CN201544234U - Hydraulic joint locking power generator for surgery mechanical arm - Google Patents
Hydraulic joint locking power generator for surgery mechanical arm Download PDFInfo
- Publication number
- CN201544234U CN201544234U CN 200920235297 CN200920235297U CN201544234U CN 201544234 U CN201544234 U CN 201544234U CN 200920235297 CN200920235297 CN 200920235297 CN 200920235297 U CN200920235297 U CN 200920235297U CN 201544234 U CN201544234 U CN 201544234U
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- mechanical arm
- hydraulic
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- power generator
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Abstract
The utility model discloses a hydraulic joint locking power generator for a surgery mechanical arm, which comprises a supporting mechanism and a transmission mechanism. The hydraulic joint locking power generator further comprises an electrically-controlled thrust mechanism and a power generating mechanism, wherein the thrust mechanism comprises a screw rod outer cover; the screw rod outer cover is fixedly connected with a connecting cover of the transmission mechanism; both a center shaft of the thrust mechanism and a shaft line of the transmission mechanism are in the vertical direction; the power generating mechanism and the transmission mechanism are coaxial, respectively adopt a symmetrical structure, and are locked by a loop nut at the periphery of the power generating mechanism; and the supporting mechanism is fixedly connected with the thrust mechanism. As a joint locking hydraulic power source is provided, the mechanical arm can be used as a surgery puncture positioning device and a supporting device; with the advantages of small volume, compact structure, light weight, large locking moment, convenient operation as well as maintenance, long service life and the like, the hydraulic joint locking power generator is suitable for joint positioning of the minimally-invasive surgery mechanical arm in neurosurgery, chest surgery, abdominal surgery, orthopedic surgery, department of stomatology and the like.
Description
Technical field
The utility model relates to a kind of hydraulic locking mechanism, in particular a kind of joint hydraulic locking power mechanism that is applied on the mechanical arm for surgical belongs to mechanical arm for surgical joint locking fluid pressure drive device.
Background technology
In recent years, along with computer and image processing techniques, surgery and surgery technology, service robot technology rapid development, and the raising of whole people's health care consciousness, to improve operation quality and efficient is that the minimally invasive surgery robot technology of purpose has become one of forward position research focus that Chinese scholars pays close attention to, has become the important industry direction that numerous enterprises is paid close attention to.At present, for the mechanical arm of operation puncturing location, motor or electromagnetic brake are adopted in its joint locking, utilize the position servo or the holding torque of motor to realize, or utilize electromagnetic brake locking, arthritic volume and weight are big, cause whole mechanical arm too heavy, can be seldom in clinical practice.That is to say, do not find the suitable joint locking drive unit of operation mechanical arm at present as yet.Particularly, also do not find joint locking power mechanism based on hydraulically powered operation mechanical arm for the joint locking of the mechanical arm of small-sized, light, high rigidity and high lock ability.Therefore, exploitation is towards the mechanical arm joint hydraulic locking power generator of medical surgery operation, not only lay a good foundation for the mechanical arm of the passive puncture location of operation of development, simultaneously, also the joint locking required drive Design of device exploitation for the mechanical arm of other purposes provides reference.
The utility model content
Technical problem to be solved in the utility model is to be to provide a kind of surgical mechanical arm joint hydraulic locking power generator, so that locking hydraulic power supply in joint to be provided, improve the required hydraulic coupling of locking for each joint of mechanical arm, guarantee that mechanical arm is under no motor-driven situation, joint angles after resolving according to kinematics, each joint is by doctor's hand traction, can rigidly fix, thereby make the mechanical arm can be as the medical equipment and the operation support platform of operation puncture location.
To achieve these goals, the utility model is to realize by the following technical solutions:
The utility model surgical mechanical arm joint hydraulic locking power generator, comprise supporting mechanism, transmission mechanism, it is characterized in that, it also comprises the thrust mechanism and force mechanisms in all one's life of an electronic control, described thrust mechanism comprises the leading screw outer cover, described screw mandrel outer cover connects firmly mutually with the connection cover of transmission mechanism, and the central shaft of described thrust mechanism and the axis of transmission mechanism are vertical direction; Described living force mechanisms and transmission mechanism is symmetrical structure and the two is coaxial, and by giving birth to the kink nut locking of force mechanisms periphery, described supporting mechanism connects firmly mutually with thrust mechanism.
Further, described living force mechanisms comprises joint shaft, rotation seat, hydraulic cylinder, hydraulic cylinder seat, hydraulic piston, drag ring and kink nut, and described joint shaft is installed in the middle of the hydraulic cylinder, and connects firmly with the rotation seat screw thread of upper end; Described rotation seat links to each other with each joint and the rod member of mechanical arm, and described hydraulic cylinder upper end is provided with cannelure, is embedded in drag ring at cannelure, the degree of depth of a little higher than cannelure of drag ring thickness, and its upper surface contacts with the rotation seat lower surface.
Described joint shaft is a hollow structure, and stomidium cooperates with hydraulic piston under it, and hydraulic piston can move up and down in the hole of joint shaft, and the boss of nodal axisn lower end has two seals.
Described hydraulic piston is a T shape structure, the projection of its lower end and the piston guide tube matched in clearance that is installed in the piston outside, and piston guide tube and hydraulic cylinder screw thread connect firmly.
Have one to support swivel nut in the outside of piston guide tube, support swivel nut and be fixed on the hydraulic cylinder by screw thread, the lower end of supporting swivel nut is provided with the top wire hole that three degree are arranged, is used for the circumferentially fixing of hydraulic cylinder.The outside of supporting swivel nut is the hydraulic cylinder seat of a hollow, and this outside, hydraulic cylinder seat upper end is the bigger trapezoidal thread of helical pitch, and hydraulic cylinder is connected with seat kink nut by described trapezoidal thread, but can dismantle at any time.
Further, described transmission mechanism comprises spring base, piston mandril and the thrust spring that is arranged in the connection cover, and described thrust spring one end is installed in spring base, and its other end top is on piston mandril; Described thrust spring, spring base and piston mandril all be connected the cover coaxial, described piston mandril connects firmly by the leading screw long spiro nail mutually with spring base.
Further, described thrust mechanism comprises leading screw outer cover, motor cabinet sleeve and is arranged on motor cabinet sleeve interior direct current generator and decelerator, described direct current generator setting is installed decelerator on the ground on direct current generator, described leading screw outer cover connects firmly mutually with the motor cabinet sleeve.
Be provided with the feed screw nut on lead screw shaft and the lead screw shaft in the screw mandrel outer cover, described feed screw nut can move on the lead screw shaft of ball-screw vertically.Described lead screw shaft lower end links to each other with the output shaft of decelerator by shaft joint.
Further, described supporting mechanism comprises supporting seat and the support bar that is fixed on the supporting seat, and described support bar and supporting seat are 90 degree and connect firmly, and described supporting seat connects firmly mutually with motor cabinet sleeve and leading screw outer cover.
The control button that a control direct current generator operation is installed on described mechanical arm end hand grip, this control button can be wired control button, also can be wireless controller.
The utility model course of work is: when unclamping control button, direct current generator rotates (this direct current generator rotates and realizes by wired control button or controlled in wireless button dual mode), piston mandril moves upward to top dead centre, the also upwards resilience of thrust spring this moment, the hydraulic piston of hydraulic system moves vertically upward, compressor mechanical arm cavity volume, press in the hydraulic system and increase, the upper surface that is pressed in joint shaft lower end projection in being somebody's turn to do produces axial tension, because the rotation seat 1 in joint shaft and joint connects firmly by screw thread, so axial tension will act on the drag ring of hydraulic cylinder upper end, produce moment of friction on drag ring, thereby make the joint locking.The locking torque of hydraulic machinery shoulder joint so just is provided, thereby has realized joint of mechanical arm locking and unclamp control.
The utility model utilizes supporting mechanism, transmission mechanism, thrust mechanism and gives birth to force mechanisms, and locking hydraulic power supply in joint is provided, and each joint can rigidly fix, thereby makes the mechanical arm can be as operation puncture positioning device and bracing or strutting arrangement; And have that volume is little, compact conformation, in light weight, locking torque is big, operation and maintenance is convenient, service life advantage such as height, applicable to the location, joint of Minimally Invasive Surgery mechanical arms such as neurosurgery, chest abdomen surgery, Orthopeadic Surgery, the department of stomatology.
Description of drawings
Describe the utility model in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is a structural representation of the present utility model.
Among the figure: 1-rotation seat, 2-drag ring, 3-joint shaft, 4-sealing shroud, 5-piston guide tube, 6-thrust spring, 7-spring base, 8-first nut, the 9-clutch shaft bearing, 10-leading screw long spiro nail, 11-second nut, 12-decelerator, the 13-direct current generator, 14-hydraulic cylinder, 15-sealing shroud, 16-hydraulic piston, 17-kink nut, 18-supports swivel nut, 19-alignment pin, 20-hydraulic cylinder seat, the 21-piston mandril, 22-connects cover, the 23-soket head cap screw, 24-leading screw outer cover, 25-the 3rd nut, the 26-feed screw nut, 27-lead screw shaft, 28-second bearing, the 29-shaft joint, 30-motor hold-down screw, 31-motor cabinet sleeve, 32-the 4th nut, 33-supporting seat, 34-support bar.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with the specific embodiment, further set forth the utility model.
Referring to Fig. 1, the utility model surgical mechanical arm joint hydraulic locking power generator comprises supporting mechanism, transmission mechanism, and it also comprises the thrust mechanism and force mechanisms in all one's life of an electronic control.Described thrust mechanism comprises leading screw outer cover 24, and described screw mandrel outer cover 24 connects firmly mutually with the connection cover 22 of transmission mechanism, and the central shaft of described thrust mechanism and the axis of transmission mechanism are vertical direction; Described living force mechanisms and transmission mechanism is symmetrical structure and the two is coaxial, and by giving birth to the kink nut locking of force mechanisms periphery, described supporting mechanism connects firmly mutually with thrust mechanism.
In the utility model, give birth to force mechanisms and comprise rotation seat 1, drag ring 2, joint shaft 3, hydraulic cylinder 14, hydraulic cylinder seat 20, hydraulic piston 16 and kink nut 17, described joint shaft 3 is installed in the middle of the hydraulic cylinder 14, and connects firmly with rotation seat 1 screw thread of upper end; Described rotation seat 1 links to each other with each joint and the rod member of mechanical arm, and described hydraulic cylinder 14 upper ends are provided with cannelure, are embedded in drag ring 2 at cannelure, the degree of depth of a little higher than cannelure of drag ring 2 thickness, and its upper surface contacts with rotation seat 1 lower surface.
Transmission mechanism comprises spring base 7, piston mandril 21 and the thrust springs 6 that are arranged in the connection cover 22, and described thrust spring 6 one ends are installed in spring base 7, and its other end top is on piston mandril 21; All with to be connected cover 22 coaxial, described piston mandril 21 connects firmly by leading screw long spiro nail 10 mutually with spring base 7 for described thrust spring 6, spring base 4 and piston mandril 21.
Described thrust mechanism comprises leading screw outer cover 24, motor cabinet sleeve 31 and is arranged on direct current generator 13 and decelerator 12 in the motor cabinet sleeve 31, described direct current generator 13 is provided with on the ground, decelerator 12 is installed on direct current generator 13, and described leading screw outer cover 24 connects firmly mutually with motor cabinet sleeve 31.
Described supporting mechanism comprises supporting seat 33 and the support bar 32 that is fixed on the supporting seat 33, and described support bar 32 is 90 degree with supporting seat 33 and connects firmly, and described supporting seat 33 connects firmly mutually with motor cabinet sleeve 31 and leading screw outer cover 24.
The utility model is the center with the axis of joint shaft 3, and all parts are installed along the axis of joint shaft 3.Below describe in proper order according to this.
Joint shaft 3 passes sealing shroud 4, and all there is sealing ring in the interior outside of sealing shroud 4, is used for sealed hydraulic oil.Joint shaft 3 passes the hole in the middle of the hydraulic cylinder 14 again, connects firmly with rotation seat 1 screw thread of upper end, and rotation seat 1 links to each other with each joint and the rod member of mechanical arm.The cannelure of hydraulic cylinder 14 upper ends is embedded in drag ring 2, the degree of depth of a little higher than cannelure of drag ring 2 thickness, and its upper surface contacts with rotation seat 1 lower surface.Joint shaft 3 is a hollow structure, and stomidium cooperates with hydraulic piston 16 under it, and hydraulic piston 16 can move up and down in the hole of joint shaft 3.The boss of joint shaft 3 lower ends has two seals.Hydraulic piston 16 is a T shape structure, piston guide tube 5 matched in clearance in the projection of its lower end and the outside, and piston guide tube 5 connects firmly with hydraulic cylinder 14 screw threads.The outside of piston guide tube 5 has one to support swivel nut 18, supports swivel nut 18 and is fixed on the hydraulic cylinder 14 by screw thread, and there is the top wire hole of three 120 degree layouts the lower end of supporting swivel nut 18, is used for the circumferentially fixing of hydraulic cylinder 14.The outside of supporting swivel nut 18 is the hydraulic cylinder seat 20 of a hollow, and this outside, hydraulic cylinder seat 20 upper ends is the bigger trapezoidal thread of helical pitch, and hydraulic cylinder seat 20 is connected with kink nut 17 by trapezoidal thread, but can dismantle at any time.
There are regular screw threads in the outside, the lower end of hydraulic cylinder seat 20, connects firmly with the following cover 22 that is connected by it.Connecting cover 22 connects firmly with leading screw outer cover 24 below by the soket head cap screw 23 and first nut 8.Equally, leading screw outer cover 24 connects firmly with the supporting seat 33 that carries whole living force mechanisms by motor hold-down screw 30 and the 4th nut 32.Supporting seat 33 is a hollow structure, with support bar 34 connect firmly on one side, one side connects firmly with the flange of the decelerator 12 of motor 13.
Connect between cover 22 and the leading screw outer cover 24 and fixed a spring base 7, placed a thrust spring 6 above the spring base 7 vertically, a piston mandril 21 is arranged at thrust spring 6 tops, leading screw long spiro nail 10 passes piston mandril 21 and spring base 7, connect firmly by the feed screw nut 26 on the 3rd nut 25 and the ball-screw, feed screw nut 26 can motion on the lead screw shaft 27 of ball-screw vertically.A clutch shaft bearing 9 has been installed below spring base 7, one second bearing 28 has been arranged in leading screw outer cover 24 lower ends.Lead screw shaft 27 lower ends link to each other with the output shaft of decelerator 12 by shaft joint 29.
More than each architectural feature can be present in the utility model in any combination way.
When unclamping control button, direct current generator 13 rotates, piston mandril 21 moves upward to top dead centre, the also upwards resilience of thrust spring 6 this moment, the hydraulic piston 16 of hydraulic system moves vertically upward, compressor mechanical arm cavity volume, press in the hydraulic system and increase, the upper surface that is pressed in joint shaft 3 lower end projections in being somebody's turn to do produces axial tension, because the rotation seat 1 in joint shaft 3 and joint connects firmly by screw thread, so axial tension will act on the drag ring 2 of hydraulic cylinder 14 upper ends, produce moment of friction on drag ring 2, thereby make the joint locking.
When pressing control button, direct current generator 13 backward rotation, the feed screw nut 26 that drives on the lead screw shaft 27 moves downward, and feed screw nut 26 connects firmly with piston mandril 21, piston mandril 21 compresses thrust spring downwards, thrust spring 26 shrinks, and piston mandril 21 is followed and moved down, and the hydraulic piston 16 of hydraulic system is moved vertically downward, the mechanical arm internal volume increases, interior drops, the moment of friction that produces on the drag ring 2 disappears or is reduced to very low degree, thereby makes each joints open of mechanical arm.Promptly realize joint of mechanical arm locking and unclamp control by operating a control of DC button.
Surgical mechanical arm joint hydraulic locking power generator of the present utility model has following characteristics.One can make the pressure of mechanical arm for surgical inner chamber hydraulic oil reach 3～6Mpa; Its two, after the release, the pressure of mechanical arm inner chamber hydraulic oil is near atmospheric pressure, and the mechanical arm operating pressure is no more than 4Mpa, belongs to low pressure, mechanical arm safety relatively in surgical procedure; They are three years old, on the mechanical arm end hand grip control button is installed, this control button can be wired control button, also can be wireless controller, motor by control button control mechanical arm dynamic force generating unit is done rectilinear motion, realizes that each joint locks simultaneously and unclamps simultaneously; The 4th, little, in light weight, the compact conformation of this mechanical arm joint hydraulic locking power generator volume; The 5th, use automatically controlled mode, simple to operation, the efficient height particularly can adopt wireless control mode, has saved the cabling design, makes structure simpler, and the mechanical arm profile is more attractive in appearance; The 6th, surgical mechanical arm joint hydraulic locking power generator can separate by kink nut 17 at any time with mechanical arm, is convenient to install, carry and safeguard; In addition, by the top dead center position of control surgical mechanical arm joint hydraulic locking power generator push rod, can provide the driving force of different stage.The utility model can be used for designing the various joints retaining mechanism of mechanical arm for surgical, also can be applied to other hydraulic locking apparatus.
More than show and described basic principle of the present utility model and principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (10)
1. surgical mechanical arm joint hydraulic locking power generator, comprise supporting mechanism, transmission mechanism, it is characterized in that, it also comprises the thrust mechanism and force mechanisms in all one's life of an electronic control, described thrust mechanism comprises leading screw outer cover (24), described screw mandrel outer cover (24) connects firmly mutually with the connection cover (22) of transmission mechanism, and the central shaft of described thrust mechanism and the axis of transmission mechanism are vertical direction; Described living force mechanisms and transmission mechanism is symmetrical structure and the two is coaxial, and by giving birth to kink nut (17) locking of force mechanisms periphery, described supporting mechanism connects firmly mutually with thrust mechanism.
2. surgical mechanical arm joint hydraulic locking power generator according to claim 1, it is characterized in that, described living force mechanisms comprises rotation seat (1), drag ring (2), joint shaft (3), hydraulic cylinder (14), hydraulic cylinder seat (20), hydraulic piston (16) and kink nut (17), described joint shaft (3) is installed in the middle of the hydraulic cylinder (14), and connects firmly with rotation seat (1) screw thread of upper end; Described rotation seat (1) links to each other with each joint and the rod member of mechanical arm, and described hydraulic cylinder (14) upper end is provided with cannelure, is embedded in drag ring (2) at cannelure.
3. surgical mechanical arm joint hydraulic locking power generator according to claim 2 is characterized in that, the degree of depth of a little higher than cannelure of described drag ring (2) thickness, and described drag ring (2) upper surface contacts with rotation seat (1) lower surface.
4. according to claim 2 or 3 described surgical mechanical arm joint hydraulic locking power generators, it is characterized in that, described joint shaft (3) is a hollow structure, the following stomidium of joint shaft (3) cooperates with hydraulic piston (16), and this hydraulic piston (16) can move up and down in the hole of joint shaft (3); The boss of described joint shaft (3) lower end is provided with two seals.
5. surgical mechanical arm joint hydraulic locking power generator according to claim 2, it is characterized in that, described hydraulic piston (16) is a T shape structure, the projection of this hydraulic piston (16) lower end connects firmly with hydraulic cylinder (14) screw thread with piston guide tube (5) matched in clearance that is installed in hydraulic piston (16) outside, piston guide tube (5).
6. surgical mechanical arm joint hydraulic locking power generator according to claim 5, it is characterized in that, be provided with one in the outside of described piston guide tube (5) and support swivel nut (18), support swivel nut (18) and be fixed on the hydraulic cylinder (14) by screw thread, the lower end of supporting swivel nut (18) is provided with the circumferentially fixing top wire hole that is used for hydraulic cylinder (14); The outside of supporting swivel nut (18) is the hydraulic cylinder seat (20) of a hollow, and this outside, hydraulic cylinder seat (20) upper end is the bigger trapezoidal thread of helical pitch, and described hydraulic cylinder seat (20) is connected with kink nut (17) by trapezoidal thread.
7. surgical mechanical arm joint hydraulic locking power generator according to claim 1 and 2, it is characterized in that, described transmission mechanism comprises spring base (7), piston mandril (21) and the thrust spring (6) that is arranged in the connection cover (24), described thrust spring (6) one ends are installed in spring base (7), and thrust spring (6) other end top is on piston mandril (21); All with to be connected cover (24) coaxial, described piston mandril (21) connects firmly by leading screw long spiro nail (10) mutually with spring base (7) for described thrust spring (21), spring base (7) and piston mandril (21).
8. surgical mechanical arm joint hydraulic locking power generator according to claim 1, it is characterized in that, described thrust mechanism comprises leading screw outer cover (24), motor cabinet sleeve (31) and is arranged on motor cabinet sleeve (31) interior direct current generator (13) and decelerator (12), described direct current generator (13) is provided with on the ground, go up installation decelerator (12) at direct current generator (13), described leading screw outer cover (24) connects firmly mutually with motor cabinet sleeve (31).
9. surgical mechanical arm joint hydraulic locking power generator according to claim 8, it is characterized in that, in described screw mandrel outer cover (24), be provided with the feed screw nut (26) on lead screw shaft (27) and the lead screw shaft (27), described feed screw nut (26) can be gone up motion in lead screw shaft (27) vertically, and described lead screw shaft (27) lower end links to each other with the output shaft of decelerator (12) by shaft joint (29).
10. surgical mechanical arm joint hydraulic locking power generator according to claim 8, it is characterized in that, described supporting mechanism comprises supporting seat (33) and is fixed on support bar (34) on the supporting seat (33), described support bar (34) is 90 degree with supporting seat (33) and connects firmly, and described supporting seat (33) connects firmly mutually with motor cabinet sleeve (31) and leading screw outer cover (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920235297 CN201544234U (en) | 2009-10-21 | 2009-10-21 | Hydraulic joint locking power generator for surgery mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920235297 CN201544234U (en) | 2009-10-21 | 2009-10-21 | Hydraulic joint locking power generator for surgery mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN201544234U true CN201544234U (en) | 2010-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200920235297 Expired - Lifetime CN201544234U (en) | 2009-10-21 | 2009-10-21 | Hydraulic joint locking power generator for surgery mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201544234U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101700656B (en) * | 2009-10-21 | 2011-06-08 | 昆山市工业技术研究院有限责任公司 | Surgical mechanical arm joint hydraulic locking power generator |
| CN102179821A (en) * | 2011-06-10 | 2011-09-14 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN103610555A (en) * | 2013-11-26 | 2014-03-05 | 中国科学院深圳先进技术研究院 | Ball joint locking method and device |
| CN108015798A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | A kind of releasable and locking space mechanism shoulder joint |
-
2009
- 2009-10-21 CN CN 200920235297 patent/CN201544234U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101700656B (en) * | 2009-10-21 | 2011-06-08 | 昆山市工业技术研究院有限责任公司 | Surgical mechanical arm joint hydraulic locking power generator |
| CN102179821A (en) * | 2011-06-10 | 2011-09-14 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN102179821B (en) * | 2011-06-10 | 2013-03-27 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN103610555A (en) * | 2013-11-26 | 2014-03-05 | 中国科学院深圳先进技术研究院 | Ball joint locking method and device |
| CN103610555B (en) * | 2013-11-26 | 2016-02-24 | 中国科学院深圳先进技术研究院 | Ball-joint locking method and device |
| CN108015798A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | A kind of releasable and locking space mechanism shoulder joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100811 Effective date of abandoning: 20091021 |