公开(公告)号：US20210369358A1

公开(公告)日：2021-12-02

申请号：US16320043

申请日：2018-01-17

申请人： SOOCHOW UNIVERSITY

发明人： Shaolong KUANG ,  Jinzhong LI ,  Li ZHANG ,  Andi LIN ,  Liansen SHA ,  Shumei YU ,  Fengfeng ZHANG ,  Lining SUN

IPC分类号： A61B34/30 ,  F16D55/02 ,  B25J9/10

摘要： A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.