Rotary joint, mechanical arm and surgical robot

Abstract

The invention relates to the technical field of surgical robots, in particular to a rotary joint, a mechanical arm and a surgical robotic.The rotary joint comprises two arm bodies, rotating mechanisms are arranged in the two arm bodies, an adjusting mechanism is arranged between the two arm bodies, the adjusting mechanism is provided with a driving mechanism and a moving mechanism in a matched mode, and the adjusting mechanism comprises two rod bodies; and one ends of the two rod bodies are fixedly connected with the two rotating mechanisms correspondingly, and a connecting plate is arranged between the two rod bodies. According to the mechanical arm, the driving mechanism is started to drive the moving mechanism, the moving mechanism controls the adjusting mechanism to adjust the angle between the two arm bodies, the control precision of the moving mechanism can be improved through the driving mechanism, and therefore the moving mechanism improves the adjusting precision of the rotating angle between the two arm bodies through the adjusting mechanism; and the two arm bodies can be rotated to be parallel through the adjusting mechanism, so that the two arm bodies can be conveniently stored.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, specifically a rotary joint, a robotic arm, and a surgical robot. Background Art

[0002] Currently, the technology of surgical robots in the medical industry has developed relatively rapidly. In addition to some large-scale robots with mature technologies, such as the Da Vinci surgical robot, medium and small-sized surgical robots have emerged in the prior art. They are usually designed to be more lightweight, easy to operate, and can provide accuracy similar to that of traditional large-scale surgical robots. Some medium-sized robots are also smaller in size and more convenient, such as the artificial intelligence joint replacement surgical robot for orthopedics and the fully intelligent spinal surgical robot. Some of these medium and small-sized robots use robotic arms to install surgical instruments and use the robotic arms to adjust the position of the surgical instruments. When using the robotic arms, some robotic arms cannot rotate their respective arm bodies to a parallel state due to their own structural reasons, resulting in a large occupied space by the robotic arms of the robot, which is rather inconvenient. And generally, robotic arms mostly use motors in cooperation with gear transmission devices to adjust the rotation angle, etc. of the robotic arms. Due to objective reasons such as its own control system, the gears connected to the motors always have a minimum rotation angle, resulting in a minimum driving distance when the gears rotate. And generally, the gears on the robotic arms are mostly fixed on the motor shafts, resulting in the minimum driving distance of the gears remaining unchanged. When the robotic arms are finely adjusted, it is easily restricted by the minimum driving distance of the gears, which is rather inconvenient. Moreover, since the medium and small-sized surgical robots require high precision during adjustment and their own body sizes are relatively small, the sizes of the driving gears, etc. on the surgical robots are relatively small. When the robotic arms are adjusted over a large stroke, it will accelerate the wear of the internal driving gears, which is rather inconvenient. Summary of the Invention

[0003] The purpose of the present invention is to provide a rotary joint, a robotic arm, and a surgical robot to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: A rotary joint includes an adjustment mechanism, and a driving mechanism and a moving mechanism are arranged in a supporting manner for the adjustment mechanism; The adjustment mechanism includes two rod bodies. A connecting plate is arranged between the two rod bodies, and connecting rods are rotatably connected to both ends of the connecting plate. One end of each of the two connecting rods penetrates through the other end of the corresponding rod body, and both connecting rods are fixedly connected to the other end of the adjacent rod body. One end of each of the two connecting rods is rotatably connected to the moving mechanism. Two frames are arranged between the two rod bodies, and sliding plates are slidably sleeved at both ends inside the two frames. One ends of the two sliding plates adjacent to each other and located inside the two frames are fixedly connected to an insertion rod, and one end of each of the two insertion rods penetrates through the middle of one side of the corresponding rod body.

[0005] Furthermore, the moving mechanism includes a slide rail located between two rod bodies. A slider is slidably clamped inside the slide rail, and the slider is fixedly connected between two frames. A plate body is arranged on one side of the slide rail, and L-shaped plates are fixedly connected to the middle parts of the opposite sides of the plate body. One ends of the short arms of the two L-shaped plates are respectively fixedly connected to the two ends of one side of the slide rail. One ends of the two connecting rods are respectively rotatably connected to the two ends of the plate body. The width of the slider is greater than the thickness of the two rod bodies.

[0006] Furthermore, the slide rail is provided with an annular rope sleeve. One end of the annular rope sleeve sequentially penetrates through the two ends of the slide rail and one side of the slider, and one end of the annular rope sleeve bypasses the plate body and is connected end to end. The outer side wall of the annular rope sleeve is fixedly connected to one side of the slider; The annular rope sleeve includes a wire, and a rubber layer is fixedly sleeved on the outer side wall of the wire.

[0007] Furthermore, a grinding layer is fixedly sleeved on the outer side wall of the rubber layer.

[0008] Furthermore, two fixing rods are fixedly connected to the opposite ends of the two L-shaped plates. A limiting wheel is rotatably connected between one ends of the two fixing rods on the same L-shaped plate. The outer side wall of the annular rope sleeve is in contact with the outer side walls of the two limiting wheels.

[0009] Furthermore, the driving mechanism includes a turntable, and a slide rod is rotatably connected to the center of the turntable. A chute is opened on one side of the plate body, and one end of the slide rod is slidably clamped inside the chute. A cross groove is opened on one side of the turntable, and socket holes are opened at the four ends of the cross groove. Four driving wheels are arranged on the other side of the turntable, and wheel shafts are fixedly sleeved on the inner side walls of the four driving wheels. The four wheel shafts are respectively rotatably sleeved inside the four socket holes. A pressing wheel is rotatably connected to one side of the plate body, and the annular rope sleeve is located between the pressing wheel and the turntable.

[0010] Furthermore, an electric push rod is fixedly connected to one side of the plate body through a mounting plate, and a driving box is fixedly connected to the movable end of the electric push rod. A power motor is arranged inside the driving box, and a rotating rod is fixedly connected to the motor shaft of the power motor. A chuck is arranged at one end of the rotating rod, and a return spring is fixedly connected between the chuck and the rotating rod. A limiting rod is fixedly connected to one end of the chuck, and a rectangular hole is opened at one end of the rotating rod. The limiting rod is slidably sleeved inside the rectangular hole. Card holes are opened at one ends of the four wheel shafts, and a jack is opened at the center of one side of the cross groove. The jack and any one of the card holes are movably clamped with the chuck.

[0011] Furthermore, one end of the sliding groove is provided with an L-shaped groove, and one end of the L-shaped groove penetrates through one end of an L-shaped plate. Circular through holes are provided at one ends of two fixing rods on one L-shaped plate, and a U-shaped plate is arranged at one end of one L-shaped plate. The two arms of the U-shaped plate are respectively slidably sleeved inside the two circular through holes, and a pull rope is fixedly connected to one side of the U-shaped plate. One end of the pull rope penetrates through the L-shaped groove and is fixedly connected to one end of the sliding rod.

[0012] A robotic arm includes a rotary joint and two arm bodies, and a rotating mechanism is arranged inside each of the two arm bodies; The rotating mechanism includes a rotating plate, and the rotating plate is rotatably sleeved at one end inside the adjacent arm body. Driving motors are fixedly connected inside the two arm bodies, and the motor shafts of the two driving motors are fixedly connected to the center of one side of the adjacent rotating plate. The centers of one side of the two rotating plates on the two rotating mechanisms are fixedly connected to one ends of two rods on the rotary joint.

[0013] A surgical robot includes a robotic arm.

[0014] The present invention also provides an operation method for the rotary joint, the robotic arm and the surgical robot, which specifically includes the following steps: Compared with the prior art, the beneficial effects of the present invention are: By starting the two rotating mechanisms, the two arm bodies can be controlled to rotate self. When adjusting the angle between the two arm bodies, the driving mechanism can be started to drive the moving mechanism, so that the moving mechanism controls the adjusting mechanism to adjust the angle between the two arm bodies, and the driving mechanism can improve the control accuracy of the moving mechanism, so that the moving mechanism can improve the adjustment accuracy of the rotation angle between the two arm bodies through the adjusting mechanism, and the two arm bodies can be rotated to be parallel through the adjusting mechanism, which is convenient for the two arm bodies to be stored.

[0015] By starting the two driving motors, the two rotating plates can be driven to rotate, so as to control the two arm bodies to rotate self, and by moving the two frames, the two frames drive the two rods to rotate synchronously around the adjacent connecting rod through the adjacent sliding plates and inserting rods, so as to control the rotation angle between the two rods and the adjacent arm bodies, and thus the rotation angle of the two rods can be controlled according to the moving distance of the frames; By pulling the annular rope sleeve, the slider can be driven to move, so that the slider drives the two frames to move synchronously, and the moving direction of the slider is limited by the slide rail. Thus, when the frames move, the two sliding plates in the same frame move axially and drive the two adjacent rods to rotate synchronously, and the two rods rotate synchronously, so that the two sliding plates in the same frame move the same distance in the adjacent frame, and the tensile property of the annular rope sleeve is improved by relying on the iron wire, and the surface friction force and the surface contact area with the driving mechanism of the annular rope sleeve are improved by using the rubber layer and the abrasive layer, which is convenient for the driving mechanism to pull the annular rope sleeve to control the displacement distance of the slider.

[0016] The electric push rod is started to reset, so that the clamping head drives the turntable to move in the opposite direction until the drive wheel of appropriate specifications and the annular rope sleeve are abutted against the turntable limit, and then the electric push rod drives the drive box to continue to reset, so that the clamping head is disengaged from the socket and inserted into the clamping hole on the drive wheel of appropriate specifications, and then the power motor is started to drive the adjacent drive wheels to rotate through the clamping hole, thereby pulling the annular rope sleeve to drive the slider to move, thereby by replacing drive wheels of different specifications, the displacement distance of the annular rope sleeve and the slider is different when the power motor rotates in a single rotation, thereby facilitating fine adjustment of the slider movement, and when a large stroke is rotated between the two arms, a larger drive wheel can be replaced to pull the annular rope sleeve, thereby improving the service life of the smaller drive wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the cross-sectional structure of the rotating mechanism and the adjusting mechanism in the present invention; Figure 3 It is an exploded diagram of the adjustment mechanism and the moving mechanism structure of the present invention; Figure 4 It is a schematic diagram of the positional relationship between the driving mechanism and the moving mechanism in the present invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the annular rope loop in the present invention; Figure 6 It is a schematic diagram of the driving mechanism structure of the present invention; Figure 7 This is an exploded view of the driving mechanism structure of the present invention; Figure 8 This is a schematic diagram of the structure of the chuck in the present invention; Figure 9 It is a schematic diagram of the cross-sectional structure of the L-shaped groove in the present invention.

[0018] In the figure: 100, arm body; 200, rotating mechanism; 210, rotating plate; 220, driving motor; 300, adjusting mechanism; 310, rod body; 320, connecting plate; 321, connecting rod; 330, frame body; 331, sliding plate; 332, inserting rod; 400, driving mechanism; 410, turntable; 411, sliding rod; 412, cross groove; 413, jack; 414, socket hole; 420, driving wheel; 421, wheel axle; 422, clamping hole; 430, electric push rod; 440, driving box; 441, rotating rod; 442, clamping head; 443, return spring; 444, limiting rod; 450, abutting wheel; 460, U-shaped plate; 461, pulling rope; 500, moving mechanism; 510, sliding rail; 511, slider; 520, plate body; 521, sliding groove; 522, L-shaped groove; 530, L-shaped plate; 540, fixing rod; 541, limiting wheel; 550, annular rope sleeve; 551, iron wire; 552, rubber layer; 553, abrasive layer. Detailed implementation mode

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1 to 9 , in the embodiment of the present invention, a rotary joint includes an adjusting mechanism 300, and the adjusting mechanism 300 is provided with a driving mechanism 400 and a moving mechanism 500 in a supporting manner; The adjusting mechanism 300 includes two rod bodies 310, and one ends of the two rod bodies 310 are respectively fixedly connected to the two rotating mechanisms 200. A connecting plate 320 is arranged between the two rod bodies 310, and connecting rods 321 are rotatably connected to both ends of the connecting plate 320. One ends of the two connecting rods 321 respectively penetrate through the other ends of the two rod bodies 310, and the two connecting rods 321 are both fixedly connected to the other ends of the adjacent rod bodies 310. One ends of the two connecting rods 321 are both rotatably connected to the moving mechanism 500. Two frame bodies 330 are arranged between the two rod bodies 310, and sliding plates 331 are slidably sleeved at both ends inside the two frame bodies 330. Inserting rods 332 are fixedly connected between one ends of the two sliding plates 331 located inside the two frame bodies 330 and adjacent to each other, and one ends of the two inserting rods 332 respectively penetrate through the middle parts of one sides of the two rod bodies 310.

[0021] Specifically, robotic arms are often used on surgical robots to control surgical instruments. The two arm bodies 100 are the robotic arms on the surgical robot, and the surgical robot is a medium-sized or small-sized robot. The weight of the robotic arm body and the total weight of the surgical instruments installed thereon are relatively light. When the robotic arm is in use, the driving mechanism 400 is used to drive the moving mechanism 500, so that the moving mechanism 500 drives the two frame bodies 330 to move synchronously, so that the two frame bodies 330 drive the adjacent two sliding plates 331 to move synchronously, so that the insertion rods 332 on the sliding plates 331 drive the middle parts of the two rod bodies 310 to rotate around the adjacent connecting rods 321 as the center, so as to control the two rod bodies 310 to rotate synchronously and in the same direction at both ends of the connecting plate 320, so as to control the angle between the two arm bodies 100, and through the rotation between the two arm bodies 100, the two arm bodies 100 can be rotated to be parallel through the two rod bodies 310, so as to facilitate the storage of the robotic arms of the surgical robot. Embodiment

[0022] As Figures 1 - 3 shown, in this embodiment, the moving mechanism 500 includes a slide rail 510, and the slide rail 510 is located between the two rod bodies 310. A slider 511 is slidably clamped inside the slide rail 510, and the slider 511 is fixedly connected between the two frame bodies 330. A plate body 520 is arranged on one side of the slide rail 510, and L-shaped plates 530 are fixedly connected to the middle parts of the opposite sides of the plate body 520. One ends of the two L-shaped plates 530 are fixedly connected to the two ends of one side of the slide rail 510 respectively. One ends of the two connecting rods 321 are rotatably connected to the two ends of the plate body 520 respectively. The width of the slider 511 is greater than the thickness of the two rod bodies 310.

[0023] During specific implementation, by sliding the slider 511, the two frame bodies 330 can be driven to move, and the sliding direction of the slider 511 can be limited by the slide rail 510, so that the slider 511 and the two frame bodies 330 are not easily skewed when moving. Thus, as the two frame bodies 330 move, the sliding plates 331 in the same frame body 330 move synchronously by the same distance, and the thickness of the slider 511 is relatively thick, so that the two rod bodies 310 are not easily in contact with the two frame bodies 330.

[0024] As Figures 4 - 5 shown, in this embodiment, the slide rail 510 is provided with a ring rope sleeve 550. One end of the ring rope sleeve 550 sequentially passes through the two ends of the slide rail 510 and the side of the slider 511, and one end of the ring rope sleeve 550 bypasses the plate body 520 and is connected end to end. The outer side wall of the ring rope sleeve 550 is fixedly connected to the side of the slider 511. The ring rope sleeve 550 includes a wire 551, and a rubber layer 552 is fixedly sleeved on the outer side wall of the wire 551. A grinding layer 553 is fixedly sleeved on the outer side wall of the rubber layer 552.

[0025] During specific implementation, pulling the annular rope sleeve 550 can drive the slider 511 to move inside the slide rail 510. The inside of the annular rope sleeve 550 is made of iron wire 551, which is used to improve the overall tensile resistance of the annular rope sleeve 550. The rubber layer 552 is used to increase the cross-sectional diameter of the annular rope sleeve 550 without affecting its rotation, making the annular rope sleeve 550 thicker and having a larger contact surface with the driving mechanism 400, facilitating the driving mechanism 400 to drive the annular rope sleeve 550. The friction layer 553 is used to further increase the surface friction of the annular rope sleeve 550, facilitating the driving mechanism 400 to drive it.

[0026] As Figure 4 shown, in this embodiment, two fixing rods 540 are fixedly connected to the opposite ends of the two L-shaped plates 530. One end between the two fixing rods 540 on the same L-shaped plate 530 is rotatably connected with a limiting wheel 541, and the outer sidewall of the annular rope sleeve 550 is in contact with the outer sidewalls of the two limiting wheels 541.

[0027] During specific implementation, the annular rope sleeve 550 is limited by the two limiting wheels 541 to prevent the annular rope sleeve 550 from skewing, and the limiting wheels 541 make the overall rotation of the annular rope sleeve 550 smoother. Embodiment

[0028] On the basis of Embodiment 1, the driving mechanism 400 pulls the annular rope sleeve 550, so that the slider 511 drives the two frames 330 to move, and then the two rods 310 are driven to rotate synchronously by the insertion rods 332 on the two sliding plates 331.

[0029] As Figures 6 - 7 shown, in this embodiment, the driving mechanism 400 includes a turntable 410, and a slide rod 411 is rotatably connected to the center of the turntable 410. A chute 521 is opened on one side of the plate body 520, and one end of the slide rod 411 is slidably clamped inside the chute 521. A cross slot 412 is opened on one side of the turntable 410, and socket holes 414 are opened at the four ends of the cross slot 412. Four driving wheels 420 are arranged on the other side of the turntable 410, and the inner sidewalls of the four driving wheels 420 are fixedly sleeved with wheel shafts 421. The four wheel shafts 421 are respectively rotatably sleeved inside the four socket holes 414. A pressing wheel 450 is rotatably connected to one side of the plate body 520, and the annular rope sleeve 550 is located between the pressing wheel 450 and the turntable 410.

[0030] During specific implementation, the outer sidewalls of the four drive wheels 420 and the abutting wheels 450 are all coated with abrasive materials, so that the frictional force between their outer sidewalls and the outer sidewall of the annular rope sleeve 550 is relatively large. The circumferences of the outer ring surfaces of the four drive wheels 420 are not equal. During use, the operator can rotate the turntable 410 to select a drive wheel 420 of a suitable specification, and then move the turntable 410 to make a drive wheel 420 contact the annular rope sleeve 550, and make the drive wheel 420 and the abutting wheel 450 clamp the annular rope sleeve 550. By rotating a drive wheel 420, it drives the annular rope sleeve 550 to rotate. Since the specifications of the drive wheels 420 are different, the distance that each drive wheel 420 pulls the annular rope sleeve 550 when it rotates one circle is not equal. Therefore, the pulling distance of the annular rope sleeve 550 can be accurately controlled by replacing different drive wheels 420, so that the operator can improve the pulling accuracy of the annular rope sleeve 550 by replacing the drive wheels 420. The number and specifications of the drive wheels 420 can be set and produced according to requirements. The cross slot 412 can also be changed to a style such as a Phillips slot according to actual needs. The specifications of the axles 421 on all the drive wheels 420 are equal, and regardless of the number of drive wheels 420 arranged on the turntable 410, the axles 421 of all the drive wheels 420 should be arranged circumferentially with the center of the turntable 410 as the axis.

[0031] As Figures 7 - 8 shown, in this embodiment, one side of the plate body 520 is fixedly connected to an electric push rod 430 through a mounting plate, and the movable end of the electric push rod 430 is fixedly connected to a drive box 440. A power motor is arranged inside the drive box 440, and the motor shaft of the power motor is fixedly connected to a rotating rod 441. A chuck 442 is arranged at one end of the rotating rod 441, and a return spring 443 is fixedly connected between the chuck 442 and the rotating rod 441. One end of the chuck 442 is fixedly connected to a limiting rod 444, and a rectangular hole is opened at one end of the rotating rod 441. The limiting rod 444 is slidably sleeved inside the rectangular hole. Card holes 422 are opened at one ends of the four axles 421, and an insertion hole 413 is opened at the center of one side of the cross slot 412. The insertion hole 413 and any one of the card holes 422 are both movably clamped with the chuck 442.

[0032] During specific implementation, in the initial state, any driving wheel 420 is in contact with the annular rope sleeve 550, and the chuck 442 is stuck inside the card hole 422 on the wheel axle 421 of the driving wheel 420 in contact with the annular rope sleeve 550. When the power motor is started, the power motor can drive the chuck 442 to rotate through the limiting rod 444, so that the chuck 442 drives the adjacent driving wheel 420 to rotate, thereby driving the annular rope sleeve 550 to move by the driving wheel 420 and controlling the movement of the slider 511. When the user needs to replace the driving wheel 420 driving the annular rope sleeve 550, start the electric push rod 430 to drive the driving box 440 to move, so that the driving box 440 pushes the turntable 410 to move, thereby separating the driving wheel 420 from the annular rope sleeve 550. As the driving box 440 continues to move, the slide rod 411 on the turntable 410 abuts against one end of the chute 521 and stops moving, so that the chuck 442 is driven by the driving box 440 to move out of the adjacent card hole 422 and is inserted into the insertion hole 413. Then start the power motor to drive the turntable 410 to rotate through the chuck 442, thereby replacing the driving wheel 420 in contact with the annular rope sleeve 550. Then start the electric push rod 430 to reset, so that the chuck 442 drives the turntable 410 to move downward until the driving wheel 420 contacts the annular rope sleeve 550. Then as the driving box 440 continues to move, the chuck 442 is driven by the driving box 440 to move out of the insertion hole 413 and is reinserted into the card hole 422 on the driving wheel 420 in contact with the annular rope sleeve 550. During actual use, the power motor can be a servo motor. By controlling the rotation angle of the motor shaft of the power motor and replacing driving wheels 420 of different specifications, the distance that the servo motor can pull the annular rope sleeve 550 during a single angle rotation is different, so as to more precisely adjust the pulled distance of the annular rope sleeve 550, thereby precisely adjusting the rotation angle between the two rod bodies 310. And when the two arm bodies 100 are stored or other large-angle adjustments are required, this large-stroke adjustment can be achieved by replacing the driving wheel 420 with a larger size to pull the annular rope sleeve 550, so that the driving wheel 420 with a smaller size for precise adjustment reduces the contact time with the annular rope sleeve 550, thereby increasing the service life of each driving wheel 420.

[0033] As Figures 6 - 9 shown, in this embodiment, an L-shaped groove 522 is opened at one end of the chute 521, and one end of the L-shaped groove 522 penetrates through one end of an L-shaped plate 530. Circular through holes are opened at one ends of the two fixing rods 540 on an L-shaped plate 530, and a U-shaped plate 460 is arranged at one end of an L-shaped plate 530. The two arms of the U-shaped plate 460 are respectively slidably sleeved inside the two circular through holes, and a pull rope 461 is fixedly connected to one side of the U-shaped plate 460. One end of the pull rope 461 penetrates through the L-shaped groove 522 and is fixedly connected to one end of the slide rod 411.

[0034] During specific implementation, an abrasive material is fixedly connected to an inner wall of the U-shaped plate 460. When any of the driving wheels 420 is disengaged from the annular rope sleeve 550, the sliding rod 411 pulls the pull rope 461 to drive the U-shaped plate 460 to abut against the annular rope sleeve 550, preventing the annular rope sleeve 550 from slipping when it is disengaged from the driving wheel 420.

[0035] As Figures 1 - 2 shown, a robotic arm includes a rotary joint and two arm bodies 100. A rotating mechanism 200 is provided inside each of the two arm bodies 100. The rotating mechanism 200 includes a rotating plate 210, and the rotating plate 210 is rotatably sleeved at one end inside the adjacent arm body 100. A driving motor 220 is fixedly connected inside each of the two arm bodies 100, and the motor shafts of the two driving motors 220 are fixedly connected to the center of one side of the adjacent rotating plate 210. One end of each of the two rod bodies 310 on the rotary joint is fixedly connected to the center of one side of the two rotating plates 210 on the two rotating mechanisms 200. A surgical robot includes the robotic arm.

[0036] In this embodiment, during use, by starting any one of the driving motors 220, the adjacent rotating plate 210 can be driven to rotate, thereby controlling the two arm bodies 100 to rotate self - sufficiently, facilitating the use of surgical instruments.

[0037] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above - described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non - restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0038] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rotary joint, characterized in that, It includes an adjusting mechanism (300), and a driving mechanism (400) and a moving mechanism (500) are provided in a supporting manner for the adjusting mechanism (300); The adjusting mechanism (300) includes two rod bodies (310). A connecting plate (320) is provided between the two rod bodies (310). Connecting rods (321) are rotatably connected to both ends of the connecting plate (320). One ends of the two connecting rods (321) respectively penetrate through the other ends of the two rod bodies (310), and the two connecting rods (321) are fixedly connected to the other ends of the adjacent rod bodies (310). One ends of the two connecting rods (321) are rotatably connected to the moving mechanism (500). Two frames (330) are provided between the two rod bodies (310). Sliding plates (331) are slidably sleeved at both ends inside the two frames (330). Plug rods (332) are fixedly connected between one ends of the two sliding plates (331) that are respectively located inside the two frames (330) and adjacent to each other. One ends of the two plug rods (332) respectively penetrate through the middle parts of one sides of the two rod bodies (310).

2. The rotary joint according to claim 1, wherein The moving mechanism (500) includes a slide rail (510), and the slide rail (510) is located between the two rod bodies (310). A slider (511) is slidably clamped inside the slide rail (510), and the slider (511) is fixedly connected between the two frames (330). A plate body (520) is provided on one side of the slide rail (510). L-shaped plates (530) are fixedly connected to the middle parts of the opposite sides of the plate body (520). One ends of the short arms of the two L-shaped plates (530) are respectively fixedly connected to the two ends of one side of the slide rail (510). One ends of the two connecting rods (321) are respectively rotatably connected to the two ends of the plate body (520). The width of the slider (511) is greater than the thickness of the two rod bodies (310).

3. The rotary joint according to claim 2, characterized in that, The slide rail (510) is provided with an annular rope sleeve (550) in a supporting manner. One end of the annular rope sleeve (550) sequentially penetrates through the two ends of the slide rail (510) and the side of the slider (511), and one end of the annular rope sleeve (550) bypasses the plate body (520) and then is connected end to end. The outer side wall of the annular rope sleeve (550) is fixedly connected to the side of the slider (511); The annular rope sleeve (550) includes a wire (551), and a rubber layer (552) is fixedly sleeved on the outer side wall of the wire (551).

4. A rotary joint according to claim 3, characterized in that, A frosted layer (553) is fixedly sleeved on the outer side wall of the rubber layer (552).

5. A rotary joint according to claim 4, characterized in that, Two fixing rods (540) are fixedly connected to the opposite ends of the two L-shaped plates (530). A limiting wheel (541) is rotatably connected between one ends of the two fixing rods (540) on the same L-shaped plate (530). The outer side wall of the annular rope sleeve (550) is in contact with the outer side walls of the two limiting wheels (541).

6. The rotary joint according to claim 5, characterized in that, The driving mechanism (400) includes a turntable (410), and a sliding rod (411) is rotatably connected to the center of the turntable (410). A chute (521) is formed on one side of the plate body (520), and one end of the sliding rod (411) is slidably clamped inside the chute (521). A cross slot (412) is formed on one side of the turntable (410), and socket holes (414) are formed at the four ends of the cross slot (412). Four driving wheels (420) are arranged on the other side of the turntable (410), and wheel shafts (421) are fixedly sleeved on the inner side walls of the four driving wheels (420). The four wheel shafts (421) are respectively rotatably sleeved inside the four socket holes (414). A pressing wheel (450) is rotatably connected to one side of the plate body (520), and the annular rope sleeve (550) is located between the pressing wheel (450) and the turntable (410).

7. A rotary joint according to claim 6, characterized in that, An electric push rod (430) is fixedly connected to one side of the plate body (520) through a mounting plate, and a driving box (440) is fixedly connected to the movable end of the electric push rod (430). A power motor is arranged inside the driving box (440), and a rotating rod (441) is fixedly connected to the motor shaft of the power motor. A chuck (442) is arranged at one end of the rotating rod (441), and a return spring (443) is fixedly connected between the chuck (442) and the rotating rod (441). A limiting rod (444) is fixedly connected to one end of the chuck (442), and a rectangular hole is formed at one end of the rotating rod (441). The limiting rod (444) is slidably sleeved inside the rectangular hole. Card holes (422) are formed at one ends of the four wheel shafts (421), and a jack (413) is formed at the center of one side of the cross slot (412). The jack (413) and any one of the card holes (422) are both movably clamped with the chuck (442).

8. A rotary joint according to claim 7, characterized in that, An L-shaped slot (522) is formed at one end of the chute (521), and one end of the L-shaped slot (522) penetrates through one end of an L-shaped plate (530). Circular through holes are formed at one ends of two fixing rods (540) on one L-shaped plate (530), and a U-shaped plate (460) is arranged at one end of the L-shaped plate (53). The two arms of the U-shaped plate (460) are respectively slidably sleeved inside the two circular through holes, and a pull rope (461) is fixedly connected to one side of the U-shaped plate (460). One end of the pull rope (461) penetrates through the L-shaped slot (522) and is fixedly connected to one end of the sliding rod (411).

9. A robotic arm, characterized in that, Comprising the rotary joint according to any one of claims 1-8 and two arm bodies (100), and a rotating mechanism (200) is arranged inside each of the two arm bodies (100); The rotating mechanism (200) includes a rotating plate (210), and the rotating plate (210) is rotatably sleeved at the inner end of the adjacent arm body (100). A driving motor (220) is fixedly connected to the inside of each of the two arm bodies (100), and the motor shafts of the two driving motors (220) are fixedly connected to the center of one side of the adjacent rotating plate (210). One end of each of the two rod bodies (310) on the rotating joint is fixedly connected to the center of one side of the two rotating plates (210) on the two rotating mechanisms (200).

10. A surgical robot, characterized in that, It includes the robotic arm according to claim 9.

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