CN101695837B - Biplanar friction integral two freedom degree joint - Google Patents
Biplanar friction integral two freedom degree joint Download PDFInfo
- Publication number
- CN101695837B CN101695837B CN2009102339349A CN200910233934A CN101695837B CN 101695837 B CN101695837 B CN 101695837B CN 2009102339349 A CN2009102339349 A CN 2009102339349A CN 200910233934 A CN200910233934 A CN 200910233934A CN 101695837 B CN101695837 B CN 101695837B
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- joint
- upper joint
- oblique crank
- hypozygal
- push rod
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Abstract
The invention relates to a biplanar friction integral two degree of freedom joint. A wedge surface is arranged on the outer edge of the upper side of a lower plane of an upper joint T-shaped shaft, an upper joint force-transfer sliding block is sleeved on a rod part, wherein the diameter of a round hole of the upper joint force-transfer sliding block is more than the diameter of a rod part; the rod part is arranged in an upper joint casing through a bearing and extends out of the upper joint casing to be threaded with one end of a joint platform body, a wedge surface at the end part of a pushrod is matched with the wedge surface of the upper joint T-shaped shaft; a lower joint T-shaped shaft is connected to the lower part of the other end of the joint platform body through an external thread and is arranged in a lower joint close cover through a bearing, the lower joint close cover is fixedly connected with a joint supporting shaft; and an ejector rod is arranged in a hollow structure of the lower joint T-shaped shaft, the lower end of the ejector rod is contacted with the upper end face of the joint supporting shaft and the upper end is contacted with the upper joint force-transfer sliding block. The invention has the characteristics of small size, compact structure, light weight, large locking torque, simple structure, zero locked joint clearance, long service life and the like, and can be suitable for the joint locking of various small mechanical arms.
Description
Technical field
The present invention relates to a kind of cradle head, specifically relate to a kind of Biplanar friction integral two degree of freedom joint, belong to activation lacking mechanical shoulder joint retaining mechanism.
Background technology
From the eighties of last century the nineties, along with intelligent robot technology, computer technology, medical surgery technology rapid development, service robot has become one of international forward position research focus of Chinese scholars and associated mechanisms concern as the minimally invasive surgery robot technology.This is a kind of novel multidisciplinary interleaving techniques field, and its development is considered to a kind of significant progress of surgical intervention means.
At present, the joint locking of medical operating location mechanical arm has following mode: the one, and by the servo holding torque of the output of the motor on each joint, its shortcoming is a complex structure, the cost costliness; The 2nd, on each joint, electromagnetic brake is installed, there is the high deficiency of complex structure cost equally, mechanical arm is relatively heavier simultaneously; The 3rd is to carry out manual reinforcing by the wedge shape thrust structure of giving each joint, realizes joint locking.This mode is pure passive mode, and locking efficient is low, inconvenient operation.In addition, all there is the gap in joint of the prior art retaining mechanism between the joint after the locking of joint, and the gap is not 0, causes positioning accuracy not high.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of simple in structure, good operability, positioning accuracy height, Biplanar friction integral two degree of freedom joint with low cost, reduce the structural complexity and the cost in locking joint, improve the positioning accuracy and the security of mechanical arm.
For achieving the above object, the present invention is achieved by the following technical solutions:
A kind of Biplanar friction integral two degree of freedom joint, it is characterized in that comprising the joint stage body, hypozygal T oblique crank Z and upper joint T oblique crank Z, described joint stage body becomes " L " shape, upper peripheral edge at the lower plane of described upper joint T oblique crank Z is provided with chamfering, form lozenges, the end of the bar portion of upper joint T oblique crank Z is provided with external screw thread, the upper joint shell is a hollow structure, suit upper joint power transmission slide block in the bar portion of upper joint T oblique crank Z, Circularhole diameter in the middle of the upper joint power transmission slide block is greater than the diameter of upper joint T shape axle portion, the bar portion of upper joint T oblique crank Z is installed in the upper joint shell by bearing, bar portion stretches out with the threaded one end of joint stage body from the upper joint shell and is connected, the axis normal of the axis of push rod and upper joint T oblique crank Z, be installed on the upper joint shell, end at push rod is provided with lozenges, matches with the lozenges of upper joint T oblique crank Z; Described hypozygal T oblique crank Z is with externally threaded hollow shaft for bar portion, be connected the below of the other end of joint stage body by external screw thread, the axis normal of the axis of hypozygal T oblique crank Z and upper joint T oblique crank Z, the lower end of hypozygal T oblique crank Z is installed in the hypozygal capping by bearing, and hypozygal capping and joint bolster connect firmly; Push rod is installed in the hypozygal T oblique crank Z, and the lower end contacts with the upper surface of joint bolster, and the upper joint shell is stretched in the upper end, contacts with upper joint power transmission slide block.
Aforesaid Biplanar friction integral two degree of freedom joint, it is characterized in that described push rod comprises 1# push rod, 2# push rod and is connected swivel nut, described connection swivel nut is a hollow structure, two ends are provided with internal thread, the 1# push rod is connected to the two ends that are connected swivel nut with the 2# push rod, the upper end of 1# push rod contacts with upper joint power transmission slide block, and the lower end of 2# push rod and joint supporting are coupling and touch.
Aforesaid Biplanar friction integral two degree of freedom joint, it is characterized in that having cannelure on the described upper joint shell with on the close end face of joint stage body, be provided with the annular friction pad in cannelure, described annular friction pad is given prominence to upper joint shell end face certain distance.
Aforesaid Biplanar friction integral two degree of freedom joint, it is characterized in that on the close end face of joint, described hypozygal capping up and down T oblique crank Z, having cannelure, be provided with the annular friction pad in cannelure, described annular friction pad is given prominence to hypozygal capping end face certain distance.
Aforesaid Biplanar friction integral two degree of freedom joint, it is characterized in that having cannelure near on the end face of hypozygal capping on the stage body of described joint, in cannelure, be provided with the annular friction pad, the outstanding joint of described annular friction pad stage body end face certain distance.
The invention has the beneficial effects as follows: the present invention is not needing to install motor (motor is on the 3rd joint) on two joints, promote an inner push rod that links to each other with the 3rd joint of mechanical arm by the motor on the 3rd joint, can lock this two cradle heads simultaneously, realize the no motor in these two joints or do not have the locking of electromagnetic brake, make mechanical arm become a mechanical arm of owing to drive.The present invention is simple in structure, the joint is light, joint mobility is good, locking posterior joint good rigidly, positioning accuracy height (reaching 0 gap after the locking of joint), cost are lower.Can realize on the mechanical arm of 4 joints (6 frees degree, one of them joint are ball-joint) that only with a motor, promptly a motor has been finished the locking in 4 joints of 6DOF mechanical arm.The joint that is no more than 10 kilograms all kinds of small-sized machine arms applicable to the static carrying of end locks, the joint locking of the mechanical arm that supports or locate as being used in the operation perform the operation etc.When reducing structure complexity and cost, the positioning accuracy and the security that have improved mechanical arm, thus lay a good foundation for the mechanical arm of development surgical placement, simultaneously, also the designing and developing of joint locking for the mechanical arm of other purposes provides reference.
Description of drawings
Fig. 1 is the structural representation of Biplanar friction integral two degree of freedom joint of the present invention;
Fig. 2 is the front view of the joint stage body among Fig. 1;
Fig. 3 is the left view of Fig. 2;
Fig. 4 is the upward view of Fig. 2;
Fig. 5 is the front view of the upper joint T oblique crank Z among Fig. 1;
Fig. 6 is the right view of Fig. 5;
Fig. 7 is the front view of the hypozygal T oblique crank Z among Fig. 1;
Fig. 8 is the vertical view of Fig. 7.
The implication of main mark in the accompanying drawing:
1, upper joint shell, 2, upper joint T oblique crank Z, 3, upper joint power transmission slide block, 4,1 # push rod 1,5, connect swivel nut, 6, push rod, 7, joint stage body, 8, clutch shaft bearing 1,9,1# annular friction pad, 10, second bearing 2,11,2# annular friction pad, 12, hypozygal T oblique crank Z, 13,2# push rod, 14,3# annular friction pad, 15, the hypozygal capping, 16, the joint support axle.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is further described.
Fig. 1 is the structural representation of Biplanar friction integral two degree of freedom joint of the present invention; Fig. 2 is the front view of the joint stage body among Fig. 1; Fig. 3 is the left view of Fig. 2; Fig. 4 is the upward view of Fig. 2; Fig. 5 is the front view of the upper joint T oblique crank Z among Fig. 1; Fig. 6 is the right view of Fig. 5; Fig. 7 is the front view of the hypozygal T oblique crank Z among Fig. 1; Fig. 8 is the vertical view of Fig. 7.
As shown in the figure, Biplanar friction integral two degree of freedom joint of the present invention comprises joint stage body 7, hypozygal T oblique crank Z 12 and upper joint T oblique crank Z 2,7 one-tenth " L " shapes of joint stage body wherein, upper peripheral edge at the lower plane of upper joint T oblique crank Z 2 is provided with chamfering, form lozenges, the end of the bar portion of upper joint T oblique crank Z 2 is provided with external screw thread, and upper joint shell 1 is a hollow structure, provide on the one hand upper joint T oblique crank Z 2 and cooperate and installing space, give push rod 6 headspaces on the other hand.Suit upper joint power transmission slide block 3 in the bar portion of upper joint T oblique crank Z 2, the Circularhole diameter in the middle of the upper joint power transmission slide block 3 guarantee that greater than the diameter of upper joint T oblique crank Z 2 bar portions upper joint power transmission slide block 3 can radially move under external force.The bar portion of upper joint T oblique crank Z 2 is installed in the upper joint shell 1 by clutch shaft bearing 8, thereby upper joint shell 1 is connected with joint stage body 7.The bar portion of upper joint T oblique crank Z 2 stretches out from upper joint shell 1, is connected with the threaded one end of joint stage body 7.The axis normal of the axis of push rod 6 and upper joint T oblique crank Z 2, be installed on the upper joint shell 1, bottom at push rod 6 is provided with lozenges, is used with the lozenges of upper joint T oblique crank Z 2, thereby can makes moving up and down of push rod 6 become the move left and right of upper joint T oblique crank Z 2.
Hypozygal T oblique crank Z 12 is with externally threaded hollow shaft for bar portion, be connected the below of the other end of joint stage body 7 by external screw thread, the axis normal of the axis of hypozygal T oblique crank Z 12 and upper joint T oblique crank Z 2, the lower end of hypozygal T oblique crank Z 12 is installed in the hypozygal capping 15 by second bearing 10, and hypozygal capping 15 connects firmly with joint bolster 16.Push rod is installed in the hollow-core construction of hypozygal T oblique crank Z 12, and the lower end contacts with the upper surface of joint bolster 16, and upper joint shell 1 is stretched in the upper end, contacts with upper joint power transmission slide block 3.
Be convenient to install and regulate in order to make push rod, push rod can comprise 1 # push rod 4,2# push rod 13 and be connected swivel nut 5, connecting swivel nut 5 is hollow structure, two ends are provided with internal thread, 1# push rod 4 is connected to the two ends that are connected swivel nut 5 with 2# push rod 13, the upper end of 1# push rod 4 contacts with upper joint power transmission slide block 3, and the lower end of 2# push rod 13 contacts with joint bolster 16.
In addition, in order to increase frictional force and moment of friction, on the upper joint shell 1 with the close end face of joint stage body 7 on, can have cannelure, be used for disposing 1# annular friction pad 9,1# annular friction pad 9 outstanding upper joint shell 1 right side certain distances make upper joint shell 1 right side directly not contact with the left side of joint stage body 7, but allow to relatively rotate.
Same, hypozygal T oblique crank Z 12 is positioned at hypozygal capping 15, its upper surface does not directly contact with the lower surface of hypozygal capping 15, in the hypozygal capping 15 between above-mentioned two end faces, offer a cannelure, in cannelure, be provided with 2# annular friction pad 11,2# annular friction pad 11 outstanding hypozygal capping 15 lower surface certain distances make hypozygal capping 15 lower surfaces directly not contact with the upper surface of hypozygal T oblique crank Z 12.
Simultaneously, the lower surface at joint stage body 7 is to interconnect by 3# annular friction pad 14 to contact with the upper surface of hypozygal capping 15 equally.
Operation principle of the present invention: when applied external force acts on the push rod 6 vertically downward, by the lozenges structure, this power produces a horizontal component, promote upper joint T oblique crank Z 2 to left movement, because upper joint T oblique crank Z 2 connects firmly with joint stage body 7, then the left side of joint stage body 7 produces normal pressure, presses 1# annular friction pad 9, produce frictional force on the end face of 1# annular friction pad 9, and based on the moment of friction of the axis of upper joint T oblique crank Z 2.There is not relative motion thereby make between upper joint T oblique crank Z 2 and the joint stage body 7, the upper joint locking.The downward thrust of push rod 6 is on upper joint power transmission slide block 3, make upper joint power transmission slide block 3 produce downward displacement, push 1 # push rod 4,2# push rod 13 vertically downward, 2# push rod 13 promotion hypozygal T oblique crank Zs 12 and joint support axle 16 are along the vertical relative separation, because hypozygal capping 15 connects firmly with joint support axle 16 rigidity, so, give 11 1 normal pressures of 2# annular friction pad in vertical, thereby produce frictional force and, make hypozygal locking with respect to the moment of friction of the axis of hypozygal T oblique crank Z 12.
(motor is not on the 3rd joint not needing to install motor on two joints in the present invention, do not provide among the figure), promote an inner push rod that links to each other with the 3rd joint of mechanical arm by the motor on the 3rd joint, can lock this two cradle heads simultaneously, realize the no motor in these two joints or do not have the locking of electromagnetic brake, make mechanical arm become a mechanical arm of owing to drive.The present invention is simple in structure, the joint is light, joint mobility is good, locking posterior joint good rigidly, positioning accuracy height (reaching 0 gap after the locking of joint), cost are lower.Therefore, exploitation is towards the lighter service robot of load, particularly the activation lacking mechanical shoulder joint retaining mechanism of medical surgery operating robot and integral type 2DOF joint, can realize 4 joints (6 frees degree, one of them joint is a ball-joint) mechanical arm on only with a motor, promptly a motor has been finished the locking in 4 joints of 6DOF mechanical arm.When reducing structure complexity and cost, the positioning accuracy and the security that have improved mechanical arm, thus lay a good foundation for the mechanical arm of development surgical placement, simultaneously, also the designing and developing of joint locking for the mechanical arm of other purposes provides reference.
Below schematically embodiment of the present invention is set forth, this elaboration does not have limitation.Shown in the accompanying drawing also is basic embodiment of the present invention, and practical structure is not limited thereto.So; if those skilled in the art or researcher are enlightened by it; under the situation that does not break away from the invention aim; adopt other similar topological structure, other similar 2DOF joint; perhaps just change the rod member size; design the version similar without creationary, all should belong to protection scope of the present invention to this technical scheme.
Claims (6)
1. Biplanar friction integral two degree of freedom joint, it is characterized in that comprising the joint stage body, hypozygal T oblique crank Z and upper joint T oblique crank Z, described joint stage body becomes " L " shape, upper peripheral edge at the lower plane of described upper joint T oblique crank Z is provided with chamfering, form lozenges, the end of the bar portion of upper joint T oblique crank Z is provided with external screw thread, the upper joint shell is a hollow structure, suit upper joint power transmission slide block in the bar portion of upper joint T oblique crank Z, Circularhole diameter in the middle of the upper joint power transmission slide block is greater than the diameter of upper joint T shape axle portion, the bar portion of upper joint T oblique crank Z is installed in the upper joint shell by bearing, bar portion stretches out with the threaded one end of joint stage body from the upper joint shell and is connected, the axis normal of the axis of push rod and upper joint T oblique crank Z, be installed on the upper joint shell, end at push rod is provided with lozenges, matches with the lozenges of upper joint T oblique crank Z; Described hypozygal T oblique crank Z is with externally threaded hollow shaft for bar portion, be connected the below of the other end of joint stage body by external screw thread, the axis normal of the axis of hypozygal T oblique crank Z and upper joint T oblique crank Z, the lower end of hypozygal T oblique crank Z is installed in the hypozygal capping by bearing, and hypozygal capping and joint bolster connect firmly; Push rod is installed in the hypozygal T oblique crank Z, and the lower end contacts with the upper surface of joint bolster, and the upper joint shell is stretched in the upper end, contacts with upper joint power transmission slide block.
2. Biplanar friction integral two degree of freedom joint according to claim 1, it is characterized in that described push rod comprises 1# push rod, 2# push rod and is connected swivel nut, described connection swivel nut is a hollow structure, two ends are provided with internal thread, the 1# push rod is connected to the two ends that are connected swivel nut with the 2# push rod, the upper end of 1# push rod contacts with upper joint power transmission slide block, and the lower end of 2# push rod and joint supporting are coupling and touch.
3. Biplanar friction integral two degree of freedom joint according to claim 1, it is characterized in that having cannelure on the described upper joint shell with on the close end face of joint stage body, be provided with the annular friction pad in cannelure, described annular friction pad is given prominence to upper joint shell end face certain distance.
4. according to claim 1 or 3 described Biplanar friction integral two degree of freedom joint, it is characterized in that on the close end face of joint, described hypozygal capping up and down T oblique crank Z, having cannelure, be provided with the annular friction pad in cannelure, described annular friction pad is given prominence to hypozygal capping end face certain distance.
5. according to claim 1 or 3 described Biplanar friction integral two degree of freedom joint, it is characterized in that having cannelure near on the end face of hypozygal capping on the stage body of described joint, in cannelure, be provided with the annular friction pad, the outstanding joint of described annular friction pad stage body end face certain distance.
6. Biplanar friction integral two degree of freedom joint according to claim 4, it is characterized in that having cannelure near on the end face of hypozygal capping on the stage body of described joint, in cannelure, be provided with the annular friction pad, the outstanding joint of described annular friction pad stage body end face certain distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102339349A CN101695837B (en) | 2009-10-21 | 2009-10-21 | Biplanar friction integral two freedom degree joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102339349A CN101695837B (en) | 2009-10-21 | 2009-10-21 | Biplanar friction integral two freedom degree joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101695837A CN101695837A (en) | 2010-04-21 |
| CN101695837B true CN101695837B (en) | 2011-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102339349A Expired - Fee Related CN101695837B (en) | 2009-10-21 | 2009-10-21 | Biplanar friction integral two freedom degree joint |
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| CN (1) | CN101695837B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069211B (en) * | 2021-03-29 | 2022-04-01 | 山东省千佛山医院 | Terminal execution mechanical arm of minimally invasive surgery robot |
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- 2009-10-21 CN CN2009102339349A patent/CN101695837B/en not_active Expired - Fee Related
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| CN101695837A (en) | 2010-04-21 |
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Granted publication date: 20110406 Termination date: 20171021 |