CN113796966B - Compact large-moment brake mechanism - Google Patents
Compact large-moment brake mechanism Download PDFInfo
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- CN113796966B CN113796966B CN202111194074.XA CN202111194074A CN113796966B CN 113796966 B CN113796966 B CN 113796966B CN 202111194074 A CN202111194074 A CN 202111194074A CN 113796966 B CN113796966 B CN 113796966B
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- unlocking
- brake lever
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- 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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention provides a compact high-torque brake mechanism, comprising: the brake device comprises an upper brake lever and a lower brake lever, wherein the upper brake lever and the lower brake lever are oppositely arranged, the upper brake lever and the lower brake lever are respectively arranged in a rotating way through an upper rotating shaft and a lower rotating shaft, a brake pre-tightening spring is arranged between the first end of the upper brake lever and the first end of the lower brake lever, friction plates are respectively arranged on the inner side of the second end of the upper brake lever and the inner side of the second end of the lower brake lever, and the upper brake lever and the lower brake lever are respectively arranged on two sides of a brake disc of the rotating shaft. When the brake mechanism is locked, the braking force is provided by the braking pre-tightening springs at the first ends of the upper brake lever and the lower brake lever, and the elastic force of the braking pre-tightening springs is amplified by the clamping force at the second end of the brake lever through the lever principle, so that the brake disc is reliably clamped, and the braking of the joint motion is realized.
Description
Technical Field
The invention relates to a robot locking mechanism, in particular to a compact high-torque braking mechanism.
Background
Minimally invasive surgery, also commonly referred to as interventional surgery, is performed by making a number of small incisions in the body surface (or relying on the natural lumen of the human body), and inserting surgical instruments into the body through the body surface incisions for treatment or diagnosis, by means of image guidance from a visual display system. Minimally invasive surgical techniques have led to open surgical modes for most surgical procedures, and the application of robotics to medical surgical procedures has become increasingly popular, with robots having significant advantages in terms of stability, rapidity and accuracy of operation, and the incorporation of robotics into surgical procedures can improve the surgical environment of the doctor and shorten the recovery time of the patient.
In order to ensure that the surgical robot does not cause additional damage to the patient during the surgical procedure, the movement of the joints in the structure of the robot is often accompanied by locking, and the reliable locking of the joints due to the weight of the mechanical arm itself and the inertia during movement is a difficult problem.
Disclosure of Invention
The invention provides a compact large-moment brake mechanism, which aims to solve the problem that a mechanical arm is difficult to reliably lock due to gravity and a motion inertia joint.
In order to achieve the above object, an embodiment of the present invention provides a compact high torque brake mechanism, comprising:
the brake device comprises an upper brake lever and a lower brake lever, wherein the upper brake lever and the lower brake lever are oppositely arranged, the upper brake lever and the lower brake lever are respectively arranged in a rotating way through an upper rotating shaft and a lower rotating shaft, a brake pre-tightening spring is arranged between the first end of the upper brake lever and the first end of the lower brake lever, friction plates are respectively arranged on the inner side of the second end of the upper brake lever and the inner side of the second end of the lower brake lever, and the upper brake lever and the lower brake lever are respectively arranged on two sides of a brake disc of the rotating shaft.
Wherein, still include:
the unlocking mechanism is provided with an unlocking pressing plate, the top of the first end of the upper brake lever is fixedly connected with the upper portion of the unlocking pressing plate, the first end of the lower brake lever is provided with an unlocking connecting plate, the middle of the unlocking pressing plate is provided with an unlocking through hole, the size of the unlocking through hole is larger than that of the unlocking connecting plate, and the unlocking connecting plate penetrates through the unlocking through hole.
The unlocking device comprises an unlocking pressing plate, wherein unlocking installation seats are arranged on two sides of the lower portion of the unlocking pressing plate, unlocking cam rods are arranged in the unlocking installation seats in a rotating mode, a cam structure is arranged at the first end of each unlocking cam rod, unlocking bearings are arranged on two sides of each unlocking connecting plate in a rotating mode, the unlocking bearings are tightly attached to the cam structure of each unlocking cam rod, and the unlocking cam rods are used for pushing the unlocking connecting plates to move.
The unlocking cam rods are arranged above the second ends of the unlocking cam rods in a rotating mode, rocker bearings are arranged at the first ends of the unlocking rocker arms in a rotating mode, the rocker bearings are tightly attached to the second ends of the unlocking cam rods, and the unlocking rocker arms are used for pushing the unlocking cam rods to rotate.
The two sides of the upper brake lever and the lower brake lever are respectively provided with a supporting bottom plate, unlocking push rods are respectively arranged on the supporting bottom plates, the unlocking push rods penetrate through one ends of the supporting bottom plates in a sliding mode through linear bearings, push rod bearings are rotatably arranged at the ends of the unlocking push rods, the push rod bearings are tightly attached to the second ends of the unlocking rocker arms, and the unlocking push rods are used for pushing the unlocking rocker arms to rotate.
The unlocking pneumatic cylinder is fixedly arranged at the other end of the supporting bottom plate in a penetrating mode, and a piston rod of the unlocking pneumatic cylinder is fixedly connected with the unlocking push rod.
The second end faces of the upper brake lever and the lower brake lever are provided with arc-shaped concave parts, and the radian of the arc-shaped concave parts is matched with that of the rotating shaft.
The scheme of the invention has the following beneficial effects:
when the brake mechanism is locked, the braking force is provided by the braking pre-tightening springs at the first ends of the upper brake lever and the lower brake lever, and the elastic force of the braking pre-tightening springs is amplified by the clamping force at the second end of the brake lever through the lever principle, so that the brake disc is reliably clamped, and the braking of the joint motion is realized. When unlocking, the two unlocking pneumatic cylinders which are symmetrical on two sides provide air pressure, when the unlocking pneumatic cylinders are connected with air pressure, the piston rods of the pneumatic cylinders push the unlocking push rods, the unlocking push rods push forwards under the guiding action of the linear bearings, the unlocking push rods act on the unlocking rocker arms to drive the unlocking rocker arms to rotate, the unlocking rocker arms rotate to downwards press the unlocking cam rods, the first end cams of the unlocking cam rods act on the unlocking bearings, the lower brake levers move upwards to compress the brake pre-tightening springs, and therefore the second ends of the brake levers release the brake disc to realize unlocking.
Drawings
FIG. 1 is an assembled schematic view of a compact high torque brake mechanism of the present invention;
FIG. 2 is a schematic diagram of a compact high torque brake mechanism according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of a compact high-torque brake mechanism according to the present invention.
[ reference numerals description ]
1-upper brake lever; 2-lower brake lever; 3-braking pre-tightening springs; 4-friction plate; 5-rotating shaft; 6-a brake disc; 7-unlocking the pressing plate; 8-unlocking the connecting plate; 9-unlocking the mounting seat; 10-unlocking the cam lever; 11-unlocking the bearing; 12-unlocking the rocker arm; 13-rocker arm bearings; 14-supporting a bottom plate; 15-unlocking the push rod; 16-linear bearings; 17-a push rod bearing; 18-unlocking the pneumatic cylinder.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The invention provides a compact large-moment brake mechanism aiming at the problem that an existing mechanical arm is difficult to reliably lock due to gravity and motion inertia joints.
As shown in fig. 1 to 3, an embodiment of the present invention provides a compact high torque brake mechanism including: the upper brake lever 1 and the lower brake lever 2 are oppositely arranged, the upper brake lever 1 and the lower brake lever 2 are respectively rotatably arranged through an upper rotating shaft and a lower rotating shaft, a brake pre-tightening spring 3 is arranged between the first end of the upper brake lever 1 and the first end of the lower brake lever 2, friction plates 4 are respectively arranged on the inner side of the second end of the upper brake lever 1 and the inner side of the second end of the lower brake lever 2, and the upper brake lever 1 and the lower brake lever 2 are respectively arranged on two sides of a brake disc 6 of the rotating shaft 5.
According to the compact high-torque brake mechanism disclosed by the embodiment of the invention, the upper brake lever 1 and the lower brake lever 2 respectively rotate in a lever type by taking the upper rotating shaft and the lower rotating shaft as fulcrums, the brake pre-tightening spring 3 is arranged between the first end of the upper brake lever 1 and the first end of the lower brake lever 2 in a pre-compressed state, the second end of the upper brake lever 1 and the second end of the lower brake lever 2 are forced to be close to each other, the friction plates 4 on the inner sides of the upper brake lever 1 and the lower brake lever 2 are tightly clamped on two sides of the brake disc 6 of the rotating shaft 5, and the rotating shaft 5 is stably locked under the influence of friction force; when a relative external force is applied to the first end of the upper brake lever 1 and/or the first end of the lower brake lever 2, the brake pre-tightening spring 3 is pressed by force, the first ends of the brake levers are close to each other, and the second ends of the upper brake lever 1 and the lower brake lever 2 can release the brake disc 6 to realize unlocking.
Wherein, still include: the unlocking mechanism is provided with an unlocking pressing plate 7, the top of the first end of the upper brake lever 1 is fixedly connected with the upper portion of the unlocking pressing plate 7, the first end of the lower brake lever 2 is provided with an unlocking connecting plate 8, the middle of the unlocking pressing plate 7 is provided with an unlocking through hole, the size of the unlocking through hole is larger than that of the unlocking connecting plate 8, and the unlocking connecting plate 8 is arranged in the unlocking through hole in a penetrating mode.
The unlocking device comprises an unlocking pressing plate 7, an unlocking installation seat 9 is arranged on two sides of the lower portion of the unlocking pressing plate 7, unlocking cam rods 10 are respectively arranged in the unlocking installation seats 9 in a rotating mode, cam structures are arranged at first ends of the unlocking cam rods 10, unlocking bearings 11 are respectively arranged on two sides of the unlocking connecting plate 8 in a rotating mode, the unlocking bearings 11 are tightly attached to the cam structures of the unlocking cam rods 10, and the unlocking cam rods 10 are used for pushing the unlocking connecting plate 8 to move.
According to the compact high-torque brake mechanism disclosed by the embodiment of the invention, the upper brake lever 1 can be driven to move by applying external force to the unlocking connecting plate 8, so that when the unlocking cam rod 10 rotates, the cam rotates to push the unlocking connecting plate 8 and further drive the upper brake lever 1 to rotate, so that the brake mechanism is unlocked, and meanwhile, as unlocking bearings 11 are rotatably arranged on two sides of the unlocking connecting plate 8, when the cam of the unlocking cam rod 10 contacts with the unlocking bearings 11, the cam can roll along with the unlocking connecting plate 8, so that friction between the unlocking connecting plate 8 and the unlocking cam rod 10 is reduced.
The unlocking rocker arms 12 are rotatably arranged above the second ends of the unlocking cam levers 10, rocker arm bearings 13 are rotatably arranged at the first ends of the unlocking rocker arms 12, the rocker arm bearings 13 are closely attached to the second ends of the unlocking cam levers 10, and the unlocking rocker arms 12 are used for pushing the unlocking cam levers 10 to rotate.
The two sides of the upper brake lever 1 and the lower brake lever 2 are respectively provided with a supporting bottom plate 14, the supporting bottom plates 14 are respectively provided with an unlocking push rod 15, the unlocking push rods 15 pass through one ends of the supporting bottom plates 14 in a sliding manner through linear bearings 16, the end heads of the unlocking push rods 15 are rotationally provided with push rod bearings 17, the push rod bearings 17 are tightly attached to the second ends of the unlocking rocker arms 12, and the unlocking push rods 15 are used for pushing the unlocking rocker arms 12 to rotate.
According to the compact high-torque brake mechanism disclosed by the embodiment of the invention, when the unlocking push rod 15 moves under the action of external force, the unlocking push rod 15 moves towards the second end of the unlocking cam rod 10 through the guide of the linear bearing 16, and as the end head of the unlocking push rod 15 is rotationally provided with the push rod bearing 17, the push rod bearing 13 rolls along with the unlocking push rod 15 when the unlocking push rod 15 contacts the unlocking rocker 12, so that the friction force is reduced, the unlocking rocker 12 is in an L-shaped structure, and when the second end of the unlocking rocker 12 moves under the action of force, the first end of the unlocking rocker 12 rotates along with the unlocking cam rod 10 and presses the unlocking cam rod 10, and meanwhile, the friction force between the unlocking rocker 12 and the unlocking cam rod 10 is reduced by the rocker bearing 13.
The other ends of the supporting base plates 14 are fixedly provided with unlocking pneumatic cylinders 18 in a penetrating mode, and piston rods of the unlocking pneumatic cylinders 18 are fixedly connected with the unlocking push rods.
The second end surfaces of the upper brake lever 1 and the lower brake lever 2 are provided with arc-shaped concave parts, and the radian of the arc-shaped concave parts is matched with the radian of the rotating shaft 5.
The compact large-moment braking mechanism disclosed by the embodiment of the invention has a compact structure, the braking moment can be adjusted by adjusting the length of the braking lever, the unlocking stroke can be flexibly adjusted by adjusting the length and the angle of the two arms of the unlocking rocker arm 12, and the cam size of the unlocking cam lever 10 can be matched; when the invention is locked, the braking force is provided by the braking pre-tightening spring 3, and the elastic force of the braking pre-tightening spring 3 is amplified by the lever principle to become clamping force at the second end of the braking lever, so that the braking disc 6 is reliably clamped, and the braking of the rotation shaft motion is realized. When unlocking, air pressure is provided by two symmetrical unlocking air cylinders 18, when the unlocking air cylinders 18 are connected with air pressure, air cylinder piston rods push unlocking push rods 15, under the guiding action of linear bearings 16, the unlocking push rods 15 push forwards, the unlocking push rods 15 act on unlocking rocker arms 12 to drive the unlocking rocker arms 12 to rotate, unlocking rocker arms 12 rotate to press unlocking cam rods 10 downwards, first end cams of the unlocking cam rods 10 act on unlocking bearings, and accordingly unlocking connecting plates 8 and lower brake levers 2 move upwards to compress brake pre-tightening springs 3, and accordingly second ends of the brake levers are far away from each other to release brake discs 6, and unlocking is achieved; in order to ensure the effective matching of the upper brake lever 1 and the lower brake lever 2 with the rotating shaft 5, the end surfaces of the upper brake lever 1 and the lower brake lever 2 are provided with arc-shaped concave avoidance structures, so that the upper brake lever 1 and the lower brake lever 2 can be prevented from colliding with the rotating shaft 5 during movement.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (2)
1. A compact high torque brake mechanism comprising:
the upper brake lever and the lower brake lever are oppositely arranged, the upper brake lever and the lower brake lever are respectively arranged in a rotating way through an upper rotating shaft and a lower rotating shaft, a brake pre-tightening spring is arranged between the first end of the upper brake lever and the first end of the lower brake lever, friction plates are arranged on the inner side of the second end of the upper brake lever and the inner side of the second end of the lower brake lever, and the upper brake lever and the lower brake lever are respectively arranged on two sides of a brake disc of the rotating shaft;
the unlocking mechanism is provided with an unlocking pressing plate, the top of the first end of the upper brake lever is fixedly connected with the upper part of the unlocking pressing plate, the first end of the lower brake lever is provided with an unlocking connecting plate, the middle part of the unlocking pressing plate is provided with an unlocking through hole, the size of the unlocking through hole is larger than that of the unlocking connecting plate, and the unlocking connecting plate is arranged in the unlocking through hole in a penetrating mode;
the unlocking device comprises an unlocking pressing plate, wherein unlocking installation seats are arranged on two sides of the lower part of the unlocking pressing plate, unlocking cam rods are rotatably arranged in the two unlocking installation seats, a cam structure is arranged at the first end of each unlocking cam rod, unlocking bearings are rotatably arranged on two sides of each unlocking connecting plate, each unlocking bearing is tightly attached to the cam structure of each unlocking cam rod, and each unlocking cam rod is used for pushing each unlocking connecting plate to move;
an unlocking rocker arm is rotatably arranged above the second ends of the two unlocking cam rods, a rocker arm bearing is rotatably arranged at the first end of the unlocking rocker arm, the rocker arm bearing is closely attached to the second ends of the unlocking cam rods, and the unlocking rocker arm is used for pushing the unlocking cam rods to rotate;
the two sides of the upper brake lever and the lower brake lever are respectively provided with a supporting bottom plate, unlocking push rods are respectively arranged on the supporting bottom plates, the unlocking push rods pass through one end of the supporting bottom plates in a sliding manner through linear bearings, push rod bearings are rotationally arranged at the ends of the unlocking push rods, the push rod bearings are closely attached to the second ends of the unlocking rocker arms, and the unlocking push rods are used for pushing the unlocking rocker arms to rotate;
the other end of the supporting bottom plate is fixedly provided with an unlocking pneumatic cylinder in a penetrating mode, and a piston rod of the unlocking pneumatic cylinder is fixedly connected with the unlocking push rod.
2. The compact high torque brake mechanism as recited in claim 1, characterised in that said second end faces of said upper and lower brake levers are provided with arcuate recesses having an arc which matches an arc of said rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194074.XA CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111194074.XA CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN113796966A CN113796966A (en) | 2021-12-17 |
| CN113796966B true CN113796966B (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111194074.XA Active CN113796966B (en) | 2021-10-13 | 2021-10-13 | Compact large-moment brake mechanism |
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| CN (1) | CN113796966B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175937A (en) * | 2016-09-21 | 2016-12-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with rotary cutter clamping dish |
| CN208893427U (en) * | 2017-08-31 | 2019-05-24 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201013806Y (en) * | 2007-02-16 | 2008-01-30 | 阎长春 | Add-ons brake device |
| WO2012166817A2 (en) * | 2011-05-31 | 2012-12-06 | Intuitive Surgical Operations, Inc. | Surgical instrument with single drive input for two end effector mechanisms |
| DE102013203446A1 (en) * | 2012-03-16 | 2013-09-19 | Schaeffler Technologies AG & Co. KG | Friction clutch with adjuster |
| CN206468715U (en) * | 2017-02-17 | 2017-09-05 | 秦皇岛鸿鼎轨道交通设备有限公司 | Pneumatic caliper brake |
| CN207858879U (en) * | 2017-12-29 | 2018-09-14 | 苏州大学 | A kind of joint locking mechanism |
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2021
- 2021-10-13 CN CN202111194074.XA patent/CN113796966B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175937A (en) * | 2016-09-21 | 2016-12-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of operating robot being provided with rotary cutter clamping dish |
| CN208893427U (en) * | 2017-08-31 | 2019-05-24 | 首都医科大学附属北京天坛医院 | A kind of guidewire controller |
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| CN113796966A (en) | 2021-12-17 |
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