Brake assembly, sliding mechanism and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a brake assembly, a sliding mechanism and a surgical robot. The brake assembly comprises an attracted piece, an adapter piece and an attraction piece. The sucked part is fixedly arranged on the fixing part; the adapting piece and the sucked piece are arranged at an interval, the adapting piece comprises an adapting part and a mounting part, the adapting part is connected to the movable piece, the mounting part is connected to the adapting part, and the mounting part is arranged on the side, facing the sucked piece, of the adapting part; the suction part is provided with a braking position adsorbed on the sucked part and an idle position separated from the sucked part, and the suction part is movably arranged on the mounting part in a sleeving mode so as to be switched between the limiting position and the braking position. After the mechanical arm moves to a proper position, the position of the mechanical arm can be kept, the safety of an operation is improved, meanwhile, the structural compactness of the brake assembly is improved, and the occupied space of the brake assembly is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, and in particular to a braking component, a sliding mechanism and a surgical robot. Background Art

[0002] With the development of technology, surgical robots have been widely used in clinical surgery. The surgical robot includes a doctor control end and a patient surgical end. The patient surgical end includes an operating table, a sliding mechanism and a robotic arm, and the robotic arm is used to install surgical instruments or endoscopes. The fixed part of the sliding mechanism is fixedly set on the operating table, and the robotic arm is connected to the sliding part of the sliding mechanism. The sliding part can slide on the fixed part. Before the operation, the doctor needs to drag the robotic arm to slide to the appropriate position to facilitate the operation.

[0003] In the prior art, for a sliding mechanism in which the sliding part slides in a horizontal direction, a braking mechanism is usually not provided. After the position of the robotic arm is adjusted, if the sliding part is accidentally touched by other structures, the sliding part can still slide on the fixed part, and the position of the robotic arm cannot be limited, thus affecting the safety of the operation. For a sliding mechanism in which the sliding part slides in a vertical direction, the sliding part is usually connected to a constant force coil spring for realizing gravity compensation. After the position of the robotic arm is adjusted, although the sliding part will not slide down due to the action of gravity, if the sliding part is accidentally touched by other structures, the sliding part can still slide on the fixed part, and the position of the robotic arm cannot be limited, thus affecting the safety of the operation.

[0004] Based on this, there is an urgent need for a braking assembly, a sliding mechanism and a surgical robot to solve the above-mentioned problems. Utility Model Content

[0005] The purpose of the utility model is to provide a brake assembly, a sliding mechanism and a surgical robot, which can maintain the position of the robotic arm after the robotic arm moves to a suitable position, thereby improving the safety of the operation, while also improving the compactness of the brake assembly structure and reducing the space occupied by the brake assembly.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A brake assembly, used to limit the relative movement between the fixed part and the movable part of the sliding mechanism, comprises:

[0008] The sucked part is fixedly arranged on the fixing part;

[0009] A transfer member is arranged at a distance from the sucked member, the transfer member comprises a transfer portion and a mounting portion, the transfer portion is connected to the movable member, the mounting portion is connected to the transfer portion, and the mounting portion is located on a side of the transfer portion facing the sucked member;

[0010] The suction member is sleeved on the mounting portion, and has a braking position for adsorbing on the attracted member and an idle position for detaching from the attracted member. The suction member can move relative to the mounting portion to switch between the idle position and the braking position.

[0011] As an optional technical solution for the braking assembly, the suction member is an electromagnet, the attracted member is made of ferromagnetic material, the mounting portion is rod-shaped, one end of the mounting portion is connected to the adapter portion and the other end extends toward the attracted member, and the suction member can move axially relative to the mounting portion.

[0012] As an optional technical solution of the brake assembly, the brake assembly further includes an elastic reset member, which can move the suction member relative to the mounting portion in a direction away from the suctioned member to switch to the idle position;

[0013] The suction member is configured to be magnetic when in a first state, and the adsorption force of the suction member is greater than the elastic force of the elastic reset member, and the suction member is configured to be demagnetized when in a second state.

[0014] As an optional technical solution for the brake assembly, a stop portion is protruding on the side wall of the mounting portion, the elastic return member is sleeved on the mounting portion and is located on the side of the stop portion away from the sucked member, one end of the elastic return member is connected to the stop portion, and the other end is connected to the suction member.

[0015] As an optional technical solution of the brake assembly, the brake assembly also includes a connecting part, which is movably mounted on the mounting part, and the suction member is fixedly mounted on the connecting part, and the end of the mounting part passes through the connecting part, and the stopper is arranged on the part of the mounting part that passes through the connecting part, and an accommodating groove is provided on the end surface of the connecting part facing one end of the sucked part, and one end of the elastic return member away from the stopper is connected to the bottom surface of the accommodating groove, and when the suction member is configured to be in the braking position, the stopper is in contact with the end surface of the connecting part facing one end of the sucked part.

[0016] As an optional technical solution for the brake assembly, the suction member is provided with a cable for electrically connecting to an external power supply; the brake assembly also includes a connecting member, the connecting member includes a base and at least two connecting parts, the base is connected to at least two of the connecting parts, at least two of the mounting parts are arranged in parallel, at least two of the connecting parts are movably mounted on the at least two mounting parts in a one-to-one correspondence, and the suction member is fixedly mounted on at least one of the connecting parts.

[0017] As an optional technical solution of the brake assembly, the fixed member is provided with one of the guide rail and the slider, the movable member is provided with the other of the guide rail and the slider, the guide rail and the slider are slidably matched, and the guide rail extends along the first direction;

[0018] At least two of the mounting portions are arranged at intervals along the first direction.

[0019] As an optional technical solution of the brake assembly, the brake assembly further includes a shock absorbing layer, the shock absorbing layer is connected to the sucked part, and the shock absorbing layer is located between the sucked part and the fixing part.

[0020] The sliding mechanism comprises a fixed part, a movable part and the braking assembly as described above, wherein the movable part is slidably connected to the fixed part.

[0021] A surgical robot comprises the sliding mechanism as described above.

[0022] Beneficial effects of the utility model:

[0023] The brake assembly provided by the utility model includes a sucked part, an adapter and a suction part. When the movable part used to connect the mechanical arm slides on the fixed part, the suction part is in an idle position, and after the movable part slides to a suitable position, the suction part can be switched to a braking position. The brake assembly provided by this embodiment utilizes the switching of the suction part between the idle position and the braking position. While realizing the relative sliding between the movable part and the fixed part, it also realizes that after the mechanical arm moves to a suitable position, the relative movement between the movable part and the fixed part is restricted, thereby maintaining the position of the mechanical arm, reducing the possibility of displacement of the mechanical arm during surgery, improving the safety of surgery, and avoiding secondary injuries to patients; at the same time, since the suction part and the mounting part of the adapter are sleeve-connected, the compactness of the structure of the brake assembly is also improved, the space occupied by the brake assembly is reduced, and it is conducive to the miniaturization of the brake assembly.

[0024] The sliding mechanism provided by the utility model includes the above-mentioned brake assembly. After the mechanical arm moves to a suitable position, the relative movement between the movable part and the fixed part is restricted, thereby maintaining the position of the mechanical arm, reducing the possibility of displacement of the mechanical arm during surgery, improving the safety of surgery, avoiding secondary injuries to the patient, and at the same time improving the compactness of the structure of the sliding mechanism, reducing the occupied space of the sliding mechanism, and facilitating the miniaturization of the sliding mechanism.

[0025] The surgical robot provided by the utility model includes the above-mentioned sliding mechanism. After the mechanical arm moves to a suitable position, the position of the mechanical arm can be maintained, which reduces the possibility of displacement of the mechanical arm during the operation, improves the safety of the operation, avoids secondary injury to the patient, and also improves the compactness of the structure of the surgical robot, reduces the space occupied by the surgical robot, and is conducive to the miniaturization of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the sliding mechanism provided by an embodiment of the utility model;

[0027] Figure 2 It is a structural schematic diagram of a brake assembly, a sliding assembly and a movable part provided by an embodiment of the utility model;

[0028] Figure 3 It is a partial structural schematic diagram of a brake assembly provided by an embodiment of the utility model;

[0029] Figure 4 is a cross-sectional view of a brake assembly provided by an embodiment of the utility model when it is in an idle position;

[0030] Figure 5 is a cross-sectional view of the brake assembly provided by the embodiment of the utility model when it is in the braking position;

[0031] Figure 6 is a cross-sectional view of a brake assembly provided by an embodiment of the utility model;

[0032] Figure 7 yes Figure 6 A partial enlarged view of the middle A;

[0033] Figure 8 It is a structural schematic diagram of the sucked part and the fixing part provided in an embodiment of the utility model.

[0034] In the figure:

[0035] 10. Fixed part; 20. Moving part; 30. Guide rail; 40. Slider; 50. Robot arm;

[0036] 1. sucked part; 2. adapter; 21. adapter part; 22. mounting part; 221. first shaft section; 222. second shaft section; 23. stopper; 24. screw;

[0037] 3. Suction member; 4. Elastic reset member;

[0038] 5. Connecting member; 51. Base; 52. Connecting portion; 521. Accommodating groove; 522. Protruding portion;

[0039] 6. Linear bearing; 7. Shock-absorbing layer. DETAILED DESCRIPTION

[0040] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0044] This embodiment provides a surgical robot. Figure 1 As shown, the surgical robot includes a mechanical arm 50, and the mechanical arm 50 is connected to the movable part 20. The mechanical arm 50 is used to install surgical instruments or medical instruments such as endoscopes.

[0045] This embodiment also provides a sliding mechanism. The surgical robot also includes the sliding mechanism. Specifically, the mechanical arm 50 is connected to the sliding mechanism.

[0046] like Figure 1 As shown, the sliding mechanism includes a fixed member 10 and a movable member 20. The fixed member 10 is fixedly arranged, and the movable member 20 is slidably connected to the fixed member 10, that is, the movable member 20 can slide on the fixed member 10. The mechanical arm 50 is connected to the movable member 20.

[0047] The surgical robot includes a doctor control end and a patient surgical end, and the sliding mechanism described above is arranged on the patient surgical end. The patient surgical end includes a surgical trolley, which is fixedly arranged during the operation, and the fixing member 10 is fixedly arranged on the surgical trolley. The number of sliding mechanisms arranged on the patient surgical end can be adaptively adjusted according to actual needs and is not limited here.

[0048] In other embodiments, the sliding mechanism described above may also be provided on the doctor's control end, which is not limited here.

[0049] The specific structures of the robotic arm 50, the doctor's control end and the patient's surgical end can all be referred to the prior art. They are not the focus of protection of this embodiment and will not be described in detail here.

[0050] It can be understood that the sliding mechanism provided in this embodiment can be applied to various types of medical equipment, and the medical equipment can be but is not limited to a surgical robot.

[0051] Furthermore, the sliding mechanism further includes a guide assembly, which includes a guide rail 30 and a slider 40. The fixed member 10 is provided with one of the guide rail 30 and the slider 40, and the movable member 20 is provided with the other of the guide rail 30 and the slider 40. The guide rail 30 and the slider 40 are slidably matched, and the guide rail 30 extends along a first direction, that is, the movable member 20 can slide relative to the fixed member 10 along the first direction. By providing the guide assembly, the sliding direction of the movable member 20 can be limited to avoid interference between the movable member 20 and other structures.

[0052] In this embodiment, the guide rail 30 is fixedly arranged on the fixed member 10 by fasteners, and the slider 40 is connected to the movable member 20 by fasteners. In other embodiments, the guide rail 30 may be fixedly arranged on the movable member 20, and the slider 40 may be connected to the fixed member 10, which is not limited here.

[0053] In this embodiment, the first direction is a horizontal direction. In other embodiments, the first direction may also be a vertical direction or other directions, which are not limited here.

[0054] This embodiment also provides a brake assembly. The above sliding mechanism includes the brake assembly. The brake assembly is used to limit the relative movement between the fixed member 10 and the movable member 20 of the sliding mechanism, so that the fixed member 10 and the movable member 20 are relatively stationary.

[0055] like Figure 1-Figure 8As shown, the brake assembly includes a sucked part 1, an adapter 2 and a suction part 3. The sucked part 1 is fixedly arranged on the fixed part 10; the adapter 2 is spaced apart from the sucked part 1, and the adapter 2 includes a switching portion 21 and a mounting portion 22, the switching portion 21 is connected to the movable part 20, the mounting portion 22 is connected to the adapter 21, and the mounting portion 22 is located on the side of the adapter 21 facing the sucked part 1; the suction part 3 is sleeved on the mounting portion 22, and the suction part 3 has a braking position adsorbed on the sucked part 1 and an idle position detached from the sucked part 1, and the suction part 3 can move relative to the mounting portion 22 to switch between the idle position and the braking position. Wherein, no matter whether the suction part 3 is in the idle position or the braking position, the suction part 3 is always sleeved on the mounting portion 22 of the adapter 2.

[0056] The brake assembly provided in this embodiment includes a sucked part 1, an adapter 2 and a suction part 3. When the movable part 20 used to connect the mechanical arm 50 slides on the fixed part 10, the suction part 3 is in an idle position. After the movable part 20 slides to a suitable position, the suction part 3 can be switched to a braking position. The brake assembly provided in this embodiment utilizes the switching of the suction part 3 between the idle position and the braking position. While realizing the relative sliding between the movable part 20 and the fixed part 10, it also realizes that after the mechanical arm 50 moves to a suitable position, the relative movement between the movable part 20 and the fixed part 10 is restricted, thereby maintaining the position of the mechanical arm 50, reducing the possibility of displacement of the mechanical arm 50 during the operation, improving the safety of the operation, and avoiding secondary injuries to the patient; at the same time, since the suction part 3 is sleeve-connected with the mounting portion 22 of the adapter 2, the compactness of the structure of the brake assembly is also improved, the space occupied by the brake assembly is reduced, and it is conducive to the miniaturization of the brake assembly.

[0057] The sliding mechanism provided in this embodiment includes the above-mentioned brake assembly. After the mechanical arm 50 moves to a suitable position, the relative movement between the movable part 20 and the fixed part 10 is restricted, thereby maintaining the position of the mechanical arm 50, reducing the possibility of displacement of the mechanical arm 50 during the operation, improving the safety of the operation, avoiding secondary injury to the patient, and at the same time improving the compactness of the structure of the sliding mechanism, reducing the occupied space of the sliding mechanism, and facilitating the miniaturization of the sliding mechanism.

[0058] The surgical robot provided in this embodiment includes the above-mentioned sliding mechanism. After the mechanical arm 50 moves to a suitable position, the position of the mechanical arm 50 can be maintained, which reduces the possibility of displacement of the mechanical arm 50 during the operation, improves the safety of the operation, avoids secondary injury to the patient, and also improves the compactness of the structure of the surgical robot, reduces the space occupied by the surgical robot, and is conducive to the miniaturization of the surgical robot.

[0059] Preferably, the suction member 3 is an electromagnet, and the attracted member 1 is made of ferromagnetic material. Specifically, the suction member 3 in the power-on state is magnetic, and at this time the suction member 3 can move relative to the mounting portion 22 toward the direction close to the attracted member 1 to switch to the braking position; the suction member 3 in the power-off state is demagnetized, and at this time the suction member 3 can be separated from the attracted member 1 to switch to the idle position. The above-mentioned arrangement can be switched to the power-on state by the electromagnet, so that the suction member 3 automatically switches to the braking position, improves the automation degree of the braking assembly, and simplifies the operation process; at the same time, it also avoids the use of a mechanical structure to realize the movement of the suction member 3 in the direction close to the attracted member 1, simplifies the structure of the braking assembly, and further reduces the space occupied by the braking assembly.

[0060] In this embodiment, the attracted part 1 can be made of iron, and the attracted part 1 is preferably an iron plate. The attracted part 1 is rectangular, and the length direction of the attracted part extends along the first direction. The above arrangement enables the attracting part 3 to attract the attracted part 1 when the movable part 20 slides to any position along the first direction, so as to limit the mechanical arm 50 to any position.

[0061] In other embodiments, the attraction component 3 in the power-on state may be demagnetized, and the attraction component 3 in the power-off state is magnetic, which is not limited here.

[0062] As a preferred solution, the mounting portion 22 is rod-shaped, one end of the mounting portion 22 is connected to the adapter portion 21 and the other end extends toward the sucked member 1, and the suction member 3 can move axially relative to the mounting portion 22. The above arrangement simplifies the structure of the adapter 2, which is conducive to reducing the space occupied by the brake assembly. At the same time, the mounting portion 22 also guides the suction member 3, ensuring that the suction member 3 can reliably switch between the idle position and the braking position.

[0063] In this embodiment, the axis of the mounting portion 22 is perpendicular to the first direction, and the mounting portion 22 is perpendicular to the side surface of the attracted component 1 facing the attracting component 3. The mounting portion 22 and the adapter portion 21 are integrally formed.

[0064] In other embodiments, the mounting portion 22 is still configured to be rod-shaped, and the first end of the suction member 3 can also be rotatably mounted on the mounting portion 22, and at least the second end of the suction member 3 is a magnet, and the first end and the second end of the suction member 3 are the two ends of the suction member 3 along the length direction. When the suction member 3 is in the braking position, the second end of the suction member 3 is adsorbed on the sucked member 1. At this time, the suction member 3 is rotated to disengage the second end of the suction member 3 from the sucked member 1, so that the suction member 3 is switched to the idle position. Specifically, the rotation of the suction member 3 can be achieved by a driving motor or other driving member, thereby achieving the switching of the suction member 3 between the idle position and the braking position, which is not limited here. It can be understood that at this time, the axis of the mounting portion 22 is parallel to the side of the sucked member 1 facing the suction member 3.

[0065] As a preferred solution, the brake assembly further includes an elastic reset member 4, which can move the suction member 3 relative to the mounting portion 22 in a direction away from the suctioned member 1 to switch to an idle position. The suction member 3 is magnetic when in the first state, and the suction force of the suction member 3 is greater than the elastic force of the elastic reset member 4, and the suction member 3 is configured to be demagnetized when in the second state. The first state is a power-on state, and the second state is a power-off state. When the suction component 3 is demagnetized, under the action of the elastic force of the elastic reset component 4, the suction component 3 can automatically return to the idle position, avoiding manual resetting of the suction component 3, further improving the degree of automation of the brake assembly, simplifying the operation process, and also avoiding the use of a mechanical structure to realize the movement of the suction component 3 in a direction away from the attracted component 1, simplifying the structure of the brake assembly, and further reducing the space occupied by the brake assembly; in addition, when the suction component 3 is demagnetized, under the action of the elastic force of the elastic reset component 4, the gap between the suction component 3 and the attracted component 1 can be increased, facilitating the relative sliding between the movable component 20 and the fixed component 10, ensuring the smooth movement of the robot arm 50, and also avoiding friction between the suction component 3 and the attracted component 1, protecting the suction component 3 and the attracted component 1, and reducing maintenance costs.

[0066] The elastic reset element 4 may be, but is not limited to, a rubber ring, a disc spring, a compression spring or a wave spring.

[0067] Specifically, a stopper 23 is convexly provided on the side wall of the mounting portion 22, and the elastic reset member 4 is sleeved on the mounting portion 22 and is located on the side of the stopper 23 away from the sucked member 1, and one end of the elastic reset member 4 is connected to the stopper 23, and the other end is connected to the suction member 3. The above arrangement prevents the elastic reset member 4 from being separated from the mounting portion 22 and the suction member 3, ensures that the elastic reset member 4 can achieve the function of resetting the suction member 3, and simplifies the connection structure between the elastic reset member 4 and the mounting portion 22. In this embodiment, the stopper 23 is fixed to the mounting portion 22 by a screw 24. In other embodiments, the stopper 23 and the mounting portion 22 can also be integrally formed.

[0068] In this embodiment, when the suction member 3 is in the braking position, the elastic return member 4 is in a compressed state, and when the suction member 3 is in the idle position, the elastic return member 4 is in a non-stretched state.

[0069] In other embodiments, the elastic reset member 4 may also be fixedly connected to the stopper 23 and the suction member 3 by means of a fastener or adhesive.

[0070] Further, the brake assembly also includes a connector 5. The connector 5 includes a connecting portion 52, the connecting portion 52 is movably sleeved on the mounting portion 22, the suction member 3 is fixedly sleeved on the connecting portion 52, the end of the mounting portion 22 passes through the connecting portion 52, the stopper 23 is arranged on the portion of the mounting portion 22 passing through the connecting portion 52, an accommodating groove 521 is provided on the end surface of the connecting portion 52 facing the suctioned member 1, and one end of the elastic reset member 4 away from the stopper 23 is connected to the bottom surface of the accommodating groove 521, and when the suction member 3 is configured to be in the braking position, the stopper 23 and the end surface of the connecting portion 52 facing the suctioned member 1 are in contact.

[0071] By providing the accommodating groove 521, at least a part of the elastic return member 4 is placed in the accommodating groove 521, which is beneficial to reducing the overall structural volume formed by the connecting member 5 and the mounting portion 22, and thus reducing the space occupied by the braking assembly; at the same time, when the suction member 3 is in the braking position, the stop portion 23 and the end surface of the connecting portion 52 facing the sucked member 1 are in contact, so that the stop portion 23 can limit the movement of the connecting portion 52 and the suction member 3, thereby preventing the suction member 3 from applying excessive pressure to the sucked member 1, reducing the possibility of damage and deformation of the suction member 3 and the sucked member 1 due to excessive impact force, and reducing maintenance costs.

[0072] In this embodiment, the connecting portion 52 is cylindrical, and the mounting portion 22 is coaxially arranged in the central through hole of the connecting portion 52. The receiving groove 521 is coaxially arranged with the mounting portion 22, and the receiving groove 521 is connected with the central through hole of the connecting portion 52. The stopper 23 is arranged along the circumference of the mounting portion 22, and the outer diameter of the stopper 23 is larger than the outer diameter of the receiving groove 521.

[0073] As a preferred solution, the brake assembly further includes a linear bearing 6, which is disposed between the connecting portion 52 and the mounting portion 22. The inner ring of the linear bearing 6 is coaxially and fixedly sleeved on the mounting portion 22, and the connecting portion 52 is coaxially and fixedly sleeved on the outer ring of the linear bearing 6, which facilitates the smooth sliding of the suction member 3 along the mounting portion 22.

[0074] In some embodiments, the connecting portion 52 may not be provided. In this case, the inner ring of the linear bearing 6 is coaxially and fixedly sleeved on the mounting portion 22, and the suction member 3 is coaxially and fixedly sleeved on the outer ring of the linear bearing 6, which is not limited here.

[0075] It is understandable that the suction member 3 is provided with a cable for electrically connecting to an external power source. Preferably, at least two connecting parts 52 are provided, and the connecting member 5 further includes a base 51, and the base 51 is connected to all the connecting parts 52. At least two mounting parts 22 are provided in parallel, and at least two connecting parts 52 are movably sleeved on at least two mounting parts 22 in a one-to-one correspondence, and the suction member 3 is fixedly sleeved on at least one connecting part 52. Through the above arrangement, the suction member 3 is prevented from rotating around the mounting part 22, the risk of the cable on the suction member 3 being entangled or even broken is reduced, and the suction member 3 is ensured to reliably switch between the idle position and the braking position, thereby improving the reliability of the braking assembly and the sliding mechanism, which is conducive to improving the safety of the operation.

[0076] In this embodiment, two mounting portions 22 and two connecting portions 52 are provided. One suction member 3 is provided.

[0077] Specifically, the base 51 is located on a side of the suction member 3 opposite to the suctioned member 1 , and the base 51 is located between the suction member 3 and the adapter 21 .

[0078] Furthermore, a protrusion 522 is protrudingly provided on the inner side wall of the connecting portion 52 at one end facing the sucked part 1, and the protrusion 522 is arranged along the circumference of the mounting portion 22, and the protrusion 522 is arranged coaxially with the mounting portion 22. The hole wall of the central through hole of the protrusion 522 is provided with the above-mentioned accommodating groove 521. The mounting portion 22 includes a first shaft segment 221 and a second shaft segment 222 that are coaxially connected, the diameter of the first shaft segment 221 is larger than the diameter of the second shaft segment 222, the second shaft segment 222 is located at one end of the first shaft segment 221 facing the sucked part 1, and the diameter of the first shaft segment 221 is larger than the aperture of the central through hole of the protrusion 522. The first shaft segment 221 is located on the side of the protrusion 522 away from the sucked part 1. The second shaft segment 222 is movably arranged in the central through hole of the protrusion 522. The linear bearing 6 is located on the side of the protrusion 522 away from the sucked part 1. The above arrangement reduces the size of the elastic return member 4 , avoids applying excessive elastic force to the connecting portion 52 and the suction member 3 , and helps to reduce the impact force between the base 51 and the adapter 21 .

[0079] Specifically, the end of the second shaft segment 222 extends out of the protruding portion 522 , and the stopper 23 is connected to the second shaft segment 222 .

[0080] Furthermore, at least two mounting portions 22 are spaced apart along the first direction, which reduces the size of the brake assembly along the direction perpendicular to the first direction, improves the compactness of the brake assembly, reduces the space occupied by the brake assembly, and facilitates miniaturization of the brake assembly.

[0081] In some embodiments, the attracted part 1 is an iron plate, which is fixed to the fixing part 10 by bolts or other fasteners. When the attracting part 3 is powered on, the attracting part 3 moves toward the attracted part 1 and hits the attracted part 1, causing the attracted part 1 to vibrate and collide with the fixing part 10, generating a loud noise, and even causing the fixing part 10 to vibrate synchronously. Preferably, as Figure 8 As shown, the brake assembly further includes a shock absorbing layer 7, which is connected to the sucked part 1 and is located between the sucked part 1 and the fixing part 10. The shock absorbing layer 7 can play a role of silencing and shock absorbing between the sucked part 1 and the fixing part 10, reducing the possibility of other structures on the surgical end of the patient following the vibration, avoiding collision between other structures on the surgical end of the patient and external structures or the patient, avoiding secondary injury to the patient, improving the safety of the operation, and reducing maintenance costs.

[0082] In this embodiment, the shock absorbing layer 7 can be made of materials such as rubber and foam.

[0083] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A brake assembly, used to limit the relative movement between the fixed part and the movable part of a sliding mechanism, characterized in that: include: The sucked part is fixedly arranged on the fixing part; A transfer member is arranged at a distance from the sucked member, the transfer member comprises a transfer portion and a mounting portion, the transfer portion is connected to the movable member, the mounting portion is connected to the transfer portion, and the mounting portion is located on a side of the transfer portion facing the sucked member; The suction member is sleeved on the mounting portion, and has a braking position for adsorbing on the attracted member and an idle position for detaching from the attracted member. The suction member can move relative to the mounting portion to switch between the idle position and the braking position.

2. The brake assembly according to claim 1, characterized in that: The suction member is an electromagnet, the attracted member is made of ferromagnetic material, the mounting portion is rod-shaped, one end of the mounting portion is connected to the adapter portion and the other end extends toward the attracted member, and the suction member can move axially relative to the mounting portion.

3. The brake assembly according to claim 2, characterized in that: The brake assembly further includes an elastic reset member, which can enable the suction member to move relative to the mounting portion in a direction away from the suctioned member so as to switch to the idle position; The suction member is configured to be magnetic when in a first state, and the adsorption force of the suction member is greater than the elastic force of the elastic reset member, and the suction member is configured to be demagnetized when in a second state.

4. The brake assembly according to claim 3, characterized in that: A stopper is protruding from the side wall of the mounting portion, the elastic return member is sleeved on the mounting portion and is located on a side of the stopper away from the sucked member, one end of the elastic return member is connected to the stopper, and the other end is connected to the suction member.

5. The brake assembly according to claim 4, characterized in that: The brake assembly also includes a connecting portion, which is movably mounted on the mounting portion, and the suction member is fixedly mounted on the connecting portion. The end of the mounting portion passes through the connecting portion, and the stopper is arranged on the portion of the mounting portion that passes through the connecting portion. An accommodating groove is provided on the end surface of the connecting portion facing one end of the sucked member, and one end of the elastic return member away from the stopper is connected to the bottom surface of the accommodating groove. When the suction member is configured to be in the braking position, the stopper is in contact with the end surface of the connecting portion facing one end of the sucked member.

6. The brake assembly according to claim 2, characterized in that: The suction member is provided with a cable for electrically connecting to an external power source; the brake assembly also includes a connecting member, which includes a base and at least two connecting parts, the base is connected to at least two of the connecting parts, at least two of the mounting parts are arranged in parallel, at least two of the connecting parts are movably mounted on the at least two mounting parts in a one-to-one correspondence, and the suction member is fixedly mounted on at least one of the connecting parts.

7. The brake assembly according to claim 6, characterized in that The fixed member is provided with one of the guide rail and the slider, the movable member is provided with the other of the guide rail and the slider, the guide rail and the slider are slidably matched, and the guide rail extends along the first direction; At least two of the mounting portions are arranged at intervals along the first direction.

8. The brake assembly according to any one of claims 1 to 6, characterized in that: The brake assembly further comprises a shock absorbing layer, which is connected to the sucked component and is located between the sucked component and the fixing component.

9. A sliding mechanism, characterized in that: It comprises a fixed part, a movable part and a brake assembly as claimed in any one of claims 1 to 8, wherein the movable part is slidably connected to the fixed part.

10. A surgical robot, characterized in that: Comprising the sliding mechanism as claimed in claim 9.

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