Articulation mechanism, robot arm and surgical robot system

Abstract

A kind of joint mechanism, mechanical arm and surgical robot system.Joint mechanism includes first rotating component, second rotating component and rotary support component.First rotating component has first pivotal end, and first pivotal end includes two symmetrically arranged first connecting parts.Second rotating component has second pivotal end, and second pivotal end includes two symmetrically arranged second connecting parts.Rotary support component includes first bearing part and second bearing part, which can rotate relative to pivot axis, and first bearing part surrounds the outer periphery of second bearing part.Two rotary support components are provided, two first bearing parts are fixedly connected with two first connecting parts respectively, and two second bearing parts are fixedly connected with two second connecting parts respectively, and first rotating component and second rotating component can be deflected around pivot axis.According to the joint mechanism of the present application, two rotating components are not biased along the hinge axis, there is sufficient space to arrange the rotary support component, and the hinge has good stiffness and high strength.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a joint mechanism, a robotic arm, and a surgical robot system. Background Technology

[0002] Planar rotary joints are widely used in multi-arm robots. The basic components of this type of joint are two robotic arms and the hinge joint between them. The two robotic arms are usually offset and offset, and a rotary bearing is installed inside at least one of the arms.

[0003] However, in many application scenarios, there are situations where the space for the mechanism is limited or restricted by other functions, requiring the two arms to be arranged as close to the center as possible.

[0004] However, currently available planar rotary joints either fail to meet the requirements of non-offset settings and can only save space by reducing the thickness of the two arms, which leads to weak axial stiffness and torsional stiffness, and difficulties in wiring; or some planar rotary joints without offset settings have problems such as difficulty in arranging rotating support structures such as bearings at the hinge position, large space occupation, and limited space for cable routing at the joint.

[0005] Therefore, there is a need for a joint mechanism, robotic arm, and surgical robot system to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, a first aspect of this application provides a joint mechanism, the joint mechanism comprising:

[0008] A first rotating component has a first pivot end, which includes two symmetrically arranged first connecting portions.

[0009] The second rotating component has a second pivot end, which includes two symmetrically arranged second connecting portions;

[0010] A rotating support component, the rotating support component including a first support portion and a second support portion that are rotatable relative to a pivot axis, the first support portion surrounding the outer periphery of the second support portion;

[0011] The rotating support component is provided in two parts. The two first bearing parts are fixedly connected to the two first connecting parts respectively, and the two second bearing parts are fixedly connected to the two second connecting parts respectively. The first rotating component and the second rotating component can deflect around the pivot axis.

[0012] According to the joint mechanism of this application, the two rotating parts are not offset along the hinge axis, the joint mechanism occupies a small volume and saves space, there is sufficient space to arrange the rotating support parts, and the hinge has good rigidity and high strength.

[0013] Optionally, the projection of the first connecting portion onto a plane perpendicular to the pivot axis does not overlap with the projection of the second connecting portion onto that plane. According to this arrangement, the non-overlapping design of the two rotating components reduces the thickness of the joint mechanism, further saving space.

[0014] Optionally, a first connecting portion and a second connecting portion connected to the same rotary support component are both located on the same side of the rotary support component, or

[0015] A first connecting portion and a second connecting portion connected to the same rotary support component are located on opposite sides of the rotary support component.

[0016] Optionally, the first rotating component and the first bearing portion are fixed by screws, wherein the extension direction of the screws is parallel to the pivot axis; and

[0017] The second rotating component and the second bearing portion are fixed by screws, the extension direction of which is parallel to the pivot axis. This design significantly improves the ease of installation and disassembly.

[0018] Optionally, the two first connecting portions are spaced apart and facing each other, and the two first supporting portions are located between the two first connecting portions.

[0019] The two second connecting portions are spaced apart and facing each other, and the two second bearing portions are located between the two second connecting portions. According to this solution, the rotating support component is clamped and disposed in the space inside the first rotating component and the second rotating component, which provides sufficient installation space, improves the integration of the structure, and helps to reduce the volume.

[0020] Optionally, the joint mechanism further includes a structural reinforcement component located between and fixedly disposed between the two second connecting portions. This configuration improves the strength and stiffness of the joint mechanism along the pivot axis.

[0021] Optionally, the second load-bearing portion surrounds the outer periphery of the structural reinforcing member. This arrangement also improves the radial strength and stiffness of the joint mechanism.

[0022] Optionally, the joint mechanism further includes a transmission wheel disposed between the two second connecting portions. The transmission wheel is fixedly disposed relative to the second rotating component, and the transmission wheel can be connected to a transmission belt. The transmission belt can pull the transmission wheel and the second rotating component to deflect relative to the first rotating component. According to this solution, the transmission wheel is used to control the first and second rotating components. Furthermore, by placing the transmission wheel between the two second connecting portions, the structure is compact, greatly saving installation space. It also provides support and reinforcement to the second connecting portions, further improving the axial strength and rigidity of the joint mechanism.

[0023] Optionally, the transmission wheel has a hollow cavity, and the transmission wheel is sleeved on the structural reinforcing member. A limiting key is provided on the inner circumferential surface of the transmission wheel, and a limiting groove is provided on the outer circumferential surface of the structural reinforcing member. The limiting key is located in the limiting groove to form a keyway fit, and the end of the structural reinforcing member is connected to the second connecting part. According to the above configuration, the rotation of the transmission wheel can not only be directly transmitted to the second rotating part, but also drive the structural reinforcing member to rotate through the keyway structure, further transmitting power to the second rotating part. This results in a simplified structure, high transmission efficiency, and the structural reinforcing member and transmission wheel provide superimposed support and reinforcement for the second connecting part, further improving the axial strength and rigidity of the joint mechanism.

[0024] Optionally, the structural reinforcing member is located between the two second connecting portions, and its two ends are respectively fixed to the two second connecting portions with screws, the extension direction of which is parallel to the pivot axis. This design facilitates installation and disassembly.

[0025] Optionally, the structural reinforcement component is configured as a hollow shaft. According to this solution, it is advantageous to reduce the weight of the joint mechanism and save costs without compromising strength.

[0026] Optionally, the joint mechanism further includes a washer connected between the second bearing portion of the rotary support member and the second connecting portion of the second rotating member. According to this solution, the support stability of the rotary support member can be improved.

[0027] Optionally, the second connecting portion includes a connecting wall and a positioning wall, wherein the positioning wall is connected to the main body of the second rotating component via the connecting wall, and the two positioning walls completely cover the second bearing portion. According to this solution, the covered structural design maximizes space utilization.

[0028] Optionally, the first connecting portion of the first rotating component includes two spaced-apart stepped structures that surround at least a portion of the first bearing portion, and the outline shape of the stepped structures is adapted to the outline shape of the second connecting portion. According to this solution, the first rotating portion can form a stable connection with the rotating support component, and pivoting is smoother.

[0029] Optionally, the step structure includes:

[0030] The connecting portion is connected to the end face of the first bearing portion;

[0031] A positioning part is provided, which is adjacent to the connecting part and abuts against the outer peripheral surface of the first supporting part. This configuration further improves the stability of the connection between the first connecting part and the first supporting part.

[0032] Optionally, the stepped structure includes a stepped surface, and the positioning wall connected to the same rotating support component and the stepped surface are substantially flush. According to this design, it is beneficial to improve the smoothness of the pivoting of the joint mechanism.

[0033] Optionally, the end of the first connecting portion along the pivot direction has a first rotation limiting surface;

[0034] The connecting wall of the second connecting part has second rotation limiting surfaces on both sides along the pivot direction;

[0035] Specifically, the first rotational limiting surface can interfere with the second rotational limiting surface to limit the pivoting amplitude of the first or second rotating component, and the area of ​​the second rotational limiting surface is larger than the area of ​​the first rotational limiting surface. According to this configuration, the maximum pivoting amplitude of the joint mechanism is limited, and the load-bearing capacity of the second rotating component is improved by utilizing the area difference of the limiting surfaces.

[0036] Optionally, the rotating support component is configured as a bearing, with two bearings respectively located at both ends of the transmission wheel. The first bearing portion is constructed as the outer ring of the bearing, and the second bearing portion is constructed as the inner ring of the bearing. According to this design, resistance is reduced, and the smoothness of pivoting is improved.

[0037] A second aspect of this application is a robotic arm that includes the joint mechanism described in the first aspect above.

[0038] The robotic arm according to this application has similar technical effects to the joint mechanism of the first aspect described above.

[0039] A third aspect of this application provides a surgical robot, including the robotic arm described in the second aspect above.

[0040] The surgical robot system according to this application has similar technical effects to the robotic arm described in the second aspect above. Attached Figure Description

[0041] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0042] In the attached image:

[0043] Figure 1 This is a schematic diagram of a surgical robotic system according to one embodiment of this application;

[0044] Figure 2 This is a schematic diagram of a robotic arm system according to one embodiment of this application;

[0045] Figure 3 This is a schematic diagram of a joint mechanism according to one embodiment of this application;

[0046] Figure 4 This is an exploded view of a joint mechanism according to one embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the first rotating component of a joint mechanism according to one embodiment of this application;

[0048] Figure 6 This is a schematic diagram of the second rotating component of a joint mechanism according to one embodiment of this application;

[0049] Figure 7 This is a cross-sectional schematic diagram of a joint mechanism according to one embodiment of this application;

[0050] Figure 8 This is a schematic diagram of the assembly of the transmission wheel and the hollow shaft of a joint mechanism according to one embodiment of this application;

[0051] Figure 9 A schematic cross-sectional view of the transmission wheel of a joint mechanism according to one embodiment of this application; and

[0052] Figure 10 This is a cross-sectional schematic diagram of the hollow shaft of a joint mechanism according to one embodiment of this application.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1: Surgical robot system; 20: Doctor's console

[0055] 30: Imaging system; 10: Robotic arm system

[0056] 11: Base 12: Handle

[0057] 13: Column 14: Robotic Arm

[0058] 15: Adjusting arm section 16: Operating arm section

[0059] 17: Connecting arm 100: Joint mechanism

[0060] 110: First rotating component; 111: First pivot end

[0061] 112: First connecting part; 113: Step structure

[0062] 114: Connecting part; 115: Positioning part

[0063] 116: Step surface; 117: First rotation limiting surface

[0064] 130: Second rotating component; 131: Second pivot end

[0065] 132: Second connecting part; 133: Connecting wall

[0066] 134: Positioning wall; 135: Second rotary limiting surface

[0067] 150: Rotary support component; 151: First load-bearing part

[0068] 152: Second bearing section; 150: Bearing

[0069] 151: Outer ring 152: Inner ring

[0070] 160: Structural reinforcement component; 161: Limiting groove

[0071] 160: Hollow shaft; 170: Drive wheel

[0072] 171: Hollow cavity 172: Limit key

[0073] 180: Washer AX: Pivot axis Detailed Implementation

[0074] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0075] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0076] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0077] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0078] This application provides a surgical robot system 1, see [link to previous document]. Figure 1 The surgical robot system 1 according to the embodiments of this application is a robot that can be remotely operated to complete surgery. It may include a control system (also called a doctor's console 20), a robotic arm system 10 (patient-side robotic arm system 10), and an imaging system 30.

[0079] The control system includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the doctor's operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's console 20 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0080] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0081] Another aspect of this application provides a robotic arm 14. (Reference) Figure 2The patient-side robotic arm system 10 includes several robotic arms 14 as described in this application. Each robotic arm 14 has several connecting arms 17 or links, with adjacent connecting arms 17 moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 14 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). A holding arm is located at the end joint of the robotic arm 14, and an instrument actuator is mounted on the holding arm. Surgical instruments or endoscopes are detachably mounted on the instrument actuator.

[0082] Surgical instruments consist of three parts: a rear-end mechanism, a main cable extending from the rear-end mechanism to the front-end mechanism, and an end effector including a wrist mechanism at the front of the main cable. Typically, an instrument actuator drives the movement of the rear-end mechanism through multiple cables in the main cable, thereby actuating the wrist mechanism. During surgery, portions of the main cable and wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall, replacing the human hand in the surgical procedure.

[0083] The patient-side robotic arm system 10 includes a movable base 11 and a column 13, on which the robotic arm 14 can move up and down. Figure 2 The diagram shows only one robotic arm 14. A handle 12 can also be installed on the base 11, allowing the operator to assist in moving the base 11. The lifting and lowering of the robotic arm 14 on the column 13 can be driven by a lifting device.

[0084] The robotic arm 14 typically includes an adjusting arm portion 15 and a manipulator arm portion 16. The end of the manipulator arm portion 16 is used to mount an instrument manipulator arm, which is used to mount surgical instruments or endoscopes. The instrument manipulator arm may also be equipped with an instrument drive mechanism to drive the surgical instruments to perform insertion, clamping, and other actions. Before operating the robot to perform surgery, the adjusting arm portion 15 needs to be operated to move the surgical instruments mounted at the end of the manipulator arm portion 16 to the designated position, and then the joints of the adjusting arm portion 15 are locked. During surgery, the manipulator arm portion 16 is remotely controlled to perform surgical operations, while the joints of the adjusting arm portion 15 are kept locked to prevent relative movement between the linkages or connecting arms 17 of the adjusting arm portion 15 during the operation.

[0085] refer to Figures 3 to 10This application also provides a joint mechanism 100. The joint mechanism 100 includes a first rotating component 110, a second rotating component 130, and a rotating support component 150. The first rotating component 110 has a first pivot end 111, which includes two symmetrically arranged first connecting portions 112. The second rotating component 130 has a second pivot end 131, which includes two symmetrically arranged second connecting portions 132. The rotating support component 150 includes a first bearing portion 151 and a second bearing portion 152 that are rotatable relative to a pivot axis AX, with the first bearing portion 151 surrounding the outer periphery of the second bearing portion 152. Two rotating support components 150 are provided; the two first bearing portions 151 are respectively fixedly connected to the two first connecting portions 112, and the two second bearing portions 152 are respectively fixedly connected to the two second connecting portions 132. The first rotating component 110 and the second rotating component 130 are capable of deflection about the pivot axis AX.

[0086] According to the joint mechanism 100 of this application, the two rotating parts are not offset along the hinge axis. The joint mechanism 100 occupies a small volume and saves space, with sufficient space to arrange the rotating support part 150, and the hinge has good rigidity and high strength.

[0087] The first rotating component 110 and the second rotating component 130 can each be two arms, or two robotic arms 14. Alternatively, one of the first rotating component 110 and the second rotating component 130 can be an arm, and the other can be another supporting component. In other words, the joint mechanism 100 of this application can be applied to any position in the surgical robot system 1 where rotation is required.

[0088] refer to Figure 3 and Figure 7 The projection of the first connecting portion 112 onto a plane perpendicular to the pivot axis AX does not overlap with the projection of the second connecting portion 132 onto the same plane. In other words, the first connecting portion 112 and the second connecting portion 132 do not overlap in a direction parallel to the pivot axis AX. This non-overlapping design of the two rotating components reduces the thickness of the joint mechanism 100, further saving space.

[0089] As an optional implementation, a first connecting portion 112 and a second connecting portion 132 connected to the same rotating support member 150 are both located on the same side of the rotating support member 150.

[0090] Specifically, two rotary support members 150 are spaced apart along the extension direction of the pivot axis AX. The midpoint between the two rotary support members 150 can be considered as the midpoint of the joint structure along the pivot axis AX. Figure 7As shown, the first connecting portion 112 and the second connecting portion 132, which are connected to the same rotating support member 150, are both located outside the rotating support member 150 relative to the aforementioned midpoint. In an embodiment not shown, the first connecting portion 112 and the second connecting portion 132, which are connected to the same rotating support member 150, may also be located inside the rotating support member 150 relative to the aforementioned midpoint.

[0091] As an alternative embodiment, in an embodiment not shown, a first connecting portion 112 and a second connecting portion 132 connected to the same rotating support member 150 are located on opposite sides of the rotating support member 150. In other words, the first connecting portion 112 and the second connecting portion 132 connected to the same rotating support member 150 are located on the inner and outer sides of the rotating support member 150 relative to the aforementioned midpoint.

[0092] More specifically, see reference Figure 4 and Figure 7 Two first connecting portions 112 are spaced apart and facing each other, and two first supporting portions 151 are located between the two first connecting portions 112. Two second connecting portions 132 are spaced apart and facing each other, and two second supporting portions 152 are located between the two second connecting portions 132. Thus, the two rotating support members 150 are clamped and disposed in the space inside the first rotating member 110 and the second rotating member 130, providing sufficient installation space, improving the integration of the structure, and helping to reduce the volume.

[0093] Continue to refer to Figure 4 , Figure 5 and Figure 7 The first connecting portion 112 of the first rotating component 110 includes two spaced-apart stepped structures 113. The stepped structures 113 surround at least a portion of the first supporting portion 151, and the outline shape of the stepped structures 113 is adapted to the outline shape of the second connecting portion 132. Each stepped structure 113 includes a connecting portion 114 and a positioning portion 115. The connecting portion 114 is connected to the end face of the first supporting portion 151, and the positioning portion 115 is adjacent to the connecting portion 114 and abuts against the outer peripheral surface of the first supporting portion 151. Thus, the first rotating portion and the rotating support component 150 can form a stable connection, improving the stability of the connection between the first connecting portion 112 and the first supporting portion 151.

[0094] refer to Figure 4 , Figure 6 and Figure 7The second connecting portion 132 of the second rotating component 130 includes a connecting wall 133 and a positioning wall 134, wherein the positioning wall 134 is connected to the main body of the second rotating component 130 through the connecting wall 133, and the two positioning walls 134 completely cover the second bearing portion 152. This covered structure design has high space utilization and is also beneficial for protecting the internal structure of the rotating support component 150.

[0095] The stepped structure 113 includes a stepped surface 116, which is formed by the connecting portion 114 and the positioning portion 115 described above. Specifically, the positioning portion 115 is located outside the connecting portion 114 relative to the center, and the inner surface of the positioning portion 115 forms the stepped surface 116. Preferably, the positioning wall 134 connected to the same rotating support member 150 and the stepped surface 116 are substantially flush.

[0096] In this application, "approximately flush" means that the positioning wall 134 and the step surface 116 are parallel or offset by a small distance. It can be understood that, due to machining errors or assembly errors, the positioning wall 134 and the step surface 116 are generally not parallel in a strict sense.

[0097] refer to Figure 4 and Figure 5 The first pivot end 111 has a first rotation limiting surface 117, and the second pivot end 131 has a second rotation limiting surface 135. The first rotation limiting surface 117 can interfere with the second rotation limiting surface 135 to limit the pivoting amplitude of the first rotating component 110 or the second rotating component 130.

[0098] Specifically, the first rotation limiting surface 117 is located at the end of the first connecting portion 112 along the pivot direction. The second rotation limiting surface 135 is located on both sides of the connecting wall 133 of the second connecting portion 132 along the pivot direction. Preferably, the area of ​​the second rotation limiting surface 135 is larger than the area of ​​the first rotation limiting surface 117. Thus, the load-bearing capacity of the second rotating component 130 is improved by utilizing the area difference between the first rotation limiting surface 117 and the second rotation limiting surface 135.

[0099] The joint mechanism 100 also includes a structural reinforcing member 160, a transmission wheel 170, and a washer 180. The structural reinforcing member 160 is located between and fixedly disposed with the two second connecting portions 132 to improve the strength and rigidity of the joint mechanism 100 along the pivot axis. A second bearing portion 152 surrounds the outer periphery of the structural reinforcing member 160.

[0100] In a preferred embodiment, the structural reinforcing member 160 is configured as a hollow shaft 160 to reduce the weight of the joint mechanism 100 and save costs. In this embodiment, the hollow shaft 160 is constructed as a separate component. In an embodiment not shown, the hollow shaft 160 may also be constructed as a component integral with the second connecting portion 132. In a preferred embodiment, the second connecting portion 132 covers the entire end of the structural reinforcing member 160 to improve sealing.

[0101] To facilitate the disassembly and installation of the joint mechanism 100, the various components are preferably detachably connected. For example, the first rotating component 110 and the first bearing portion 151 are fixed with screws, and the second rotating component 130 and the second bearing portion 152 are fixed with screws. As a preferred embodiment, the extension direction of the screws is parallel to the pivot axis AX. This not only greatly improves the convenience of installation and disassembly, but also ensures that the components of the joint mechanism 100 do not shift in the extension direction of the screws, thus improving the stability of the screw installation.

[0102] In one implementation, the two ends of the structural reinforcement member 160 are respectively fixed to two second connecting parts 132 with screws, and the extension direction of the screws is parallel to the aforementioned pivot axis AX. Similarly, this not only greatly improves the convenience of installation and disassembly but also enhances the stability of the screw installation.

[0103] The drive wheel 170 is disposed between the two second connecting portions 132 and is fixedly disposed relative to the second rotating component 130. The drive wheel 170 has a hollow cavity 171, which is sleeved on the outer periphery of the structural reinforcing component 160. As an optional embodiment, the structural reinforcing component 160, or hollow shaft 160, may also be constructed as a component integral with the drive wheel 170.

[0104] refer to Figure 8 , Figure 9 and Figure 10 The inner circumferential surface of the transmission wheel 170 is provided with a limiting key 172, and the outer circumferential surface of the structural reinforcement component 160 is provided with a limiting groove 161. The limiting key 172 is located in the limiting groove 161 to form a keyway fit, and the end of the structural reinforcement component 160 is connected to the second connecting part 132. Thus, the rotation of the transmission wheel 170 can not only be directly transmitted to the second rotating component 130, but also drive the structural reinforcement component 160 to rotate through the keyway structure, further transmitting power to the second rotating component 130. The structure is simplified and the transmission efficiency is high. Moreover, the structural reinforcement component 160 and the transmission wheel 170 play a superimposed supporting and reinforcing role for the second connecting part 132, further improving the axial strength and rigidity of the joint mechanism 100.

[0105] The drive wheel 170 is used to connect with the drive belt, which pulls the drive wheel 170 and the second rotating component 130 to deflect relative to the first rotating component 110. Thus, the drive wheel 170 is used to control the first rotating component 110 and the second rotating component 130. Furthermore, by placing the drive wheel 170 between the two second connecting parts 132, the structure is compact, greatly saving installation space, and also providing support and reinforcement for the second connecting parts 132, further improving the axial strength and rigidity of the joint mechanism 100.

[0106] Washer 180 is connected between the second bearing portion 152 of the rotating support member 150 and the second connecting portion 132 of the second rotating member 130 to improve the support stability of the rotating support member 150.

[0107] The rotating support component 150 is configured as a bearing 150, with two bearings 150 respectively located at both ends of the transmission wheel 170. The first bearing portion 151 is constructed as the outer ring 151 of the bearing 150, and the second bearing portion 152 is constructed as the inner ring 152 of the bearing 150. For example, the bearing 150 described above can be a ball bearing. This configuration reduces resistance and improves the smoothness of pivoting.

[0108] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0109] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A joint mechanism, characterized in that, The joint mechanism includes: A first rotating component has a first pivot end, which includes two symmetrically arranged first connecting portions. The second rotating component has a second pivot end, which includes two symmetrically arranged second connecting portions; A rotating support component, the rotating support component including a first support portion and a second support portion that are rotatable relative to a pivot axis, the first support portion surrounding the outer periphery of the second support portion; The rotating support component is provided in two parts. The two first bearing parts are fixedly connected to the two first connecting parts respectively, and the two second bearing parts are fixedly connected to the two second connecting parts respectively. The first rotating component and the second rotating component can deflect around the pivot axis.

2. The joint mechanism according to claim 1, characterized in that, The projection of the first connecting part onto a plane perpendicular to the pivot axis does not overlap with the projection of the second connecting part onto that plane.

3. The joint mechanism according to claim 2, characterized in that, A first connecting portion and a second connecting portion connected to the same rotary support component are both located on the same side of the rotary support component, or A first connecting portion and a second connecting portion connected to the same rotary support component are located on opposite sides of the rotary support component.

4. The joint mechanism according to claim 1, characterized in that, The first rotating component and the first bearing portion are fixed by screws, the extension direction of which is parallel to the pivot axis; and The second rotating component and the second bearing component are fixed by screws, the extension direction of which is parallel to the pivot axis.

5. The joint mechanism according to claim 1, characterized in that, The two first connecting portions are spaced apart and facing each other, and the two first supporting portions are located between the two first connecting portions. The two second connecting portions are spaced apart and facing each other, and the two second bearing portions are located between the two second connecting portions.

6. The joint mechanism according to claim 5, characterized in that, The joint mechanism also includes a structural reinforcement component, which is located between and fixedly disposed with the two second connecting portions.

7. The joint mechanism according to claim 6, characterized in that, The second supporting part surrounds the outer periphery of the structural reinforcing member.

8. The joint mechanism according to claim 6, characterized in that, The joint mechanism further includes a transmission wheel, which is disposed between the two second connecting parts. The transmission wheel is fixedly disposed relative to the second rotating component, and the transmission wheel can be connected to a transmission belt. The transmission belt can pull the transmission wheel and the second rotating component to deflect relative to the first rotating component.

9. The joint mechanism according to claim 8, characterized in that, The transmission wheel has a hollow cavity, the transmission wheel is sleeved on the structural reinforcement component, the inner circumferential surface of the transmission wheel is provided with a limiting key, the outer circumferential surface of the structural reinforcement component is provided with a limiting groove, the limiting key is located in the limiting groove to form a keyway fit, and the end of the structural reinforcement component is connected to the second connecting part.

10. The joint mechanism according to claim 9, characterized in that, The structural reinforcement component is located between the two second connecting parts, and its two ends are respectively fixed to the two second connecting parts with screws, and the extension direction of the screws is parallel to the pivot axis.

11. The joint mechanism according to claim 6, characterized in that, The structural reinforcement component is configured as a hollow shaft.

12. The joint mechanism according to claim 8, characterized in that, The joint mechanism further includes a washer connected between the second bearing portion of the rotary support member and the second connecting portion of the second rotating member.

13. The joint mechanism according to claim 1 or 4, characterized in that, The second connecting portion includes a connecting wall and a positioning wall, wherein the positioning wall is connected to the body of the second rotating component through the connecting wall, and the two positioning walls completely cover the second bearing portion.

14. The joint mechanism according to claim 13, characterized in that, The first connecting portion of the first rotating component includes two spaced-apart stepped structures that surround at least a portion of the first bearing portion, and the outline shape of the stepped structures is adapted to the outline shape of the second connecting portion.

15. The joint mechanism according to claim 14, characterized in that, The stepped structure includes: The connecting portion is connected to the end face of the first bearing portion; The positioning part is adjacent to the connecting part and abuts against the outer peripheral surface of the first bearing part.

16. The joint mechanism according to claim 14, characterized in that, The stepped structure includes a stepped surface, and the positioning wall connected to the same rotating support component is substantially flush with the stepped surface.

17. The joint mechanism according to claim 13, characterized in that, The end of the first connecting portion along the pivot direction has a first rotation limiting surface; The connecting wall of the second connecting part has second rotation limiting surfaces on both sides along the pivot direction; Wherein, the first rotation limiting surface can interfere with the second rotation limiting surface to limit the pivoting amplitude of the first rotating component or the second rotating component, and the area of ​​the second rotation limiting surface is larger than the area of ​​the first rotation limiting surface.

18. The joint mechanism according to claim 8, characterized in that, The rotating support component is configured as a bearing, with two bearings respectively located at both ends of the transmission wheel. The first bearing portion is configured as the outer ring of the bearing, and the second bearing portion is configured as the inner ring of the bearing.

19. A robotic arm, characterized in that, Includes the joint mechanism according to any one of claims 1-18.

20. A surgical robot system, characterized in that, Including the robotic arm according to claim 19.

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