Biplanar frictional two-freedom-degree joints based on hydraulic pressure

Abstract

The invention relates to biplanar frictional two-freedom-degree joints based on hydraulic pressure. The outer edge of the upper side of the lower plane of a T-shaped shaft of an upper joint is provided with wedge-shaped faces, a bar part is sleeved with a force transmission slide block of the upper joint, the diameter of a round hole of the force transmission slide block of the upper joint is larger, the bar part is installed in a casing of the upper joint by a bearing, extends out to be connected with one end of a platform body of the joints, and the end part of a push bar is matched with the two wedge-shaped faces of the T-shaped shaft of the upper joint; a T-shaped shaft of a lower joint is connected below the other end of the platform body of the joints, the lower end is sealed in a sealing cover of the lower joint, and the sealing cover of the lower joint is fixedly connected with a supporting shaft of the joints; and an ejector bar is installed in a hollow structure of the T-shaped shaft of the lower joint, a sealing bolt is installed at the hollow bottom, a distance exists between the lower end of the ejector bar and the lower end of an ejector bar of the sealing bolt, and the upper end contacts with the force transmission slide block of the upper joint. The invention has small volume, compact structure, light weight, large locking moment, simple structure and small joint clearance after being locked and can be suitable for locking the joints of various miniature type mechanical arms with lighter end static bearing.

Description

technical field [0001] The invention relates to a rotary joint, in particular to a hydraulic-based double-plane friction 2-degree-of-freedom joint, 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 complicated and the cost is...

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

Images