CN219184101U

CN219184101U - Middle joint of mechanical arm support frame and surgical robot system

Info

Publication number: CN219184101U
Application number: CN202320100293.5U
Authority: CN
Inventors: 李强; 李文滨; 何云冰; 苏衍宇; 冯海生
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2023-02-02
Filing date: 2023-02-02
Publication date: 2023-06-16
Anticipated expiration: 2033-02-02

Abstract

The utility model relates to the technical field of surgical arm adjusting structures, in particular to a middle joint of a mechanical arm supporting frame and a surgical robot system. The middle joint of the mechanical arm support frame comprises a first connecting mechanism, a second connecting mechanism, a driving motor and a brake, wherein the first connecting mechanism is used for being connected with a big arm, and the second connecting mechanism is used for being connected with a small arm; the brake comprises a brake stator and a brake rotor, wherein the brake stator is fixedly connected with the first connecting mechanism, the brake rotor is fixedly connected with the second connecting mechanism, and the driving motor is arranged on the first connecting mechanism and is in transmission connection with the brake rotor and is used for driving the brake rotor to rotate relative to the brake stator. And a driving motor is arranged to realize automatic control of rotation between the large arm and the small arm. Meanwhile, the brake stator and the brake rotor can control the rotation connection relation between the big arm and the small arm.

Description

Middle joint of mechanical arm support frame and surgical robot system

Technical Field

The utility model relates to the technical field of surgical arm adjusting structures, in particular to a middle joint of a mechanical arm supporting frame and a surgical robot system.

Background

The endoscope operation system is a high-grade laparoscopic operation platform and consists of a doctor control console, a patient operation platform, an image trolley and the like. The mechanical arm support frame is one of the important components of the patient operation platform, and is mainly used for installing and adjusting the position of an operation arm, wherein the mechanical arm support frame comprises a big arm and a small arm, the big arm and the small arm are connected in a rotating way through an intermediate joint, the big arm is connected with a root connecting shaft, the small arm is connected with the operation arm, and the distance between the operation arm and the root of the big arm can be adjusted through relative rotation between the big arm and the small arm.

Because the middle joints are all arranged in a passive mode, the rotation and the braking between the large arm and the small arm cannot be controlled, and the position of the operation arm is difficult to accurately adjust.

Disclosure of Invention

The utility model solves the problem of how to control the rotation and braking between the large arm and the small arm so as to accurately adjust the position of the operation arm.

In order to solve the problems, the utility model provides a middle joint of a mechanical arm support frame, which comprises a first connecting mechanism, a second connecting mechanism, a driving motor and a brake, wherein the first connecting mechanism is used for being fixedly connected with a big arm, and the second connecting mechanism is used for being fixedly connected with a small arm;

the brake comprises a brake rotor and a brake stator, wherein the brake stator is fixedly connected with the first connecting mechanism, the brake rotor is fixedly connected with the second connecting mechanism, the driving motor is arranged on the first connecting mechanism and is in transmission connection with the brake rotor, when the brake is electrified, the brake rotor is used for being in rotary connection with the brake stator, and when the brake is powered off, the brake rotor is used for being fixedly connected with the brake stator.

The utility model has the technical effects that: the driving motor is arranged on the big arm, the second connecting mechanism is connected with the small arm, the first connecting mechanism is connected with the big arm, the driving motor is utilized to drive the second connecting mechanism to rotate, the small arm can be driven to rotate relative to the big arm by utilizing the relative rotation between the second connecting mechanism and the first connecting mechanism, and the automatic control of the rotation between the big arm and the small arm is realized. Simultaneously, first coupling mechanism and stopper stator fixed connection, second coupling mechanism and stopper rotor fixed connection utilize the characteristic of stopper, control the rotation relation of connection between big arm and forearm. Therefore, through the arrangement of the driving motor, the relative rotation between the large arm and the small arm can be realized, and the position of the surgical arm connected to the small arm can be conveniently adjusted. Simultaneously, set up stopper rotor and stopper stator, can control the braking between big arm and the forearm, prevent that big arm and forearm from taking place relative rotation because of external force takes place to interfere, avoid the position of operation arm to change, guaranteed the accuracy to operation arm position adjustment.

Optionally, the second coupling mechanism includes the joint rotatory flange, the joint rotatory flange sets up on driving motor's the output shaft, the joint rotatory flange with stopper rotor fixed connection, offered first constant head tank on the joint rotatory flange, be close to on the forearm the tip of first constant head tank is provided with the locating piece, the locating piece is used for setting up in the first constant head tank.

Optionally, the first connecting mechanism further comprises an intermediate shaft upper gland, the brake stator and the brake rotor are sequentially arranged from top to bottom, the intermediate shaft upper gland is used for being fixedly connected with the large arm, a second positioning groove is formed in the lower end face of the intermediate shaft upper gland, and the upper end of the brake stator is arranged in the second positioning groove.

Optionally, the first connection mechanism further comprises an upper flange, wherein the upper flange is of an annular structure, is sleeved on the outer side of the brake stator, and is respectively and fixedly connected with the upper gland of the intermediate shaft and the large arm.

Optionally, the first connecting mechanism further comprises a joint rotary drum, the gland on the intermediate shaft and the joint rotary drum are respectively located on the upper side and the lower side of the big arm, the joint rotary drum is fixedly connected with the big arm, and the driving motor is fixedly arranged in the joint rotary drum.

Optionally, the first connecting mechanism further comprises a locking structure, and two ends of the locking structure are respectively and fixedly connected with the gland on the intermediate shaft and the joint rotary drum.

Optionally, the locking structure includes opening flange, opening connecting axle, lock nut, opening flange is located the lower extreme of joint rotary drum, the upper and lower both ends of opening connecting axle respectively with lock nut the opening flange connects.

Optionally, the middle joint of the mechanical arm support frame further comprises a bearing structure, the bearing structure comprises a first bearing, the first bearing is located between the upper flange and the forearm, the outer side wall of the first bearing is connected with the forearm, and the inner side wall of the first bearing is connected with the upper flange.

Optionally, the bearing structure further comprises a second bearing, the second bearing is located between the joint rotation cylinder and the forearm, an outer side wall of the second bearing is connected with the forearm, and an inner side wall of the second bearing is connected with the joint rotation cylinder.

The utility model also provides a surgical robot system comprising the middle joint of the mechanical arm support frame.

The utility model has the technical effects that: the surgical robot system comprises the middle joint of the mechanical arm supporting frame, has the same technical effects and is not described in detail herein.

Drawings

Fig. 1 is a schematic structural view of a middle joint of a mechanical arm support frame of the present utility model;

FIG. 2 is a cross-sectional view of a middle joint of the robotic arm support frame of the present utility model;

FIG. 3 is a schematic structural view of a brake stator according to the present utility model;

FIG. 4 is a schematic structural view of a brake rotor of the present utility model;

fig. 5 is a schematic structural view of the first connecting mechanism of the present utility model.

Reference numerals:

11. a gland is arranged on the intermediate shaft; 12. an upper flange; 13. a joint rotation drum; 14. a locking structure; 141. an opening connecting flange; 142. an opening connecting shaft; 143. a lock nut; 2. a joint rotating flange; 3. a driving motor; 41. a first bearing; 42. a second bearing; 43. a bearing inner ring washer; 51. a large arm; 52. a forearm; 6. wiring grooves; 7. a brake; 71. a brake stator; 72. a brake rotor.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In this embodiment, an XYZ axis coordinate system is established, the X axis forward direction is forward, the X axis backward direction is backward, the Y axis forward direction is left, the Y axis backward direction is right, the Z axis forward direction is upward, and the Z axis backward direction is downward.

In order to solve the above problems, as shown in fig. 1-5, an intermediate joint of a mechanical arm support frame according to an embodiment of the present utility model includes a first connection mechanism, a second connection mechanism, a driving motor 3, and a brake 7, where the first connection mechanism is fixedly connected with a large arm 51, the second connection mechanism is fixedly connected with a small arm 52, and the small arm 52 is rotatably connected with a surgical arm;

the brake 7 comprises a brake stator 71 and a brake rotor 72, the brake stator 71 is fixedly connected with the first connecting mechanism, the brake rotor 72 is fixedly connected with the second connecting mechanism, the driving motor 3 is arranged on the first connecting mechanism and is in transmission connection with the brake rotor 72, when the brake is powered on, the brake rotor 72 is used for being in rotary connection with the brake stator 71, and when the brake is powered off, the brake rotor 72 is used for being fixedly connected with the brake stator 71.

In the present embodiment, the brake rotor 72 and the brake stator 71 exemplarily constitute the brake 7. An output shaft of the motor is connected with the brake rotor 72, the brake rotor 72 can be driven to rotate when the driving motor 3 is started, the brake rotor 72 is connected with the small arm 52, and the small arm 52 can be synchronously driven to rotate when the brake rotor 72 rotates. Meanwhile, when the brake is electrified, the brake rotor 72 and the brake stator 71 can rotate relatively, namely the brake rotor 72 and the small arm 52 rotate synchronously, and the brake stator 71 and the large arm 51 are stationary synchronously; when the brake is de-energized, the brake rotor 72 and the brake stator 71 cannot rotate relatively, and since the brake stator 71 and the large arm 51 are stationary synchronously, it is difficult to drive the brake rotor 72 to rotate the small arm 52 even if the drive motor 3 is started.

In a word, a first connecting mechanism is arranged on the large arm 51, a driving motor 3 is arranged on the first connecting mechanism, a second connecting mechanism is connected with the small arm 52, the first connecting mechanism is connected with the large arm 51, the driving motor 3 is utilized to drive the second connecting mechanism to rotate, and the small arm 52 can be driven to rotate relative to the large arm 51 by utilizing relative rotation between the second connecting mechanism and the first connecting mechanism, so that automatic control of rotation between the large arm 51 and the small arm 52 is realized. Meanwhile, the first connection mechanism is fixedly connected to the brake stator 71, and the second connection mechanism is fixedly connected to the brake rotor 72, and the rotational connection relationship between the large arm 51 and the small arm 52 is controlled by utilizing the characteristics of the brake. Thus, by providing the drive motor 3, relative rotation between the large arm 51 and the small arm 52 can be achieved, and the position of the surgical arm connected to the small arm 52 can be adjusted easily. Meanwhile, the brake rotor 72 and the brake stator 71 are arranged, so that the braking between the large arm 51 and the small arm 52 can be controlled, the large arm 51 and the small arm 52 are prevented from relative rotation due to interference of external force, the position change of the operation arm is avoided, and the accuracy of the position adjustment of the operation arm is ensured.

Alternatively, as shown in fig. 2 and 4, the second connection mechanism includes a joint rotating flange 2, the joint rotating flange 2 is disposed on an output shaft of the driving motor 3, the joint rotating flange 2 is fixedly connected with the brake rotor 72, a first positioning groove is formed on the joint rotating flange 2, a positioning block is disposed on an end portion, close to the first positioning groove, of the small arm 52, and the positioning block is disposed in the first positioning groove.

In this embodiment, illustratively, the upper end of the joint rotating flange 2 is connected with the brake rotor 72, the lower end of the joint rotating flange 2 is provided with a first positioning groove, the positioning block is a boss at the end of the small arm 52, and the boss is arranged in the first positioning groove, so that the joint rotating flange 2 and the small arm 52 can be fixedly connected. The joint rotating flange 2 is arranged on an output shaft of the driving motor 3, the driving motor 3 is started to drive the joint rotating flange 2 to rotate, and the joint rotating flange 2 is connected with the small arm 52 to drive the small arm 52 to rotate, so that the surgical arm connected with the small arm 52 is driven to adjust the position. Meanwhile, the joint rotating flange 2 is arranged, and the brake rotor 72 is arranged on the joint rotating flange 2, so that the brake rotor 72 and an output shaft of the driving motor 3 can be conveniently connected in a transmission way. Thus, by providing the joint rotation flange 2, the joint rotation flange 2 can be connected to the brake rotor 72 and the arm 52 more conveniently with respect to the output shaft of the drive motor 3, and the assembling process can be simplified.

Alternatively, as shown in fig. 1-3 and fig. 5, the first connecting mechanism includes an intermediate shaft upper gland 11, the intermediate shaft upper gland 11, a brake stator 71 and a brake rotor 72 are sequentially arranged from top to bottom, the intermediate shaft upper gland 11 is fixedly connected with the large arm 51, a second positioning groove is formed in the lower end face of the intermediate shaft upper gland 11, and the upper end of the brake stator 71 is arranged in the second positioning groove.

In this embodiment, the lower end surface of the upper gland 11 of the intermediate shaft is provided with the second positioning groove, and the upper end of the brake stator 71 is arranged in the second positioning groove, so that the brake stator 71 can be positioned, and the assembly accuracy between the brake stator 71 and the upper gland 11 of the intermediate shaft is ensured. And then the intermediate shaft upper gland 11 and the large arm 51 are fixedly connected, and the brake stator 71, the intermediate shaft upper gland 11 and the large arm 51 can be relatively stationary. Thus, the intermediate shaft upper gland 11 is provided, the brake stator 71 is connected to the intermediate shaft upper gland 11, and the intermediate shaft upper gland 11 is connected to the large arm 51, which can facilitate the assembly of the brake stator 71. Meanwhile, the second positioning groove is formed in the lower end face of the upper gland 11 of the intermediate shaft, so that the assembling accuracy of the brake stator 71 can be guaranteed, the brake rotor 72 and the brake stator 71 are matched with each other, and the braking effect on the large arm 51 and the small arm 52 is improved. Further, the upper end of the intermediate shaft upper gland 11 is provided with a wiring groove 6 for arranging a structure such as an electric wire.

Optionally, as shown in fig. 2, 3 and 5, the first connecting mechanism further includes an upper flange 12, where the upper flange 12 is configured as an annular structure and is sleeved on the outer side of the brake stator 71, and the upper flange 12 is fixedly connected with the intermediate shaft upper gland 11 and the large arm 51 respectively.

In the present embodiment, the upper flange 12 is illustratively located at the lower end of the intermediate shaft upper gland 11, and the upper end of the upper flange 12 is disposed in the second positioning groove, and the upper flange 12 can be positioned by using the second positioning groove when the upper flange 12 and the intermediate shaft upper gland 11 are assembled. Meanwhile, when the upper flange 12 is positioned at the outer side of the brake stator 71 and the upper flange 12 and the brake stator 71 are assembled, the inner side wall of the upper flange 12 is abutted against the outer side wall of the brake stator 71, so that the brake stator 71 can be positioned by using the upper flange 12, the assembling accuracy of the brake stator 71 can be ensured, the brake rotor 72 and the brake stator 71 are favorably matched with each other, and the braking effect on the large arm 51 and the small arm 52 is improved.

Optionally, as shown in fig. 2, 4 and 5, the first connection mechanism further includes a joint rotation drum 13, the upper pressing cover 11 of the intermediate shaft and the joint rotation drum 13 are respectively located on the upper side and the lower side of the large arm 51, the joint rotation drum 13 is fixedly connected with the large arm 51, and the driving motor 3 is fixedly arranged in the joint rotation drum 13.

In the present embodiment, illustratively, the outer side wall of the drive motor 3 abuts against the inner side wall of the joint rotation cylinder 13. The friction between the outer side wall of the driving motor 3 and the inner side wall of the joint rotary cylinder 13 is utilized to position the driving motor 3, so that the position of the driving motor 3 is prevented from changing when the small arm 52 and the large arm 51 move, and the driving motor 3 is ensured to be connected with the joint rotary flange 2. Meanwhile, the driving motor 3 is arranged in the joint rotation cylinder 13, so that the driving motor 3 can be arranged in the joint of the large arm 51 and the small arm 52, and interference caused by the fact that the driving motor 3 is arranged outside and the large arm 51 and the small arm 52 relatively rotate is prevented.

Optionally, as shown in fig. 2, the first connecting mechanism further includes a locking structure 14, and two ends of the locking structure 14 are fixedly connected with the upper gland 11 and the joint rotary drum 13 of the intermediate shaft respectively.

In the present embodiment, the locking structure 14 is provided, and the intermediate shaft upper gland 11 and the joint rotation cylinder 13 are connected using the locking structure 14, which can strengthen the connection mechanism between the intermediate shaft upper gland 11 and the joint rotation cylinder 13, enhancing the rigidity of the second connection mechanism.

Alternatively, as shown in fig. 2, the locking structure 14 includes an opening connection flange 141, an opening connection shaft 142, and a locking nut 143, where the opening connection flange 141 is located at the lower end of the joint rotation cylinder 13, and the upper and lower ends of the opening connection shaft 142 are connected to the locking nut 143 and the opening connection flange 141, respectively.

In the present embodiment, the open connecting shaft 142 is vertically provided, and the open connecting shaft 142 is used to pass through the driving motor 3 and the intermediate shaft upper gland 11. The split joint shaft 142 is connected to the joint drum 13 by a split joint flange 141 at the lower end of the split joint shaft 142, and the split joint shaft 142 is connected to the intermediate shaft upper gland 11 by a lock nut 143 at the upper end of the split joint shaft 142. Therefore, the opening connecting shaft 142 is arranged, the joint rotary cylinder 13, the driving motor 3 and the upper pressing cover 11 of the middle shaft can be formed into a whole, the structural rigidity of the second connecting mechanism is improved, and the action effect of the locking structure 14 is ensured. Meanwhile, an open connecting shaft 142 passes through the wiring groove 6, and a lock nut 143 is positioned at the upper end of the wiring groove 6 for connecting the wiring groove 6 and the intermediate shaft upper gland 11.

Optionally, as shown in fig. 2, the middle joint of the mechanical arm support frame further includes a bearing structure, where the bearing structure includes a first bearing 41, the first bearing 41 is located between the upper flange 12 and the small arm 52, an outer sidewall of the first bearing 41 is connected with the small arm 52, and an inner sidewall of the first bearing 41 is connected with the upper flange 12.

In this embodiment, when the upper flange 12 is connected to the large arm 51 and the small arm 52 rotates relative to the large arm 51, sliding friction is generated between the small arm 52 and the upper flange 12, which may affect the movement of the small arm 52. The first bearing 41 is arranged between the upper flange 12 and the small arm 52, the small arm 52 and the outer side wall of the first bearing 41 rotate synchronously, the upper flange 12 and the inner side wall of the first bearing 41 are relatively static, balls between the outer side wall of the first bearing 41 and the inner side wall of the first bearing 41 rotate, sliding friction between the small arm 52 and the upper flange 12 is converted into rolling friction, friction force can be reduced, and relative rotation between the small arm 52 and the large arm 51 is facilitated.

Optionally, as shown in fig. 2, the bearing structure further includes a second bearing 42, the second bearing 42 is located between the joint rotation cylinder 13 and the forearm 52, an outer sidewall of the second bearing 42 is connected with the forearm 52, and an inner sidewall of the second bearing 42 is connected with the joint rotation cylinder 13.

In the present embodiment, the second bearing 42 is provided between the joint rotation cylinder 13 and the forearm 52, the forearm 52 rotates in synchronization with the outer side wall of the second bearing 42, the joint rotation cylinder 13 and the inner side wall of the second bearing 42 are relatively stationary, the balls between the outer side wall of the second bearing 42 and the inner side wall of the second bearing 42 rotate, sliding friction between the forearm 52 and the joint rotation cylinder 13 is converted into rolling friction, which can reduce friction force, and the relative rotation of the forearm 52 and the forearm 51 is facilitated. Meanwhile, the upper flange 12 and the joint rotary cylinder 13 are respectively located at the upper side and the lower side of the large arm 51, and then the first bearing 41 and the second bearing 42 are respectively located at the upper side and the lower side of the large arm 51, and meanwhile, the friction force of the upper side and the lower side of the small arm 52 and the large arm 51 can be reduced at the same time, so that the small arm 52 and the large arm 51 can rotate relatively.

Optionally, as shown in fig. 2, the bearing structure further includes a bearing inner ring washer 43, a support is provided at a lower end of the joint drum 13, and the bearing inner ring washer 43 is provided at a lower end of the second bearing 42 between the second bearing 42 and the support.

In the present embodiment, the support is exemplarily provided in an annular step structure. The bearing inner ring gasket 43 is provided at the lower end of the second bearing 42, so that the leakage of the lubricating oil in the second bearing 42 can be prevented, the effect of the second bearing 42 can be ensured, and at the same time, the entry of impurities into the second bearing 42 can be prevented. Meanwhile, the bearing inner ring washer 43 is provided at the lower end of the second bearing 42, and the bearing inner ring washer 43 is supported by the annular step structure, so that the bearing inner ring washer 43 can be prevented from falling off.

Another embodiment of the present utility model provides a surgical robot system comprising an intermediate joint of a robotic arm support frame as defined in the claims.

In this embodiment, the surgical robot system includes the middle joint of the mechanical arm support frame, which has the same technical effects and is not described herein.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the utility model.

Claims

1. The middle joint of the mechanical arm support frame is characterized by comprising a first connecting mechanism, a second connecting mechanism, a driving motor (3) and a brake (7), wherein the first connecting mechanism is used for being fixedly connected with a large arm (51), and the second connecting mechanism is used for being fixedly connected with a small arm (52);

the brake (7) comprises a brake stator (71) and a brake rotor (72), wherein the brake stator (71) is fixedly connected with the first connecting mechanism, the brake rotor (72) is fixedly connected with the second connecting mechanism, the driving motor (3) is arranged on the first connecting mechanism and is in transmission connection with the brake rotor (72), and is used for driving the brake rotor (72) to rotate relative to the brake stator (71), when the brake is electrified, the brake rotor (72) is used for being in rotation connection with the brake stator (71), and when the brake is powered off, the brake rotor (72) is used for being in fixed connection with the brake stator (71).

2. The middle joint of the mechanical arm support frame according to claim 1, wherein the second connecting mechanism comprises a joint rotating flange (2), the joint rotating flange (2) is arranged on an output shaft of the driving motor (3), the joint rotating flange (2) is fixedly connected with the brake rotor (72), a first positioning groove is formed in the joint rotating flange (2), and a positioning block is arranged at an end part, close to the first positioning groove, of the small arm (52) and is used for being arranged in the first positioning groove.

3. The middle joint of the mechanical arm support frame according to claim 2, wherein the first connecting mechanism comprises a middle shaft upper gland (11), the brake stator (71) and the brake rotor (72) are sequentially arranged from top to bottom, the middle shaft upper gland (11) is fixedly connected with the large arm (51), a second positioning groove is formed in the lower end face of the middle shaft upper gland (11), and the upper end of the brake stator (71) is arranged in the second positioning groove.

4. A middle joint of a mechanical arm support frame according to claim 3, wherein the first connecting mechanism further comprises an upper flange (12), the upper flange (12) is arranged to be of an annular structure and sleeved on the outer side of the brake stator (71), and the upper flange (12) is fixedly connected with the middle shaft upper gland (11) and the large arm (51) respectively.

5. The middle joint of the mechanical arm support frame according to claim 4, wherein the first connecting mechanism further comprises a joint rotating cylinder (13), the upper gland (11) of the middle shaft and the joint rotating cylinder (13) are respectively located on the upper side and the lower side of the big arm (51), the joint rotating cylinder (13) is fixedly connected with the big arm (51), and the driving motor (3) is fixedly arranged in the joint rotating cylinder (13).

6. The middle joint of the mechanical arm support frame according to claim 5, wherein the first connecting mechanism further comprises a locking structure (14), and two ends of the locking structure (14) are fixedly connected with the upper gland (11) of the middle shaft and the joint rotary drum (13) respectively.

7. The middle joint of the mechanical arm support frame according to claim 6, wherein the locking structure (14) comprises an opening connecting flange (141), an opening connecting shaft (142) and a locking nut (143), the opening connecting flange (141) is positioned at the lower end of the joint rotating cylinder (13), the opening connecting shaft (142) penetrates through the large arm (51) along the vertical direction, and the upper end and the lower end of the opening connecting shaft (142) are respectively connected with the locking nut (143) and the opening connecting flange (141).

8. The intermediate joint of a robotic arm support frame according to claim 5, further comprising a bearing structure, the bearing structure comprising a first bearing (41), the first bearing (41) being located between the upper flange (12) and the forearm (52), an outer sidewall of the first bearing (41) being connected to the forearm (52), an inner sidewall of the first bearing (41) being connected to the upper flange (12).

9. The intermediate joint of a robotic arm support frame according to claim 8, wherein the bearing structure further comprises a second bearing (42), the second bearing (42) being located between the joint rotation cylinder (13) and the forearm (52), an outer sidewall of the second bearing (42) being connected to the forearm (52), an inner sidewall of the second bearing (42) being connected to the joint rotation cylinder (13).

10. A surgical robotic system comprising an intermediate joint of the robotic arm support frame of any one of claims 1-9.