CN113983088A

CN113983088A - Brake, manual brake device, passively-enabled universal wheel and surgical robot

Info

Publication number: CN113983088A
Application number: CN202111057547.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2022-01-28

Abstract

The invention relates to the technical field of brakes, in particular to a brake, a manual brake device, a passive enabling universal wheel and a surgical robot. The utility model provides a brake, including base and connecting plate, the moving part that needs the braking is connected to one in base and the connecting plate, another person is static fixed, be fixed with the support on the base, install braking plectrum one and braking plectrum two in the space between the support, the central point of base and connecting plate puts the configuration collet, the inboard of connecting plate has the annular arch of the cockscomb structure of whole circle, the head end of braking plectrum one and braking plectrum two has the braking ejector pin that matches with the draw-in groove that forms between two adjacent annular archs, the head end of braking plectrum one and braking plectrum two still is provided with canceling release mechanical system. The brake of the invention has no sliding, almost no response delay, and because of the structure similar to bonding, the brake does not have the phenomenon of sliding like a chain wheel structure.

Description

Brake, manual brake device, passively-enabled universal wheel and surgical robot

Technical Field

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

Background

The brake used by the integrated joint has the advantages of quick response, light weight, simple structure, high strength, fatigue resistance and good impact resistance, can occupy smaller installation space in a power transmission device, and can keep the transmission output of a moving part in a fast speed reduction and stop state, so the brake is widely applied to the joint driving device of the surgical robot with multiple degrees of freedom.

The existing brake used in the integrated joint mainly comprises an electromagnetic type and a mechanical limit stopping mode, etc., and can realize braking by using a magnetic yoke assembly structure of an electromagnetic coil and a spring and combining a friction plate, or realize locking of a rotating shaft by using the electromagnetic coil and a mechanical movement separation blade.

On one hand, because the structure of the brake in the integrated joint is compact, the size and the design of the brake affect the whole braking performance of the joint and the whole braking speed and effect of the device, when the rotating speed of the joint is higher, the friction plate brakes, a gradual change process of the friction force from small to large is generated, the mechanical movement separation blade can also generate a section of rotary movement distance before the limited position, so that the brake can generate certain sliding phenomenon and response time delay in the stopping and decelerating process of the moving part, the positioning precision of the surgical robot is influenced, the difference of motion control parameters before and after braking is large in the robot-assisted surgery, for example, the motion pose of the tail end of a mechanical arm changes, the problem of safety braking may be brought, for example, the state of the contact force between the robot and the outside is changed due to the change of the pose of the end of the robot, or the judgment error of the motion control program is caused.

On the other hand, the integrated joint used by the existing robot lacks the function of manual braking, which causes the condition that the brake states of the adjusting joint and the device of the surgical robot lack flexible manual intervention, and leads to the extension of the brake state correction and adjustment time of the robot equipment, thus being not beneficial to emergency measures and brake operation and influencing the use effect of the surgical robot.

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

In view of the above-mentioned drawbacks, the present inventors have made active research and innovation to create a brake, a manual brake device, a passive universal wheel, and a surgical robot, which have industrial applications.

Disclosure of Invention

In order to solve the above technical problems, an object of the present invention is to provide a brake, a manual brake device, a passively enabled universal wheel, and a surgical robot.

The invention provides a brake, which comprises a base and a connecting plate, wherein one of the base and the connecting plate is connected with a moving part to be braked, the other one of the base and the connecting plate is fixed statically, a support is fixed on the base, a first brake shifting sheet and a second brake shifting sheet are installed in a gap between the supports, a presser is arranged at the central positions of the base and the connecting plate, a whole circle of sawtooth-shaped annular bulges are arranged on the inner side of the connecting plate, a brake ejector rod matched with a clamping groove formed between every two adjacent annular bulges is arranged at the head ends of the first brake shifting sheet and the second brake shifting sheet, the presser is contacted and abutted with the tail ends of the first brake shifting sheet and the second brake shifting sheet to provide force for enabling the brake ejector rod to be embedded into or separated from the clamping groove, and reset mechanisms are further arranged at the head ends of the first brake shifting sheet and the second brake shifting sheet to provide force with opposite force effects provided by the presser. The brake comprises a brake shifting sheet I, a brake shifting sheet II, a brake ejector rod, a connecting plate, a connecting rod, a pressing device, a brake ejector rod, a brake lining, a brake ejector rod and a brake ejector rod.

Furthermore, the pressing device comprises a first coil assembly and a second coil assembly which are oppositely arranged, a pressing block is arranged at a position on the outer ring of the first coil assembly corresponding to the tail end of the first brake shifting piece, so that the pressing block is abutted to the pressing plate at the tail end of the first brake shifting piece, and a pressing block is also arranged at a position on the outer ring of the second coil assembly corresponding to the tail end of the second brake shifting piece, so that the pressing block is abutted to the pressing plate at the tail end of the second brake shifting piece. And the coil assembly I and the coil assembly II are electromagnetic coils which attract each other after being electrified, and the pressing plates at the tail ends of the brake plectrum I and the brake plectrum II are pressed inwards through the pressing block to finish the opening operation of the tail ends of the brake plectrum I and the brake plectrum II, namely the unlocking operation.

Furthermore, the first brake shifting sheet and the second brake shifting sheet are consistent in structure, the first brake shifting sheet and the second brake shifting sheet are installed in a gap between two adjacent supports in a staggered mode in opposite directions or are alternately installed in the gap between two adjacent supports in opposite directions, the first brake shifting sheet and the second brake shifting sheet comprise through holes for the supporting shaft to pass through, and two ends of the supporting shaft are respectively inserted into the supporting shaft installation holes in the side walls of the two adjacent supports. The mounting modes of the first brake shifting sheet and the second brake shifting sheet are adjusted according to actual requirements, so that the locking operation of the brake is met.

Furthermore, reset mechanism includes the spring, and the outside of braking plectrum one and braking plectrum two is provided with the recess, and spring one end is laid in the recess, and the other end and the inner wall butt of base or connecting plate. The reset mechanism is a spring, the structure is simple, the installation is convenient, the spring is installed on the outer sides of the first brake shifting piece and the second brake shifting piece, and the first brake shifting piece and the second brake shifting piece are driven by elasticity to rotate and reset.

Furthermore, the reset mechanism comprises an inner spring, inner grooves are correspondingly formed in the inner sides of the first brake shifting piece and the second brake shifting piece respectively, and the inner spring is installed in the inner grooves. The brake push-pull piece I and the brake push-pull piece II are opened outwards through the spring installed on the inner side, when the brake push-pull piece I and the brake push-pull piece II are opened outwards, the brake ejector rod is separated, the brake is in an unlocking state, when the brake needs to be locked, the coil assembly I and the coil assembly II are mutually exclusive structures after being electrified, and pressing blocks at the outer ends of the coil assembly I and the coil assembly II are located on the inner sides of the brake push-pull piece I and the brake push-pull piece II, the end parts of the brake push-pull piece I and the brake push-pull piece II can be driven to be closed when the coil assembly I and the coil assembly II are mutually exclusive outwards, and the locking operation of the brake is completed.

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

The invention provides a manual brake, which adopts the brake and also comprises a handle and a pushing section; the pressing device comprises a thick movable shaft and a thin movable shaft inserted into the thick movable shaft, a plurality of staggered press blocks are arranged on the outer walls of the thick movable shaft and the thin movable shaft, the tail ends of the first brake shifting piece and the second brake shifting piece are abutted to the press blocks, and the thick movable shaft and the thin movable shaft are connected with the handle through a pushing section. Through manual rotation handle, drive propelling movement section and accomplish the operation of moving about going on thick loose axle and thin loose axle, and then drive brake plectrum one and brake plectrum two and move, make the braking ejector pin on brake plectrum one and the brake plectrum two break away from the inboard cyclic annular arch of connecting plate, realize manual locking and the unblock operation to the stopper.

Furthermore, the tail end of the handle is hinged to the supporting frame through a shaft, the tail end of the handle is of a cam structure, and the cam structure is in contact with the pushing section. The cam structure at the tail end of the handle can drive the pushing section to move back and forth when the handle rotates, and finally locking and unlocking of the locking structure are completed.

Furthermore, the propelling movement section is including running through the movable rod in thin movable shaft, there is the loop bar side of movable rod, the loop bar wears out the waist type groove on the thin movable shaft lateral wall, the cover has the slip lantern ring on the loop bar, the one end outside of slip lantern ring articulates through the axle has first transmission connecting rod, the end of first transmission connecting rod articulates through the axle has second transmission connecting rod and third transmission connecting rod, the end of second transmission connecting rod is articulated through axle and thick movable shaft, the end of third transmission connecting rod is articulated through axle and thin movable shaft, the slip lantern ring other end contacts with the terminal cam structure of handle. The propelling movement section adopts axle swing joint's mode to install for many connecting rods, when the slip lantern ring carries out the back-and-forth movement, drives thick movable shaft activity and thin movable shaft through a plurality of transmission connecting rods and reciprocates, and then drives corresponding braking plectrum one and braking plectrum two through thick movable shaft activity and thin movable shaft and open and shut the operation, accomplishes the locking and the unblock to the stopper.

The invention provides a passive enabling universal wheel, which adopts the brake, and also comprises a push plate pusher, a push plate and a pushing section; the pressing device comprises a thick movable shaft and a thin movable shaft inserted into the thick movable shaft, a plurality of staggered press blocks are arranged on the outer walls of the thick movable shaft and the thin movable shaft, the tail ends of a first brake shifting piece and a second brake shifting piece are in contact with the press blocks, the thick movable shaft and the thin movable shaft are connected with the push plate through a pushing section, bearing side plates are fixed on the inner side wall of the base through bolts, transverse plates are installed between the bearing side plates, and a push plate pusher is installed above the transverse plates. The pressure that produces when this kind of passively enables the universal wheel passes 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 release weight, the convenient removal.

Furthermore, the propelling movement section is including running through the movable rod in thin movable shaft, there is the loop bar side of movable rod, the loop bar wears out the waist type groove on the thin movable shaft lateral wall, the cover has the slip lantern ring on the loop bar, the bottom outside of slip lantern ring articulates through the axle has first transmission connecting rod, the end of first transmission connecting rod articulates through the axle has second transmission connecting rod and third transmission connecting rod, the end of second transmission connecting rod is articulated through axle and thick movable shaft, the end of third transmission connecting rod is articulated through axle and thin movable shaft, the top and the push pedal fixed connection of slip lantern ring. The pushing section is matched with the push plate pusher to finish the up-and-down movement of the coarse movable shaft and the fine movable shaft, so that the corresponding brake shifting piece I and the corresponding brake shifting piece II are driven to rotate, and the unlocking and locking operation of the brake is finished.

Furthermore, the push plate pusher comprises a bearing cylinder fixedly connected with the transverse plate, the upper end of the bearing cylinder is fixedly connected with the inner wall of the cylinder at the lower end of the bearing base through a second bearing, the middle part of the bearing cylinder is in a through shape, the force guide rod penetrates through the bearing cylinder and then penetrates out of the upper surface of the bearing base, 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 cylinder at the lower end of the bearing base. The push plate pusher can bear load, can finish steering operation again and can also satisfy the guide effect to the guide force pole of stopper propelling movement section, satisfies the operation demand of whole universal wheel.

Furthermore, a first bearing is further arranged 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 bearing capacity of the whole 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 the above-described hand brake.

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

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

1. in the braking and braking 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 precision of the moving part is improved.

2. The circumferential connecting plate of the brake is provided with a plurality of annular bulges, almost no response delay exists, and the phenomenon of slipping is avoided like a chain wheel structure due to the structure similar to bonding.

3. The brake has the advantages of simple structure, symmetry, few types of parts (mostly the same part is repeatedly used, the reuse rate is high), convenience in processing and manufacturing and low cost.

4. The brake of the invention has small structure and is suitable for the joint driving device of the surgical robot with multiple degrees of freedom.

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

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given 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 needed to be used in the embodiments will be briefly described below, it should be 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 for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

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

FIG. 2 is a schematic view 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 structural view of a connecting plate of the brake of the present invention;

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

FIG. 6 is an assembled schematic view of FIG. 5 of the present invention;

FIG. 7 is another perspective view of FIG. 6 of the present invention;

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

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

FIG. 10 is a schematic view of the structure of the brake pads of the present invention alternately mounted in opposition to each other;

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

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

FIG. 13 is a schematic view of the construction of the hand 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 FIG. 13 of the present invention;

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

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

FIG. 18 is a schematic view of the use of the hand brake of the present invention;

FIG. 19 is a second internal schematic view of the hand 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 castor according to the present invention;

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

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

142. the brake block comprises a support shaft mounting hole, 151, a first brake shifting piece, 152, a second brake shifting piece, 1121, an annular protrusion, 1312, a pressing block, 1512, a pressing plate, 1513, a brake ejector rod, 1514, a through hole, 1515, a groove, 1516 and an avoiding groove;

161. spring, 162, inner groove, 163, inner spring;

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 thick movable shaft, 38, a thin movable shaft, 39, a handle, 321, a pushing section, 322, a movable rod, 323 and a sleeve rod;

42. a roller mounting bearing 492, a push plate 493, a bearing side plate 494 and a transverse plate;

511. the bearing device comprises a bearing base 512, a first bearing 513, a second bearing 514, a bearing cylinder 515 and a force guide rod through hole;

61. bearing wheel.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In some embodiments, referring to fig. 1 to 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 to a moving part to be braked, and the other is stationary and fixed, a support 14 is fixed on the base 12, a first brake dial 151 and a second brake dial 152 are installed in a gap between the supports 14, a presser 13 is disposed at a central position of the base 12 and the connecting plate 11, a full circle of annular protrusions 1121 in a zigzag shape is disposed on an inner side of the connecting plate 11, a brake ejector 1513 matching a clamping groove formed between two adjacent annular protrusions 1121 is disposed at a head end of the first brake dial 151 and the second brake dial 152, the presser 13 abuts against a tail end of the first brake dial 151 and the second brake dial 152 to provide a force for inserting or releasing the brake ejector 1513 into or from the clamping groove, and a reset mechanism 16 is further disposed at the head end of the first brake dial 151 and the second brake dial 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, when the presser 13 installed in the brake works, the presser 13 abuts against the tail ends of the first brake dial piece 151 and the second brake dial piece 152 to apply a force, so as to drive the first brake dial piece 151 and the second brake dial piece 152 to rotate in opposite directions, so that the tail ends of the first brake dial piece 151 and the second brake dial piece 152 approach each other, and thus the brake ejector rods 1513 at the head ends of the first brake dial piece 151 and the second brake dial piece 152 are disengaged from the clamping grooves between the annular protrusions on the inner side of the connecting plate 11, and at this time, the external transmission mechanism installed on the connecting plate 11 can rotate, and power is normally transmitted. After unlocking, when the external transmission mechanism needs to be braked, the pressing device 13 stops applying force to the tail ends of the first brake shifting piece 151 and the second brake shifting piece 152, and drives the first brake shifting piece 151 and the second brake shifting piece 152 to rotate reversely under the action of the reset mechanism 16, so that the first brake shifting piece 151 and the brake ejector rod 1513 at the head end of the second brake shifting piece 152 are clamped into the clamping groove between the annular bulges on the inner side of the connecting plate 11 again, and the base 12 is installed on the fixed and static mechanism, so that the connecting plate 11 can be locked, and the transmission mechanism is braked.

In some embodiments, the functions of the impactor 13 and the return mechanism 16 may be reversed during the unlocking or locking operation of the brake, i.e., in contrast to the previous embodiment, the impactor 13 is operative to complete the locking operation and the return mechanism to complete the unlocking operation. Of course, this depends on the construction and mounting location of the impactor 13 and the return mechanism 16, as will be described in more detail in subsequent embodiments.

In some embodiments, the pressing device 13 includes a first coil assembly 131 and a second coil assembly 132 which are oppositely disposed, a pressing block 1312 is disposed on the outer ring of the first coil assembly 131 at a position corresponding to the tail end of the first brake pad 151, so that the pressing block 1312 abuts against a pressing plate 1512 at the tail end of the first brake pad 151, and a pressing block 1312 is also disposed on the outer ring of the second coil assembly 132 at a position corresponding to the tail end of the second brake pad 152, so that the pressing block 1312 abuts against the pressing plate 1512 at the tail end of the second brake pad 152.

The pressing device 13 adopts the first coil assembly 131 and the second coil assembly 132, which are mutually attracted after being electrified, when the connecting plate 11 needs to be unlocked, the first coil assembly 131 and the second coil assembly 132 are electrified and attracted, the first brake dial 151 and the second brake dial 152 are driven to rotate through the pressing block 1312, the end parts of the first brake dial 151 and the second brake dial 152 are opened, and the unlocking operation is completed.

In some embodiments, the first brake lining 151 and the second brake lining 152 are identical in structure, and are installed in the gap between two adjacent support seats 14 in a staggered manner or in an alternating manner, and the first brake lining 151 and the second brake lining 152 include through holes 1514 for passing the support shaft 17, and two ends of the support shaft 17 are respectively inserted into the support shaft installation holes 142 on the side walls of two adjacent support seats 14.

As shown in fig. 7 and 10, in fig. 7, the first brake lining 151 and the second brake lining 152 are installed in the gap between the two adjacent supports 14 in a staggered manner in opposite directions, in fig. 10, the first brake lining 151 and the second brake lining 152 are installed in the gap between the two adjacent supports 14 in opposite directions and alternately, and two different installation methods for the first brake lining 151 and the second brake lining 152 are adopted, so that the brake device is applicable to different application scenes, one locking mechanism can be applied to a situation requiring a large locking force more, the other locking mechanism is fewer, and the brake device can play roles in reducing the weight of the brake, and reducing the assembly difficulty and the production cost.

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

In some embodiments, the return mechanism 16 includes a spring 161, and the outer sides of the first brake finger 151 and the second brake finger 152 are provided with a groove 1515, and 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 reset mechanism 16 is a spring 161 installed in the groove 1515, when the suction force is lost after the first coil assembly 131 and the second coil assembly 132 are powered off, the spring 161 abuts against the inner wall of the base 12 or the connecting plate 11, the first brake dial piece 151 and the second brake dial piece 152 rotate along the supporting shaft 17, the ends of the first brake dial piece 151 and the second brake dial piece 152 are closed, the brake ejector rods 1513 at the ends of the first brake dial piece 151 and the second brake dial piece 152 are clamped between the annular protrusions 1121 of the inner wall of the connecting plate 11 again, and the locking operation is completed.

In some embodiments, the return mechanism 16 includes an inner spring 163, and the first brake pad 151 and the second brake pad 152 are each correspondingly provided with an inner groove 162 inside, and the inner spring 163 is installed in the inner groove 162.

When the inner spring 163 is used as a reset structure, the coil assembly one 131 and the coil assembly two 132 of the presser 13 are mutually repulsive after being energized, the extending plectrum is provided at the tail end of the brake plectrum one 151 and the brake plectrum two 152, just the outer side of the coil assembly one 131 and the coil assembly two 132 is clamped between the plectrum, after being energized, the outer side of the brake plectrum one 151 and the outer side of the brake plectrum two 152 are driven to rotate along the shaft, the front end is clamped, the end of the brake ejecting rod 1513 is clamped between the annular bulges 1121 of the inner wall of the connecting plate 11, the brake is locked, after the coil assembly one 131 and the coil assembly two 132 are de-energized, the inner spring 163 between the brake plectrum one 151 and the brake plectrum two 152 is used as a reset elastic member, the brake plectrum one 151 and the brake plectrum two 152 are reset, and the end of the brake ejecting rod 1513 is separated from the annular bulges 1121 of the inner wall of the connecting plate 11, and completing unlocking.

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

when the inner spring 163 is used, the coil assembly one 131 and the coil assembly two 132 form the same magnetic pole after being energized, the two magnetic poles are mutually exclusive, the coil assembly one 131 and the coil assembly two 132 drive the corresponding brake dial one 151 and the corresponding brake dial two 152 to rotate along the support shaft 17, and the head ends of the brake dial one 151 and the brake dial two 152 are close to each other.

In some embodiments, the connection plate 11 includes a transmission connection plate 111 and a circumferential connection plate 112, the transmission connection plate 111 is fixedly connected to the circumferential connection plate 112 and is also fixedly connected to the moving component to be braked, and the full circle of serrated annular protrusions 1121 is distributed on the inner ring of the circumferential connection plate 112.

The assembled structure design is adopted, and 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 shifting piece 151 and the second brake shifting piece 152 to open and close by mutual attraction or mutual repulsion after the first coil assembly 131 and the second coil assembly 132 are electrified, and finally the brake ejector rods 15313 at the ends of the first brake shifting piece 151 and the second brake shifting piece 152 are separated from or embedded into the annular protrusions 1121 to complete the unlocking or locking operation of the brake, so that the structure of a conventional friction plate is cancelled, the friction plate structure cannot rapidly complete locking during the locking operation, a sliding position exists between a moving part and a static part due to a section of rotary motion distance, and by adopting the brake structure, the relative position between the moving part (connecting plate 11) and the static part (base 12) is unchanged and has no sliding during the braking or unlocking process, so that the position precision is greatly improved and the control difficulty is reduced, the method is particularly suitable for the field of medical robots with high precision requirements and complex control. And because the gradual change of the locking force of the friction plate structure causes response delay, and by adopting the annular protrusion 1121 structure, when the number of the annular protrusions 1121 is enough, only the sliding distance between the two protrusions 1121 exists during theoretical locking operation, at this time, the whole required angle deflection of the locking part is small, and the response delay of braking is greatly reduced.

In some embodiments, see fig. 13-21; the invention relates to a hand brake, which is different from the previous embodiment, the presser 13 is replaced by a manual driving structure, the coil assembly one 131 and the coil assembly two 132 are replaced by a common structural component coarse movable shaft 37 and a common structural component fine movable shaft 38 (without a coil), the handle drives the pushing section 321 to operate when rotating, finally drives the brake plectrum one 151 and the brake plectrum two 152 to rotate along the supporting shaft 17, so that the brake ejector rods 1513 with inward head ends of the brake plectrum one 151 and the brake plectrum two 152 are separated from the annular bulge 1121 to complete the unlocking operation, when the locking is needed, the handle 39 is operated reversely, the brake plectrum one 151 and the brake plectrum two 152 are driven by a plurality of pressure blocks 1312 staggered on the outer walls of the coarse movable shaft 37 and the fine movable shaft 38, the reset is carried out by a spring 161 structure similar to a front end brake to flick the brake plectrum one 151 and the brake plectrum two 152, the locking operation is completed, and the manual brake is simple in structure and convenient and fast to operate.

In some embodiments, the end of the handle 39 is hinged to the support frame 32 through a shaft, and the end of the handle 39 is a cam structure, and the cam structure is in contact with the pushing section 321.

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

In some embodiments, the pushing section 321 includes a movable rod 322 penetrating through the thin movable shaft 38, a sleeve rod 323 is arranged on the side surface of the movable rod 322, the sleeve rod 323 penetrates through the waist-shaped groove 324 on the side wall of the thin movable shaft 38, a sliding collar 33 is sleeved on the sleeve rod 323, a first transmission link 34 is hinged on the outer side of one end of the sliding collar 33 through a shaft, a second transmission link 35 and a third transmission link 36 are hinged on the tail end of the first transmission link 34 through a shaft, the tail end of the second transmission link 35 is hinged with the thick movable shaft 37 through a shaft, the tail end of the third transmission link 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 the cam structure at 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 being rotated, 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 installed on the sleeve rod 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 towards two sides when the sleeve rod 323 moves rightwards, then the pressing blocks 1312 on the fine movable shaft 38 and the coarse movable shaft 37 drive the tail ends of the first brake shifting piece 151 and the second brake shifting piece 152 to perform closing operation, unlocking is completed, when locking is needed, only the handle 39 needs to be rotated reversely, and the first brake shifting piece 151 and the second brake shifting piece 152 return under the action of the spring 161, so that locking is achieved.

The working principle of the invention is as follows: as shown in fig. 18, this manual brake release process: an operator manually pulls the handle 39 to a release state, the handle rotates around the shaft, so that the lower end pushes the sliding collar 33 to move rightwards, the fine movable shaft 38 (towards the upper part in the figure) and the coarse movable shaft 37 (towards the lower part in the figure) move relatively apart under the action of the first transmission link 34, the second transmission link 35 and the third transmission link 36, and the brake push rod 1513 of the brake shifting piece one 151 is pulled out of each protrusion interval of the annular protrusion 1121 against the pushing force of the spring 161, so that the process of releasing the brake is completed.

And (3) braking process: as shown in fig. 18, the operator manually pulls the handle 39 to the braking state, and the lower end of the handle is retracted to the left side. Under the thrust of the spring 161, the brake ejector rod 1513 of the first brake shifting piece 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 thrust of the compression spring 161, the other end of the first brake pulling piece 151 pushes, so that the fine movable shaft 38 and the coarse movable shaft 37 are driven to move relatively and downwards and upwards, and the sliding collar 33 moves and resets leftwards under the action of the first transmission connecting rod 34, the second transmission connecting rod 35 and the third transmission connecting rod 36.

In some embodiments, referring to FIGS. 22-25, a passively-enabled universal wheel of the present invention, employing the aforementioned brake, further includes a push plate pusher 51, a push plate 492, a push section 321; the pressing device 13 comprises a thick movable shaft 37 and a thin movable shaft 38 inserted into the thick movable shaft 37, a plurality of pressing blocks 1312 staggered on the outer walls of the thick movable shaft 37 and the thin movable shaft 38, the tail ends of a first brake shifting sheet 151 and a second brake shifting sheet 152 are in contact with the pressing blocks 1312, the thick movable shaft 37 and the thin movable shaft 38 are connected with a push plate 492 through a push section 321, bearing side plates 493 are fixed on the inner side wall of the base 12 through bolts, transverse plates 494 are installed between the bearing side plates 493, and a push plate pusher 51 is installed above the transverse plates 494.

Drive propelling movement section 321 through push pedal pusher 51 and move down, accomplish the unblock to the universal wheel, after exerting the gravity on the push pedal pusher 51 and disappear, drive propelling movement section 321 through the spring and reset, accomplish the locking.

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

The pushing section 321 is pushed by a pushing 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 of the present embodiment are similar in construction and positional relationship to the manual brake described above.

In some embodiments, the pusher 51 includes a bearing cylinder 514 fixedly connected to the cross plate 494, an upper end of the bearing cylinder 514 is fixedly connected to an inner wall of the cylinder at a lower end of the bearing base 511 through a second bearing 513, a middle portion of the bearing cylinder 514 is through-shaped, the guiding rod 491 penetrates the bearing cylinder 514 and then penetrates through an upper surface of the bearing base 511, and a guiding rod through hole 515 having a diameter smaller than an inner diameter of the cylinder at the lower end of the bearing base 511 is formed at the middle portion of the bearing base 511.

The push plate pusher 51 includes a bearing column 514 and a cross plate 494 for supporting, when the guide rod 491 is pressed upwards, the cross plate 494 applies downward pressure to the sliding collar 33, and then drives the locker to complete the unlocking operation, and when the gravity applied on the guide rod 491 disappears, the guide rod 491 is driven to reset by a spring or other components to complete the locking. That is, in most cases, the universal wheels are in a locked state, which can improve the safety of the device.

In some embodiments, the presser 13 and the return mechanism 16 may also be mounted differently from the above-mentioned hand brake, but instead, a solution of the return mechanism 16 and the presser 13 matching it is "internal spring" in the aforementioned brake, i.e. unlocked by the internal spring and locked by the presser 13. At this time, the universal wheel is in an unlocked state in most cases. In some embodiments, a first bearing 512 is further installed 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.

The push plate pusher 51 has a structure, the push plate pusher 51 comprises a bearing bottom plate 511, a first bearing 512, a second bearing 513 and a bearing cylinder 514, which are connected with the equipment base, and the lower end of the bearing cylinder 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, the lower part thereof is a cylindrical member having a larger diameter than the through hole, and the cylindrical member is internally provided with a first load-bearing 512 and a second load-bearing 513. 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 an inner ring of the second load bearing 513. Through the combination of the two bearings, the universal wheel can be ensured to freely rotate in the horizontal direction, can bear larger gravity, and is suitable for equipment with larger weight.

The working principle of the invention is as follows:

the bearing wheel 61 is mounted on a bearing 42 fixedly connected with the connecting plate 11 of the brake, and the bearing 42 is sleeved on a bearing shaft (not shown in the figure and positioned in the thin movable shaft 38), so that the bearing wheel 61 and the connecting plate 11 of the brake rotate or are static at the same time. 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 edge of the push plate pusher 51. Therefore, the relative static or rotational movement of the brake connecting plate 11 and the base 12 synchronously limits the relative static or rotational movement of the bearing wheel 61 and the equipment base, so as to realize the locking or releasing of the universal wheel.

To further explain the structure of the aforementioned presser 13, the thick movable shaft 37 is sleeved on the thin movable shaft 38, and the two can slide relatively. The two movable shafts are also connected through three

transmission connecting rods

34, 35 and 36, and the other end of the first transmission connecting rod 34 is connected to the sliding sleeve ring 33 of the force guide component, so that under the action of the sliding sleeve ring 33, the adjusting

plates

131 and 132 slide relatively to realize the braking and releasing of the brake.

Next, the structure of the force guiding assembly is described, the force guiding assembly includes a force guiding rod 491 located inside the load bearing end assembly 51 and a sliding collar 33 connected to the force guiding rod, and the force guiding rod 491 is a rod-shaped member having a flat plate-shaped base at the lower end thereof, and is used for transmitting the acting force for controlling the universal wheel to the brake. The upper end of the force guide rod 491 is connected with an operating part used for controlling the universal wheel on the equipment, the operating part gives a downward acting force to the force guide rod 491 according to the action of an operator, the force guide rod 491 moves downwards, and the first transmission connecting rod 34, the second transmission connecting rod 35 and the third transmission connecting rod 36 are driven to act so as to control the release of the universal wheel. The position of the structure is shown in a default state, namely, the universal wheel is in a locking state due to the elastic force of the brake spring.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. A brake, characterized by: the brake device comprises a base (12) and a connecting plate (11), 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 dial (151) and a second brake dial (152) are installed in a gap between the supports (14), a compressor (13) is arranged at the central positions of the base (12) and the connecting plate (11), a whole circle of sawtooth-shaped annular protrusions (1121) are arranged on the inner side of the connecting plate (11), the head ends of the first brake dial (151) and the second brake dial (152) are provided with brake ejector rods (1513) matched with clamping grooves formed between the two adjacent annular protrusions (1121), the compressor (13) is in butt contact with the tail ends of the first brake dial (151) and the second brake dial (152) to provide force for enabling the brake ejector rods (1513) to be embedded into or separated from the clamping grooves, and reset mechanisms (16) are further arranged at the head ends of the first brake dial (151) and the second brake dial (152) to provide compression The force provided by the device (13) has an opposite effect.

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

3. The brake of claim 1, wherein: the first brake shifting sheet (151) and the second brake shifting sheet (152) are consistent in structure, the first brake shifting sheet (151) and the second brake shifting sheet (152) are installed in a gap between two adjacent supports (14) in a staggered mode in opposite directions or are installed in a gap between two adjacent supports (14) in an opposite-direction and alternate mode, the first brake shifting sheet (151) and the second brake shifting sheet (152) comprise through holes (1514) for the supporting shafts (17) to penetrate through, and two ends of the supporting shafts (17) are inserted into the supporting shaft installation holes (142) in the side walls of the two adjacent supports (14) respectively.

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

5. The brake of claim 1, wherein: the reset mechanism (16) comprises an inner spring (163), inner grooves (162) are correspondingly formed in the inner sides of the first brake shifting sheet (151) and the second brake shifting sheet (152), and the inner spring (163) is installed in the inner grooves (162).

6. The brake of claim 1, wherein: the connecting plate (11) comprises a transmission connecting plate (111) and a circumferential connecting plate (112), the transmission connecting plate (111) is fixedly connected with the circumferential connecting plate (112) and is also fixedly connected with a moving part needing braking, and the whole ring of serrated annular protrusions (1121) are distributed on the inner ring of the circumferential connecting plate (112).

7. A hand brake using 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 thick movable shaft (37) and a thin movable shaft (38) inserted into the thick movable shaft (37), a plurality of pressing blocks (1312) which are staggered are arranged on the outer walls of the thick movable shaft (37) and the thin movable shaft (38), the tail ends of the first brake shifting piece (151) and the second brake shifting piece (152) are abutted to the pressing blocks (1312), and the thick movable shaft (37) and the thin movable shaft (38) are connected with the handle (39) through a pushing section (321).

8. The hand brake of claim 7, wherein: the tail end of the handle (39) is hinged on the support frame (32) through a shaft, the tail end of the handle (39) is of a cam structure, and the cam structure is in contact with the pushing section (321).

9. The hand brake of claim 8, wherein: the pushing section (321) comprises a movable rod (322) penetrating through the fine 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) in the side wall of the fine 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, the tail end of the first transmission connecting rod (34) is hinged to 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 to the coarse movable shaft (37) through a shaft, the tail end of the third transmission connecting rod (36) is hinged to the fine 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 push plate pushing device (51), the push plate (492) and the pushing section (321) are further included; the pressing device (13) comprises a thick movable shaft (37) and a thin movable shaft (38) inserted into the thick movable shaft (37), a plurality of pressing blocks (1312) which are staggered are arranged on the outer walls of the thick movable shaft (37) and the thin movable shaft (38), the tail ends of a first brake shifting piece (151) and a second brake shifting piece (152) are in contact with the pressing blocks (1312), the thick movable shaft (37) and the thin movable shaft (38) are connected with a push plate (492) through a pushing section (321), bearing side plates (493) are fixed on the inner side wall of the base (12) through bolts, transverse plates (494) are installed between the bearing side plates (493), and a push plate device (51) is installed above the transverse plates (494).

11. The passively-enabled gimbal wheel of claim 10, wherein: the pushing section (321) comprises a movable rod (322) penetrating through the fine 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) in the side wall of the fine 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, the tail end of the first transmission connecting rod (34) is hinged to 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 to the coarse movable shaft (37) through a shaft, the tail end of the third transmission connecting rod (36) is hinged to the fine 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 gimbal wheel of claim 10, wherein: the push plate pusher (51) comprises a bearing cylinder (514) fixedly connected with a transverse plate (494), the upper end of the bearing cylinder (514) is fixedly connected with the inner wall of a cylinder body at the lower end of a bearing base (511) through a second bearing (513), the middle part of the bearing cylinder (514) is in a through shape, a force guide rod (491) penetrates through the bearing cylinder (514) and then penetrates 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 the diameter smaller than the inner diameter of the cylinder body at the lower end of the bearing base (511).

13. The passively-enabled gimbal wheel of claim 12, wherein: a first bearing (512) is further installed 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 according to any of claims 1-6, or comprising a hand brake according to any of claims 7-9, or comprising a passively enabled castor according to any of claims 10-13.