Robotic arm, main operating table, surgical robot

Abstract

The present application provides a robotic arm, a main operating table, and a surgical robot. The robotic arm includes a base connecting rod; a parallelogram mechanism rotatably connected to the base connecting rod, wherein the axis of rotation of the parallelogram mechanism around the base connecting rod coincides with the first rotation axis between the first connecting rod and the second connecting rod in the parallelogram mechanism; and a gravity compensation mechanism, including a rotation mechanism and an elastic mechanism, wherein the rotation mechanism is coupled to at least one of the first connecting rod and the second connecting rod, and the base connecting rod, and the elastic mechanism couples the base connecting rod and the rotation mechanism to generate a compensation torque that balances the gravity torque of the parallelogram mechanism in at least one degree of freedom corresponding to the parallelogram mechanism. Through this embodiment, it is possible to achieve better gravity balance on the degree of freedom compensated by gravity without increasing the inertia of the robotic arm, thereby providing an excellent operating experience.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm and a main operating console. Background Art

[0002] In technical fields such as industrial robots and medical robots, robotic arms with a specific number of degrees of freedom are increasingly being used in robots.

[0003] For example, a laparoscopic surgical robot consists of a master console and slave operating devices controlled by the master console. The master console includes a master hand, which includes a robotic arm with multiple degrees of freedom. The doctor generates control commands by manipulating the robotic arm to control the slave operating devices.

[0004] In some existing products, part of the structure of the main hand's robotic arm may easily form a cantilever structure, which may cause the gravity of the cantilever structure to affect the operating feel. Summary of the Invention

[0005] Based on this, it is necessary to provide a robotic arm, a main operating table, and a surgical robot that can achieve better gravity balance on the gravity-compensated degrees of freedom without increasing the inertia of the robotic arm, thereby providing an excellent operating experience.

[0006] To solve the above technical problems, the present application provides a robotic arm, comprising: a base link; a parallelogram mechanism, comprising a first link, a second link, a third link and a fourth link that are rotatably connected in sequence, the parallelogram mechanism being rotatably connected to the base link, the axis of rotation of the parallelogram mechanism around the base link coincides with the first rotation axis between the first link and the second link, the parallelogram mechanism having the degree of freedom of rotation of the parallelogram mechanism as a whole relative to the base link, and the degree of freedom of rotation between adjacent two links in the parallelogram mechanism; and a gravity compensation mechanism, comprising a rotation mechanism and an elastic mechanism, the rotation mechanism being coupled to at least one of the first link and the second link, and the base link, the elastic mechanism being coupled to the base link and the rotation mechanism to generate a compensation torque that balances the gravity torque of the parallelogram mechanism in at least one degree of freedom associated with the parallelogram mechanism.

[0007] Optionally, the rotation mechanism includes a first rotation mechanism, the elastic mechanism includes a first elastic mechanism, the first rotation mechanism is coupled to one of the first and second links, and the base link, the first elastic mechanism couples the base link and the first rotation mechanism to generate a compensating torque in one degree of freedom associated with the parallelogram mechanism that balances the gravitational torque of the parallelogram mechanism; and / or the rotation mechanism includes a second rotation mechanism, the elastic mechanism includes a second elastic mechanism, the second rotation mechanism is coupled to the other of the first and second links, and the base link, the second elastic mechanism couples the base link and the second rotation mechanism to generate a compensating torque in another degree of freedom associated with the parallelogram mechanism that balances the gravitational torque of the parallelogram mechanism.

[0008] Optionally, the parallelogram mechanism includes a first degree of freedom, which includes the freedom of the parallelogram mechanism as a whole to rotate around the first rotation axis. The first rotation mechanism is coupled to the base link and the first link, and the first elastic mechanism generates a compensating torque in the first degree of freedom to balance the gravitational torque of the parallelogram mechanism.

[0009] Optionally, the first rotating mechanism includes a first rotating part, a second rotating part, a third rotating part and a fourth rotating part, the first rotating part is fixedly connected to the base connecting rod, the second rotating part is coaxially arranged with the first rotating part and the second rotating part is rotatable relative to the first rotating part, the third rotating part and the fourth rotating part are respectively rotatably connected to the first connecting rod, the rotation axis of the third rotating part coincides with the first rotation axis, and the rotation axes of the second rotating part and the fourth rotating part are respectively parallel to the first rotation axis; the first elastic mechanism includes a first elastic element and a first cable, the first end of the first elastic element is connected to the base connecting rod, the first end of the first cable is fixedly connected to the first rotating part, the second end of the first cable is wrapped around the second rotating part, guided by the third rotating part, and then wrapped around the fourth rotating part, and then connected to the second end of the first elastic element; or, the first end of the first elastic element is connected to the base connecting rod, the first end of the first cable is fixedly connected to the first rotating part, the second end of the first cable is wrapped around the fourth rotating part, guided by the third rotating part, and then wrapped around the second rotating part, and then connected to the second end of the first elastic element.

[0010] Optionally, the elastic coefficient of the first elastic element, the distance between the rotation axis of the third rotating part and the rotation axis of the second rotating part, and the distance between the rotation axis of the fourth rotating part and the first rotation axis include at least one first parameter to be determined, and the first parameter to be determined is determined based on a first condition and a second condition, the first condition including the gravity of the first link, the gravity of the third link, the gravity of the fourth link, the distance from the center of gravity of the first link to the first rotation axis, the distance from the center of gravity of the third link to the second rotation axis between the second link and the third link, and the distance from the fourth rotation axis between the fourth link and the first link to the first rotation axis, the second condition including the elastic coefficient of the first elastic element, the distance between the rotation axis of the third rotating part and the rotation axis of the second rotating part, and the distance from the rotation axis of the fourth rotating part to the first rotation axis except the first parameter to be determined.

[0011] Optionally, the configuration of the first elastic element and the first rotating mechanism satisfies the following formula:

[0012] k1×a1×b1≤G1×L1+G3×L3+G4×L4

[0013] k1 represents the elastic coefficient of the first elastic element, a1 represents the distance from the rotation axis of the fourth rotating part to the first rotation axis, b1 represents the distance from the rotation axis of the third rotating part to the rotation axis of the second rotating part, G1 represents the gravity of the first connecting rod, G3 represents the gravity of the third connecting rod, G4 represents the gravity of the fourth connecting rod, L1 represents the distance from the center of gravity of the first connecting rod to the first rotation axis, L3 represents the distance from the center of gravity of the third connecting rod to the second rotation axis between the second connecting rod and the third connecting rod, and L4 represents the distance from the fourth rotation axis between the fourth connecting rod and the first connecting rod to the first rotation axis.

[0014] Optionally, the first elastic element includes a variable stiffness spring to achieve adjustable elastic coefficient, adjustable distance from the rotation axis of the fourth rotating part to the first rotation axis, and / or adjustable distance from the rotation axis of the third rotating part to the rotation axis of the second rotating part.

[0015] Optionally, the gravity compensation mechanism includes a first guide portion and a first mounting portion, the first guide portion is arranged on the first connecting rod, the first mounting portion is movably arranged on the first guide portion, and the fourth rotating portion is rotatably mounted on the first mounting portion; and / or the gravity compensation mechanism includes a second guide portion and a second mounting portion, the second guide portion is arranged on the base connecting rod, the first rotating portion is fixedly mounted on the second mounting portion, and the second rotating portion is rotatably mounted on the second mounting portion.

[0016] Optionally, the first guide portion and / or the second guide portion include a slide groove or a slide rail; the first rotating portion, the second rotating portion, the third rotating portion and the fourth rotating portion include pulleys.

[0017] Optionally, the gravity compensation mechanism also includes a first driving mechanism, which is coupled to the first guide part or the first mounting part to drive the first mounting part to move on the first guide part and drive the fourth rotating part to move relative to the first connecting rod; and / or the gravity compensation mechanism also includes a second driving mechanism, which is coupled to the second guide part or the second mounting part to drive the second mounting part to move on the second guide part and drive the first rotating part and the second rotating part to move relative to the base connecting rod.

[0018] Optionally, the parallelogram mechanism includes a second degree of freedom, which includes the freedom of rotation between two adjacent links in the parallelogram mechanism. The second rotation mechanism is coupled to the base link and the second link, and the second elastic mechanism generates a compensating torque in the second degree of freedom to balance the gravitational torque of the parallelogram mechanism.

[0019] Optionally, the second rotating mechanism includes a fifth rotating part, a seventh rotating part and an eighth rotating part, the fifth rotating part is fixedly connected to the base connecting rod, the seventh rotating part and the eighth rotating part are respectively rotatably connected to the second connecting rod, the rotation axis of the seventh rotating part coincides with the first rotation axis, and the rotation axes of the fifth rotating part and the eighth rotating part are respectively parallel to the first rotation axis; the second elastic mechanism includes a second elastic element and a second cable, the first end of the second elastic element is connected to the base connecting rod, the first end of the second cable is fixedly connected to the fifth rotating part, the second end of the first cable is guided by the seventh rotating part, and then wrapped around the eighth rotating part, and then connected to the second end of the second elastic element; or, the first end of the second elastic element is connected to the base connecting rod, the first end of the second cable is fixedly connected to the fifth rotating part, the second end of the first cable is wrapped around the eighth rotating part, and after being guided by the seventh rotating part, is connected to the second end of the second elastic element.

[0020] Optionally, the elastic coefficient of the second elastic element, the distance between the rotation axis of the seventh rotating part and the rotation axis of the fifth rotating part, and the distance between the rotation axis of the eighth rotating part and the rotation axis of the seventh rotating part include at least one second parameter to be determined, and the second parameter to be determined is determined based on a third condition and a fourth condition, the third condition including the gravity of the second link, the gravity of the third link, the gravity of the fourth link, the distance from the center of gravity of the second link to the first rotation axis, the distance from the second rotation axis between the second link and the third link to the first rotation axis, and the distance from the center of gravity of the fourth link to the fourth rotation axis between the fourth link and the first link, the fourth condition including the elastic coefficient of the second elastic element, the distance between the rotation axis of the seventh rotating part and the rotation axis of the fifth rotating part, and the distance between the rotation axis of the eighth rotating part and the rotation axis of the seventh rotating part except the second parameter to be determined.

[0021] Optionally, the configuration of the second elastic element and the second rotating mechanism satisfies the following formula:

[0022] k2×a2×b2≥G2×L2'+G3×L3'+G4×L4'

[0023] k2 represents the elastic coefficient of the second elastic element, a2 represents the distance from the rotation axis of the eighth rotating part to the first rotation axis, b2 represents the distance from the rotation axis of the seventh rotating part to the rotation axis of the sixth rotating part, G2 represents the gravity of the second link, G3 represents the gravity of the third link, G4 represents the gravity of the fourth link, L2' represents the distance from the center of gravity of the second link to the first rotation axis, L3' represents the distance from the second rotation axis between the second link and the third link to the first rotation axis, and L4' represents the distance from the center of gravity of the fourth link to the fourth rotation axis between the fourth link and the first link.

[0024] Optionally, the second elastic element includes a variable stiffness spring to achieve adjustable elastic coefficient, adjustable distance from the rotation axis of the eighth rotating part to the first rotation axis, and / or adjustable distance from the rotation axis of the seventh rotating part to the rotation axis of the fifth rotating part.

[0025] Optionally, the gravity compensation mechanism includes a third guide portion and a third mounting portion, the third guide portion is arranged on the second connecting rod, the third mounting portion is movably arranged on the third guide portion, and the eighth rotating portion is rotatably mounted on the third mounting portion; and / or the gravity compensation mechanism includes a fourth guide portion and a fourth mounting portion, the fourth guide portion is arranged on the base connecting rod, and the fifth rotating portion is fixedly mounted on the fourth mounting portion.

[0026] Optionally, the third guide portion and / or the fourth guide portion include a slide groove or a slide rail; the fifth rotating portion, the seventh rotating portion, and the eighth rotating portion include pulleys.

[0027] Optionally, the gravity compensation mechanism also includes a third driving mechanism, which is coupled to the third guide portion or the third mounting portion to drive the first mounting portion to move on the first guide portion and drive the eighth rotating portion to move relative to the second connecting rod; and / or the gravity compensation mechanism also includes a fourth driving mechanism, which is coupled to the fourth guide portion or the fourth mounting portion to drive the fourth mounting portion to move on the fourth guide portion and drive the fifth rotating portion to move relative to the base connecting rod.

[0028] Optionally, the gravity compensation mechanism further includes a first motor, which is coupled to the first connecting rod to actively compensate for the gravity torque on the degree of freedom of the parallelogram mechanism as a whole rotating around the first rotation axis; and / or the gravity compensation mechanism further includes a second motor, which is coupled to the second connecting rod to actively compensate for the gravity torque on the degree of freedom of relative rotation between adjacent connecting rods in the parallelogram mechanism.

[0029] Optionally, the first rotating part, the second rotating part, the third rotating part and the fourth rotating part have the same diameter; and / or the fifth rotating part, the seventh rotating part and the eighth rotating part have the same diameter.

[0030] Optionally, the rotation angle range between two adjacent connecting rods in the parallelogram mechanism is θ∈(0°, 180°).

[0031] Optionally, the parallelogram mechanism includes a load connected to a distal end of the parallelogram mechanism, and the gravity compensation mechanism is further configured to generate a compensation torque for balancing a gravity torque of the parallelogram mechanism including the load.

[0032] In order to solve the above technical problems, the present application also provides a main operating console, which has an operating unit for generating control commands including posture instructions, and the operating unit includes a robotic arm as described in any of the above embodiments.

[0033] To solve the above technical problems, the present application further provides a surgical robot, comprising a slave operating device and a master operating console as described in any of the above embodiments, wherein the slave operating device performs corresponding operations according to control commands sent by the master operating console.

[0034] In order to solve the above technical problems, the present application also provides a method for installing a robotic arm, including: providing a base connecting rod; providing a parallelogram mechanism having a first link, a second link, a third link and a fourth link that are rotatably connected in sequence, and rotatably connecting the parallelogram mechanism to the base connecting rod, and the axis of rotation of the parallelogram mechanism around the base connecting rod coincides with the first rotation axis between the first link and the second link; providing a rotation mechanism and an elastic mechanism, coupling the rotation mechanism to at least one of the first link and the second link, and the base connecting rod, and coupling the elastic mechanism to the base connecting rod and the rotation mechanism to generate a compensating torque in at least one degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism.

[0035] Optionally, the rotation mechanism includes a first rotation mechanism, the elastic mechanism includes a first elastic mechanism, and the installation method includes: coupling the first rotation mechanism to one of the first link and the second link, and the base link, and coupling the first elastic mechanism to the base link and the first rotation mechanism to generate a compensating torque in a degree of freedom associated with the parallelogram mechanism to balance the gravitational torque of the parallelogram mechanism and the load connected to it.

[0036] Optionally, the rotation mechanism includes a second rotation mechanism, the elastic mechanism includes a second elastic mechanism, and the installation method includes: coupling the second rotation mechanism to the other of the first link and the second link, and the base link, and coupling the second elastic mechanism to the base link and the second rotation mechanism to generate a compensating torque in another degree of freedom associated with the parallelogram mechanism to balance the gravitational torque of the parallelogram mechanism and the load connected to it.

[0037] The robotic arm, main operating table, and surgical robot of this application have the following beneficial effects:

[0038] By coupling the rotating mechanism in the gravity compensation mechanism to at least one of the first and second links in the parallelogram mechanism and the base link, and coupling the elastic mechanism to the base link and the rotating mechanism, a compensation torque that balances the gravity torque of the parallelogram mechanism can be generated in at least one degree of freedom corresponding to the parallelogram mechanism, thereby achieving better gravity balance in the degree of freedom compensated by gravity without increasing the inertia of the robotic arm, thereby providing an excellent operating experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic structural diagram of an embodiment of the robotic arm of the present application;

[0040] Figure 2 This is a structural diagram of another embodiment of the robotic arm of the present application;

[0041] Figure 3 This is a structural diagram of another embodiment of the robotic arm of the present application;

[0042] Figure 4 for Figure 3 A partial enlarged schematic diagram of the structure at position P in the robotic arm shown;

[0043] Figure 5 For example Figure 1 A schematic diagram of a motion state of the robotic arm shown;

[0044] Figure 6 For example Figure 1 Schematic diagram of another motion state of the robotic arm shown;

[0045] Figure 7 For example Figure 2 A schematic diagram of a motion state of the robotic arm shown;

[0046] Figure 8 For example Figure 2 Schematic diagram of another motion state of the robotic arm shown;

[0047] Figure 9 For example Figure 1 Schematic diagram of the principle of analyzing the gravity situation of the parallelogram mechanism in the robot arm shown;

[0048] Figure 10 This is a schematic diagram of the principle of gravity compensation mechanism of the present application for gravity compensation of the parallelogram mechanism;

[0049] Figure 11 for Figure 10 Schematic diagram of the force analysis principle of the structure shown;

[0050] Figure 12 This is a structural diagram of another embodiment of the robotic arm of the present application;

[0051] Figure 13 This is a structural diagram of another embodiment of the robotic arm of the present application;

[0052] Figure 14 This is a schematic diagram of the partial structure of another embodiment of the robotic arm of the present application;

[0053] Figure 15 This is a structural diagram of an embodiment of the main operating console of the present application;

[0054] Figure 16 For example Figure 15 Schematic diagram of the enlarged structure of the middle operating part. DETAILED DESCRIPTION

[0055] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0056] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be an intermediate element at the same time. The terms "distal end" and "proximal end" used herein are directional words, which are conventional terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. The term "plurality" used herein includes two or more.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] like Figure 1 As shown, the robotic arm 1 of the present application includes a base link 2, a parallelogram mechanism 3, and a gravity compensation mechanism 4. The parallelogram mechanism 3 is coupled to the base link 2, and the gravity compensation mechanism 4 is coupled between the base link 2 and the parallelogram mechanism 3. The gravity compensation mechanism 4 generates a compensation torque to balance the gravity torque of the parallelogram mechanism 3. In some embodiments, the parallelogram mechanism 3 may further include a load 5 connected to the distal end of the parallelogram mechanism 3. The load 5 includes any mechanism connected to the distal end of the parallelogram mechanism 3, such as one or more additional links.

[0059] In some embodiments, the parallelogram mechanism 3 is rotatably connected to the base link 2. The rotational connection between the parallelogram mechanism 3 and the base link 2 can provide one degree of freedom for the robotic arm 1. The parallelogram mechanism 3 includes a first link 31, a second link 32, a third link 33, and a fourth link 34, which are rotationally connected in sequence. The mutual movement between adjacent links in the parallelogram mechanism 3 can provide one degree of freedom for the robotic arm 1. Furthermore, based on the two degrees of freedom associated with the parallelogram mechanism 3, the robotic arm 1 has at least two degrees of freedom. The gravity compensation mechanism 4 includes a rotation mechanism and an elastic mechanism. The rotation mechanism is distributed between at least one of the first link 31 and the second link 32, and the base link 2. The elastic mechanism couples the base link 2 and the rotation mechanism to generate a compensation torque in at least one degree of freedom associated with the parallelogram mechanism 3 to balance the gravity torque of the parallelogram mechanism 3.

[0060] In the parallelogram mechanism 3, there is a first rotation axis 35 between the first link 31 and the second link 32, a second rotation axis 36 between the second link 32 and the third link 33, a third rotation axis 37 between the third link 33 and the fourth link 34, and a fourth rotation axis 38 between the fourth link 34 and the first link 31. Two adjacent links can rotate around the rotation axis between the two links.

[0061] The axis around which the parallelogram mechanism 3 as a whole rotates around the base connecting rod 2 is coincident with the first rotation axis 35 , that is, the parallelogram mechanism 3 as a whole can rotate around the first rotation axis 35 .

[0062] In some embodiments, the base connecting rod 2 can be fixedly arranged. For example, the base connecting rod 2 can be fixed to the base of a certain device; for another example, the base connecting rod 2 can be fixed to a wall, a ceiling, etc.

[0063] In some embodiments, the base link 2 can also be configured to be movable. For example, the base link 2 can be coupled to the distal end of one or more proximal links to provide movable properties. For example, the base link 2 can be configured to translate in the direction of gravity; for another example, the base link 2 can be configured to translate in a direction perpendicular to the direction of gravity; for another example, the base link 2 can be configured to rotate about its axis parallel to the direction of gravity.

[0064] In some embodiments, the gravity compensation mechanism 4 includes a first rotation mechanism 41 and a first elastic mechanism 42. The first rotation mechanism 41 includes multiple rotational parts, which are distributed between the base link 2 and the first link 31; alternatively, these rotational parts are distributed between the base link 2 and the second link 32. For ease of understanding, the first rotation mechanism 41 includes a first portion of rotational parts and a second portion of rotational parts. Exemplarily, the first portion of rotational parts is disposed on the base link 2, and the second portion of rotational parts is disposed on the first link 31; alternatively, the first portion of rotational parts is disposed on the base link 2, and the second portion of rotational parts is disposed on the second link 32. The first elastic mechanism 42 is coupled between the base link 2 and the first rotation mechanism 41 to generate a compensating torque in a corresponding degree of freedom of the parallelogram mechanism 3 to balance the gravity torque of the parallelogram mechanism 3, allowing the user to easily drag the robotic arm 1 in that degree of freedom.

[0065] In some embodiments, such as Figure 2 As shown, the gravity compensation mechanism 4 includes a second rotation mechanism 43 and a second elastic mechanism 44. The second rotation mechanism 43 includes a plurality of rotation parts, which are distributed on the base link 2 and the second link 32; or, these rotation parts are distributed on the base link 2 and the first link 31. For ease of understanding, the second rotation mechanism 43 includes a first portion of the rotation part and a second portion of the rotation part. Exemplarily, the first portion of the rotation part is provided on the base link 2, and the second portion of the rotation part is provided on the second link 32; or, the first portion of the rotation part is provided on the base link 2, and the second portion of the rotation part is provided on the first link 31. The second elastic mechanism 44 is coupled between the base link 2 and the second rotation mechanism 43 to generate a compensation torque in another degree of freedom corresponding to the parallelogram mechanism 3 to balance the gravity torque of the parallelogram mechanism 3, so that the user can easily drag the robotic arm 1 in this degree of freedom.

[0066] In some embodiments, such as Figure 3As shown, the gravity compensation mechanism 4 can include a first rotation mechanism 41, a first elastic mechanism 42, a second rotation mechanism 43, and a second elastic mechanism 44. For example, when the first rotating portion of the first rotation mechanism 41 is disposed on the base link 2 and the second rotating portion is disposed on the first link 31, typically, the first rotating portion of the second rotation mechanism 43 is disposed on the base link 2 and the second rotating portion is disposed on the second link 32. For another example, when the first rotating portion of the first rotation mechanism 41 is disposed on the base link 2 and the second rotating portion is disposed on the second link 32, typically, the first rotating portion of the second rotation mechanism 43 is disposed on the base link 2 and the second rotating portion is disposed on the first link 31. Consequently, the gravity compensation mechanism 4 can provide compensating torques for the corresponding gravity moments in the two corresponding degrees of freedom of the parallelogram mechanism 3, allowing the user to easily drag the robotic arm 1 in both degrees of freedom.

[0067] In the above embodiments, the rotating parts in the first rotating mechanism 41 and / or the second rotating mechanism 43 include pulleys and / or rotating shafts. For example, each rotating part can be configured as a pulley.

[0068] In some embodiments, see Figure 3 The degrees of freedom associated with the parallelogram mechanism 3 include a first degree of freedom and a second degree of freedom. For example, the first degree of freedom includes the degree of freedom of rotation of the parallelogram mechanism 3 as a whole about the first rotation axis 35, and the second degree of freedom includes the degree of freedom of rotation between two adjacent links in the parallelogram mechanism 3 (for example, the degree of freedom of rotation between the second link 32 and the first link 31). When the gravity compensation mechanism 4 includes the above-mentioned first rotation mechanism 41, first elastic mechanism 42, and second rotation mechanism 43 and second elastic mechanism 44, compensation torques can be provided in the first and second degrees of freedom for the corresponding gravity torques.

[0069] In some embodiments, see Figure 1 , and please combine Figure 4Referring to the first rotating mechanism 41, it includes a first rotating portion 411, a second rotating portion 412, a third rotating portion 413, and a fourth rotating portion 414. The first rotating portion 411 is fixedly connected to the base link 2, the second rotating portion 412 is coaxially arranged with the first rotating portion 411 and is rotatable relative to the first rotating portion 411, the third rotating portion 413 and the fourth rotating portion 414 are respectively rotatably connected to the first link 31, the rotation axis of the third rotating portion 413 coincides with the first rotation axis 35, and the rotation of the third rotating portion 413 is independent of the rotation of the parallelogram mechanism 3 as a whole about the first rotation axis 35. The rotation axes of the second rotating portion 412 and the fourth rotating portion 414 are respectively parallel to the first rotation axis 35. For example, the second rotating portion 412, the third rotating portion 413, and the fourth rotating portion 414 can be disposed on the same side wall of the base link 2 and the parallelogram mechanism 3 to facilitate the arrangement of the first elastic mechanism 42.

[0070] Furthermore, the first elastic mechanism 42 includes a first elastic element 421 and a first cable 422. In some embodiments, the first elastic element 421 and the first cable 422 can be arranged as follows: specifically, the first end of the first elastic element 421 is connected to the base connecting rod 2, the first end of the first cable 422 is fixedly connected to the first rotating portion 411, the second end of the first cable 422 is wrapped around the second rotating portion 412, guided by the third rotating portion 413, and then wrapped around the fourth rotating portion 414, and then connected to the second end of the first elastic element 421. In other embodiments, the first elastic element 421 and the first cable 422 can also be arranged as follows: specifically, the first end of the first elastic element 421 is connected to the base connecting rod 2, the first end of the first cable 422 is fixedly connected to the first rotating portion 411, the second end of the first cable 422 is wrapped around the fourth rotating portion 414, guided by the third rotating portion 413, and then wrapped around the second rotating portion 412, and then connected to the second end of the first elastic element 421. Alternatively, the first end of the first elastic element 421 is connected to the base link 2, the first end of the first cable 422 is fixedly connected to the first rotating part 411, the second end of the first cable 422 is wound around the fourth rotating part 414, guided by the third rotating part 413, and then wound around the second rotating part 412, and then connected to the second end of the first elastic element 421. The first cable 422 is guided by the third rotating part 413, which includes the first cable 422 and the third rotating part 413 being tangentially arranged so as not to affect the switching of the parallelogram mechanism 3 in the first degree of freedom. Figure 1 In the schematic diagram shown, when the parallelogram mechanism 3 is in neutral, that is, when the parallelogram mechanism 3 as a whole does not rotate leftward or rightward relative to the base link 2, the first cable 422 is tangent to the left and right sides of the third rotating portion 413. Figure 5In the schematic diagram shown, the parallelogram mechanism 3 as a whole rotates to the left relative to the base link 2, and the first cable 422 is tangent to the right side of the third rotating part 413. Figure 6 In the schematic diagram shown, the parallelogram mechanism 3 as a whole rotates to the right relative to the base link 2, and the first cable 422 is tangent to the left side of the third rotating portion 413. This structural design can provide a certain degree of compensatory torque for the corresponding gravity torque in the first degree of freedom through the first elastic element 421.

[0071] In some embodiments, the elastic coefficient of the first elastic element 421, the distance between the rotation axis of the third rotating portion 413 and the rotation axis of the second rotating portion 412 (i.e., the distance between the rotation axis of the third rotating portion 413 and the first rotation axis 35), and the distance between the rotation axis of the fourth rotating portion 414 and the first rotation axis 35 include at least one first parameter to be determined, and the first parameter to be determined is determined based on a first condition and a second condition. The first condition includes the gravity of the first link 31, the gravity of the third link 33, the gravity of the fourth link 34, and the gravity of the first link 3 1 to the first rotation axis 35, the distance from the center of gravity of the third link 33 to the second rotation axis 36 between the second link 32 and the third link 33, and the distance from the fourth rotation axis 38 between the fourth link 34 and the first link 31 to the first rotation axis 35, and the second condition includes parameters other than the first parameter to be determined, including the elastic coefficient of the first elastic element 421, the distance between the rotation axis of the third rotating part 413 and the rotation axis of the second rotating part 412, and the distance between the rotation axis of the fourth rotating part 414 and the first rotation axis 35.

[0072] In some embodiments, see Figure 2 , and please combine Figure 4The second rotating mechanism 43 includes a fifth rotating part 431 , a sixth rotating part, a seventh rotating part 433 and an eighth rotating part 434 . For example, the fifth rotating part 431 includes a fifth pulley, the sixth rotating part includes a sixth pulley, the seventh rotating part 433 includes a seventh pulley and the eighth rotating part 434 includes an eighth pulley. The fifth rotating portion 431 is fixedly connected to the base link 2. The sixth rotating portion is coaxially disposed with the fifth rotating portion 431 and is rotatable relative to the fifth rotating portion 431. The seventh rotating portion 433 and the eighth rotating portion 434 are respectively rotatably connected to the second link 32. The rotation axis of the seventh rotating portion 433 coincides with the first rotation axis 35, and the rotation of the seventh rotating portion 433 is independent of the rotation of the parallelogram mechanism 3 as a whole about the first rotation axis 35. The rotation axes of the sixth rotating portion and the eighth rotating portion 434 are respectively parallel to the first rotation axis 35. The sixth rotating portion, the seventh rotating portion 433, and the eighth rotating portion 434 can also be disposed on the same side wall of the base link 2 and the parallelogram mechanism 3. When the gravity compensation mechanism 4 includes the first rotating mechanism 41 and the second rotating mechanism 43, the rotating portions of the first rotating mechanism 41 and the second rotating mechanism 43 can generally be disposed on different side walls of the parallelogram mechanism 3 to prevent interference between the elastic elements and the cables when they are arranged, thereby causing inaccurate compensation torque.

[0073] Furthermore, the second elastic mechanism 44 includes a second elastic element 441 and a second cable 442. In some embodiments, the second elastic element 441 and the second cable 442 can be arranged in such a manner that, specifically, the first end of the second elastic element 441 is connected to the base connecting rod 2, the first end of the second cable 442 is fixedly connected to the fifth rotating portion 431, the second end of the first cable 422 is wrapped around the sixth rotating portion, guided by the seventh rotating portion 433, and then wrapped around the eighth rotating portion 434, and then connected to the second end of the second elastic element 441. In other embodiments, the second elastic element 441 and the second cable 442 can also be arranged in such a manner that, specifically, the first end of the second elastic element 441 is connected to the base connecting rod 2, the first end of the second cable 442 is fixedly connected to the fifth rotating portion 431, the second end of the first cable 422 is wrapped around the eighth rotating portion 434, guided by the seventh rotating portion 433, and then wrapped around the sixth rotating portion, and then connected to the second end of the second elastic element 441. Alternatively, the first end of the second elastic element 441 is connected to the base link 2, the first end of the second cable 442 is fixedly connected to the fifth rotating part 431, and the second end of the first cable 422 is wound around the eighth rotating part 434, guided by the seventh rotating part 433, and then wound around the sixth rotating part before being connected to the second end of the second elastic element 441. The second cable 442 being guided by the seventh rotating part 433 includes the second cable 442 being tangentially arranged with the seventh rotating part 433, and the second cable 442 being wound around the seventh rotating part 433. Figure 2 、 Figure 7 and Figure 8 In the schematic diagram shown, regardless of whether the second link 32 in the parallelogram mechanism 3 remains neutral or rotates upward or downward relative to the first link 31, the second cable 442 is tangent to the right side of the seventh rotating portion 433. This structural design allows the second elastic element 441 to provide a certain degree of compensatory torque for the corresponding gravitational torque in the second degree of freedom.

[0074] In some embodiments, the sixth rotating portion mentioned in this application, which is coaxially arranged with the fifth rotating portion and rotatable relative to the fifth rotating portion, can be omitted. That is, it is also feasible to retain the fifth rotating portion 431 as the rotating portion coupled to the base connecting rod 2. When only the fifth rotating portion 431 is retained, the second elastic element 441 and the second cable 442 can be arranged as follows: specifically, the first end of the second elastic element 441 is connected to the base connecting rod 2, the first end of the second cable 442 is fixedly connected to the fifth rotating portion 431, and the second end of the first cable 422 is wrapped around the eighth rotating portion 434, guided by the seventh rotating portion 433, and then connected to the second end of the second elastic element 441. Alternatively, the first end of the second elastic element 441 is connected to the base connecting rod 2, the first end of the second cable 442 is fixedly connected to the fifth rotating portion 431, and the second end of the first cable 422 is wrapped around the eighth rotating portion 434, guided by the seventh rotating portion 433, and then connected to the second end of the second elastic element 441.

[0075] The first cable 422 and the second cable 442 described herein include rigid cables, including cables that are inextensible along an axial direction of the rigid cables.

[0076] In some embodiments, the elastic coefficient of the second elastic element 441, the distance between the rotation axis of the seventh rotating part 433 and the rotation axis of the fifth rotating part 431 (that is, the distance between the rotation axis of the seventh rotating part 433 and the first rotation axis 35), and the distance between the rotation axis of the eighth rotating part 434 and the rotation axis of the seventh rotating part 433 include at least one second parameter to be determined, and the second parameter to be determined is determined based on the third condition and the fourth condition. The third condition includes the gravity of the second link 32, the gravity of the third link 33, the gravity of the fourth link 34, and the gravity of the second link. The fourth condition is determined by the distance from the center of gravity of the seventh rotating part 433 to the first rotation axis 35, the distance from the second rotation axis 36 between the second link 32 and the third link 33 to the first rotation axis 35, and the distance from the center of gravity of the fourth link 34 to the fourth rotation axis 38 between the fourth link 34 and the first link 31, and the fourth condition includes the elastic coefficient of the second elastic element 441, the distance between the rotation axis of the seventh rotating part 433 and the rotation axis of the fifth rotating part 431, and the distance between the rotation axis of the eighth rotating part 434 and the rotation axis of the seventh rotating part 433 except the second parameter to be determined.

[0077] When the third rotating portion 413 and the seventh rotating portion 433 are respectively provided to the parallelogram mechanism 3 with different degrees of freedom for gravity compensation, the rotation of the third rotating portion 413 and the rotation of the seventh rotating portion 433 are also independent of each other.

[0078] The "coincidence" described herein includes complete coincidence and substantial coincidence between axes, and substantial coincidence includes allowing appropriate offset between axes. The "parallelism" described herein includes complete parallelism and substantial parallelism between axes, and substantial parallelism includes allowing appropriate offset between axes.

[0079] The principle of gravity compensation performed by the gravity compensation mechanism 4 will now be described in detail.

[0080] like Figure 9 As shown, in the simplified parallelogram mechanism 3, the four vertices of the parallelogram mechanism 3 (i.e., the hinge points of the rods) are A0, B, C, and D, and the vertex A0 is the vertex at which the parallelogram mechanism 3 rotates as a whole relative to the base link 2; the rod between A0B is the first link 31, the rod between A0D is the second link 32, the rod between CD is the third link 33, and the rod between BC is the fourth link 34; the center of gravity (position) of the first link 31 is M1, the center of gravity (position) of the second link 32 is M2, the center of gravity (position) of the third link 33 is M3, and the center of gravity (position) of the fourth link 34 is M4; and, the gravity of the first link 31 is G1, the gravity of the second link 32 is G2, the gravity of the third link 33 is G3, and the gravity of the fourth link 34 is G4. θ2 includes the angle of rotation of the parallelogram mechanism 3 as a whole around the base link 2, that is, θ2 is associated with the first degree of freedom; θ3 includes the angle of rotation between two adjacent links in the parallelogram mechanism 3, that is, θ3 is associated with the second degree of freedom. Since the first degree of freedom and the second degree of freedom are relatively independent, in the figure, when the second degree of freedom is adjusted alone, the position of the first link 31 remains unchanged, while the positions of the second link 32, the third link 33, and the fourth link 34 change accordingly. Furthermore, the entire parallelogram mechanism 3 is taken as the analysis object, and the matrix equilibrium equation is calculated for the force condition of vertex A0. The matrix equilibrium equation is as follows (1):

[0081] ∑M A0 =G1*M1Α0*sinθ2+G2*M2Α0*sinθ3+

[0082] G3*(DM3*sinθ2+DΑ0*sinθ3)+G4*(BΑ0*sinθ2+BM4*sinθ3)

[0083] Simplifying the above formula (1) we can get the following formula (2):

[0084] ∑M A0 =(G1*M1Α0+G3*DM3+G4*BΑ0)*sinθ2+

[0085] (G2*M2Α0+G3*DΑ0+G4*BM4)*sinθ3

[0086] Here, let the distance between the center of gravity M1 and the vertex A0 be M1A0 = L1, let the distance between the vertex D and the center of gravity M3 be DM3 = L3, let the distance between the vertex B and the vertex A0 be BA0 = L4, let the distance between the center of gravity M2 and the vertex A0 be M2A0 = L2', let the distance between the vertex D and the vertex A0 be DA0 = L3', and let the distance between the vertex B and the vertex M4 be BM4 = L4'. Furthermore, the above formula (2) can be simplified to formula (3):

[0087] ∑M A0 =(G1*L1+G3*L3+G4*L4)*sinθ2+(G2*L2'+G3*L3'+G4*L4')*sinθ3

[0088] Among them, since (G1*L1+G3*L3+G4*L4) and (G2*L2'+G3*L3'+G4*L4') are all known quantities, the gravitational moment of the parallelogram mechanism 3 on the vertex A0 is a sine function of the variables θ2 and θ3.

[0089] Based on the above formula (3), the inventors of the present application noted that the variable θ2 is associated with the change in the gravity moment of the parallelogram mechanism 3 in the first degree of freedom (i.e., the degree of freedom of rotation of the parallelogram mechanism 3 as a whole relative to the base link 2), and the variable θ3 is associated with the change in the gravity moment of the parallelogram mechanism 3 in the second degree of freedom (i.e., the degree of freedom of relative rotation between the internal links in the parallelogram mechanism 3). Therefore, the present application can attempt to compensate for the gravity of the first degree of freedom and / or the second degree of freedom by rationally arranging one or more rotating parts, thereby achieving more convenient operation of the robot arm 1 in the compensated degree of freedom.

[0090] Please combine Figure 10 and Figure 11For reference, three rotating parts are located at points O, O1, and O2, respectively. Points O and O1 are fixed, while the rod between them can rotate about point O by a variable value θ, thereby changing the position of point O2. Assume that the first end of the elastic mechanism is fixed, the first end of the cable is fixed to the rotating part at point O1, and the second end of the cable is wound around the rotating part at point O2, then guided through the rotating part at point O, and finally connected to the second end of the elastic mechanism. The first end of the elastic mechanism is relatively fixed. Among them, it is assumed that point O3 is the center of gravity (position) of the rod (i.e., between point O and point O2), let the distance between point O and point O1 be b, let the distance between point O and point O2 be a, let the distance between point O and point O3 be l, since the length of the cable between point O1 and point O2 is a variable and the same as the change of the elastic mechanism, let the current length of the cable between point O1 and point O2 be x, the initial length be x0, and let the mass of the rod be m; at the same time, the distance from point O to the cable between point O1 and point O2 can be q, and the distance from point O1 to the rod can be z.

[0091] It is worth noting that in Figure 10 and / or Figure 11 In the figure, the rod between point O and point O2 can represent any other mechanism. For example, the rod can represent the parallelogram mechanism 3 described in the present application. In addition, the variable θ can represent the variable angle corresponding to any degree of freedom. For example, the variable θ can represent the first degree of freedom (i.e., the degree of freedom associated with variable θ2) and / or the second degree of freedom (i.e., the degree of freedom associated with variable θ3) corresponding to the parallelogram mechanism 3 described in the present application.

[0092] Furthermore, assuming that there is an elastic element with a stiffness of k that can make the rod between point O and point O2 balanced at any position, the rod is taken as the research object, and the matrix equilibrium equation for point O is obtained as shown in formula (4):

[0093] ∑M o =mglsinθ-k(x-x0)q=0

[0094] Assuming x0=0, substituting x0=0 into formula (4), we can obtain the following formula (5):

[0095] mglsinθ=kxq

[0096] According to the triangle area equality formula (6):

[0097] qx=az

[0098] And from the sine function, we can know formula (7):

[0099] z=bsinθ

[0100] Substituting formula (6) and formula (7) into formula (5), we can obtain formula (8):

[0101] mglsinθ=kabsinθ

[0102] Based on the above formula (8), it can be seen that the compensation for the gravity moment is independent of the variable θ, and it can be clearly seen that the present application can compensate for the gravity of the above-mentioned first degree of freedom and / or second degree of freedom by reasonably arranging one or more rotating parts.

[0103] In some embodiments, when performing gravity compensation on the first degree of freedom (i.e., the degree of freedom associated with the variable θ2) in the parallelogram mechanism 3 in the present application, the first rotation mechanism 41 and / or the first elastic mechanism 42 can be configured according to formula (9) obtained by combining formula (3) and formula (8):

[0104] (G2*L1+G3*L3+G4*L4)*sinθ2=k1*a1*b1*sinθ2

[0105] Here, k1 represents the elastic coefficient of the first elastic element 421, a1 represents the distance between the rotation axis of the fourth rotating portion 414 and the rotation axis of the third rotating portion 413, and b1 represents the distance between the rotation axis of the third rotating portion 413 and the rotation axis of the second rotating portion 412. With this configuration, gravity balance can be achieved at any position (i.e., angle) in the first degree of freedom.

[0106] For example, assuming that k1 and a1 are known and b1 is to be determined, a1 and b1 can be determined according to the above formula (9).

[0107] For example, assuming k1 is known and a1 and b1 are to be determined, a1 and b1 can be determined according to the above formula (9). For example, a1 and b1 can be determined according to the above formula (9) in combination with, for example, the least squares method or the ergodic method.

[0108] For example, assuming that k1, a1, and b1 are yet to be determined, k1, a1, and b1 can be determined according to the above formula (9). For example, a1 and b1 or k1 can be made to satisfy a specific relationship such as a1=b1, and then k1, a1, and b1 can be determined according to the above formula (9) in combination with, for example, the least squares method or the ergodic method. In some embodiments, when gravity compensation is performed on the parallelogram mechanism 3 associated with the second degree of freedom (i.e., the degree of freedom associated with the variable θ3), the second rotation mechanism 43 and / or the second elastic mechanism 44 can be configured according to the formula (10) obtained by combining the formula (3) and the formula (8):

[0109] (G2*L2'+G3*L3'+G4*L4')*sinθ3=k2*a2*b2*sinθ3

[0110] Here, k2 represents the elastic coefficient of the second elastic element 441, a2 represents the distance between the rotation axis of the eighth rotational portion 434 and the first rotational axis 35, and b2 represents the distance between the rotation axis of the seventh rotational portion 433 and the rotation axis of the fifth rotational portion 431. With this configuration, gravity balance can be achieved at any position (i.e., angle) in the second degree of freedom.

[0111] For example, assuming that k2 and a2 are known and b2 is to be determined, a2 and b2 can be determined according to the above formula (9).

[0112] For example, assuming k2 is known and a2 and b2 are to be determined, a2 and b2 can be determined according to the above formula (9). For example, a2 and b2 can be determined according to the above formula (9) in combination with, for example, the least squares method or the ergodic method.

[0113] Exemplarily, assuming that k2, a2, and b2 are to be determined, k2, a2, and b2 can be determined according to the above formula (9). For example, a2 and b2 or k2 can be made to satisfy a specific relationship such as a2=b2, and then k2, a2, and b2 can be determined according to the above formula (9) in combination with, for example, the least squares method or the ergodic method. In some embodiments, when gravity compensation is performed on the parallelogram mechanism 3 associated with the first degree of freedom (i.e., the degree of freedom associated with the variable θ2) and the second degree of freedom (i.e., the degree of freedom associated with the variable θ3), the first rotation mechanism 41, the first elastic mechanism 42, the second rotation mechanism 43, and / or the second elastic mechanism 44 can be configured according to the formula (11) obtained by combining the formula (3) and the formula (8):

[0114] (G1*L1+G3*L3+G4*L4)*sinθ2+(G2*L2'+G3*L3'+G4*L4')*sinθ3

[0115] =k1*a1*b1*sinθ2+k2*a2*b2*sinθ3

[0116] With this configuration, gravity balance can be achieved at any position (i.e., angle) in both the first and second degrees of freedom, effectively preventing the robotic arm 1 that uses active gravity compensation from falling in the first and second degrees of freedom after a power outage.

[0117] In some embodiments, the present application can also enable the gravity compensation mechanism 4 to generate a gravity moment slightly smaller than that of the parallelogram mechanism 3 in the first degree of freedom, so as to ensure that the first connecting rod 31 is always parallel to the direction of gravity in the absence of external force. For example, the first rotation mechanism 41 and / or the first elastic mechanism 42 can be configured according to the following formula (12):

[0118] (G2*L1+G3*L3+G4*L4)*sinθ2>k1*a1*b1*sinθ2

[0119] In some embodiments, the present application can also enable the gravity compensation mechanism 4 to generate a gravity moment slightly greater than that of the parallelogram mechanism 3 in the second degree of freedom described above, so that in the absence of external force, the second connecting rod 32 can be tightened upward, and the entire parallelogram mechanism can be in a collapsed state. For example, the second rotation mechanism 43 and / or the second elastic mechanism 44 can be configured according to the following formula (13):

[0120] (G2*L2'+G3*L3'+G4*L4')*sinθ3<k2*a2*b2*sinθ3

[0121] In some embodiments, the gravity compensation mechanism 4 may further include a first motor coupled to the first connecting rod 31. The first motor may be disposed within the first connecting rod 31, for example. The first motor may be controlled by a controller to drive the parallelogram mechanism 3 as a whole to rotate about the first rotation axis 35. Simultaneously, the first motor may be controlled by the controller to generate a compensating torque to compensate for the gravity torque on the degree of freedom of the parallelogram mechanism 3 as a whole to rotate about the first rotation axis 35. In the degree of freedom of the parallelogram mechanism 3 as a whole to rotate about the first rotation axis 35, the first motor may be used alone to actively compensate for the gravity torque on this degree of freedom; the first motor may also be used in conjunction with the first elastic mechanism 42 and the first rotation mechanism 41 to simultaneously perform active and passive compensation.

[0122] In some embodiments, the gravity compensation mechanism 4 may further include a second motor coupled to the second connecting rod 32. The second motor may be disposed within the second connecting rod 32, for example. The second motor may be controlled by a controller to drive relative rotation between adjacent connecting rods in the parallelogram mechanism 3. Simultaneously, the second motor may be controlled by the controller to generate a compensating torque to compensate for the gravity torque on the degree of freedom of relative rotation between adjacent connecting rods in the parallelogram mechanism 3. In the degree of freedom of relative rotation between adjacent connecting rods in the parallelogram mechanism 3, the second motor may be used alone to actively compensate for the gravity torque on this degree of freedom; the second motor may also be used in conjunction with the second elastic mechanism 44 and the second rotation mechanism 43 to simultaneously perform active and passive compensation.

[0123] In some embodiments, the first elastic mechanism 42 and / or the first rotation mechanism 41 configured according to, for example, the above formula (10) can generally be permanently configured and used. However, in other embodiments, the first elastic mechanism 42 and / or the first rotation mechanism 41 configured according to, for example, the above formula (10) can also be configured in a more flexible manner to facilitate adjustment, especially the configuration associated with the first rotation mechanism 41 can be more flexibly configured to be suitable for different scenarios. For example, taking the first rotation mechanism 41 as an example, it can be configured so that the distance a1 between the rotation axis of the fourth rotating part 414 and the rotation axis of the third rotating part 413 can be easily adjusted, and / or it can be configured so that the distance b1 between the rotation axis of the third rotating part 413 and the rotation axis of the second rotating part 412 can be easily adjusted.

[0124] For example, the fourth rotating portion 414 can be configured to be positionally adjustable on the first connecting rod 31 to achieve adjustable distance a1. Figure 12 As shown, the gravity compensation mechanism 4 further includes a first guide portion 461 and a first mounting portion. The first guide portion 461 is disposed on the first connecting rod 31. The first mounting portion is movably disposed on the first guide portion 461. The fourth rotating portion 414 is rotatably mounted on the first mounting portion. Therefore, the fourth rotating portion 414 can adjust the distance a1 by moving the first mounting portion on the first guide portion 461. This movement can be achieved manually or automatically.

[0125] Furthermore, taking the movement of the fourth rotating part 414 as an example that can be achieved automatically, the gravity compensation mechanism 4 can also include a first driving mechanism, which is coupled to the first guide part 461 or the first mounting part to drive the first mounting part to move on the first guide part 461 and drive the fourth rotating part 414 to move relative to the first connecting rod 31.

[0126] For example, continue to see Figure 12 The coaxially arranged first rotating portion 411 and second rotating portion 412 can be configured to be positionally adjustable on the base link 2 to achieve adjustable distance b1. Exemplarily, the gravity compensation mechanism 4 further includes a second guide portion 463 and a second mounting portion. The second guide portion 463 is disposed on the base link 2, and the second mounting portion is movably disposed on the second guide portion 463. The first rotating portion 411 is fixedly (i.e., non-rotatably) mounted on the second mounting portion, and the second rotating portion 412 is rotatably mounted on the second mounting portion. Therefore, the first rotating portion 411 and the second rotating portion 412 can adjust the distance b1 through the synchronous movement of the second mounting portion on the first guide portion 461. This movement can be achieved manually or automatically.

[0127] Furthermore, taking the movement of the first rotating part 411 and the second rotating part 412 as an example that can be achieved automatically, the gravity compensation mechanism 4 can also include a second driving mechanism, which is coupled to the second guide part 463 or the second mounting part to drive the second mounting part to move in the second guide part 463 to drive the first rotating part 411 and the second rotating part 412 to move relative to the base connecting rod 2.

[0128] In the above embodiments, for example, in an embodiment in which the position of the corresponding rotating part is adjusted manually, the first guide portion 461 and / or the second guide portion 463 includes a slide rail and / or a slide groove. For example, the slide groove or the slide rail can be arranged along the length direction of the corresponding first connecting rod 31 and / or the base connecting rod 2.

[0129] When considering the weight and center of gravity of the first connecting rod 31, the influence of the first guide portion 461 on the first connecting rod 31 can be considered. In particular, when the first guide portion 461 has a greater influence on the weight and center of gravity of the first connecting rod 31, since the first guide portion 461 and the first connecting rod 31 are relatively fixed, and only the fourth rotating portion 414, whose weight is almost negligible relative to each connecting rod, is adjusted, it will not have an adverse effect on the desired passive gravity compensation.

[0130] Of course, the elastic coefficient k1 of the first elastic mechanism 42 can also be configured to be adjustable, either alone or in combination. For example, the first elastic mechanism 42 can include a variable-rigidity spring to facilitate adjustment of the elastic coefficient k1. Of course, the first elastic mechanism 42 can typically be a conventional tension spring or compression spring, and the adjustment is primarily performed by adjusting the distance a1 and / or the distance b1.

[0131] In some embodiments, the second elastic mechanism 44 and / or the second rotation mechanism 43 configured according to, for example, the above formula (11) can generally be permanently configured and used. However, in other embodiments, the second elastic mechanism 44 and / or the second rotation mechanism 43 configured according to, for example, the above formula (11) can also be configured in a more flexible manner to facilitate adjustment, especially the configuration associated with the second rotation mechanism 43 can be more flexibly configured to be suitable for different scenarios. For example, taking the second rotation mechanism 43 as an example, it can be configured so that the distance a2 between the rotation axis of the eighth rotation part 434 and the rotation axis of the seventh rotation part 433 can be easily adjusted, and / or it can be configured so that the distance b2 between the rotation axis of the seventh rotation part 433 and the rotation axis of the fifth rotation part 431 can be easily adjusted.

[0132] For example, the eighth rotating portion 434 can be configured to be positionally adjustable on the second connecting rod 32 to achieve adjustable distance a2. Figure 13As shown, the gravity compensation mechanism 4 further includes a third guide portion 465 and a third mounting portion. The third guide portion 465 is disposed on the second connecting rod 32. The third mounting portion is movably disposed on the third guide portion 465. The eighth rotating portion 434 is rotatably mounted on the third mounting portion. Therefore, the eighth rotating portion 434 can adjust the distance a2 by moving the third mounting portion on the third guide portion 465. This movement can be achieved manually or automatically.

[0133] Furthermore, taking the movement of the eighth rotating part 434 as an example that can be achieved automatically, the gravity compensation mechanism 4 can also include a third driving mechanism, which is coupled to the third guide part 465 or the third mounting part to drive the third mounting part to move on the third guide part 465 and drive the eighth rotating part 434 to move relative to the second connecting rod 32.

[0134] For another example, the fifth rotating portion 431 can be configured to be positionally adjustable on the base link 2 to achieve adjustable distance b2. Figure 13 The gravity compensation mechanism 4 further includes a fourth guide portion 467 and a fourth mounting portion. The fourth guide portion 467 is disposed on the base link 2, and the fourth mounting portion is movably disposed on the fourth guide portion 467. The fifth rotating portion 431 is fixedly (i.e., non-rotatably) mounted on the fourth mounting portion. When a sixth rotating portion is included that is coaxially disposed with the fifth rotating portion as described above, the sixth rotating portion is rotatably mounted on the fourth mounting portion. Therefore, the fifth rotating portion 431 (and the sixth rotating portion) can adjust the distance b2 through the synchronous movement of the fourth mounting portion on the fourth guide portion 467. This movement can be achieved manually or automatically.

[0135] Furthermore, taking the example of the fifth rotating portion 431 being able to move automatically, the gravity compensation mechanism 4 may further include a fourth driving mechanism coupled to the fourth guide portion 467 or the fourth mounting portion to drive the fourth mounting portion to move along the fourth guide portion 467, thereby driving the fifth rotating portion 431 to move relative to the base link 2. Of course, when a sixth rotating portion is provided on the fourth mounting portion, the sixth rotating portion will similarly follow the movement of the fourth mounting portion.

[0136] In the above-mentioned embodiment, for example, in an embodiment in which the position of the corresponding rotating portion is adjusted manually, the third guide portion 465 and / or the fourth guide portion 467 include a slide rail and / or a slide groove. For example, the slide groove or slide rail can be provided along the length direction of the corresponding second connecting rod 32 and / or the base connecting rod 2. When considering the weight and center of gravity of the second connecting rod 32, the effect of the third guide portion 465 on the second connecting rod 32 can be taken into account. In particular, when the third guide portion 465 has an effect on the weight and center of gravity of the second connecting rod 32, since the third guide portion 465 and the second connecting rod 32 are relatively fixed, adjusting only the fourth rotating portion 414, whose weight is almost negligible relative to the weight of each connecting rod, will not have an adverse effect on the desired passive gravity compensation.

[0137] Of course, the elastic coefficient k2 of the second elastic mechanism 44 can also be configured to be adjustable, either alone or in combination. For example, the second elastic mechanism 44 can include a variable stiffness spring to facilitate adjustment of the elastic coefficient k2. Of course, the second elastic mechanism 44 can generally be a conventional tension spring or compression spring, and the adjustment is primarily performed by adjusting the distance a2 and / or the distance b2.

[0138] The corresponding configuration of the first driving mechanism and / or the second driving mechanism can be effectively used when the load 5 connected to the remote end of the parallelogram mechanism 3 changes to a certain extent, so as to better compensate for the gravity of the parallelogram mechanism 3.

[0139] In the above embodiments, for example, in the embodiment in which the position adjustment of the corresponding rotating part is achieved in an automatic manner, each driving mechanism may be implemented by, for example, a linear motor, a ball screw pair, a gear rack, etc.

[0140] For example, when the first drive mechanism, the second drive mechanism, the third drive mechanism and / or the fourth drive mechanism include a linear motor, the stator of the linear motor serves as a guide part, the mover of the linear motor serves as a mounting part, and the linear motor serves as a guide part, a mounting part and a drive mechanism at the same time.

[0141] For another example, when the first drive mechanism, the second drive mechanism, the third drive mechanism and / or the fourth drive mechanism include a ball screw pair, the screw of the ball screw pair serves as a guide portion, and the slider of the ball screw pair serves as a mounting portion. Of course, the ball screw pair also includes a motor, which is coupled to the screw to drive the slider to move on the screw by rotating the screw. The ball screw pair simultaneously serves as a guide portion, a mounting portion and a drive mechanism.

[0142] For another example, when the first drive mechanism, the second drive mechanism, the third drive mechanism and / or the fourth drive mechanism include a gear rack, a slide groove can be provided on the corresponding connecting rod as a guide portion, and a rack parallel to the slide groove or the slide rail can be provided on the corresponding connecting rod. The gear can be movably provided in the slide groove and meshed with the rack. The rotating part can be rotatably provided on the gear and the rotation of the rotating part is independent of the rotation of the gear. The gear can be moved in the slide groove by driving the motor to rotate. In this embodiment, the gear rack serves as both a mounting portion and a driving mechanism. Taking the connecting rod as the second connecting rod 32 as an example, as shown in FIG. Figure 14 As shown, the slide groove serving as the guide portion 463 is arranged on the second connecting rod 32. In the gear rack of the second driving mechanism, the rack 471 is arranged on the second connecting rod 32 parallel to the slide groove 463. The gear 472 equipped with the fourth rotating portion 414 is movably arranged in the slide groove 463 and meshes with the rack 471.

[0143] In the above embodiment, each driving mechanism (the first driving mechanism, the second driving mechanism, the third driving mechanism and / or the fourth driving mechanism) can be driven by one or more controllers to adjust the corresponding distances (a1, b1, a2 and / or b2), which can correct problems caused by assembly errors, and can also correct problems caused by changes in the condition of the load 5. For example, corrections can be made when the structure of the load 5 undergoes static changes, and for example, real-time corrections can be made when the state of the load 5 undergoes dynamic changes, thereby achieving a better gravity balance effect.

[0144] In some embodiments, the diameters of the plurality of rotating parts in the first rotating mechanism 41 are the same. For example, the diameters of the first rotating part 411 , the second rotating part 412 , the third rotating part 413 , and the fourth rotating part 414 are the same.

[0145] In some embodiments, the diameters of the multiple rotating parts in the second rotating mechanism 43 are the same. For example, the diameters of the fifth rotating part 431, the seventh rotating part 433, and the eighth rotating part 434 are the same. Of course, when the second rotating mechanism 43 includes a sixth rotating part, the diameter of the sixth rotating part should be the same as the diameters of the other rotating parts.

[0146] In some embodiments, the rotation angle range θ∈(0°, 180°) between two adjacent links in the parallelogram mechanism 3, that is, the rotation angle between two adjacent links (such as the first link 31 and the second link 32) cannot reach 0° or 180°, so as to avoid reaching a singularity point (the singularity point includes the two singularity points of 0° and 180°) and resulting in the inability to achieve gravity compensation in the second degree of freedom.

[0147] The present application also provides a method for installing a robotic arm, comprising:

[0148] Provide steps for base link.

[0149] A parallelogram mechanism is provided, comprising a first link, a second link, a third link, and a fourth link connected in sequence, and a step of rotatably connecting the parallelogram mechanism to the base link. In this step, the axis of rotation of the parallelogram mechanism about the base link can generally be arranged to coincide with the first rotation axis between the first link and the second link.

[0150] The steps of providing a rotation mechanism and an elastic mechanism, coupling the rotation mechanism to at least one of the first link and the second link and the base link, and coupling the elastic mechanism to the base link and the rotation mechanism.

[0151] According to the above steps, a compensation torque for balancing the gravity torque of the parallelogram mechanism can be generated at one degree of freedom corresponding to the parallelogram mechanism.

[0152] In some embodiments, the rotating mechanism includes a first rotating mechanism, and the elastic mechanism includes a first elastic mechanism. The steps of distributing the rotating mechanism on at least one of the first connecting rod and the second connecting rod, and the base connecting rod, and coupling the elastic mechanism to the base connecting rod and the rotating mechanism include:

[0153] The first rotating mechanism is coupled to one of the first link and the second link, and the base link, and the first elastic mechanism is coupled to the base link and the first rotating mechanism to generate a compensating torque in one degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism.

[0154] In some embodiments, the rotating mechanism includes a second rotating mechanism, and the elastic mechanism includes a second elastic mechanism. The steps of distributing the rotating mechanism on at least one of the first connecting rod and the second connecting rod, and the base connecting rod, and coupling the elastic mechanism to the base connecting rod and the rotating mechanism include:

[0155] The second rotating mechanism is coupled to the other of the first link and the second link, and the base link, and the second elastic mechanism is coupled to the base link and the second rotating mechanism to generate a compensating torque in another degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism.

[0156] In some embodiments, the parallelogram mechanism includes a first degree of freedom, wherein the first degree of freedom includes a degree of freedom of the parallelogram mechanism as a whole to rotate about a first rotation axis. The step of coupling the first rotation mechanism to one of the first link and the second link, and the base link, includes:

[0157] The step of distributing the first rotating mechanism on the base connecting rod and the first connecting rod can further enable the first elastic mechanism to generate a compensating torque in the first degree of freedom to balance the gravity torque of the parallelogram mechanism.

[0158] In some embodiments, the first rotating mechanism includes a first rotating portion, a second rotating portion, a third rotating portion, and a fourth rotating portion, and the first elastic mechanism includes a first elastic element and a first cable. The steps of coupling the first rotating mechanism to one of the first connecting rod and the second connecting rod and the base connecting rod, and coupling the first elastic mechanism to the base connecting rod and the first rotating mechanism include:

[0159] The steps include fixing the first rotating part to the base connecting rod, arranging the second rotating part coaxially with the first rotating part and making the second rotating part rotatable relative to the first rotating part, and respectively rotatably connecting the third rotating part and the fourth rotating part to the first connecting rod.

[0160] The rotation axis of the third rotating part coincides with the first rotation axis, and the rotation axes of the second rotating part and the fourth rotating part are respectively parallel to the first rotation axis.

[0161] The steps include connecting the first end of the first elastic element to the base connecting rod, fixing the first end of the first cable to the first rotating part, winding the second end of the first cable around the second rotating part, guiding it through the third rotating part, and then winding it around the fourth rotating part, and then connecting it to the second end of the first elastic element.

[0162] In a preferred embodiment, the installation method further includes:

[0163] The first elastic element and the first rotating mechanism are configured according to the following formula.

[0164] k1×a1×b1=G1×L1+G3×L3+G4×L4

[0165] Among them, k1 represents the elastic coefficient of the first elastic element, a1 represents the distance from the rotation axis of the fourth rotating part to the first rotation axis, b1 represents the distance from the rotation axis of the third rotating part to the rotation axis of the second rotating part, G1 represents the gravity of the first link, G3 represents the gravity of the third link, G4 represents the gravity of the fourth link, L1 represents the distance from the center of gravity of the first link to the first rotation axis, L3 represents the distance from the center of gravity of the third link to the second rotation axis between the second link and the third link, and L4 represents the distance from the fourth rotation axis between the fourth link and the first link to the first rotation axis.

[0166] In some embodiments, the parallelogram mechanism includes a second degree of freedom, the second degree of freedom including the degree of freedom of rotation between two adjacent links in the parallelogram mechanism, and the steps of coupling the second rotation mechanism to the other of the first link and the second link and the base link, and coupling the second elastic mechanism to the base link and the second rotation mechanism include:

[0167] The step of distributing the second rotation mechanism on the base connecting rod and the second connecting rod can further enable the second elastic mechanism to generate a compensating torque in the second degree of freedom to balance the gravity torque of the parallelogram mechanism.

[0168] In some embodiments, the second rotation mechanism includes a fifth rotation portion, a seventh rotation portion, and an eighth rotation portion, and the second elastic mechanism includes a second elastic element and a second cable. The steps of coupling the second rotation mechanism to the other of the first link and the second link, and the base link, and coupling the second elastic mechanism to the base link and the second rotation mechanism include:

[0169] The steps of fixedly connecting the fifth rotating part to the base connecting rod and rotating the seventh rotating part and the eighth rotating part to the second connecting rod respectively.

[0170] The rotation axis of the seventh rotating part coincides with the first rotation axis, and the rotation axis of the eighth rotating part is parallel to the first rotation axis.

[0171] The steps of connecting the first end of the second elastic element to the base connecting rod, fixing the first end of the second cable to the fifth rotating part, guiding the second end of the first cable through the seventh rotating part, wrapping around the eighth rotating part, and then connecting the second end of the second elastic element.

[0172] In a preferred embodiment, the installation method further includes:

[0173] The second elastic element and the second rotating mechanism are configured according to the following formula.

[0174] k2×a2×b2=G2×L2′+G3×L3′+G4×L4′

[0175] Among them, k2 represents the elastic coefficient of the second elastic element, a2 represents the distance from the rotation axis of the eighth rotating part to the first rotation axis, b2 represents the distance from the rotation axis of the seventh rotating part to the rotation axis of the fifth rotating part, G2 represents the gravity of the second link, G3 represents the gravity of the third link, G4 represents the gravity of the fourth link, L2' represents the distance from the center of gravity of the second link to the first rotation axis, L3' represents the distance from the second rotation axis between the second link and the third link to the first rotation axis, and L4' represents the distance from the center of gravity of the fourth link to the fourth rotation axis between the fourth link and the first link.

[0176] The robotic arm described in this application, including the base link, parallelogram mechanism, and gravity compensation mechanism, is applicable to robots in various technical fields and can be used as at least a portion thereof. For example, the robotic arm of this application can be used as at least a portion of a robotic arm of a surgical robot in the medical field. For example, the robotic arm of this application can be used as at least a portion of a robotic arm of an industrial robot in the industrial field.

[0177] In some embodiments, the present application further provides a surgical robot, comprising a master console 100 and a slave operating device controlled by the master console 100. The master console 100 has an operating unit 110, and the doctor operates (e.g., drags) the operating unit 110 to send a control command including a posture instruction to the slave operating device, so that the operating device executes the control command.

[0178] The operating portion 110 includes a robotic arm. The robotic arm 110 includes a base link 2', a parallelogram mechanism 3' having a first link 31', a second link 32', a third link 33', and a fourth link 34' that are sequentially rotatably connected to each other, and a gravity compensation mechanism (not shown) coupled between the base link 2' and the parallelogram mechanism 3'. Since the basic components of the robotic arm, namely the base link 2' and the parallelogram mechanism 3', are equivalent to the base link 2 and the parallelogram mechanism 3 in the robotic arm 1 described in any of the above-mentioned embodiments, the setting of the gravity compensation mechanism in the robotic arm 110 can be implemented by referring to the setting of the gravity compensation mechanism 4 in the robotic arm 1 in any of the above-mentioned embodiments, and will not be repeated here.

[0179] In some embodiments, as Figure 16 As shown, the distal end of the parallelogram mechanism 3' in the robotic arm 110 may further include a payload 130. Specifically, for example, the payload 130 is disposed at the distal end of the fourth link 34'. The payload 130 may be referred to as a wrist mechanism. The wrist mechanism 130 has multiple degrees of freedom and is operable in conjunction with the base link 2' and the parallelogram mechanism 3' to generate control commands, including position and / or posture, for controlling the movement of a slave manipulation device. In some embodiments, the wrist mechanism 130 may also be operable to generate additional degrees of freedom for controlling the opening and closing of an end effector mounted on the slave manipulation device.

[0180] In some embodiments, such as Figure 15 As shown, the main operating station 100 may include a base 140 , and the base link 2 ′ is rotatably coupled to the base 140 .

[0181] By coupling a gravity compensation mechanism between the base link 2' and the parallelogram mechanism 3', this invention effectively balances the gravitational torque of the parallelogram mechanism 3'. This solution, unlike the counterweight compensation method used in existing technologies, effectively improves the operator's operating feel, thereby enhancing force transparency. Furthermore, since this solution also differs from the active compensation method used in existing technologies, there is no need to worry about the robotic arm falling in the event of a power outage, thereby conserving electricity.

[0182] When understanding the “load” mentioned in this application, Figure 16The wrist mechanism 130 shown may be used as a specific example to facilitate understanding.

[0183] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0184] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A robotic arm, characterized in that: include: base connecting rod; A parallelogram mechanism comprising a first link, a second link, a third link, and a fourth link rotatably connected in sequence, the parallelogram mechanism being rotatably connected to the base link, the axis of rotation of the parallelogram mechanism about the base link coinciding with a first rotation axis between the first link and the second link, the parallelogram mechanism having a degree of freedom of rotation of the parallelogram mechanism as a whole relative to the base link, and a degree of freedom of rotation between adjacent links in the parallelogram mechanism; and The gravity compensation mechanism includes a rotation mechanism and an elastic mechanism, wherein the rotation mechanism is coupled to at least one of the first link and the second link, and the base link, and the elastic mechanism includes an elastic element and a cable, one end of the elastic element is connected to the base link, and the other end of the elastic element is coupled to the rotation mechanism through the cable to generate a compensation torque in at least one degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism.

2. The robotic arm according to claim 1, wherein: The rotation mechanism includes a first rotation mechanism, the elastic mechanism includes a first elastic mechanism, the first rotation mechanism is coupled to one of the first link and the second link, and the base link, the first elastic mechanism includes a first elastic element and a first cable, a first end of the first elastic element is connected to the base link, and a second end of the first elastic element is coupled to the rotation mechanism via the cable, so as to generate a compensating torque in one degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism; and / or The rotation mechanism includes a second rotation mechanism, the elastic mechanism includes a second elastic mechanism, the second rotation mechanism is coupled to the other of the first link and the second link, and the base link, the second elastic mechanism includes a second elastic element and a second cable, the first end of the second elastic element is connected to the base link, and the second end of the second elastic element is coupled to the rotation mechanism through the cable to generate a compensating torque in another degree of freedom associated with the parallelogram mechanism to balance the gravity torque of the parallelogram mechanism.

3. The robotic arm according to claim 2, wherein: The parallelogram mechanism includes a first degree of freedom, which includes the freedom of the parallelogram mechanism as a whole to rotate around the first rotation axis. The first rotation mechanism is coupled to the base link and the first link. The first elastic mechanism generates a compensating torque in the first degree of freedom to balance the gravity torque of the parallelogram mechanism.

4. The robotic arm according to claim 3, wherein: The first rotating mechanism includes a first rotating portion, a second rotating portion, a third rotating portion, and a fourth rotating portion, wherein the first rotating portion is fixedly connected to the base connecting rod, the second rotating portion is coaxially arranged with the first rotating portion and is rotatable relative to the first rotating portion, the third rotating portion and the fourth rotating portion are respectively rotatably connected to the first connecting rod, the rotation axis of the third rotating portion coincides with the first rotation axis, and the rotation axes of the second rotating portion and the fourth rotating portion are respectively parallel to the first rotation axis; The first end of the first cable is fixedly connected to the first rotating part, the second end of the first cable is wrapped around the second rotating part, guided by the third rotating part, and then wrapped around the fourth rotating part, and then connected to the second end of the first elastic element; or, the first end of the first cable is fixedly connected to the first rotating part, the second end of the first cable is wrapped around the fourth rotating part, guided by the third rotating part, and then wrapped around the second rotating part, and then connected to the second end of the first elastic element.

5. The robotic arm according to claim 4, characterized in that: The elastic coefficient of the first elastic element, the distance between the rotation axis of the third rotating part and the rotation axis of the second rotating part, and the distance between the rotation axis of the fourth rotating part and the first rotation axis include at least one first parameter to be determined, and the first parameter to be determined is determined based on a first condition and a second condition. The first condition includes the gravity of the first link, the gravity of the third link, the gravity of the fourth link, the distance from the center of gravity of the first link to the first rotation axis, the distance from the center of gravity of the third link to the second rotation axis between the second link and the third link, and the distance from the fourth rotation axis between the fourth link and the first link to the first rotation axis. The second condition includes the elastic coefficient of the first elastic element, the distance between the rotation axis of the third rotating part and the rotation axis of the second rotating part, and the distance from the rotation axis of the fourth rotating part to the first rotation axis, except the first parameter to be determined.

6. The robotic arm according to claim 5, characterized in that: The configuration of the first elastic element and the first rotating mechanism satisfies the following formula: k1×a1×b1≤G1×L1+G3×L3+G4×L4 k1 represents the elastic coefficient of the first elastic element, a1 represents the distance between the rotation axis of the fourth rotating part and the rotation axis of the third rotating part, b1 represents the distance from the rotation axis of the third rotating part to the rotation axis of the second rotating part, G1 represents the gravity of the first link, G3 represents the gravity of the third link, G4 represents the gravity of the fourth link, L1 represents the distance from the center of gravity of the first link to the first rotation axis, L3 represents the distance from the center of gravity of the third link to the second rotation axis between the second link and the third link, and L4 represents the distance from the fourth rotation axis between the fourth link and the first link to the first rotation axis.

7. The robotic arm according to claim 4, wherein: The first elastic element includes a variable stiffness spring to achieve adjustable elastic coefficient, adjustable distance between the rotation axis of the fourth rotating part and the first rotation axis, and / or adjustable distance between the rotation axis of the third rotating part and the rotation axis of the second rotating part.

8. The robotic arm according to any one of claims 4 to 7, characterized in that: The gravity compensation mechanism includes a first guide portion and a first mounting portion, the first guide portion is provided on the first connecting rod, the first mounting portion is movably provided on the first guide portion, and the fourth rotating portion is rotatably mounted on the first mounting portion; and / or The gravity compensation mechanism includes a second guide portion and a second mounting portion, the second guide portion is arranged on the base connecting rod, the first rotating portion is fixedly mounted on the second mounting portion, and the second rotating portion is rotatably mounted on the second mounting portion.

9. The robotic arm according to claim 8, characterized in that: The gravity compensation mechanism further includes a first driving mechanism, the first driving mechanism being coupled to the first guide portion or the first mounting portion to drive the first mounting portion to move along the first guide portion, thereby driving the fourth rotating portion to move relative to the first connecting rod; and / or The gravity compensation mechanism also includes a second driving mechanism, which is coupled to the second guide portion or the second mounting portion to drive the second mounting portion to move on the second guide portion to drive the first rotating portion and the second rotating portion to move relative to the base connecting rod.

10. The robotic arm according to claim 2, wherein: The parallelogram mechanism includes a second degree of freedom, which includes the freedom of rotation between two adjacent links in the parallelogram mechanism. The second rotation mechanism is coupled to the base link and the second link, and the second elastic mechanism generates a compensation torque in the second degree of freedom to balance the gravity torque of the parallelogram mechanism.

11. The robotic arm according to claim 10, wherein: The second rotating mechanism includes a fifth rotating portion, a seventh rotating portion, and an eighth rotating portion, the fifth rotating portion being fixedly connected to the base connecting rod, the seventh rotating portion and the eighth rotating portion being rotatably connected to the second connecting rod, the rotation axis of the seventh rotating portion coincides with the first rotation axis, and the rotation axes of the fifth rotating portion and the eighth rotating portion are respectively parallel to the first rotation axis; The first end of the second cable is fixedly connected to the fifth rotating part, the second end of the first cable is guided by the seventh rotating part, wrapped around the eighth rotating part, and then connected to the second end of the second elastic element; or the first end of the second cable is fixedly connected to the fifth rotating part, the second end of the first cable is wrapped around the eighth rotating part, guided by the seventh rotating part, and then connected to the second end of the second elastic element.

12. The robotic arm according to claim 11, wherein: The elastic coefficient of the second elastic element, the distance between the rotation axis of the seventh rotating part and the rotation axis of the fifth rotating part, and the distance between the rotation axis of the eighth rotating part and the rotation axis of the seventh rotating part include at least one second parameter to be determined, and the second parameter to be determined is determined based on the third condition and the fourth condition, the third condition includes the gravity of the second link, the gravity of the third link, the gravity of the fourth link, the distance from the center of gravity of the second link to the first rotation axis, the distance from the second rotation axis between the second link and the third link to the first rotation axis, and the distance from the center of gravity of the fourth link to the fourth rotation axis between the fourth link and the first link, and the fourth condition includes the elastic coefficient of the second elastic element, the distance between the rotation axis of the seventh rotating part and the rotation axis of the fifth rotating part, and the distance between the rotation axis of the eighth rotating part and the rotation axis of the seventh rotating part except the second parameter to be determined.

13. The robotic arm according to claim 11, wherein: The configuration of the second elastic element and the second rotating mechanism satisfies the following formula: k2×a2×b2≥G2×L2'+G3×L3'+G4×L4' k2 represents the elastic coefficient of the second elastic element, a2 represents the distance between the rotation axis of the eighth rotating part and the rotation axis of the seventh rotating part, b2 represents the distance from the rotation axis of the seventh rotating part to the rotation axis of the fifth rotating part, G2 represents the gravity of the second link, G3 represents the gravity of the third link, G4 represents the gravity of the fourth link, L2' represents the distance from the center of gravity of the second link to the first rotation axis, L3' represents the distance from the second rotation axis between the second link and the third link to the first rotation axis, and L4' represents the distance from the center of gravity of the fourth link to the fourth rotation axis between the fourth link and the first link.

14. The robotic arm according to claim 11, wherein: The second elastic element includes a variable stiffness spring to achieve adjustable elastic coefficient, adjustable distance from the rotation axis of the eighth rotating part to the first rotation axis, and / or adjustable distance from the rotation axis of the seventh rotating part to the rotation axis of the fifth rotating part.

15. The robotic arm according to any one of claims 11 to 14, characterized in that: The gravity compensation mechanism includes a third guide portion and a third mounting portion, the third guide portion is provided on the second connecting rod, the third mounting portion is movably provided on the third guide portion, and the eighth rotating portion is rotatably mounted on the third mounting portion; and / or The gravity compensation mechanism includes a fourth guide portion and a fourth mounting portion. The fourth guide portion is arranged on the base connecting rod, and the fifth rotating portion is fixedly mounted on the fourth mounting portion.

16. The robotic arm according to claim 15, characterized in that: The gravity compensation mechanism further includes a third driving mechanism, the third driving mechanism being coupled to the third guide portion or the third mounting portion to drive the first mounting portion to move on the first guide portion to drive the eighth rotating portion to move relative to the second connecting rod; and / or The gravity compensation mechanism further includes a fourth driving mechanism coupled to the fourth guide portion or the fourth mounting portion to drive the fourth mounting portion to move on the fourth guide portion and drive the fifth rotating portion to move relative to the base connecting rod.

17. The robotic arm according to claim 4 or 11, characterized in that: The diameters of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part are the same; and / or The fifth rotating portion, the seventh rotating portion and the eighth rotating portion have the same diameter.

18. The robotic arm according to claim 1, wherein: The gravity compensation mechanism further includes a first motor, the first motor being coupled to the first connecting rod to actively compensate for the gravity torque on the degree of freedom of the parallelogram mechanism as a whole rotating around the first rotation axis; and / or The gravity compensation mechanism further includes a second motor coupled to the second connecting rod to actively compensate for the gravity torque on the relative rotational degree of freedom between adjacent connecting rods in the parallelogram mechanism.

19. The robotic arm according to claim 1, wherein: The rotation angle range θ∈(0°, 180°) between two adjacent connecting rods in the parallelogram mechanism; the parallelogram mechanism includes a load connected to the far end of the parallelogram mechanism, and the gravity compensation mechanism is further used to generate a compensation torque to balance the gravity torque of the parallelogram mechanism including the load.

20. A main operating console, characterized in that: The main operating console has an operating unit for generating control commands including posture instructions, and the operating unit includes the robotic arm according to any one of claims 1 to 19.

21. A surgical robot, characterized in that: The surgical robot includes a slave operating device and a master operating console as claimed in claim 20, and the slave operating device performs corresponding operations according to control commands sent by the master operating console.

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