Braking devices and medical robot mobile devices

Abstract

This application provides a braking device and a medical robot mobile device. The braking device includes a brake base, a brake component, a foot pedal, an elastic element, and a locking / unlocking assembly. The brake component is movably disposed relative to the brake base in the height direction. The foot pedal is drivenly connected to the brake component and is movably disposed relative to the brake base in the height direction between an unlocked position and a locked position. The elastic element is directly or indirectly connected to the foot pedal and is adapted to apply an elastic force toward the unlocked position to the foot pedal. The locking / unlocking assembly has a first state and a second state. Using the technical solution of this application, the user only needs to operate one foot to control the brake component to achieve the purpose of maintaining and releasing the brake, which is simple and convenient to operate.

Description

Technical Field

[0001] This application relates generally to the technical field of medical devices, and more specifically to a braking device and a medical robot mobile device. Background Technology

[0002] Surgical robots typically consist of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the main control mechanism from the console, thereby controlling the patient-side trolley. The patient-side trolley includes a base and handles attached to the base. The user can use the handles to assist in moving the base. Before surgery, the surgeon needs to adjust the surgical robot, move it to the appropriate position, and lock it. In related technologies, heavier medical robotic devices typically use electric braking or direct caster locks for braking. However, electric braking requires a power source, and caster locks are unsuitable for high-load mobile devices. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, a first aspect of this application provides a braking device, the braking device comprising:

[0005] Brake base;

[0006] A braking component, wherein the braking component is movably disposed relative to the brake base in the height direction of the brake base;

[0007] A foot pedal is tractively connected to the brake, and the foot pedal is movably disposed in the height direction relative to the brake base between an unlocked position and a locked position;

[0008] An elastic element, which is directly or indirectly connected to the foot pedal, is adapted to apply an elastic force toward the unlocked position to the foot pedal;

[0009] The locking and unlocking component has a first state and a second state. When the locking and unlocking component is in the first state, the foot pedal is located in the locked position. When the locking and unlocking component is in the first state and the foot pedal is subjected to a downward force sufficient to overcome the elastic force applied by the elastic member, the foot pedal moves toward the unlocked position, and the locking and unlocking component switches to the second state.

[0010] According to the braking device of the first aspect of this application, when the foot pedal moves to the locked position and the locking / unlocking component is in a first state, the foot pedal can be held in the locked position to achieve the function of maintaining the brake. When the locking / unlocking component is in the first state and the foot pedal is subjected to a downward force sufficient to overcome the elastic force applied by the elastic member, the foot pedal moves towards the unlocked position, and the locking / unlocking component switches to a second state. By adopting this technical means, the user only needs to operate one foot to control the brake to achieve the purpose of maintaining and releasing the brake, which is simple and convenient to operate.

[0011] Optionally, the locking / unlocking assembly includes a first guide and a second guide that guide and cooperate with each other. The first guide is fixedly disposed relative to the brake base, and the second guide is movably connected to the foot pedal.

[0012] The locking / unlocking component is configured such that:

[0013] When the pedal is in the locked position and the force applied to it is insufficient to overcome the elastic force applied by the elastic member, the second guide engages with the first guide to prevent the pedal from moving toward the unlocked position; when the pedal is in the locked position and the force applied to it is sufficient to overcome the elastic force applied by the elastic member, the second guide disengages from the first guide to allow the pedal to move toward the unlocked position.

[0014] Optionally, the braking device further includes a force transmission element, one end of which is movably connected to the brake base, and the other end of which is connected to the foot pedal. The brake element is located between the brake base and the foot pedal and is connected to the force transmission element. The foot pedal is adapted to drive the brake element downward via the force transmission element when subjected to a downward force.

[0015] Optionally, the force transmission member includes a first rod having a first end and a second end spaced apart along its own length direction. The first end is rotatably connected to the lower part of the brake base about a first axis perpendicular to the height direction of the brake base. The first rod located between the first end and the second end is connected to the brake member.

[0016] The foot pedal is connected to the second end of the first rod.

[0017] Optionally, the brake element is movably connected to the brake base along the height direction;

[0018] The brake component is rotatably connected to the first rod about a second axis, the second axis being parallel to the first axis;

[0019] The elastic element includes a first elastic element connected between the brake element and the brake base to apply an upward force to the brake element.

[0020] Optionally, the brake base includes a first guide portion, which extends along the height direction;

[0021] The braking device includes a movable member connected to the braking component. The movable member includes a second guide portion that extends along the height direction and is guided and engaged with the first guide portion along the height direction.

[0022] Optionally, the brake base includes a sleeve portion, the interior of which forms a first guide hole, the first guide hole constituting a first guide portion, and the second guide portion is constructed as a sliding shaft portion, the sliding shaft portion being slidably inserted into the first guide hole along the height direction.

[0023] Optionally, the movable component includes a connecting hole located in the sliding shaft portion and extending through the movable component along the height direction;

[0024] The first guide hole extends through the brake base along the height direction. The brake base also includes a cover portion, which is detachably disposed on the upper part of the first guide hole. The first elastic element is a first tension spring, which is located in the first guide hole and is connected to the cover portion and the sliding shaft portion.

[0025] Optionally, the brake element is movably connected to the movable element along the height direction, and the braking device further includes a second elastic element connected between the movable element and the brake element to apply a downward force to the brake element.

[0026] Optionally, the movable component further includes a support portion extending along a second direction parallel to the first axis, the support portion being connected to the sliding shaft portion, and the braking device including at least two braking elements movably connected to the support portion along the height direction, the at least two braking elements being spaced apart along the second direction.

[0027] Optionally, the braking device includes two braking components, which are symmetrically arranged on both sides of the sliding shaft portion.

[0028] Optionally, the support portion includes a second guide hole extending along the height direction, and the brake component includes a guide rod portion and a brake portion. The guide rod portion is connected to the upper part of the brake portion and extends along the height direction. The guide rod portion is slidably inserted into the second guide hole along the height direction.

[0029] Optionally, the braking device further includes a second rod, one end of which is rotatably connected to the brake base about a third axis, and the other end of which is rotatably connected to the first end of the first rod about a first axis.

[0030] Optionally, the foot pedal is movably disposed relative to the brake base along the height direction, and the foot pedal includes a third guide portion;

[0031] The braking device includes a fourth guide portion connected to the second end of the first rod. The fourth guide portion is movably engaged with the third guide portion along a first direction perpendicular to the height direction and the first axis. The second end of the first rod is rotatably engaged with the third guide portion around the fourth axis via the fourth guide portion.

[0032] Optionally, the third guide portion is configured as a third guide hole, and the fourth guide portion is configured as a first roller, the first roller being rotatably connected to the second end of the first rod about the fourth axis.

[0033] Optionally, the braking device includes a fixing member, which is fixedly disposed relative to the brake base in a direction perpendicular to the height direction;

[0034] The foot pedal is slidably connected to the fixing member along the height direction;

[0035] The elastic element includes a third elastic element connected to the foot pedal and the fixing member, the third elastic element being adapted to apply a force to the foot pedal toward the unlocked position.

[0036] Optionally, the fastener includes:

[0037] The plate portion, wherein the thickness direction of the plate portion is parallel to the first axis; and

[0038] The fifth guide portion is fixed to the plate body portion.

[0039] The foot pedal includes a sixth guide portion, which is movably coupled to the fifth guide portion along the height direction to guide the foot pedal to move relative to the plate body along the height direction.

[0040] Optionally, the first guide is disposed on the fixing member, and the first guide includes:

[0041] The first guide rail section includes a first guide surface, a second guide surface and a third guide surface arranged sequentially along its own circumference, and a locking groove is provided between the second guide surface and the third guide surface.

[0042] The second guide rail is located below the first guide rail and is spaced apart from the first guide rail to define a guide groove.

[0043] The second guide includes:

[0044] A swinging part, the lower end of which is pivotally connected to the foot pedal about a fifth axis;

[0045] An abutting portion, the abutting portion being connected to the upper end of the swinging portion, the abutting portion being adapted to slide into the locking groove from the guide groove;

[0046] A fourth elastic element is connected between the swing portion and the foot pedal, and the fourth elastic element is adapted to apply an elastic force to the foot pedal toward the unlocked position.

[0047] When the foot pedal is in the unlocked position, the abutment portion is located above the first guide surface and the third guide surface; when the foot pedal is in the locked position, the abutment portion is located within the locking groove.

[0048] Optionally,

[0049] In a plane perpendicular to the height direction, the orthographic projection of the second guide rail portion in the first direction does not exceed the orthographic projection of the second guide surface and the locking groove.

[0050] Optionally, the second guide includes a pair of fourth elastic components, which are arranged opposite to each other on both sides of the swing portion along the first direction and connected between the swing portion and the foot pedal.

[0051] Optionally, the braking device includes two sets of fixing members and two sets of locking and unlocking components, each of which is arranged opposite to the foot pedal on both sides along the second direction.

[0052] Optionally, the braking device further includes a positioning connector, which is fixedly connected to the brake base. The positioning connector includes a first positioning part, and the fixing part includes a second positioning part. The first positioning part is slidably connected to the second positioning part along the height direction, and the first positioning part is limited and fitted to the second positioning part in a direction perpendicular to the height direction.

[0053] A second aspect of this application provides a medical robot mobile device, the medical robot mobile device comprising:

[0054] Equipment base;

[0055] Casters are connected to the lower part of the equipment base to support the movement of the equipment base;

[0056] The aforementioned braking device, wherein the brake base is fixed to the equipment base, and the foot pedal is located on the side of the brake base near the rear end of the equipment base; and

[0057] A handle, which is attached to the upper part of the rear end of the device base.

[0058] According to the medical robot mobile device of the second aspect of this application, by applying the above-mentioned braking device, it is easy to operate to achieve braking and release braking. Attached Figure Description

[0059] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0060] Figure 1 This is a schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0061] Figure 2 A perspective view of a medical robot mobile device according to a preferred embodiment of this application;

[0062] Figure 3 This is a cross-sectional view of a partial structure of a braking device according to a preferred embodiment of this application;

[0063] Figure 4 This is another cross-sectional view of a partial structure of a braking device according to a preferred embodiment of this application;

[0064] Figure 5 This is a perspective sectional view of a partial structure of a braking device according to a preferred embodiment of this application, excluding components such as fasteners;

[0065] Figure 6This is a cross-sectional view of a braking device according to a preferred embodiment of this application that does not include fasteners or other components;

[0066] Figure 7 This is another cross-sectional view of a braking device according to a preferred embodiment of this application that does not include components such as fasteners;

[0067] Figure 8 This is a perspective sectional view of a brake device according to a preferred embodiment of this application, excluding components such as fasteners;

[0068] Figure 9 This is a perspective view of a braking device according to a preferred embodiment of the present application, with the locking / unlocking component in a second state and the foot pedal in the unlocked position;

[0069] Figure 10 This is another perspective view of a braking device according to a preferred embodiment of the present application, with the locking / unlocking component in a second state and the foot pedal in the unlocked position;

[0070] Figure 11 This is another perspective view of a braking device according to a preferred embodiment of the present application, in which the locking and unlocking components are in a certain state during the transition from a second state to a first state, and the foot pedal is located in a certain position between the unlocked position and the locked position.

[0071] Figure 12 This is another perspective view of a braking device according to a preferred embodiment of the present application, showing the locking / unlocking components in a first state and the foot pedal in a locked position; and

[0072] Figure 13 This is another perspective view of a braking device according to a preferred embodiment of the present application, in which the locking and unlocking components are in a certain state during the transition from a first state to a second state, and the foot pedal is located in a certain position between the locked position and the unlocked position.

[0073] Explanation of reference numerals in the attached figures:

[0074] 10: Surgical robot 11: Control system

[0075] 12: Imaging system 13: Robotic arm system

[0076] 14: Mobile devices 15: Device dock

[0077] 16: Casters 17: Handles

[0078] 18: Ground 100: Braking device

[0079] 110: Brake base; 111: Sleeve section

[0080] 111a: First guide section; 111b: Receiving slot

[0081] 112: Cover 113: Base

[0082] 120: Movable part; 121: Second guide section

[0083] 121a: Connecting hole; 121b: Mounting hole

[0084] 122: Support part; 123: Connecting sleeve

[0085] 123a: Second guide hole; 123b: Receiving cavity

[0086] 130: Brake component; 131: Guide rod section

[0087] 132: Brake section; 133: Limiting section

[0088] 140: Foot pedal component; 141: Third guide section

[0089] 141a: Third guide hole; 142: Sixth guide section

[0090] 143: Anti-slip part; 150: Elastic element

[0091] 151: First elastic element; 152: Third elastic element

[0092] 161: First member; 161a: First end

[0093] 161b: Second end; 161c: Fourth guide section

[0094] 162: Second member; 163: First pivot

[0095] 164: Second Pivot 165: Third Pivot

[0096] 166: Fourth Pivot 170: Lock / Unlock Component

[0097] 171: First guide component; 172: First guide rail section

[0098] 172a: First guide surface; 172b: Second guide surface

[0099] 172c: Stop surface; 172d: Third guide surface

[0100] 172e: First opening; 172f: Second opening

[0101] 172g: Guide groove; 172h: Locking groove

[0102] 173: Second guide rail section; 174: Second guide component

[0103] 175: Swinging part; 176: Contact part

[0104] 176a: Second roller; 177: Fourth elastic element

[0105] 180: Fixing component; 181: Second positioning part

[0106] 182: Plate body section; 183: Fifth guide section

[0107] 184: Second elastic element; 190: Positioning connector.

[0108] 191: First positioning unit; 210: Sensor

[0109] 220: Baffle AX1: First axis

[0110] AX2: Second axis; AX3: Third axis

[0111] AX4: Fourth axis; D1: First direction

[0112] D2: Second direction; D3: Altitude direction Detailed Implementation

[0113] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0114] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0115] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this 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 “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0116] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0117] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0118] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0119] like Figure 1 As shown, this application provides a surgical robot 10 for remotely controlling and performing surgery. The surgical robot 10 may also be referred to as a medical system or medical robot. The surgical robot 10 may include a control system 11, an imaging system 12, and a robotic arm system 13, which can communicate with each other.

[0120] The control system 11, also known as a doctor's console or control device, includes a display unit for showing surgical instruments or the endoscopic environment, a control mechanism for the doctor's operation, and handrails. The display unit has an observation window for the doctor to observe. The control mechanism is designed to perform various actions corresponding to the movements of surgical instruments or the endoscope. The handrails are for supporting the doctor's arms. In addition, the doctor's console has other conveniently accessible control switches for hand or foot touch or press, enabling various functional operations and facilitating human-machine interaction.

[0121] The imaging system 12 includes a display screen, endoscope controller, system electronics, and image processor. This allows the user to see the patient's internal organs more clearly.

[0122] The robotic arm system 13, also known as the patient-side robotic arm system 13, is positioned next to the patient. Its distal end is equipped with surgical instruments or an endoscope for performing various surgical procedures on the patient. The robotic arm system 13 may include at least one robotic arm. The robotic arm has several connecting arms, with adjacent connecting arms connected by joints and moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom of movement. A holding arm is mounted at the end effector of the robotic arm, on which surgical instruments are detachably mounted. The holding arm may be called an instrument support frame or an instrument arm. An instrument drive module is provided on the holding arm to drive the end effector of the surgical instruments to perform actions such as insertion, clamping, hooking, cutting, and scraping.

[0123] In some cases, a single robotic arm may include an adjusting arm, a manipulating arm, and a holding arm. Surgical instruments or endoscopes are detachably mounted on the holding arm. During surgery, parts of the main circuitry and wrist mechanism of the surgical instruments are passed through tissues such as the chest and abdominal wall, replacing the human hand in the surgical procedure. Adjacent links in the adjusting arm are pivotally connected via a rotary joint. Furthermore, a rotary joint is also provided between the adjusting arm and the manipulating arm for pivotal connection. Before operating the robotic arm system 13 to perform surgery, the adjusting arm must be operated to bring the holding arm to the designated position, and then the rotary joint of the adjusting arm is locked. During surgery, the manipulating arm is remotely controlled to perform surgical operations, while the locking of the rotary joint of the adjusting arm prevents relative rotation between the links of the adjusting arm during the procedure.

[0124] In one example, referring to the figure, the robotic arm system 13 includes a base. A handle 17 is provided on the base. The user can use the handle 17 to assist in moving the base.

[0125] In related technologies, heavier medical robot mobile devices typically use electric braking methods such as electric lead screws or electro-hydraulic systems. Some medical robot mobile devices employ a dual-foot pedal system, with one foot pedal for braking and the other for unlocking. Still others use caster locks directly for braking. Generally, braking on two or more casters is necessary to prevent unnecessary movement.

[0126] However, electric systems require a power source. Dual-pedal systems require two pedals, which take up more space and make it difficult to visually distinguish between the unlock and brake pedals. Caster lock systems are unsuitable for high-load mobile equipment.

[0127] To address the aforementioned technical problems, this application provides a braking device and a medical robot mobile device 14 incorporating the braking device 100. The braking device 100 is installed on the medical robot mobile device 14. By using the braking device 100, the medical robot mobile device 14 can be braked during transportation without requiring electrical drive (no connection to an external or internal power source), using only a single foot pedal and without using the caster wheel 16 lock, thereby preventing unnecessary movement of the medical robot mobile device 14 on the ground 18.

[0128] The following will refer to Figures 1 to 13 The examples shown provide a detailed description of the braking device 100 and the medical robot mobile device 14 according to this application.

[0129] See Figures 2 to 13 This application provides a braking device 100. The braking device 100 may include a brake base 110, a brake element 130, a foot pedal 140, an elastic element 150, and a locking / unlocking assembly 170. The brake element 130 is movably disposed relative to the brake base 110 in the height direction D3. When the brake element 130 is in a higher position, it disengages from a supporting surface such as the ground 18, thus releasing the brake. When the brake element 130 is in a lower position, it can perform the braking function by contacting the supporting surface such as the ground 18. The foot pedal 140 is tractively connected to the brake element 130. The foot pedal 140 is movably disposed relative to the brake base 110 in the height direction D3 between an unlocked position and a locked position. The elastic element 150 is directly or indirectly connected to the foot pedal 140. The elastic element 150 is adapted to apply an elastic force toward the unlocked position to the foot pedal 140. When the pedal 140 is in the unlocked position, the brake 130 disengages from the ground 18 and other supporting surfaces, thus releasing the brake. The locking / unlocking assembly 170 has a first state and a second state. When the locking / unlocking assembly 170 is in the first state, the pedal 140 is in the locked position. The first state of the locking / unlocking assembly 170 can be understood as holding the pedal 140 in the locked position. When the locking / unlocking assembly 170 is in the first state and the pedal 140 is subjected to a downward force sufficient to overcome the elastic force applied by the elastic member 150, the pedal 140 moves towards the unlocked position, and the locking / unlocking assembly 170 switches to the second state. The second state can be understood as releasing the pedal 140, allowing it to automatically reset under the action of the elastic member 150, while the brake 130 moves upward to disengage from the ground 18 and other supporting surfaces.

[0130] According to the braking device 100 of this application, when the foot pedal 140 moves to the locked position and the locking / unlocking assembly 170 is in the first state, the foot pedal 140 can be held in the locked position to achieve the function of maintaining the brake. When the locking / unlocking assembly 170 is in the first state and the foot pedal 140 is subjected to a downward force sufficient to overcome the elastic force applied by the elastic member 150, the foot pedal 140 moves towards the unlocked position, and the locking / unlocking assembly 170 switches to the second state. By adopting this technology, the user can control the brake 130 with only one foot to achieve the purpose of maintaining and releasing the brake, making the operation simple and convenient.

[0131] See Figures 9 to 13 For example, the locking / unlocking assembly 170 may include a first guide 171 and a second guide 174 that guide and cooperate with each other. The first guide 171 is fixedly disposed relative to the brake base 110. The second guide 174 is movably connected to the pedal 140.

[0132] Lock / unlock component 170 is configured such that:

[0133] When the pedal 140 is in the locked position and the force applied is insufficient to overcome the elastic force exerted by the elastic member 150, the second guide 174 locks into the first guide 171 to prevent the pedal 140 from moving towards the unlocked position. At this time, the pedal 140 is in the locked position, the locking / unlocking assembly 170 is in the first state, and the brake 130 is positioned to contact the ground 18 or other supporting surface to achieve braking. When the pedal 140 is in the locked position and the force applied is sufficient to overcome the elastic force exerted by the elastic member 150, the second guide 174 disengages from the first guide 171 to allow the pedal 140 to move towards the unlocked position. After the second guide 174 disengages from the first guide 171, the pedal 140 automatically resets under the elastic force of the elastic member 150. At this time, the locking and unlocking component 170 switches from the first state to the second state, and the brake component 130 moves upward with the foot pedal component 140, thereby causing the brake component 130 to detach from the ground 18 and other supporting surfaces to release the brake.

[0134] See Figure 2 , Figures 6 to 13Furthermore, the braking device 100 may also include a force transmission member. One end of the force transmission member is movably connected to the brake base 110. The other end of the force transmission member is connected to the pedal 140. The brake member 130 is located between the brake base 110 and the pedal 140 and is connected to the force transmission member. The pedal 140 is adapted to drive the brake member 130 downward via the force transmission member when subjected to a downward force. The pedal 140 transmits the applied force to the brake member 130 through the force transmission member, thereby driving the brake member 130 to move relative to the brake base 110 in the height direction D3. When the pedal 140 moves downward under the action of a downward pedaling force, it can drive the brake member 130 downward; when the pedal 140 moves upward under the action of the elastic force of the elastic member 150, it can drive the brake member 130 upward.

[0135] In some embodiments, the force transmission component amplifies the pedaling force on the pedal 140 and transmits it to the brake 130 via a lever mechanism, thereby converting a smaller pedaling force into a greater braking force and reducing the user's operational force in purely mechanical braking. For details, please refer to [link to relevant documentation]. Figure 2 , Figures 6 to 13 For example, the force transmission element may include a first rod 161. The first rod 161 has a first end 161a and a second end 161b spaced apart along its length. The first end 161a is rotatably connected to the lower part of the brake base 110 about a first axis AX1. The first axis AX1 is perpendicular to the height direction D3 of the brake base 110. The first rod 161 located between the first end 161a and the second end 161b is connected to a brake element 130. A foot pedal 140 is connected to the second end 161b of the first rod 161. It is understood that the foot pedal 140 is located at the end of the first rod 161, and the brake element 130 is located between the connection between the first rod 161 and the brake base 110 and the foot pedal 140. The brake element 130 is capable of moving upwards or downwards with the foot pedal 140.

[0136] See Figures 2 to 13For example, brake element 130 is movably connected to brake base 110 along the height direction D3. Brake element 130 is rotatably connected to first rod 161 about a second axis AX2. The second axis AX2 is parallel to the first axis AX1. Elastic element 150 may include a first elastic element 151. The first elastic element 151 is connected between brake element 130 and brake base 110 to apply an upward force to brake element 130. By connecting brake element 130 to first rod 161 in a pivotable manner about the second axis AX2, and by making brake element 130 movable relative to brake base 110 along the height direction D3, it is possible to ensure that brake element 130 can contact the ground 18 or other supporting surface with a larger contact area each time it is in a low position, thereby obtaining a better braking effect. At the same time, it is also possible to reduce the space occupied by brake element 130 in the direction perpendicular to the height direction D3 during movement, thereby facilitating the miniaturization of braking device 100.

[0137] Continue reading Figures 2 to 13 For example, the brake base 110 may include a first guide portion 111a. The first guide portion 111a extends along the height direction D3. The brake device 100 may include a movable member 120. The movable member 120 is connected to the brake member 130. The movable member 120 may include a second guide portion 121. The second guide portion 121 extends along the height direction D3 and is guided and engaged with the first guide portion 111a along the height direction D3. Through the guiding engagement of the first guide portion 111a and the second guide portion 121, the brake member 130 can be guided to move relative to the brake base 110 along the height direction D3.

[0138] See also Figures 2 to 13 Optionally, the brake base 110 may include a sleeve portion 111. A first guide hole is formed inside the sleeve portion 111. The first guide hole constitutes the first guide portion 111a described above. The second guide portion 121 may be configured as a sliding shaft portion. The sliding shaft portion is slidably inserted into the first guide hole along the height direction D3.

[0139] See Figures 2 to 8For example, the movable part 120 may include a connecting hole 121a. The connecting hole 121a is located in the sliding shaft portion and passes through the movable part 120 in the height direction D3. The first guide hole passes through the brake base 110 in the height direction D3. The brake base 110 may also include a cover portion 112 and a base portion 113. The first guide hole is formed at the base portion 113. The cover portion 112 is detachably disposed on the upper part of the first guide hole. The first elastic member 151 is a first tension spring. The first tension spring is located in the first guide hole. The first tension spring is connected to the cover portion 112 and the sliding shaft portion. The first tension spring is adapted to apply an upward elastic force to the sliding shaft portion so that the sliding shaft portion can move upward with the brake member 130 and return to its original position. Specifically, the upper end of the first tension spring passes through the connecting hole 121a and is connected to the cover portion 112. The lower end of the first tension spring is connected to the sliding shaft portion by a boss, fastener, etc., located in the sliding shaft portion. This facilitates the assembly and disassembly of components such as the sliding shaft portion and the first tension spring, and also facilitates maintenance.

[0140] See Figures 2 to 5 For example, the brake element 130 is movably connected to the movable element 120 along the height direction D3. The braking device 100 may also include a second elastic element 184. The second elastic element 184 is connected between the movable element 120 and the brake element 130 to apply a downward force to the brake element 130. By providing the second elastic element 184, the normal pressure between the brake element 130 and the support surface can be increased when the brake is pressed downward against the support surface such as the ground 18, thereby increasing the friction between the brake element 130 and the support surface and thus improving the braking effect. At the same time, by providing the second elastic element 184, the brake element 130 can also better adapt to the uneven support surface, so that the brake element 130 can make better contact with the support surface.

[0141] See Figures 2 to 13 Furthermore, the movable member 120 may also include a support portion 122. The support portion 122 extends along a second direction D2 parallel to the first axis AX1. The support portion 122 is connected to the sliding shaft portion. The braking device 100 may include at least two brake members 130. The brake members 130 are movably connected to the support portion 122 along the height direction D3. The at least two brake members 130 are spaced apart along the second direction D2. By providing at least two brake members 130 and arranging each brake member 130 spaced apart on the support portion 122 extending along the second direction D2, the braking area can be increased, thereby improving braking force and braking efficiency.

[0142] In the illustrated example, the braking device 100 may include two brake elements 130. The two brake elements 130 are symmetrically arranged on both sides of the sliding shaft portion. This simplifies the structure while improving the braking effect. The symmetrical arrangement of the two brake elements 130 also helps to improve the force balance of the braking device 100 during braking, preventing the overall direction of movement of the braking device 100 from deviating when the braking device 100 performs its braking function.

[0143] See Figures 2 to 5 Furthermore, the support portion 122 may include a second guide hole 123a. The second guide hole 123a extends along the height direction D3. The brake member 130 may include a guide rod portion 131 and a brake portion 132. The guide rod portion 131 is connected to the upper part of the brake portion 132. The guide rod portion 131 extends along the height direction D3. The guide rod portion 131 is slidably inserted into the second guide hole 123a along the height direction D3. A second elastic member 184 is connected between the guide rod portion 131 and the support portion 122.

[0144] Continue reading Figures 2 to 5 Optionally, the second elastic element 184 may be, for example, a compression spring. The compression spring is sleeved outside the guide rod portion 131 and located within the second guide hole 123a. The compression spring is limited and connected between the guide rod portion 131 and the support portion 122 along the height direction D3. The guide rod portion 131 is connected to the lower part of the compression spring via itself or another limiting portion 133. The guide rod portion 131 is also limited and fitted to the support portion 122 in the height direction D3 via itself or another limiting portion 133. The support portion 122 is connected to the upper part of the compression spring via itself or another limiting structure. When the brake element 130 is disengaged from the ground 18 or other supporting surface, the brake element 130 is suspended on the support portion 122. When the brake element 130 contacts the ground 18 or other supporting surface and applies a downward force, the compression spring adaptively deforms and applies a downward elastic force to the brake element 130, thereby increasing the normal pressure between the brake element 130 and the ground 18 or other supporting surface, and thus improving the braking effect.

[0145] See Figures 2 to 13 Furthermore, the support portion 122 may include a connecting sleeve 123. The connecting sleeve 123 has a second guide hole 123a and a receiving cavity 123b communicating with each other. A compression spring is located within the receiving cavity 123b. The sliding shaft portion includes a mounting hole 121b. The mounting hole 121b is used to mount a second pivot 164. The second pivot 164 is connected to the first rod 161. The lower end of the sleeve portion 111 of the brake base 110 has a receiving groove 111b. The receiving groove 111b is adapted to receive the second pivot 164 when the sliding shaft portion rises to a high position relative to the brake base 110, thereby preventing the sliding shaft portion from rotating or swinging relative to the brake base 110 in the non-braking state, and also helping to increase the ground clearance of the brake member 130 in the non-braking state.

[0146] Continue reading Figures 2 to 13Optionally, the brake unit 132 can typically employ a foot cup, brake pad, or similar structure. Here, a foot cup is used as an example. The foot cup is connected to the sliding shaft. When braking, the sliding shaft slides towards the ground 18, thereby pressing the foot cup against the ground 18. When the foot cup presses against the ground 18, a positive force is generated at the contact surface between the foot cup and the ground 18, resulting in greater friction. This friction is used to prevent unnecessary movement of the medical robot mobile device 14 on the ground 18. Using a double foot cup design not only prevents unnecessary linear movement of the medical robot mobile device 14 but also effectively prevents unnecessary twisting of the medical robot mobile device 14. The braking surface of the foot cup typically has a high coefficient of friction. The foot cup is constructed from a material that will not significantly damage the ground 18. Materials that will not significantly damage the ground 18 can include, for example, neoprene rubber, nitrile rubber, and synthetic rubber. The foot cup and the sliding shaft have a structure similar to a vehicle suspension. The foot cup can also slide linearly along the height direction D3 within the second guide hole 123a corresponding to the sliding shaft. The foot cup shaft hole corresponding to the sliding shaft can also be additionally fitted with a linear bearing to reduce friction during linear sliding, thereby reducing the load and wear on parts during braking. During braking, the compression spring 184, acting as the second elastic element, compresses a suitable distance, such as 1mm, 2mm, or another appropriate distance, providing a sufficient positive force to the foot cup to generate friction. This positive braking force needs to be adjusted according to the normal load of the medical robot mobile device 14. When achieving braking, the braking device 100 only maintains its braking function and does not provide any lifting effect for the medical robot mobile device 14. Simultaneously, the medical robot mobile device 14 ensures that the braking device 100 provides a consistent maximum friction force in most situations.

[0147] See Figure 2 , Figures 6 to 13 Furthermore, the braking device 100 may also include a second rod 162. One end of the second rod 162 is rotatably connected to the brake base 110 about a third axis AX3. The other end of the second rod 162 is rotatably connected to the first end 161a of the first rod 161 about a first axis AX1. By providing the second rod 162 and rotatably connecting it to the brake base 110 and the first rod 161 respectively, it is possible to prevent the first rod 161 from being unable to move smoothly due to interference between the first rod 161 and the brake base 110.

[0148] In other examples, a guide groove or other structure can be provided in either the brake base 110 or the first rod 161 to replace the second rod 162, thereby preventing interference between the first rod 161 and the brake base 110.

[0149] Continue reading Figure 2 , Figures 6 to 13For example, the pedal 140 is movably disposed relative to the brake base 110 along the height direction D3. The pedal 140 may include a third guide portion 141. The brake device 100 may include a fourth guide portion 161c. The fourth guide portion 161c is connected to the second end 161b of the first rod 161. The fourth guide portion 161c is movably engaged with the third guide portion 141 along a first direction D1. The first direction D1 is perpendicular to the height direction D3 and the first axis AX1. The second end 161b of the first rod 161 is rotatably engaged with the third guide portion 141 via the fourth guide portion 161c about the fourth axis AX4. Here, through the engagement of the third guide portion 141 and the fourth guide portion 161c, interference between the pedal 140 and the brake base 110, directly or indirectly, can be prevented during the movement of the pedal 140 relative to the brake base 110 along the height direction D3, so that the pedal 140 can move smoothly along the height direction D3.

[0150] Optionally, the third guide portion 141 can be configured as a third guide hole 141a or a guide groove. The fourth guide portion 161c can be configured as a first roller. The first roller is rotatably connected to the second end 161b of the first rod 161 about the fourth axis AX4.

[0151] In other examples, an additional transition link can be added between the foot pedal 140 and the second end 161b of the first rod 161, the transition link being rotatably connected to both the foot pedal 140 and the first rod 161. In this embodiment, the transition link can replace the aforementioned third guide portion 141 and fourth guide portion 161c.

[0152] See Figure 2 , Figures 9 to 13 For example, the braking device 100 may include a fixing member 180. The fixing member 180 is fixedly disposed relative to the brake base 110 in a direction perpendicular to the height direction D3. The pedal member 140 is slidably connected to the fixing member 180 in the height direction D3. The elastic member 150 may include a third elastic member 152. The third elastic member 152 is connected to the pedal member 140 and the fixing member 180. The third elastic member 152 is adapted to apply a force toward the unlocked position to the pedal member 140. The fixing member 180 is provided for mounting the pedal member 140. The third elastic member 152 connects the pedal member 140 and the fixing member 180 to provide an elastic force in the height direction D3 for the pedal member 140 to return to the unlocked position.

[0153] The third elastic element 152 in this application can provide an elastic force to the pedal 140 to return it to the unlocked position along the height direction D3, and also indirectly cause other linked structural components, such as the movable component 120, the second rod 162, and the first rod 161, to reset to their respective initial positions. It has a similar function to the first elastic element 151. A linear bearing can be additionally installed between the pedal 140 and the fixed component 180 to reduce the friction during linear sliding, thereby reducing the load required for braking and the wear of parts. The pedal 140 has a groove structure below it, which allows the pedal 140 to slide linearly along the height direction D3, linking the first rod 161, and allowing the first roller to slide linearly in the groove along the first direction D1.

[0154] See Figures 6 to 13 Furthermore, the fixing member 180 may include a plate portion 182 and a fifth guide portion 183. The thickness direction of the plate portion 182 is parallel to the first axis AX1. The fifth guide portion 183 may be fixed to the plate portion 182 as a separate part, or it may be integrated with the plate portion 182. The foot pedal 140 may include a sixth guide portion 142. The sixth guide portion 142 is movably engaged with the fifth guide portion 183 along the height direction D3 to guide the foot pedal 140 to move relative to the plate portion 182 along the height direction D3. The fixing member 180 and the foot pedal 140 are able to move relative to each other in the height direction D3 through the engagement of the fifth guide portion 183 and the sixth guide portion 142. That is, the foot pedal 140 moves relative to the fixing member 180 in the height direction D3 through the engagement of the sixth guide portion 142 and the fifth guide portion 183.

[0155] Optionally, the fifth guide portion 183 is a guide rod extending along the height direction D3. The sixth guide portion 142 is a through hole adapted to accommodate the guide rod.

[0156] Continue reading Figures 6 to 13For example, a first guide 171 is disposed on a fixing member 180. The first guide 171 may include a first guide rail portion 172. The first guide rail portion 172 may include a first guide surface 172a, a second guide surface 172b, a stop surface 172c, and a third guide surface 172d arranged sequentially along its circumference. The first guide surface 172a is located above the second guide surface 172b, the stop surface 172c, and the third guide surface 172d. The second guide surface 172b is farther from the brake base 110 than the third guide surface 172d. In the direction along the first direction D1 and away from the brake base 110, the first guide surface 172a, the second guide surface 172b, and the third guide surface 172d are all arranged inclined downwards, while the stop surface 172c is arranged inclined upwards. The end of the stop surface 172c near the second guide surface 172b is higher than the end of the stop surface 172c near the third guide surface 172d. The second guide 174 may include a swing portion 175, an abutment portion 176, and a pair of fourth elastic members 177. The lower end of the swing portion 175 is pivotally connected to the foot pedal 140 about a fifth axis. The abutment portion 176 is connected to the upper end of the swing portion 175. The first guide 171 may also include a second guide rail portion 173. The second guide rail portion 173 is located below the first guide rail portion 172. The second guide rail portion 173 is spaced from the first guide rail portion 172 to define a guide groove 172g. The guide groove 172g is adapted to receive the abutment portion 176 and allow the abutment portion 176 to move. In a plane perpendicular to the height direction D3, the orthographic projection of the second guide rail portion 173 does not exceed the orthographic projection of the second guide surface 172b and the stop surface 172c in the first direction D1. After the abutment portion 176 disengages from the first guide rail portion 172 and the second guide rail portion 173, the foot pedal 140 can move toward the unlocked position under the elastic force of the third elastic member 152. The second guide rail portion 173 can prevent the abutment portion 176 from disengaging from the first guide rail portion 172 during the movement of the abutment portion 176 toward the locked position.

[0157] A pair of fourth elastic members 177 are arranged opposite each other on both sides of the swing portion 175 along the first direction D1. The fourth elastic members 177 are connected between the swing portion 175 and the foot pedal 140. When the foot pedal 140 is in the unlocked position, the abutment portion 176 is located above the first guide surface 172a, and in a plane perpendicular to the height direction D3, the orthographic projection of the abutment portion 176 is located between the two ends of the third guide surface 172d. When the foot pedal 140 is in the locked position, the abutment portion 176 is located within the locking groove 172h enclosed by the stop surface 172c and the second guide surface 172b.

[0158] The first guide 171 is located beside the foot pedal 140 along the second direction D2, allowing the abutment portion 176 to swing along the swing portion 175 in the first direction D1. The second roller 176a at the abutment portion 176 can also reduce the friction of the abutment portion 176 when sliding on the slide rail structure of the first guide 171, reducing the load and wear of parts required during braking. Two fourth elastic members 177 connect the two sides of the swing portion 175 along the first direction D1 to the foot pedal 140. The fourth elastic members 177 provide an elastic force for the swing portion 175 to swing back to the equilibrium position. The first guide 171 is fixedly connected to the equipment base 15 by the fixing member 180. The first guide rail portion 172 and the second guide rail portion 173 on the first guide 171 jointly control the state of the second roller 176a during braking and when the brake is released. The state during braking is the first state described above, and the state when the brake is released is the second state described above.

[0159] In some other embodiments, the number of fourth elastic elements may not be a pair. For example, one fourth elastic element may be provided at each swing portion.

[0160] Optionally, the swing portion 175 can be configured as a rocker arm. The abutment portion 176 can be configured as a second roller 176a or include a second roller 176a. By having the second roller 176a roll into contact with the surface of the first guide rail, the friction between the abutment portion 176 and the first guide rail portion 172 can be reduced.

[0161] like Figure 11 As shown, when the user first steps on the pedal 140 to the bottom, the pedal 140 slides down along the height direction D3, and the first guide surface 172a of the first guide rail 172 guides the second roller 176a to the side away from the brake base 110. When there is no guidance from the first guide surface 172a, the fourth elastic member 177 pulls the second roller 176a towards its equilibrium position, so that the second roller 176a enters the guide groove 172g defined by the first guide rail 172 and the second guide rail 173 from the first opening 172e. When the user first releases the pedal 140, the pedal 140 slides up along the height direction D3 under the elastic force of the third elastic member 152, so that the second guide surface 172b of the first guide rail 172 guides the second roller 176a into the locking groove 172h of the first guide rail 172 (e.g., Figure 12As shown), it prevents the second roller 176a from disengaging from the locking groove 172h, thereby locking the foot pedal 140 at position D3 in the height direction, and further locking the movable member 120 at position D3 in the height direction, i.e., maintaining the braking state. At this time, the locking and unlocking assembly 170 is in the first state, and the foot pedal 140 is in the locked position. Here, the locking groove 172h is formed by the second guide surface 172b and the stop surface 172c. The shape and structure of the intersection of the stop surface 172c and the second guide surface 172b can be configured to adapt to the abutment portion 176.

[0162] like Figure 13 As shown, when the user steps on the pedal 140 to the bottom for the second time, the second roller 176a leaves the locking groove 172h of the first guide rail 172 from the second opening 172f of the guide groove 172g. At this time, the fourth elastic member 177 pulls the second roller 176a towards its equilibrium position, causing the second roller 176a to abut against the third guide surface 172d. When the user releases the pedal 140 for the second time, the pedal 140 will slide upward along the height direction D3 under the elastic force of the third elastic member 152. The third guide surface 172d guides the second roller 176a to its initial position, i.e., the unlocked brake state. Figure 9 and Figure 10 As shown. At this time, the locking / unlocking component 170 is in the first state. When the second roller 176a is in the initial position, the foot pedal 140 is in the unlocked position, and the second roller 176a is above the first guide surface 172a, so that the second roller 176a can move along the first guide surface 172a when the foot pedal 140 is stepped on again and slides down.

[0163] For example, the braking device 100 may include two sets of fixing members 180 and two sets of locking and unlocking components 170. The two sets of fixing members 180 and the two sets of locking and unlocking components 170 are respectively arranged opposite to each other on both sides of the pedal member 140 along the second direction D2. By setting two sets of fixing members 180 and two sets of locking and unlocking components 170, the pedal member 140 can be kept under balanced force and stable during its movement along the height direction D3, preventing malfunctions such as jamming due to positional displacement.

[0164] See Figures 9 to 12 As shown, the method for adjusting the braking device 100 to the braking state or the first state can be:

[0165] Brake component 130 must first be in the initial position, such as... Figure 9 and Figure 10 As shown. The user can apply a force D3 along the height direction to the foot pedal 140 by stepping on it. The foot pedal 140 will slide downwards along the height direction D3, causing the second roller 176a connected to it to slide to one side along the first guide 171, as shown. Figure 11 As shown. Simultaneously, the foot pedal 140 moves in conjunction with the first roller, second lever 162, first lever 161, and movable member 120. The second lever 162 and first lever 161 amplify the pedaling force on the foot pedal 140 and transmit it to the movable member 120 via levers, causing the movable member 120 to slide downwards along the height direction D3. When the bottom surface of the foot cup mounted on the movable member 120 contacts the ground 18 and continues to be pressed downwards due to the pedaling force, the second elastic member 184 elastically deforms and applies a downward elastic force to the foot cup. When the user steps the foot pedal 140 to its limit position, the user releases the foot pedal 140. Since the foot pedal 140 is not affected by external forces, it slides upwards along the height direction D3 under the elastic force of the third elastic member 152 and the first elastic member 151. When the foot pedal 140 slides upward, the movable part 120 will also slide upward in response, thus slightly reducing the positive pressure exerted by the footrest on the ground 18. This positive pressure is not the positive force required for proper braking. Simultaneously, the second roller 176a will be guided by the fourth elastic element 177 from the first opening 172e into the guide groove 172g, ultimately leading to the second roller 176a being guided into the locking groove 172h and locked there, as if... Figure 12 As shown. At this moment, the braking device 100 is in the braking state or the first state. The positive pressure applied by the foot cup to the ground 18 at this moment is used to generate the friction between the foot cup and the bottom surface, which is the maximum braking force that the braking device 100 can provide.

[0166] like Figure 9 , Figure 10 , Figure 12 as well as Figure 13 As shown, the method for adjusting the braking device 100 to the unlocked braking state or the second state can be:

[0167] The braking device 100 must first be in the braking state, such as Figure 12 As shown. The user applies a force D3 along the height direction to the foot pedal 140 by stepping on it. The foot pedal 140 slides downward along the height direction D3, causing the second roller 176a connected to it to disengage from the locking groove 172h, as shown. Figure 13 As shown. When the second roller 176a leaves the locking groove 172h, the second roller 176a will be subjected to the elastic force of the fourth elastic element 177 and tend to move towards its own equilibrium position. After the second roller 176a swings to its own equilibrium position, it is located directly below the third guide surface 172d (as shown). Figure 13(As shown), this allows the second roller 176a to press against the third guide surface 172d during its upward movement. Simultaneously, the foot pedal 140 moves in conjunction with the first roller, second lever 162, first lever 161, and movable member 120. The movable member 120 also slides downwards due to this linkage, slightly increasing the positive force exerted by the footrest on the ground 18. When the user presses the foot pedal 140 to its limit position, the user releases the foot pedal 140. Since the foot pedal 140 is not affected by external forces, it slides upwards along the height direction D3 under the combined action of the elastic forces of the third elastic member 152 and the first elastic member 151. The second roller 176a moves to the side of the first guide member 171 near the brake base 110 under the guidance of the third guide surface 172d, and then returns to the unlocked position above the first guide surface 172a under the elastic force of the fourth elastic member 177. Figure 9 and Figure 10 As shown. Simultaneously, when the foot pedal 140 slides upwards, the movable part 120 will also slide upwards in response, until the movable part 120 returns to its initial position. At this time, the footrest is not in contact with the ground 18, that is, it is in the unlocked braking state or the second state, as shown. Figure 9 and Figure 10 As shown.

[0168] In other examples, the locking / unlocking component 170 may also be provided in components that are linked to the foot pedal 140, such as the first rod 161, the second rod 162, and the movable component 120.

[0169] In some examples, the braking device 100 may include a sensor 210. The sensor 210 is disposed on the brake base 110. The sensor 210 can be configured to sense the braking state of the braking device 100 after the medical robot mobile device 14 is connected to power, ensuring that the braking state corresponds to the usage state of the medical robot mobile device 14, thereby improving the safety of the medical robot mobile device 14. The sensor 210 can be a photoelectric sensor 210, a limit switch, etc. This application may use a photoelectric sensor 210 and a corresponding baffle 220 to distinguish the braking state.

[0170] See also Figures 6 to 13 The upper part of the foot pedal 140 may be provided with anti-slip protrusions, anti-slip grooves, anti-slip pads and other anti-slip parts 143 to prevent the user from slipping when stepping on the foot pedal 140 to perform braking or unlocking the brake.

[0171] See also Figures 6 to 13Furthermore, the braking device 100 may also include a positioning connector 190. The positioning connector 190 is fixedly connected to the brake base 110. The positioning connector 190 may include a first positioning portion 191. The fixing member 180 may include a second positioning portion 181. The first positioning portion 191 is slidably connected to the second positioning portion 181 along the height direction D3. The first positioning portion 191 is also limited and fitted to the second positioning portion 181 in a direction perpendicular to the height direction D3. By connecting the first positioning portion 191 of the positioning connector 190 to the second positioning portion 181 of the fixing member 180, the device can be adaptively adjusted according to the specific positions of the fixing member 180 and the brake base 110 in the height direction D3, thereby improving the adaptability of the braking device 100 to the installation environment.

[0172] For example, the first positioning part 191 is a positioning hole that extends through along the height direction D3. The second positioning part 181 is a positioning rod that extends along the height direction D3. The positioning rod passes through the positioning hole. At least two positioning rods are provided, and each positioning rod is arranged spaced apart from the others.

[0173] In the illustrated example, four positioning rods are provided. These four positioning rods are divided into two groups of two. The two groups of positioning rods are arranged opposite each other at both ends of the positioning connector 190. The two positioning rods in each group are spaced apart from each other. It can be understood that in other examples, the number of positioning rods in each group may be one or more.

[0174] See Figures 2 to 13In this application, the brake base 110 of the brake device 100 is typically directly and fixedly connected to the equipment base 15, serving as the main load-bearing support structure of the brake device 100. The brake base 110 has a first guide hole, which allows the sliding shaft to slide linearly along the height direction D3. The first guide hole of the brake base 110 can be used to install an additional linear bearing to reduce the frictional force when the central sliding shaft slides linearly along the height direction D3, thereby reducing the load and wear on components during braking. The second rod 162 is rotatably connected to the brake base 110 via a third pivot 165, allowing the second rod 162 to rotate around a third axis AX3. The first rod 161 has three shaft holes forming a three-hole linkage structure. One end of the shaft hole is linked to the brake base 110 and the second rod 162 via a first pivot 163, the middle shaft hole is linked to the sliding shaft via a second pivot 164, and the other end of the shaft hole is linked to the foot pedal 140 via a fourth pivot 166. The foot pedal 140 and the first lever 161 are linked by a first roller to reduce the load and wear on parts during braking. The ratio of the distance between the fourth pivot 166 and the third pivot 165 to the distance between the fourth pivot 166 and the first pivot 163 is a theoretical ratio of mechanical levers. This theoretical ratio of mechanical levers meets the requirements of a force-saving lever, allowing a heavier object to be moved with a smaller force. When braking is needed, the user steps on the foot pedal 140, which moves the second lever 162 and the first lever 161, causing the sliding shaft to move downward, thereby moving the brake 130 downward. In the non-braking state, the sliding shaft is pulled or pushed upward by the first elastic member 151, thereby linking the second lever 162, the first lever 161, and the foot pedal 140 back to the initial position. When the foot pedal 140 is in the initial position, the locking / unlocking component 170 is in the second state.

[0175] This application also provides a medical robot mobile device 14. The medical robot mobile device 14 may include a device base 15, casters 16, the aforementioned brake device 100, and a handle 17. The casters 16 are connected to the lower part of the device base 15 to support the device base 15's movement. A brake base 110 is fixed to the device base 15. A foot pedal 140 is located on the side of the brake base 110 near the rear end of the device base 15. The handle 17 is connected to the upper part of the rear end of the device base 15. The device base 15 of the medical robot mobile device 14 has a layout capable of mounting the brake device 100 and includes casters 16 for transport and movement. The medical robot mobile device 14 typically includes a handle 17 to allow the user to control the direction of movement of the medical robot mobile device 14; the handle 17 may typically have various ergonomic designs.

[0176] According to the medical robot mobile device 14 of this application, by applying the above-described braking device 100, it is easy to operate to achieve braking and release braking.

[0177] This application ensures the braking function of the medical robot mobile device 14 while preventing unnecessary movement of the medical robot mobile device 14 on the ground 18 by relying solely on human power and mechanical transmission for braking without the need for electric drive. This eliminates the need to connect a power source during transportation to facilitate transport and movement in the usage environment. This application utilizes a linkage combination of first rod 161, second rod 162, etc., in the brake base 110, leveraging the lever principle to convert the user's small pedaling force into a higher braking force, helping the user achieve braking with less effort. This application employs a structure similar to a vehicle suspension system at the footrest of the brake device 100, allowing the entire brake device 100 to perform only the braking function during braking, without providing unnecessary lifting for the medical robot mobile device 14, thus stabilizing the operating force required for braking. This application incorporates a locking / unlocking component 170 in the brake device 100, enabling the medical robot mobile device 14 to switch between braking and unlocking states by only stepping on the same single footrest 140, thereby improving the intuitiveness and convenience of braking. This application allows for the placement of a foot pedal 140 near the handle 17 of the medical robot mobile device 14, for example, directly below the handle 17, thereby enabling braking operations without releasing the handle and improving the safety of operating the device.

[0178] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0179] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A braking device, characterized in that, The braking device includes: Brake base; A braking component, wherein the braking component is movably disposed relative to the brake base in the height direction of the brake base; A foot pedal is tractively connected to the brake, and the foot pedal is movably disposed in the height direction relative to the brake base between an unlocked position and a locked position; An elastic element, which is directly or indirectly connected to the foot pedal, is adapted to apply an elastic force toward the unlocked position to the foot pedal; The locking / unlocking component has a first state and a second state. When the locking / unlocking component is in the first state, the pedal is in the locked position. When the locking / unlocking component is in the first state and the pedal is subjected to a downward force sufficient to overcome the elastic force applied by the elastic member, the pedal moves towards the unlocked position, and the locking / unlocking component switches to the second state. The locking / unlocking component includes a first guide and a second guide that guide and cooperate with each other. The first guide is fixedly disposed relative to the brake base, and the second guide is movably connected to the pedal. The first guide includes: A first guide rail portion, comprising a first guide surface, a second guide surface, and a third guide surface arranged sequentially along its circumference, wherein a locking groove is provided between the second guide surface and the third guide surface; and The second guide rail is located below the first guide rail and is spaced apart from the first guide rail to define a guide groove. The second guide includes: A swinging part, the lower end of which is pivotally connected to the foot pedal about a fifth axis; Abutting portion, the abutting portion being connected to the upper end of the swing portion, the abutting portion being adapted to slide into the locking groove from the guide groove; and A fourth elastic element is connected between the swing portion and the foot pedal, and the fourth elastic element is adapted to apply an elastic force to the foot pedal toward the unlocked position. When the foot pedal is in the unlocked position, the abutment portion is located above the first guide surface and the third guide surface; when the foot pedal is in the locked position, the abutment portion is located within the locking groove. Furthermore, in a plane perpendicular to the height direction, the orthographic projection of the second guide rail portion does not exceed the orthographic projection of the second guide surface and the locking groove in a first direction, wherein the first direction is perpendicular to the height direction.

2. The braking device according to claim 1, characterized in that, The locking / unlocking component is configured such that: When the pedal is in the locked position and the force applied to it is insufficient to overcome the elastic force applied by the elastic member, the second guide engages with the first guide to prevent the pedal from moving toward the unlocked position; when the pedal is in the locked position and the force applied to it is sufficient to overcome the elastic force applied by the elastic member, the second guide disengages from the first guide to allow the pedal to move toward the unlocked position.

3. The braking device according to claim 2, characterized in that, The braking device further includes a force transmission element, one end of which is movably connected to the brake base, and the other end of which is connected to the foot pedal. The brake element is located between the brake base and the foot pedal and is connected to the force transmission element. The foot pedal is adapted to drive the brake element downward via the force transmission element when subjected to a downward force.

4. The braking device according to claim 3, characterized in that, The force transmission component includes a first rod having a first end and a second end spaced apart along its own length. The first end is rotatably connected to the lower part of the brake base about a first axis perpendicular to the height direction of the brake base. The first rod located between the first end and the second end is connected to the brake component. The foot pedal is connected to the second end of the first rod.

5. The braking device according to claim 4, characterized in that, The brake component is movably connected to the brake base along the height direction; The brake component is rotatably connected to the first rod about a second axis, the second axis being parallel to the first axis; The elastic element includes a first elastic element connected between the brake element and the brake base to apply an upward force to the brake element.

6. The braking device according to claim 5, characterized in that, The brake base includes a first guide portion, which extends along the height direction; The braking device includes a movable member connected to the braking component. The movable member includes a second guide portion that extends along the height direction and is guided and engaged with the first guide portion along the height direction.

7. The braking device according to claim 6, characterized in that, The brake base includes a sleeve portion, the interior of which forms a first guide hole, which constitutes a first guide portion. The second guide portion is constructed as a sliding shaft portion, which is slidably inserted into the first guide hole along the height direction.

8. The braking device according to claim 7, characterized in that, The movable component includes a connecting hole, which is located in the sliding shaft portion and extends through the movable component along the height direction; The first guide hole extends through the brake base along the height direction. The brake base also includes a cover portion, which is detachably disposed on the upper part of the first guide hole. The first elastic element is a first tension spring, which is located in the first guide hole and is connected to the cover portion and the sliding shaft portion.

9. The braking device according to claim 6, characterized in that, The brake component is movably connected to the movable component along the height direction. The braking device further includes a second elastic component connected between the movable component and the brake component to apply a downward force to the brake component.

10. The braking device according to claim 7, characterized in that, The movable component further includes a support portion extending along a second direction parallel to the first axis. The support portion is connected to the sliding shaft portion. The braking device includes at least two braking components movably connected to the support portion along the height direction. The at least two braking components are spaced apart along the second direction.

11. The braking device according to claim 10, characterized in that, The braking device includes two braking components, which are symmetrically arranged on both sides of the sliding shaft portion.

12. The braking device according to claim 10, characterized in that, The support portion includes a second guide hole that extends along the height direction. The brake component includes a guide rod portion and a brake portion. The guide rod portion is connected to the upper part of the brake portion and extends along the height direction. The guide rod portion is slidably inserted into the second guide hole along the height direction.

13. The braking device according to claim 6, characterized in that, The braking device further includes a second rod, one end of which is rotatably connected to the brake base about a third axis, and the other end of which is rotatably connected to the first end of the first rod about a first axis.

14. The braking device according to claim 6, characterized in that, The foot pedal is movably disposed relative to the brake base along the height direction, and the foot pedal includes a third guide portion; The braking device includes a fourth guide portion connected to the second end of the first rod. The fourth guide portion is movably fitted to the third guide portion along the first direction, which is perpendicular to the first axis. The second end of the first rod is rotatably fitted to the third guide portion around the fourth axis via the fourth guide portion.

15. The braking device according to claim 14, characterized in that, The third guide portion is configured as a third guide hole, and the fourth guide portion is configured as a first roller, which is rotatably connected to the second end of the first rod around the fourth axis.

16. The braking device according to claim 14, characterized in that, The braking device includes a fixing member, which is fixedly disposed relative to the brake base in a direction perpendicular to the height direction; The foot pedal is slidably connected to the fixing member along the height direction; The elastic element includes a third elastic element connected to the foot pedal and the fixing element, the third elastic element being adapted to apply a force to the foot pedal toward the unlocked position.

17. The braking device according to claim 16, characterized in that, The fastener includes: The plate portion, wherein the thickness direction of the plate portion is parallel to the first axis; and The fifth guide portion is fixed to the plate body portion. The foot pedal includes a sixth guide portion, which is movably coupled to the fifth guide portion along the height direction to guide the foot pedal to move relative to the plate body along the height direction.

18. The braking device according to claim 16, characterized in that, The first guide is disposed on the fixing member.

19. The braking device according to claim 1, characterized in that, The second guide includes a pair of fourth elastic elements, which are arranged opposite to each other on both sides of the swing portion along the first direction, and the fourth elastic elements are connected between the swing portion and the foot pedal.

20. The braking device according to claim 16, characterized in that, The braking device includes two sets of fixing members and two sets of locking and unlocking components, with each set of fixing members and each set of locking and unlocking components arranged opposite to each other on both sides of the foot pedal along the second direction.

21. The braking device according to claim 16, characterized in that, The braking device further includes a positioning connector, which is fixedly connected to the brake base. The positioning connector includes a first positioning part, and the fixing part includes a second positioning part. The first positioning part is slidably connected to the second positioning part along the height direction, and the first positioning part is limited and fitted to the second positioning part along a direction perpendicular to the height direction.

22. A medical robot mobile device, characterized in that, The medical robot mobile device includes: Equipment base; Casters are connected to the lower part of the equipment base to support the movement of the equipment base; The braking device according to any one of claims 1 to 21, wherein the brake base is fixed to the device base, and the foot pedal is located on the side of the brake base near the rear end of the device base; and A handle, which is attached to the upper part of the rear end of the device base.

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