CN207858879U - A kind of joint locking mechanism - Google Patents
A kind of joint locking mechanism Download PDFInfo
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- CN207858879U CN207858879U CN201721920228.8U CN201721920228U CN207858879U CN 207858879 U CN207858879 U CN 207858879U CN 201721920228 U CN201721920228 U CN 201721920228U CN 207858879 U CN207858879 U CN 207858879U
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- brake
- end cover
- brake block
- rotating bar
- pulley
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Abstract
This application provides a kind of joint locking mechanisms,The retaining mechanism includes first end cover,Second end cover,The output shaft being rotatably arranged between the first end cover and second end cover,The rotating bar being rotatably arranged between the first end cover and second end cover,Guide rod between the first end cover and second end cover is set,The output shaft is fixed with a frictional disk,First brake piece and the second brake block are threaded in the rotating bar,The relatively described rotating bar of the first brake piece and the second brake block it is oppositely oriented,The guide rod passes through the first brake piece and the second brake block,The first brake piece and the second brake block is slidably arranged along the guide rod,The first brake piece and the second brake block is located at the both sides of the brake block,And compress the brake block.
Description
Technical field
This application involves a kind of joint locking mechanism more particularly to a kind of passive joint of mechanical arm locks based on disc brake principle
Tight mechanism.
Background technology
In recent years, it was applied with the maturation of the medical robots such as Leonardo da Vinci, medical robot has evolved into robot neck
One important branch in domain, in biomedical engineering field and an important research direction.Nearly 30 years medical robots
Research and clinical practice show that limitation medical robot enters the safety that a clinical huge obstacle is exactly robot and asks
Topic, especially robot be it is a kind of directly interact with doctor and sufferer by power-actuated open loop device, clinical cured to very much
Coin into prodigious pressure at heart.Therefore, it develops and does not need power-actuated passive mechanical arm for assisting navigation operation or pacify
Filling the operating robot of miniature drive becomes the emphasis of medical robot research and development in recent years.
The core of passive mechanical arm is joint locking mechanism development, at present joint locking mechanism mainly use hydraulic pressure,
The several ways such as pneumatic, electromagnetism, mechanical.Since hydraulic pressure and pneumatic mode can bring pollution and equipment to operating room environment
Volume is big, thus application is very limited.Electromagnetic locking basic principle is similar with power down brake, simple in structure, but it is miniature under the conditions of
Coupling mechanism force is not high.Therefore, the joint locking mechanism of purely mechanic locking is optimal mode, purely mechanic locking mode structure letter
Single, operation is easy, and alleviates the pressure at heart of doctor in operation, and do not need special working environment, will not be to surgical rings
Border pollutes.
Utility model content
To solve demand of the medicinal to passive mechanical arm, the application provides a kind of modular passive joint of mechanical arm
Retaining mechanism.
In order to solve the above-mentioned technical problem, this application provides a kind of joint locking mechanism, the retaining mechanism includes
First end cover, second end cover, the output shaft being rotatably arranged between the first end cover and second end cover, rotationally
Rotating bar between the first end cover and second end cover is set, is arranged between the first end cover and second end cover
Guide rod, the output shaft is fixed with a frictional disk, first brake piece and second is threaded in the rotating bar
The relatively described rotating bar of brake block, the first brake piece and the second brake block it is oppositely oriented, the guide rod is worn
The first brake piece and the second brake block are crossed, the first brake piece and the second brake block can be slided along the guide rod
Dynamic setting, the first brake piece and the second brake block are located at the both sides of the brake block, and compress described
Brake block.
Preferably, a locking spring for applying rotary force to the rotating bar is provided in the rotating bar,
The locking spring is torsional spring, and one end is fixed in first end cover, and the other end is fixed in the rotating bar.
Preferably, the retaining mechanism further includes a manual unlocking component, and the manual unlocking component includes one end
Swing rod that portion is mutually fixedly connected with the rotating bar, be connected rope with the swing rod.
Preferably, the manual unlocking component further includes the pulley bracket being mounted in first end cover, mounted on described
Pulley bracket on first pulley and second pulley, the pivot center direction of the second pulley and the rotation axis institute
It is mutually perpendicular in rectilinear direction, the pivot center direction in the pivot center direction of the first pulley and the second pulley
It is arranged in a mutually vertical manner, the rope is connected after bypassing first pulley and second pulley successively with the swing rod.
Preferably, in the rotating bar fixing sleeve be equipped with the first sleeve and second sleeve, the first brake piece with
First sleeve is threadedly coupled, and second brake block is threadedly coupled with the second sleeve.
Preferably, first passed through for the rotating bar is both provided on the first brake piece and the second brake block
Through-hole, the second through-hole passed through for the guide rod, for output shaft pass through to the recess being recessed far from the output shaft
Area, the first brake piece and the opposite surface of the second brake block are additionally provided with mounting groove, are provided in the mounting groove
Friction plate.
A kind of joint locking mechanism described herein is a kind of passive joint of mechanical arm locking machine towards medical operating
Structure realizes joint locking.Without external forces, first brake piece and the second brake block push against frictional disk and lock output shaft
Tightly, output shaft stops operating.Locking spring can apply a rotary force to rotating bar, so that rotating bar is had a rotating tendency, make
First brake piece and the second brake block have the trend moved to direction close to each other, to push against frictional disk.When to rotation
Bar applies an external force, and when rotating bar is rotated round about, first brake piece and the second brake block are in the direction away from each other
Movement, leaves frictional disk, output shaft starts to rotate.The locking mode of the retaining mechanism of the application is using butterfly brake principle, just
It drives screw-driven to reduce brake block gap by spring torsion in the case of often, locks brake block, realize that joint exports shaft locking.
And retaining mechanism is unlocked using rope type of drive, pull rope, rotation unlock swing rod, between driving screw-driven to increase brake block
Gap, releasing of brake piece realize the unlock of joint output shaft.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of joint locking mechanism described herein；
Fig. 2 is a kind of part-structure schematic diagram of joint indented mechanism described herein；
Fig. 3 is a kind of part-structure schematic diagram of joint indented mechanism described herein；
Fig. 4 is the structural schematic diagram of brake block described herein,
Wherein：11, first end cover；12, second end cover；21, rotating bar；22, the first sleeve；23, second sleeve；31,
One brake block；32, the second brake block；4, guide rod；5, locking spring；61, frictional disk；81, first pulley；82, second pulley；
83, pulley bracket；84, rope；85, swing rod；311, first through hole；312, the second through-hole；313, mounting groove；314, friction plate；
315, depressed area.
Specific implementation mode
The application is described further in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the application and can be practiced, but illustrated embodiment is not as the restriction to the application.
As shown in Figs 1-4, it is a kind of joint locking mechanism, the retaining mechanism includes first end cover 11, second end cover
12, be rotatably arranged in the output shaft between the first end cover 11 and second end cover 12, be rotatably arranged in it is described
First end cover 11 and second end cover 12 between rotating bar 21, be arranged between the first end cover 11 and second end cover 12
Guide rod 4, the output shaft is fixed with a frictional disk 61, first brake piece is threaded in the rotating bar 21
31 and second brake block 32, the rotation direction phase of the first brake piece 31 and the second brake block 32 rotating bar 21 relatively
Instead, the guide rod 4 passes through the first brake piece 31 and the second brake block 32, the first brake piece 31 and the
Two brake blocks 32 are slidably arranged along the guide rod 4, and the first brake piece 31 and the second brake block 32 distinguish position
In the both sides of the brake block, and compress the brake block.One is provided in the rotating bar 21 for described
Rotating bar 21 applies the locking spring 5 of rotary force, and the locking spring 5 is torsional spring, and one end is fixed on first end cover 11
On, the other end is fixed in the rotating bar 21.Locking spring 5 can apply a rotary force to rotating bar 21, make rotating bar
21 have a rotating tendency, and first brake piece 31 and the second brake block 32 is made to have the trend moved to direction close to each other,
To push against frictional disk 61.The locking mode of the retaining mechanism of the application relies on bullet under normal circumstances using butterfly brake principle
Spring torsion drives screw-driven to reduce brake block gap, locks brake block, realizes that joint exports shaft locking.
The retaining mechanism further includes a manual unlocking component, the manual unlocking component include one end with it is described
21 phase of rotating bar be fixedly connected swing rod 85, be connected rope 84 with the swing rod 85.The manual unlocking component is also
Include the pulley bracket 83 in first end cover 11, the first pulley 81 and second on the pulley bracket 83
Pulley 82, the pivot center direction of the second pulley 82 is mutually perpendicular to rectilinear direction where the rotation axis, described
First pulley 81 pivot center direction and the pivot center direction of the second pulley 82 be arranged in a mutually vertical manner, it is described
Rope 84 is connected after bypassing first pulley 81 and second pulley 82 successively with the swing rod 85.When needing unlock, only need
Rope 84, rotation unlock swing rod 85, first brake piece 31 and the second brake block 32 is pulled to move in the direction away from each other, band
Dynamic screw-driven increases brake block gap, realizes the unlock of joint output shaft.When relieving rope 84, after removing external force, rotating bar 21
It is rotated under the action of locking spring 5, first brake piece 31 and the second brake block 32 are moved to direction close to each other, are locked again
Tight rotating bar 21.
In the rotating bar 21 fixing sleeve be equipped with the first sleeve 22 and second sleeve 23, the first brake piece 31 with
First sleeve 22 is threadedly coupled, and second brake block 32 is threadedly coupled with the second sleeve 23.In one kind
In preferred embodiment, the both ends of first sleeve 22 and second sleeve 23 are both provided with bulge loop, the bulge loop energy
First brake piece 31 and the second brake block 32 is enough prevented to be detached from sleeve, and when pulling rope 84, first brake piece 31 and the
Two brake blocks 32 will not be detached from sleeve because of pulling force excessive two.
First passed through for the rotating bar 21 is both provided on the first brake piece 31 and the second brake block 32
Through-hole 311, the second through-hole 312 passed through for the guide rod 4 are recessed for what output shaft passed through to far from the output shaft
Depressed area 315, the first brake piece 31 and the opposite surface of the second brake block 32 are additionally provided with mounting groove 313, described
Mounting groove 313 in be provided with friction plate 314.After old friction plate 314 is worn, the friction plate 314 that can more renew.
The operation principle of the joint locking mechanism of the application is as follows：
The present invention is a kind of medical passive joint of mechanical arm retaining mechanism manually controlled, is driven using rope 84.Locking
In the case where no external force applies, due to the effect of locking spring 5, output shaft is by first brake piece 31 and the second brake block for mechanism
32 compress, and remain static.When an external force is applied, it is driven by rope 84,32 pine of first brake piece 31 and the second brake block
Open output shaft, output shaft rotation.
Left-right rotary screw thread is separately designed on first brake piece 31 and the second brake block 32, with first brake piece 31 and second
The first sleeve 22 and second sleeve 23 for the gap adjustment that brake block 32 coordinates also design corresponding left-right rotary screw thread.First set
Cylinder 22 and second sleeve 23 are fixed in rotating bar 21, and rotating bar 21 and the first sleeve 22 and second sleeve 23 play on the whole
The effect of similar lead screw.When rotating bar 21 rotates, the first sleeve 22 and second sleeve 23 also coordinate rotation so that possess difference
The first brake piece 31 of thread rotary orientation and the second brake block 32 do close to each other or are divided on the first sleeve 22 and second sleeve 23
From movement.
5 one end of locking spring is fixed in first end cover 11, and the other end is fixed on swing rod 85.Swing rod 85 and rotating bar
21 fix between the two.85 end of swing rod connects rope 84, and when 84 stress of rope, swing rod 85 rotates, and compresses locking spring 5, together
When drive rotating bar 21 and the first sleeve 22 and second sleeve 23 to rotate, to make first brake piece 31 and the second brake block 32
It is separated from each other.Output shaft rotates.After cancelling active force, locking spring 5 resets, at this time first brake piece 31 and the second brake block
32 draw close again, and output shaft stops operating.Swing rod 85 only does the swing arm motion perpendicular to output shaft in this device.
Groove of the rope 84 by first pulley 81 and second pulley 82 successively, in first pulley 81 and second pulley 82
The lower steering for realizing power of effect.Two pulleys are fixed on pulley bracket 83.
The joint locking mechanism of the present invention includes two kinds of working conditions：One, when not applying external force, make in locking spring 5
Under firmly, the frictional disk 61 of first brake piece 31 and the second brake block 32 compression output shaft, structure is in locking state.Two, when
When applying external force, swing rod 85 swings to compress locking spring 5, and first brake piece 31 and the second brake block 32 leave output shaft
Frictional disk 61, output shaft rotation.After power revocation, locking spring 5 resets, and mechanism locks again.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the application, the protection model of the application
It encloses without being limited thereto.Those skilled in the art on the basis of the application made by equivalent substitute or transformation, in the application
Protection domain within.The protection domain of the application is subject to claims.
Claims (6)
1. a kind of joint locking mechanism, which is characterized in that the retaining mechanism includes first end cover, second end cover, rotatable
Output shaft that ground is arranged between the first end cover and second end cover is rotatably arranged in the first end cover and the
Rotating bar between two end caps, the guide rod being arranged between the first end cover and second end cover, the output shaft are solid
Surely there is a frictional disk, first brake piece and the second brake block, the first brake piece are threaded in the rotating bar
The relatively described rotating bar is oppositely oriented with the second brake block, and the guide rod passes through the first brake piece and second
Brake block, the first brake piece and the second brake block are slidably arranged along the guide rod, the first brake
Piece and the second brake block are located at the both sides of the brake block, and compress the brake block.
2. a kind of joint locking mechanism as described in claim 1, which is characterized in that be provided with one in the rotating bar and be used for
Apply the locking spring of rotary force to the rotating bar, the locking spring is torsional spring, and one end is fixed on first end cover
On, the other end is fixed in the rotating bar.
3. a kind of joint locking mechanism as claimed in claim 2, which is characterized in that the retaining mechanism further includes one manual
Solve lock set, the manual unlocking component includes the swing rod, and described that one end is mutually fixedly connected with the rotating bar
Swing rod is connected rope.
4. a kind of joint locking mechanism as claimed in claim 3, which is characterized in that the manual unlocking component further includes peace
Pulley bracket in first end cover, first pulley and second pulley on the pulley bracket, described
The pivot center direction of two pulleys is mutually perpendicular to rectilinear direction where the rotation axis, the rotation axis of the first pulley
Line direction and the pivot center direction of the second pulley are arranged in a mutually vertical manner, the rope successively bypass first pulley and
It is connected with the swing rod after second pulley.
5. a kind of joint locking mechanism as claimed in claim 2, which is characterized in that fixing sleeve is equipped with the in the rotating bar
One sleeve and second sleeve, the first brake piece are threadedly coupled with first sleeve, second brake block with
The second sleeve is threadedly coupled.
6. a kind of joint locking mechanism as claimed in claim 5, which is characterized in that the first brake piece and the second brake
On piece is both provided with the first through hole passed through for the rotating bar, the second through-hole passed through for the guide rod, for output
Axis pass through to the depressed area being recessed far from the output shaft, the first brake piece and the opposite surface of the second brake block
It is additionally provided with mounting groove, friction plate is provided in the mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721920228.8U CN207858879U (en) | 2017-12-29 | 2017-12-29 | A kind of joint locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721920228.8U CN207858879U (en) | 2017-12-29 | 2017-12-29 | A kind of joint locking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207858879U true CN207858879U (en) | 2018-09-14 |
Family
ID=63464181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721920228.8U Active CN207858879U (en) | 2017-12-29 | 2017-12-29 | A kind of joint locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207858879U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796966A (en) * | 2021-10-13 | 2021-12-17 | 中南大学 | Compact large-torque brake mechanism |
-
2017
- 2017-12-29 CN CN201721920228.8U patent/CN207858879U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796966A (en) * | 2021-10-13 | 2021-12-17 | 中南大学 | Compact large-torque brake mechanism |
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