CN109199593A - A kind of passive mechanical arm of multiple degrees of freedom - Google Patents
A kind of passive mechanical arm of multiple degrees of freedom Download PDFInfo
- Publication number
- CN109199593A CN109199593A CN201811066935.4A CN201811066935A CN109199593A CN 109199593 A CN109199593 A CN 109199593A CN 201811066935 A CN201811066935 A CN 201811066935A CN 109199593 A CN109199593 A CN 109199593A
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- China
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- spherical joint
- connecting rod
- friction plate
- electric pushrod
- transmission mechanism
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The present invention relates to a kind of passive mechanical arms of multiple degrees of freedom, including spherical joint one, spherical joint two and center rotary joint, spherical joint one is connect by connecting rod one with one end of center rotary joint, the other end of center rotary joint is connect by connecting rod two with spherical joint two, the connecting rod one and connecting rod two are hollow cavity, grinding ball transmission mechanism is set in the center rotary joint, push rod is set in the connecting rod two；Electric pushrod is set in connecting rod one, pressure sensor is set between electric pushrod and spherical joint one, elastomeric element is set between electric pushrod and grinding ball transmission mechanism, push rod is set between grinding ball transmission mechanism and spherical joint two；Electric pushrod is powered to grinding ball transmission mechanism, applies pressure to both ends, and deformation occurs for elastomeric element, pushes grinding ball transmission mechanism, the power that electric pushrod generates is transferred to spherical joint two by push rod.Passive mechanical arm of the invention has certain coupling mechanism force in the case where original state and power-off, and high safety, stability are high.
Description
Technical field
The present invention relates to a kind of passive mechanical arms of multiple degrees of freedom, belong to mechanical arm field.
Background technique
In robot micro-wound operation, preoperative doctor needs to manually adjust passive joint to adjust the space bit of tail house
It sets.Robot passive joint is locked after accomplishing the setting up, it is minimally invasive to complete to rely only on the robot active joint remotely controlled
Surgical procedure.In the process, passive joint must realize the reliability locking in joint, increase grasping for robot micro-wound operation
The property made, and ensure the safety of operation.Structure is complicated for existing micro-wound operation robot passive arm on the market, and volume is big.
Chinese patent CN108214481A discloses a kind of achievable multi-joint while the seven freedom of locking is main by motivation
Tool arm, however in the case where there is power-off, transmission chain still will receive influence, to influence the safety of operation；And the master
The freedom degree of passive mechanical arm is more, and stability is weak.
With the continuous development of domestic medical technique level, robot technology is combined with traditional Minimally Invasive Surgery, quilt
It is widely considered to be a kind of method for efficiently solving traditional minimal invasive techniques disadvantage, to smart smallization of Medical robot structural volume, with
And safety, stability are further improved promotion, are wanted with meeting hospital etc. to high security, high stability robot
It asks.
Summary of the invention
The technical problem to be solved by the present invention is in order to improve passive mechanical arm the original state and power-off in the case where
Safety and stability.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of passive mechanical arm of freedom degree, including spherical joint one, spherical joint two and center rotary joint, spherical joint
One is connect by connecting rod one with one end of center rotary joint, and the other end of center rotary joint passes through connecting rod two and spherical joint
Two connections, the connecting rod one and connecting rod two are hollow cavity, and grinding ball transmission mechanism, the company is arranged in the center rotary joint
Push rod is set in bar two；It is characterized in that, electric pushrod is arranged in connecting rod one, pressure is set between electric pushrod and spherical joint one
Elastomeric element is arranged, between grinding ball transmission mechanism and spherical joint two in force snesor between electric pushrod and grinding ball transmission mechanism
Push rod is set；Electric pushrod is powered to grinding ball transmission mechanism, applies pressure to both ends, and deformation occurs for elastomeric element, pushes steel ball
The power that electric pushrod generates is transferred to spherical joint two by push rod by transmission mechanism.
Preferably, the spherical joint one is mainly made of bulb one and spherical joint seat one, inside one one end of spherical joint seat
For ball-and-socket, ball-and-socket is bonded with bulb one, and one other end of spherical joint seat is connect with connecting rod one；Bulb one includes the first axle body and connection
On first head of the first axle body one end, wherein the first axle body is equipped with the first groove of radial ecto-entad recess.
It is further preferable that the colpus being recessed inwardly is arranged on the first head of the bulb one, on spherical joint seat one
The set screw to match with colpus is set, and set screw one end is embedded in colpus, so that spherical joint one is in one direction
Upper restriction rotational freedom.
Specifically, the center rotary joint includes cradle head seat one, cradle head seat two and is set to the two
Between friction plate one and friction plate two, friction plate one and friction plate two are annular lamina；The friction plate one is fixed on by screw
On cradle head seat two, one internal diameter of friction plate and grinding ball transmission mechanism contacts；The friction plate two is fixed on rotation by screw
In socket joint one, the internal diameter of the cyclic annular side of friction plate two and the ring-type side face contact of friction plate one, friction plate two is less than friction
The outer diameter of piece one, the outer diameter of friction plate two are greater than the outer diameter of friction plate one.
Preferably, the spherical joint two is mainly made of bulb two and spherical joint seat two, two inside one end of spherical joint seat
It for ball-and-socket, is bonded with bulb two, two other end of spherical joint seat is connect with connecting rod two；Bulb two includes the second axle body and is connected to the
Second head of two axis body one end, wherein the second axle body is equipped with the second groove of radial ecto-entad recess.
Preferably, the electric pushrod is pen type electric pushrod, and the elastomeric element is disc spring；Pen type electric pushrod both ends
Pen type ram seat is set, and pen type ram seat, which is located between pen type electric pushrod and pressure sensor, and pen type is electronic pushes away
Between bar and disc spring.
It specifically, further include ball bowl, the ball-and-socket of ball bowl is bonded with the steel ball of grinding ball transmission mechanism；In disc spring and grinding ball transmission
Ball bowl one is set between mechanism, ball bowl two is set between grinding ball transmission structure and push rod.
Preferably, one other end of spherical joint seat is threadedly coupled with connecting rod one；Two other end of spherical joint seat and connecting rod two
It is connected through a screw thread.
Preferably, internal screw thread, center rotary joint and connecting rod one and connecting rod two-way is arranged in center rotary joint both ends
Cross threaded connection.
Preferably, the steel ball of the grinding ball transmission mechanism is tungsten-carbide ball.
The beneficial effects of the present invention are:
(1) disc spring is arranged between electric pushrod and center rotary joint in the passive mechanical arm of multiple degrees of freedom of the invention,
Just make disc spring that there is certain initial compression amount when initial assembly, in this way in passive mechanical arm adjustment process, mechanical arm just has one
Fixed coupling mechanism force is locking passive arm not by adjusting the initial compression amount of disc spring to adjust the initial pretightening force in joint
When manpower power can be with easy adjustment, and the pretightning force can overcome the self gravity of passive arm and front end weight, and joint is not
It can collapse sagging；When electric pushrod work, disc spring converts the thrust of electric pushrod to the elastic potential energy of itself, therefore,
Suddenly in the case where power-off, since the self-locking disc spring deformation quantity of electric pushrod is constant, normal force will not be laid down suddenly, therefore will not be sent out
Raw transmission chain is interrupted suddenly there is a phenomenon where surgical risks, has ensured the safety of equipment when performing the operation.
(2) multiple degrees of freedom of the invention passive mechanical arm is provided with groove body on the axis body of spherical joint, makes two ball-joints
Rotation angle range is bigger.
(3) multiple degrees of freedom of the invention passive mechanical arm rubs caused by the normal force between friction plate one and friction plate two
The movement in center rotating joint can be prevented by wiping power, and center rotating joint is locked.
(4) the passive mechanical arm of multiple degrees of freedom of the invention, by colpus will be arranged on bulb one, the upper limit in one direction
Determine the freedom degree of mechanical arm, so that the passive arm configuration in spherical shape-three joint of rotation-spherical shape of the present invention realizes six degree of freedom rotation,
To improve the structural stability of mechanical arm.
(5) the passive mechanical arm of multiple degrees of freedom of the invention, grinding ball transmission mechanism realize the transmitting of three-dimensional force, basic herein
On, two spherical joints, three, a center rotating joint joint six-freedom degree only can be controlled by a driving source
It is locked, mechanical arm is small in size, light weight, more compact structure, succinct；Rigidity is big, and load capacity is strong；Multiple degrees of freedom working range
Greatly.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is multiple degrees of freedom passive arm structural schematic diagram of the present invention；
Fig. 2 is multiple degrees of freedom passive arm the schematic diagram of the section structure of the present invention；
Fig. 3 is center rotating joint structure schematic diagram of the present invention；
Fig. 4 is spherical joint single-degree-of-freedom schematic diagram of the present invention.
Marked in the figure: 1- spherical joint one, 2- spherical joint two, the center 3- rotary joint, 4- connecting rod one, 5- connecting rod two,
6- grinding ball transmission mechanism, 7- electric pushrod, 8- disc spring, 9- push rod, 10- pressure sensor, 11- bulb one, 12- spherical joint seat
One, 13- colpus, 14- set screw, the first head 111-, 112- the first axle body, the first groove of 113-, 21- bulb two, 22-
Spherical joint seat two, the second groove of 211-, 212- the second axle body, the second head 213-, 31- cradle head seat one, 32- cradle head
Two, 33- of seat friction plate one, 34- friction plate two, 35- ball bowl one, 36- ball bowl two, 71- pen type ram seat.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
A kind of passive mechanical arm of freedom degree of the present invention as shown in Figs. 1-2, including spherical joint 1, spherical joint
22 and center rotary joint 3, spherical joint 1 connect by connecting rod 1 with one end of center rotary joint 3, and center rotates pass
The other end of section 3 is connect by connecting rod 25 with spherical joint 22, and the connecting rod 1 and connecting rod 25 are hollow cavity, it is described in
Grinding ball transmission mechanism 6 is set in heart rotary joint 3, push rod 9 is set in the connecting rod 25；It is characterized in that, being set in connecting rod 1
Electric pushrod 7 is set, pressure sensor 10, electric pushrod 7 and grinding ball transmission machine are set between electric pushrod 7 and spherical joint 1
Elastomeric element is set between structure 6, push rod 9 is set between grinding ball transmission mechanism 6 and spherical joint 22；Electric pushrod 7 is powered to steel
Ball transmission mechanism 6 applies pressure to both ends, and deformation occurs for elastomeric element, pushes grinding ball transmission mechanism 6, will be electronic by push rod 9
The power that push rod 7 generates is transferred to spherical joint 22.
In the present embodiment, elastomeric element is disc spring 8.Specifically, disc spring 8 is that reversely folded method is in series by 24 disc springs.
The above are the core contents invented, and disc spring 8 are arranged between electric pushrod 7 and center rotary joint 3, due to dish
Spring 8 converts the thrust of electric pushrod 7 to the elastic potential energy of itself, therefore acts on the normal force size on each joint=folded spring
Deformation quantity * coefficient of elasticity, in the case where unexpected power-off, since the self-locking disc spring deformation quantity of electric pushrod is constant, normal force is not
It can lay down suddenly, therefore will not be interrupted suddenly there is a phenomenon where transmission chain and surgical risks occur, equipment when having ensured operation
Safety.
The advantages of in the present embodiment, disc spring 8 has rigidity big, and buffering vibration absorption ability is strong, can bear big load with small deformation.
It ensure that the stability of structure, because just making disc spring 8 that there is certain initial compression amount in initial assembly, in this way passive mechanical
In arm adjustment process, mechanical arm just has certain coupling mechanism force, adjusts the first of joint by adjusting the initial compression amount of disc spring 8
Beginning pretightning force, make passive arm manpower when not locked power can with easy adjustment, and the pretightning force can overcome passive arm with
The self gravity of front end weight, joint will not collapse sagging.
In the present embodiment, by be arranged pressure sensor 10, for detect lock during power size.
In a preferred embodiment, the spherical joint 1 is mainly made of bulb 1 and spherical joint seat 1, ball
One 12 inside one end of socket joint is ball-and-socket, and ball-and-socket is bonded with bulb 1, and one 12 other end of spherical joint seat is connect with connecting rod 1；
Bulb 1 includes the first axle body 112 and the first head 111 for being connected to 112 one end of the first axle body, and the first axle body 112 is equipped with
First groove 113 of radial ecto-entad recess.Make the rotation angle range of spherical joint 1 by the way that the first groove 113 is arranged
It is bigger.
It is further preferable that the colpus 13 being recessed inwardly, spherical joint is arranged on the first head 111 of the bulb 1
The set screw 14 that setting matches with colpus 13 on seat 1,14 one end of set screw are embedded in colpus 13, close to spherical shape
It saves 1 and limits rotational freedom in one direction.As shown in figure 4, colpus 13 limits the rotational freedom in the direction x, subtract
The freedom degree for having lacked a spherical joint makes the spherical joint 1 of script Three Degree Of Freedom become two freedom degrees, the present embodiment
In, passive mechanical arm is sixdegree-of-freedom simulation.
Specifically, as shown in Figures 2 and 3, the center rotary joint 3 includes cradle head seat 1, cradle head seat
2 32 and it is set to friction plate 1 and friction plate 2 34 between the two, friction plate 1 and friction plate 2 34 are ring-type
Piece；The friction plate 33 1 is fixed on cradle head seat 2 32 by screw, one 33 internal diameter of friction plate and grinding ball transmission mechanism 6
Contact；The friction plate 2 34 is fixed on cradle head seat 1 by screw, the cyclic annular side of friction plate 2 34 and friction
The ring-type side face contact of piece 1, the internal diameter of friction plate 2 34 are less than the outer diameter of friction plate 1, and the outer diameter of friction plate 2 34 is big
In the outer diameter of friction plate 1.Frictional force caused by normal force between friction plate 1 and friction plate 2 34 can prevent center from turning
Diarthrodial movement locks center rotating joint 3.
Preferably, the spherical joint 22 is mainly made of bulb 2 21 and spherical joint seat 2 22, spherical joint seat 2 22 1
Internal end is ball-and-socket, and ball-and-socket is bonded with bulb 2 21, and 2 22 other end of spherical joint seat is connect with connecting rod 25；Bulb 2 21 includes
The second axle body 212 and the second head 213 for being connected to 212 one end of the second axle body, wherein the second axle body 212 is equipped with radial direction
Second groove 211 of ecto-entad recess.Increase the rotation angle range of ball-joint 22 by the way that the second groove 211 is arranged.
Preferably, the electric pushrod 7 is pen type electric pushrod, and pen type ram seat 71 is arranged in pen type electric pushrod both ends,
Pen type ram seat 71 be located between pen type electric pushrod and pressure sensor 10 and pen type electric pushrod and disc spring 8 it
Between, improve its stability.
It specifically, further include ball bowl, the ball-and-socket of ball bowl is bonded with the steel ball of grinding ball transmission mechanism 6；It is passed in disc spring 8 and steel ball
Ball bowl 1 is set between motivation structure 6, ball bowl 2 35 is set between grinding ball transmission structure 6 and push rod 9.Improve grinding ball transmission machine
The stability contacted between structure 6 and electric pushrod 7, push rod 9.
Preferably, one 1 other end of spherical joint seat is threadedly coupled with connecting rod 1；22 other end of spherical joint seat and connecting rod
25 are connected through a screw thread.
Preferably, internal screw thread, center rotary joint 3 and connecting rod 1 and connecting rod two is arranged in 3 both ends of center rotary joint
5 are connected through a screw thread.
Preferably, the steel ball of the grinding ball transmission mechanism 6 is tungsten-carbide ball.
In the present embodiment, passive machinery arm configuration, the friction force locking that spherical joint 1 is generated by normal force.Five
Steel ball constitutes grinding ball transmission mechanism 6, realizes the three-dimensional transmitting of power, and ball chain generates one 4 inside pen type electric pushrod 7 of connecting rod
Power be transmitted to spherical joint 22, in the case where 3 inner passage of default central cradle head is smooth, five spheres are distinguished
Make dynamic balance force analysis, it is known that when the sphere of proximal end first is by thrust F, the 5th sphere in distal end is to internal push rod 9
Thrust is also F, so that the chain transmitting for realizing power of free of losses, spherical joint 22 are affected by the friction of normal force generation
Power and lock.
Power transmission is carried out by five tungsten carbide ball chains in center rotating joint 3, closes 3 when normal force attempts separation center rotation
When, frictional force caused by the normal force between friction plate 1 and friction plate 2 34 can prevent the movement in center rotating joint 3, will
Center rotating joint 3 is locked.To realize two ball-joints, a center rotating joint 3 by a driving source while lock
Extremely.
Since disc spring 8 has certain Elastic penetration, certain compression deformation is preset under original state, keeps passive arm each
Just there is certain coupling mechanism force in joint under initial unpowered state, is able to maintain in some posture while can also manually adjust.Power-off
In the case where, pen type electric pushrod not will withdraw, and 8 deflection of disc spring also exists, and transmission chain will not be made to interrupt suddenly, ensure that operation
When equipment safety.
Embodiment 2
A kind of passive mechanical arm of freedom degree of the present invention as shown in Figs. 1-2, including spherical joint 1, spherical joint
22 and center rotary joint 3, spherical joint 1 connect by connecting rod 1 with one end of center rotary joint 3, and center rotates pass
The other end of section 3 is connect by connecting rod 25 with spherical joint 22, and the connecting rod 1 and connecting rod 25 are hollow cavity, it is described in
Grinding ball transmission mechanism 6 is set in heart rotary joint 3, push rod 9 is set in the connecting rod 25；It is characterized in that, being set in connecting rod 1
Electric pushrod 7 is set, pressure sensor 10, electric pushrod 7 and grinding ball transmission machine are set between electric pushrod 7 and spherical joint 1
Elastomeric element is set between structure 6, push rod 9 is set between grinding ball transmission mechanism 6 and spherical joint 22；Electric pushrod 7 is powered to steel
Ball transmission mechanism 6 applies pressure to both ends, and deformation occurs for elastomeric element, pushes grinding ball transmission mechanism 6, will be electronic by push rod 9
The power that push rod 7 generates is transferred to spherical joint 22.
In the present embodiment, elastomeric element is disc spring 8.Specifically, disc spring 8 is that reversely folded method is in series by 24 disc springs.
The above are the core contents invented, and disc spring 8 are arranged between electric pushrod 7 and center rotary joint 3, due to dish
Spring 8 converts the thrust of electric pushrod 7 to the elastic potential energy of itself, therefore acts on the normal force size on each joint=folded spring
Deformation quantity * coefficient of elasticity, in the case where unexpected power-off, since the self-locking disc spring deformation quantity of electric pushrod is constant, normal force is not
It can lay down suddenly, therefore will not be interrupted suddenly there is a phenomenon where transmission chain and surgical risks occur, equipment when having ensured operation
Safety.
The advantages of in the present embodiment, disc spring 8 has rigidity big, and buffering vibration absorption ability is strong, can bear big load with small deformation.
It ensure that the stability of structure, because just making disc spring 8 that there is certain initial compression amount in initial assembly, in this way passive mechanical
In arm adjustment process, mechanical arm just has certain coupling mechanism force, adjusts the first of joint by adjusting the initial compression amount of disc spring 8
Beginning pretightning force, make passive arm manpower when not locked power can with easy adjustment, and the pretightning force can overcome passive arm with
The self gravity of front end weight, joint will not collapse sagging.
In the present embodiment, by be arranged pressure sensor 10, for detect lock during power size.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of passive mechanical arm of multiple degrees of freedom, including spherical joint one (1), spherical joint two (2) and center rotary joint
(3), spherical joint one (1) is connect by connecting rod one (4) with one end of center rotary joint (3), center rotary joint (3) it is another
One end is connect by connecting rod two (5) with spherical joint two (2), and the connecting rod one (4) and connecting rod two (5) are hollow cavity, described
Grinding ball transmission mechanism (6) are set in center rotary joint (3), push rod (9) are set in the connecting rod two (5)；It is characterized in that, even
Electric pushrod (7) are set in bar one (4), pressure sensor (10) are set between electric pushrod (7) and spherical joint one (1), electricity
Elastomeric element is set between dynamic push rod (7) and grinding ball transmission mechanism (6), between grinding ball transmission mechanism (6) and spherical joint two (2)
It is arranged push rod (9)；Electric pushrod (7) is powered to grinding ball transmission mechanism (6), applies pressure to both ends, and deformation occurs for elastomeric element,
It pushes grinding ball transmission mechanism (6), the power that electric pushrod (7) generates is transferred to by spherical joint two (2) by push rod (9).
2. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 1, which is characterized in that the spherical joint one (1)
It is mainly made of bulb one (11) and spherical joint seat one (12), is ball-and-socket, ball-and-socket and bulb inside spherical joint seat one (12) one end
One (11) fitting, spherical joint seat one (12) other end are connect with connecting rod one (4)；Bulb one (11) include the first axle body (112) and
It is connected to first head (111) of the first axle body (112) one end, wherein the first axle body (112) is equipped with radial direction by extroversion
The first groove (113) of sunken inside.
3. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 2, which is characterized in that the of the bulb one (11)
The colpus (113) being recessed inwardly is set on one head (111), setting and colpus (13) phase on spherical joint seat one (12)
The set screw (14) matched, set screw (14) one end are embedded in colpus (13).
4. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 1 or 2 or 3, which is characterized in that the center rotation
Joint (3) includes one (31) of cradle head seat, cradle head two (32) of seat and is set to friction plate one (33) between the two
With friction plate two (34), friction plate one (33) and friction plate two (34) are annular lamina；The friction plate one (33) is solid by screw
Due on two (32) of cradle head seat, friction plate one (33) internal diameter is contacted with grinding ball transmission mechanism (6)；The friction plate two (34)
It is fixed on one (31) of cradle head seat by screw, the cyclic annular side of friction plate two (34) and the ring-type side of friction plate one (31)
Face contact, the internal diameter of friction plate two (34) are less than the outer diameter of friction plate one (31), and the outer diameter of friction plate two (34) is greater than friction plate
The outer diameter of one (33).
5. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 2 or 3, which is characterized in that the spherical joint two
(2) it is mainly made of bulb two (21) and spherical joint seat two (22), the internal one end of spherical joint seat two (22) is ball-and-socket, with bulb two
(21) it is bonded, spherical joint seat two (22) other end is connect with connecting rod two (5)；Bulb two (21) includes the second axle body (212) and connects
The second head (213) in the second axle body (212) one end is connect, wherein the second axle body (212) is equipped with radial ecto-entad
The second groove (211) of recess.
6. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 1 or 2 or 3 or 4, which is characterized in that described electronic
Push rod (7) is pen type electric pushrod, and the elastomeric element is disc spring (8)；Pen type ram seat is arranged in pen type electric pushrod both ends
(71), pen type ram seat (71) is located between pen type electric pushrod and pressure sensor (10) and pen type electric pushrod
(71) between disc spring (8).
7. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 6, which is characterized in that it further include ball bowl, ball bowl
Ball-and-socket is bonded with the steel ball of grinding ball transmission mechanism (6)；Ball bowl one (35) are set between disc spring (8) and grinding ball transmission mechanism (6),
Ball bowl two (36) are set between grinding ball transmission structure (6) and push rod (9).
8. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 5, which is characterized in that the spherical joint seat one (31)
The other end is threadedly coupled with connecting rod one (4)；Spherical joint seat two (32) other end is connected through a screw thread with connecting rod two (5).
9. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 1 or 8, which is characterized in that the center rotation is closed
It saves (8) both ends and internal screw thread is set, center rotary joint (8) is connected through a screw thread with connecting rod one (4) and connecting rod two (5).
10. the passive mechanical arm of a kind of multiple degrees of freedom according to claim 1, which is characterized in that the grinding ball transmission mechanism
(6) steel ball is tungsten-carbide ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066935.4A CN109199593A (en) | 2018-09-13 | 2018-09-13 | A kind of passive mechanical arm of multiple degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811066935.4A CN109199593A (en) | 2018-09-13 | 2018-09-13 | A kind of passive mechanical arm of multiple degrees of freedom |
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| CN109199593A true CN109199593A (en) | 2019-01-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781754A (en) * | 2022-11-24 | 2023-03-14 | 北京大学第三医院 | Eight-degree-of-freedom passive mechanical arm clamping device |
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| CN107614817A (en) * | 2015-03-27 | 2018-01-19 | 梭尼轨道系统公司 | The motive power arm that can quickly reposition |
| CN104983468A (en) * | 2015-07-24 | 2015-10-21 | 绵阳美科电子设备有限责任公司 | Robot arm of endoscope manipulator and operation method thereof |
| CN105598991A (en) * | 2016-03-17 | 2016-05-25 | 清华大学 | Composite spherical shell joint device and control method thereof |
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| CN108214481A (en) * | 2018-03-06 | 2018-06-29 | 北京石油化工学院 | The passive mechanical arm of seven freedom master that multi-joint is locked simultaneously can be achieved |
| CN209437367U (en) * | 2018-09-13 | 2019-09-27 | 中国科学院苏州生物医学工程技术研究所 | A kind of passive mechanical arm of multiple degrees of freedom |
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| CN115781754A (en) * | 2022-11-24 | 2023-03-14 | 北京大学第三医院 | Eight-degree-of-freedom passive mechanical arm clamping device |
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