Moving axis assembly, robotic arm, and surgical robot

Abstract

This invention relates to a movable axis assembly, a robotic arm, and a surgical robot. The movable axis assembly includes a fixed member, a movable member linearly movable relative to the fixed member and mounted on the fixed member, a drive mechanism for providing linear movement power to the movable member relative to the fixed member, a braking mechanism for braking the movable member relative to the fixed member, and a safety mechanism. The safety mechanism is used to stop the movable member when the braking mechanism fails and the movable member accelerates under the action of inertia or the drive mechanism. In the movable axis assembly, due to the introduction of the safety mechanism, the movable member can be prevented from making unnecessary movements beyond the set parameters, and the use of robotic arms and handheld robots using this movable axis assembly is safer and more reliable.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a moving axis assembly, a robotic arm, and a surgical robot. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient suffering. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] Currently, minimally invasive surgical robots consist of a master arm and a slave arm. The master arm includes a main operating arm for the surgeon to operate, while the slave arm includes a robotic arm. During surgery, the surgeon operates the main operating arm of the master arm. The main operating arm collects the surgeon's operation signals, processes them through the control system, and generates control signals that are transmitted to the robotic arm of the slave arm. The robotic arm of the slave arm then performs the surgical procedure under the control of these control signals.

[0004] During the aforementioned robotic surgery, the end effector of the robotic arm engages with surgical instruments, which are then inserted into the patient's body through a trocar inserted into an incision on the patient's skin. Because the intersection of the trocar's centerline and the skin surface is a "fixed point," the surgical instrument must pass through this point via the trocar during the surgery to avoid enlarging the wound or causing surgical accidents. However, in special circumstances such as emergency stops, sudden power outages, or damage to components like the brakes, the robotic arm may continue to move due to inertia, potentially causing personal injury.

[0005] Chinese utility model patent CN217390876U discloses a linear mobile arm, a control device, and a surgical robot. It describes a braking method using a braking mechanism with brakes, rollers, and ropes, which converts linear braking into rotary braking and effectively solves the problem of continued movement due to inertia after stopping or sudden power failure. It is also suitable for linear mobile arms with various installation directions.

[0006] The aforementioned patented solution can restrict movement under normal circumstances by tightening the brakes; however, if the brakes fail, there is a lack of alternative protective measures, which may lead to safety accidents. Summary of the Invention

[0007] Based on this, this application provides a moving shaft assembly with high braking mechanism reliability, a robotic arm, and a surgical robot.

[0008] In a first aspect, this application provides a movable shaft assembly, including a fixing member, a movable member linearly movably mounted on the fixing member relative to the fixing member, a drive mechanism for providing linear movement power to the movable member relative to the fixing member, and a braking mechanism for braking the movable member relative to the fixing member; the movable shaft assembly further includes a safety mechanism for stopping the movable member when the braking mechanism fails and the movable member accelerates under inertia or the action of the drive mechanism, the safety mechanism including an extended end fixedly disposed with the movable member.

[0009] This application proposes a safety mechanism in the moving shaft assembly. This safety mechanism can stop the moving part when the braking mechanism fails and the moving part continues to accelerate under the action of inertia or the driving mechanism, thereby preventing the moving part from making unnecessary movements beyond the set parameters.

[0010] In some preferred embodiments, the safety mechanism includes a retractor having: a bracket fixed to the fixing member; a spool rotatable relative to the bracket under the drive of the moving member; and a traction member wound around the spool to transmit the driving force of the moving member on the spool; wherein the traction member has the protruding end. This preferred embodiment provides a specific design for a safety mechanism incorporating a retractor, which offers high reliability, readily available components, and low manufacturing cost.

[0011] In some preferred embodiments, the safety mechanism further includes a ratchet assembly disposed between the support and the reel to limit the rotation of the reel relative to the support when the braking mechanism fails and the moving member accelerates under inertia or the action of the drive mechanism. This preferred embodiment provides a specific design for a safety mechanism that, through the ratchet assembly, ensures rapid stopping of the moving member when it moves out of control, thereby preventing safety accidents.

[0012] In some preferred embodiments, the ratchet assembly includes: a ratchet fixedly mounted on the bracket; a rotating disk fixedly mounted to the reel; an inertia wheel mounted on the rotating disk and capable of rotating relative to the rotating disk under inertia; and a swing pawl mounted on the rotating disk and capable of swinging relative to the rotating disk between a first position engaged with the ratchet and a second position disengaged from the ratchet; wherein the swing pawl is always in contact with the inertia wheel, and when the braking mechanism fails and the moving member accelerates under inertia or the action of the driving mechanism, the rotation of the inertia wheel relative to the rotating disk can push the swing pawl from the second position to the first position.

[0013] In some preferred embodiments, the ratchet assembly further includes a limiting block, which is fixedly disposed on the rotary disk and used to limit the rotation angle of the swing pawl and / or the inertia wheel relative to the rotary disk.

[0014] In some preferred embodiments, the ratchet assembly further includes an elastic member disposed between the sway pawl and the rotary disk; the elastic member, in a deformed state, can apply a force to the sway pawl to maintain it in the second position. This preferred embodiment provides a specific design for a ratchet assembly that utilizes an elastic member to ensure that the sway pawl is always held in the second position when the moving part is in normal movement, thereby ensuring that the sway pawl is always in an operable state.

[0015] More preferably, the inertia wheel is configured such that when the braking mechanism fails and the moving member accelerates under the action of inertia or the driving mechanism, the force generated under inertia and applied to the swing pawl can overcome the force applied to the swing pawl by the elastic member in the deformed state.

[0016] More preferably, the spring component includes: a leaf spring, one end of which is fixed to the rotating disk and the other end inserted into the swing pawl; or a torsion spring, which is fixed to the swing shaft of the swing pawl, one end of which abuts / is fixed to the rotating disk, and the other end of which abuts / is inserted into the swing pawl.

[0017] In some preferred embodiments, the ratchet and the bracket are an integral part, with the ratchet formed at one end of the bracket.

[0018] In some preferred embodiments, the ratchet assembly further includes a damper disposed between the rotating disk and the inertia wheel; the damper causes the inertia wheel to rotate synchronously with the rotating disk when the moving member moves at a constant speed.

[0019] In some preferred embodiments, the winding device further comprises: a coil spring disposed between the support and the reel, which generates a rotational torque under the action of the reel unwinding the traction member to provide a force for winding the traction member.

[0020] In some preferred technical solutions, the traction component includes: a flexible belt or a cable.

[0021] In some preferred embodiments, the traction element includes a constant-force spring, the torque provided by the constant-force spring being equal to the gravitational torque of the moving element to be balanced. This preferred embodiment provides a specific design for a traction element that, when used in a moving shaft assembly moving in a vertical direction or in an inclined direction relative to the vertical, can balance the gravitational torque of the moving element.

[0022] In some preferred embodiments, the drive mechanism includes a torque motor and a lead screw and nut assembly, wherein the lead screw in the lead screw and nut assembly is driven by the output shaft of the torque motor, and the nut in the lead screw and nut assembly is fixedly disposed with the moving part.

[0023] More preferably, the braking mechanism further includes a brake, which can selectively release or hold the output shaft of the torque motor.

[0024] Secondly, this application provides a robotic arm, comprising: a movable axis assembly mentioned in the technical solution or preferred technical solution of the first aspect above, and an operating hand assembly connected to the movable axis assembly, the operating hand assembly being used to support surgical instruments.

[0025] Thirdly, a surgical robot includes a master hand and a slave hand, the master hand being configured for operation by a physician and for acquiring the physician's operation signals to generate control signals that are transmitted to the slave hand, the slave hand being configured to perform surgical operations under the control of the control signals, the slave hand including the robotic arm mentioned in the second aspect above.

[0026] Other advantages of the present invention will be described in detail in the following detailed description section with reference to the accompanying drawings. Attached Figure Description

[0027] Figure 1 A schematic diagram of the hand portion of a surgical robot provided in one embodiment of this application;

[0028] Figure 2 A schematic diagram of a robotic arm provided for one embodiment of this application;

[0029] Figure 3 A schematic diagram of a movable axis assembly provided in one embodiment of this application;

[0030] Figure 4 A schematic diagram of a winding device provided in one embodiment of this application;

[0031] Figure 5 for Figure 4 The first end cap of the winder is hidden, and a schematic diagram of the coil spring is shown;

[0032] Figure 6 for Figure 4 The second end cap of the rewinder is hidden, and a schematic diagram of the ratchet assembly is shown;

[0033] Figure 7 for Figure 6 Exploded view of the ratchet assembly in the image;

[0034] Figure 8A schematic diagram of a rotating disk provided in one embodiment of this application;

[0035] Figure 9 This is a schematic diagram of a swinging claw provided in one embodiment of this application.

[0036] Figure 10 This is a schematic diagram of the ratchet assembly of this application when the moving part moves smoothly; wherein the swing pawl is in the second position;

[0037] Figure 11 This application provides a schematic diagram of the ratchet assembly in the state of the moving part when it stalls; wherein the swing pawl is in the first position.

[0038] The components are as follows: 100. Hand part; 1. Base; 2. Lifting column; 3. Hoisting rod; 10. Mechanical arm; 4. Moving shaft assembly; 5. Operator hand assembly; 51. Rotating joint; 52. Arm; 41. Fixing component; 42. Brake; 43. Torque motor; 44. Lead screw and nut assembly; 45. Moving component; 441. Lead screw; 442. Nut; 451. Moving plate; 47. Rewinder; 471. First bracket; 472. Second bracket; 473. Reel; 474. Flexible belt; 475. First end cap; 476. Second end cap; 4741. Lower end; 478. Coil spring; 8. Ratchet assembly; 81. Ratchet; 82. Rotary disk; 83. Inertia wheel; 84. Swinging pawl; 85. Leaf spring; 811. Ratchet array; 821. First mounting shaft; 822. Second mounting shaft; 823. Limit block. Implementation

[0039] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0040] In the description of this application, the terms "upper", "lower", "top", "bottom", "clockwise", "counterclockwise", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features and / or components, but do not exclude the presence or addition of one or more other features or components.

[0042] It should be noted that when an element is considered "connected to" or "connected to" another element, it can be directly connected to the other element or may have an intervening element present. When an element is said to be "located on" or "assigned to" another element, it can be directly on the other element or may also have an intervening element present. "Several" in this specification refers to one or more quantities. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0043] This application provides a surgical robot, including a master arm and a slave arm. The surgeon indirectly controls the movements of the slave arm by manipulating the master arm of the master arm. Specifically, the master arm collects the surgeon's operation signals, which are processed by the control system to generate control signals for the slave arm, which then performs the surgical operations. During the robotic surgery, the slave arm engages surgical instruments. The master and slave arms of the surgical robot can be placed in the same space or located in different spatial positions, and data can be transmitted between them via wired or wireless means.

[0044] Please refer to the following: Figure 1 This is a schematic diagram of the overall structure of the slave part of the surgical robot. The slave part 100 includes a base 1, a lifting column 2 mounted on the base 1, a boom 3 mounted on the top of the lifting column 2, and several robotic arms 10 respectively mounted on the boom 3.

[0045] See Figure 2 The illustration shows a schematic diagram of the overall structure of a robotic arm 10. The robotic arm 10 includes an interconnected movable axis assembly 4 and a manipulator assembly 5. The manipulator assembly 5 includes several rotary joints 51 and several levers 52. The end of the manipulator assembly 5 can support surgical instruments to perform surgical operations.

[0046] In this example, the operator assembly 5 is mounted on the movable shaft assembly 4 via a rotary joint 51; the operator assembly 5 will move linearly under the drive of the movable shaft assembly 4, and rotate relative to the movable shaft assembly 4 via the rotary joint 51.

[0047] See Figure 3 The illustration shows the internal structure of a moving shaft assembly 4. The moving shaft assembly 4 mainly includes: a fixing member 41, a brake 42, a torque motor 43, a lead screw and nut assembly 44, a moving member 45, a linear guide rail (not shown in the figure), and a safety mechanism.

[0048] A linear guide rail is mounted on the fixed member 41, and the movable member 45 can move along the linear guide rail. A lead screw and nut assembly 44 is mounted between the movable member 45 and the torque motor 43. The torque motor 43 and the lead screw and nut assembly 44 constitute a drive mechanism for providing linear movement power to the movable member 45 relative to the fixed member 41.

[0049] The lead screw and nut assembly 44 includes a lead screw 441 and a nut 442. The lower end of the lead screw 441 is threadedly connected to the nut 441, and the nut 441 is fixed to the moving member 45. In other embodiments, the lead screw and nut assembly may be replaced by other types of transmission mechanisms, as long as they can transmit the driving force for moving the moving member relative to the fixed member between the torque motor and the moving member.

[0050] The torque motor 43 is mounted on the top of the fixture 41. In this example, the output shaft of the torque motor 43 is a double-headed shaft, with one end connected to the brake 42 and the other end connected to the upper end of the lead screw 441. The brake 42 is arranged above the torque motor 43 and fixed to the fixture 41.

[0051] Therefore, the linear movement of the moving part 45 is driven by the lead screw and nut assembly 44, and the torque motor 43 drives the lead screw 441 to rotate. When the torque motor 43 is operating under control, the moving part 45 can be driven to move linearly relative to the fixed part 41 through the lead screw and nut assembly 44.

[0052] The brake 42 constitutes a braking mechanism for controlling the movement of the moving member 45. The brake 42 operates on the principle of electromagnetism: when power is off, it clamps the output shaft of the torque motor 43, thereby preventing the lead screw 441 from rotating and achieving braking; when unlocking, power is supplied to the brake 42. In other embodiments, the braking mechanism is not limited to the brake design; other braking mechanisms for braking a moving member relative to a fixed member are also acceptable.

[0053] The safety mechanism is used to quickly stop the moving part 45 when the braking mechanism (such as the holding brake 42) fails and the linear acceleration of the moving part 45 relative to the fixed part 41 exceeds a threshold. Figure 3 In the illustrated insurance institution scheme, the insurance institution includes a retractor 47. The retractor 47 is fixed to the top of the fixing member 41, and the protruding end (flexible strip) of the retractor 47 is fixed to the movable plate 451 fixed to the movable member 45.

[0054] See Figure 4 This example illustrates the structure of a winder 47; the winder 47 includes a spool 473, rotatably supported on a first support 471 and a second support 472, a flexible belt 474, a first end cap 475, and a second end cap 476, all disposed opposite each other on the first support 471 and the second support 472. The spool 473 is rotatable relative to the first support 471 and the second support 472 under the action of a movable member 45. Figure 3 As shown, the fixed end (not shown) of the upper part of the flexible belt 474 is fixed to the reel 473, and the protruding end 4741 of the lower part is fixed to the moving plate 451. The flexible belt 474 is wound around the reel 473 to transmit the driving force of the moving member 45 on the reel 473. In other embodiments, the flexible belt on the winding device can also be replaced by other traction members, such as tungsten wire rope, steel wire rope, etc.

[0055] See Figure 5 The diagram shows a schematic of the winding mechanism 47 hidden behind the first end cap 475. The winding mechanism 47 includes a coil spring 478. The coil spring 478 is housed inside the first bracket 471 and concealed by the first end cap 475. The outer coil of the coil spring 478 is fixed to the first bracket 471, and the inner coil of the coil spring 478 is fixed to the reel 473. The rotational movement of the reel 473 can cause the inner coil of the coil spring 478 to wind, generating a rotational torque in the coil spring 478. Typically, the torsional torque generated by the coil spring 478 is relatively small, only enough to wind the flexible belt 474; otherwise, it would affect the calculation and control of the gravity balance of the moving part 45.

[0056] See Figure 6 The diagram shows a schematic of the ratchet assembly structure hidden behind the second end cap. The rewinder 47 includes a ratchet assembly 8; the ratchet assembly 8 is housed inside the second bracket 472 and concealed by the second end cap 476.

[0057] See Figure 7 The diagram shows a split view of the ratchet assembly 8, which includes: a ratchet 81, a rotating disk 82, an inertia wheel 83, a pawl 84, and a leaf spring 85.

[0058] The inner ring of the ratchet 81 is provided with a circumferentially arranged ratchet tooth array 811. In this example, the ratchet 81 and the second support 472 are formed as an integral part, specifically, the ratchet 81 is formed on the second support 472; in other embodiments, the two can also be provided separately. The rotating disk 82 is fixed to the scroll 473, and the rotating disk 82 can rotate together with the scroll 473.

[0059] like Figure 8 As shown, a first mounting shaft 821 and a second mounting shaft 822 are fixedly mounted on the rotating disk 82. The axis X1 of the first mounting shaft 821 coincides with the axis X0 of the reel 473, and the axis X2 of the second mounting shaft 822 is parallel to the axis X1 of the first mounting shaft 821.

[0060] like Figure 6 , Figure 7 , Figure 10 and Figure 11As shown, the inertia wheel 83 is mounted on the rotating disk 82 and can rotate relative to the rotating disk 82 around the axis of the first mounting shaft 821 under the action of inertia. The inertia wheel 83 and the rotating disk 82 have different masses; the rotating disk 82 is lighter, while the inertia wheel 83 is heavier. When the reel 473 accelerates instantaneously, due to the difference in inertia between the rotating disk 82 and the inertia wheel 83, their instantaneous start-up response speeds are different. The rotating disk 82 will start rotating relative to the inertia wheel 83 first, that is, the inertia wheel 83 rotates relative to the rotating disk 82 under the action of inertia.

[0061] The swivel pawl 84 is rotatably mounted on the rotating disk 82 about the axis X2 of the second mounting shaft 822. In this embodiment, the swivel pawl 84 is in a second position relative to the rotating disk 82, disengaged from the ratchet 81 (e.g., Figure 10 The swing pawl position shown) and the first position engaged with ratchet 81 (as shown) Figure 11 Rotate between the positions of the swinging claw shown.

[0062] The sway pawl 84 always abuts against the inertia wheel 83, so that the inertia wheel 83 can push the sway pawl 84 from the second position to the first position when rotating relative to the rotating disk 82. A leaf spring 85 is disposed between the sway pawl 84 and the rotating disk 82. One end of the leaf spring 85 is fixedly connected to the rotating disk 82, and the other end is fixed to the sway pawl 84.

[0063] like Figure 9 As shown, a groove 841 is provided on the swing pawl 84, and the other end of part of the leaf spring 85 is fixedly inserted into the groove 841. The deformation of the leaf spring 85 can provide a torsional force to the swing pawl 84, that is, the leaf spring 85 can apply a force to the swing pawl 84 in the deformed state to keep the swing pawl 84 in the second position.

[0064] The main function of the leaf spring 85 is to apply elastic force to the swing pawl 84; in other embodiments, any other spring component capable of applying elastic force can be used as a substitute, such as a torsion spring provided on the second mounting shaft, with one end of the torsion spring abutting against the rotating disk and the other end abutting against the swing pawl; a compression spring can also be provided between the rotating disk and the swing pawl, etc.

[0065] A limiting block 823 is also fixedly provided on the rotating disk 82, and the limiting block 823 is arranged on the rotation path of the swing pawl 84. The limiting block 823 can limit the rotation angle of the swing pawl 84 and the inertia wheel 83 relative to the rotating disk 82; in this case, the limiting block 823 is used to limit the rotation angle of the swing pawl 84 relative to the rotating disk 82 from the second position to the first position.

[0066] A damper (not shown in the figure) can be provided between the inertia wheel 83 and the rotating disk 82 to provide a certain degree of damping. The damper ensures that the inertia wheel 83 rotates synchronously with the rotating disk 82 when the linear movement speed of the moving part relative to the fixed part does not exceed a threshold. For example, if the fixed part moves smoothly relative to the fixed part and the scroll 473 rotates smoothly, the rotating disk 82 and the inertia wheel 83 will be able to rotate synchronously together under the action of the damper. Of course, in other embodiments, damping may not be provided between the rotating disk and the inertia wheel. For example, by increasing the elastic force provided by the elastic member such as the leaf spring 85, the rotational torque applied to the swing pawl 84 by the inertia wheel 83 at startup can be overcome. This indirectly increases the tolerance of the ratchet assembly 8 to the acceleration of the moving part under excessive speed (here, "the moving part under excessive speed" refers to the moving part being in a state of accelerated movement).

[0067] In this design, the retractor 47 primarily serves as a braking safety device. It can also be understood that, if the moving shaft assembly 4 achieves linear movement in the vertical direction or linear movement inclined relative to the vertical direction, it can also be designed to play a role in gravity balance. In this case, a constant force spring can preferably be used to replace the flexible belt 474 and the coil spring 478. The retractor 47 with a constant force spring can provide a constant tension to the moving part 45, thereby balancing the gravity of the moving part 45. Similarly, since an upward tension opposite to the direction of gravity is introduced, this will indirectly increase the tolerance of the ratchet assembly 8 to acceleration in the moving direction.

[0068] When the moving member 45 in the moving shaft assembly 4 moves linearly relative to the fixed member 41, the moving member 45 drives the flexible belt 474 to move synchronously. The movement of the flexible belt 474 can drive the roller 473 to rotate, and the rotation of the roller 473 drives the coil spring 478 to wind. For example, when the moving member 45 moves linearly relative to the fixed member 41 in a direction close to the roller 473, the flexible belt 474 drives the roller 473 to rotate, causing the coil spring 478 to generate a torsional torque opposite to the direction of the roller rotation. When the moving member 45 moves linearly relative to the fixed member 41 in a direction away from the roller 473, the torsional torque of the coil spring 478 drives the roller 473 to rotate and wind the flexible belt 474 upward.

[0069] The safety mechanism in this case is configured to activate only when the braking mechanism fails and the linear acceleration of the moving part 45 relative to the fixed part 41 exceeds a threshold. This threshold is not an acceleration threshold directly measured by instruments, but is assigned during the safety mechanism design phase, and its magnitude can be designed as needed. The elastic coefficient of the leaf spring, the weight of the inertia wheel, the elastic coefficient of the coil spring, and the damping coefficient of the damper all directly affect the value of this threshold. A smaller threshold results in a shorter distance the moving part travels under excessive speed, and a shorter time required for the safety mechanism to intercept the moving part, meaning the safety mechanism is more agile. Conversely, a larger threshold results in a longer distance the moving part 45 travels under excessive speed, a longer time required for the safety mechanism to intercept the moving part, and a more cumbersome safety mechanism.

[0070] The following describes the state changes of each component in the ratchet assembly 8 under different working conditions of the winder 47 in this case.

[0071] When the moving part 45 in the moving shaft assembly 4 moves smoothly and linearly relative to the fixed part 71 at a constant speed, the scroll 473 rotates smoothly under the drive of the flexible belt 474. The scroll 473 drives the rotating disk 82 and the inertia wheel 83, the swing pawl 84 and the leaf spring 85 on the rotating disk 82 to rotate synchronously. For example, as Figure 10 As shown, the swing pawl 84 is held in the second position, disengaged from the ratchet 81, by the action of the leaf spring 85. The rotating disk 82, the inertia wheel 83, the swing pawl 84 and the leaf spring 85 rotate synchronously in the clockwise direction.

[0072] When the brake 42 in the moving shaft assembly 4 malfunctions and the acceleration of the linear movement of the moving member 45 relative to the fixed member 41 exceeds a threshold, the moving member 45 will drive the flexible belt 474, causing the reel 473 to accelerate instantaneously. This instantaneous acceleration is very rapid, and the reel 473 drives the rotating disk 82 to rotate instantaneously. Due to the different inertia of the rotating disk 82 and the inertia wheel 83, their instantaneous start-up response speeds differ. The rotating disk 82 will rotate an angle before the inertia wheel 83, which has not yet started rotating. For example, as... Figure 11The rotating disk 82 rotates clockwise under the drive of the reel 473 (the rotation direction described below is based on this). The inertia wheel 83 rotates counterclockwise relative to the rotating disk 82. Since the pawl 84 and leaf spring 85 are mounted on the rotating disk 82 and cannot move relative to it, they will completely follow the clockwise rotation of the rotating disk 82. At this point, the rotation angles of the rotating disk 82 and the inertia wheel 83 will be out of sync. As the rotating disk 82 rotates further clockwise, the inertia wheel 83, overcoming the spring force F1 of the leaf spring 85 (which is usually set very small), will push the pawl 84 to rotate counterclockwise relative to the rotating disk 82 with a force F2. This counterclockwise rotation of the pawl 84 relative to the rotating disk 82 will cause the pawl 84 to switch from the second position to engage with the ratchet. The first position of engagement is reached by ratchet 81. When the pawl 84 is in the first position, it is restricted by the direction of ratchet 81 and cannot follow the rotating disk 82 to rotate clockwise again. The inability of the pawl 84 to rotate clockwise will also affect the rotating disk 82, forcing the rotating disk 82 to stop rotating further with the reel 473. At the same time, when the pawl 84 rotates in the opposite direction (i.e., counterclockwise), it is affected by the limiting block 823 on the rotating disk 82, and the inertia wheel 83 can no longer push the pawl 84 to continue rotating. That is, the pawl 84 can no longer switch from the first position to the second position. As a result, the pawl 84 stops moving, and the rotating disk 82 will also be unable to continue rotating clockwise under the force of the pawl 84, which in turn prevents the reel 473 from rotating. The inability of the reel 473 to rotate causes the extended end of the flexible belt 474 to stop extending, thereby restricting the further descent of the moving part 45.

[0073] In summary, the movable axis assembly of this application, by adding a safety mechanism, can respond rapidly and stop the movable component in a timely manner when the braking mechanism fails and the linear acceleration of the movable component exceeds a threshold. Furthermore, the safety mechanism employs a combination of a retractor and a ratchet assembly, resulting in a reliable structure and rapid response. It can reliably provide braking in the event of braking mechanism failure, thus offering dual anti-drop protection for the movable axis assembly in addition to the braking mechanism. The safety mechanism's substitution of braking provides operators with ample time to repair the braking mechanism. When this movable axis assembly is used on a robotic arm carrying surgical instruments, it improves the reliability of the machine. And when this robotic arm is used in a surgical robot, it enhances the operational safety of the surgical robot and effectively prevents accidents.

[0074] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope. The scope of protection of the present invention is defined by the appended claims, specification, and their equivalents.

Claims

1. A movable shaft assembly, comprising a fixed member, a movable member linearly movably mounted on the fixed member relative to the fixed member, a drive mechanism for providing linear movement power to the movable member relative to the fixed member, and a braking mechanism for braking the movable member relative to the fixed member; characterized in that, The moving shaft assembly further includes a safety mechanism for stopping the moving member when the braking mechanism fails and the moving member accelerates under inertia or the action of the driving mechanism. The safety mechanism includes an extension end, which is fixedly disposed with the moving member. The insurance institution includes a winding device, the winding device having: The bracket is fixed to the fastener; The scroll can rotate relative to the support under the drive of the moving part; And a traction element, wound around the spool to transmit the driving force of the moving element on the spool; The traction member has the extended end.

2. The moving shaft assembly according to claim 1, characterized in that, The safety mechanism further includes a ratchet assembly disposed between the support and the reel to limit the rotation of the reel relative to the support when the braking mechanism fails and the moving member accelerates under inertia or the action of the drive mechanism.

3. The movable axis assembly according to claim 2, characterized in that, The ratchet assembly includes: The ratchet is fixedly mounted on the bracket; A rotating disk is fixedly mounted to the scroll. An inertia wheel is mounted on the rotating disk and can rotate relative to the rotating disk under the action of inertia; A swing pawl is mounted on the rotating disk and can swing relative to the rotating disk between a first position engaged with the ratchet and a second position disengaged from the ratchet. The swing pawl is always in contact with the inertia wheel, and when the braking mechanism fails and the moving part accelerates under the action of inertia or the driving mechanism, the rotation of the inertia wheel relative to the rotating disk can push the swing pawl to switch from the second position to the first position.

4. The movable axis assembly according to claim 3, characterized in that, The ratchet assembly further includes a limiting block, which is fixedly mounted on the rotary disk and used to limit the rotation angle of the swing pawl and / or the inertia wheel relative to the rotary disk.

5. The moving shaft assembly according to claim 3, characterized in that, The ratchet assembly further includes an elastic member disposed between the swing pawl and the rotary disk; the elastic member, in a deformed state, can apply a force to the swing pawl to keep the swing pawl in the second position.

6. The movable axis assembly according to claim 5, characterized in that, The inertia wheel is configured such that when the braking mechanism fails and the moving member accelerates under the action of inertia or the driving mechanism, the force generated under inertia and applied to the swing pawl can overcome the force exerted by the elastic member on the swing pawl in the deformed state.

7. The movable axis assembly according to claim 5, characterized in that, The elastic member includes: A leaf spring, one end of which is fixed to a rotating disk, and the other end inserted into a wobbling pawl; or A torsion spring is fixed on the swing shaft of the swing pawl, with one end abutting / fixed to the rotating disk and the other end abutting / inserting into the swing pawl.

8. The moving shaft assembly according to claim 3, characterized in that, The ratchet and the bracket are an integral part, with the ratchet formed at one end of the bracket.

9. The movable axis assembly according to claim 3 or 6, characterized in that, The ratchet assembly further includes a damper disposed between the rotating disk and the inertia wheel; the damper enables the inertia wheel to rotate synchronously with the rotating disk when the moving member moves at a constant speed.

10. The movable axis assembly according to claim 1, characterized in that, The winding device further includes a coil spring disposed between the support and the reel, which generates a rotational torque under the action of the reel unwinding the traction member to provide a force for winding the traction member.

11. The movable axis assembly according to claim 10, characterized in that, The traction component includes: a flexible belt or a cable.

12. The movable axis assembly according to claim 2, characterized in that, The traction component includes a constant force spring, the torque provided by the constant force spring being equal to the gravitational torque of the moving component to be balanced.

13. The movable axis assembly according to claim 1, characterized in that, The drive mechanism includes a torque motor and a lead screw and nut assembly. The lead screw in the lead screw and nut assembly is driven by the output shaft of the torque motor, and the nut in the lead screw and nut assembly is fixedly connected to the moving part.

14. The movable axis assembly according to claim 13, characterized in that, The braking mechanism further includes a brake, which can selectively release or hold the output shaft of the torque motor.

15. A robotic arm, characterized in that, include: The movable axis assembly as described in any one of claims 1-14 and the manipulator assembly connected to the movable axis assembly, the manipulator assembly being used to support surgical instruments.

16. A surgical robot comprising a master hand and a slave hand, the master hand being configured for operation by a surgeon and for acquiring the surgeon's operation signals to generate control signals transmitted to the slave hand, the slave hand being configured to perform surgical operations under the control of the control signals, characterized in that... The slave portion includes the robotic arm as described in claim 15.

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