CN102350705B - Rotary joint locking device - Google Patents
Rotary joint locking device Download PDFInfo
- Publication number
- CN102350705B CN102350705B CN201110218120.5A CN201110218120A CN102350705B CN 102350705 B CN102350705 B CN 102350705B CN 201110218120 A CN201110218120 A CN 201110218120A CN 102350705 B CN102350705 B CN 102350705B
- Authority
- CN
- China
- Prior art keywords
- rotary joint
- joint
- locking
- electromagnetic lock
- locking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to an electromagnetic locking device, in particular to a rotary joint locking device of a massage hand, belonging to the technical field of a massage device. The rotary joint locking device comprises a rotary joint mechanism and a locking mechanism for controlling the movement of the rotary joint mechanism. According to the rotary joint locking device, an electromagnetic lock is utilized for pinning a conical pin shaft into a positioning hole on a large gear at a joint to lock the joint. By adopting the locking mode, the locking mode of the existing joint locking mechanism for realizing joint locking by means of friction is changed and the problem of locking failure in the existing locking mechanism is solved.
Description
Technical field
The present invention relates to a kind of electromagnetic locking device, especially a kind of rotary joint locking device of massaging hand, belongs to massage machine technical field.
Background technology
At present, existing rotary joint locking device, as the joint locking mechanism of No. 01229822.0 disclosed mechanical arm of patent, this joint of mechanical arm retaining mechanism comprises end axle and the axle bed that armed lever arranges, end axle is supported in axle bed, end axle sleeve is equipped with electromagnetic clutch, the half-clutch device and the axle bed that are provided with solenoid, armature and stator of this clutch fix, the half-clutch device that is provided with moving plate fixes with end axle, stator, the alternate setting of moving plate are also superimposed on armature surface, and armature is provided with the spring that makes the fixed and moving moving plate braking that is frictionally engaged and makes.When electromagnetic clutch dead electricity, fixed and moving frictional engagement under the effect of spring and armature, locks joint of mechanical arm; Electromagnetic clutch obtains when electric, and armature adhesive makes moving plate in movable state.This joint of mechanical arm retaining mechanism is the effect that relies on spring and armature, makes, stator frictional engagement, locks joint of mechanical arm.The frictional force that this mechanism relies on the effect of spring and armature to produce is locked joint, and coupling mechanism force is too little, if mechanical arm tail end load is excessive, that the power that acts on joint of mechanical arm place is greater than is moving, when the frictional force of stator, and this retaining mechanism can lose efficacy.
The and for example No. 200910213501.7 disclosed a kind of electric locking and rotating joints for auxiliary arm for surgical operation of patent, this electric locking and rotating joint comprises joint rotating mechanism and joint locking mechanism, the driven by motor drag ring motion of joint locking mechanism, produce frictional force when drag ring contacts with the chassis, joint of joint rotating mechanism, make joint rotating mechanism locking; Driven by motor drag ring leaves chassis, joint frictional force and eliminates, and joint rotating mechanism is unclamped.This electric locking and rotating joint complex structure, the locking in joint is also to rely on frictional force to realize, and mechanical arm tail end load is excessive, and when the power that acts on joint is greater than frictional force, retaining mechanism can lose efficacy.
Above-mentioned rotary joint retaining mechanism, is all to make joint locking by frictional force, and the load at this locking mode requirement rotary joint place can not be excessive, otherwise in the time that the active force of rotary joint place generation is greater than the frictional force of retaining mechanism, can cause retaining mechanism to lose efficacy.
Summary of the invention
The object of the invention is to solve the weak point that above-mentioned prior art exists, a kind of simple in structure, safe and reliable rotary joint locking device is provided.
A kind of rotary joint locking device, its special character is to comprise rotary joint mechanism and for controlling the retaining mechanism of rotary joint mechanism kinematic;
Described rotary joint mechanism comprises support member 1, rotating shaft 6 and motor 8 are installed in support member 1, rotating shaft 6 is installed in support member 1 by two copper bushes 7, rotating shaft 6 is provided with coaxial gear wheel 3, the face of gear edge of gear wheel 3 is provided with locating hole, the output shaft of motor 8 is provided with coaxial pinion 2, and gear wheel 3, pinion 2 are connected with a joggle; When work, motor 8 is slowed down and is driven rotating shaft 6 to rotate by gear wheel 3, pinion 2, and rotating shaft 6 drives connected massage machine to rotate together;
The quantity of described locating hole is 2-8;
Described retaining mechanism comprises the electromagnetic lock 5 being installed in support member 1, the axle front end of electromagnetic lock 5 is provided with for pin and enters the taper bearing pin 9 in the locating hole of gear wheel 3, the shaft end of electromagnetic lock 5 is provided with back-moving spring 13, the top of electromagnetic lock 5 is provided with sliding tray 10, in sliding tray 10, be interspersed with sliding axle 12, extend outside sliding tray 10 sliding axle 12 one end, is connected with the shaft end of electromagnetic lock 5 by brace 14; In the time that electromagnetic lock 5 is switched on, electromagnetism lock shaft drives the taper bearing pin 9 of front end to sell in the locating hole of gear wheel 3, by joint locking, in the time of electromagnetic lock 5 power-off, electromagnetic lock 5 drives the taper bearing pin 9 of front end to exit in the locating hole of gear wheel 3, by joints open under the effect of back-moving spring 13.
Light barrier 11 is installed on the axial plane of described sliding axle 12, the flute profile optocoupler assembly 4 being used in conjunction with light barrier 11 is installed on support member 1, light barrier 11 is used in conjunction with slot optical coupling assembly 4, feeds back timely the working condition of retaining mechanism.
Rotary joint locking device of the present invention, to utilize electromagnetic lock cone pin pivot pin to be entered in the locating hole on the gear wheel of joint, by locked joint, this locking mode, having changed existing joint locking mechanism relies on friction to realize the locking mode of joint locking, the problem that has solved the locking inefficacy of existing retaining mechanism existence, has boundless application prospect.
Brief description of the drawings
Fig. 1: the structural representation of rotary joint locking device of the present invention;
Fig. 2: the structural representation of rotary joint of the present invention mechanism;
Fig. 3: the structural representation of retaining mechanism of the present invention.
Detailed description of the invention
Provide the specific embodiment of the present invention below with reference to accompanying drawing, be used for that the present invention is described further.
Rotary joint locking device of the present invention, with reference to accompanying drawing 1-3, comprises rotary joint mechanism and retaining mechanism, and rotary joint mechanism comprises support member 1, pinion 2, gear wheel 3, rotating shaft 6, copper bush 7, motor 8.Motor 8 is installed on support member 1, and the two ends of rotating shaft 6 are installed on support member 1 by two copper bushes 7, and rotating shaft 6 is provided with coaxial gear wheel 3, and the output shaft of motor 8 is provided with coaxial pinion 2, gear wheel 3 and pinion 2 engaged transmission.Motor 8 is slowed down and is driven rotating shaft 6 to rotate by gear wheel 3, pinion 2.On rotating shaft 6, be fixedly connected with massage machine, rotate with rotating shaft 6;
Retaining mechanism comprises slot optical coupling assembly 4, electromagnetic lock 5, taper bearing pin 9, sliding tray 10, light barrier 11, sliding axle 12, back-moving spring 13, brace 14.Electromagnetic lock 5 is installed on support member 1, and electromagnetism lock shaft front end is provided with taper bearing pin 9, and electromagnetic lock shaft end is provided with back-moving spring 13.Sliding tray 10 is installed on electromagnetic lock 5, and sliding axle 12 is connected with electromagnetism lock shaft by brace 14 and can be in the interior slip of sliding tray 10.Light barrier 11 is installed on sliding axle 12, and slot optical coupling assembly 4 is installed on support member 1.When electromagnetic lock 5 energisings and power-off, drive light barrier 11 to seesaw by sliding axle 12, block respectively two slot optical couplings of slot optical coupling assembly 4 at two extreme position light barriers 11 of its motion;
On the gear wheel 3 of rotary joint mechanism, have 2-8 locating hole, when motor 8 drives gear wheel 3 to rotate to corresponding position, the electromagnetism lock shaft of retaining mechanism is coaxial with the locating hole of gear wheel 3 respectively.In the time that electromagnetic lock 5 is switched on, electromagnetism lock shaft drives the taper bearing pin 9 of front end to sell in the locating hole of gear wheel 3, and by joint locking, the light barrier 11 of retaining mechanism moves with electromagnetism lock shaft simultaneously, and light barrier 11 blocks a slot optical coupling of slot optical coupling assembly 4; In the time of electromagnetic lock 5 power-off, electromagnetic lock 5 drives the taper bearing pin 9 of front end to exit in the locating hole of gear wheel 3 under the effect of back-moving spring 13, by joints open, the light barrier 11 of retaining mechanism moves with electromagnetism lock shaft simultaneously, and light barrier 11 blocks the another one slot optical coupling of slot optical coupling assembly 4.
Rotary joint locking device of the present invention is to utilize electromagnetic lock cone pin pivot pin to be entered in the locating hole on the gear wheel of joint, by locked joint.This locking mode, has changed existing joint locking mechanism and has relied on friction to realize the locking mode of joint locking, has solved the problem of the locking inefficacy of existing retaining mechanism existence.
Claims (3)
1. a rotary joint locking device, is characterized in that comprising rotary joint mechanism and for controlling the retaining mechanism of rotary joint mechanism kinematic;
Described rotary joint mechanism comprises support member (1), rotating shaft (6) and motor (8) are installed in support member (1), rotating shaft (6) is installed in support member (1) by two copper bushes (7), rotating shaft (6) is provided with coaxial gear wheel (3), the face of gear edge of gear wheel (3) is provided with locating hole, the output shaft of motor (8) is provided with coaxial pinion (2), and gear wheel (3), pinion (2) are connected with a joggle;
Described retaining mechanism comprises the electromagnetic lock (5) being installed in support member (1), the axle front end of electromagnetic lock (5) is provided with the taper bearing pin (9) that enters the locating hole of gear wheel (3) for pin, the shaft end of electromagnetic lock (5) is provided with back-moving spring (13), the top of electromagnetic lock (5) is provided with sliding tray (10), in sliding tray (10), be interspersed with sliding axle (12), extend outside sliding tray (10) sliding axle (12) one end, is connected with the shaft end of electromagnetic lock (5) by brace (14).
2. according to a kind of rotary joint locking device claimed in claim 1, the quantity that it is characterized in that described locating hole is 2-8.
3. according to a kind of rotary joint locking device claimed in claim 1, it is characterized in that, on the axial plane of described sliding axle (12), light barrier (11) is installed, the flute profile optocoupler assembly (4) being used in conjunction with light barrier (11) is installed on support member (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110218120.5A CN102350705B (en) | 2011-08-01 | 2011-08-01 | Rotary joint locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110218120.5A CN102350705B (en) | 2011-08-01 | 2011-08-01 | Rotary joint locking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102350705A CN102350705A (en) | 2012-02-15 |
| CN102350705B true CN102350705B (en) | 2014-09-10 |
Family
ID=45574405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110218120.5A Active CN102350705B (en) | 2011-08-01 | 2011-08-01 | Rotary joint locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102350705B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817800B (en) * | 2014-02-27 | 2016-01-13 | 中联重科股份有限公司 | Automatic locking device and mixer applying same |
| CN105479453B (en) * | 2015-12-16 | 2017-09-08 | 嘉兴布鲁艾诺机器人有限公司 | A kind of New Type of Robot Arm |
| CN105751237B (en) * | 2016-03-30 | 2019-04-19 | 广东工业大学 | A kind of brake apparatus for the joint of robot with gear drive |
| CN105818162A (en) * | 2016-04-20 | 2016-08-03 | 西南大学 | Deployable joint locking control mechanism |
| CN105945987B (en) * | 2016-07-18 | 2018-03-20 | 徐菊红 | A kind of transfer robot provided with rotating machine arm |
| CN105965539B (en) * | 2016-07-18 | 2018-03-20 | 徐菊红 | A kind of transfer robot for performing end and being provided with spill spin block |
| CN105945936B (en) * | 2016-07-18 | 2018-12-04 | 杭州富阳鼎创科技有限公司 | A kind of pcb board transfer robot that can accurately pick and place material |
| CN107215475A (en) * | 2017-07-21 | 2017-09-29 | 长春长光睿视光电技术有限责任公司 | A kind of gyro-stabilized platform locking mechanism |
| WO2020237580A1 (en) * | 2019-05-30 | 2020-12-03 | 哈尔滨工业大学（深圳） | Rotary joint electromagnetic locking device and rotary joint |
| CN111098293B (en) * | 2020-02-19 | 2023-03-24 | 孟子权 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
| CN113635327B (en) * | 2021-09-23 | 2023-01-13 | 上海卓昕医疗科技有限公司 | Multi-degree-of-freedom robot and operation auxiliary positioning system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4831893A (en) * | 1986-08-08 | 1989-05-23 | Kabushiki Kaisha Toshiba | Joint device |
| CN2083918U (en) * | 1991-02-06 | 1991-09-04 | 江苏省伤残人康复中心 | Electric elbow joint |
| CN2488482Y (en) * | 2001-07-05 | 2002-05-01 | 天津市华志计算机应用有限公司 | Joint locking mechanism for mechanical arm |
| CN1530082A (en) * | 2003-03-12 | 2004-09-22 | С | Orthopedia assistant apparatus with lock device |
| CN2723628Y (en) * | 2004-09-14 | 2005-09-07 | 李民生 | Electric rolling gate electromagnetic lock |
| CN1920323A (en) * | 2005-08-22 | 2007-02-28 | 江苏科技大学 | Electromagnetic locking device with rotary joint |
| CN201223476Y (en) * | 2008-07-18 | 2009-04-22 | 江苏省伤残人康复中心 | Brake mechanism of electric artificial limb elbow joint |
| CN201275158Y (en) * | 2008-07-18 | 2009-07-22 | 江苏省伤残人康复中心 | Electric elbow joint of electric artificial limb |
| CN201537927U (en) * | 2009-11-03 | 2010-08-04 | 昆山市工业技术研究院有限责任公司 | Electric locking rotation joint for auxiliary arm in surgery operation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202223506U (en) * | 2011-08-01 | 2012-05-23 | 山东康泰实业有限公司 | Rotary joint locking device |
-
2011
- 2011-08-01 CN CN201110218120.5A patent/CN102350705B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4831893A (en) * | 1986-08-08 | 1989-05-23 | Kabushiki Kaisha Toshiba | Joint device |
| CN2083918U (en) * | 1991-02-06 | 1991-09-04 | 江苏省伤残人康复中心 | Electric elbow joint |
| CN2488482Y (en) * | 2001-07-05 | 2002-05-01 | 天津市华志计算机应用有限公司 | Joint locking mechanism for mechanical arm |
| CN1530082A (en) * | 2003-03-12 | 2004-09-22 | С | Orthopedia assistant apparatus with lock device |
| CN2723628Y (en) * | 2004-09-14 | 2005-09-07 | 李民生 | Electric rolling gate electromagnetic lock |
| CN1920323A (en) * | 2005-08-22 | 2007-02-28 | 江苏科技大学 | Electromagnetic locking device with rotary joint |
| CN201223476Y (en) * | 2008-07-18 | 2009-04-22 | 江苏省伤残人康复中心 | Brake mechanism of electric artificial limb elbow joint |
| CN201275158Y (en) * | 2008-07-18 | 2009-07-22 | 江苏省伤残人康复中心 | Electric elbow joint of electric artificial limb |
| CN201537927U (en) * | 2009-11-03 | 2010-08-04 | 昆山市工业技术研究院有限责任公司 | Electric locking rotation joint for auxiliary arm in surgery operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102350705A (en) | 2012-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102350705B (en) | Rotary joint locking device | |
| CN102723676B (en) | Electric chassis vehicle for circuit breaker | |
| CN105225862A (en) | A kind of spring operating mechanism and manual energy storing device thereof | |
| CN105751237B (en) | A kind of brake apparatus for the joint of robot with gear drive | |
| WO2013139275A1 (en) | Electro-mechanically operated chassis for breaker | |
| CN101662131A (en) | Electric chassis vehicle transmission assembly | |
| CN202223506U (en) | Rotary joint locking device | |
| CN101929512B (en) | Full-automatic bidirectional clutch | |
| CN102398078A (en) | Mechanical brake structure of a chain saw | |
| CN103115123B (en) | The locking device of ball screw | |
| CN105465225B (en) | A kind of self-locking clutch device | |
| CN201934546U (en) | Automatic bidirectional clutch | |
| CN108506365A (en) | A kind of novel clutch | |
| CN201210109Y (en) | Torque force control device for rotation axis | |
| CN202831808U (en) | Novel intelligent door lock handle clutch mechanism | |
| CN105070553A (en) | Breaker electrically-operated mechanism with bidirectional automatic clutch function | |
| CN203434804U (en) | Brake motor | |
| CN204726226U (en) | Electromagnetic steering mechanism | |
| CN201908970U (en) | Manual-electric integrated mechanical clutch | |
| CN204216768U (en) | A kind of energy-saving permanent magnetism flexible clutch | |
| CN101539189B (en) | A kind of convolution kind of drive and device | |
| CN205829443U (en) | A kind of torque permanent magnet retarder | |
| CN106130313B (en) | A kind of increasing torque permanent magnet retarder | |
| CN201151462Y (en) | Electromagnetic brake gear box | |
| CN209458366U (en) | A kind of motor drive mechanism with locking function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |