Joint bearing, transmission mechanism, and mechanical device

Abstract

The present application discloses a joint bearing, a transmission mechanism, and a mechanical device. The joint bearing may include a spherical joint and a bearing sleeve. The outer surface of the spherical joint may be provided with a first limiting structure, and the inner surface of the bearing sleeve may be provided with a second limiting structure. The first limiting structure is fitted to the second limiting structure to jointly restrict rotation of the spherical joint around its own axis. The joint bearing disclosed in the present application has a wider application range due to its restricted degrees of freedom in motion, and miniaturization of the mechanical device to which the joint bearing is applied can also be achieved.

Description

Articulated bearing, transmission mechanism, and mechanical device TECHNICAL FIELD

[0001] The present application relates to the field of industrial equipment or medical devices, in particular to an articulated bearing and a transmission mechanism using the same, and further to a mechanical device using the aforementioned articulated bearing or transmission mechanism. BACKGROUND

[0002] A kinematic pair is a conventional concept in the movement of a mechanical device, and its main function is to provide a movable connection between two mechanical components through direct contact. Conventional components that provide such a function include articulated bearings, universal joints, Hooke's joints, spherical hinges, etc. The movement freedom and movement accuracy of a kinematic mechanical device (e.g., a motion platform, a parallel robot, a joint robot, etc.) using these components are limited by the freedom parameters and degrees of freedom of the individual kinematic pair components. The existing kinematic pair components cannot achieve both degrees of freedom and movement range. SUMMARY

[0003] The present application discloses an articulated bearing, a transmission mechanism, and a mechanical device. The articulated bearing can limit rotation around its own axis, and has a wider range of applications.

[0004] In one aspect, the present application provides an articulated bearing. The articulated bearing can include a spherical joint, and a bearing sleeve; wherein the outer surface of the spherical joint is provided with a first limiting structure, the inner surface of the bearing sleeve is provided with a second limiting structure, and the first limiting structure and the second limiting structure cooperate to jointly limit the rotation of the spherical joint around its own axis.

[0005] In one aspect, the present application provides an articulated bearing. The articulated bearing can include a spherical joint, a bearing sleeve, and a limiting member; wherein the outer surface of the spherical joint is provided with a first limiting structure, the inner surface of the bearing sleeve is provided with a second limiting structure, and the limiting member is located in a space formed by the cooperation of the first limiting structure and the second limiting structure, and the three jointly limit the rotation of the spherical joint around its own axis.

[0006] According to some embodiments of the present application, the first limiting structure and the second limiting structure are respectively a recess or a protrusion, and the cooperation of the two is achieved by the protrusion being inserted into the recess.

[0007] According to some embodiments of the present application, the first limiting structure and the second limiting structure are both recesses, and the limiting member is partially embedded in the first limiting structure and partially embedded in the second limiting structure.

[0008] According to some embodiments of the present application, the bearing sleeve comprises a plurality of sub-components which are separably assembled, and the precise matching of the first limiting structure and the second limiting structure is achieved by the assembly of the plurality of sub-components.

[0009] According to some embodiments of the present application, the spherical joint has a through hole, and a hollow cone for connecting external components is arranged on the spherical joint and communicates with the through hole.

[0010] According to some embodiments of the present application, the number of the spherical joints comprises one or more.

[0011] Another aspect of the present application provides a transmission mechanism. The transmission mechanism can comprise a driving component, a spherical joint bearing as described above, and a driven component; the driving component is connected with the driven component through the spherical joint bearing and drives the driven component to move.

[0012] According to some embodiments of the present application, the spherical joint has a through hole, and a hollow cone for connecting external components is arranged on the spherical joint and communicates with the through hole; the driving component is connected with and drives the driven component inside the hollow cone after passing through the through hole.

[0013] According to some embodiments of the present application, the driven component comprises a fixed component and a following component; the fixed component is used to provide mechanical support for the following component and is fixedly connected with the hollow cone, and the following component is connected with the driving component and is driven to move.

[0014] According to some embodiments of the present application, the driving component comprises a flexible shaft, and the following component comprises a screw rod.

[0015] Another aspect of the present application also provides a mechanical device. The mechanical device can comprise the spherical joint bearing as described above or the transmission mechanism.

[0016] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0017] The present application will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same reference numbers represent the same structures, wherein:

[0018] FIG. 1 is an exemplary perspective assembly view of a spherical joint bearing according to some embodiments of the present application;

[0019] FIG. 2 is an exemplary cross-sectional view of a spherical joint bearing according to some embodiments of the present application;

[0020] FIG. 3 is an exemplary structural diagram of a joint bearing, according to some embodiments of the present application;

[0021] FIG. 4 is another exemplary perspective assembly diagram of a joint bearing, according to some embodiments of the present application;

[0022] FIG. 5 is another exemplary perspective assembly diagram of a joint bearing, according to some embodiments of the present application;

[0023] FIG. 6 is another exemplary structural diagram of a joint bearing, according to some embodiments of the present application;

[0024] FIG. 7 is another exemplary structural diagram of a joint bearing, according to some embodiments of the present application;

[0025] FIG. 8 is an exemplary schematic diagram of a bearing sleeve, according to some embodiments of the present application;

[0026] FIG. 9 is another exemplary perspective assembly diagram of a joint bearing, according to some embodiments of the present application;

[0027] FIG. 10 is an exemplary schematic diagram of a transmission structure, according to some embodiments of the present application. DETAILED DESCRIPTION

[0028] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application are described in detail below. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0029] It should be noted that when a component is referred to as being "fixed" or "attached" to another component, it can be directly on the other component or there can be intervening components present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be intervening components present. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0030] 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 of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, figures, and other references mentioned herein are incorporated by reference in their entirety for the teachings relevant to the sentence and / or paragraph in which the reference is presented. As used herein, the singular form "a", "an" and "the" include plural references unless the context clearly dictates otherwise. As used herein, the term "or" as used herein, unless otherwise indicated, is used in a non-exclusive sense (i.e., referring to at least one of the items listed) and can be used in conjunction with "and / or". As used herein, the term "about" means that the recited numerical property or range is approximated, and that slight variations are expected due to measurement error, rounding, and the like.

[0031] Some preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be noted that the following description is for the purpose of illustration only and is not intended to limit the scope of the present application. The steps involved in the present application can be executed in sequence, or various steps can be processed in reverse order or simultaneously. Other operations can also be added to these processes, or one or more steps can be removed from these processes.

[0032] In one aspect, the present application provides a joint bearing. The joint bearing can limit the movement of rotation around its own axis, and can achieve a large range of motion. Referring to FIG. 1, FIG. 1 is an exemplary structural diagram of a joint bearing according to some embodiments of the present application. As shown in FIG. 1, the joint bearing 100 can include a spherical joint 110 and a bearing sleeve 120. The bearing sleeve 120 can be split and formed by assembling multiple sub-parts. The bearing sleeve 120 can include a first part 121 and a second part 122, which can be combined together to surround and hold the spherical joint 110. The combination can include clamping, sleeving, threaded connection, etc. An example is that the first part 121 and the second part 122 can be provided with positioning shafts and positioning holes correspondingly. As shown in FIG. 1, the first part 121 and the second part 122 are half-ring components, and a positioning shaft or a positioning hole can be provided at the broken end of the half-ring component, respectively. Clamping is completed by clamping the positioning shaft into the positioning hole, so that the first part 121 and the second part 122 are assembled. Alternatively, the positioning hole can be changed to a sleeve / sleeve pipe, and sleeving is completed by inserting the positioning shaft into the sleeve / sleeve pipe, so that the first part 121 and the second part 122 are assembled.

[0033] The spherical joint 110 can move in the space defined by the bearing sleeve 120, such as swinging, rotating, etc. In the present application, the movement of the spherical joint 110 in the bearing sleeve 120 can be limited. Among them, the spherical joint 110 is limited to not rotate (also can be understood as rotate on its own axis) around its own axis. For example, the outer surface of the spherical joint 110 can be provided with a first limiting structure, and the inner surface of the bearing sleeve 120 can be provided with a second limiting structure. The rotation of the spherical joint 110 around its own axis can be limited by the cooperation of the first limiting structure and the second limiting structure. Among them, the first limiting structure can be a groove 111 opened on the outer surface of the spherical joint 110, and the second limiting structure can be a protrusion 123 opened on the inner surface of the bearing sleeve 120. The number of grooves 111 and protrusions 123 is matched. When the groove 111 is one, the protrusion 123 is also one, which can be opened on the first part 121 or the second part 122. If two grooves 111 are symmetrically opened on the outer edge of the spherical joint 110, the first part 121 and the second part 122 can also be respectively provided with protrusions 123. When the bearing sleeve 120 is assembled, only the protrusion 123 needs to be aligned with the groove 111 before being folded. In this way, after the protrusion 123 is clamped into the groove 111, the rotation of the spherical joint 110 will be limited, and the rotation in other directions will not be affected. Referring to the cross-sectional view of the joint bearing provided by some embodiments of the present application shown in FIG. 2, when the bearing sleeve 120 is assembled, the protrusion 123 has been clamped into the groove 111. When the spherical joint 110 tries to rotate on its own axis, it will be stopped due to the blockage of the protrusion 123. However, other forms of movement such as swinging or rotating are not affected.

[0034] Of course, the above first limiting structure and the second limiting structure can also be interchanged. For example, the protrusions on the outer surface of the spherical joint 110 are used as the first limiting structure, and the grooves on the inner surface of the bearing sleeve 120 are used as the second limiting structure. The present application does not make specific limitations.

[0035] For the setting of the first limiting structure and the second limiting structure, it can be processed after the spherical joint 110 and the bearing sleeve 120 are completed. For example, a slotting machine is used to form the above-mentioned groove 111 on the outer surface of the spherical joint 110, and an additional part is fixedly connected to the inner surface of the bearing sleeve 120 by welding, bonding or other connection methods. The first limiting structure and the second limiting structure can also be integrally formed with the corresponding parts during the preparation process of the joint bearing 100. For example, the spherical joint 110 and the bearing sleeve 120 are prepared by using processes such as die casting, melting casting, injection molding, 3D printing, etc.

[0036] The joint bearing 100 can also include an outer member 130. The outer member 130 can be used to improve the structural stability of the assembled joint bearing 100 and expand the application of the joint bearing 100. For example, the outer member 130 can be a component having a shape matching the outer shape of the bearing sleeve 120, such as a ring-shaped cylindrical wall. The bearing sleeve 120 can be sleeved into the inner ring of the outer member 130 and fixed to the outer member 130 by a connecting structure. One possible way is that the outer member 130 is provided with an integral fixing portion 131 having a through threaded hole. The bearing sleeve 120 is also provided with a threaded hole. The two aligned threaded holes are fastened by a bolt, so that the outer member 130 is fixed to the bearing sleeve 120. In this way, the assembled bearing sleeve 120 can be constrained by the outer member 130, so as to avoid disintegration of the whole assembled from multiple sub-components due to unstable connection. In addition, the outer member 130 can also be provided with other structures, such as a ring used to connect to other components. FIG. 3 shows an exemplary schematic diagram of an assembled joint bearing according to some embodiments of the present application, which can be used for reference.

[0037] The joint bearing disclosed in the present application can also have other implementation manners. Referring to FIG. 4, another exemplary schematic diagram of a joint bearing according to some embodiments of the present application is shown. The joint bearing 400 does not have an outer member 130 compared with the joint bearing 100. The bearing sleeve is also assembled from two half-ring components. In this example, the cross-section of the half-ring components is not only provided with a positioning shaft or a positioning hole, but also provided with a through hole 421 and a through hole 422. The two through holes 421 and 422 will be aligned after the positioning shaft and the positioning hole are aligned. After the two half-ring components are closed, the assembled bearing sleeve can be fastened by a connecting member combined with the two through holes. For example, the connecting member can be a bolt, and the two through holes 421 and 422 can be threaded through holes. The bolt can be tightened in the threaded through holes to achieve fastening connection. Alternatively, the connecting member can be a screw-nut combination, and the two through holes 421 and 422 can be smooth through holes or threaded through holes. The screw is passed through the two through holes and then fixed by a nut to achieve fastening connection.

[0038] Referring to FIG. 5, another exemplary schematic diagram of the joint bearing according to some embodiments of the present application is shown. The bearing sleeve 520 of the joint bearing 500 is assembled by two ring-shaped members 521 and 522. The first limiting structure provided on the outer surface of the spherical joint 510 can be a protrusion 511, and the second limiting structure provided on the inner surface of the bearing sleeve 520 can be a groove 523. In assembly, the spherical joint 510 can be first placed in the ring-shaped member 522, at which time the protrusion 511 is aligned with the groove 523, and the spherical joint 510 is positioned to some extent. Subsequently, the ring-shaped member 521 is aligned with the ring-shaped member 522 (for example, using the groove 523 as a reference or using a positioning shaft and positioning hole provided on the surfaces of the two ring-shaped members, etc.), and then the joint bearing 500 is obtained after the two are fastened together (for example, by means of threaded connection, riveting, bonding, etc.). FIG. 6 shows an exemplary schematic diagram of the joint bearing after assembly according to some embodiments of the present application, which can be used for reference.

[0039] Referring back to FIG. 1, the joint bearing 100 can further include a mounting member 140. The mounting member 140 can be connected to the spherical joint 110, and is used to connect other external components to achieve the connection between the external components and the joint bearing 100. In some examples, the mounting member 140 can be a hollow conical member, such as a hollow conical cylinder. The conical head is connected to the spherical joint 110, and the cylindrical barrel is connected to the external components. Similarly, the mounting member 140 can also be attached to the spherical joint 110 after the spherical joint 110 is prepared, for example, by welding, etc., or can be integrally formed with the spherical joint 110. The conical design of the mounting member 140 used in the present application allows the joint bearing 100 to have a larger deflection angle range, greatly ensuring the movement range of the joint bearing 100 in specific application scenarios; compared to directly connecting a cylindrical connector (which results in a too narrow movement range of the spherical joint), the spherical joint 110 directly connected to a conical connector has a wider movement range.

[0040] The spherical joint 110 can have a through hole. Referring to FIG. 2, a cross-sectional view of the joint bearing 100 is shown. The spherical joint 110 has a through hole 120. The hole wall of the through hole 120 can be smooth, or can be provided with threads, or can be provided with other connectors such as a clamping ring, and can be used to pass through or mount mechanical parts. For example, when the spherical joint 110 is applied to a movement mechanism, it can be used to pass through a force transmission member without affecting the movement of the movement mechanism. The through hole 120 can be in communication with the aforementioned mounting member 140 (i.e., the hollow conical member). Other components passing through the through hole 120 can be connected to other mechanical parts inside the hollow conical member, thereby improving the integration and simplicity of the entire mechanical member. The aforementioned specific connection can be referred to in the subsequent description of the use of the joint bearing.

[0041] Referring to FIG. 7, another exemplary schematic diagram of the joint bearing according to some embodiments of the present application is shown. The joint bearing can include a plurality of spherical joints (two spherical joints are shown in FIG. 7 for convenience of representation, and the hollow conical members connected to the spherical joints are not shown). The spherical joints are contained and clamped in a bearing sleeve with a square shape, for example, a cuboid. By changing the shape of the bearing sleeve, for example, by increasing the length of the cuboid, more spherical joints can be contained. Alternatively, by increasing the width of the cuboid, a grid-like distribution of the spherical joints can be achieved. In addition, by designing the bearing sleeve as a beveled wedge (see FIG. 8, an exemplary schematic diagram of the bearing sleeve of the joint bearing according to some embodiments of the present application), a connector, for example, a clamping hole H, can be directly provided on the wedge surface to achieve quick and accurate installation of the joint bearing. For example, installation of the bearing sleeve on a mounting base with a mounting slot matching the shape of the bearing sleeve: by clamping the bearing sleeve directly into the mounting slot matching the shape of the bearing sleeve, and by clamping the clamping block provided on the wall of the mounting slot into the clamping hole H, alignment and clamping are achieved. In addition, a through connection hole, for example, a threaded hole, can be provided on the bearing sleeve, and a threaded hole is also provided on the mounting base. The bearing sleeve and the mounting base are fastened by screws. At the same time, a fixing member can be attached to the top of the bearing sleeve. The fixing member can be a limiting strip, a limiting frame, etc., provided with a limiting hole. By combining the limiting hole with screws and other elements, the fixing member is further limited and fixed on the mounting base.

[0042] Figure 9 shows another exemplary assembly of the joint bearing provided by the present application. The joint bearing 900 has the same or similar structure as the joint bearing 100 described above, including but not limited to the separate limiting structure on the spherical joint and the bearing sleeve, the through hole on the spherical joint, the mounting member on the spherical joint, the plurality of spherical joints, and the split bearing sleeve. In this embodiment, the joint bearing 900 includes a spherical joint 910, a bearing sleeve 920, and a limiting member 930. The spherical joint 910 is the same as or similar to the spherical joint 110, and the bearing sleeve 920 is the same as or similar to the bearing sleeve 120, which is assembled by aligning the first part 921 and the second part 922. The outer surface of the spherical joint 910 is provided with a first limiting structure, for example, a groove 911 on the outer surface of the spherical joint 910. The inner surface of the bearing sleeve 920 can be provided with a second limiting structure, for example, a recessed point 923 on the inner surface of the bearing sleeve 920. The number of grooves 911 and recessed points 923 is also corresponding. When there is one groove 911, there is also one recessed point 923, which can be provided on the first part 921 or the second part 922. If two grooves 911 are symmetrically provided on the outer surface of the spherical joint 910, recessed points 923 can also be provided on the first part 921 and the second part 922, respectively. The groove 911 and the recessed point 923 will be aligned after the bearing sleeve 920 is assembled. At this time, the limiting member 930 will be accommodated in the space formed by the groove 911 and the recessed point 923. Part of the limiting member 930 will be accommodated in the groove 911, and the other part will be accommodated in the recessed point 923. The limiting member 930 can have the same function as the protrusion 123 described above, which limits the rotation of the spherical joint 910 around its own axis without affecting its rotation in other directions.

[0043] The joint bearing disclosed in the present application has a wide range of motion and limits rotation around its own axis, making it more widely applicable, and enabling the miniaturization of mechanical devices that use it.

[0044] In another aspect, the present application provides a transmission mechanism. The transmission mechanism can include a driving component, a joint bearing as described above, and a driven component. The driving component can be connected to the driven component through the joint bearing and drive the movement of the driven component. For example, the through hole of the spherical joint of the joint bearing can serve as a passage for the driving component. The mounting member (i.e., the hollow conical cylinder) of the joint bearing can provide a connection space for the driving component and the driven component. Thus, the transmission mechanism provided by the present application can achieve high integration and miniaturization, and reduce the complexity of mechanical devices that use it.

[0045] In one possible implementation, the driving component can include various components capable of transmitting power over a medium or long distance, including but not limited to a flexible shaft, a rigid shaft, a gear rod, a transmission rod, a lead screw, a guide wire, a pneumatic component, a hydraulic component, or any combination thereof. The driving component has a "driving" function by transmitting force. The driven component can include various components capable of linear or rotational movement, including but not limited to a sliding rod sleeve combination, a sliding block guide rail combination, a lead screw sleeve combination, a worm gear sleeve combination, etc. In some examples, the driven component can include a fixed component and a follower. The fixed component can be used to provide mechanical support for the follower and is connected to the mounting component (i.e., the tapered component) of the joint bearing, thereby achieving the connection between the driven component and the joint bearing. The follower is connected to the driving component inside the tapered component and is driven by the driving component to move. Taking the driving component as a flexible shaft and the driven component as a lead screw sleeve combination as an example, the fixed component can include a bearing connected to the lead screw. The inner ring of the bearing is fixed to the lead screw, and the outer ring is fixed to the tapered component. The flexible shaft is connected to the lead screw inside the hollow tapered component after passing through the through hole of the spherical joint. In this way, the rotational force transmitted by the flexible shaft drives the lead screw to rotate, and the lead screw is screwed into or out of the sleeve.

[0046] In other examples, the driving component can be a hydraulic pipe (e.g., a flexible pipe or a rigid pipe), and the driven component can include a sliding rod sleeve combination. The fixed component can include a block that is slidably sleeved on the sliding rod. The block is fixed to the tapered component. The hydraulic pipe is connected to the sliding rod inside the hollow tapered component after passing through the through hole of the spherical joint. In this way, the push-pull force transmitted by the hydraulic pipe drives the sliding rod to move linearly, and the sliding rod is screwed into or out of the sleeve.

[0047] In other examples, the driving component can be a flexible shaft, and the driven component can include a worm gear combination. The fixed component can include a bearing with a double-sided tapered gear on the inner ring. The outer ring of the bearing is fixed to the tapered component. The flexible shaft is engaged with the double-sided tapered gear inside the hollow tapered component after passing through the through hole of the spherical joint, and the worm gear is engaged with the tapered gear on the other side. In this way, the rotational force transmitted by the flexible shaft drives the worm gear to rotate, and the rotation of the worm gear drives the rotation of the lead screw, thereby screwing the lead screw into or out of the sleeve.

[0048] It should be noted that the above description is merely exemplary. Any transmission mechanism capable of conducting force inside the spherical bearing is within the scope of the present application.

[0049] The present application also discloses a mechanical device. The mechanical device can include the spherical joint or the transmission mechanism as described above. Due to the self-rotation limited connection design of the conical part of the spherical joint, a wide range of motion and fine control of the motion of the mechanical device can be achieved. In addition, part of the line in the mechanical device, such as a wire for transmitting a control signal and / or a force transmission line for transmitting force, can pass through the through hole of the spherical joint and be connected to a controlled component or a driven component, thereby achieving a compact structure and high integration of the mechanical device, and reducing the complexity of the mechanical device.

[0050] Exemplary mechanical devices can include a motion platform, a parallel robot, a joint robot, etc. For example, the spherical bearing can be used for the connection between the static platform / moving platform and the movable link of the motion platform / parallel robot, or as the joint connection of the joint robot. Generally, the kinematic pairs provided on the aforementioned static platform and moving platform, or the robot joints are required to have a large range of motion. Thus, the motion range of the motion platform / parallel robot / joint robot is also larger. In addition, at least one of the two sets of kinematic pairs of the two platforms needs to limit the degree of freedom of rotation around its own axis. Therefore, in the prior art, two sets of universal joints / Hooke joints, or one set of universal joints / Hooke joints and one set of existing spherical bearings are selected. However, the cross shaft of the universal joint / Hooke joint and the existing spherical bearing have some problems. When the input and output axes of the cross shaft of the universal joint / Hooke joint are different, the input and output angular velocities are not equal. Therefore, when the universal joint is used as a joint, the phenomenon of jamming and unsmooth motion occurs during the motion. Moreover, the axial size of the universal joint is long, and the volume is large, which makes the structure of the entire device compact. The motion range of the existing spherical bearing is small, and the self-rotation cannot be limited. Therefore, the above transmission scheme will cause problems such as small motion range, unsmooth motion process, and non-compact structure. In addition, the platform / joint needs to have force transmission during the motion, and the force transmission pipeline is arranged outside the entire device in the traditional scheme, which makes the entire device appear bulky, complex, and not beautiful.

[0051] However, the mechanical device applying the spherical bearing or the transmission structure disclosed in the present application can achieve a wide range of motion. Moreover, the self-rotation of the spherical bearing around its own axis is limited by the design of the limiting structure of the spherical joint and the bearing sleeve, which is beneficial to the miniaturization and fine control of the device. In addition, the spherical joint has a passage for accommodating the force transmission pipeline, which can be used for transmitting an external power source, so that the entire device is simplified without affecting the motion.

[0052] The mechanical device disclosed in the present application can be applied in the field of medical equipment. For example, the mechanical device can be used as a surgical robot in a medical procedure to precisely control the front-end surgical component of the robot in various surgeries. In some embodiments, the surgery can be a minimally invasive surgery, such as puncture biopsy, tumor ablation, particle implantation, intratumoral drug injection, brain electrode implantation, radiofrequency or laser ablation, brachytherapy, medical cosmetic surgery such as injection of botulinum, hyaluronic acid solution, liposuction, breast augmentation, slimming and face slimming, etc. In some embodiments, the front-end surgical component can also be a clamping component or a needle component (i.e., "needle") or other surgical operating component, for example, the "needle" used in any step of the surgery can be placed on the mechanical device, and after the position and attitude are adjusted, the minimally invasive surgery is performed under control. For example, when the minimally invasive surgery is puncture biopsy or any step of puncture biopsy, the needle component can include a puncture needle; when the minimally invasive surgery includes tumor ablation or any step of tumor ablation, the needle component can include an ablation needle; when the minimally invasive surgery includes particle implantation or any step of particle implantation, the needle component can include a particle implantation gun for performing particle implantation surgery; when the minimally invasive surgery includes intratumoral drug injection or any step of intratumoral drug injection, the needle component can include an injection needle; when the minimally invasive surgery includes brain electrode implantation or any step of brain electrode implantation, the needle component can include an electrode guide wire and / or a cannula; when the minimally invasive surgery includes radiofrequency or laser ablation or any step of radiofrequency or laser ablation, the needle component can include a radiofrequency or laser fiber and / or a cannula; when the minimally invasive surgery includes any step of brachytherapy, the needle component can include an applicator, a catheter, and a spacer needle; when the minimally invasive surgery includes any step of medical cosmetic surgery, the needle component can include an injection needle and a liposuction needle. In one example, the mechanical device can be a motion platform, and the clamping component or the needle component or other surgical operating component can be fixedly placed on the motion platform. By adjusting the motion stroke of the movable connecting rod between the two platforms to adjust the attitude of the motion platform, the attitude of the clamping component or the needle component or other surgical operating component is further adjusted. The joint bearing or transmission mechanism disclosed in the present application can be applied to the connecting member between the movable connecting rod and the platform or the combination of the movable connecting rod and the connecting member. Based on the foregoing description of the technical solutions of the present application, the motion platform can achieve large-range motion and miniaturization, and can be particularly suitable for medical scenarios.

[0053] The basic concepts have been described in the present application, and it is obvious that the above detailed disclosure is only an example and does not limit the present application. Although it is not explicitly stated herein, those skilled in the art can make various modifications, improvements and corrections to the present application. Such modifications, improvements and corrections are suggested in the present application, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0054] Also, certain terminology has been used in the foregoing description for the purpose of reference only. The terms "one embodiment", "an embodiment”, "some embodiments”, "one example”, “an example”, and / or "some examples” mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment” or "in an embodiment” or "in one alternate embodiment” or "in an alternate embodiment” in various places in the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0055] Similarly, it is to be noted that, as used in the specification and the appended claims, the singular forms "a”, "an” and "the” include plural referents unless otherwise indicated. It will be further understood that the terms "comprises", "comprising", "includes” and / or "including”, when used in this specification, specify the presence of stated features, structures, and / or characteristics, but do not preclude the presence or addition of one or more other features, structures, characteristics, and / or groups thereof.

[0056] Finally, it should be noted that the embodiments described hereinabove merely represent examples of the principles of the present application. Other variations having essentially the same structure are possible within the scope of the present application. Thus, although the present application has been described in detail with respect to specific embodiments thereof, it will be apparent to those skilled in the art that various alterations, modifications, and improvements can be made. For example, the alternative configurations of the embodiments of the present application can be considered as being within the scope of the present application. Accordingly, it is not intended that the application be limited as described above, but rather that it be limited only as defined by the following claims.

Claims

1. A knuckle bearing, characterized by, The joint bearing comprises: a spherical joint, and a bearing sleeve; wherein, an outer surface of the spherical joint is provided with a first limiting structure, and an inner surface of the bearing sleeve is provided with a second limiting structure, the first limiting structure and the second limiting structure are matched to jointly limit rotation of the spherical joint around its own axis.

2. A knuckle bearing, characterized by The joint bearing comprises: a spherical joint, a bearing sleeve, and a limiting member; wherein, an outer surface of the spherical joint is provided with a first limiting structure, and an inner surface of the bearing sleeve is provided with a second limiting structure, the limiting member is located in a space formed by mutual cooperation of the first limiting structure and the second limiting structure, and the three jointly limit rotation of the spherical joint around its own axis.

3. The knuckle bearing of claim 1, wherein, The first limiting structure and the second limiting structure are respectively a recess or a protrusion, and cooperation of the two is realized by clamping the protrusion into the recess.

4. The knuckle bearing of claim 2, wherein, The first limiting structure and the second limiting structure are both recesses, and the limiting member is partially embedded in the first limiting structure and partially embedded in the second limiting structure.

5. The knuckle bearing according to claim 1 or 2, characterized in that The bearing sleeve comprises a plurality of sub-components that can be assembled separately, and precise matching of the first limiting structure and the second limiting structure is realized by assembly of the plurality of sub-components.

6. The knuckle bearing according to claim 1 or 2, characterized in that The spherical joint has a through hole; a hollow cone-shaped member for connecting an external component is arranged on the spherical joint and communicates with the through hole.

7. The knuckle bearing according to claim 1 or 2, characterized in that The number of the spherical joints comprises one or more.

8. A transmission mechanism, characterized by The transmission mechanism comprises: a driving component; the joint bearing according to any one of claims 1-7; and a driven component; The driving component is connected with the driven component through the joint bearing and drives the driven component to move.

9. The transmission mechanism according to claim 8, the spherical joint has a through hole, and a hollow cone-shaped member that communicates with the through hole is arranged; the driving component is connected with and drives the driven component inside the hollow cone-shaped member after passing through the through hole.

10. The transmission mechanism of claim 9, wherein The driven component comprises a fixed component and a following component; the fixed component is used to provide mechanical support for the following component, and is fixedly connected with the hollow cone-shaped member; the following component is connected with the driving component and moves under the driving of the driving component.

11. The transmission mechanism of claim 10, wherein The driving component comprises a flexible shaft, and the following component comprises a screw rod.

12. A mechanical device, characterized by The mechanical device comprises the spherical joint according to any one of claims 1-7, or the transmission mechanism according to any one of claims 8-11.

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