Manual unlocking structure and mechanical arm

Abstract

The application provides a manual unlocking structure and a mechanical arm. The manual unlocking structure comprises a driving component and a braking component. The driving component is movably arranged along a first direction, and the braking component is movably arranged along a second direction which is at an angle to the first direction. The braking state and the releasing state of the braking component are switched by moving along the second direction. The driving component comprises a first inclined surface, and the braking component comprises a second inclined surface. The first inclined surface is in abutment with the second inclined surface. When the driving component is pressed to move along the first direction, the driving component drives the braking component to move along the second direction by relative sliding of the first inclined surface and the second inclined surface. The manual unlocking structure further comprises a first potential component and a second potential component. The first potential component is used to apply a first potential to the driving component in a direction away from the second inclined surface. The second potential component is used to apply a second potential to the braking component in a direction towards the first inclined surface. Thus, after power failure or emergency stop, the braking of each joint of the mechanical arm can be released and adjusted.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a manual unlocking structure and a robotic arm. Background Technology

[0002] Existing surgical robots typically have robotic arms with several rotatable joints. To ensure safety, each joint is equipped with a brake disc and a brake. In the power-off state, the brake engages the brake disc, preventing the joint from rotating. Only when the robot is powered on can the brake disengage from the brake disc, releasing the brake and allowing the joint to rotate.

[0003] Therefore, in current surgical robot applications, during emergency braking, the joints of the robotic arm cannot rotate. This causes the brakes to engage with the brake discs after a power outage or sudden stop, leaving the joints in an unadjustable state. This results in several defects or shortcomings, such as:

[0004] (1) The robotic arm cannot be adjusted after a power outage or emergency stop.

[0005] (2) The braking state of the robotic arm cannot be released in time.

[0006] (3) It is impossible to adjust the various postures of the robotic arm when the power is off.

[0007] If the robotic arm is in a high-risk posture relative to the human body after a power outage or emergency stop, the non-adjustable robotic arm can easily cause injury. Furthermore, the robotic arm cannot adjust its posture during transportation without power, nor can it adjust the posture of the joints during joint maintenance, causing numerous inconveniences in transportation, maintenance, and other application scenarios. Summary of the Invention

[0008] The purpose of this invention is to provide a manually unlocking structure and a robotic arm to solve the problem that the robotic arm of existing surgical robots is in an unadjustable state after power failure or emergency stop.

[0009] To solve the above-mentioned technical problems, the present invention provides a manual unlocking structure applied to the joint of a robotic arm, the manual unlocking structure comprising: a driving component and a braking component;

[0010] The driving component is movably disposed along a first direction, and the braking component is movably disposed along a second direction at an angle to the first direction. The braking state and the release state of the braking component are switched by moving along the second direction.

[0011] The driving component includes a first inclined surface, and the braking component includes a second inclined surface, with the first inclined surface abutting against the second inclined surface; when the driving component is pressed and moves along the first direction, the braking component is driven to move along the second direction by the relative sliding of the first inclined surface and the second inclined surface;

[0012] The manual unlocking structure further includes a first potential energy component and a second potential energy component; the first potential energy component is used to apply a first potential energy to the driving component in a direction away from the second inclined plane; the second potential energy component is used to apply a second potential energy to the braking component in a direction toward the first inclined plane.

[0013] Optionally, the driving component has a first position and a second position, wherein the first position is further away from the second inclined surface in the first direction relative to the second position; the manual unlocking structure further includes a self-locking component, which has a locked state and an unlocked state;

[0014] When the driving component moves beyond the second position in the direction toward the second inclined plane, the self-locking component is triggered to switch between the locked state and the unlocked state;

[0015] When the self-locking component is in the locked state, it restricts the movement of the driving component in the direction away from the second inclined plane from exceeding the first position;

[0016] When the self-locking component is in the unlocked state, it allows the driving component to move beyond the first position in a direction away from the second inclined plane.

[0017] Optionally, the manual unlocking structure further includes a cylindrical guide, the driving component includes a pressing member that is movably inserted through the guide; the self-locking component includes a first limiting structure disposed on the guide and a second limiting structure disposed on the pressing member;

[0018] When the driving component moves along the first direction, the pressing component rotates circumferentially under the guidance of the guide, thereby changing the relative circumferential position of the second limiting structure and the first limiting structure.

[0019] When the second limiting structure is aligned with the first limiting structure in the circumferential direction, the second limiting structure is used to abut against the first limiting structure to limit the movement of the driving component in the direction away from the second inclined plane from not exceeding the first position, and the self-locking component is in the locked state;

[0020] When the second limiting structure is offset from the first limiting structure in the circumferential direction, the second limiting structure is used to release its contact with the first limiting structure, and the self-locking component is in the unlocked state.

[0021] Optionally, the guide is configured to guide the pressing member to rotate in the circumferential positive direction, and after the driving member passes the second position, guide the second limiting structure to align with the first limiting structure in the circumferential direction, thereby causing the driving member to stop at the first position;

[0022] The guide is also configured to guide the pressing member to rotate in the opposite direction in the circumferential direction so that the second limiting structure is offset from the first limiting structure in the circumferential direction, and to guide the driving member through the second position.

[0023] Optionally, one of the guide and the pressing member includes a guide groove, and the other includes a guide post; the guide post is movably inserted into the guide groove along its extension direction; the guide groove is inclined along the circumference of the guide or the pressing member and has a reverse bend; the first limiting structure is a first abutment surface disposed on one of the guide groove and the guide post, and the second limiting structure is a second abutment surface disposed on the other of the guide groove and the guide post; the first abutment surface and the second abutment surface are arranged opposite to each other.

[0024] Optionally, the driving component has a driving structure that cooperates with an external tool, and the driving component is used to move under the drive of the external tool.

[0025] Optionally, the guide is configured to guide the pressing member to rotate in the circumferential positive direction, and after the driving member passes the second position, guide the second limiting structure to align with the first limiting structure in the circumferential direction, thereby causing the driving member to stop at the first position;

[0026] The guide is also configured to guide the pressing member to continue rotating in the circumferential positive direction after leaving the first position, so that after the driving member passes the second position, the second limiting structure and the first limiting structure are offset in the circumferential direction.

[0027] Optionally, the first limiting structure and the second limiting structure include limiting surfaces disposed opposite to each other; the guide and the pressing member also include matching guide ramps, and when the pressing member moves along the first direction, it rotates circumferentially under the guidance of the guide by the abutment of the guide ramps.

[0028] Optionally, the driving component includes a pressing member and a transmission member, the pressing member and the transmission member are connected along the first direction, and the pressing member is rotatable relative to the transmission member about its own axis; the first inclined surface is disposed at the end of the transmission member away from the pressing member.

[0029] To address the aforementioned technical problems, the present invention also provides a robotic arm applied to a surgical robot, the robotic arm comprising joints and a manually unlocking structure as described above.

[0030] In summary, in the manual unlocking structure and robotic arm provided by the present invention, the manual unlocking structure includes: a driving component and a braking component; the driving component is movably disposed along a first direction, and the braking component is movably disposed along a second direction at an angle to the first direction, the braking state and the release state of the braking component are switched by moving along the second direction; the driving component includes a first inclined surface, and the braking component includes a second inclined surface, the first inclined surface abutting against the second inclined surface; when the driving component is pressed and moves along the first direction, the braking component is driven to move along the second direction by the relative sliding of the first inclined surface and the second inclined surface; the manual unlocking structure further includes a first potential energy component and a second potential energy component; the first potential energy component is used to apply a first potential energy to the driving component in a direction away from the second inclined surface; the second potential energy component is used to apply a second potential energy to the braking component in a direction toward the first inclined surface.

[0031] With this configuration, when the robotic arm is in an unadjustable state after a power outage or emergency stop, pressing the drive component along the first direction moves the braking component along the second direction via the relative sliding of the first and second inclined planes, thus releasing the braking component. Therefore, after a power outage or emergency stop, the brakes on each joint of the robotic arm can be released and adjusted, eliminating the high-risk posture posed by the robotic arm to the human body. Furthermore, during transportation, the posture of the robotic arm can be adjusted without power, saving packaging time. During joint maintenance, the posture of the joints can also be adjusted without power, making maintenance more convenient. Attached Figure Description

[0032] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0033] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot according to an embodiment of the present invention;

[0034] Figure 2 This is an exploded view of the manual unlocking structure of the first embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the manual unlocking structure of the first embodiment of the present invention, wherein the braking component is in a braking state;

[0036] Figure 4 This is a schematic diagram of the manual unlocking structure of the first embodiment of the present invention, wherein the driving component is pressed and the braking component is in the released state;

[0037] Figure 5 This is a schematic diagram of the manual unlocking structure of the first embodiment of the present invention applied to the joint of a robotic arm, wherein the braking component is in the released state;

[0038] Figure 6 yes Figure 5 A magnified view of a portion of the image;

[0039] Figure 7 This is an exploded view of the manual unlocking structure according to the second embodiment of the present invention;

[0040] Figure 8 This is an assembly diagram of the manual unlocking structure according to the second embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of the manual unlocking structure of the second embodiment of the present invention, wherein the braking component is in a braking state;

[0042] Figure 10 This is a schematic diagram of the manual unlocking structure of the second embodiment of the present invention, wherein the driving component is pressed and the braking component is in the released state;

[0043] Figure 11 This is an exploded view of the manual unlocking structure according to the third embodiment of the present invention;

[0044] Figure 12 This is an axial cross-sectional schematic diagram of the manual unlocking structure according to the third embodiment of the present invention;

[0045] Figure 13 This is a schematic diagram of the manual unlocking structure of the third embodiment of the present invention, wherein the braking component is in a braking state;

[0046] Figure 14 This is a schematic diagram of the manual unlocking structure of the third embodiment of the present invention, wherein the braking component is in the released state. Detailed Implementation

[0047] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0048] The purpose of this invention is to provide a manually unlocking structure and a robotic arm to solve the problem that the robotic arm of existing surgical robots is in an unadjustable state after a power outage or emergency stop. The following description refers to the accompanying drawings.

[0049] Figure 1 An application scenario of a surgical robot is illustrated. The surgical robot includes a cart 110, a robotic arm 120, and surgical instruments 130. The robotic arm 120 is mounted on the cart 110, and the surgical instruments 130 are mounted and connected to the robotic arm 120. The robotic arm 120 includes several joints 121 and several arm segments 122, with adjacent arm segments 122 rotatably connected via joints 121. For safety, each joint 121 is equipped with a brake disc and a brake plate. In the power-off state, the brake plate engages the brake disc, preventing the joint 121 from rotating. In normal operation, the brake plate disengages from the brake disc, releasing the brake and allowing the joint 121 to rotate.

[0050] As in the background art, although such a configuration can reliably maintain the original posture of the robotic arm 120 in some emergency situations (such as a sudden power outage) and avoid harm to the patient due to the sudden power outage, the joints 121 of the robotic arm 120 are also braked and locked and cannot rotate in the power outage state. If the robotic arm 120 is in a high-risk posture relative to the human body at this time, the non-adjustable robotic arm 120 can easily cause injury to the human body.

[0051] Based on the above research, this embodiment of the invention provides a manually unlocking structure applied to joint 121 of a robotic arm 120. Please refer to... Figures 2 to 14 The manual unlocking structure includes a drive component 200 and a braking component 300. The drive component 200 is movably disposed along a first direction, and the braking component 300 is movably disposed along a second direction at an angle to the first direction. The braking state and the release state of the braking component 300 are switched by moving along the second direction. The drive component 200 includes a first inclined surface 210, and the braking component 300 includes a second inclined surface 310. The first inclined surface 210 and the second inclined surface 310 abut against each other. When the drive component 200 moves along the first direction, the braking component 300 is driven to move along the second direction by the relative sliding of the first inclined surface 210 and the second inclined surface 310.

[0052] The braking component 300 has a braking state and a released state, and the braking component 300 switches between the braking state and the released state by moving along a second direction. Please refer to [reference needed]. Figure 5 and Figure 6 In one example, joint 121 includes a brake disc 123, which may be, for example, a toothed brake disc or a friction brake disc, and braking component 300 is a brake that matches the brake disc 123. Optionally, the second direction is parallel to the axial direction of the brake disc 123, so that when the braking component 300 moves along the second direction to engage or abut against the brake disc 123, it applies brakes to the brake disc 123, at which point the braking component 300 is in a braking state. When the braking component 300 moves to a point where it is misaligned or separated from the brake disc 123 (e.g., ...), ... Figure 5 and Figure 6 As shown), the brake on the brake disc 123 is released, and the brake component 300 is in the released state.

[0053] Generally, the rotation axis of joint 121 is parallel to the axial direction of brake disc 123. However, in many cases, the arm segments 122 of robotic arm 120 extend along the rotation axis of joint 121. In this case, if it is necessary to drive the braking component 300 in the second direction, it is easily hindered by the interference of the arm segments 122. To facilitate the operation of the driving component 200, this embodiment configures the movement direction of the driving component 200 to a first direction at an angle to the second direction, so that the operator can easily operate the driving component 200 to manually unlock joint 121.

[0054] exist Figures 2 to 6 In the illustrated example, the first direction extends generally horizontally, and the second direction extends generally vertically; the first and second directions are perpendicular. It should be noted that in other embodiments, the first and second directions are not limited to being perpendicular; they can also be arranged at an angle.

[0055] Furthermore, in Figures 2 to 6 In the illustrated example, both the first inclined plane 210 and the second inclined plane 310 are planar, with the same angle of inclination and facing opposite directions. This allows the driving member 200 to drive the braking member 300 to move in the second direction via the relative sliding of the first inclined plane 210 and the second inclined plane 310 when moving in the first direction. Preferably, when the first direction is perpendicular to the second direction, the angle between the first inclined plane 210 and the second inclined plane 310 and the first direction is preferably 45° to reduce the sliding resistance of both the first inclined plane 210 and the second inclined plane 310.

[0056] It is understood that in other embodiments, the first inclined surface 210 and the second inclined surface 310 are not limited to being both planes; at least one of the first inclined surface 210 and the second inclined surface 310 may also be an arc surface or a sphere. As long as the normal at the point of contact with the other is at an angle to the first direction or the second direction, it can be regarded as an inclined surface, and relative sliding can be achieved to push the braking component 300 to move along the second direction.

[0057] Preferably, the manual unlocking structure further includes a first potential energy component 220 and a second potential energy component 320; the first potential energy component 220 is used to apply a first potential energy to the driving component 200 in a direction away from the second inclined plane 310; the second potential energy component 320 is used to apply a second potential energy to the braking component 300 in a direction toward the first inclined plane 210. It should be noted that, for the driving component 200, the direction away from the second inclined plane 310 refers to the direction away from the second inclined plane 310 along the first direction. Figures 2 to 4 In the illustrated example, it is to the left. For the braking component 300, the direction toward the driving component 200 refers to the direction along the second direction toward the first inclined surface 210. Figures 2 to 4 In the example shown, it is upward.

[0058] The first potential energy component 220 is configured to ensure that the first inclined surface 210 does not exert pressure on the second inclined surface 310 when the drive component 200 is not subjected to external force, and to keep the drive component 200 in a position away from the braking component 300, such as... Figure 3 As shown (hereinafter referred to as the initial state for ease of description). The second potential energy component 320 is configured to keep the braking component 300 in a braking state when it is not subjected to external force, in a position engaged or abutting against the brake disc 123. In this way, when not subjected to external force, the braking component 300 is in a braking state by default, and the driving component 200 will not interfere with the braking of the braking component 300.

[0059] like Figures 4 to 6 As shown, when the drive component 200 is pressed, it moves towards the second inclined surface 310 ( Figures 4 to 6 When moving to the right, the braking component 300 is pushed in a direction away from the first inclined plane 210. Figures 4 to 6 (For downward movement) During this process, both the first potential energy component 220 and the second potential energy component 320 store potential energy, while the braking component 300 moves to a position that is misaligned or separated from the brake disc 123, and the braking component 300 switches to the released state.

[0060] In some embodiments, once the operator removes the external force applied to the drive component 200, the first potential energy component 220 and the second potential energy component 320 release their stored potential energy. The drive component 200 returns to its initial state under the drive of the first potential energy component 220, and the braking component 300 returns to its braking state under the drive of the second potential energy component 320. Figure 3 The state shown is as follows. With this configuration, the braking component 300 will switch to the released state only when the operator presses the driving component 200. Once the operator stops pressing the driving component 200, the braking component 300 will switch to the braking state, ensuring that the braking component 300 can self-reset to ensure the safety of the robotic arm 120.

[0061] In some embodiments, the first potential energy component 220 and the second potential energy component 320 are both elastic potential energy components, such as springs. It is understood that in other embodiments, the first potential energy component 220 and the second potential energy component 320 may also be magnetic potential energy components, such as magnets with opposite poles, and this embodiment is not limited to this.

[0062] Please refer to Figures 7 to 14 In other embodiments, the drive component 200 has a self-locking characteristic when pressed. When the drive component 200 is pressed, the brake component 300 switches to the released state. At this time, even if the drive component 200 is no longer pressed, the brake component 300 remains in the released state. The brake component 300 will only switch to the brake state when the drive component 200 is pressed again. This configuration facilitates manual adjustment of the joint 121.

[0063] Optionally, the drive component 200 has a first position (see...) Figure 10 The position of the drive component 200 shown is a first position (not shown) and a second position (not shown), wherein the first position is further away from the second inclined plane 310 in a first direction relative to the second position. Figures 7 to 14 In the example shown, the first position is located to the left of the second position. The first position is also the self-locking position, and the second position is the limit position of the travel of the drive component 200 in the direction of the second inclined plane 310.

[0064] To achieve the self-locking characteristic of the drive component 200, the manual unlocking structure also includes a self-locking component 400, which has a locked state and an unlocked state; in the direction of the drive component 200 toward the second inclined surface 310 (in Figures 7 to 14 When the illustrated example (in which the movement is to the right) moves beyond the second position, the self-locking component 400 is triggered to switch between a locked state and an unlocked state; when the self-locking component 400 is in the locked state, it restricts the drive component 200 from moving in a direction away from the second inclined plane 310 (in... Figures 7 to 14In the illustrated example, the movement (to the left) does not exceed the first position; when the self-locking component is in the unlocked state, the drive component 200 is allowed to move beyond the first position in a direction away from the second inclined plane 310. The structure of the self-locking component 400 can be mechanical or electromagnetic, or other self-locking structures commonly used in the art, preferably mechanical, which has high reliability and does not require an additional power supply.

[0065] Optionally, in some embodiments of the mechanical self-locking component 400, the manual unlocking structure further includes a cylindrical guide 500, and the driving component 200 includes a pressing member 230; the pressing member 230 is movably disposed through the guide 500; the self-locking component 400 includes a first limiting structure 410 disposed on the guide 500 and a second limiting structure 420 disposed on the pressing member 230; when the driving component 200 moves along the first direction, the pressing member 230 rotates circumferentially under the guidance of the guide 500, thereby changing the position of the second limiting structure 420 relative to the guide 500. The relative circumferential position of the first limiting structure 410; when the second limiting structure 420 is aligned with the first limiting structure 410 in the circumferential direction, the second limiting structure 420 is used to abut against the first limiting structure 410 to limit the movement of the drive component 200 in the direction away from the second inclined surface 310 to not exceed the first position, and the self-locking component 400 is in the locked state; when the second limiting structure 420 is offset from the first limiting structure 410 in the circumferential direction, the second limiting structure 420 is used to release abut against the first limiting structure 410, and the self-locking component 400 is in the unlocked state.

[0066] like Figures 7 to 10 As shown, in some embodiments, the guide 500 is configured to guide the pressing member 230 to rotate forward in the circumferential direction, and after the driving member 200 passes the second position, guide the second limiting structure 420 to align with the first limiting structure 410 in the circumferential direction, thereby causing the driving member 200 to stop at the first position; the guide 500 is also configured to guide the pressing member 230 to rotate backward in the circumferential direction, so that the second limiting structure 420 and the first limiting structure 410 are misaligned in the circumferential direction, and guide the driving member 200 to pass the second position. It should be noted that the forward rotation and backward rotation here are only a set of opposite rotation directions, and it is not limited that one of the directions must be clockwise or counterclockwise.

[0067] Furthermore, one of the guide 500 and the pressing member 230 includes a guide groove 510, and the other includes a guide post 240; the guide post 240 is movably inserted into the guide groove 510 along its extension direction; the guide groove 510 is inclined along the circumference of the guide 500 or the pressing member 230 and has a reverse bend 511; the first limiting structure 410 is a first abutment surface provided on one of the guide groove 510 and the guide post 240, and the second limiting structure 420 is a second abutment surface provided on the other of the guide groove 510 and the guide post 240; the first abutment surface and the second abutment surface are arranged opposite to each other. It should be noted that the reverse bend 511 here refers to the area where the extension direction of the guide groove 510 changes in the opposite direction.

[0068] exist Figures 7 to 10 In the illustrated example, the guide 500 includes a guide groove 510, and the pressing member 230 includes a guide post 240. The guide groove 510 is inclined circumferentially along the guide 500, with one end located at the end of the guide 500 away from the second inclined surface 310. For ease of description, the end of the guide groove 510 away from the second inclined surface 310 is referred to as the head end, and the other end of the guide groove 510 along its own extension direction is referred to as the end end. Preferably, the head end is further away from the second inclined surface 310 in the first direction than the end end. The guide groove 510 extends circumferentially inclined toward the second inclined surface 310 from the head end, reaching the position closest to the second inclined surface 310 at the inflection bend 511, and then extends circumferentially inclined away from the second inclined surface 310 after the inflection bend 511 until the end end. The state of the guide post 240 when it is located at the head end of the guide groove 510 is as follows: Figure 9 As shown. The state when the guide post 240 is located at the end of the guide groove 510 is as follows. Figure 10 As shown.

[0069] Furthermore, the first limiting structure 410 is a first abutment surface disposed on the guide groove 510, specifically at the end of the guide groove 510. The second limiting structure 420 is a second abutment surface disposed on the guide post 240; it should be noted that the shapes of the first and second abutment surfaces are not limited, and can be planar or curved. They are arranged opposite to each other, thus enabling them to abut against each other. Figure 10 In the example shown, the first abutting surface is the semi-circular surface of the end of the guide groove 510 facing the direction of the second inclined surface 310, and the second abutting surface is the semi-circular surface of the guide post 240 facing away from the direction of the second inclined surface 310. When the first abutting surface and the second abutting surface are aligned circumferentially, they can abut against each other and restrict the movement of the guide post 240 away from the direction of the second inclined surface 310, thereby achieving self-locking.

[0070] Understandably, when the guide post 240 moves along the guide groove 510 from its head end to the inflection point 511, it is at its closest position to the second inclined plane 310, at which point the drive component 200 is in the second position. Then, as the guide post 240 continues along the guide groove 510 past the inflection point 511, it gradually moves away from the second inclined plane 310 until the first and second abutment surfaces are aligned circumferentially and abut against each other. At this point, the guide post 240 is blocked and stops by the end of the guide groove 510. Figure 10 As shown, the drive component 200 is in the first position at this time.

[0071] When the drive component 200 is in the section between the first position and the second position along the first direction, the braking component 300 is in the released state due to the abutment and switching between the first inclined surface 210 and the second inclined surface 310. For example, if the pressing member 230 rotates in the opposite direction circumferentially from the first position, passes through the second position, and moves away from the second inclined surface 310, it needs to exceed the first position in the first direction to allow the braking component 300 to switch to the braking state. That is, the braking component 300 is only in the braking state when the drive component 200 is in a section further away from the second inclined surface 310 than the first position. With this configuration, after the drive component 200 is pressed once, it will be locked in the first position by the self-locking member 400, keeping the braking component 300 in the released state until the drive component 200 is pressed again. At this time, the self-locking member 400 releases the lock on the position of the drive component 200, allowing the drive component 200 to return to the position away from the second inclined surface 310, thereby switching the braking component 300 to the braking state.

[0072] Throughout the entire process of the guide post 240 moving along the guide groove 510 from its head end, through the reverse bend 511, until it reaches the end of the guide groove 510, the pressing member 230 rotates in the same circumferential direction, which can be defined as forward rotation. Conversely, throughout the entire process of the guide post 240 moving along the guide groove 510 from its end, through the reverse bend 511, until it reaches the head end of the guide groove 510, the circumferential rotation of the pressing member 230 is defined as reverse rotation. It can be understood that during each press of the drive member 200, the pressing member 230 rotates only in one direction, and the rotation directions of the pressing member 230 are opposite in two adjacent presses.

[0073] Understandably, in some other embodiments, with Figures 7 to 10 Different from the illustrated example, the guide 500 could include a guide post 240, while the pressing member 230 includes a guide groove 510. Understandably, in this case, the apex of the reverse bend 511 faces the same direction as... Figures 7 to 10 The example shown is the opposite.

[0074] Optionally, in some embodiments, to facilitate operation of the drive component 200, the drive component 200 has a drive structure 260 that cooperates with an external tool, and the drive component 200 is used to move under the drive of the external tool. Figure 7 and Figure 8 In the illustrated example, the drive structure 260 is a Phillips head groove, and the external tool that cooperates with it can be a Phillips head screwdriver. It is understood that the drive structure 260 is not limited to a Phillips head groove; it can also be a torque transmission structure commonly used in the art, such as an internal hexagon or a star-shaped groove, which will not be elaborated here. Since the drive component 200 needs to generate both axial and circumferential movement simultaneously, it is more convenient to use an external tool for driving.

[0075] Please refer to Figures 11 to 14 In other embodiments, the guide 500 is configured to guide the pressing member 230 to rotate circumferentially in the positive direction, and after the driving member 200 passes the second position, guide the second limiting structure 420 to align with the first limiting structure 410 in the circumferential direction, thereby causing the driving member 200 to stop at the first position; the guide 500 is also configured to guide the pressing member 230 to continue rotating circumferentially in the positive direction after leaving the first position, so that after the driving member 200 passes the second position, the second limiting structure 420 and the first limiting structure 410 are circumferentially offset.

[0076] and Figures 7 to 10 The examples shown are different. Figures 11 to 14 In the illustrated example, the drive component 200 rotates circumferentially in the same direction at all times. During each press of the drive component 200, the pressing member 230 rotates in one direction at all times, and each press causes the self-locking member 400 to change state once.

[0077] Optionally, the self-locking component 400 has a structure similar to the press-lock structure of a ballpoint pen. The pressing member 230 rotates in one direction throughout the pressing and rebounding process. In an alternative example, the first limiting structure 410 and the second limiting structure 420 include opposing limiting surfaces; the guide 500 and the driving component 200 also include matching guide ramps. The first limiting structure 410 and the second limiting structure 420 include opposing limiting surfaces; the guide 500 and the pressing member 230 also include matching guide ramps. When the pressing member 230 moves in the first direction, it rotates circumferentially under the guidance of the guide 500 through the abutment of the guide ramps. Furthermore, the inner wall of the guide 500 is provided with a groove 520, and the outer periphery of the pressing member 230 is provided with a protrusion 231. The limiting surface and the guide ramp are both provided on the groove 520 and the protrusion 231. The specific principles and structure can be understood based on existing technology and will not be elaborated here. Understandably, when the pressing member 230 is pressed, it will be pushed by the guide slope and rotate at a certain angle, thereby enabling the first limiting structure 410 and the second limiting structure 420 to be aligned or staggered.

[0078] For preferred options, please refer to [the following]. Figure 2 , Figure 7 and Figure 11 The driving component 200 also includes a transmission member 270. The pressing member 230 is connected to the transmission member 270 along a first direction, and the pressing member 230 is rotatable relative to the transmission member 270 about its own axis. A first inclined surface 210 is disposed at the end of the transmission member 270 away from the pressing member 230. It is understood that in some embodiments, the pressing member 230 may rotate about its own axis during pressing, such as... Figure 7 and Figure 11 The example shown is not provided. In other embodiments, the pressing member 230 may remain circumferentially stationary during the pressing process. Regardless of whether the pressing member 230 rotates during the pressing process, the circumferential angle of the final transmission member 270 remains constant to ensure the abutment relationship between the first inclined surface 210 and the second inclined surface 310. Therefore, it is necessary to decouple the relative circumferential rotation relationship between the pressing member 230 and the transmission member 270.

[0079] like Figure 2 and Figure 12 As shown, in some embodiments, the transmission member 270 may have a cylindrical inner cavity, while the pressing member 230 has a column that fits into the inner cavity of the transmission member 270, and the pressing member 230 achieves connection by inserting the column into the inner cavity of the transmission member 270. Figure 7 As shown, in some other embodiments, the transmission member 270 and the pressing member 230 can also be connected by abutting their end faces.

[0080] Optionally, the guide 500 has a guide groove 530 extending along a first direction, and the transmission member 270 has a guide post 271, which is movably inserted into the guide groove 530 along its extension direction. Thus, the guide 500 also restricts the circumferential rotation of the transmission member 270, allowing it to move only along the first direction.

[0081] Based on the above-described manual unlocking structure, this embodiment of the invention also provides a robotic arm 120, which is applied to a surgical robot. The robotic arm 120 includes a joint 121 and the manual unlocking structure described above, the manual unlocking structure being disposed on the joint 121. Furthermore, this embodiment also provides a surgical robot, which includes the robotic arm 120. The structure and principles of the robotic arm 120 and other components of the surgical robot can be found in the prior art and will not be elaborated here.

[0082] In summary, in the manual unlocking structure and robotic arm provided by this invention, the manual unlocking structure includes: a driving component and a braking component; the driving component is movably disposed along a first direction, and the braking component is movably disposed along a second direction at an angle to the first direction, the braking state and the release state of the braking component are switched by moving along the second direction; the driving component includes a first inclined surface, and the braking component includes a second inclined surface, the first inclined surface and the second inclined surface abut against each other; when the driving component is pressed and moves along the first direction, the relative sliding of the first inclined surface and the second inclined surface drives the braking component to move along the second direction; the manual unlocking structure also includes a first potential energy component and a second potential energy component; the first potential energy component is used to apply a first potential energy to the driving component in a direction away from the second inclined surface; the second potential energy component is used to apply a second potential energy to the braking component in a direction toward the first inclined surface. With this configuration, when the robotic arm is in an unadjustable state after a power outage or emergency stop, by pressing the driving component to move along the first direction, the relative sliding of the first inclined surface and the second inclined surface can drive the braking component to move along the second direction, thereby switching the braking component to the release state. Therefore, after a power outage or emergency stop of the robotic arm, the brakes on each joint can be released and adjusted, eliminating the high-risk posture posed by the robotic arm to the human body. Furthermore, during transportation, the posture of the robotic arm can be adjusted without power, saving packaging time. During joint maintenance, the posture of the joints can also be adjusted without power, making maintenance more convenient.

[0083] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A manually unlocking structure applied to the joint of a robotic arm, characterized in that, include: Drive components and braking components; The driving component is movably disposed along a first direction, and the braking component is movably disposed along a second direction at an angle to the first direction. The braking state and the release state of the braking component are switched by moving along the second direction. The driving component includes a first inclined surface, and the braking component includes a second inclined surface, with the first inclined surface abutting against the second inclined surface; when the driving component is pressed and moves along the first direction, the braking component is driven to move along the second direction by the relative sliding of the first inclined surface and the second inclined surface; The manual unlocking structure further includes a first potential energy component and a second potential energy component; the first potential energy component is used to apply a first potential energy to the driving component in a direction away from the second inclined plane; the second potential energy component is used to apply a second potential energy to the braking component in a direction toward the first inclined plane; The joint includes a brake disc, and the second direction is parallel to the axial direction of the brake disc; When the braking component moves along the second direction to engage or abut against the brake disc, the braking component is in the braking state; when the braking component moves to be misaligned or separated from the brake disc, the braking component is in the released state.

2. The manual unlocking structure according to claim 1, characterized in that, The driving component has a first position and a second position, wherein the first position is further away from the second inclined surface in the first direction relative to the second position; the manual unlocking structure further includes a self-locking component, which has a locked state and an unlocked state. When the driving component moves beyond the second position in the direction toward the second inclined plane, the self-locking component is triggered to switch between the locked state and the unlocked state; When the self-locking component is in the locked state, it restricts the movement of the driving component in the direction away from the second inclined plane from exceeding the first position; When the self-locking component is in the unlocked state, it allows the driving component to move beyond the first position in a direction away from the second inclined plane.

3. The manual unlocking structure according to claim 2, characterized in that, The manual unlocking structure further includes a cylindrical guide, the driving component includes a pressing member that is movably inserted through the guide; the self-locking component includes a first limiting structure disposed on the guide and a second limiting structure disposed on the pressing member; When the driving component moves along the first direction, the pressing component rotates circumferentially under the guidance of the guide, thereby changing the relative circumferential position of the second limiting structure and the first limiting structure. When the second limiting structure is aligned with the first limiting structure in the circumferential direction, the second limiting structure is used to abut against the first limiting structure to limit the movement of the driving component in the direction away from the second inclined plane from not exceeding the first position, and the self-locking component is in the locked state; When the second limiting structure is offset from the first limiting structure in the circumferential direction, the second limiting structure is used to release its contact with the first limiting structure, and the self-locking component is in the unlocked state.

4. The manual unlocking structure according to claim 3, characterized in that, The guide is configured to guide the pressing member to rotate in the circumferential positive direction, and after the driving member passes the second position, guide the second limiting structure to align with the first limiting structure in the circumferential direction, thereby causing the driving member to stop at the first position; The guide is also configured to guide the pressing member to rotate in the opposite direction in the circumferential direction so that the second limiting structure is offset from the first limiting structure in the circumferential direction, and to guide the driving member through the second position.

5. The manual unlocking structure according to claim 4, characterized in that, One of the guide and the pressing member includes a guide groove, and the other includes a guide post; the guide post is movably inserted into the guide groove along its extension direction; the guide groove is inclined along the circumference of the guide or the pressing member and has a reverse bend; the first limiting structure is a first abutment surface disposed on one of the guide groove and the guide post, and the second limiting structure is a second abutment surface disposed on the other of the guide groove and the guide post; the first abutment surface and the second abutment surface are arranged opposite to each other.

6. The manual unlocking structure according to claim 4, characterized in that, The driving component has a driving structure that cooperates with an external tool, and the driving component is used to move under the drive of the external tool.

7. The manual unlocking structure according to claim 3, characterized in that, The guide is configured to guide the pressing member to rotate in the circumferential positive direction, and after the driving member passes the second position, guide the second limiting structure to align with the first limiting structure in the circumferential direction, thereby causing the driving member to stop at the first position; The guide is also configured to guide the pressing member to continue rotating in the circumferential positive direction after leaving the first position, so that after the driving member passes the second position, the second limiting structure and the first limiting structure are offset in the circumferential direction.

8. The manual unlocking structure according to claim 7, characterized in that, The first limiting structure and the second limiting structure include limiting surfaces that are arranged opposite to each other; the guide and the pressing member also include matching guide ramps. When the pressing member moves along the first direction, it rotates circumferentially under the guidance of the guide by the abutment of the guide ramp.

9. The manual unlocking structure according to claim 1, characterized in that, The driving component includes a pressing member and a transmission member, the pressing member and the transmission member are connected along the first direction, and the pressing member is rotatable relative to the transmission member about its own axis; the first inclined surface is disposed at the end of the transmission member away from the pressing member.

10. A robotic arm used in a surgical robot, characterized in that, Includes a joint and a manual unlocking structure according to any one of claims 1 to 9.

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