Planar friction and cylindrical friction combined two-degree-of-freedom joint

Abstract

The invention relates to a planar friction and cylindrical friction combined C joint. The edge of the upper side of a lower plane of a T-shaped shaft of an upper joint has a wedge-shaped plane; an upper joint force-transmitting sliding block is sleeved on a rod part; the rod part is connected with the joint platform; the wedge-shaped plane of the end part of a pushing rod is matched with that of the upper joint T-shaped shaft; a lower joint T-shaped shaft is connected with the other end of the joint platform and is mounted in a sealing cover of the lower joint; the sealing cover of the lower joint is fixedly connected with the supporting shaft of the joint; the rod part of the lower joint T-shaped shaft is hollow and the hollow bottom is provided with a through groove; a mandril is mounted in the hollow structure; the upper end of the mandril is contacted with the upper joint force-transmitting sliding block and the lower end thereof is fixedly inserted into a V-shaped thrust block inthe through groove; a fan-shaped cylindrical friction plate is mounted on the lower joint T-shaped shaft on two sides of the V-shaped thrust block; and the outside of the fan-shaped cylindrical friction plate is a cylindrical surface. The invention has the following advantages of small volume, compact structure, light weight, large locking moment, simple structure, no joint gap, long service lifeand suitability for locking joints of various small mechanical arms.

Description

technical field [0001] The invention relates to a rotary joint, in particular to a two-degree-of-freedom joint combining plane friction and cylindrical surface friction, belonging to an underactuated mechanical arm joint locking mechanism. Background technique [0002] Since the 1990s, with the rapid development of intelligent robot technology, computer technology, and medical surgery technology, service robots, such as minimally invasive surgical robot technology, have become one of the international frontier research hotspots that domestic and foreign scholars and related institutions have paid attention to. . This is a new multidisciplinary technical field, and its development is considered as a symbolic progress in surgical treatment. [0003] At present, the joint locking of the medical surgical positioning manipulator has the following methods. One is to rely on the servo holding torque output by the motor on each joint. The disadvantage is that the structure is compl...

AI Technical Summary

Problems solved by technology

[0003] At present, the joint locking methods of medical surgical positioning manipulators are as follows. One is to rely on the servo holding torque output by the motor on each joint. The disadvantage is that the structure is complicated and the cost is expensive; the other is to install an electromagnetic brake on each joint. There is a disadvantage of complex structure and high cost, and the mechanical arm is relatively heavy; the third is to manually apply force to the wedge-shaped thrust structure of each joint to achieve joint locking

This method is purely passive, with low locking efficiency and inconvenient operation

In addition, in the joint locking mechanism in the prior art, after the joints are locked, there is a gap between the joints, and the gap is not zero, resulting in low positioning accuracy

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