WO2019127696A1 - 一种被动机械臂关节锁紧机构 - Google Patents

一种被动机械臂关节锁紧机构 Download PDF

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Publication number
WO2019127696A1
WO2019127696A1 PCT/CN2018/072932 CN2018072932W WO2019127696A1 WO 2019127696 A1 WO2019127696 A1 WO 2019127696A1 CN 2018072932 W CN2018072932 W CN 2018072932W WO 2019127696 A1 WO2019127696 A1 WO 2019127696A1
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WO
WIPO (PCT)
Prior art keywords
output shaft
joint output
shaft
threaded
threaded shaft
Prior art date
Application number
PCT/CN2018/072932
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English (en)
French (fr)
Inventor
匡绍龙
李锦忠
章丽
林安迪
沙连森
郁树梅
张峰峰
孙立宁
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苏州大学
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Publication date
Application filed by 苏州大学 filed Critical 苏州大学
Priority to US16/320,043 priority Critical patent/US11364083B2/en
Publication of WO2019127696A1 publication Critical patent/WO2019127696A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
    • F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D59/00—Self-acting brakes, e.g. coming into operation at a predetermined speed
    • F16D59/02—Self-acting brakes, e.g. coming into operation at a predetermined speed spring-loaded and adapted to be released by mechanical, fluid, or electromagnetic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • F16D65/186—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with full-face force-applying member, e.g. annular
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/005—Type of actuator operation force unspecified force for releasing a normally applied brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/14—Mechanical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/14—Mechanical
    • F16D2121/16—Mechanical for releasing a normally applied brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/18—Mechanical mechanisms
    • F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
    • F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
    • F16D2125/40—Screw-and-nut

Definitions

  • the application relates to a passive mechanical arm joint locking mechanism.
  • the core of the passive manipulator is the development of the joint locking mechanism.
  • the joint locking mechanism mainly adopts hydraulic, pneumatic, electromagnetic, mechanical and other methods. Applications due to hydraulic and pneumatic methods can contaminate the operating room environment and the size of the equipment is limited.
  • the basic principle of electromagnetic locking is similar to the power-off brake. The structure is simple, but the locking force is not high under micro conditions. Therefore, the purely mechanically locked joint locking mechanism is the most ideal way.
  • the pure mechanical locking method is simple in structure, easy to operate, relieves the pressure of the doctor during operation, and does not require a special working environment, and does not require surgery. The environment causes pollution.
  • the present application provides a purely mechanically driven joint locking mechanism based on the friction locking principle.
  • the present application provides a passive mechanical arm joint locking mechanism, the mechanism comprising: an output assembly comprising a joint output shaft, a friction disc fixed on the joint output shaft; braking
  • the assembly includes a threaded shaft disposed coaxially with the joint output shaft, a threaded sleeve threadedly coupled to the threaded shaft, and a turntable fixedly coupled to the threaded shaft, opposite to the turntable a rotating end cover, a scroll spring generating a rotational force to the threaded shaft, the scroll spring having one end fixedly connected to the end cap and the other end connected to the turntable or the threaded shaft, The threaded bushing abuts against the friction disc.
  • the scroll spring causes the threaded shaft to have a tendency to rotate, so that the threaded sleeve sleeved on the threaded shaft produces a tendency to move toward the joint output shaft, so that the threaded sleeve is pressed against On the friction disc, at this time, the friction disc is subjected to pressure, so that the joint output shaft is braked.
  • the mechanism further includes a casing, the threaded sleeve is located in the casing, and the casing is provided with a guiding groove extending along the joint output shaft direction, the threaded shaft
  • the sleeve is provided with at least one positioning hole, and the mechanism further includes a pin, the pin passing through the guiding groove and the end of the pin being inserted into the positioning hole.
  • the scroll spring applies a rotational force to the threaded shaft to rotate the threaded shaft in the opposite direction, and the threaded sleeve is moved along the joint output axial direction in the direction of the friction disc to regain the friction disc.
  • the joint output shaft is braked. In this process, due to the action of the pin, the threaded sleeve can only move back and forth along the length direction of the limit groove and the direction of the joint output shaft.
  • the joint output shaft is provided with a key mounting groove, and the key mounting groove is provided with a key, the key is convex with respect to a surface of the joint output shaft, and the joint output shaft is A spline is also provided, and the friction disc is fixed to the joint output shaft by the spline.
  • the function of the key is to prevent the spline from sliding relative to the joint output shaft, and the spline is convenient to install, and the relative sliding of the friction disc and the joint output shaft can also be prevented.
  • the turntable is sleeved at an end of the threaded shaft away from the joint output shaft, and the threaded sleeve is sleeved at an end of the joint output shaft near the joint output shaft
  • the end cap is sleeved on the threaded shaft and located between the turntable and the threaded sleeve, and the scroll spring is located in the end cover and is sleeved in the On the threaded shaft.
  • the end cap is fixedly mounted on one end of the outer casing, and an end of the threaded shaft remote from the joint output shaft is rotatably mounted on the end cover,
  • the joint output shaft is rotatably mounted within the housing.
  • a passive mechanical arm joint locking mechanism of the present application achieves joint locking.
  • the scroll spring applies a rotational force to the threaded shaft to rotate the threaded shaft in the opposite direction, and the threaded sleeve is moved along the joint output axial direction in the direction of the friction disc to regain the friction disc.
  • the joint output shaft is braked. In this process, due to the action of the pin, the threaded sleeve can only move back and forth along the length direction of the limit groove and the direction of the joint output shaft.
  • Figure 1 is a schematic exploded view of the locking mechanism of the present application
  • FIG. 2 is a schematic structural view of a locking mechanism according to the present application.
  • the present application provides a passive mechanical arm joint locking mechanism, the mechanism includes an output assembly, including a joint output shaft 2, a friction disc 5 fixed to the joint output shaft 2; a brake assembly comprising a threaded shaft 7 disposed coaxially with the joint output shaft 2, a threaded sleeve 4 threadedly coupled to the threaded shaft 7, and a turntable 8 fixedly coupled to the threaded shaft 7
  • An end cover 9 that is rotatable relative to the turntable 8 and a scroll spring 10 that generates a rotational force to the threaded shaft 7, and one end of the scroll spring 10 is fixedly coupled to the end cover 9
  • the other end is connected to the turntable 8 or the threaded shaft 7, and the threaded bushing 4 abuts against the friction disc 5.
  • the mechanism further includes a casing 1 in which the threaded bushing 4 is located, and the casing 1 is provided with a guiding groove 11 extending in the direction of the joint output shaft 2,
  • the threaded bushing 4 is provided with at least one positioning hole 41, and the mechanism further includes a pin which passes through the guide groove 11 and the end of the pin is inserted into the positioning hole 41.
  • the joint output shaft 2 is provided with a key mounting groove 21, and the key mounting groove 21 is provided with a key 3, and the key 3 is convex with respect to the surface of the joint output shaft 2, the joint A spline 6 is also sleeved on the output shaft 2, and the friction disc 5 is fixed to the joint output shaft 2 by the spline 6.
  • the function of the key 3 is to prevent the spline 6 from sliding relative to the joint output shaft 2, and the spline 6 is easily mounted, and the relative sliding of the friction disc 5 and the joint output shaft 2 can also be prevented.
  • the turntable 8 is sleeved on one end of the threaded shaft 7 away from the joint output shaft 2, and the threaded sleeve 4 is sleeved on the joint output shaft 2 near the joint output.
  • One end of the shaft 2, the end cover 9 is sleeved on the threaded shaft 7 and located between the turntable 8 and the threaded sleeve 4, and the scroll spring 10 is located at the end
  • the end cap 9 is sleeved on the threaded shaft 7 as described.
  • the end cover 9 is fixedly mounted on one end of the outer casing 1.
  • the end of the threaded shaft 7 away from the joint output shaft 2 is rotatably mounted on the end cover 9.
  • the joint output shaft 2 is rotatably mounted in the
  • the working principle of a passive mechanical arm joint locking mechanism described in the present application is that, in the absence of external force, the scroll spring 10 causes the threaded shaft 7 to have a tendency to rotate, so that the thread sleeved on the threaded shaft 7
  • the sleeve 4 produces a tendency to move toward the joint output shaft 2, causing the threaded sleeve 4 to be pressed against the friction disc 5, at which time the friction disc 5 is subjected to pressure, causing the joint output shaft 2 to be braked.
  • the turntable 8 drives the threaded shaft 7 to rotate in the opposite direction of the rotating state of the stationary state, and drives the threaded sleeve 4 to move along the joint output shaft 2 away from the friction disc 5, and releases the friction disc 5
  • the joint output shaft 2 starts to rotate.
  • the scroll spring 10 applies a rotational force to the threaded shaft 7 to rotate the threaded shaft 7 in the opposite direction, and drives the threaded sleeve 4 to move along the joint output shaft 2 in the direction of the friction disc 5.
  • the friction disc 5 is re-firmed so that the joint output shaft 2 is braked.
  • the threaded sleeve 4 can only move back and forth along the length direction of the limit groove and the direction of the joint output shaft 2.
  • the invention relates to a passive mechanical arm joint locking mechanism, a passive mechanical arm joint locking mechanism for medical surgery, which realizes joint locking.
  • the scroll spring 10 applies a rotational force to the threaded shaft 7 to rotate the threaded shaft 7 in the opposite direction, and drives the threaded sleeve 4 to move along the joint output shaft 2 in the direction of the friction disc 5.
  • the friction disc 5 is re-firmed so that the joint output shaft 2 is braked.
  • the threaded sleeve 4 can only move back and forth along the length direction of the limit groove and the direction of the joint output shaft 2.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)

Abstract

一种被动机械臂关节锁紧机构，所述的机构包括，输出组件，包括关节输出轴（2）、固定在所述的关节输出轴上的摩擦盘片（5）；制动组件，包括与所述的关节输出轴同轴设置的螺纹轴（7）、螺纹连接在所述的螺纹轴上的螺纹轴套（4）、与所述的螺纹轴相固定连接的转盘（8）、与所述的转盘可相对转动的端盖（9）、对所述的螺纹轴产生一旋转力的涡卷弹簧（10），所述的涡卷弹簧的一端固定连接在所述的端盖上，另一端连接至所述的转盘或螺纹轴，所述的螺纹轴套与所述的摩擦盘片相抵紧。在没有外力的情况下，涡卷弹簧使螺纹轴产生一转动的趋势，使套设在螺纹轴上的螺纹轴套生产一朝向关节输出轴运动的趋势，使所述的螺纹轴套紧压在摩擦盘片上，此时，摩擦盘片受到压力，使关节输出轴被制动。

Description

一种被动机械臂关节锁紧机构 技术领域
本申请涉及一种被动机械臂关节锁紧机构。
背景技术
近几年，随着国内外医疗机器人技术的不断发展，医疗机器人已发展成为机器人领域的一个重要分支，在生物医学工程领域也是一个重要的研究方向。近30年对于医疗机器人研究和临床实践表明，限制医疗机器人进入临床的一个巨大障碍就是机器人的安全性问题，特别是机器人是一种直接与医生及病患交互的由动力驱动的开环装置，经常采用电动，液压驱动和气动的驱动方式，对很多临床医生造成很大的心里压力。因此，研制不需要动力驱动的被动机械臂用于辅助导航手术或安装微型带动力的手术机器人成为近年来医疗机器人研发的重点。
被动机械臂的核心在于关节锁紧机构研制，目前关节锁紧机构主要采用液压的、气动的、电磁的、机械的等几种方式。由于液压和气动方式会给手术室环境带来污染且设备体积大，因而应用十分受限。电磁锁紧基本原理和掉电刹车类似，结构简单，但微型条件下锁紧力不高。因此，纯机械锁紧的关节锁紧机构是最理想的方式，纯机械锁紧方式结构简单，操作容易，缓解了医生在操作时的心里压力，且不需要特别的工作环境，不会对手术环境造成污染。
申请内容
为解决医疗临床对被动机械臂的需求，本申请提供一种基于摩擦锁紧原理的纯机械驱动关节锁紧机构。
为了解决上述技术问题，本申请提供了一种被动机械臂关节锁紧机构，所述的机构包括，输出组件，包括关节输出轴、固定在所述的关节输出轴上的摩擦盘片；制动组件，包括与所述的关节输出轴同轴设置的螺纹轴、螺纹连接在所述的螺纹轴上的螺纹轴套、与所述的螺纹轴相固定连接的转盘、与所述的转 盘可相对转动的端盖、对所述的螺纹轴产生一旋转力的涡卷弹簧，所述的涡卷弹簧的一端固定连接在所述的端盖上，另一端连接至所述的转盘或螺纹轴，所述的螺纹轴套与所述的摩擦盘片相抵紧。在没有外力的情况下，涡卷弹簧使螺纹轴产生一转动的趋势，使套设在螺纹轴上的螺纹轴套生产一朝向关节输出轴运动的趋势，使所述的螺纹轴套紧压在摩擦盘片上，此时，摩擦盘片受到压力，使关节输出轴被制动。
优选地，所述的机构还包括外壳，所述的螺纹轴套位于所述的外壳内，所述的外壳上设置有一沿所述的关节输出轴方向延伸设置的导向槽，所述的螺纹轴套上设置有至少一个定位孔，所述的机构还包括一销，所述的销穿过所述的导向槽且销的端部插入所述的定位孔中。当外力旋转转盘，转盘带动螺纹轴转动向静止状态的转动趋势的相反方向转动，带动螺纹轴套沿关节输出轴向远离摩擦盘片的方向运动，松开摩擦盘片，关节输出轴开始转动。当对转盘撤销外力后，涡卷弹簧对螺纹轴施加一旋转力，使螺纹轴朝相反方向转动，带动螺纹轴套沿关节输出轴向靠近摩擦盘片的方向运动，重新抵紧摩擦盘片，使关节输出轴被制动。在此过程中，由于销的作用，螺纹轴套只能沿限位槽的长度方向，及关节输出轴方向来回运动。
优选地，所述的关节输出轴上设置有一键安装槽，所述的键安装槽内安装有键，所述的键相对所述的关节输出轴的表面凸起，所述的关节输出轴上还套设有花键，所述的摩擦盘片通过所述的花键固定在所述的关节输出轴上。键的作用为防止花键与关节输出轴相对滑动，通过花键安装方便，也能够防止摩擦盘片与关节输出轴的相对滑动。
优选地，所述的转盘套设在所述的螺纹轴的远离所述的关节输出轴的一端部，所述的螺纹轴套套设在所述的关节输出轴靠近所述的关节输出轴的一端部，所述的端盖套设在所述的螺纹轴上并位于所述的转盘与所述的螺纹轴套之间，所述的涡卷弹簧位于所述的端盖内且套设在所述的螺纹轴上。
优选地，所述的端盖固定安装在所述的外壳的一端部，所述的螺纹轴的远离所述的关节输出轴的端部可转动的安装在所述的端盖上，所述的关节输出轴可转动的安装在所述的外壳内。
本申请的一种被动机械臂关节锁紧机构，一种面向医疗手术的被动机械臂 关节锁紧机构，实现关节锁紧。当对转盘撤销外力后，涡卷弹簧对螺纹轴施加一旋转力，使螺纹轴朝相反方向转动，带动螺纹轴套沿关节输出轴向靠近摩擦盘片的方向运动，重新抵紧摩擦盘片，使关节输出轴被制动。在此过程中，由于销的作用，螺纹轴套只能沿限位槽的长度方向，及关节输出轴方向来回运动。
附图说明
图1是本申请所述的锁紧机构的爆炸结构示意图；
图2是本申请所述的锁紧机构的结构示意图；
图3是本申请所述的锁紧机构的剖面结构示意图，
其中：1、外壳；11、导向槽；2、关节输出轴；21、键安装槽；3、键；4、螺纹轴套；41、定位孔；5、摩擦盘片；6、花键；7、螺纹轴；8、转盘；9、端盖；10、涡卷弹簧。
具体实施方式
下面结合附图和具体实施例对本申请作进一步说明，以使本领域的技术人员可以更好地理解本申请并能予以实施，但所举实施例不作为对本申请的限定。
如图所示，本申请提供了一种被动机械臂关节锁紧机构，所述的机构包括，输出组件，包括关节输出轴2、固定在所述的关节输出轴2上的摩擦盘片5；制动组件，包括与所述的关节输出轴2同轴设置的螺纹轴7、螺纹连接在所述的螺纹轴7上的螺纹轴套4、与所述的螺纹轴7相固定连接的转盘8、与所述的转盘8可相对转动的端盖9、对所述的螺纹轴7产生一旋转力的涡卷弹簧10，所述的涡卷弹簧10的一端固定连接在所述的端盖9上，另一端连接至所述的转盘8或螺纹轴7，所述的螺纹轴套4与所述的摩擦盘片5相抵紧。所述的机构还包括外壳1，所述的螺纹轴套4位于所述的外壳1内，所述的外壳1上设置有一沿所述的关节输出轴2方向延伸设置的导向槽11，所述的螺纹轴套4上设置有至少一个定位孔41，所述的机构还包括一销，所述的销穿过所述的导向槽11且销的端部插入所述的定位孔41中。所述的关节输出轴2上设置有一键安装槽21，所述的键安装槽21内安装有键3，所述的键3相对所述的关节输出轴2的表面凸起，所述的关节输出轴2上还套设有花键6，所述的摩擦盘片5通过所述的花键6固定在所述的关节输出轴2上。键3的作用为防止花键6与关节输 出轴2相对滑动，通过花键6安装方便，也能够防止摩擦盘片5与关节输出轴2的相对滑动。所述的转盘8套设在所述的螺纹轴7的远离所述的关节输出轴2的一端部，所述的螺纹轴套4套设在所述的关节输出轴2靠近所述的关节输出轴2的一端部，所述的端盖9套设在所述的螺纹轴7上并位于所述的转盘8与所述的螺纹轴套4之间，所述的涡卷弹簧10位于所述的端盖9内且套设在所述的螺纹轴7上。所述的端盖9固定安装在所述的外壳1的一端部，所述的螺纹轴7的远离所述的关节输出轴2的端部可转动的安装在所述的端盖9上，所述的关节输出轴2可转动的安装在所述的外壳1内。
本申请所述的一种被动机械臂关节锁紧机构的工作原理为，在没有外力的情况下，涡卷弹簧10使螺纹轴7产生一转动的趋势，使套设在螺纹轴7上的螺纹轴套4生产一朝向关节输出轴2运动的趋势，使所述的螺纹轴套4紧压在摩擦盘片5上，此时，摩擦盘片5受到压力，使关节输出轴2被制动。当外力旋转转盘8，转盘8带动螺纹轴7转动向静止状态的转动趋势的相反方向转动，带动螺纹轴套4沿关节输出轴2向远离摩擦盘片5的方向运动，松开摩擦盘片5，关节输出轴2开始转动。当对转盘8撤销外力后，涡卷弹簧10对螺纹轴7施加一旋转力，使螺纹轴7朝相反方向转动，带动螺纹轴套4沿关节输出轴2向靠近摩擦盘片5的方向运动，重新抵紧摩擦盘片5，使关节输出轴2被制动。在此过程中，由于销的作用，螺纹轴套4只能沿限位槽的长度方向，及关节输出轴2方向来回运动。
本申请的一种被动机械臂关节锁紧机构，一种面向医疗手术的被动机械臂关节锁紧机构，实现关节锁紧。当对转盘8撤销外力后，涡卷弹簧10对螺纹轴7施加一旋转力，使螺纹轴7朝相反方向转动，带动螺纹轴套4沿关节输出轴2向靠近摩擦盘片5的方向运动，重新抵紧摩擦盘片5，使关节输出轴2被制动。在此过程中，由于销的作用，螺纹轴套4只能沿限位槽的长度方向，及关节输出轴2方向来回运动。
以上所述实施例仅是为充分说明本申请而所举的较佳的实施例，本申请的保护范围不限于此。本技术领域的技术人员在本申请基础上所作的等同替代或变换，均在本申请的保护范围之内。本申请的保护范围以权利要求书为准。

Claims (5)

  1. 一种被动机械臂关节锁紧机构，其特征在于，所述的机构包括，输出组件，包括关节输出轴、固定在所述的关节输出轴上的摩擦盘片；制动组件，包括与所述的关节输出轴同轴设置的螺纹轴、螺纹连接在所述的螺纹轴上的螺纹轴套、与所述的螺纹轴相固定连接的转盘、与所述的转盘可相对转动的端盖、对所述的螺纹轴产生一旋转力的涡卷弹簧，所述的涡卷弹簧的一端固定连接在所述的端盖上，另一端连接至所述的转盘或螺纹轴，所述的螺纹轴套与所述的摩擦盘片相抵紧。
  2. 如权利要求1所述的机构，其特征在于，所述的机构还包括外壳，所述的螺纹轴套位于所述的外壳内，所述的外壳上设置有一沿所述的关节输出轴方向延伸设置的导向槽，所述的螺纹轴套上设置有至少一个定位孔，所述的机构还包括一销，所述的销穿过所述的导向槽且销的端部插入所述的定位孔中。
  3. 如权利要求1所述的机构，其特征在于，所述的关节输出轴上设置有一键安装槽，所述的键安装槽内安装有键，所述的键相对所述的关节输出轴的表面凸起，所述的关节输出轴上还套设有花键，所述的摩擦盘片通过所述的花键固定在所述的关节输出轴上。
  4. 如权利要求1所述的机构，其特征在于，所述的转盘套设在所述的螺纹轴的远离所述的关节输出轴的一端部，所述的螺纹轴套套设在所述的关节输出轴靠近所述的关节输出轴的一端部，所述的端盖套设在所述的螺纹轴上并位于所述的转盘与所述的螺纹轴套之间，所述的涡卷弹簧位于所述的端盖内且套设在所述的螺纹轴上。
  5. 如权利要求2所述的机构，其特征在于，所述的端盖固定安装在所述的外壳的一端部，所述的螺纹轴的远离所述的关节输出轴的端部可转动的安装在所述的端盖上，所述的关节输出轴可转动的安装在所述的外壳内。
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