CN113983088B

CN113983088B - Brake and manual brake device, passive enabling universal wheel and surgical robot

Info

Publication number: CN113983088B
Application number: CN202111057547.1A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Hangzhou Weijing Medical Robot Co ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2024-08-30
Anticipated expiration: 2041-09-22
Also published as: CN113983088A

Abstract

The invention relates to the technical field of brakes, in particular to a brake, a manual braking device, a passive enabling universal wheel and a surgical robot. The utility model provides a stopper, including base and connecting plate, one of base and connecting plate is connected the motion part that needs the braking, and the other is static fixed, is fixed with the support on the base, installs brake plectrum first and brake plectrum second in the space between the support, and the central point of base and connecting plate puts configuration compactor, and the inboard of connecting plate has the annular arch of the zigzag of whole circle, and brake plectrum first and brake plectrum second's head end has the brake ejector pin that matches with the draw-in groove that forms between two adjacent annular archs, and brake plectrum first and brake plectrum second's head end still is provided with canceling release mechanical system. The brake of the invention has no sliding and almost no response delay, and does not slip like a dental disc structure due to a structure similar to a bonding structure.

Description

Brake and manual brake device, passive enabling universal wheel and surgical robot

Technical Field

The invention relates to the technical field of brakes, in particular to a brake, a manual braking device, a passive enabling universal wheel and a surgical robot.

Background

Because the brake used by the integrated joint has the advantages of quick response, light weight, simple structure, high strength, fatigue resistance and better shock resistance, and can occupy smaller installation space in a power transmission device, and can ensure that the transmission output of a moving part can keep a faster speed reduction and stop state, the brake is widely applied to a joint driving device of a multi-degree-of-freedom surgical robot.

The brake used in the existing integrated joint mainly comprises an electromagnetic type, a mechanical limiting and stopping mode and the like, and can utilize a magnetic yoke assembly structure of an electromagnetic coil and a spring and combine a friction plate to realize braking, or utilize the electromagnetic coil and a mechanical motion baffle plate to realize locking of a rotating shaft.

On the one hand, the size and design of the brake in the integrated joint affect the overall braking performance of the joint and the overall braking speed and effect of the device, when the rotating speed of the joint is high, the friction plate brakes and has a gradual change process from small to large friction force, and a section of rotating movement distance is generated before a limiting position of the mechanical movement baffle, so that the brake can generate certain sliding phenomenon and response delay in the stopping and decelerating process of a moving part, the positioning precision of the operation robot is affected, the difference of movement control parameters before and after braking is large in the robot auxiliary operation, for example, the movement pose of the tail end of a mechanical arm can be changed, the problem of safety braking can be brought, for example, the state of the tail end pose of the robot is changed due to the change of the contact force between the tail end of the robot and the external contact force or the judgment error of a movement control program is caused.

On the other hand, the integrated joint used by the existing robot lacks a manual braking function, so that the condition that the adjusting joint of the surgical robot and the braking state of the device lack flexible manual intervention is caused, the braking state correction and adjustment time of the robot equipment is prolonged, emergency measures and braking operation are not facilitated, and the using effect of the surgical robot is affected.

Therefore, the development of the brake for improving the braking safety of the integrated joint and the flexible operation capability of the brake are very necessary, and the brake has great significance for multi-degree-of-freedom surgical robots in China.

In view of the above-mentioned drawbacks, the present inventors have actively studied and innovated to create a brake and a manual brake device, a passive-enabled universal wheel, and a surgical robot, which are industrially useful.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a brake, a manual braking device, a passive enabling universal wheel and a surgical robot.

The first aspect of the invention provides a brake, comprising a base and a connecting plate, wherein one of the base and the connecting plate is connected with a moving part needing to be braked, the other one is stationary and fixed, a support is fixed on the base, a first brake pulling sheet and a second brake pulling sheet are arranged in a gap between the supports, a compactor is arranged at the center positions of the base and the connecting plate, the inner sides of the connecting plate are provided with saw-tooth annular protrusions of whole circles, the head ends of the first brake pulling sheet and the second brake pulling sheet are provided with brake ejector rods matched with clamping grooves formed between the two adjacent annular protrusions, the compactor is in contact and abutting joint with the tail ends of the first brake pulling sheet and the second brake pulling sheet to provide force for enabling the brake ejector rods to be embedded into or separated from the clamping grooves, and a reset mechanism is further arranged at the head ends of the first brake pulling sheet and the second brake pulling sheet to provide force opposite to the force effect provided by the compactor. The brake presses the tail ends of the first brake pulling piece and the second brake pulling piece through the pressing device, so that the brake ejector rods at the two ends of the first brake pulling piece and the second brake pulling piece are opened, the brake ejector rods are separated from the convex structures at the inner sides of the connecting plates, the brake is unlocked, when the pressure of the pressing device is canceled, the first brake pulling piece and the second brake pulling piece can be driven to reset through resetting, and the brake ejector rods are blocked in the saw-tooth structures at the inner sides of the connecting plates, so that locking is completed.

Further, the pressing device comprises a first coil assembly and a second coil assembly which are oppositely arranged, wherein a pressing block is arranged on the outer ring of the first coil assembly at the position corresponding to the first tail end of the brake pulling piece, so that the pressing block is abutted with the pressing plate at the first tail end of the brake pulling piece, and a pressing block is also arranged on the outer ring of the coil assembly at the position corresponding to the second tail end of the brake pulling piece, so that the pressing block is abutted with the pressing plate at the second tail end of the brake pulling piece. The first coil assembly and the second coil assembly are electromagnetic coils and attract each other after being electrified, pressing plates at the tail ends of the first brake pulling plate and the second brake pulling plate are pressed inwards through pressing blocks, and the opening operation of the tail ends of the first brake pulling plate and the second brake pulling plate is completed, which is unlocking operation.

Further, the first brake pulling sheet and the second brake pulling sheet are consistent in structure, are installed in the gap between two adjacent support seats in opposite dislocation or are installed in the gap between two adjacent support seats in opposite alternation, the first brake pulling sheet and the second brake pulling sheet comprise through holes for the supporting shafts to pass through, and two ends of the supporting shafts are respectively inserted into the supporting shaft installation holes on the side walls of the two adjacent support seats. The mounting modes of the first brake pulling sheet and the second brake pulling sheet are adjusted according to actual requirements, so that the first brake pulling sheet and the second brake pulling sheet meet the locking operation of a brake.

Further, the reset mechanism comprises a spring, grooves are formed in the outer sides of the first brake pulling piece and the second brake pulling piece, one end of the spring is placed in the grooves, and the other end of the spring is in butt joint with the inner wall of the base or the connecting plate. The reset mechanism is a spring, the structure is simple, the installation is convenient, the spring is arranged on the outer sides of the first brake pulling piece and the second brake pulling piece, and the first brake pulling piece and the second brake pulling piece are driven to rotate and reset by utilizing elasticity.

Further, the reset mechanism comprises an inner spring, the inner sides of the first brake pulling piece and the second brake pulling piece are respectively and correspondingly provided with an inner groove, and the inner spring is arranged in the inner groove. The brake pulling plate I and the brake pulling plate II are outwards opened through the spring arranged on the inner side, when the brake pulling plate I and the brake pulling plate II are outwards opened, the brake ejector rod is separated, the brake is in an unlocking state, when the brake is required to be locked, the coil assembly I and the coil assembly II are mutually exclusive structures after being electrified, the pressing blocks at the outer ends of the coil assembly I and the coil assembly are positioned on the inner sides of the pressing plates of the brake pulling plate I and the brake pulling plate II, and the end parts of the brake pulling plate I and the brake pulling plate II can be driven to be closed when the coil assembly I and the coil assembly outwards repel each other, so that the locking operation of the brake is completed.

Further, the connecting plate comprises a transmission connecting plate and a circumferential connecting plate, wherein the transmission connecting plate is fixedly connected with the circumferential connecting plate and is fixedly connected with a moving part needing to be braked, and zigzag annular protrusions of the whole circle are distributed on the inner ring of the circumferential connecting plate. The transmission connecting plate is fixedly connected with the moving part needing braking and then fixedly connected with the circumferential connecting plate, so that the connecting plate and the moving part needing braking move or are static at the same time.

The second aspect of the invention provides a manual brake, which adopts the brake and further comprises a handle and a pushing section; the pressing device comprises a coarse moving shaft and a fine moving shaft inserted into the coarse moving shaft, a plurality of pressing blocks are arranged on the outer walls of the coarse moving shaft and the fine moving shaft in a staggered mode, tail ends of a first braking shifting piece and a second braking shifting piece are abutted to the pressing blocks, and the coarse moving shaft and the fine moving shaft are connected with the handle through a pushing section. The handle is manually rotated to drive the pushing section to finish the operation of moving the coarse movable shaft and the fine movable shaft up and down, so that the brake pulling sheet I and the brake pulling sheet II are driven to move, and the brake ejector rods on the brake pulling sheet I and the brake pulling sheet II are separated from annular protrusions on the inner side of the connecting plate, so that the manual locking and unlocking operation of the brake is realized.

Further, the tail end of the handle is hinged on the supporting frame through a shaft, and the tail end of the handle is of a cam structure which is in contact with the pushing section. When the handle rotates, the cam structure at the tail end of the handle can drive the pushing section to move forwards and backwards, and finally locking and unlocking of the locking structure are completed.

Further, the pushing section comprises a movable rod penetrating through the thin movable shaft, a sleeve rod is arranged on the side face of the movable rod, the sleeve rod penetrates out of a waist-shaped groove on the side wall of the thin movable shaft, a sliding sleeve ring is sleeved on the sleeve rod, a first transmission connecting rod is hinged to the outer side of one end of the sliding sleeve ring through a shaft, a second transmission connecting rod and a third transmission connecting rod are hinged to the tail end of the first transmission connecting rod through a shaft, the tail end of the second transmission connecting rod is hinged to the thick movable shaft through a shaft, the tail end of the third transmission connecting rod is hinged to the thin movable shaft through a shaft, and the other end of the sliding sleeve ring is in contact with a cam structure at the tail end of the handle. The pushing section is formed by installing a plurality of connecting rods in a shaft movable connection mode, when the sliding lantern ring moves forwards and backwards, the plurality of transmission connecting rods drive the coarse movement shaft to move and the fine movement shaft to move up and down, and further the corresponding brake pulling piece I and the brake pulling piece II are driven to open and close through the coarse movement shaft to move and the fine movement shaft to complete locking and unlocking of the brake.

The third aspect of the invention provides a passive enabling universal wheel, which adopts the brake and further comprises a push plate pusher, a push plate and a pushing section; the pressing device comprises a coarse moving shaft and a fine moving shaft inserted into the coarse moving shaft, a plurality of staggered pressing blocks are arranged on the outer walls of the coarse moving shaft and the fine moving shaft, the tail ends of a first braking shifting piece and a second braking shifting piece are in contact with the pressing blocks, the coarse moving shaft and the fine moving shaft are connected with a pushing plate through a pushing section, a bearing side plate is fixed on the inner side wall of a base through bolts, a transverse plate is arranged between the bearing side plates, and a pushing plate pusher is arranged above the transverse plate. The passive pressure that produces when enabling the universal wheel through the bearing drives the propelling movement section and accomplishes the operation to locking structure, accomplishes the locking in the bearing, avoids removing, unlocks the universal wheel after releasing weight, conveniently removes.

Further, the pushing section comprises a movable rod penetrating through the thin movable shaft, a sleeve rod is arranged on the side face of the movable rod, the sleeve rod penetrates out of a waist-shaped groove on the side wall of the thin movable shaft, a sliding sleeve ring is sleeved on the sleeve rod, a first transmission connecting rod is hinged to the outer side of the bottom end of the sliding sleeve ring through a shaft, a second transmission connecting rod and a third transmission connecting rod are hinged to the tail end of the first transmission connecting rod through a shaft, the tail end of the second transmission connecting rod is hinged to the thick movable shaft through a shaft, the tail end of the third transmission connecting rod is hinged to the thin movable shaft through a shaft, and the top end of the sliding sleeve ring is fixedly connected with the push plate. The pushing section is matched with the pushing plate pusher to complete the up-and-down motion of the coarse moving shaft and the fine moving shaft, so that the corresponding brake pulling piece I and the corresponding brake pulling piece II are driven to rotate, and the unlocking and locking operation of the brake is completed.

Further, the push plate pusher comprises a bearing column fixedly connected with the transverse plate, the upper end of the bearing column is fixedly connected with the inner wall of the barrel at the lower end of the bearing base through a second bearing, the middle part of the bearing column is in a through shape, the force guide rod penetrates through the upper surface of the bearing base after penetrating through the bearing column, and the middle part of the bearing base is provided with a force guide rod through hole with the diameter smaller than the inner diameter of the barrel at the lower end of the bearing base. The push plate pusher can bear the weight, can accomplish again and turn to the operation and can also satisfy the guide effect to the guide bar of stopper propelling movement section, satisfy the operation demand of whole universal wheel.

Further, a first bearing is further installed between the inner side of the top plate of the bearing base and the upper side of the second bearing, the first bearing is a thrust bearing, the second bearing is a radial bearing, and the first bearing is in contact with the inner ring of the second bearing and is not in contact with the outer ring of the second bearing. The added first load bearing improves the load carrying capacity of the overall device.

A fourth aspect of the invention provides a surgical robot comprising a brake as described above.

A fifth aspect of the invention provides a surgical robot comprising a manual brake as described above.

A sixth aspect of the present invention provides a surgical robot comprising a passively-enabled universal wheel as described above.

By means of the scheme, the invention has at least the following advantages:

1. in the braking and releasing process of the brake, the positions of the moving part and the static part are not changed, so that the brake does not slide, and the position accuracy of the moving part is improved.

2. The annular protrusions of the circumferential connecting plate of the brake have a large number, almost have no response delay, and are similar to a bonding structure, so that the phenomenon of slipping like a dental disc structure is avoided.

3. The brake has simple structure, symmetry, few types of parts (the same parts are reused, the multiplexing rate is high), convenient processing and manufacturing and low cost.

4. The brake of the invention has a compact structure and can be applied to a joint driving device of a surgical robot with multiple degrees of freedom.

5. The manual brake is of a pure mechanical structure, is high in reliability, is used for manual braking, and improves the braking flexibility of a robot.

The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate a certain embodiment of the present invention and therefore should not be considered as limiting the scope, and that other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a brake construction of the present invention;

FIG. 2 is a schematic diagram of the internal structure of FIG. 1 in accordance with the present invention;

FIG. 3 is an exploded view of FIG. 1 of the present invention;

FIG. 4 is a schematic view of the structure of the connection plate of the brake of the present invention;

FIG. 5 is an exploded schematic view of the support and brake paddles of the brake of the present invention;

FIG. 6 is a combined schematic of FIG. 5 of the present invention;

FIG. 7 is another schematic view of the view of FIG. 6 in accordance with the present invention;

FIG. 8 is a schematic illustration of the coil assembly of the brake of the present invention and the mating of FIG. 6;

FIG. 9 is a schematic structural view of a brake pad of the present invention;

FIG. 10 is a schematic view of the structure of the brake paddles of the present invention mounted alternately in opposite directions;

FIG. 11 is another embodiment of the brake of the present invention;

FIG. 12 is another schematic view of the view of FIG. 10 in accordance with the present invention;

FIG. 13 is a schematic structural view of the manual brake of the present invention;

FIG. 14 is an internal schematic view of FIG. 12 of the present invention;

FIG. 15 is another schematic view of the view of FIG. 13 in accordance with the present invention;

FIG. 16 is an internal schematic view of the manual brake of the present invention;

FIG. 17 is a front view of FIG. 15 in accordance with the present invention;

FIG. 18 is a schematic illustration of the use of the manual brake of the present invention;

FIG. 19 is a second schematic interior view of the manual brake of the present invention;

FIG. 20 is a front view of FIG. 18 of the present invention;

FIG. 21 is a cross-sectional view of FIG. 19 of the present invention;

FIG. 22 is a schematic structural view of a passively enabled caster of the present invention;

FIG. 23 is a front view of FIG. 21 in accordance with the present invention;

FIG. 24 is a partial schematic view of FIG. 21 of the present invention;

FIG. 25 is a cross-sectional view of FIG. 22 in accordance with the present invention;

in the figure, 11, a connecting plate, 12, a base, 13, a compactor, 14, a support, 16, a reset mechanism, 17 and a supporting shaft;

142. The brake device comprises a support shaft mounting hole 151, a brake pulling piece I152, a brake pulling piece II 1121, an annular protrusion 1312, a pressing block 1512, a pressing plate 1513, a brake push rod 1514, a through hole 1515, a groove 1516 and an avoidance groove;

161. Springs 162, inner grooves 163, inner springs;

32. The device comprises a support frame, 33, a sliding lantern ring, 34, a first transmission connecting rod, 35, a second transmission connecting rod, 36, a third transmission connecting rod, 37, a coarse movement shaft, 38, a fine movement shaft, 39, a handle, 321, a pushing section, 322, a movement rod, 323 and a lantern rod;

42. the roller is provided with a bearing 492, a push plate 493, a bearing side plate 494 and a transverse plate;

511. The bearing base 512, the first bearing, 513, the second bearing, 514, the bearing column body, 515 and the force guide rod through hole;

61. and a bearing wheel.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

In some embodiments, referring to fig. 1-12, a brake of the present invention includes a base 12 and a connecting plate 11, one of the base 12 and the connecting plate 11 is connected with a moving part to be braked, the other is stationary fixed, a support 14 is fixed on the base 12, a brake pulling piece one 151 and a brake pulling piece two 152 are installed in a gap between the supports 14, a presser 13 is configured at the center position of the base 12 and the connecting plate 11, a complete circle of saw-tooth shaped annular protrusions 1121 are arranged on the inner side of the connecting plate 11, a brake pulling piece one 151 and a brake pulling piece two 152 are provided with a brake pulling rod 1513 matched with clamping grooves formed between two adjacent annular protrusions 1121 at the front ends, the presser 13 is abutted with the tail ends of the brake pulling piece one 151 and the brake pulling piece two 152 to provide a force for enabling the brake pulling rod 1513 to be embedded into or pulled out of the clamping grooves, and a reset mechanism 16 is further arranged at the front ends of the brake pulling piece one 151 and the brake pulling piece two 152 to provide a force opposite to the force effect provided by the presser 13.

In some embodiments, when the brake needs to be unlocked, the presser 13 installed in the brake needs to be in contact with the tail ends of the first brake pad 151 and the second brake pad 152 to apply force when the brake 13 works, so that the brake pad 151 and the second brake pad 152 are driven to rotate reversely to enable the tail ends of the first brake pad 151 and the second brake pad 152 to approach each other, and therefore the brake push rod 1513 at the head ends of the first brake pad 151 and the second brake pad 152 are separated from the clamping groove between the annular protrusions on the inner side of the connecting plate 11, and at the moment, the external transmission mechanism installed on the connecting plate 11 can rotate to normally transmit power. After unlocking, when the external transmission mechanism is required to be braked, the pressing device 13 stops applying force to the tail ends of the first brake pulling piece 151 and the second brake pulling piece 152, and drives the first brake pulling piece 151 and the second brake pulling piece 152 to reversely rotate under the action of the force of the reset mechanism 16, so that the brake push rod 1513 at the head ends of the first brake pulling piece 151 and the second brake pulling piece 152 is clamped into the clamping groove between the annular protrusions at the inner side of the connecting plate 11 again, and the locking of the connecting plate 11, namely the braking of the transmission mechanism, can be completed due to the fact that the base 12 is arranged on the fixed and static mechanism.

In some embodiments, the action of the presser 13 and the return mechanism 16 can be exchanged when the brake is unlocked or locked, i.e. in contrast to the previous embodiments, the presser 13 is locked when operated and the return mechanism is unlocked. Of course, this depends on the structure and mounting position of the presser 13 and the return mechanism 16, which will be described in detail in the subsequent embodiments.

In some embodiments, the presser 13 includes a first coil assembly 131 and a second coil assembly 132 that are disposed opposite to each other, wherein a pressing block 1312 is disposed on an outer periphery of the first coil assembly 131 at a position corresponding to a rear end of the first brake pad 151 such that the pressing block 1312 abuts against a pressing plate 1512 at a rear end of the first brake pad 151, and a pressing block 1312 is also disposed on an outer periphery of the second coil assembly 132 at a position corresponding to a rear end of the second brake pad 152 such that the pressing block 1312 abuts against the pressing plate 1512 at a rear end of the second brake pad 152.

The compactor 13 adopts the first coil assembly 131 and the second coil assembly 132, the first coil assembly 131 and the second coil assembly 132 are attracted to each other after the first coil assembly and the second coil assembly 132 are electrified, when the unlocking operation of the connecting plate 11 is needed, the first coil assembly 131 and the second coil assembly 132 are electrified and attracted, the first brake pulling piece 151 and the second brake pulling piece 152 are driven to rotate through the pressing block 1312, and the end parts of the first brake pulling piece 151 and the second brake pulling piece 152 are opened to finish the unlocking operation.

In some embodiments, the first brake pad 151 and the second brake pad 152 are identical in structure, and are installed in a gap between two adjacent supports 14 in a staggered manner in opposite directions or are installed in a gap between two adjacent supports 14 in an alternating manner in opposite directions, the first brake pad 151 and the second brake pad 152 comprise through holes 1514 for the supporting shafts 17 to pass through, and two ends of the supporting shafts 17 are respectively inserted into the supporting shaft installation holes 142 on the side walls of the two adjacent supports 14.

As shown in fig. 7 and 10, in fig. 7, the first brake pad 151 and the second brake pad 152 are installed in the gap between two adjacent supports 14 in opposite and staggered manner, in fig. 10, the first brake pad 151 and the second brake pad 152 are installed in the gap between two adjacent supports 14 in opposite and staggered manner, and the different installation modes for the first brake pad 151 and the second brake pad 152 are adopted, so that the locking mechanism can be suitable for different application situations, more mechanisms for locking can be applied to the situation requiring larger locking force, and fewer mechanisms for locking can play a role in reducing the weight of the brake and reducing the assembly difficulty and the production cost.

The first brake pulling piece 151 and the second brake pulling piece 152 are movably arranged between the two supports 14 through the supporting shaft 17, so that the first brake pulling piece 151 and the second brake pulling piece 152 can rotate along the supporting shaft 17, self-help resetting of the first brake pulling piece 151 and the second brake pulling piece 152 is completed through the resetting mechanism 16, and unlocking efficiency is improved.

In some embodiments, the reset mechanism 16 includes a spring 161, a groove 1515 is disposed on the outer side of the first brake pad 151 and the second brake pad 152, one end of the spring 161 is placed in the groove 1515, and the other end abuts against the inner wall of the base 12 or the connecting plate 11.

The return mechanism 16 is a spring 161 installed in the groove 1515, when the coil assembly 131 and the coil assembly 132 lose suction after power failure, the spring 161 is propped against the inner wall of the base 12 or the connecting plate 11, the brake pulling piece 151 and the brake pulling piece 152 rotate along the supporting shaft 17, the ends of the brake pulling piece 151 and the brake pulling piece 152 are closed, and the brake push rod 1513 at the ends of the brake pulling piece 151 and the brake pulling piece 152 is clamped between the annular protrusions 1121 on the inner wall of the connecting plate 11 again, so that locking operation is completed.

In some embodiments, the reset mechanism 16 includes an inner spring 163, and inner grooves 162 are disposed on inner sides of the first brake pad 151 and the second brake pad 152, respectively, and the inner spring 163 is mounted in the inner grooves 162.

When the inner spring 163 is used as a reset structure, the first coil assembly 131 and the second coil assembly 132 of the pressing device 13 are mutually exclusive after being electrified, the tail ends of the first brake pulling piece 151 and the second brake pulling piece 152 are provided with pulling pieces which extend outwards, just the outer sides of the first coil assembly 131 and the second coil assembly 132 are clamped between the pulling pieces, after being electrified, the outer sides of the first brake pulling piece 151 and the second brake pulling piece 152 are mutually exclusive, the outer sides of the first brake pulling piece 151 and the second brake pulling piece 152 are driven to clamp along the rotating front end of the shaft, the end part of the brake pulling rod 1513 is clamped between the annular protrusions 1121 on the inner wall of the connecting plate 11, locking of the brake is completed, and when the first coil assembly 131 and the second coil assembly 132 are powered off, the inner spring 163 between the first brake pulling piece 151 and the second brake pulling piece 152 is used as an elastic piece which resets, the first brake pulling piece 151 and the second brake pulling piece 152 are reset, and the end part of the brake pulling rod 1513 is separated from between the annular protrusions 1121 on the inner wall of the connecting plate 11, and unlocking is completed.

The first coil assembly 131 and the second coil assembly 132 are electromagnetic coils, and when the spring 161 is adopted, the first coil assembly 131 and the second coil assembly 132 form different magnetic poles after being electrified, so that the first coil assembly 131 and the second coil assembly 132 can attract each other, and the first coil assembly 131 and the second coil assembly 132 drive the corresponding first brake pulling piece 151 and the second brake pulling piece 152 to rotate along the supporting shaft 17 to enable the first ends of the first brake pulling piece 151 and the second brake pulling piece 152 to be far away;

When the inner spring 163 is adopted, the first coil assembly 131 and the second coil assembly 132 form the same magnetic pole after being electrified, the first coil assembly 131 and the second coil assembly 132 mutually repel each other, and the first coil assembly 131 and the second coil assembly 132 drive the corresponding first brake pulling piece 151 and the second brake pulling piece 152 to rotate along the supporting shaft 17, so that the head ends of the first brake pulling piece 151 and the second brake pulling piece 152 are close.

In some embodiments, the connection plate 11 comprises a transmission connection plate 111 and a circumferential connection plate 112, the transmission connection plate 111 is fixedly connected with the circumferential connection plate 112, and is also fixedly connected with a moving part needing braking, and the saw-tooth-shaped annular protrusions 1121 of the whole circle are distributed on the inner ring of the circumferential connection plate 112.

The assembled structural design is adopted, so that the brake is convenient to repair and maintain.

The working principle of the invention is as follows:

The brake drives the ends of the first brake pulling sheet 151 and the second brake pulling sheet 152 to open and close through mutual attraction or mutual repulsion performed after the first coil assembly 131 and the second coil assembly 132 are electrified, so that the brake push rod 1513 at the ends of the first brake pulling sheet 151 and the second brake pulling sheet 152 is finally separated from or embedded into the annular bulge 1121, unlocking or locking operation of the brake is completed, a conventional friction plate structure is canceled, locking cannot be completed quickly when the friction plate structure performs locking operation, a sliding position exists between a moving part and a static part due to a certain rotation movement interval, and the brake structure is adopted, so that the relative position between the moving part (the connecting plate 11) and the static part (the base 12) is unchanged in the braking or unlocking process, no sliding exists, the position accuracy is greatly improved, the control difficulty is reduced, and the brake is particularly suitable for the medical robot field with high accuracy requirements and complex control. And because the gradual change of the locking force of the friction plate structure causes response delay, and the annular protrusions 1121 are adopted, when the number of the annular protrusions 1121 is enough, the theoretical locking operation only has the sliding distance between the two protrusions 1121, and the whole angle deflection of the locking part is required to be small at the moment, so that the response delay of braking is greatly reduced.

In some embodiments, see fig. 13-21; unlike the previous embodiment, the manual brake of the present invention replaces the presser 13 with a manually driven structure, the first coil assembly 131 and the second coil assembly 132 are replaced with a common structure with a coarse moving shaft 37 and a fine moving shaft 38 (without coils), the handle drives the pushing section 321 to operate when rotating, and finally drives the first brake pad 151 and the second brake pad 152 to rotate along the supporting shaft 17, so that the first brake pad 151 and the second brake pad 152 are separated from the annular protrusion 1121 by the inward brake push rod 1513, and the unlocking operation is completed.

In some embodiments, the end of the handle 39 is pivotally hinged to the support frame 32, and the end of the handle 39 is a cam structure that contacts the push section 321.

The tail end of the handle 39 adopting the cam structure, when the handle 39 is positioned at different positions, the positions of the pushing sections 321 contacted with the end parts are also different, and under the condition of different positions of the pushing sections 321, the coarse moving shaft 37 and the fine moving shaft 38 are driven to move in different directions, so that the position control of the outer ends of the first brake shifting sheet 151 and the second brake shifting sheet 152 is finished, and finally the locking or unlocking operation of the manual brake is finished.

In some embodiments, the pushing section 321 includes a movable rod 322 penetrating through the thin movable shaft 38, a loop bar 323 is arranged on the side surface of the movable rod 322, the loop bar 323 penetrates through a waist-shaped groove 324 on the side wall of the thin movable shaft 38, a sliding collar 33 is sleeved on the loop bar 323, one end outer side of the sliding collar 33 is hinged with a first transmission connecting rod 34 through a shaft, the tail end of the first transmission connecting rod 34 is hinged with a second transmission connecting rod 35 and a third transmission connecting rod 36 through a shaft, the tail end of the second transmission connecting rod 35 is hinged with the thick movable shaft 37 through a shaft, the tail end of the third transmission connecting rod 36 is hinged with the thin movable shaft 38 through a shaft, and the other end of the sliding collar 33 is in contact with a cam structure of the tail end of the handle 39.

In the process that the handle 39 is in an unlocking state (the handle is in a vertical state in fig. 17) after rotating, the sliding collar 33 is driven to move rightwards by a cam at the tail end of the handle 39, the sliding collar 33 is arranged on the loop bar 323, the sliding collar 33 drives the outer ends of the second transmission connecting rod 35 and the third transmission connecting rod 36 to move to two sides when the loop bar 323 moves rightwards, and further, the brake pulling piece I151 and the brake pulling piece II 152 are driven to carry out closing operation by the pressing block 1312 on the fine moving shaft 38 and the coarse moving shaft 37, unlocking is completed, when locking is needed, only the handle 39 is required to be reversely rotated, and the brake pulling piece I151 and the brake pulling piece II 152 are reset under the action of the spring 161, so that locking is realized.

The working principle of the invention is as follows: as shown in fig. 18, this manual brake releases the braking process: the operator manually pulls the handle 39 to a relaxed state, rotates the handle around the shaft, so that the lower end pushes the sliding collar 33 to move rightward, and the fine movable shaft 38 (upward in the drawing) and the coarse movable shaft 37 (downward in the drawing) are relatively separated and moved by the first transmission link 34, the second transmission link 35 and the third transmission link 36, so that the brake push rod 1513 of the brake pulling plate one 151 is pulled out from each protrusion interval of the annular protrusion 1121 against the thrust of the spring 161, thereby completing the process of releasing the brake.

The braking process comprises the following steps: as shown in fig. 18, the operator manually pulls the handle 39 to the braked state, and the lower end of the handle is retracted to the left. Under the action of the pushing force of the spring 161, a brake ejector rod 1513 of the brake pulling piece one 151 is embedded into each protrusion interval of the annular protrusion 1121 of the circumferential connecting plate 112, so that braking is completed; meanwhile, under the action of the pushing force of the compression spring 161, the other end of the first brake pulling piece 151 is pushed, so that the fine moving shaft 38 is driven to move downwards and the coarse moving shaft 37 is driven to move upwards relatively and separately, and the sliding sleeve ring 33 moves leftwards and is reset under the action of the first transmission connecting rod 34, the second transmission connecting rod 35 and the third transmission connecting rod 36.

22-25, A passively-enabled universal wheel of the present invention, employing the aforementioned brakes, further includes a push plate pusher 51, a push plate 492, a push section 321; wherein, the compactor 13 includes a coarse moving shaft 37 and a fine moving shaft 38 inserted into the coarse moving shaft 37, a plurality of press blocks 1312 are arranged on the outer walls of the coarse moving shaft 37 and the fine moving shaft 38 in a staggered way, the tail ends of a first brake pulling piece 151 and a second brake pulling piece 152 are contacted with the press blocks 1312, the coarse moving shaft 37 and the fine moving shaft 38 are connected with a push plate 492 through a pushing section 321, a bearing side plate 493 is fixed on the inner side wall of the base 12 through bolts, a transverse plate 494 is arranged between the bearing side plates 493, and a push plate pusher 51 is arranged above the transverse plate 494.

The pushing section 321 is driven to move downwards by the pushing plate pusher 51 to unlock the universal wheels, and after the gravity applied to the Zhang Tuiban pusher 51 disappears, the pushing section 321 is driven to reset by the spring to complete locking.

In some embodiments, the pushing section 321 includes a movable rod 322 penetrating through the thin movable shaft 38, a loop bar 323 is arranged on the side surface of the movable rod 322, the loop bar 323 penetrates through a waist-shaped groove 324 on the side wall of the thin movable shaft 38, a sliding collar 33 is sleeved on the loop bar 323, a first transmission connecting rod 34 is hinged to the outer side of the bottom end of the sliding collar 33 through a shaft, a second transmission connecting rod 35 and a third transmission connecting rod 36 are hinged to the tail end of the first transmission connecting rod 34 through a shaft, the tail end of the second transmission connecting rod 35 is hinged to the thick movable shaft 37 through a shaft, the tail end of the third transmission connecting rod 36 is hinged to the thin movable shaft 38 through a shaft, and the top end of the sliding collar 33 is fixedly connected with the push plate 492.

The pushing section 321 is pushed by a push plate 493, which operates in a similar manner to the pushing section 321 in the manual brake described above. It will be appreciated that the impactor 13 and return mechanism 16 in this embodiment are similar in construction and positional relationship to the manual brake described above.

In some embodiments, the push plate pusher 51 includes a bearing column 514 fixedly connected to the transverse plate 494, the upper end of the bearing column 514 is fixedly connected to the inner wall of the barrel at the lower end of the bearing base 511 through a second bearing 513, the middle part of the bearing column 514 is in a through shape, the force guide rod 491 passes through the bearing column 514 and then passes out of the upper surface of the bearing base 511, and the middle part of the bearing base 511 is provided with a force guide rod through hole 515 with a diameter smaller than the inner diameter of the barrel at the lower end of the bearing base 511.

The push plate pusher 51 includes a supporting bearing column 514 and a transverse plate 494, when the force guide rod 491 is pressed upwards, downward pressure is applied to the sliding collar 33 through the transverse plate 494, so as to drive the locker to complete unlocking operation, and after the gravity applied to the force guide rod 491 disappears, the force guide rod 491 is driven to reset by using components such as springs to complete locking. That is, in most cases, the universal wheel is in a locked state, so that the safety of the device can be improved.

In some embodiments, the presser 13 and the return mechanism 16 may also be different from the installation position in the manual brake described above, but a solution is adopted with the return mechanism 16 of the "internal spring" in the brake described above and the presser 13 matched with it, i.e. unlocked under the action of the internal spring and locked under the action of the presser 13. At this time, the universal wheel is in an unlocked state in most cases. In some embodiments, a first load bearing 512 is also mounted between the top plate inner side of the load bearing base 511 and the upper side of the second load bearing 513, the first load bearing 512 being a thrust bearing, the second load bearing 513 being a radial bearing, the first load bearing 512 being in contact with the inner ring of the second load bearing 513 and not in contact with the outer ring of the second load bearing 513.

The structure of the push plate pusher 51, the push plate pusher 51 comprises a bearing bottom plate 511, a first bearing 512, a second bearing 513 and a bearing column 514 which are connected with a device base, and the lower end of the bearing column 514 is connected with a bearing side plate 43. Specifically, the upper part of the load-bearing bottom plate 511 is a plate-shaped member having a through hole, and the lower part is a cylindrical member having a larger aperture than the through hole, and a first load-bearing 512 and a second load-bearing 513 are installed in the cylindrical member. The second bearing 513 is a radial bearing, the inner ring is fixedly connected with the outer surface of the bearing cylinder 514, and the outer ring is fixedly connected with the inner surface of the cylindrical member. The first load bearing 512 is a thrust bearing, and has an upper end mounted to the bottom of the plate-like member and a lower end mounted to the inner race of the second load bearing 513. Through the combination of the two bearings, the free rotation of the universal wheel in the horizontal direction can be ensured, and the universal wheel can bear larger gravity and is applicable to equipment with larger weight.

The working principle of the invention is as follows:

The load-bearing wheel 61 is mounted on a load-bearing 42 fixedly connected to the connection plate 11 of the brake, and the load-bearing 42 is fitted over a load-bearing shaft (not shown in the drawings, located in the fine moving shaft 38) so that the load-bearing wheel 61 rotates or stands simultaneously with the connection plate 11 of the brake. The base 12 of the brake is fixedly connected with a bearing side plate 43, and the bearing side plate 43 is arranged on the side of the push plate pusher 51. Thus, the relative stationary or rotational movement of the brake link plate 11 and the base 12 simultaneously limits the relative stationary or rotational movement of the load bearing wheel 61 and the equipment base, thereby effecting locking or release of the universal wheel.

Further describing the structure of the above-mentioned presser 13, the coarse moving shaft 37 is sleeved outside the fine moving shaft 38, and the coarse moving shaft and the fine moving shaft can slide relatively. The two movable shafts are further connected through three first transmission connecting rods 34, second transmission connecting rods 35 and third transmission connecting rods 36, and the other ends of the first transmission connecting rods 34 are connected to the sliding lantern rings 33 of the force guide assembly, so that the adjusting plates 131 and 132 relatively slide under the action of the sliding lantern rings 33 to realize braking and releasing of the brake.

Next, the structure of the force guide assembly is described, the force guide assembly includes a force guide rod 491 located inside the load bearing end assembly 51 and a sliding collar 33 connected to the force guide rod, the force guide rod 491 being a rod-shaped member having a flat plate-shaped base at a lower end thereof for transmitting the force of controlling the universal wheel to the brake. The upper end of the force guide rod 491 is connected with an operating component on the device for controlling the universal wheel, the operating component applies downward acting force to the force guide rod 491 according to the action of an operator, and the force guide rod 491 moves downwards to drive the first transmission connecting rod 34, the second transmission connecting rod 35 and the third transmission connecting rod 36 to act so as to control the release of the universal wheel. The illustration is in the default state, i.e. the castor is in the locked state due to the spring force of the brake spring.

The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;

Secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;

Finally: the above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A brake, characterized in that: the brake device comprises a base (12) and a connecting plate (11), wherein one of the base (12) and the connecting plate (11) is connected with a moving part needing to be braked, the other one is fixed statically, a support (14) is fixed on the base (12), a first brake push rod (151) and a second brake push rod (152) are arranged in a gap between the supports (14), a pressing device (13) is arranged at the center position of the base (12) and the connecting plate (11), a whole circle of saw-tooth annular protrusions (1121) are arranged on the inner side of the connecting plate (11), a brake push rod (1513) matched with clamping grooves formed between two adjacent annular protrusions (1121) is arranged at the front ends of the first brake push rod (151) and the second brake push rod (152), the pressing device (13) is in contact with the tail ends of the first brake push rod (151) and the second brake push rod (152) to provide force for enabling the brake push rod (1513) to be embedded into or separated from the clamping grooves, and a reset mechanism (16) is further arranged at the front ends of the first brake push rod (151) and the second brake push rod (152) to provide force opposite to the pressing device (13).

2. A brake according to claim 1, wherein: the pressing device (13) comprises a first coil assembly (131) and a second coil assembly (132) which are oppositely arranged, wherein a pressing block (1312) is arranged at the position, corresponding to the tail end of the first brake pulling piece (151), of the outer ring of the first coil assembly (131), so that the pressing block (1312) is abutted with a pressing plate (1512) at the tail end of the first brake pulling piece (151), and a pressing block (1312) is also arranged at the position, corresponding to the tail end of the second brake pulling piece (152), of the outer ring of the second coil assembly (132), so that the pressing block (1312) is abutted with the pressing plate (1512) at the tail end of the second brake pulling piece (152).

3. A brake according to claim 1, wherein: the first brake pulling sheet (151) and the second brake pulling sheet (152) are consistent in structure, are installed in gaps between two adjacent supports (14) in opposite dislocation or are installed in gaps between two adjacent supports (14) in opposite alternation, the first brake pulling sheet (151) and the second brake pulling sheet (152) comprise through holes (1514) used for allowing a supporting shaft (17) to pass through, and two ends of the supporting shaft (17) are respectively inserted into supporting shaft installation holes (142) on the side walls of the two adjacent supports (14).

4. A brake according to claim 1, wherein: the reset mechanism (16) comprises a spring (161), grooves (1515) are formed in the outer sides of the first brake pulling piece (151) and the second brake pulling piece (152), one end of the spring (161) is placed in the grooves (1515), and the other end of the spring is abutted against the inner wall of the base (12) or the connecting plate (11).

5. A brake according to claim 1, wherein: the reset mechanism (16) comprises an inner spring (163), the inner sides of the first brake pulling piece (151) and the second brake pulling piece (152) are respectively provided with an inner groove (162) correspondingly, and the inner spring (163) is arranged in the inner grooves (162).

6. A brake according to claim 1, wherein: the connecting plate (11) comprises a transmission connecting plate (111) and a circumferential connecting plate (112), wherein the transmission connecting plate (111) is fixedly connected with the circumferential connecting plate (112) and is fixedly connected with a moving part needing to be braked, and the zigzag annular protrusions (1121) of the whole circle are distributed on the inner ring of the circumferential connecting plate (112).

7. A manual brake employing the brake of any one of claims 1, 3, 4 or 6, further comprising a handle (39) and a push section (321); the pressing device (13) comprises a coarse moving shaft (37) and a fine moving shaft (38) inserted into the coarse moving shaft (37), a plurality of pressing blocks (1312) are arranged on the outer walls of the coarse moving shaft (37) and the fine moving shaft (38) in a staggered mode, tail ends of a first braking shifting piece (151) and a second braking shifting piece (152) are abutted to the pressing blocks (1312), and the coarse moving shaft (37) and the fine moving shaft (38) are connected with a handle (39) through a pushing section (321).

8. The manual brake according to claim 7, wherein: the tail end of the handle (39) is hinged on the supporting frame (32) through a shaft, the tail end of the handle (39) is of a cam structure, and the cam structure is contacted with the pushing section (321).

9. The manual brake according to claim 8, wherein: the pushing section (321) comprises a movable rod (322) penetrating through the thin movable shaft (38), a sleeve rod (323) is arranged on the side face of the movable rod (322), the sleeve rod (323) penetrates through a waist-shaped groove (324) on the side wall of the thin movable shaft (38), a sliding sleeve ring (33) is sleeved on the sleeve rod (323), a first transmission connecting rod (34) is hinged to the outer side of one end of the sliding sleeve ring (33) through a shaft, a second transmission connecting rod (35) and a third transmission connecting rod (36) are hinged to the tail end of the first transmission connecting rod (34) through a shaft, the tail end of the second transmission connecting rod (35) is hinged to the thick movable shaft (37) through a shaft, and the tail end of the third transmission connecting rod (36) is hinged to the thin movable shaft (38) through a shaft, and the other end of the sliding sleeve ring (33) is in contact with a cam structure at the tail end of the handle (39).

10. A passively-enabled castor employing the brake of any one of claims 1, 3, 4 or 6, wherein: the device also comprises a push plate pusher (51), a push plate (492) and a pushing section (321); wherein, the packer (13) includes coarse movement axis (37) and inserts fine movement axis (38) in coarse movement axis (37), there are a plurality of briquetting (1312) of dislocation on the outer wall of coarse movement axis (37) and fine movement axis (38), the tail end and briquetting (1312) contact of brake plectrum one (151) and brake plectrum two (152), coarse movement axis (37) and fine movement axis (38) are connected through pushing section (321) with push pedal (492), be fixed with bearing curb plate (493) through the bolt fastening on base (12) inside wall, install diaphragm (494) between bearing curb plate (493), push pedal pusher (51) are installed to diaphragm (494) top.

11. The passively-enabled universal wheel according to claim 10, wherein: the pushing section (321) comprises a movable rod (322) penetrating through the thin movable shaft (38), a sleeve rod (323) is arranged on the side face of the movable rod (322), the sleeve rod (323) penetrates through a waist-shaped groove (324) on the side wall of the thin movable shaft (38), a sliding sleeve ring (33) is sleeved on the sleeve rod (323), a first transmission connecting rod (34) is hinged to the outer side of the bottom end of the sliding sleeve ring (33) through a shaft, a second transmission connecting rod (35) and a third transmission connecting rod (36) are hinged to the tail end of the first transmission connecting rod (34) through a shaft, the tail end of the second transmission connecting rod (35) is hinged to the thick movable shaft (37) through a shaft, and the tail end of the third transmission connecting rod (36) is hinged to the thin movable shaft (38) through a shaft, and the top end of the sliding sleeve ring (33) is fixedly connected with the pushing plate (492).

12. The passively-enabled universal wheel according to claim 10, wherein: the push plate pusher (51) comprises a bearing column body (514) fixedly connected with a transverse plate (494), the upper end of the bearing column body (514) is fixedly connected with the inner wall of the barrel body at the lower end of the bearing base (511) through a second bearing (513), the middle part of the bearing column body (514) is in a through shape, a force guide rod (491) penetrates through the bearing column body (514) and then penetrates out of the upper surface of the bearing base (511), and a force guide rod through hole (515) with the diameter smaller than the inner diameter of the barrel body at the lower end of the bearing base (511) is arranged in the middle of the bearing base (511).

13. The passively-enabled universal wheel according to claim 12, wherein: a first bearing (512) is further arranged between the inner side of the top plate of the bearing base (511) and the upper side of the second bearing (513), the first bearing (512) is a thrust bearing, the second bearing (513) is a radial bearing, and the first bearing (512) is in contact with the inner ring of the second bearing (513) and is not in contact with the outer ring of the second bearing (513).

14. A surgical robot, characterized by: comprising a brake as claimed in any one of claims 1-6.

15. A surgical robot, characterized by: a hand brake comprising a brake according to any one of claims 7-9.

16. A surgical robot, characterized by: comprising a passively-enabled castor according to any of claims 10-13.