Ball joint locking method and device

Abstract

The invention provides a ball joint locking method and a locking device designed according to the method. A ball head of a ball joint is sleeved with a connecting sleeve which can be movably locked with the ball head or be in a release state with the ball head. An abutting assembly connected with a hydraulic system is arranged in a position corresponding to a matching position of the ball head and the connecting sleeve at locking time. Under the action of pressure oil provided by the hydraulic system, the abutting assembly is forced to instantly press the outer surface of the ball head and enables the ball head to abut against the position matched with the connecting sleeve at the same time, so that the abutting assembly and the connecting sleeve lock the ball head in a multipoint mode. When pressure is released, the abutting assembly and the connecting sleeve can restore to original positions automatically, so that the locking state and the release state of the ball joint can be switched quickly. According to the ball joint locking method and the locking device, the characteristics that the hydraulic system is small in inertia and quick in response are fully utilized, so that that the device have the advantages of being simple in structure, reliable in locking, and good in effect, and can ensure rigid connection and bear certain load moment at the same time. Moreover, locking devices can be connected in series through the same oil path for utilization in one product.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a ball joint locking method and device for a man-machine interactive (also called passive) mechanical arm and a robot. Background technique [0002] The ball joint mechanism is a mechanism commonly used in the medical device industry. It has three degrees of freedom of rotation, so the flexibility is very good. It is a very good choice for the man-machine cooperation manipulator that requires high flexibility. Due to the particularity of the processing technology of the ball joint and its own structural characteristics, the ball The problem of joint locking is not so simple. In general applications, the friction between the ball head and the ball tile is increased by manually tightening the screws to achieve locking, and automatic control cannot be realized. [0003] The medical devices (robot arms) used in surgical operations and minimally invasive operations require not only the...

AI Technical Summary

Problems solved by technology

Although the above-mentioned device can quickly switch between locking and loosening, it has too many parts and a complicated structure. If it is to achieve precise control, it also needs accessories such as force or displacement sensors; Or if many of the robot products are used at the same time, each joint needs to be equipped with a motor for locking, which makes the cost of the product very high, and it is not so easy to control the switches of several motors at the same time; The obvious shortcoming is that it cannot provide a certain preload to the ball joint, and there may be a gap in the ball joint in a relaxed state, which will cause a large deviation in the positioning of the end and affect the performance

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