CN113925546B - Self-locking type brake device and magnetic anchoring equipment using same - Google Patents

Self-locking type brake device and magnetic anchoring equipment using same Download PDF

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Publication number
CN113925546B
CN113925546B CN202111237783.1A CN202111237783A CN113925546B CN 113925546 B CN113925546 B CN 113925546B CN 202111237783 A CN202111237783 A CN 202111237783A CN 113925546 B CN113925546 B CN 113925546B
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China
Prior art keywords
brake
guide
self
locking
rotary joint
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CN202111237783.1A
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CN113925546A (en
Inventor
张伟文
彭国会
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Shenzhen Jifu Medical Technology Co ltd
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Shenzhen Jifu Medical Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00411—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like actuated by application of energy from an energy source outside the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/14—Mechanical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/18—Mechanical mechanisms
    • F16D2125/58—Mechanical mechanisms transmitting linear movement
    • F16D2125/60—Cables or chains, e.g. Bowden cables
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Braking Arrangements (AREA)

Abstract

The invention discloses a self-locking type brake device which comprises a lock shaft part, a guide part, a bolt part and a control part, wherein the lock shaft part is fixedly arranged at a rotary joint in magnetic anchoring equipment, the guide part is fixedly arranged at the upper part of the lock shaft part, the bolt part is accommodated in a cavity between the lock shaft part and the guide part and axially slides, the bolt part is in sliding connection with the guide part, the control part is connected with the bolt part through a brake cable, and the self-locking type brake device can be switched between a self-locking state and a release state by operating a handle of the control part, so that the magnetic anchoring equipment is controlled to lock or restore a free suspension state at any position. The invention also provides a magnetic anchoring device adopting the self-locking type braking device. The self-locking type brake device disclosed by the invention can realize multi-joint synchronous braking by utilizing the principle of friction angle self-locking and applying smaller driving force externally, has small and compact appearance and large braking torque, and has great advantages compared with the traditional brake device.

Description

Self-locking type brake device and magnetic anchoring equipment using same
Technical Field
The invention relates to the field of medical appliances, in particular to a self-locking type brake device and magnetic anchoring equipment thereof.
Background
The magnetic anchoring technology is a technology for enabling an anchoring magnet to carry out non-contact space anchoring on a target magnet by utilizing magnetic attraction between magnets, and has the advantages of reducing the number of poking cards and reducing postoperative pain and complications when being applied to endoscopic minimally invasive surgery, and is mature in clinical application of surgery at present.
The magnetic anchoring technology comprises an external anchoring magnet and an internal target magnet, wherein the external anchoring magnet is characterized by large volume and large weight, special assistance equipment is needed for assisting movement and fixation in the minimally invasive endoscopic surgery, the specificity of the minimally invasive endoscopic surgery operation is determined, the assistance equipment is required to move the external anchoring magnet conveniently and flexibly enough, the rigidity during locking is required to be high enough to prevent surgical accidents caused by mistakenly touching the assistance equipment, and meanwhile, the locking and releasing switching is required to be flexible and quick, and the occupied surgical space is small.
The electromagnetic braking device disclosed in the Chinese patent publication No. CN110994889A and the magnetic powder braking device disclosed in the CN207935320U both use the magnetic force generated when the electromagnet is electrified to generate braking force between the turntable and the friction plate or the magnetic powder, and the braking force is positively related to the size of the coil of the electromagnet and the outer diameter of the turntable, so that the volume of the electromagnetic braking device is generally huge and the electromagnetic braking device must be externally connected with a power supply for use, so that the structure is complex.
The drum brake structure disclosed in the Chinese patent publication No. CN211715581U and the hydraulic disc brake device disclosed in the CN105691527B are both characterized in that a labor-saving mechanism is used for amplifying braking driving force into pressure between friction plates, the pressure is converted into braking friction force, when the volume is limited, the braking torque provided by the drum brake or the disc brake device is limited, when larger braking torque is needed, the driving force, the driving stroke or the outer diameter of a brake disc are correspondingly improved, and the requirements of convenience in braking, small volume, multi-joint locking and the like cannot be met.
The locking shaft device disclosed in the Chinese patent publication numbers CN209037826U and CN203497164U has the advantages of simpler structure and large locking moment, but cannot realize stepless braking, has complex locking operation, and is not suitable for occasions needing frequent switching.
In view of the shortcomings of the prior art, there is a need to develop a braking device which is small in size, high in locking strength, small in braking driving force, flexible and convenient, and capable of simultaneously locking multiple joints in a stepless manner, and a magnetic anchoring device using the same.
Disclosure of Invention
In a first aspect, the present invention provides a self-locking brake device, which includes a lock shaft portion, a guide portion, a plug pin portion, and a control portion, wherein the lock shaft portion is fixedly disposed at a rotary joint in a magnetic anchoring device, the guide portion is fixedly mounted on an upper portion of the lock shaft portion, the plug pin portion is accommodated in a cavity between the lock shaft portion and the guide portion to slide along an axial direction, the plug pin portion is slidably connected with the guide portion, and the control portion is connected with the plug pin portion through a brake cable.
Further, the lock shaft portion includes star gear, upper baffle, lower baffle, pivot, miniature spring and roller, wherein:
the star wheel is uniformly distributed with a plurality of spring mounting slots along the circumferential direction, the contact surfaces of the star wheel and the roller are symmetrically distributed along the circumferential direction, and the contact surfaces adopt any one of inclined surfaces, arc surfaces, logarithmic curved surfaces and Archimedes curved surfaces;
the upper baffle and the lower baffle are respectively fixedly arranged at the upper end and the lower end of the star wheel;
the star wheel, the upper baffle and the lower baffle form an integral structure which is fixedly arranged at a rotary joint of the magnetic anchoring device and is coaxial with a rotary shaft of the rotary joint;
the rotating shaft is coaxial with the star wheel and is rigidly connected with the rotating shaft of the magnetic anchoring device;
the rollers are annularly and uniformly distributed between the rotating shaft and the star wheel and can move along the circumferential direction of the rotating shaft;
the miniature springs are uniformly distributed between two adjacent rollers and apply thrust along the circumferential direction of the rotating shaft to the rollers, and the miniature springs bear the thrust of the two adjacent rollers in the same size and opposite directions.
Further, the roller is respectively attached to the star wheel and the rotating shaft under the thrust action of the miniature spring, and when the wedge angle of the star wheel and the roller is smaller than the friction angle, the rotating shaft, the roller and the star wheel form a self-locking structure.
Further, the guide part includes guide holder, reset spring, guide post, pulley shaft, pulley, brake pipe and brake cable, wherein:
the guide seat is fixedly arranged on the outer side of the upper baffle of the lock shaft part;
the two ends of the reset spring are respectively connected with the guide seat and the bolt part and are used for applying thrust force to the bolt part to move to one side of the lock shaft part;
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft;
the pulley shaft is fixedly arranged at the top of the cavity in the guide seat;
the pulley is rotationally connected with the pulley shaft;
the two ends of the brake pipe are respectively connected with the guide seat and the control part;
the brake cable movably penetrates through the brake tube, and two ends of the brake cable are respectively connected with the bolt part and the control part.
Further, the latch portion includes a latch plate, a bushing, a clip, and a taper pin, wherein:
the inner hole of the wire clamping column is fixedly connected with the tail end of the brake wire, and the outer side of the wire clamping column is fixedly connected with the latch plate;
the bushing is fixedly connected with the latch plate, an inner hole of the bushing is in sliding connection with the guide post, the inner diameter of the bushing is larger than the outer diameter of the guide post, and the mounting positions of the bushing correspond to the guide posts one by one and are coaxial; the taper pins comprise a large end and a small end, and the taper pins are uniformly distributed along the circumferential direction of the latch plate.
Further, the taper pin is axially located in the gap between each two pairs of rollers, and the taper pin center is equidistant from the adjacent two rollers.
Furthermore, the bolt plate is made of magnetic conductive materials.
Further, the guide part comprises a guide seat, a return spring and a guide post, wherein:
the guide seat is fixedly arranged on the outer side of the upper baffle plate of the lock shaft part, an electromagnet is arranged on the lower surface of the top of the cavity of the guide seat, and when the electromagnet is electrified, the latch plate compresses the reset spring to move upwards under the action of a magnetic field, and the lock shaft part is in a locking state; when the electromagnet is powered off, the latch plate moves towards the lock shaft part side under the thrust of the reset spring, and the lock shaft part is in a release state;
the two ends of the reset spring are respectively connected with the guide seat and the bolt part and are used for applying thrust force to the bolt part to move to one side of the lock shaft part;
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft.
Further, the control portion includes support, apron, bottom plate, clamp wire piece, step round pin, stop pin, sliding plate, connecting rod, handle and eccentric wheel, wherein:
the bottom plate is fixedly connected with the operation end of the magnetic anchoring device;
the upper end surface and the lower end surface of the bracket are respectively and fixedly connected with the cover plate and the bottom plate, the side surface is fixedly connected with the brake pipe, and the bottom surface is provided with a limit step structure;
the sliding plate is connected with the bracket in a sliding manner and can translate along a fixed direction in a limit step structure of the bracket, a wire clamping block, a step pin and a stop pin are arranged on the surface of the bracket, and the wire clamping block is fixedly connected with the brake cable;
the wire clamping block is provided with at least one fastening screw hole, and the fastening screw hole can independently adjust the tightness of each brake wire;
the handle is rotationally connected with the cover plate;
the eccentric wheel is fixedly connected with the handle;
the two ends of the connecting rod are respectively connected with the step pin and the eccentric wheel in a rotating way;
the stop pin is used for limiting the swing angle of the connecting rod.
Further, the brake tube and the built-in brake cable are respectively at least one, the bracket is connected with at least one brake tube, the cable clamping block is connected with at least one brake cable, and when the cable clamping block moves along with the sliding plate, the linkage brake cable slides in the brake tube.
Further, the guide part includes guide holder, reset spring, guide post, brake pipe and brake cable, wherein:
the guide seat is fixedly arranged on the outer side of the upper baffle of the lock shaft part;
the two ends of the reset spring are respectively connected with the guide seat and the bolt part and are used for applying thrust force to the bolt part to move to one side of the lock shaft part;
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft;
the hollow structure of the brake pipe accommodates a brake cable, and two ends of the brake pipe are respectively connected with the guide seat and the control part; the two ends of the brake cable are respectively connected with the bolt part and the control part, the brake pipe is fixedly connected with the top opening of the guide seat, and the brake cable is directly out from the guide seat opening.
In a second aspect, the present invention provides a magnetic anchoring device, where the magnetic anchoring device adopts the self-locking brake apparatus according to any one of the first aspect, and further includes a first rotary joint, a second rotary joint, a third rotary joint, and a universal rotary magnetic head, the lock shaft portion, the guide portion, and the plug pin portion of the self-locking brake apparatus are respectively mounted on the first rotary joint, the second rotary joint, and the third rotary joint of the magnetic anchoring device, and are coaxial with rotation axes of the first rotary joint, the second rotary joint, and the third rotary joint, and the control portion is mounted at a cantilever end of the magnetic anchoring device, and the first rotary joint, the second rotary joint, and the third rotary joint of the magnetic anchoring device are set to be suspended or locked in any state by operating the control portion.
Compared with the traditional band-type brake device, the band-type brake device has the advantages that the appearance is huge, the brake free angle is large, the brake torque is in direct proportion to the operation force, when a better brake effect is needed, the required operation force is also larger, and in addition, one operation handle can only control the brake device of one joint.
The self-locking type brake device provided by the invention utilizes the principle of friction angle self-locking, combines with ingenious structural design, can realize multi-joint synchronous braking by applying smaller driving force from outside, has small and simple appearance and large braking torque, and has great advantages compared with the traditional brake device.
Drawings
Fig. 1: the overall schematic of the self-locking brake device in the first embodiment of the invention.
Fig. 2: a partially cut-away exploded structural schematic view of a first embodiment of the present invention.
Fig. 3: a top view of a lock shaft portion of a first embodiment of the present invention.
Fig. 4 (a): fig. 3 is a schematic view of a partially enlarged structure of the self-locking state a.
Fig. 4 (b): fig. 3 is a partially enlarged schematic view of the structure of a in the released state.
Fig. 5: a schematic bottom view of the guide portion according to the first embodiment of the present invention.
Fig. 6 (a): the control part of the first embodiment of the invention is partially cross-sectional schematic in the self-locking state.
Fig. 6 (b): the control portion of the first embodiment of the present invention is a partially sectional structural schematic view in the released state.
Fig. 7: the magnetic anchoring device according to the first embodiment of the present invention is structured schematically.
Fig. 8: another preferred embodiment of the self-locking brake guide of the present invention is a partially cut-away schematic illustration.
Fig. 9: the guiding part and the bolt part of the self-locking brake device of the invention are partially cross-sectional structural schematic views of another preferred embodiment.
Each serial number and corresponding name are respectively: the locking shaft 10, the guide 20, the latch 30, the control 40, the magnetic anchoring device 50, the star 101, the upper shutter 102, the lower shutter 103, the rotating shaft 104, the micro spring 105, the roller 106, the guide holder 201, the return spring 202, the guide post 203, the pulley shaft 204, the pulley 205, the brake pipe 206, the brake cable 207, the electromagnet 208, the latch plate 301, the bushing 302, the clamp post 303, the taper pin 304, the bracket 401, the cover plate 402, the bottom plate 403, the clamp block 404, the step pin 405, the stopper pin 406, the slide plate 407, the link 408, the handle 409, and the eccentric 410.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, which is a schematic overall view of a self-locking brake apparatus according to a first embodiment of the present invention, and fig. 2, which is a schematic partially sectional exploded structure of the first embodiment of the present invention, the present invention discloses a self-locking brake apparatus, which includes a lock shaft 10, a guiding portion 20, a bolt portion 30, and a control portion 40, wherein the lock shaft 10 is fixedly installed at a rotary joint in a magnetic anchoring device, the guiding portion 20 is fixedly installed at an upper portion of the lock shaft 10, the bolt portion 30 is slidably connected with the guiding portion 20, and can slide in an axial direction in a space between the lock shaft 10 and the guiding portion 20, the control portion 40 is fixedly installed at an operation end in the device, and the control portion 40 is connected with the bolt portion 30 through a brake cable 207.
Referring to fig. 3, which is a top view of the lock shaft portion of the first embodiment of the present invention, the lock shaft portion 10 includes a star wheel 101, an upper baffle 102, a lower baffle 103, a rotating shaft 104, a micro spring 105, and a roller 106, wherein:
the inner ring of the star wheel 101 is of a uniformly distributed star-shaped structure, and a plurality of spring mounting slots are uniformly distributed along the circumferential direction;
further, the contact surface of the star wheel 101 and the roller 106 is a working surface, and the working surface adopts any one of an inclined surface, an arc surface, a logarithmic surface and an archimedes curved surface;
further, the working profiles of the star wheel 101 are distributed symmetrically in pairs along the circumferential direction;
the upper baffle 102 and the lower baffle 103 are fixedly arranged at the upper end and the lower end of the star wheel 101 respectively;
the star wheel 101, the upper baffle 102 and the lower baffle 103 form an integral structure which is fixedly arranged at a rotary joint of the magnetic anchoring device and is coaxial with a rotary shaft of the rotary joint;
the rotating shaft 104 is coaxial with the star wheel 101 and is rigidly connected with the rotating shaft of the equipment;
the rollers 106 are annularly and uniformly distributed between the rotating shaft 104 and the star wheel 101 and can move along the circumferential direction of the rotating shaft 104;
the micro springs 105 are uniformly distributed between two adjacent rollers 106, thrust along the circumferential direction of the rotating shaft 104 is applied to the rollers 106, and the magnitudes and the directions of the thrust applied by the micro springs 105 to the two adjacent rollers 106 are consistent.
Referring to fig. 2, which is a partially sectional exploded structure schematic view of the first embodiment of the present invention and fig. 5, which is a bottom structure schematic view of the guide portion of the first embodiment of the present invention, the guide portion 20 includes a guide holder 201, a return spring 202, a guide post 203, a pulley shaft 204, a pulley 205, a brake pipe 206, and a brake cable 207, wherein:
the guide seat 201 is fixedly arranged on the outer side of the upper baffle plate 102 of the lock shaft part 10, and a cavity capable of accommodating the bolt part 30 is formed in the guide seat 201;
the reset spring 202 is connected with the guide seat 201 and the bolt part 30 at both ends, and can apply a pushing force to the bolt part 30 to move to the lock shaft part 10 side;
one end of the guide post 203 is fixedly connected to the top of the cavity of the guide seat 201, the other end of the guide post 203 is in sliding connection with the plug pin part 30, and the axial direction of the guide post 203 is parallel to the rotation shaft of the rotating shaft 104;
the pulley shaft 204 is fixedly connected to the top of the cavity of the guide seat 201;
pulley 205 is rotatably coupled to pulley shaft 204;
both ends of the brake pipe 206 are respectively connected with the guide seat 201 and the control part 40;
the brake cable 207 penetrates through the brake pipe 206 and can slide in the cavity of the brake pipe 206;
further, the brake cable 207 is turned around the pulley 205, and both ends of the brake cable 207 are connected to the latch portion 30 and the control portion 40, respectively.
With further reference to fig. 2, the latch portion 30 includes a latch plate 301, a bushing 302, a clamp post 303, and a tapered pin 304, wherein:
the wire clamping column 303 is of a hollow cylindrical structure, an inner hole of the wire clamping column 303 is fixedly connected with the tail end of the brake wire 207, and meanwhile, the outer side of the wire clamping column 303 is fixedly connected with the latch plate 301;
the bushing 302 is of a hollow cylindrical structure, the bushing 302 is fixedly connected with the latch plate 301, an inner hole of the bushing 302 is in sliding connection with the guide post 203, the inner diameter of the bushing 302 is slightly larger than the outer diameter of the guide post 203 so as to accommodate the guide post 203, and the mounting positions of the bushing 302 correspond to the guide posts 203 one by one and are coaxial;
tapered pin 304 is a tapered pin having a taper, the tapered pin 304 comprising a large end and a small end;
further, the tapered pins 304 are uniformly distributed along the circumferential direction of the latch plate 301;
further, the tapered pin 304 is axially located in the gap between each two pairs of rollers 106, and the distance from the center of the tapered pin 304 to the adjacent two rollers 106 is equal;
further, when the lock shaft portion 10 is in the self-locking state, the large end size of the taper pin 304 is slightly larger than the gap between every two pairs of rollers 106, the small end size of the taper pin 304 is slightly smaller than the gap between every two pairs of rollers 106, and when the lock shaft portion is switched to the release state, the taper pin 304 is inserted into the gap between the rollers 106, so that the rollers 106 are forced to move in the direction of compressing the micro spring 105, and the rollers 106 are separated from the self-locking position.
Referring to fig. 4 (a) is a schematic diagram of a partial enlarged structure of fig. 3 a in a self-locking state, the roller 106 is respectively attached to the star wheel 101 and the rotating shaft 104 under the thrust of the micro spring 105, when the wedge angle between the star wheel 101 and the roller 106 is smaller than the friction angle, no slip occurs between the rotating shaft 104 and the roller 106, so that when the rotating shaft 104 receives a forward or reverse rotation torque, the rotating shaft 104, the roller 106 and the star wheel 101 form a self-locking structure, and the rotating shaft 104 does not rotate.
Referring to fig. 4 (b), fig. 4 (b) is a schematic view of a partially enlarged structure of fig. 3 a in a released state, when the brake cable 207 is not pulled, the latch portion 30 moves toward the lock shaft portion 10 under the urging force of the return spring 202, the taper pins 304 are inserted into the gaps between every two pairs of rollers 106, and at the same time, the tapered surfaces of the taper pins 304 push the rollers 106 to move in the direction of compressing the micro spring 105, the rollers 106 are disengaged from the self-locking position, and the rotating shaft 104 is free to rotate; when the brake cable 207 is pulled, the brake cable 207 pulls the latch portion 30 around the pulley 205 to compress the return spring 202, so that the latch portion 30 moves toward the guide portion 20, and simultaneously the tapered pin 304 is out of contact with the roller 106, the roller 106 returns to the self-locking position under the action of the micro spring 105, and the rotating shaft 104 is in a locked state and is not rotatable.
Referring to fig. 6 (a) a schematic partial sectional structure of the control portion of the first embodiment of the present invention in the self-locking state and fig. 6 (b) a schematic partial sectional structure of the control portion of the first embodiment of the present invention in the releasing state, the control portion 40 includes a bracket 401, a cover plate 402, a bottom plate 403, a wire clamping block 404, a step pin 405, a stop pin 406, a slide plate 407, a link 408, a handle 409, and an eccentric 410, wherein:
the bottom plate 403 is fixedly connected with the operation end of the magnetic anchoring device;
the upper end surface and the lower end surface of the bracket 401 are respectively and fixedly connected with a cover plate 402 and a bottom plate 403;
further, the side surface of the bracket 401 is fixedly connected with the brake pipe 206;
further, the bracket 401 is connected to at least one brake pipe 206;
further, a limiting step structure is arranged on the bottom surface of the support 401;
the sliding plate 407 is slidably connected with the bracket 401 and can translate along a fixed direction in a limit step structure of the bracket 401;
further, a wire clamping block 404, a step pin 405 and a stop pin 406 are arranged on the surface of the sliding plate 407, and the wire clamping block 404 is fixedly connected with the brake wire 207;
further, the wire clamping block 404 may be connected to at least one brake wire 207;
further, the wire clamping block 404 is provided with a plurality of fastening screw holes, and the screw holes can independently adjust the clamping position of each brake wire 207;
further, when the wire clamping block 404 moves along with the sliding plate 407, the brake wire 207 can be pulled to slide in the brake tube 206;
the handle 409 is rotatably connected with the cover plate 402;
the eccentric wheel 410 is fixedly connected with the handle 409 and can rotate along with the handle 409;
both ends of the connecting rod 408 are respectively rotatably connected with the step pin 405 and the eccentric wheel 410;
further, a stopper pin 406 is provided near the side dead center position of the link 408 for restricting the swing angle of the link 408;
when the handle 409 is operated, the eccentric wheel 410 drives the connecting rod 408 to swing by taking the axis of the step pin 405 as a rotating shaft, meanwhile, the connecting rod 408 pushes the sliding plate 407 to translate to form a crank sliding block mechanism, when the handle 409 needs to be switched to a release state, the handle 409 is rotated in a certain direction, the brake wire 207 slides towards the bolt part 30 under the action of the reset spring 202, the taper pin 304 is inserted into the lock shaft part 10, and the lock shaft part 10 is in the release state; when the switch to the self-locking state is required, the handle 409 is turned in the opposite direction, the connecting rod 408 is turned slightly beyond the dead point of the crank slider mechanism until contacting the stop pin 406, and the slide plate 407 pulls the brake cable 207 to slide toward the control part 40, the latch part 30 compresses the return spring 202 to move reversely, the taper pin 304 is pulled away from the lock shaft part 10, and the lock shaft part 10 is in the self-locking state.
Referring to fig. 7, a schematic structural diagram of a magnetic anchoring device according to a first embodiment of the present invention is shown, the magnetic anchoring device adopts a self-locking type braking device shown in fig. 1, the magnetic anchoring device 50 includes a first rotary joint 501, a second rotary joint 502, a third rotary joint 503 and a universal rotary magnetic head 504, the first rotary joint 501, the second rotary joint 502 and the third rotary joint 503 cooperate to enable the universal rotary magnetic head 504 at the cantilever end to be suspended at any point within a certain space range, and the whole body formed by the lock shaft portion 10, the guide portion 20 and the bolt portion 30 of the self-locking type braking device is mounted on the first rotary joint 501, the second rotary joint 502 and the third rotary joint 503 of the magnetic anchoring device 50 and is coaxial with the rotation axes of the first rotary joint 501, the second rotary joint 502 and the third rotary joint 503, the control portion 40 is mounted at the cantilever end of the magnetic anchoring device 50, and the first rotary joint 501, the second rotary joint 502 and the third rotary joint 503 can be in a free suspension state or locked at the current position by operating the control portion 40.
The working principle of the invention is described below: taking the most common cholecystectomy as an example, when the magnetic anchoring device 50 is adopted to perform endoscopic minimally invasive surgery, an operator firstly places the magnetic anchoring device 50 at a proper position close to a surgical sickbed to ensure that the working space of the magnetic anchoring device 50 covers an operation area, after anesthesia, puncture and other operations are performed on a patient according to a conventional operation flow, a magnetic anchoring clamp with a built-in small magnet or a magnetically permeable material is sent into the abdominal cavity of the patient to be clamped at a proper position of the gall bladder, then the operator moves the universal rotary magnetic head 504, and the operation such as movement, lifting and the like is performed on the gall bladder by utilizing the magnetic force action of the built-in external anchoring magnet on the magnetic anchoring clamp.
When the universal rotary magnetic head 504 is moved to a proper position, the handle 409 in the control unit 40 is operated to lock the first rotary joint 501, the second rotary joint 502 and the third rotary joint 503, the doctor performs the operation until the operator reversely operates the handle 409 after completing a certain operation stage, the operator can move the universal rotary magnetic head 504 to the next position, or the operator can reset the magnetic anchoring device 50 to finish the operation.
The magnetic anchoring device 50 can help a main knife doctor to keep the operation field clear, improve the operation efficiency, reduce the number of stamping cards, relieve the postoperative pain of a patient and shorten the recovery period.
Referring to fig. 8, a schematic partial sectional structure of another preferred embodiment of the guiding portion of the self-locking brake apparatus of the present invention can be omitted, and the pulley shaft 204 and the pulley 205 can be omitted, the brake pipe 206 is fixedly connected to the top opening of the guiding seat 201, the hollow structure of the brake pipe 206 accommodates the brake cable 207, and the brake cable 207 is directly extended from the opening of the guiding seat 201.
Referring to fig. 9, a schematic partial sectional structure of a guiding portion and a latch portion of a self-locking brake apparatus according to another preferred embodiment of the present invention can be omitted, the pulley shaft 204, the pulley 205, the brake pipe 206 and the brake cable 207 can be omitted, and the latch plate 301 is made of magnetic conductive material, and an electromagnet 208 is disposed downward on top of the cavity of the guiding seat 201. When the electromagnet 208 is electrified, the latch plate 301 compresses the reset spring 202 to move upwards under the action of a magnetic field, and the lock shaft part 10 is in a locking state; when the electromagnet 208 is de-energized, the latch plate 301 moves toward the lock shaft portion 10 by the urging force of the return spring 202, and the lock shaft portion 10 is in a released state.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (12)

1. The self-locking brake device is characterized by comprising a lock shaft part, a guide part, a bolt part and a control part, wherein the guide part further comprises a reset spring and a guide seat, the bolt part further comprises a conical pin, the lock shaft part further comprises a roller, a miniature spring, a star wheel and a rotating shaft, the control part further comprises a bracket, a handle, a step pin, an eccentric wheel, a connecting rod, a stop pin and a sliding plate, the lock shaft part is fixedly arranged at a rotary joint in magnetic anchoring equipment, the guide part is fixedly arranged at the upper part of the lock shaft part, the bolt part is accommodated in a cavity between the lock shaft part and the guide part and axially slides, the bolt part is in sliding connection with the guide part, the control part is connected with the bolt part through a brake cable, the guide seat is fixedly arranged at the outer side of an upper baffle of the lock shaft part, two ends of the reset spring are respectively connected with the guide seat and the bolt part, the tapered pin comprises a large end and a small end, the tapered pin is uniformly distributed along the circumferential direction of the latch plate, the rotating shaft is coaxial with the star wheel, the rotating shaft is rigidly connected with the rotating shaft of the magnetic anchoring device, the rollers are annularly and uniformly distributed between the rotating shaft and the star wheel and can move along the circumferential direction of the rotating shaft, the miniature springs are uniformly distributed between two adjacent rollers and apply thrust along the circumferential direction of the rotating shaft to the rollers, the sizes of the thrust applied by the miniature springs to the two adjacent rollers are consistent, the directions are opposite, the eccentric wheel is fixedly connected with the handle, the two ends of the connecting rod are respectively rotationally connected with the step pin and the eccentric wheel, the stop pin is used for limiting the swinging angle of the connecting rod, the sliding plate is connected with the support in a sliding manner, and can translate along the fixed direction in the limiting step structure of the support, the surface is provided with a wire clamping block, a step pin and a stop pin, and the wire clamping block is fixedly connected with a brake wire.
2. The self-locking brake apparatus of claim 1, wherein the lock shaft portion further comprises an upper baffle, a lower baffle, wherein:
the star wheel is uniformly distributed with a plurality of spring mounting slots along the circumferential direction, the contact surfaces of the star wheel and the roller are symmetrically distributed along the circumferential direction, and the contact surfaces adopt any one of inclined surfaces, arc surfaces, logarithmic curved surfaces and Archimedes curved surfaces;
the upper baffle and the lower baffle are respectively fixedly arranged at the upper end and the lower end of the star wheel;
the star wheel, the upper baffle and the lower baffle form an integral structure which is fixedly arranged at the rotary joint of the magnetic anchoring device and is coaxial with the rotary shaft of the rotary joint.
3. The self-locking brake apparatus according to claim 2, wherein the roller is respectively attached to the star wheel and the rotation shaft under the urging force of the micro spring, and the rotation shaft, the roller and the star wheel form a self-locking structure when the wedge angle of the star wheel and the roller is smaller than the friction angle.
4. The self-locking brake apparatus of claim 1, wherein the guide further comprises a guide post, a pulley shaft, a pulley, a brake pipe, and a brake cable, wherein:
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft;
the pulley shaft is fixedly arranged at the top of the cavity in the guide seat;
the pulley is rotationally connected with the pulley shaft;
the two ends of the brake pipe are respectively connected with the guide seat and the control part;
the brake cable movably penetrates through the brake tube, and two ends of the brake cable are respectively connected with the bolt part and the control part.
5. The self-locking brake apparatus of claim 4, wherein the latch portion further comprises a latch plate, a bushing, a clamp post, wherein:
the inner hole of the wire clamping column is fixedly connected with the tail end of the brake wire, and the outer side of the wire clamping column is fixedly connected with the latch plate;
the bush is fixedly connected with the latch plate, an inner hole of the bush is in sliding connection with the guide post, the inner diameter of the bush is larger than the outer diameter of the guide post, and the installation positions of the bush are in one-to-one correspondence and coaxial with the guide post.
6. The self-locking brake apparatus as recited in claim 5, wherein the tapered pin is axially positioned in a gap between each pair of rollers and the tapered pin center is equidistant from adjacent rollers.
7. The self-locking brake apparatus of claim 5, wherein the latch plate is made of magnetically permeable material.
8. The self-locking brake apparatus of claim 7, wherein the guide further comprises a guide seat and a guide post, wherein:
the guide seat is fixedly arranged on the outer side of the upper baffle plate of the lock shaft part, an electromagnet is arranged on the lower surface of the top of the cavity of the guide seat, and when the electromagnet is electrified, the latch plate compresses the reset spring to move upwards under the action of a magnetic field, and the lock shaft part is in a locking state; when the electromagnet is powered off, the latch plate moves towards the lock shaft part side under the thrust of the reset spring, and the lock shaft part is in a release state;
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft.
9. The self-locking brake apparatus as claimed in claim 1, wherein the control part further comprises a cover plate, a bottom plate, a wire clamping block, wherein:
the bottom plate is fixedly connected with the operation end of the magnetic anchoring device;
the upper end surface and the lower end surface of the bracket are respectively and fixedly connected with the cover plate and the bottom plate, the side surface is fixedly connected with the brake pipe, and the bottom surface is provided with a limit step structure;
the wire clamping block is provided with at least one fastening screw hole, and the fastening screw hole can independently adjust the tightness of each brake wire;
the handle is rotationally connected with the cover plate.
10. The self-locking brake assembly of claim 9, wherein the brake pipe and the built-in brake cable are at least one, respectively, the bracket is connected to the at least one brake pipe, the cable clamping block is connected to the at least one brake cable, and the cable clamping block slides in the brake pipe in a linkage manner when moving along with the sliding plate.
11. The self-locking brake apparatus of claim 1, wherein the guide further comprises a guide shoe, a guide post, a brake pipe, and a brake cable, wherein:
the guide seat is fixedly arranged on the outer side of the upper baffle of the lock shaft part;
one end of the guide post is fixedly connected with the top of the cavity in the guide seat, the other end of the guide post is in sliding connection with the bolt part, and the axial direction of the guide post is parallel to the rotating shaft of the rotating shaft;
the hollow structure of the brake pipe accommodates a brake cable, and two ends of the brake pipe are respectively connected with the guide seat and the control part; the two ends of the brake cable are respectively connected with the bolt part and the control part, the brake pipe is fixedly connected with the top opening of the guide seat, and the brake cable is directly out from the guide seat opening.
12. The magnetic anchoring device is characterized by adopting the self-locking type brake device according to any one of claims 1-11, further comprising a first rotary joint, a second rotary joint, a third rotary joint and a universal rotary magnetic head, wherein a lock shaft part, a guide part and a plug pin part of the self-locking type brake device are respectively arranged on the first rotary joint, the second rotary joint and the third rotary joint of the magnetic anchoring device and are coaxial with rotation shafts of the first rotary joint, the second rotary joint and the third rotary joint, a control part is arranged at the cantilever tail end of the magnetic anchoring device, and the first rotary joint, the second rotary joint and the third rotary joint of the magnetic anchoring device are set to be suspended or locked in any states through operating the control part.
CN202111237783.1A 2021-10-25 2021-10-25 Self-locking type brake device and magnetic anchoring equipment using same Active CN113925546B (en)

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CN202822656U (en) * 2012-10-12 2013-03-27 宁波稳泰运动器材有限公司 Improved type golf cart
CN104319130B (en) * 2014-09-18 2016-11-30 平高集团有限公司 Operating mechanism and blocking device thereof
CN209037826U (en) * 2018-09-29 2019-06-28 潍柴重机股份有限公司 Lock shaft device
CN208935228U (en) * 2018-10-18 2019-06-04 中国石油化工股份有限公司 A kind of self-locking protective device of belt oil pumping machine brake
CN211715581U (en) * 2019-11-27 2020-10-20 无锡翼友机车科技有限公司 Electric bicycle and electric motorcycle drum brake structure with surface contact brake
CN110974445A (en) * 2019-12-20 2020-04-10 深圳市资福医疗技术有限公司 Magnetic control equipment with helping hand arm
CN111265297A (en) * 2020-03-21 2020-06-12 深圳市资福医疗技术有限公司 Magnetic anchoring system for minimally invasive surgery, control module and minimally invasive surgery auxiliary device
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