CN2488482Y - Joint locking mechanism for mechanical arm - Google Patents

Joint locking mechanism for mechanical arm Download PDF

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Publication number
CN2488482Y
CN2488482Y CN01229822U CN01229822U CN2488482Y CN 2488482 Y CN2488482 Y CN 2488482Y CN 01229822 U CN01229822 U CN 01229822U CN 01229822 U CN01229822 U CN 01229822U CN 2488482 Y CN2488482 Y CN 2488482Y
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CN
China
Prior art keywords
provided
shaft
clutch
fixed
piece
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CN01229822U
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Chinese (zh)
Inventor
关伟
田增民
陈国良
赵全国
杜吉祥
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天津市华志计算机应用有限公司
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Priority to CN01229822U priority Critical patent/CN2488482Y/en
Application granted granted Critical
Publication of CN2488482Y publication Critical patent/CN2488482Y/en

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Abstract

The utility model relates to a joint locking mechanism for mechanical arm which includes an end shaft and a shaft base which are arranged on the arm pole. An end shaft is supported by the shaft base. The end shaft is provided with an electromagnetic clutch which has a semi clutch. The electromagnetic clutch is provided with an electromagnetic coil, a gag bit and a plurality of stationary plates and fixed with the shaft base. The semi clutch with a plurality of rotor plates is fixed with the end shaft. The stationary plates and the rotor plates are arranged at intervals and overlapped with the surface of the gag bit. The gag bit is provided with a spring which enables the stationary plates connected with the rotor plates through friction and makes the rotor plates stop. The utility model has the advantages of good fastening result, accurate fixing and convenient and flexible use.

Description

机械臂的关节锁紧机构 Manipulator joint locking mechanism

本实用新型涉及一种紧固装置,尤其是机械臂的关节锁紧机构。 The present invention relates to a fastening device, in particular manipulator joint locking mechanism.

在无框架立体定向系统中,机械臂不仅作为手术的导航与定位装置,而且是手术的操作平台,其末端可安装各种手术器械,直接引导进行手术,因此要求机械臂各关节在任意位置可锁定,已有机械臂利用“V”型制动环来进行关节锁紧,关节锁紧后其间隙晃动量较大,影响准确定位。 In frameless stereotactic system, the robotic arm not only as a surgical navigation and positioning means, and the surgical platform, which can be mounted a variety of surgical instruments end directly guided surgery, thus requiring each joint manipulator may be in any position lock, using the robot arm has a "V" brake ring to the locking joint, which locking joint space after the fluctuation amount is large, the influence accurate positioning.

本实用新型的目的是克服上述之不足,提供一种锁紧效果好,定位准确的机械臂的关节锁紧机构。 The present invention aims to overcome the deficiencies of the above, to provide a locking effect is good, accurate positioning of the robot arm joint locking mechanism.

本实用新型的技术方案是:机械臂的关节锁紧机构,包括臂杆设置的端轴和轴座,其特征在于:端轴支撑于轴座,端轴套装有电磁离合器,该离合器的设有电磁线圈、衔铁、及定片的半离合器与轴座相固定,设有动片的半离合器与端轴相固定,定片、动片相间设置并叠合于衔铁表面,衔铁设有使定、动片摩擦接合并使动片止动的弹簧。 Aspect of the present invention is: a robot arm joint lock mechanism, comprising a base end of the arm shaft and provided, wherein: the shaft end of the shaft support housing, the sleeve end of an electromagnetic clutch, the clutch is provided semi solenoid clutch shaft seat, the armature and the stator is fixed, and the end of the shaft has a clutch half is fixed to the movable plate, fixed plate, the movable plate disposed spaced and overlapping on a surface of the armature, the armature is provided so set, the movable piece and the movable piece frictional engagement detent spring.

所说的轴座是支撑机械臂的基座。 He said support base is a pedestal of the robot arm.

所说的电磁离合器的安装电磁线圈的机体,设有均布轴向卧槽的机体壁,与电磁线圈相对应的衔铁及定片设有与各轴向卧槽相接合的凸缘,机体通过轴承端盖固定于轴座,分布与各定片之间的各动片设有周边为齿槽的圆心孔,键固定于臂杆端轴的带有齿状外廓的铜芯与各动片的齿槽相接合,机体对称设有调整螺栓,它所支撑的弹簧与衔铁底面相接合,机体壁设有螺纹连接的作用于定、动片组合的调整螺母。 The body of said electromagnetic clutch mounted electromagnetic coil, the body wall is provided with axially uniform horizontal groove, corresponding to the electromagnetic coil and the armature contact piece is provided with an axial flange engaging horizontal grooves, through body a bearing fixed to the shaft holder cover, the distribution of each piece between the movable piece is provided with holes surrounding the center of gullets, keyed to a copper core with an outer shell of the toothed end of the shaft of the arm with the movable piece cogging engaged with the adjusting bolt body symmetry, it supports the bottom surface of the spring engages the armature, the body wall is provided with a threaded connection to a given action, the movable piece of the adjusting nut combination.

本实用新型具有以下优点:锁紧效果好,定位准确,使用方便、灵活。 The utility model has the following advantages: locking effect is good, accurate positioning, easy to use and flexible.

下面以附图和实施例进一步说明本实用新型。 In the drawings and the following examples further illustrate the present invention.

附图1、本实用新型结构剖面示意图。 Figure 1, a schematic cross-sectional structure of the present invention.

附图2、图1A-A剖面示意图。 Figure 2, a schematic cross-sectional view of FIG. 1A-A.

附图3、本实用新型离合器结构示意图。 3, a schematic view of the present novel configuration utility clutch drawings.

如图1-3所示,机械臂的关节锁紧机构,包括臂杆10设置的端轴11和轴座12,端轴11支撑于轴座12,臂杆首端的轴座是支撑机械臂的基座7,端轴11套装有电磁离合器,该离合器的设有电磁线圈3、衔铁13及定片14的半离合器的机体2通过轴承端盖6与轴座12相固定,机体2设有均布轴向卧槽的机体壁,与电磁线圈3相对应的衔铁13及定片14设有与各轴向卧槽相接合的凸缘。 1-3, manipulator joint locking mechanism comprises a shaft 11 and an end arm 10 is provided in housing 12, the shaft 11 is supported at the end of the shaft holder 12, the arm shaft seat is to support the head end of the robot arm base 7, end of the shaft 11 an electromagnetic clutch package, the body 3 is provided with an electromagnetic coil, and the armature 13 of the clutch piece 14 of the clutch half 212 fixed to the shaft 6 via a bearing cap seat body 2 is provided with both FML axial fabric body wall, the electromagnetic coil 3 corresponding to the armature 13 and the contact piece 14 is provided with an axial flange engaging horizontal grooves. 分布与各定片14之间的各动片15设有周边为齿槽的圆心孔,键固定于臂杆端轴11的带有齿状外廓的铜芯与各动片的齿槽相接合,实现设有动片15的半离合器与端轴11的固定。 Each distribution piece 14 of each movable plate 15 is provided between the periphery of the center hole gullets, keyed to the end of the arm shaft with a toothed outer contour of a copper core 11 and the respective movable engagement pieces cogging achieved with the clutch half 15 and the fixed end of the shaft 11 of the movable piece. 机体2对称设有调整螺栓5,它所支撑的弹簧4与衔铁13底面相接合,机体壁设有螺纹连接的作用于定、动片组合的调整螺母16。 Body 2 is provided with a symmetrical adjustment bolt 5, it supports the spring 4 engages the bottom surface of the armature 13, the body wall is provided with a threaded adjusting nut acting in a given connection, the movable piece 16 combination. 图中编码器1将当前关节位置以数字信号发送给控制装置。 FIG encoder 1 to the current joint position of the transmission digital signal to the control means.

本关节锁紧机构简要工作过程是:电磁离合器失电时,定、动片在弹簧4及衔铁作用下磨擦接合,关节为锁紧状态;当电磁离合器得电时,衔铁吸合使动片处于可活动状态。 The operation of this brief joint locking mechanism is: when the electromagnetic clutch is energized, fixed and moving pieces in frictional engagement of the spring 4 and the armature, the joint is locked state; when the electromagnetic clutch is energized, the armature pull in that the movable piece can be active.

Claims (3)

1.机械臂的关节锁紧机构,包括臂杆设置的端轴和轴座,其特征在于:端轴支撑于轴座,端轴套装有电磁离合器,该离合器的设有电磁线圈、衔铁、及定片的半离合器与轴座相固定,设有动片的半离合器与端轴相固定,定片、动片相间设置并叠合于衔铁表面,衔铁设有使定、动片摩擦接合并使动片止动的弹簧。 1. manipulator joint lock mechanism, comprising a base end of the arm shaft and provided, wherein: the shaft end of the shaft support housing, the sleeve end of an electromagnetic clutch, the clutch is provided with an electromagnetic coil, an armature, and half clutch piece fixed to the shaft holder, with the movable clutch half and the end plate fixed to the shaft, stator, and the movable piece arranged alternatively laminated on the surface of the armature, the armature is provided so that a given, frictional engagement and the movable piece movable sheet stop spring.
2.根据权利要求所述的机械臂的关节锁紧机构,其特征在于:所说的轴座是支撑机械臂的基座。 The articulation locking mechanism of the robotic arm as claimed in claim, wherein: said robot arm support pedestal is a base.
3.根据权利要求所述的机械臂的关节锁紧机构,其特征在于:所说的电磁离合器的安装电磁线圈的机体,设有均布轴向卧槽的机体壁,与电磁线圈相对应的衔铁及定片设有与各轴向卧槽相接合的凸缘,机体通过轴承端盖固定于轴座,分布与各定片之间的各动片设有周边为齿槽的圆心孔,键固定于臂杆端轴的带有齿状外廓的铜芯与各动片的齿槽相接合,机体对称设有调整螺栓,它所支撑的弹簧与衔铁底面相接合,机体壁设有螺纹连接的作用于定、动片组合的调整螺母。 The locking mechanism of the articulated robot arm as claimed in claim wherein: said mounting body electromagnetic clutch solenoid, the body wall is provided with axially uniform horizontal groove, corresponding to the electromagnetic coil and armature contact piece is provided with axial grooves engaged horizontal flange, via a bearing body fixed to the shaft holder cover, the distribution of each piece between the movable piece is provided with holes surrounding the center of the gullet, the key Copper is fixed to an outer toothed profile with an arm of each end of the shaft and the movable piece cogging engaged with the adjusting bolt body symmetry, it supports the bottom surface of the spring engages the armature, the body wall is provided with a threaded connection acting on the fixed and moving piece of the adjusting nut combination.
CN01229822U 2001-07-05 2001-07-05 Joint locking mechanism for mechanical arm CN2488482Y (en)

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US10383630B2 (en) 2016-07-29 2019-08-20 Ethicon Llc Surgical stapling device with rotary driven firing member
US10383634B2 (en) 2016-09-20 2019-08-20 Ethicon Llc Stapling system incorporating a firing lockout
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces

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