Brake assembly and surgical robot

Abstract

The invention provides a brake assembly and a surgical robot. The brake assembly comprises a shell, a fixed brake piece, a movable brake piece, an energy storage power assembly, a driving power assembly and a force zooming assembly. The movable brake piece is movably connected to the shell between a joint position and a separation position relative to the shell in the first direction. The movable brake piece located at the joint position makes contact with the fixed brake piece so as to apply braking force to the fixed brake piece. And the movable brake piece at the separation position is separated from the fixed brake piece. The energy storage power assembly is in transmission connection with the dynamic brake piece. The driving power assembly is in transmission connection with the dynamic brake piece. One of the driving power assembly and the energy storage power assembly is used for applying acting force moving towards the joint position to the movable brake piece, and the other one is used for applying acting force moving towards the separation position to the movable brake piece. The force scaling assembly is at least connected between the driving power assembly and the dynamic brake piece. The compactness of the brake assembly can be improved.

Description

Technical Field

[0001] This application generally relates to the technical field of medical devices, and more particularly to a brake assembly and a surgical robot. Background Art

[0002] Medical robot systems often construct execution units centered around users / patients, and large rotary mechanisms and linear motion mechanisms are common structural forms among them. Currently, traditional electric braking solutions cannot directly meet the usage requirements.

[0003] Therefore, it is necessary to provide a brake assembly and a surgical robot to at least partially solve the above problems. Summary of the Invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in detail in the Detailed Description section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] To at least partially solve the above problems, a first aspect of this application provides a brake assembly adapted to be connected between a first part and a second part that can rotate or move linearly relative to each other. The brake assembly includes:

[0006] A housing for connecting to one of the first part and the second part;

[0007] A fixed brake member for connecting to the other of the first part and the second part;

[0008] A moving brake member movably connected to the housing relative to the housing between an engaged position and a disengaged position along a first direction. The moving brake member in the engaged position contacts the fixed brake member to apply a braking force to the fixed brake member, and the moving brake member in the disengaged position disengages from the fixed brake member;

[0009] An energy storage power assembly drivingly connected to the moving brake member;

[0010] An active power assembly drivingly connected to the moving brake member. One of the active power assembly and the energy storage power assembly is used to apply a force to the moving brake member to move towards the engaged position, and the other of the active power assembly and the energy storage power assembly is used to apply a force to the moving brake member to move towards the disengaged position; and

[0011] A force scaling component, which is at least connected between the active power component and the moving brake component to change the magnitude of the acting force on the moving brake component.

[0012] For the brake component according to the first aspect of the present application, by setting the force scaling component, the magnitude of the acting force on the moving brake component can be changed, thereby changing the magnitude of the braking force, which helps to reduce the sizes of the active power component and the energy storage power component and improve the compactness of the brake component.

[0013] Optionally, the energy storage power component and the active power component are connected in parallel to the input end of the force scaling component, and the energy storage power component and the active power component jointly output an acting force on the force scaling component, and the output end of the force scaling component is connected to the moving brake component; or

[0014] The energy storage power component is singly connected to the input end of the force scaling component, the energy storage power component singly outputs an acting force on the force scaling component, and the output end of the force scaling component is connected to the moving brake component.

[0015] Optionally, the force scaling component is used to amplify the acting forces output by the active power component and the energy storage power component.

[0016] Optionally, the force scaling component includes:

[0017] An output component, which is fixedly arranged relative to the moving brake component;

[0018] An input component, which is used to receive the power of the active power component or the energy storage power component and act on the output component;

[0019] Wherein, the moment of the output component is greater than the moment of the input component.

[0020] Optionally, the input component is movably connected to the housing along a third direction perpendicular to the first direction, and the input component includes a first guiding and positioning portion,

[0021] The output component is movably connected to the housing along the first direction, and the output component includes a second guiding and positioning portion,

[0022] Wherein, one of the first guiding and positioning portion and the second guiding and positioning portion includes a guiding portion extending along a guiding direction, the guiding direction intersects the first direction and the third direction, the other of the first guiding and positioning portion and the second guiding and positioning portion is fitted to the guiding portion, and the angle between the direction of the mutual acting force between the first guiding and positioning portion and the second guiding and positioning portion and the first direction is an acute angle. During the process that the input component moves relative to the output component along the third direction, the output component can move in the first direction under the action of the mutual acting force between the first guiding and positioning portion and the second guiding and positioning portion.

[0023] Optionally, the angle between the direction of the acting force of the first guiding and positioning portion and the second guiding and positioning portion and the first direction approaches zero and is not equal to zero.

[0024] Optionally, the input component includes:

[0025] A sliding portion, the sliding portion is slidably fitted to the housing along the third direction, the first guiding and positioning portion is arranged on the sliding portion, and the guiding portion is arranged on the second guiding and positioning portion.

[0026] Optionally, the first guiding and positioning portion is configured as a guiding and positioning boss, the guiding portion is configured as a kidney-shaped hole, the guiding direction is the length direction of the kidney-shaped hole, and the guiding and positioning boss is located in the kidney-shaped hole and is movable relative to the second guiding and positioning portion along the guiding direction.

[0027] Optionally, the guiding and positioning boss is configured as a shaft body, the input component further includes a rolling body, the rolling body is sleeved outside the shaft body and is rotatable relative to the shaft body around a rotation axis parallel to the second direction, the second direction is perpendicular to the first direction, and the rolling body is located in the kidney-shaped hole.

[0028] Optionally, the force scaling assembly is set as a gear-rack assembly, the input component is set as a gear, the output component is set as a rack, and the gear and the rack are meshed and driven.

[0029] Optionally, the energy storage and power assembly includes a spring, the spring is connected to the input component, and the spring is used to apply an elastic acting force along the third direction to the input component so that the dynamic brake part moves towards the engagement position, and the third direction is perpendicular to the first direction.

[0030] Optionally, the active power assembly includes a motor and a lead screw. The motor is connected to the lead screw to drive the lead screw to rotate. The length direction of the lead screw is parallel to the third direction. The lead screw is in threaded engagement with the housing. The motor is connected to the sliding portion. Starting the motor drives the dynamic brake member to move between the engaged position and the disengaged position.

[0031] Optionally, the sliding portion is provided with a receiving cavity, and the motor is connected to the receiving cavity.

[0032] Optionally, a first cavity and a second cavity are formed inside the housing. The energy storage power assembly and the active power assembly are located in the first cavity. The input component is located in the first cavity and extends to the second cavity. The output component is located in the second cavity. The dynamic brake member is connected to the second cavity and extends along the first direction to the outside of the housing.

[0033] A second aspect of the present application provides a surgical robot, which includes a first part and a second part that perform rotational motion or linear motion relative to each other, and the above-mentioned brake assembly.

[0034] According to the surgical robot provided in the second aspect of the present application, by applying the above-mentioned brake assembly, braking can be achieved at any position of the first part relative to the second part according to the braking requirement. Description of the Drawings

[0035] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments and descriptions thereof shown in the drawings are used to explain the principles of the present application. In the drawings,

[0036] Figure 1 is a cross-sectional view of a brake assembly according to a preferred embodiment of the present application, where the cross-sectional plane is perpendicular to the third direction;

[0037] Figure 2 is Figure 1 another cross-sectional view of the brake assembly shown, where the cross-sectional plane is perpendicular to the second direction;

[0038] Figure 3 is Figure 1 yet another cross-sectional view of the brake assembly shown, where the cross-sectional plane is perpendicular to the first direction;

[0039] Figure 4 is Figure 1 an exploded view of the brake assembly shown after removing the housing;

[0040] Figure 5 is Figure 1 , 3 and Figure 4Schematic diagram of the second guiding and positioning part and the moving brake part shown; and

[0041] Figure 6 Schematic diagram of a surgical robot including a first part, a second part, and a brake assembly according to a preferred embodiment of the present application.

[0042] Description of reference numerals:

[0043] 10: Surgical robot 11: First part

[0044] 12: Second part 100: Housing

[0045] 101: First cavity 102: Second cavity

[0046] 103: First through hole 104: Second through hole

[0047] 120: Moving brake part 121: Second guiding and positioning part

[0048] 130: Energy storage power assembly 131: Spring

[0049] 140: Active power assembly 141: Motor

[0050] 142: Lead screw 150: Force scaling assembly

[0051] 151: Sliding part 151a: Guide groove

[0052] 151b: Accommodating cavity 152: First guiding and positioning part

[0053] 152a: Shaft body 152b: Rolling element

[0054] 160: Guide needle roller 170: Brake assembly

[0055] 180: Fixed brake part D1: First direction

[0056] D2: Second direction D3: Third direction

[0057] D4: Guiding direction AX: Axis of rotation Detailed implementation manners

[0058] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the embodiments of the present application may be practiced without one or more of these details. In other instances, some well-known technical features are not described in order to avoid obscuring the embodiments of the present application.

[0059] To thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0060] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. The singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0061] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present application are only for the purpose of illustration and are not limitations.

[0062] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0063] The present application is applied to a surgical robot. Refer to Figures 1 to 6 , in the surgical robot 10 device, it includes a first part 11 and a second part 12 that perform rotational or linear motion relative to each other. Between the first part 11 and the second part 12, various brake assemblies 170 are applied. For example, in the figure, the surgical robot 10 may include an arc-shaped fixed part structure and a moving part structure that can perform rotational motion relative to the fixed part structure. Here, the fixed part structure can be understood as the aforementioned first part 11. Correspondingly, the moving part structure can be understood as the aforementioned second part 12. Among them, the fixed part structure has an arc-shaped fixed brake part 180. The moving part structure is connected with a moving brake part 120. When the moving part structure performs rotational motion relative to the fixed part structure, the moving brake part 120 also performs rotational motion relative to the fixed brake part 180 together with the moving part structure. If the moving part structure needs to be braked, the moving brake part 120 engages with the fixed brake part 180, so that the brake assembly 170 can achieve braking. The brake assembly 170 can be braked at any position of the arc-shaped fixed brake part 180.

[0064] In the application of the surgical robot 10, for example, if the moving structure has a load, the center of gravity of the moving structure will be offset relative to the position where the fixed structure is connected. Therefore, the braking torque requirement for the brake assembly 170 is very high.

[0065] like Figures 1 to 6 As shown, the present application provides a brake assembly. The brake assembly 170 is suitable for connecting between a first part and a second part that can perform rotational motion or linear motion relative to each other. The brake assembly 170 according to the present application may include a housing 100, a fixed brake member 180, a dynamic brake member 120, an energy storage power assembly 130, an active power assembly 140, and a force scaling assembly 150. The housing 100 is used to be connected to one of the first part and the second part. The fixed brake member 180 is used to be connected to the other of the first part and the second part. The dynamic brake member 120 is movably connected to the housing 100 along a first direction D1 between an engagement position and a disengagement position relative to the housing 100. The dynamic brake member 120 located in the engagement position contacts the fixed brake member 180 to apply a braking force to the fixed brake member 180. The dynamic brake member 120 located in the disengagement position is disengaged from the fixed brake member 180. The energy storage power assembly 130 is transmission-connected to the dynamic brake member 120. The active power assembly 140 is transmission-connected to the dynamic brake member 120. One of the active power assembly 140 and the energy storage power assembly 130 is used to apply a force to the dynamic brake member 120 to move toward the engagement position. The other of the active power assembly 140 and the energy storage power assembly 130 is used to apply a force to the dynamic brake member 120 to move toward the disengagement position. The force scaling assembly 150 is at least connected between the active power assembly 140 and the dynamic brake member 120 to change the magnitude of the force applied to the dynamic brake member 120.

[0066] According to the brake assembly 170 of the present application, by setting the force scaling assembly 150, the magnitude of the force applied to the dynamic brake member 120 can be changed, thereby changing the magnitude of the braking force. The force scaling assembly 150 is set according to the characteristics of the energy density and volume requirements of the active power assembly 140 and the energy storage power assembly 130. If the energy density needs to be increased in the application, the force amplification method is generally adopted to achieve a compact braking body. If a high response speed is required in the application, the force reduction method is generally adopted to achieve a high-speed response of the brake. In the application of the end effector of the medical robot, the force scaling assembly 150 generally adopts the method of increasing the amplification ratio and adopting a motor 141 with a higher rated speed to increase the energy density and reduce the volume of the brake assembly 170, thereby helping to reduce the size of the active power assembly 140 and the energy storage power assembly 130 and improve the compactness of the brake assembly 170.

[0067] In one example, the energy storage power component 130 and the active power component 140 are connected in parallel to the input end of the force scaling component 150. The energy storage power component 130 and the active power component 140 jointly output a force to the force scaling component 150. The output end of the force scaling component 150 is connected to the dynamic brake part 120. The force jointly output by the energy storage power component 130 and the active power component 140 to the force scaling component 150 can be used to move the dynamic brake part 120 towards the separation position or to move the dynamic brake part 120 towards the engagement position. Preferably, the force jointly output by the energy storage power component 130 and the active power component 140 to the force scaling component 150 is used to move the dynamic brake part 120 towards the engagement position. After the energy storage power component 130 and the active power component 140 are connected in parallel at the output end, they are transformed into the final output force through a force scaling component 150. Generally, the energy storage power component 130 provides the braking unidirectional movement force, such as the locking force / positive pressure, and the active power component 140 provides the driving force for bidirectional or simple reverse movement, such as unlocking. Vice versa. For the power-off normally closed brake assembly 170, the energy storage power component 130 outputs the locking force and the active power component 140 outputs the unlocking force. For the power-off normally open brake assembly 170, the energy storage power component 130 outputs the unlocking force and the active power component 140 outputs the locking force.

[0068] In another example, the energy storage power component 130 is singly connected to the input end of the force scaling component 150. The energy storage power component 130 singly outputs a force to the force scaling component 150. The output end of the force scaling component 150 is connected to the dynamic brake part 120. The force output by the energy storage power component 130 to the force scaling component 150 here can be used to move the dynamic brake part 120 towards the engagement position. And the active power component 140 can be used to drive the dynamic brake part 120 towards the separation position. In this application scenario, the power provided by the energy storage power component 130 is strong enough.

[0069] For example, the force scaling component 150 is used to amplify the forces output by the active power component 140 and the energy storage power component 130. In other words, the force scaling component 150 is used to amplify the force received by the dynamic brake part 120 from the active power component 140 and the energy storage power component 130. This helps to reduce the sizes of the active power component 140 and the energy storage power component 130 and improve the compactness of the brake assembly 170.

[0070] Furthermore, the force scaling component 150 may include an input part and an output part. The input part is used to receive the power of the active power component 140 or the energy storage power component 130 and act on the output part. The output part is fixedly arranged relative to the dynamic brake part 120. Among them, the torque of the output part is greater than the torque of the input part. The force scaling component 150 here plays a role in magnifying the force or torque.

[0071] Referring to Figures 1 to 6 , in one example, the input component is movably connected to the housing 100 along a third direction D3 perpendicular to the first direction D1. The input component may include a first guiding and positioning portion 152. The output component is movably connected to the housing 100 along the first direction D1. The output component may include a second guiding and positioning portion 121. Among them, one of the first guiding and positioning portion 152 and the second guiding and positioning portion 121 includes a guiding portion extending along a guiding direction D4. The guiding direction D4 intersects the first direction D1 and the third direction D3. The other of the first guiding and positioning portion 152 and the second guiding and positioning portion 121 is fitted to the guiding portion. And the direction of the interaction force between the first guiding and positioning portion 152 and the second guiding and positioning portion 121 forms an acute angle with the first direction D1. Thus, the interaction force between the first guiding and positioning portion 152 and the second guiding and positioning portion 121 has a component force along the first direction D1. During the process that the input component moves relative to the output component along the third direction D3, the output component can move in the first direction D1 under the action of the interaction force between the first guiding and positioning portion 152 and the second guiding and positioning portion 121, so as to drive the moving brake member 120 to move towards the separation position or the engagement position.

[0072] Referring to Figure 5 , further, the angle θ between the acting direction of the first guiding and positioning portion 152 and the second guiding and positioning portion 121 and the first direction D1 approaches zero and is not equal to zero. This can enable the moving brake member 120 to achieve the braking purpose with a smaller displacement in the first direction D1, and further helps to reduce the structural compactness of the brake assembly 170 in the first direction D1. Moreover, the structure of the force scaling component 150 is simpler, has a greater bearing capacity, and the amplification effect of the torque is more stable.

[0073] Referring to Figures 1 to 4 , further, the input component may include a sliding portion 151. The sliding portion 151 is slidably fitted to the housing 100 along the third direction D3. The first guiding and positioning portion 152 is disposed on the sliding portion 151. The guiding portion is disposed on the second guiding and positioning portion 121. During the process that the first guiding and positioning portion 152 moves along the third direction D3 with the sliding portion 151, under the action of the component force of the interaction force between the first guiding and positioning portion 152 and the second guiding and positioning portion 121 in the first direction D1, the moving brake member 120 is driven to move in the first direction D1.

[0074] Optionally, the first guiding and positioning portion 152 is configured as a guiding and positioning boss. The guiding portion is configured as an oval hole. The guiding direction D4 is the length direction of the oval hole. The guiding and positioning boss is located in the oval hole and is movable relative to the second guiding and positioning portion 121 along the guiding direction D4.

[0075] Further, the guiding and positioning boss is configured as a shaft body 152a. The input component may further include a rolling element 152b. The rolling element 152b is sleeved outside the shaft body 152a and is rotatable relative to the shaft body 152a about a rotation axis AX parallel to the second direction D2. The second direction D2 is perpendicular to the first direction D1 and the third direction D3. The rolling element 152b is located within the kidney-shaped hole. The shaft body 152a is indirectly connected to the kidney-shaped hole through the rolling element 152b, which can reduce the frictional force between the shaft body 152a and the inner hole wall of the kidney-shaped hole.

[0076] Optionally, the rolling element 152b here may be a bearing.

[0077] In another example, the force scaling assembly 150 may be set as a gear-rack assembly (not shown). The input component is set as a gear. The output component is set as a rack. The gear and the rack are in meshing transmission. When the gear rotates, the rack moves along the first direction D1, thereby driving the moving brake member 120 to move along the first direction D1.

[0078] Refer to Figure 2 and Figure 3 , for example, the energy storage power assembly 130 may include a spring 131. The spring 131 is connected to the input component. The spring 131 is used to apply an elastic acting force along the third direction D3 to the input component, so as to move the moving brake member 120 towards the engaging position. The third direction D3 is perpendicular to the first direction D1. By using the spring 131 to apply an elastic acting force to drive the moving brake member 120 towards the engaging position, the acting force transmitted to the moving brake member 120 is amplified.

[0079] Optionally, the spring 131 may be an elastic member such as a mechanical spring 131, an electromagnetic spring 131, or a magnetic spring 131.

[0080] In other examples, the energy storage power assembly 130 may be a magnet, a compression medium, etc.

[0081] Refer to Figures 1 to 4 , for example, the active power assembly 140 may include a motor 141 and a lead screw 142. The motor 141 is connected to the lead screw 142 to drive the lead screw 142 to rotate. The length direction of the lead screw 142 is parallel to the third direction D3. The lead screw 142 is in threaded fit with the housing 100. The motor 141 is connected to the sliding portion 151. The motor 141 is started to drive the moving brake member 120 to move between the engaging position and the separating position. During the process of the motor 141 driving the moving brake member 120 towards the engaging position, the spring 131 can increase the acting force applied to the moving brake member 120 along the first direction D1, thereby amplifying the acting force transmitted to the moving brake member 120.

[0082] Further, the sliding part 151 is provided with a receiving cavity 151b. The motor 141 is connected to the receiving cavity 151b. By providing the receiving cavity 151b in the sliding part 151, the space utilization rate can be improved, making the structure more compact. The above-mentioned spring 131 can be a compression spring, with one end of the compression spring connected to the housing 100 and the other end connected to the sliding part 151.

[0083] In Figure 2 and Figure 3 In the example shown, the receiving cavity 151b extends along the third direction D3. One end of the sliding part 151 along the third direction D3 is provided with a larger opening, and the other end is provided with a smaller opening. The motor 141 can be inserted into the receiving cavity 151b through the larger opening. The above-mentioned lead screw 142 passes through the smaller opening through the sliding part 151 and is installed on the output shaft of the motor 141.

[0084] For example, a first cavity 101 and a second cavity 102 are formed inside the housing 100. The energy storage power assembly 130 and the active power assembly 140 are located in the first cavity 101. The input component is located in the first cavity 101 and extends to the second cavity 102. The output component is located in the second cavity 102. The dynamic brake member 120 is connected to the second cavity 102 and extends along the first direction D1 to the outside of the housing 100.

[0085] In the example shown, a partition is provided between the first cavity 101 and the second cavity 102. The partition is provided with a first through hole 103. The shaft body 152a passes through the first through hole 103 and extends along the second direction D2 into the second cavity 102. The housing 100 is provided with a second through hole 104. The second through hole 104 can be used for threading the cable of the motor 141. The sliding part 151 is provided with a guide groove 151a extending along the third direction D3. A guide needle roller 160 is provided between the housing 100 and the guide groove 151a to reduce the friction between the sliding part 151 and the housing 100. The guide needle roller 160 can be installed in the guide groove 151a. The spring 131 is sleeved outside the motor 141 and is coaxial or substantially coaxial with the motor 141.

[0086] The brake assembly 170 of the present application can also be used in non-rail type scenarios.

[0087] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit the present application. Terms such as "provided" as used herein can either mean that one component is directly attached to another component or that one component is attached to another component through an intermediate member. The features described in one implementation herein can be applied to another implementation alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other implementation.

[0088] The present application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, and are not intended to limit the present application within the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A brake assembly adapted to be connected between a first part and a second part that can rotate or move linearly relative to each other, characterized in that, The brake assembly includes: a housing configured to be connected to one of the first part and the second part; a fixed brake member configured to be connected to the other of the first part and the second part; a movable brake member movably connected to the housing relative to the housing between an engaged position and a disengaged position along a first direction, the movable brake member in the engaged position contacting the fixed brake member to apply a braking force to the fixed brake member, and the movable brake member in the disengaged position disengaging from the fixed brake member; a energy storage power assembly drivingly connected to the movable brake member; a driving power assembly drivingly connected to the movable brake member, one of the driving power assembly and the energy storage power assembly being configured to apply a force to the movable brake member to move toward the engaged position, and the other of the driving power assembly and the energy storage power assembly being configured to apply a force to the movable brake member to move toward the disengaged position; and a force scaling assembly at least connected between the driving power assembly and the movable brake member to change the magnitude of the force applied to the movable brake member.

2. The brake assembly according to claim 1, wherein The energy storage power assembly and the driving power assembly are connected in parallel to an input end of the force scaling assembly, the energy storage power assembly and the driving power assembly jointly output a force to the force scaling assembly, and an output end of the force scaling assembly is connected to the movable brake member; or The energy storage power assembly is singly connected to the input end of the force scaling assembly, the energy storage power assembly singly outputs a force to the force scaling assembly, and an output end of the force scaling assembly is connected to the movable brake member.

3. The brake assembly according to claim 1, wherein the force scaling assembly is configured to amplify the forces output by the driving power assembly and the energy storage power assembly.

4. The brake assembly according to claim 3, wherein The force scaling assembly includes: an output member fixedly arranged relative to the movable brake member; an input member configured to receive the power of the driving power assembly or the energy storage power assembly and act on the output member; wherein, a moment of the output member is greater than a moment of the input member.

5. The brake assembly according to claim 4, wherein the input member is movably connected to the housing along a third direction perpendicular to the first direction, and the input member includes a first guiding and positioning portion, the output member is movably connected to the housing along the first direction, and the output member includes a second guiding and positioning portion, Wherein, one of the first guiding and positioning portion and the second guiding and positioning portion includes a guiding portion extending along a guiding direction, the guiding direction intersecting the first direction and the third direction, the other of the first guiding and positioning portion and the second guiding and positioning portion being fitted to the guiding portion, and the direction of the mutual acting force between the first guiding and positioning portion and the second guiding and positioning portion being an acute angle with respect to the first direction. During the movement of the input member relative to the output member along the third direction, the output member can move in the first direction under the action of the mutual acting force between the first guiding and positioning portion and the second guiding and positioning portion.

6. The brake assembly according to claim 5, wherein The direction of the acting force between the first guiding and positioning portion and the second guiding and positioning portion approaches zero and is not equal to zero with respect to the first direction.

7. The brake assembly according to claim 5 or 6, wherein The input member includes: A sliding portion, the sliding portion being slidably fitted to the housing along the third direction, the first guiding and positioning portion being provided on the sliding portion, and the guiding portion being provided on the second guiding and positioning portion.

8. The brake assembly according to claim 7, wherein The first guiding and positioning portion is configured as a guiding and positioning boss, the guiding portion is configured as a kidney-shaped hole, the guiding direction is the length direction of the kidney-shaped hole, and the guiding and positioning boss is located in the kidney-shaped hole and is movable relative to the second guiding and positioning portion along the guiding direction.

9. The brake assembly according to claim 8, wherein The guiding and positioning boss is configured as a shaft body, the input member further includes a rolling body, the rolling body is sleeved outside the shaft body and is rotatable relative to the shaft body about a rotation axis parallel to the second direction, the second direction being perpendicular to the first direction, and the rolling body is located in the kidney-shaped hole.

10. The brake assembly according to claim 4, wherein, The force scaling assembly is provided as a gear-rack assembly, the input member is provided as a gear, the output member is provided as a rack, and the gear and the rack are in meshing transmission.

11. The brake assembly according to any one of claims 4, 5, and 10, wherein The energy storage and power assembly includes a spring, the spring being connected to the input member, and the spring being configured to apply an elastic acting force along the third direction to the input member so as to move the dynamic brake member toward the engagement position, the third direction being perpendicular to the first direction.

12. The brake assembly according to claim 7, wherein The active power assembly includes a motor and a lead screw, the motor being connected to the lead screw to drive the lead screw to rotate, the length direction of the lead screw being parallel to the third direction, the lead screw being in threaded engagement with the housing, the motor being connected to the sliding portion, and starting the motor to drive the dynamic brake member to move between the engagement position and the separation position.

13. The brake assembly according to claim 12, wherein, The sliding portion is provided with a receiving cavity, and the motor is connected to the receiving cavity.

14. The brake assembly according to claim 4, wherein A first cavity and a second cavity are formed inside the housing. The energy storage power assembly and the active power assembly are located in the first cavity. The input component is located in the first cavity and extends to the second cavity. The output component is located in the second cavity. The dynamic brake member is connected to the second cavity and extends along the first direction to the outside of the housing.

15. A surgical robot, characterized in that, The surgical robot includes a first part and a second part that perform rotational or linear motion relative to each other, and a brake assembly as described in any one of claims 1 to 14.

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