Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US9689480B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9689480-B2 |
| Application number | US-201514951300-A |
| Country | US |
| Kind code | B2 |
| Filing date | Nov 24, 2015 |
| Priority date | Nov 27, 2014 |
| Publication date | Jun 27, 2017 |
| Grant date | Jun 27, 2017 |
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A linear actuator for moving a load includes a tubular actuator housing, which has an end-side housing bottom and an end-side housing head, a rotatably drivable threaded spindle which is mounted rotatably in the housing bottom of the actuator housing and extends in an interior of the actuator housing from the housing bottom in a direction of the housing head, a piston which comprises a spindle nut, which is in engagement with the threaded spindle, and is guided longitudinally in the actuator housing, and a hollow actuator rod which is assembled with the piston, into which actuator rod the threaded spindle dips, and which actuator rod protrudes out of the actuator housing on the housing head. The linear actuator is configured such that the actuator housing is filled with pressurized oil and gas, the oil and gas being situated in a single volume.
Opening claim text (preview).
What is claimed is: 1. A linear actuator for moving a load comprising: a tubular actuator housing including an end-side housing bottom and an end-side housing head, the actuator housing filled with pressurized oil and gas, the oil and gas being situated in a single volume; a rotatably drivable threaded spindle mounted rotatably in the housing bottom and extending in an interior of the actuator housing from the housing bottom in a direction of the housing head; a piston including a spindle nut in engagement with the threaded spindle and guided longitudinally in the actuator housing; and a hollow actuator rod assembled with the piston, into which actuator rod the threaded spindle dips, and which actuator rod protrudes out of the actuator housing on the housing head. 2. The linear actuator according to claim 1 , wherein: from 30 to 50 percent of the actuator housing is filled with gas, and from 50 to 70 percent of the actuator housing is filled with oil. 3. The linear actuator according to claim 2 , wherein: approximately 40 percent of the actuator housing is filled with gas when the actuator rod is retracted completely, and approximately 60 percent of the actuator housing is filled with oil when the actuator rod is retracted completely. 4. The linear actuator according to claim 1 , wherein an interior of the actuator housing is in open fluidic communication with a cavity in the actuator rod through an open fluidic communication path, wherein the open fluidic communication path does not extend through the spindle nut. 5. The linear actuator according to claim 4 , wherein the open fluidic communication path extends from an open end of the actuator rod through the piston. 6. The linear actuator according to claim 5 , wherein the open fluidic communication path extends downwardly and upwardly. 7. The linear actuator according to claim 1 , wherein threads on the spindle nut and the threaded spindle, when they are situated above the oil level, are lubricated from an oil supply which is carried along by the piston. 8. The linear actuator according to claim 7 , wherein an inner region of the spindle nut which is provided with thread turns is connected to a supply volume which is configured in the piston and is open towards the interior of the actuator housing at a spacing above the thread turns. 9. The linear actuator according to claim 8 , wherein the supply volume is connected to an open fluidic communication path between the interior of the actuator housing and a cavity in the actuator rod. 10. The linear actuator according to claim 1 , wherein the piston is provided, on its radial outer side which is guided by the actuator housing, with a turned groove which is open on an end side.
Screw mechanisms (with automatic reversal F16H25/12) · CPC title
using both gas and liquid {(F16F9/486 take precedence; self-pumping fluid springs B60G17/044)} · CPC title
controlled by fluid actuated piston or cylinder ram · CPC title
Mono-tubular units · CPC title
Combined actuation, e.g. electric and fluid actuated · CPC title
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