CN101721234B - Electric locking and rotating joint for auxiliary arm for surgical operation - Google Patents
Electric locking and rotating joint for auxiliary arm for surgical operation Download PDFInfo
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- CN101721234B CN101721234B CN 200910213501 CN200910213501A CN101721234B CN 101721234 B CN101721234 B CN 101721234B CN 200910213501 CN200910213501 CN 200910213501 CN 200910213501 A CN200910213501 A CN 200910213501A CN 101721234 B CN101721234 B CN 101721234B
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Abstract
The invention discloses an electric locking and rotating joint for an auxiliary arm for surgical operation, which is characterized in that the electric locking and rotating joint comprises a joint rotating mechanism and a joint locking mechanism, the joint rotating mechanism is positioned at the upper part of the joint locking mechanism, wherein the joint rotating mechanism comprises a joint rotary shaft, a joint bearing cap, a joint bearing seat and a joint chassis, the joint locking mechanism comprises a locking outer sleeve, a friction ring, a trapezoidal nut, a lead screw shaft and a motor, an output shaft of the motor drives the lead screw shaft to move, the lead screw shaft drives the trapezoidal nut which is in threaded connection with the lead screw shaft to move, and the trapezoidal nut is circumferentially fixed by the locking outer sleeve arranged on the outside of the trapezoidal nut and can only move up and down, thereby driving the friction ring arranged at the upper part to move up and down; and friction force is produced when the friction ring is in contact with the joint chassis, the friction force is eliminated when the friction ring and the joint chassis are separated, and the joint rotary shaft is in threaded connection with the joint chassis, thereby realizing locking or unlocking of the joint rotary shaft. The electric locking and rotating joint has the advantages of compact structure, convenient operation and maintenance, reliable locking and unlocking and excellent performances.
Description
Technical field
The present invention relates to a kind of electric locking and rotating joint, especially relate to a kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation, belong to medical surgery operation auxiliary facilities technical field.
Background technology
We know, in industry, all there are the braking of mechanical arm rotary joint and the problem of loosening in the every field such as agricultural and medical treatment, and especially for the mechanical arm that is applied to the medical surgery operation, the braking of rotary joint and the reliability of loosening, performance indications such as coupling mechanism force and safety are had higher requirement to the structure of rotary joint, be fixed on operation table owing to be used for the mechanical arm of assisted minimally invasive surgical operation, so require the articulation structure compactness, volume is little, in light weight, and the locking of at present many mechanical arm rotary joints all realizes by electromagnetic brake with loosening, not only volume is big, weight is big, and brake noise is also bigger, coupling mechanism force can not be adjusted as required, therefore, it is adjustable to design a kind of coupling mechanism force, compact conformation, the rotary joint of good reliability seems extremely important.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the present invention is to provide that a kind of compact conformation, volume are little, in light weight, the electric locking and rotating joint that is used for auxiliary arm for surgical operation of good reliability.
The present invention is achieved through the following technical solutions:
A kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation is characterized in that comprising joint rotating mechanism and joint retaining mechanism, and the joint rotating mechanism is positioned at the top of joint retaining mechanism, wherein:
Described joint rotating mechanism comprises: the joint rotating shaft, the oscillating bearing lid, joint bearing block and chassis, joint, the oscillating bearing lid is positioned at the top of joint rotating shaft, it is fixedlyed connected by screw A with the joint bearing block that is positioned at rotating shaft outside, joint, between joint rotating shaft and joint bearing block, also be provided with bearing A, bearing B, oscillating bearing outer sleeve and oscillating bearing inner sleeve, the oscillating bearing outer sleeve is positioned at the outside of oscillating bearing inner sleeve, bearing A and bearing B then lay respectively at the upper and lower of oscillating bearing outer sleeve and oscillating bearing inner sleeve, in addition, above-mentioned chassis, joint then is positioned at the bottom of joint rotating shaft, and is threaded with it;
Described joint retaining mechanism comprises: the locking jacket tube, drag ring, trapezoidal nut, lead screw shaft and motor, drag ring is fixed as in the cannelure of trapezoidal nut upper surface, lead screw shaft then is connected by the trapezoidal external screw thread of its upper face and the trapezoidal internal thread of trapezoidal nut, trapezoidal externally threaded length is greater than the length of trapezoidal internal thread, bottom in lead screw shaft also is provided with endoporus, it is connected with the output axle key of motor by endoporus, and also be provided with bearing C between lead screw shaft and the locking jacket tube, in addition, motor is connected by screw C with motor flange, and motor flange is then fixedlyed connected with the lower flange of locking jacket tube by screw D;
Above-mentioned joint bearing block is positioned at the top of locking jacket tube, and they are fixed on the frame plate by screw B.
Have arc groove A on the inner hole wall of above-mentioned locking jacket tube, and the arc groove B that matches with arc groove A is set on the outer circumference surface of described trapezoidal nut, be inserted with straight pin between arc groove A and the arc groove B.
The both sides, top of above-mentioned joint rotating shaft are provided with the shaft shoulder, and it is positioned on the upper surface of bearing A.
Above-mentioned both sides, the joint bearing block bottom formation shoulder that extends internally, its lower surface with bearing B contacts.
The shaft shoulder and shaft block ring are set on the above-mentioned lead screw shaft, and the shaft shoulder is positioned at the top of bearing C, and shaft block ring then is positioned at the bottom of bearing C.
The invention has the beneficial effects as follows:
1, compact conformation, whole joint weight is less than 800g after adopting suitable materials processing manufacturing under the situation of the locking torque that guarantees 10Nm;
2, operation and maintenance is convenient: the operator only needs push switch motor just can realize the locking in joint and loosen;
3, lock and loosen reliable, function admirable: just can control the size of coupling mechanism force by the power output of control motor, just can control by the movement velocity of control motor and lock and loosen the needed time, versatility is more intense;
4, easy to maintenance: when using a period of time, because fretting wear makes when locking torque descends to some extent that only the drag ring that need more renew just can reach the coupling mechanism force of expection again;
The present invention needing in the Aided Machine arm of Minimally Invasive Surgerys such as neurosurgery, abdominal cavity surgery, thoracic surgery and spinal surgery to be highly suitable for the rotary joint of locking and loosening.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is the structural representation of locking jacket tube of the present invention;
Fig. 3 is the structural representation of trapezoidal nut of the present invention.
Main Reference numeral implication is among the figure:
1, joint rotating shaft 2, oscillating bearing lid 3, screw A 4, bearing A
5, joint bearing block 6, oscillating bearing outer sleeve 7, oscillating bearing inner sleeve
8, chassis, joint 9, drag ring 10, bearing C 11, shaft block ring
12, screw D 13, motor flange 14, screw C 15, motor
16, lead screw shaft 17, straight pin 18, locking jacket tube 19, screw B
20, frame plate 21, trapezoidal nut 22 bearing B 23, arc groove A
24, arc groove B
The specific embodiment
Below in conjunction with accompanying drawing, describe the specific embodiment of the present invention in detail:
Fig. 1 is the structural representation of one embodiment of the invention; Fig. 2 is the structural representation of locking jacket tube of the present invention; Fig. 3 is the structural representation of trapezoidal nut of the present invention.
As shown in Figure 1 to Figure 3: be used for the electric locking and rotating joint of auxiliary arm for surgical operation, comprise joint rotating mechanism and joint retaining mechanism, the joint rotating mechanism is positioned at the top of joint retaining mechanism, wherein:
The joint rotating mechanism comprises joint rotating shaft 1, oscillating bearing lid 2, joint bearing block 5 and chassis, joint 8, joint rotating shaft 1 is an output shaft of the present invention, it links to each other with load, and oscillating bearing lid 2 is positioned at the top of joint rotating shaft 1, it is fixedlyed connected by screw A3 with the joint bearing block 5 that is positioned at joint rotating shaft 1 outside, between joint rotating shaft 1 and joint bearing block 5, also be provided with bearing A4, bearing B22, oscillating bearing outer sleeve 6 and oscillating bearing inner sleeve 7, oscillating bearing outer sleeve 6 is positioned at the outside of oscillating bearing inner sleeve 7, bearing A4 and bearing B22 then lay respectively at the upper and lower of oscillating bearing outer sleeve 6 and oscillating bearing inner sleeve 7, the size of the pretightning force of adjustment screw A3, just can regulate the axial preload of lower bearing A4 and bearing B22, low friction and stability when having guaranteed joint rotating shaft 1 rotation.
In addition, 8 bottoms that are positioned at joint rotating shaft 1, above-mentioned chassis, joint, and be threaded with joint rotating shaft 1, inject screw threads for fastening glue simultaneously, so that chassis, joint 8 reliably is connected with joint rotating shaft 1 and rotates synchronously, in addition, after chassis, joint 8 installs, can not contact and produce frictional force with joint bearing block 5.
Above-mentioned bearing A4 and the inner ring of bearing B22 and joint rotating shaft 1 little matched in clearance, outer ring and joint bearing block 5 little matched in clearance, in addition, because the both sides, top of joint rotating shaft 1 are provided with the shaft shoulder, the shaft shoulder is positioned on the upper surface of bearing A4, and both sides, the described joint bearing block 5 bottom formation shoulder that extends internally, shoulder contacts with the lower surface of bearing B22, then the axial location of bearing A4 inner ring realizes by the shaft shoulder and oscillating bearing inner sleeve 7 in the joint rotating shaft 1, the axial location of outer ring relies on oscillating bearing lid 2 and oscillating bearing outer sleeve 6 to locate, and the axial location of the inner ring of bearing B22 realizes that by oscillating bearing inner sleeve 7 and chassis, joint 8 axial location of outer ring then relies on the shoulder of oscillating bearing overcoat 6 and joint bearing block 5 to realize.
Described joint retaining mechanism comprises locking jacket tube 18, drag ring 9, trapezoidal nut 21, lead screw shaft 16 and motor 15, the upper surface of trapezoidal nut 21 is provided with cannelure, and drag ring 9 just is fixed in the cannelure of trapezoidal nut 21, make when drag ring 9 and trapezoidal nut 21 are subjected to specified external force each other, the relative motion of circumferencial direction can not take place, arc groove B24 is set on the outer circumference surface of trapezoidal nut 21, and have arc groove A23 on the inner hole wall of the locking jacket tube 18 that contacts with trapezoidal nut 21, be inserted with straight pin 17 between arc groove A23 and the arc groove B24, straight pin 17 has just limited the circular motion of trapezoidal nut 21 with respect to locking jacket tube 18 like this, lead screw shaft 16 then is connected by the trapezoidal external screw thread of its upper face and the trapezoidal internal thread of trapezoidal nut 21, form a lead screw pair, trapezoidal externally threaded length is greater than the length of trapezoidal internal thread, guarantee that lead screw pair can not make that when motion trapezoidal nut 21 breaks away from lead screw shaft 16, and when lead screw shaft 16 rotations, trapezoidal nut 21 can only move up and down with respect to locking jacket tube 18.
Bottom in above-mentioned lead screw shaft 16 also is provided with endoporus, lead screw shaft 16 is connected with the output axle key of motor 15 by endoporus, when the output shaft of motor 15 rotates, power is delivered on the lead screw shaft 16 with the on-link mode (OLM) that moves through above-mentioned key, the fit clearance of the output shaft of connecting key and motor 15 and lead screw shaft 16 internal controls is very little, make that return difference is very little when motion, in addition, and also be provided with bearing C10 between lead screw shaft 16 and the locking jacket tube 18, bearing C10 is an angular contact ball bearing, the bottom cylindrical tight fit of its inner ring and lead screw shaft 16 does not have relative motion, the endoporus tight fit of outer ring and locking jacket tube 18, there is not relative motion yet, in addition, because also be provided with the shaft shoulder and shaft block ring 11 on the lead screw shaft 16, wherein, the shaft shoulder is positioned at the top of bearing C10, shaft block ring 11 then is positioned at the bottom of bearing C10, and then the axial location of bearing C10 inner ring relies on the shaft shoulder of lead screw shaft 16 and axial back-up ring 11 to realize that the axial location of outer ring then relies on the step of the endoporus of locking jacket tube 18 to realize.
In addition, motor 15 is connected by screw C14 with motor flange 13, motor flange 13 is then fixedlyed connected with the lower flange of locking jacket tube 18 by screw D12, in addition, joint bearing block 5 in the above-mentioned joint rotating mechanism is arranged in the top of the locking jacket tube 18 of joint retaining mechanism, and they are fixed on the frame plate 20 by screw B19.
In the present invention, when motor 15 rotations, drive lead screw shaft 16 motions that match with motor 15 output shafts, lead screw shaft 16 drives trapezoidal nut 21 motions, because straight pin 17 has limited the circumferential rotation of trapezoidal nut 21, then trapezoidal nut 21 can only move up and down under the driving of lead screw shaft 16, when trapezoidal nut 21 moves upward, drag ring 9 moves upward together thereupon and contacts and produce pressure with chassis, joint 8, make between drag ring 9 and the chassis, joint 8 and produce frictional force, to hinder rotatablely moving of joint rotating shaft 1, realize the locking in joint; When trapezoidal nut 21 moved downward, drag ring 9 was thrown off chassis, joint 8, and the frictional force between drag ring 9 and the chassis, joint 8 reduces until disappearance, and joint rotating shaft 1 can freely be rotated, and realizes loosening of joint.
Compact conformation of the present invention, operation and maintenance make things convenient for, lock and loosen reliable, function admirable.
Below disclose the present invention with preferred embodiment, so it is not in order to restriction the present invention, and all employings are equal to replaces or technical scheme that the equivalent transformation mode is obtained, all drops within protection scope of the present invention.
Claims (5)
1. an electric locking and rotating joint that is used for auxiliary arm for surgical operation is characterized in that comprising joint rotating mechanism and joint retaining mechanism, and the joint rotating mechanism is positioned at the top of joint retaining mechanism, wherein:
Described joint rotating mechanism comprises: joint rotating shaft (1), oscillating bearing lid (2), joint bearing block (5) and chassis, joint (8), oscillating bearing lid (2) is positioned at the top of joint rotating shaft (1), its joint bearing block (5) outside with being positioned at joint rotating shaft (1) is fixedlyed connected by screw A (3), between joint rotating shaft (1) and joint bearing block (5), also be provided with bearing A (4), bearing B (22), oscillating bearing outer sleeve (6) and oscillating bearing inner sleeve (7), oscillating bearing outer sleeve (6) is positioned at the outside of oscillating bearing inner sleeve (7), bearing A (4) and bearing B (22) then lay respectively at the upper and lower of oscillating bearing outer sleeve and oscillating bearing inner sleeve (7), in addition, above-mentioned chassis, joint (8) then is positioned at the bottom of joint rotating shaft (1), and is connected with it;
Described joint retaining mechanism comprises: locking jacket tube (18), drag ring (9), trapezoidal nut (21), lead screw shaft (16) and motor (15), drag ring (9) is fixed as in the cannelure of trapezoidal nut (21) upper surface, lead screw shaft (16) then is connected by the trapezoidal external screw thread of its upper face and the trapezoidal internal thread of trapezoidal nut (21), bottom in lead screw shaft (16) also is provided with endoporus, it is connected by the output axle key of endoporus with motor (15), and also be provided with bearing C (10) between lead screw shaft (16) and the locking jacket tube (18), in addition, motor (15) is connected by screw C (14) with motor flange (13), and motor flange (13) is then fixedlyed connected with the lower flange of locking jacket tube (18) by screw D (12);
Above-mentioned joint bearing block (5) is positioned at the top of locking jacket tube (18), and they are fixed on the frame plate (20) by screw B (19).
2. a kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation according to claim 1, it is characterized in that: have arc groove A (23) on the inner hole wall of described locking jacket tube (18), and the arc groove B (24) that matches with arc groove A (23) is set on the outer circumference surface of described trapezoidal nut (21), be inserted with straight pin (17) between arc groove A (23) and the arc groove B (24).
3. a kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation according to claim 1 is characterized in that: the both sides, top of described joint rotating shaft (1) are provided with the shaft shoulder, and it is positioned on the upper surface of bearing A (4).
4. a kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation according to claim 1 is characterized in that: described joint bearing block (5) both sides, the bottom formation shoulder that extends internally, its lower surface with bearing B (22) contacts.
5. a kind of electric locking and rotating joint that is used for auxiliary arm for surgical operation according to claim 1, it is characterized in that: the shaft shoulder and shaft block ring (11) are set on the described lead screw shaft (16), the shaft shoulder is positioned at the top of bearing C (10), and shaft block ring (11) then is positioned at the bottom of bearing C (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910213501 CN101721234B (en) | 2009-11-03 | 2009-11-03 | Electric locking and rotating joint for auxiliary arm for surgical operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910213501 CN101721234B (en) | 2009-11-03 | 2009-11-03 | Electric locking and rotating joint for auxiliary arm for surgical operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101721234A CN101721234A (en) | 2010-06-09 |
| CN101721234B true CN101721234B (en) | 2011-04-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910213501 Expired - Fee Related CN101721234B (en) | 2009-11-03 | 2009-11-03 | Electric locking and rotating joint for auxiliary arm for surgical operation |
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| Country | Link |
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| CN (1) | CN101721234B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528958A (en) * | 2011-03-15 | 2012-07-04 | 北京国科世纪激光技术有限公司 | Positioning device for cutting jewels |
| CN104758052B (en) * | 2014-01-02 | 2017-02-08 | 中国科学院沈阳自动化研究所 | Position and posture adjusting passive manipulator for digestive endoscopy conveying robot |
| CN116394090B (en) * | 2023-03-22 | 2024-03-08 | 广东工科机电有限公司 | Grinding and polishing device, grinding and polishing system, grinding and polishing process and application of grinding and polishing device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1815950A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
| CN101403417A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Locking device for electric motor shaft connection of robot joint |
| CN201537927U (en) * | 2009-11-03 | 2010-08-04 | 昆山市工业技术研究院有限责任公司 | Electric locking rotation joint for auxiliary arm in surgery operation |
-
2009
- 2009-11-03 CN CN 200910213501 patent/CN101721234B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1815950A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
| CN101403417A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Locking device for electric motor shaft connection of robot joint |
| CN201537927U (en) * | 2009-11-03 | 2010-08-04 | 昆山市工业技术研究院有限责任公司 | Electric locking rotation joint for auxiliary arm in surgery operation |
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| Publication number | Publication date |
|---|---|
| CN101721234A (en) | 2010-06-09 |
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