CN201544233U - Two degree-of-freedom joint with combined plane friction and cylindrical surface friction - Google Patents
Two degree-of-freedom joint with combined plane friction and cylindrical surface friction Download PDFInfo
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- CN201544233U CN201544233U CN 200920235296 CN200920235296U CN201544233U CN 201544233 U CN201544233 U CN 201544233U CN 200920235296 CN200920235296 CN 200920235296 CN 200920235296 U CN200920235296 U CN 200920235296U CN 201544233 U CN201544233 U CN 201544233U
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- joint
- hypozygal
- upper joint
- oblique crank
- friction
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Abstract
The utility model relates to a two degree-of-freedom joint with combined plane friction and cylindrical surface friction. A wedge-shaped surface is arranged at the upper outer edge of a lower plane of a T-shaped shaft of an upper joint, a force transfer sliding block of the upper joint is sleeved on a rod part which is connected with a joint platform body, and a wedge-shaped surface at the end of a push rod is matched with the wedge-shaped surface of the T-shaped shaft of the upper joint; a T-shaped shaft of a lower joint is connected at the other end of the joint platform body and arranged in a sealing cover of the lower joint, the sealing cover of the lower joint is fixedly connected with a joint supporting shaft, a rod part of the T-shaped shaft of the lower joint is hollow, and the hollow bottom is provided with a communicated groove; and a mandril is arranged in the hollow structure, the upper end of the mandril is in contact with the force transfer sliding block of the upper joint, and the lower end thereof is fixedly connected with a V-shaped thrust block which is inserted in the communicated groove, a sector cylindrical surface friction plate is arranged on the T-shaped shaft of the lower joint at both sides of the V-shaped thrust block, and a cylindrical surface is arranged at the outer side of the sector cylindrical surface friction plate. The two degree-of-freedom joint has the advantages of small volume, compact structure, light weight, large locking torque, simple structure, zero joint space and long service life, and can be used for joint locking of various small-sized mechanical arms.
Description
Technical field
The utility model relates to a kind of cradle head, specifically relates to the 2DOF joint that a kind of planar friction and cylinder friction combine, and belongs 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, and the one, 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.
The utility model content
For solving the deficiencies in the prior art, the 2DOF joint that the purpose of this utility model is to provide a kind of simple in structure, good operability, positioning accuracy height, planar friction with low cost and cylinder friction to combine, reduce the structural complexity and the cost in locking joint, improve the positioning accuracy and the security of mechanical arm.
The utility model designs integral type 2DOF joint based on above consideration.Do not needing to install motor (motor is on the 3rd joint) on two joints, promote an inner push rod (this push rod links to each other with the 3rd joint of mechanical arm) by 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.
For achieving the above object, the utility model adopts following technical scheme:
The 2DOF joint that a kind of planar friction and cylinder friction combine, 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 lead angle, 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; The bar portion band external screw thread of described hypozygal T oblique crank Z, 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, the bottom is installed on the bolster of joint by bearing, hypozygal capping and joint bolster connect firmly, and the bar portion of hypozygal T oblique crank Z is hollow, have through slot in the bar portion on hollow bottom, hypozygal T oblique crank Z lower plane top; Push rod is installed in the hollow-core construction of hypozygal T oblique crank Z, the upper joint shell is stretched in the upper end, contact with upper joint power transmission slide block, the lower end connects firmly the V-arrangement thrust block pad by screw thread, the V-arrangement thrust block pad is inserted in the through slot, be separately installed with fan-shaped cylinder friction plate by bolt on the hypozygal T of V-arrangement thrust block pad both sides oblique crank Z, the inboard of fan-shaped cylinder friction plate is the shape that cooperates with the V-arrangement thrust block pad, and the outside is the face of cylinder.
The 2DOF joint that aforesaid planar friction and cylinder friction combine, 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 connects the V-arrangement thrust block pad.
The 2DOF joint that aforesaid planar friction and cylinder friction combine, 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.
The 2DOF joint that aforesaid planar friction and cylinder friction combine, 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 2DOF joint that aforesaid planar friction and cylinder friction combine is characterized in that described fan-shaped cylinder friction plate is provided with bolt hole, and described bolt hole cross section is a prolate shape.
The 2DOF joint that aforesaid planar friction and cylinder friction combine is characterized in that being provided with the hypozygal bearing shell between described hypozygal T oblique crank Z and hypozygal capping.
The beneficial effects of the utility model are: the utility model 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), lower, the long service life of cost.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.Applicable to 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, when reducing structure complexity and cost, the positioning accuracy and the security of mechanical arm have been improved, thereby for general the owing of mechanical arm of development surgical placement drives the joint, simultaneously, also provide reference for the joint designs of the mechanical arm of other purposes.
Description of drawings
The structural representation in the 2DOF joint that Fig. 1 combines for planar friction of the present utility model and cylinder friction;
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 right view of the fan-shaped cylinder friction plate among Fig. 1;
Fig. 6 is the vertical view of the fan-shaped cylinder friction plate among Fig. 1;
Fig. 7 is that A-A among Fig. 6 is to cutaway view.
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, the 1# push rod, 5, connect swivel nut, 6, push rod, 7, the joint stage body, 8, clutch shaft bearing, 9, the annular friction pad, 10, the 2# push rod, 11, V-arrangement thrust block pad, 12, the fan-shaped cylinder friction plate of 1#, 13, soket head cap screw, 14, second bearing, 15, the joint support axle, 16, the hypozygal capping, 17, hypozygal bearing shell, 18, the fan-shaped cylinder friction plate of 2#, 19, hypozygal T oblique crank Z.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is further described.
The structural representation in the 2DOF joint that Fig. 1 combines for planar friction of the present utility model and cylinder friction; 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 right view of the fan-shaped cylinder friction plate among Fig. 1; Fig. 6 is the vertical view of the fan-shaped cylinder friction plate among Fig. 1; Fig. 7 is that A-A among Fig. 6 is to cutaway view.
As shown in the figure, the 2DOF joint that planar friction of the present utility model and cylinder friction combine comprises joint stage body 7, hypozygal T oblique crank Z 19 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 lead angle, 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, upper joint power transmission slide block 3 is the circular configuration of hollow, it embeds in the upper joint shell 1, Circularhole diameter in the middle of the upper joint power transmission slide block 3 guarantees 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.
The bar portion band external screw thread of hypozygal T oblique crank Z 19, 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 19 and upper joint T oblique crank Z 2, the lower end of hypozygal T oblique crank Z 19 is installed in the hypozygal capping 16, the bottom is installed on the joint bolster 15 by second bearing 14, and hypozygal capping 16 connects firmly with joint bolster 15.The bar portion of hypozygal T oblique crank Z 19 is hollow, has through slot in the bar portion on hollow bottom, hypozygal T oblique crank Z 19 lower plane tops, is used to install V-arrangement thrust block pad 11.Push rod is installed in the hollow-core construction of hypozygal T oblique crank Z 19, can slide up and down, and upper joint shell 1 is stretched in the upper end, contacts with upper joint power transmission slide block 3, transmits thrust.The lower end connects firmly V-arrangement thrust block pad 11 by screw thread, and V-arrangement thrust block pad 11 is inserted in the through slot, and the both sides of V-arrangement thrust block pad 11 are tilting.On the hypozygal T of V-arrangement thrust block pad 11 both sides oblique crank Z 19, be separately installed with fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# by bolt, the inboard of fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# is a tilting, cooperate with the inclined plane of V-arrangement thrust block pad 11, the outside is the face of cylinder, cooperates with the inner cylinder face of hypozygal capping 16.
The fan-shaped cylinder friction plate 12 of 1# relies on hexagon socket head cap screw 13 to be connected with hypozygal T oblique crank Z 19 with the fan-shaped cylinder friction plate 18 of 2#.The cross section of the bolt hole on fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# is a prolate shape, hexagon socket head cap screw 13 can produce in the prolate shape bolt hole and relatively move like this, make fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# radially slide under the effect of external force again, but can not on vertical, move.
Be convenient to install and regulate in order to make push rod, push rod can comprise 1# push rod 4,2# push rod 10 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 10, 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 10 connects V-arrangement thrust block pad 11.
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 annular friction pad 9, 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.
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.
Be provided with hypozygal bearing shell 17 between hypozygal T oblique crank Z 19 and hypozygal capping 16, it is smooth and easy to guarantee that like this hypozygal T oblique crank Z 19 rotates, and reduces wear.
The utility model has connected firmly a V-arrangement thrust block pad 11 in the lower end of 2# push rod 10 by screw thread, this V-arrangement thrust block pad 11 promotes two independently fan-shaped cylinder friction plates (fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2#) radially away from hypozygal T oblique crank Z 19, make the external cylindrical surface of fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# radially push the inner cylinder face of hypozygal capping 16, thereby produce circumferential moment of friction, hypozygal is locked.
Operation principle of the present utility model is: 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 annular friction pad 9, produce frictional force on the end face of 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, the upper joint locking.The downward thrust of push rod 6 is on upper joint driving block 3, make upper joint driving block 3 produce downward displacement, push 1# push rod 4 and 2# push rod 10 vertically downward, 2# push rod 10 drives V-arrangement thrust block pad 11, V-arrangement thrust block pad 11 is extruding fan-shaped cylinder friction plate 12 of 1# and the fan-shaped cylinder friction plate 18 of 2# downwards, the fan-shaped cylinder friction plate of fan-shaped cylinder friction plate 12 of 1# and 2# 18 is separated to both sides, the inner cylinder face of along continuous straight runs extruding hypozygal capping 16, give 16 1 normal pressures of hypozygal capping in the horizontal direction, thereby generation frictional force, and generation makes hypozygal locking with respect to the circumferential moment of friction of hypozygal T oblique crank Z 19 on cylinder.
The utility model 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 utility model 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.
The utility model locks applicable to the joint that the static carrying of end is no more than 10 kilograms all kinds of small-sized machine arms, the joint locking of the mechanical arm that supports or locate as being used in the operation perform the operation etc.
Below schematically the utility model embodiment is set forth, this elaboration does not have limitation.Shown in the accompanying drawing also is basic embodiment of the present utility model, 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 utility model creation 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 domain of the present utility model to this technical scheme.
Claims (6)
1. the 2DOF joint that combines of planar friction and cylinder friction, 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 lead angle, 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; The bar portion band external screw thread of described hypozygal T oblique crank Z, 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, the bottom is installed on the bolster of joint by bearing, hypozygal capping and joint bolster connect firmly, and the bar portion of hypozygal T oblique crank Z is hollow, have through slot in the bar portion on hollow bottom, hypozygal T oblique crank Z lower plane top; Push rod is installed in hypozygal T oblique crank Z hollow, the upper joint shell is stretched in the upper end, contact with upper joint power transmission slide block, the lower end connects firmly the V-arrangement thrust block pad by screw thread, the V-arrangement thrust block pad is inserted in the through slot, be separately installed with fan-shaped cylinder friction plate by bolt on the hypozygal T of V-arrangement thrust block pad both sides oblique crank Z, the inboard of fan-shaped cylinder friction plate is the shape that cooperates with the V-arrangement thrust block pad, and the outside is the face of cylinder.
2. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine, 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 connects the V-arrangement thrust block pad.
3. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine, 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. the 2DOF joint that combines according to claim 1 or 3 described planar frictions and cylinder friction, 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.
5. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine is characterized in that described fan-shaped cylinder friction plate is provided with bolt hole, and described bolt hole cross section is a prolate shape.
6. the 2DOF joint that planar friction according to claim 1 and cylinder friction combine is characterized in that being provided with the hypozygal bearing shell between described hypozygal T oblique crank Z and hypozygal capping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920235296 CN201544233U (en) | 2009-10-21 | 2009-10-21 | Two degree-of-freedom joint with combined plane friction and cylindrical surface friction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920235296 CN201544233U (en) | 2009-10-21 | 2009-10-21 | Two degree-of-freedom joint with combined plane friction and cylindrical surface friction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201544233U true CN201544233U (en) | 2010-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200920235296 Expired - Fee Related CN201544233U (en) | 2009-10-21 | 2009-10-21 | Two degree-of-freedom joint with combined plane friction and cylindrical surface friction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201544233U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101698302B (en) * | 2009-10-21 | 2012-04-18 | 昆山市工业技术研究院有限责任公司 | Planar friction and cylindrical friction combined two-degree-of-freedom joint |
| CN102661301A (en) * | 2012-05-02 | 2012-09-12 | 北京博源兴康科技有限公司 | Fast oiling mechanism for hydraulic locking mechanical arm |
-
2009
- 2009-10-21 CN CN 200920235296 patent/CN201544233U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101698302B (en) * | 2009-10-21 | 2012-04-18 | 昆山市工业技术研究院有限责任公司 | Planar friction and cylindrical friction combined two-degree-of-freedom joint |
| CN102661301A (en) * | 2012-05-02 | 2012-09-12 | 北京博源兴康科技有限公司 | Fast oiling mechanism for hydraulic locking mechanical arm |
| CN102661301B (en) * | 2012-05-02 | 2015-01-21 | 北京博源兴康科技有限公司 | Fast oiling mechanism for hydraulic locking mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100811 Termination date: 20121021 |