the application and together with the description, serve to explain the application. The drawings are intended for purposes of illustration only and are not intended to limit the scope of the application.

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0059] Figure 1 Structure diagram of a surgical robot shown in an embodiment.

[0060] Figure 2 Structure diagram of a multi-axis motion device shown in an embodiment. Figure 1

[0061] Figure 3 Structure diagram of a joint arm provided with a detection device shown in an embodiment. Figure 2

[0062] Figure 4 Structure diagram of a detection device shown in an embodiment. Figure 3

[0063] Structure diagram of a detection device shown in an embodiment. Figure 5 Figure 3 Structure diagram of a detection device shown in an embodiment.

[0064] Figure 6 Figure 4 Cross-sectional structure diagram of a detection device shown in an embodiment.

[0065] Figure 7 Structure diagram of a detection device shown in an embodiment.

[0066] Figure 8 Structure diagram of a chain transmission shown in an embodiment.

[0067] Figure 9 Structure diagram of a gear transmission shown in an embodiment.

[0068] Figure 10 Structure diagram of a tensioning assembly shown in an embodiment. Figure 4

[0069] Figure 11 Figure 10 ​​​​​​An exploded structural schematic view of the tensioning assembly.

[0070] Figure 12 For Figure 3 A cross-sectional structural schematic view of the articulated arm.

[0071] Explanation of reference numerals.

[0072] 1. Surgical robot 10, multi-axis movement device 11, arm mechanism

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

[0074] 110. Carrier 111. First support protrusion 112. Second support protrusion 113. First accommodating groove 120. Transmission member 121. Driving pulley

[0075] 122. Driving sprocket 123. Driving gear 130. Rotating member

[0076] 131. Driven member 132. Driving member 133. First driven member

[0077] 134. Second driven member 135. First rotating member 1351. Fixed body

[0078] 1352. Cooperating body 1353. Adapter body 136. Second rotating member

[0079] 137. Driven pulley 138. Driven sprocket 139. Driven gear

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

[0081] 141. Driven angle detection assembly 142. Driving angle detection assembly

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

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

[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 pulley 182. Connecting member

[0086] 1821, mounting cavity 101, first connecting body 102, second connecting body

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

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

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

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

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

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

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

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

[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 scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the protection scope of the present application.

[0098] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

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

[0100] In the related art, a surgical robot includes a multi-axis motion device, the multi-axis motion device includes a plurality of mechanical hands, the mechanical hands have a plurality of joint arms, adjacent joint arms are relatively movable in a specific degree of freedom, so that the end of the mechanical hand can reach a multi-degree of freedom movement. When the adjacent joint arms rotate, the angle of rotation needs to be determined to determine the specific position of the current mechanical arm, but the angle detection assembly of the mechanical arm is often separately arranged and separately connected with the shaft part or shaft part of the rotating joint. For example, the angle detection assembly is arranged at different positions and arranged on the axis of the rotating joint. To some extent, the rotating joint has too many structure arrangements in the rotating axis direction, and the structure is stacked and large.

[0101] Based on this, the mechanical arm mechanism provided by the application can avoid too many structure arrangements in the rotating axis direction, structure stacking, and large structure.

[0102] In order to better understand the mechanical arm mechanism of the application, the surgical robot including the mechanical arm mechanism is described.

[0103] As shown in Figure 1 and Figure 2 , a surgical robot 1 is provided, which includes a multi-axis motion device 10 capable of driving a surgical instrument to move to realize corresponding surgical actions. Specifically, the surgical robot 1 further includes a control device 20 and an imaging device 30, and the control device 20 is in communication connection with the imaging device 30 and the multi-axis motion device 10. In this way, the doctor can control the multi-axis motion device 10 to move through the control device 20 to perform the action of the corresponding surgical instrument. During this process, the doctor can perform surgical observation according to the imaging device 30.

[0104] Optionally, in some embodiments, the control device 20 includes a display unit having a display unit showing the environment of the surgical instrument and a control mechanism for the doctor to operate, etc. 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 through the operation of the control mechanism to complete the action of the corresponding surgical instrument.

[0105] Optionally, in some embodiments, the control device 20 further has other control switches which are convenient for hands or feet to touch or press to perform various function operations to complete human-computer interaction.

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

[0107] In some embodiments, as Figure 2As shown, the multi-axis motion device 10 includes a mechanical arm mechanism 11 having at least two joint arms 11a connected in sequence, and an instrument driver 12. Adjacent two joint arms 11a are relatively movable in a certain degree of freedom, so that the end of the mechanical arm mechanism 11 can achieve multi-degree-of-freedom movement. The instrument driver 12 is arranged at the end arm of the mechanical arm mechanism 11 to drive the surgical instrument to achieve gripping, deflection, pitching and other operations.

[0108] In the embodiments of the present application, as shown in Figure 3 The mechanical 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 be pivoted. The rotation axis of the first joint arm 200 and the second joint arm 300 is set as a first axis A. In the embodiments, the connection of the first joint arm 200 and the second joint arm 300 can be arranged in the direction of the first axis A and connected through a specific structure. For example, in the field of surgical robots, driving devices, brake devices, transmission devices, wiring structures or detection devices can be or can not be arranged between the joint arms. However, in the connection structure of the adjacent two joint arms, the driving devices, brake devices, transmission devices and wiring structures are not the key of the present application, and are not considered in the main inventive concept of the present application. Therefore, they are not described in detail in the present application.

[0109] In the field of surgical robots, the mechanical arm mechanism 11 needs to be as small as possible, and accordingly, the rotation joint structure of the mechanical arm mechanism 11 also needs to be as small as possible. As described above, in the connection structure of the adjacent two joint arms, driving devices, brake devices, transmission devices, wiring structures and the like can be arranged, and in some cases, one or more of these structures are necessary and cannot be reduced. Therefore, how to reduce the size of the mechanical arm mechanism 11 is a problem.

[0110] The researchers found that in the prior art, the same mechanical arm mechanism 11 often has two angle detection assemblies 140, and the two angle detection assemblies 140 are often arranged separately and separately connected with the shaft part or the shaft-like part of the rotation joint. For example, the two angle detection assemblies 140 are arranged at different positions and arranged on the rotation axis of the rotation joint. To some extent, the structure arrangement of the rotation joint in the rotation axis direction is too much, the structure is stacked, and the structure is large.

[0111] In the embodiments of the present application, the mechanical arm mechanism 11 includes a first joint arm 200, a second joint arm 300 and a plurality of angle detection assemblies 140. Referring to Figures 3 to 6Exemplarily, the first joint arm 200 is fixedly connected with a shaft. The second joint arm 300 and the first joint arm 200 are arranged in a staggered manner in the direction of the first axis A, and the shaft extends to the second joint arm 300. The first joint arm 200 and the second joint arm 300 are rotationally connected, and both the first joint arm 200 and the second joint arm 300 can rotate relative to each other about the first axis A. Correspondingly, the shaft can rotate relative to the second joint arm 300 about the first axis A. The angle detection assembly 140 includes a first device 1401 and a second device 1402. One of the first device 1401 and the second device 1402 can be arranged as a detection device, and the other of the first device 1401 and the second device 1402 can be arranged as a detected device. The first device 1401 is fixedly arranged relative to the first joint arm 200, and the second device 1402 is rotatable relative to the first device 1401 and can rotate simultaneously with the second joint arm 300. Specifically, the robot arm mechanism 11 can include a plurality of angle detection assemblies 140, and at least one of the plurality of angle detection assemblies 140 is offset relative to the first axis A. In this way, the structure stack on the rotation axis of the joint can be reduced to some extent, thereby reducing the volume of the joint on the rotation axis.

[0112] In some embodiments, the plurality of angle detection assemblies 140 includes 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 joint arm 300" should be understood in a broad sense. For example, the rotation state of the second device 1402 has a correlation with the rotation state of the second joint arm 300, which means that the rotation state of the second device 1402 is constrained by the rotation state of the second joint arm 300, and the motion states of the two are consistent, and the motions of the two are simultaneous, but the angular velocity, angle and direction of the rotation of the two can be consistent or inconsistent. Correspondingly, the motion state of the second device 1402 is constrained by the second joint arm 300.

[0114] However, in the practice of the present application, the researchers found that the different motion states of the first device 1401 and the second device 1402 relative to the first joint arm 200 and the second joint arm 300 can have some impact on the stability of the connection of the detection assembly with the communication cable or the PCB and other electrical components. Therefore, in the embodiments of the present application, the first device 1401 that is relatively fixed relative to the first joint arm 200 is preferred as the detection device, and the second device 1402 relative to the second joint arm 300 is not necessarily in a fixed and stationary state, but the motion state can be different. Therefore, the second device 1402 is the detected device. The detection device in the detection assembly and the communication cable or the PCB and other electrical components are in a relatively fixed or stationary state relative to the first joint arm 200, which can improve the stability of the electrical connection.

[0115] In some embodiments, the angle detecting assembly can be configured as a magnetic encoder, in which the first device 1401 comprises at least a magnetic sensitive element, and the second device 1402 comprises at least a magnetic element. In other embodiments, the angle detecting assembly can also be configured as an optical encoder, in which the first device 1401 comprises at least a light source and a code disk, and the second device 1402 comprises at least a light sensitive 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 rotates, and the electromagnetic induction between the magnetic displacement sensor 147 and the magnet 148 is used to detect the rotation angle of the magnet 148, i.e., the relative rotation angle of the first device 1401 and the second device 1402.

[0117] In some embodiments, as shown in Figure 4 and Figure 5 , in an embodiment, the mechanical arm mechanism 11 comprises two angle detecting assemblies 140, and both of the angle detecting assemblies 140 are offset relative to the first axis A. Thus, 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, as shown in Figure 4 and Figure 5 , the two angle detecting assemblies 140 comprise two second devices 1402, and both of the second devices 1402 rotate non-collinearly with the first axis A; the rotation axes of the two second devices 1402 are non-collinear.

[0119] In some embodiments, as shown in Figure 4 and Figure 5 , the rotation axes of the two second devices 1402 are both parallel to the first axis A.

[0120] The researchers have also found that in the prior art, two angle detecting devices are not only separately arranged, but also each of the two angle detecting devices needs a separate bearing structure, which also affects the volume or length of the rotary joint in the rotation axis direction, and is time-consuming and laborious in structural design and equipment.

[0121] In the embodiments of the present application, the angle detection device further comprises a bearing assembly, two first devices 1401 in the two angle detection devices are arranged on the same bearing assembly, which can reduce the number of components in the first axis A direction, to a certain extent, can also reduce the volume of the joint in the first axis A direction, and can also modularize the design of the two angle detection device modules, and improve the design efficiency and assembly efficiency.

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

[0123] For example, as shown in Figure 4 and Figure 5 , in some embodiments, the detection device 100 comprises a bearing 110, a transmission 120 and an angle detection assembly 140. The transmission 120 is rotatably arranged on the bearing 110 and rotates around the first axis A. The first joint arm 200 is fixedly connected with the bearing 110, and the second joint arm 300 is drivingly connected with the transmission 120. In this way, the detection device 100 can be assembled into a module, and then through the fixed connection of the first joint arm 200 with the bearing 110 and the driving connection of the second joint arm 300 with the transmission 120, the angle detection assembly 140 can be modularly installed to the mechanical arm mechanism 11, thereby improving the assembly efficiency of the mechanical arm mechanism 11.

[0124] The first device 1401 is fixedly arranged relative to the bearing 110, and the second device 1402 is rotatable relative to the first device 1401, and the second device 1402 can rotate synchronously with the transmission 120. Among them, the detection device 100 comprises a plurality of angle detection assemblies 140, and at least one of the plurality of angle detection assemblies 140 is offset relative to the first axis A. And when the detection device 100 is installed to the mechanical arm mechanism 11 in a module, one of the first joint arm 200 and the second joint arm 300 is drivingly connected with the transmission 120, and the other is fixedly connected with the bearing 110.

[0125] Thus, when the first articulated arm 200 and the second articulated arm 300 rotate relative to each other, the transmission member 120 and the carrier member 110 rotate relative to each other. The first device 1401 is fixedly arranged with the carrier member 110, and the second device 1402 is synchronously driven with the transmission member 120, so that the first device 1401 and the second device 1402 also rotate relative to each other. Thus, the detection device can detect the angle of rotation of the detected device relative to the detection device, i.e., the relative rotation angle of the first articulated arm 200 and the second articulated arm 300. By offsetting at least one of the plurality of angle detection assemblies 140 relative to the first axis A, the stacking of the plurality of angle detection assemblies 140 on the rotation axis is reduced, thereby reducing the space occupied by the plurality of angle detection assemblies 140 on the rotation axis. In turn, the volume of the robotic arm mechanism 11 on the rotation axis is reduced.

[0126] Specifically, in one embodiment of the present application, as shown in Figure 4 and Figure 5 The detection device 100 further comprises a plurality of rotating members 130, which are rotatably arranged on the carrier member 110. At least one of the plurality of rotating members 130 is in driving connection with the transmission member 120, and the plurality of rotating members 130 can rotate with the transmission member 120. At least one of the plurality of rotating members 130 rotates about a second axis B which is different from the first axis A. Furthermore, 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] Thus, the angle detection assembly 140 measures the rotation angle of the corresponding rotating member 130, i.e., 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 a plurality of angle detection assemblies 140, the failure of part of the angle detection assemblies 140 can be avoided, which can cause the entire detection device 100 to fail, thereby improving the reliability of the detection device 100.

[0128] It can be understood that the transmission member 120 is rotatably arranged on the carrier member 110, and drives the plurality of rotating members 130 to rotate, so as to transmit the rotary motion to the plurality of rotating members 130, and further enable the angle detection assembly 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 driving 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 be driven. The plurality of rotating members 130 can also be connected to the rotating member 130 which has been driven by the transmission member 120, so as to indirectly connect with the transmission member 120 to be driven.

[0130] In some embodiments, the first axis A is parallel, intersects, or is not in the same plane as the second axis B. This makes the multiple angle detection components 140 non-coaxially arranged, avoiding 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, such as Figure 7 As shown, in one embodiment, the plurality of rotating members 130 include a driven member 131 and a driven member 132 staggered and arranged on the support member 110. The driven member 132 is fixedly connected to the transmission member 120 and rotates about a first axis A, while the driven member 131 rotates about a second axis B. The plurality of angle detection assemblies 140 include a driven angle detection assembly 141 for detecting the rotation angle of the driven member 131 and an active angle detection assembly 142 for detecting the rotation angle of the active rotating member 130. Thus, by staggering the driven member 131 and the driven member 132, the stacking of the multiple angle detection assemblies 140 can be avoided, thereby saving internal space in the detection device 100. Furthermore, by using multiple angle detection assemblies 140, the failure of one angle detection assembly 140 can be prevented from causing the entire detection device 100 to fail. This improves the reliability of the detection device 100.

[0132] Furthermore, in related technologies, the robotic arm mechanism 11 and the detection device 100 typically use a transmission mechanism to transmit motion. However, in this embodiment, by directly fixing the active component 132 and the transmission component 120 together, the transmission between the active component 132 and the transmission component 120 does not need to go through a transmission mechanism, thus avoiding transmission failure due to transmission mechanism failure. This improves the reliability of the detection device 100. Consequently, the robotic arm mechanism 11 and the surgical robot 1 using this detection device 100 have high reliability.

[0133] See you later Figure 5 In other embodiments, the plurality of rotating members 130 include a first follower 133 and a second follower 134 offset from the support member 110. The first follower 133 rotates about a second axis B, and the second follower 134 rotates about a third axis C that is not aligned with either the first axis A or the second axis B. The plurality of angle detection components 140 include a first follower angle detection component 143 for detecting the rotation angle of the first follower 133 and a second follower angle detection component 144 for detecting the rotation angle of the second follower 134. Thus, by rotating both the first follower 133 and the second follower 134 about an axis different from the first axis A, the first follower 133 and the second follower 134 are offset from the transmission member 120. This not only avoids the stacking of the plurality of angle detection components 140 but also avoids stacking with the transmission member 120, thereby saving 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 joint arm is crowded, and if the axial length of the joint arm is increased, the motion of the plurality of mechanical arm mechanisms 11 can be interfered or the motion range is limited.

[0136] In some embodiments, as shown in Figure 4 and Figure 5 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 are non-coaxially rotated, avoiding axial stacking, thereby saving the space of the detection device 100. Further, the axial space of the detection device 100 in the joint arm is reduced, thereby reducing the axial length of the joint arm, avoiding the motion of the plurality of mechanical arm mechanisms 11 being interfered or the motion range being limited.

[0137] On the basis of any of the above embodiments, as shown in Figure 4 and Figure 7 In an embodiment, the plurality of rotating members 130 includes a first rotating member 135 and a second rotating member 136 arranged staggered on the carrier 110, and at least one of the first rotating member 135 and the second rotating member 136 is non-coaxially rotated with the transmission member 120. The plurality of angle detection assemblies 140 includes a first angle detection assembly 145 and a second angle detection assembly 146, the first angle detection assembly 145 is used to detect the rotation angle of the first rotating member 135, and the second angle detection assembly 146 is used to detect the rotation angle of the second rotating member 136. In this way, at least one of the first rotating member 135 and the second rotating member 136 is non-coaxially rotated with the transmission member 120, which can avoid the rotating member 130 and the transmission member 120 from being stacked with each other, thereby saving the internal space of the detection device 100.

[0138] As shown in Figure 4 In some embodiments, the first rotating member 135 and the second rotating member 136 are both non-coaxially rotated with the transmission member 120. The first rotating member 135, the second rotating member 136, and the transmission member 120 are arranged staggered with each other, further avoiding stacking, thereby reducing the space of the detection device 100 in the axial direction of the joint arm. Avoiding the motion of the plurality of mechanical arm mechanisms 11 being interfered or the motion range being limited.

[0139] On the basis of any of the above embodiments, as shown in 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. This synchronously transmits the rotation angle of the transmission member 120 to the first rotating member 135 and the second rotating member 136, respectively.

[0140] In some implementations, such as Figure 5 As shown, the first transmission unit 150 includes a belt 151, a first rotating component 135 and a second rotating component 136 connected to a driven pulley 137, and a transmission component 120 includes a driving pulley 121, which drives the driven pulley 137 to rotate via the belt 151. This belt drive method facilitates avoidance of other components, resulting in a more compact internal structure of the detection device 100 and improved space utilization. Furthermore, the flexible transmission method facilitates installation and maintenance.

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

[0142] In some implementations, such as Figure 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, and the transmission component 120 includes a driving gear 123. The driving gear 123 drives the driven gear 139 to rotate through the gear unit 154.

[0143] Based on the above embodiments, such as Figure 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, which meshes with the driven gear 139 for transmission. This causes the transmission member 120 to drive the first rotating member 135 and the second rotating member 136.

[0144] Based on the above embodiments, see back 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 about the first axis A, while the other rotates non-coaxially with the transmission member 120. This eliminates the need for a transmission mechanism to facilitate the transmission between the first rotating member 135 / 236 and the transmission member 120, preventing transmission failure due to a failure of the transmission mechanism and thus improving the reliability of the detection device 100.

[0145] Based on the above embodiments, in one embodiment, the diameter of the first rotating member 135 is larger than the diameter of the second rotating member 136. Thus, at the same linear velocity, a smaller diameter results in a greater angular velocity. This amplifies the rotation angle of the second rotating member 136 and improves the angle detection accuracy.

[0146] In some embodiments, such as Figure 7 As shown, the detection device 100 also includes a third transmission unit 170, through which the first rotating member 135 rotates synchronously with the second rotating member 136.

[0147] In some implementations, such as 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 implementations, such as Figure 8 As shown, the third transmission unit 170 includes a chain 153, the first rotating component 135 is provided with a driving sprocket 122, and the second rotating component 136 is provided with a driven sprocket 138. The driving sprocket 122 drives the driven sprocket 138 to rotate through the chain 153.

[0149] In some implementations, such as Figure 9 As shown, the third transmission unit 170 includes a gear unit 154, the transmission component 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, such as Figure 7 as well as Figure 9 As shown, in one embodiment, the first rotating member 135 is connected to a driving gear 123, and the second rotating member 136 includes a driven gear 139. The driving gear 123 and the driven gear 139 mesh and transmit power. This allows the first rotating member 135 to drive the second rotating member 136.

[0151] In some embodiments, such as Figure 7As shown, the first rotating member 135 rotates coaxially with the transmission member 120, the first rotating member 135 comprises a fixed body 1351, a cooperating body 1352 which is arranged in a spaced manner with the fixed body 1351 to form an avoiding space, and a rotating adapter 1353 connecting the fixed body 1351 and the cooperating body 1352. The fixed body 1351 is fixedly connected with the transmission member 120, so that the cooperating body 1352 rotates coaxially with the transmission member 120, and the first angle detection assembly 145 is used for detecting the rotation angle of the cooperating body 1352. In this way, the avoiding space formed between the fixed body 1351 and the cooperating body 1352 can be used to place internal wires and other components, which can save the space of the detection device 100 and avoid interference between components.

[0152] On the basis of any of the above embodiments, it is found that Figure 6 As shown, in an embodiment, the angle detection assembly 140 comprises a magnetic displacement sensor 147 and a magnet 148 fixedly arranged 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 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 mode (such as a belt, etc.) is usually used to transmit motion, which is convenient to avoid other components, so that the internal structure of the detection device 100 is 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. And the flexible transmission can make the installation and maintenance convenient.

[0154] In order to further improve the transmission accuracy and improve the detection accuracy. On the basis of the above embodiments, as shown, Figure 10 As shown, in an embodiment, the detection device 100 further comprises a tensioning assembly 180, the tensioning assembly 180 can tension the belt 151, the tensioning assembly 180 is arranged on the carrier 110, and the tensioning assembly 180 comprises a tensioning wheel 181 for pressing the belt 151. In this way, the tensioning wheel 181 of the tensioning assembly 180 presses the belt 151, so that the belt 151 is tightened, which can effectively prevent the belt 151 from slipping, thereby improving the transmission accuracy. Further improve the detection accuracy of the detection device 100, thereby improving the control accuracy of the mechanical arm mechanism 11 and the surgical robot 1 applied with the detection device 100.

[0155] On the basis of the above embodiments, as shown, Figure 10As shown, in one embodiment, the tensioning assembly 180 further includes a connector 182, which is disposed on the support member 110. The tensioning pulley 181 is rotatably disposed on the connector 182. In this way, the frictional force of the belt 151 on the tensioning pulley 181 during transmission can be reduced, thereby reducing the wear of the belt 151 and improving its service life.

[0156] like Figure 10 As shown, in some embodiments, the carrier 110 is provided with a first support protrusion 111, and the connector 182 is slidably connected to the carrier 110. The detection device 100 also includes a screw 183, which is screwed into the first support protrusion 111, and one end of the screw 183 is rotatably connected to the connector 182 to adjust the distance between the tension wheel 181 and the first support protrusion 111. Thus, when adjusting the tension of the belt 151 using the tension wheel 181, the screw 183 is rotatably connected to the connector 182 and screwed into the first support protrusion 111, so that the screw 183 can move relative to the first support protrusion 111 when it rotates, thereby pushing the tension wheel 181 provided on the connector 182 to move, thereby realizing the active adjustment of the tension of the belt 151.

[0157] Furthermore, in some embodiments, the connector 182 includes a first connector 101 that is slidably connected to the carrier 110. The screw 183 is screwed into the first support protrusion 111, and one end of the screw 183 is rotatably connected to the first connector 101 to adjust the distance between the tension wheel 181 and the first support protrusion 111.

[0158] like Figure 10 As shown, based on the above embodiments, in one embodiment, the connector 182 further includes a second connector 102 disposed opposite to the first connector 101. The first connector 101 and the second connector 102 form a mounting cavity 1821, and the tensioning wheel 181 is rotatably disposed in the mounting cavity 1821. The tensioning assembly 180 further includes a first elastic element 184, and the second connector 102 is connected to the bearing member 110 through the first elastic element 184, so that the tensioning wheel 181 elastically presses against the belt 151. Thus, the first elastic element 184 is connected to the second connector 102 and applies an elastic force to the second connector 102, thereby pulling the connector 182, and causing the tensioning wheel 181 located on the connector 182 to elastically press against the belt 151.

[0159] Furthermore, such as Figure 10As shown, in one embodiment, the carrier 110 is provided with a second support protrusion 112 opposite to the first support protrusion 111. One end of the first elastic member 184 is connected to the second support protrusion 112, and the other end is connected to the second connector 182, so that the tension wheel 181 elastically presses against the belt 151. The first support protrusion 111 and the second support protrusion 112 are located on both sides of the transmission area of ​​the belt 151. The first elastic member 184 can be constructed as a tension spring, and the tension wheel 181 elastically presses against the belt 151 through the action of the tension spring on the second connector 102.

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

[0161] like Figure 10 As shown, based on any of the above embodiments, in one embodiment, the connecting member 182 is rotatably disposed on the bearing member 110. 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 disposed on the second arm 104. 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, thereby causing the tensioning wheel 181 to elastically press against the belt 151. Thus, when force is applied to the first arm 103 to cause the tensioning wheel 181 on the second arm 104 to press against the belt 151, the distance that the first arm 103 needs to rotate can be reduced, resulting in a smaller required swing space. This saves internal space in the detection device 100.

[0162] like Figure 11 As shown, in some embodiments, the first arm 103 includes a first sidewall facing the belt 151. To avoid interference between components, at least a portion of the first sidewall 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 adapt to other components, and there are no restrictions on the specific shape of the connector 182.

[0164] like Figure 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. Thus, by mating 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, thereby improving the service life of the first arm 103 and the second elastic member 185.

[0165] Further, as shown in Figure 11 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, 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 abuts against the belt 151.

[0166] As shown in Figure 11 some embodiments, the bearing member 110 is provided with a first accommodating groove 113, the spring body 107 is arranged in the first accommodating groove 113, one end of the second elastic member 185 abuts against the side wall of the first accommodating groove 113, at least part of the abutting body 108 is inserted into the first accommodating groove 113, and the abutting body 108 is provided with a protruding portion 109, which is insertedly matched with the spring body 107 to limit the spring body 107 in the first accommodating groove 113. In this way, the abutting body 108 is insertedly matched with the spring body 107 through the protruding portion 109, which facilitates the installation and disassembly of the abutting body 108 and the spring body 107. In addition, the spring body 107 and at least part of the abutting body 108 are arranged in the first accommodating groove 113, which can save the space occupied by the spring body 107 and the abutting body 108. In addition, the first accommodating groove 113 also limits the spring body 107.

[0167] On the basis of the above-mentioned embodiments of the detection device, as shown in Figure 12 some embodiments, the first joint arm 200 includes a first cavity 210, a second cavity 220, and a partition plate 230 separating the first cavity 210 and the second cavity 220, the partition plate 230 is provided with a through hole 231 communicating the first cavity 210 and the second cavity 220, and the detection device 100 is arranged in the first cavity 210. The second joint 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 rotationally connected with the second cavity 220, the transmission part 320 is fixedly connected with the transmission member 120 through the through hole 231, and the transmission part 320 rotates around the first axis A. Thus, 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 joint arm 200 and the second joint arm 300.

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

[0169] On the basis of the above embodiments, as shown in Figure 12 In an embodiment, the mechanical arm mechanism 11 further comprises a first bearing assembly 400, the rotating part 310 is rotatably connected with the second cavity 220 through the first bearing assembly 400, and the rotating part 310 is spaced apart from the inner side wall of the second cavity 220 to form a first protection cavity 330, and the first bearing assembly 400 is arranged in the first protection cavity 330. In this way, the first bearing assembly 400 is arranged in the first protection cavity 330, so that the first protection cavity 330 plays a dustproof role for the first bearing assembly 400, and the first bearing assembly 400 can also be lubricated by adding lubricant into the first protection cavity 330.

[0170] As shown in Figure 12 In some embodiments, the rotating part 310 is hollow, and the first joint arm 200 further comprises a barrel 240 fixed to the partition plate 230, the barrel 240 is in communication with the through hole 231, and the barrel 240 is arranged in the second cavity 220 and inserted into the rotating part 310, and the barrel 240 is rotatably connected with the rotating part 310. The first joint arm 200 and the second joint arm 300 are rotatably connected.

[0171] As shown in Figure 12 In some embodiments, the second joint arm 300 comprises a transmission shaft 340 and a third cavity 360 fixedly connected with the rotating part 310 to form a second protection 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 is fixedly connected with the transmission member 120 through the barrel 240. In this way, when the second joint arm 300 rotates, the angle of rotation is 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 angle of rotation of the second joint arm 300 is detected by the detection device 100.

[0172] As shown in Figure 12 In some embodiments, the third cavity 360 is fixedly connected with the rotating part 310 to form the second protection cavity 350. The mechanical arm mechanism 11 further comprises a second bearing assembly 500, the inner side wall of the rotating part 310 is rotatably connected with the barrel 240 through the second bearing assembly 500, and the second bearing assembly 500 is arranged in the second protection cavity 350. In this way, the second bearing assembly 500 is arranged in the second protection cavity 350, so that the second protection cavity 350 plays a dustproof role for the second bearing assembly 500, and the second bearing assembly 500 can also be lubricated by adding lubricant into the second protection cavity 350.

[0173] As shown in Figure 12As shown, in some embodiments, the first cavity 210 is provided with an opening 211 opposite to the through hole 231, and the first articulated arm 200 further includes an end cap 250, which is connected to the first cavity 210 to cover the opening 211. Thus, the detection device 100 can be installed or removed from the robotic arm mechanism 11 through the opening 211, and the end cap 250, by covering the opening 211, provides dust protection and protection for the detection device 100.

[0174] In conjunction with any of the embodiments of the carrier 110 described above, in other embodiments, the carrier 110 is assembled to the first articulated arm 200 as part of the first articulated arm 200. The transmission component is assembled to the second articulated arm 300 as part of the second articulated arm 300. In this case, the angle detection component 140 can be directly assembled onto the robotic arm mechanism 11.

[0175] Similarly, in any of the above embodiments, the rotating member 130 is rotatably disposed on the first joint arm 200. At least one of the multiple rotating members 130 is connected to the second joint arm 300 in a transmission connection, and the multiple rotating members 130 can rotate with the second joint arm 300. At least one rotating member 130 rotates about a second axis that is not the same as the first axis. Multiple angle detection components 140 correspond one-to-one with the multiple rotating members 130. 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 "components," "devices," and "equipment" of this application can be flexibly combined. They can be modularly produced according to actual needs and assembled 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 as an independent module onto the robotic arm mechanism, or it can be directly integrally formed with the robotic arm mechanism.

[0177] The division of the components in the present application is only one embodiment, for the convenience of reading, and is not a limitation on the scope of protection of the present application, as long as the components are included and the same effect is understood as the equivalent technical solutions of the present application. In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0178] In addition, the terms "first", "second", and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0179] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0180] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0181] It should be noted that when an element is referred to as being "fixed", "set", "secured" or "attached" to another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements can also be present. Further, when an element is referred to as being "fixed connected" to another element, the two can be fixedly connected in a detachable manner or fixedly connected in a non-detachable manner such as sleeving, clamping, integrally forming, welding, etc., which can be realized in the prior art and will not be described here.

[0182] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0183] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, some modifications and improvements can be made without departing from the inventive concept of the present application, and these are within the scope of the present application.

Claims

1. A robotic arm mechanism, characterized in that, include: First joint arm; The second articulated arm is rotatably connected to the first articulated arm and rotates about the first axis; An angle detection component includes a first device and a second device, one of which is a detection device and the other is a device being detected; the first device is fixedly disposed relative to the first articulated arm, and the second device is rotatable relative to the first device, and the second device is capable of rotating synchronously with the second articulated arm; wherein, the robotic arm mechanism includes a plurality of the angle detection components, at least one of the plurality of angle detection components being offset relative to the first axis; Multiple rotating components are rotatably mounted on the first joint arm. At least one of the multiple rotating components is connected to the second joint arm in a transmission manner, and the multiple rotating components can rotate with the second joint arm. At least one rotating component rotates about a second axis that is not an axis of the first axis. Multiple angle detection components correspond one-to-one with the multiple rotating components, and the angle detection components can measure the rotation angle of the corresponding rotating component. The rotation axes of the multiple rotating components are not collinear.

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

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

4. The robotic arm mechanism according to claim 3, characterized in that, The two angle detection components include two second devices, both of which rotate non-collinearly with the first axis; the rotation axes of the two second devices are non-collinear.

5. The robotic arm mechanism according to claim 4, characterized in that, The rotation axes of both second devices are parallel to the first axis.

6. The robotic 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 robotic arm mechanism according to claim 1, characterized in that, The first axis is parallel to, intersects with, or is not in the same plane as the second axis.

8. The robotic arm mechanism according to claim 7, characterized in that, The plurality of rotating components include a driven component and a driving component offset from the first joint arm. The driving component is fixedly connected to the second joint arm and rotates about the first axis, while the driven component rotates about 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 member.

9. The robotic arm mechanism according to claim 7, characterized in that, The plurality of rotating components include a first follower and a second follower offsetly disposed on the first joint arm, the first follower rotating about the second axis, and the second follower rotating about a third axis that is not aligned with either the first axis or the second axis; the plurality of 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.

10. The robotic arm mechanism according to claim 9, characterized in that, The second axis is parallel to or intersects the third axis.

11. The robotic arm mechanism according to claim 10, characterized in that, The first axis, the second axis, and the third axis are parallel to each other.

12. The robotic arm mechanism according to claim 1, characterized in that, The angle detection component includes a magnetic displacement sensor and a magnet fixed on the rotating part. The magnetic displacement sensor and the magnet can generate electromagnetic induction.

13. The robotic arm mechanism according to claim 1, characterized in that, The plurality of rotating components include a first rotating component and a second rotating component disposed offset from the first joint arm, wherein at least one of the first rotating component and the second rotating component 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 component, and the second angle detection component is used to detect the rotation angle of the second rotating component.

14. The robotic arm mechanism according to claim 13, characterized in that, The first rotating member and the second rotating member rotate 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.

15. The robotic arm mechanism according to claim 14, characterized in that, The robotic arm mechanism further includes a first transmission unit and a second transmission unit. The first rotating component rotates synchronously with the second articulated arm through the first transmission unit, and the second rotating component rotates synchronously with the second articulated arm through the second transmission unit.

16. The robotic arm mechanism according to claim 15, characterized in that, The first transmission unit includes a belt, and both the first rotating component and the second rotating component are connected to a driven pulley. The second joint 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 joint 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 driven gears, the second joint arm includes a driving gear, and the driving gear drives the driven gear to rotate through the gear unit.

17. The robotic arm mechanism according to claim 14, characterized in that, Both the first rotating member and the second rotating member are connected to driven gears, and the second joint arm is provided with a driving gear, which meshes with the driven gear for transmission.

18. The robotic arm mechanism according to claim 13, 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, while the other rotates non-coaxially with the second joint arm; and / or, the diameter of the first rotating member is larger than the diameter of the second rotating member.

19. The robotic arm mechanism according to claim 18, characterized in that, The robotic arm mechanism also includes a third transmission unit, through which the first rotating component rotates synchronously with the second rotating component.

20. The robotic arm mechanism according to claim 19, characterized in that, The third transmission unit includes a belt, the first rotating component is provided with a driving pulley, and the second rotating component is provided with a driven pulley. The driving pulley drives the driven pulley to rotate through the belt. Alternatively, the third transmission unit includes a chain, the first rotating component is provided with a driving sprocket, the second rotating component is provided with a driven sprocket, and the driving sprocket drives the driven sprocket to rotate through the chain; Alternatively, the third transmission unit may include a gear unit, the second joint arm may be provided with a drive gear, and the third transmission unit may include a driven gear, wherein the drive gear drives the driven gear to rotate through gear meshing.

21. The robotic arm mechanism according to claim 18, characterized in that, The first rotating component is provided with a driving gear, and the second rotating component is provided with a driven gear. The driving gear and the driven gear mesh and transmit power.

22. The robotic arm mechanism according to claim 18, characterized in that, The first rotating component rotates coaxially with the second joint arm. The first rotating component includes a fixed body, a mating body that is spaced apart from the fixed body to form a clearance space, and a adapter body that connects the fixed body and the mating body. The fixed body is fixedly connected to the second joint arm so that the mating body rotates coaxially with the second joint arm. The first angle detection component is used to detect the rotation angle of the mating body.

23. The robotic arm mechanism according to claim 16 or 20, characterized in that, The robotic arm mechanism further includes a tensioning assembly disposed on the first joint arm, the tensioning assembly including a tensioning pulley for pressing against the belt.

24. The robotic arm mechanism according to claim 23, characterized in that, The tensioning assembly further includes a connector disposed on the first joint arm; the tensioning wheel is rotatably disposed on the connector.

25. The robotic arm mechanism according to claim 24, characterized in that, The first articulated arm is provided with a first support protrusion, and the connecting member is slidably connected to the first articulated arm; the robotic arm mechanism also includes a screw, which is screwed to the first support protrusion, and one end of the screw is rotatably connected to the connecting member to adjust the distance between the tension wheel and the first support protrusion.

26. The robotic arm mechanism according to claim 24, characterized in that, The connector includes a first connector that is slidably connected to the first articulated arm and a second connector that is disposed opposite to the first connector. The first connector and the second connector form a mounting cavity, and the tensioning wheel is rotatably disposed in the mounting cavity. The tensioning assembly also includes a first elastic element, and the second connector is connected to the first articulated arm through the first elastic element so that the tensioning wheel elastically presses against the belt.

27. The robotic arm mechanism according to claim 26, characterized in that, The first articulated arm is provided with a first support protrusion, and the first connecting body is slidably connected to the first articulated arm; the robotic arm mechanism also includes a screw, which is screwed to the first support protrusion, and one end of the screw is rotatably connected to the first connecting body to adjust the distance between the tension wheel and the first support protrusion.

28. The robotic arm mechanism according to claim 27, characterized in that, The first articulated arm is provided with a second support protrusion spaced apart from the first support protrusion. One end of the first elastic member is connected to the second support protrusion, and the other end is connected to the second connecting body, so that the tensioning wheel elastically presses against the belt.

29. The robotic arm mechanism according to claim 24, characterized in that, The connector is rotatably mounted on the first joint arm. The connector includes a first arm and a second arm, and the length of the first arm is less than the length of the second arm. The tension wheel is mounted on the second arm. The tensioning assembly also includes a second elastic element. The first arm is connected to the first joint arm through the second elastic element, so that the first arm drives the tension wheel to elastically press against the belt.

30. The robotic arm mechanism according to claim 29, characterized in that, The first arm includes a first sidewall disposed toward the belt, at least a portion of which is arc-shaped to avoid the second articulated arm.

31. The robotic arm mechanism according to claim 29, characterized in that, The first arm has a first arc-shaped mating surface at its end, and the second elastic member has a second arc-shaped mating surface at one end that abuts against the first arc-shaped mating surface.

32. The robotic arm mechanism according to claim 31, characterized in that, The second elastic element includes a spring body and an abutment body. One end of the spring body abuts against the first joint arm, and the other end of the spring body is connected to one end of the abutment body. The abutment body is provided with the second arc-shaped mating surface.

33. The robotic arm mechanism according to claim 32, characterized in that, The first joint arm is provided with a first receiving groove, the spring body is disposed in the first receiving groove, one end of the second elastic member abuts against the side wall of the first receiving groove, at least a portion of the abutting body is inserted into the first receiving groove and is provided with a protrusion, the protrusion is inserted into the spring body to restrict the spring body in the first receiving groove.

34. The robotic 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 and the second cavity. The partition has a through hole communicating with the first cavity and the second cavity. The angle detection component is disposed 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. The transmission part rotates around the first axis.

35. The robotic arm mechanism according to claim 34, characterized in that, The robotic arm also includes a first bearing assembly. The rotating part is rotatably engaged 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. The first bearing assembly is disposed in the first protective cavity.

36. The robotic arm mechanism according to claim 34, characterized in that, The rotating part is hollow, and the first joint arm also includes a cylinder fixed to the partition. The cylinder communicates with the through hole and is disposed in the second cavity and inserted into the rotating part. The cylinder is rotatably connected to the rotating part.

37. The robotic arm mechanism according to claim 36, characterized in that, The second articulated arm includes a drive shaft and a third cavity that is fixedly connected to the rotating part to form a second protective cavity. One end of the drive shaft is fixed to the third cavity, and the other end of the drive shaft is provided with the drive part. The drive part passes through the cylinder and is fixedly connected to the second device.

38. The robotic arm mechanism according to claim 37, 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 wall of the rotating part is rotatably connected to the cylinder through the second bearing assembly, and the second bearing assembly is disposed in the second protective cavity.

39. The robotic arm mechanism according to claim 34, characterized in that, The first cavity has an opening opposite to the through hole, and the first joint arm also includes an end cap connected to the first cavity to cover the opening.

40. A surgical robot, characterized in that, Includes the robotic arm mechanism as described in any one of claims 1 to 39.

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