Input device and surgical robot

Abstract

This application discloses an input device and a surgical robot. The input device includes a base, a first arm, a second arm, a first motor, a first transmission mechanism, and an operating component. The base, the first arm, the second arm, and the operating component are sequentially rotatably connected. The operating component is configured to receive operations from an operator. The rotation of the first arm and the second arm provides the operating component with at least two degrees of freedom of movement. The first motor is mounted on the base. The first arm includes an arm turntable. The arm turntable is rotatably connected to the output shaft of the first motor via the first transmission mechanism. The rotation of the output shaft drives the arm turntable to rotate, causing the first arm to rotate relative to the base. The rotational speed of the output shaft is greater than the rotational speed of the arm turntable.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an input device and a surgical robot. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] Taking a laparoscopic surgical robot as an example, a laparoscopic surgical robot includes a main control panel and slave operating devices controlled by the main control panel. The main control panel includes input devices, through which the surgeon generates control commands to control the slave operating devices.

[0004] In some existing products, the input devices are relatively large and lack operational flexibility. Summary of the Invention

[0005] The main objective of this invention is to provide an input device and a surgical robot, which aims to solve the problems of large size and poor operational flexibility of input devices.

[0006] This application provides an input device, including a base, a first arm, a second arm, a first motor, a first transmission mechanism, and an operating component. The base, the first arm, the second arm, and the operating component are rotatably connected in sequence. The operating component is configured to receive operations from an operator. The rotation of the first arm and the second arm provides the operating component with at least two degrees of freedom of movement. The first motor is mounted on the base. The first arm includes an arm turntable. The arm turntable is rotatably connected to the output shaft of the first motor through the first transmission mechanism. The rotation of the output shaft drives the arm turntable to rotate, causing the first arm to rotate relative to the base. The rotational speed of the output shaft is greater than the rotational speed of the arm turntable.

[0007] The first transmission mechanism includes a first transmission component, which is connected between the arm turntable and the output shaft of the first motor. The radius of the arm turntable is larger than the radius of the output shaft of the first motor.

[0008] The first transmission mechanism includes a first transmission component, a first scaling component, and a second transmission component. The first transmission component is rotatably connected between the output shaft and the input part of the first scaling component. The second transmission component is connected between the output part of the first scaling component and the arm turntable. The radius of the input part is larger than the radius of the output part.

[0009] The input device further includes a second motor and a second transmission mechanism. The second motor is mounted on the base, and the output shaft of the second motor is rotatably connected to the second arm through the second transmission mechanism.

[0010] The input device further includes a transmission turntable and a transmission arm. The transmission turntable is rotatably connected to the base, and the transmission arm is rotatably connected between the transmission turntable and the second arm. The second motor drives the transmission turntable to rotate through the second transmission mechanism, and the rotation of the transmission turntable drives the transmission arm to move, thereby driving the second arm to rotate relative to the first arm.

[0011] The base includes a body, a first mounting plate, and a second mounting plate. The first mounting plate and the second mounting plate are both connected to the body and are arranged opposite to each other. The arm turntable and the first motor are mounted on the first mounting plate at intervals, and the transmission turntable and the second motor are mounted on the second mounting plate at intervals.

[0012] The second motor is arranged parallel to the first motor.

[0013] The end of the first motor near the second mounting plate passes through the second mounting plate.

[0014] The second motor has one end near the first mounting plate that penetrates the first mounting plate.

[0015] The input device further includes a fixed shaft that passes through and is fixed to the first mounting plate and the second mounting plate. The two ends of the fixed shaft are rotatably connected to the arm turntable and the transmission turntable, respectively.

[0016] The input device further includes a connector, a main motor, and a main transmission mechanism. The base also includes a main turntable, which is connected to the main body. The main motor is mounted on the connector, and the output shaft of the main motor is rotatably connected to the main turntable through the main transmission mechanism.

[0017] Wherein, the extension line of the main motor in the length direction is perpendicular to the rotation axis of the arm turntable, and the extension lines of the first motor and the second motor in the length direction are both parallel to the rotation axis of the arm turntable.

[0018] The input device further includes a first gravity compensation mechanism, which is connected between the base and the first arm to generate a torque that balances the gravitational torque of the relevant components of the input device.

[0019] The first gravity compensation mechanism includes multiple rotating parts, a first cable, and a first elastic element. The multiple rotating parts are at least partially fixed to the arm turntable. One end of the first elastic element is fixed to the base, and the other end is fixed to the first cable. The end of the first cable away from the first elastic element cooperates with the multiple rotating parts and is fixed to one of the rotating parts.

[0020] The input device further includes a first sensor, which is used to sense the position change of the first arm to control the first motor to cooperate with the first gravity compensation mechanism to generate a torque that balances the gravitational torque of the relevant components of the input device.

[0021] This application also provides an input device, including:

[0022] Base;

[0023] The first arm is rotatably connected to the base.

[0024] The first motor, whose output shaft rotates, causes the first arm to rotate relative to the base;

[0025] A first gravity compensation mechanism is connected between the base and the first arm; and

[0026] A control device, coupled to the first motor, is configured to:

[0027] In response to the first arm moving to the first position, a first torque that needs to be compensated when the first arm is in the first position is determined;

[0028] Based on the first torque and the first sub-torque that the first gravity compensation mechanism can compensate for, determine the second sub-torque that the first motor needs to compensate for.

[0029] The first motor is driven to output the second sub-torque.

[0030] The input device further includes a first sensor, which is coupled to the control device and is used to sense the position change of the first arm. The response to the first arm moving to the first position specifically includes the response to the first position information acquired by the first sensor.

[0031] The input device further includes a first force sensor, which is coupled to the control device and is used to sense the first sub-torque actually compensated by the first gravity compensation mechanism, and to determine the second sub-torque that the first motor needs to compensate, including:

[0032] The first sub-torque is obtained through the first force sensor;

[0033] The second sub-torque is determined in the following manner:

[0034] The second sub-torque = the first torque - the first sub-torque.

[0035] The input device further includes a second sub-torque determined according to the compensation ratio of the first motor and the first gravity compensation mechanism.

[0036] This application also provides a surgical robot, including any of the above-described input devices.

[0037] The input device of this application achieves speed reduction by setting a first transmission mechanism between the first motor and the arm turntable. As a result, the rotational speed of the output shaft of the first motor is greater than that of the arm turntable. Compared with the scheme in which the output shaft of the first motor is directly fixed to the arm turntable, this scheme can achieve the rotation of the arm turntable using a smaller motor, thereby reducing the overall size of the input device, miniaturizing the input device, and improving the flexibility of the input device operation. Attached Figure Description

[0038] Figure 1 It is the slave operating device of the surgical robot provided in the embodiments of this application;

[0039] Figure 2 It is the main operating console of the surgical robot provided in this application;

[0040] Figure 3 yes Figure 2 The schematic diagram of the input device of the main control panel shown in some embodiments;

[0041] Figure 4 yes Figure 3 A partial structural diagram of the input device shown;

[0042] Figure 5 yes Figure 4 A schematic diagram of part of the structure shown from another angle;

[0043] Figure 6 yes Figure 5 A schematic diagram of the base in the structure shown;

[0044] Figure 7 yes Figure 5 A schematic diagram of the structure shown from another angle;

[0045] Figure 8A yes Figure 5 A schematic diagram of the structure shown from another angle;

[0046] Figure 8B This is a partial structural schematic diagram of the first gravity compensation mechanism in another embodiment;

[0047] Figure 9 yes Figure 8A A cross-sectional structural diagram of the structure shown.

[0048] Figure 10A yes Figure 9 A magnified schematic diagram of the I region of the structure shown;

[0049] Figure 10B yes Figure 8A A schematic diagram of the structure shown in another embodiment;

[0050] Figure 11 yes Figure 5 A schematic diagram of the structure shown from another angle;

[0051] Figure 12 yes Figure 11 A cross-sectional view of the structure shown from another angle;

[0052] Figure 13 yes Figure 12 An enlarged structural diagram of region II of the structure shown;

[0053] Figure 14 This is a flowchart illustrating a control method for an input device;

[0054] Figure 15 This is another flowchart illustrating a method for controlling an input device. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0056] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] The terms “distal” and “proximal” used in this article are directional terms commonly used in the field of interventional medical devices. “Distal” refers to the end that is farthest from the operator during the procedure, while “proximal” refers to the end that is closest to the operator during the procedure.

[0059] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0060] Please see Figure 1 and Figure 2 , Figure 1 It is the slave operating device of the surgical robot provided in the embodiments of this application. Figure 2 It is the main operating console of the surgical robot provided in this application.

[0061] The surgical robot may include a master control console 100 and a slave operating device 200 that are communicatively connected. The master control console 100 sends control commands to the slave operating device 200 based on the surgeon's instructions, thereby controlling the slave operating device 200. The slave operating device 200 responds to the control commands sent by the master control console 100 and performs corresponding surgical operations. Alternatively, in other embodiments, the master control console and the slave operating device may be integrated into a single unit.

[0062] The master control panel 100 and the slave control device 200 can be placed in the same operating room, in different rooms, or even far apart. For example, the master control panel 100 and the slave control device 200 can be located in different cities. Data transmission between the master control panel 100 and the slave control device 200 can be wired or wireless. For instance, if the master control panel 100 and the slave control device 200 are in the same operating room, they can transmit data via a wired connection; conversely, if the master control panel 100 and the slave control device 200 are in different cities, they can transmit data over long distances via wireless signals.

[0063] The main control panel 100 includes an input device 10 and a display. The doctor sends control commands to the secondary control device 200 via the input device 10, instructing the secondary control device 200 to perform corresponding operations based on the doctor's control commands. The doctor also observes the surgical area on the display. In this embodiment, there are two input devices 10, with the doctor operating one input device 10 with each hand. Of course, in other embodiments, the number of input devices 10 can be one or more.

[0064] Please see Figure 3 and Figure 4 , Figure 3 yes Figure 2 The input device 10 of the main control panel shown is a schematic diagram of its structure in some embodiments; Figure 4 yes Figure 3 The diagram shows a partial structural schematic of the input device.

[0065] Input device 10 may include a connector 11, a base 12, an operating component 15, and at least one drive arm, which are rotatably connected in sequence. The end of connector 11 away from base 12 is connected to a relevant component of main control panel 100. Operating component 15 is configured to receive operator input and may include a handle 151. The user performs relevant operations on input device 10 by gripping handle 151 to send control commands to slave operating device 200.

[0066] The number of drive arms can be determined according to the actual execution requirements. For example, when the motion to be performed is relatively simple, one drive arm can be selected. One end of the drive arm is connected to the base 12, and the other end of the drive arm is connected to the operating component 15. When the motion to be performed is more complex, two or more drive arms can be selected. The more drive arms there are, the higher the degree of freedom, and the more complex operations can be performed.

[0067] This embodiment uses two drive arms as an example. The two drive arms are the first arm 13 and the second arm 14. The second arm 14 is rotatably connected to the first arm 13. The end of the first arm 13 away from the second arm 14 is rotatably connected to the base 12. The end of the second arm 14 away from the first arm 13 is rotatably connected to the operating component 15. The rotation of the first arm 13 and the second arm 14 provides the operating component 15 with at least two degrees of freedom of movement.

[0068] In this embodiment, the base 12 rotates relative to the connector 11 along a first axis A1, the first arm 13 rotates relative to the base 12 along a second axis A2, and the second arm 14 rotates relative to the first arm 13 along a third axis A3. The first axis A1 is perpendicular to the second axis A2 and the third axis A3, and the second axis A2 and the third axis A3 are parallel, thus allowing the rotation of the base 12, the first arm 13, and the second arm 14 to enable the movement of the operating component 15 in three-dimensional space.

[0069] Please see Figure 5 and Figure 6 , Figure 5 yes Figure 4 A schematic diagram of part of the structure shown from another angle; Figure 6 yes Figure 5 A schematic diagram of the base in the structure shown.

[0070] The base 12 may include a main body turntable 121, a main body 122, a first mounting plate 123, and a second mounting plate 124. The main body turntable 121 is rotatably connected to the connector 11. The main body 122 is fixed to the side of the main body turntable 121 away from the connector 11. The first mounting plate 123 and the second mounting plate 124 are both connected to the main body 122 and are disposed opposite to each other. The first mounting plate 123 and the second mounting plate 124 are located on the side of the main body 122 away from the main body turntable 121. A first arm 13 is rotatably connected to the end of the first mounting plate 123 away from the main body 122 and is located on the side of the first mounting plate 123 facing away from the second mounting plate 124. The second mounting plate 124 is used to connect other components.

[0071] It should be noted that the first mounting plate 123 and the second mounting plate 124 are arranged opposite to each other, thus there is a certain gap between the first mounting plate 123 and the second mounting plate 124. Of course, in other embodiments, the first mounting plate 123 and the second mounting plate 124 may not form a gap, that is, the first mounting plate 123 and the second mounting plate 124 are combined into a solid mounting plate. However, this solution is heavier than forming a gap between the first mounting plate 123 and the second mounting plate 124, which is not conducive to the requirement of the input device 10 being lightweight and easy for users to operate.

[0072] In this embodiment, the main body 122, the first mounting plate 123, and the second mounting plate 124 are integrally formed to increase the connection strength between them, avoid the step of assembling them together, and improve production efficiency. Of course, in another embodiment, the first mounting plate 123, the second mounting plate 124, and the main body 122 can also be connected by screws, welding, or other connection methods. In yet another embodiment, the main body 122, the first mounting plate 123, the second mounting plate 124, and the main body turntable 121 are all integrally formed.

[0073] In this embodiment, as Figure 5 and Figure 6 A reinforcing member 125 is also provided between the first mounting plate 123 and the second mounting plate 124. The reinforcing member 125 is located at one end of the two mounting members near the first arm 13 to ensure that the first mounting plate 123 and the second mounting plate 124 are aligned along the first axis A1 ( Figure 4 This ensures that there is no deviation in the extension direction, while simultaneously enhancing the connection strength of the entire base 12. Of course, in other embodiments, no reinforcement may be provided between the first mounting plate 123 and the second mounting plate 124.

[0074] The input device 10 may further include a fixed shaft 126, which passes through and is fixed to the first mounting plate 123 and the second mounting plate 124. Both ends of the fixed shaft 126 are rotatably connected to the first arm 13 and other components, respectively. In other words, this embodiment uses a single fixed shaft 126 to achieve rotatable connections between two components to the first mounting plate 123 and the second mounting plate 124, simplifying the structure of the input device 10, reducing its weight, and improving the user experience. Simultaneously, the fixed shaft 126 passing through the first mounting plate 123 and the second mounting plate 124 increases the connection strength between the fixed shaft 126 and the two mounting plates.

[0075] Of course, in other embodiments, the first arm 13 can also be directly rotatably connected to the surface of the first mounting plate 123 facing away from the second mounting plate 124, and other components can also be directly rotatably connected to the surface of the second mounting plate 124 facing away from the first mounting plate 123.

[0076] For example, such as Figure 5 and Figure 6 The first mounting plate 123 has a first fixing hole 1231 at its end away from the main body 122, and the first fixing hole 1231 penetrates through two opposite sides of the first mounting plate 123. The second mounting plate 124 has a second fixing hole 1241 at its end away from the main body 122, and the second fixing hole 1241 penetrates through two opposite sides of the second mounting plate 124. The first fixing hole 1231 and the second fixing hole 1241 are coaxially arranged, and the fixing shaft 126 passes through the first fixing hole 1231 and the second fixing hole 1241 in sequence, and is fixed to the first mounting plate 123 and the second mounting plate 124 through the first fixing hole 1231 and the second fixing hole 1241.

[0077] In this embodiment, the first mounting plate 123 is provided with a first notch 1232, which connects the inner wall and the outer wall of the first fixing hole 1231. That is, the hole wall of the first fixing hole 1231 is a non-closed hole wall. The second mounting plate 124 is provided with a second notch 1242, which connects the inner wall and the outer wall of the second fixing hole 1241. That is, the hole wall of the second fixing hole 1241 is also a non-closed hole wall. After the fixing shaft 126 is installed in the first fixing hole 1231 and the second fixing hole 1241, the hole walls on both sides of the corresponding notch can be rotated and connected by screws to reduce the width of the first notch 1232 and the second notch 1242. This allows the hole walls of the first fixing hole 1231 and the second fixing hole 1241 to fit tightly against and be fixed to the fixing shaft 126, thereby fixing the fixing shaft 126 to the first mounting plate 123 and the second mounting plate 124. Of course, in other embodiments, the fixed shaft 126 can also be fixed to the first mounting plate 123 and the second mounting plate 124 by other fixing methods such as screwing, snapping, welding, etc.

[0078] Please see Figure 4 and Figure 5 The first arm 13 may include an arm body 131 and an arm turntable 132 fixedly connected to one end of the arm body 131. In this embodiment, the arm body 131 and the arm turntable 132 are detachably connected. The side of the arm body 131 facing away from the arm turntable 132 is rotatably connected to one end of the fixed shaft 126 that passes through the first mounting plate 123, that is, the arm turntable 132 is mounted on the first mounting plate 123 through the arm body 131, and the end of the arm body 131 away from the arm turntable 132 is rotatably connected to the second arm 14. Of course, in other embodiments, the arm body 131 and the arm turntable 132 may also be an integrally formed structure. Alternatively, the arm turntable 132 may also be directly mounted on the first mounting plate 123.

[0079] Please see Figure 7 , Figure 7 yes Figure 5 The diagram shows the structure from another angle.

[0080] Input device 10 may further include a body drive device 16, which is used to drive the base 12 relative to the connector 11 about a first axis A1. Figure 4 Rotate.

[0081] In some embodiments, the body drive device 16 may include a body motor 161, a body transmission mechanism, and a body sensor. The extension line of the body motor 161 in the longitudinal direction is perpendicular to the rotation axis of the arm turntable 132, ensuring the miniaturization of the input device in the lateral direction.

[0082] The main transmission mechanism includes a main scaling member 162. The output shaft of the main motor 161 is rotatably connected to the input part of the main scaling member 162, and the output part of the main scaling member 162 is rotatably connected to the main turntable 121 of the base 12. The rotation of the main motor 161 drives the main scaling member 162 to rotate, which in turn drives the base 12 to rotate. The main sensor is used to sense the position change of the base 12.

[0083] In this embodiment, the main motor 161 may include a main body 1611 and an output shaft 1612 connected to the main body 1611. The connector 11 is provided with a first connecting structure 111 and a second connecting structure 112 spaced apart. The main body 1611 is mounted on the first connecting structure 111, and the end of the output shaft 1612 away from the main body 1611 is rotatably connected to the second connecting structure 112. That is, both ends of the main motor 161 are connected to the connector 11 through connecting structures, ensuring that the main motor 161 is stably mounted on the connector 11 and that the output shaft 1612 outputs more smoothly when rotating. Of course, in other embodiments, the end of the output shaft 1612 away from the main body 1611 may also be directly rotatably connected to the connector 11.

[0084] The body scaling member 162 may include a fixing part 1621, an input part 1622, and an output part 1623. The input part 1622 and the output part 1623 are fixedly connected, and both the input part 1622 and the output part 1623 are rotatably connected to the fixing part 1621. The fixing part 1621 is fixed to the second connecting structure 112 and connected to the connector 11 through the second connecting structure 112. Of course, in other embodiments, the fixing part 1621 may also be directly fixedly connected to the connector 11.

[0085] In this embodiment, the output shaft 1612 of the main motor 161 is rotatably connected to the input part 1622 of the main scaling component 162 via a drive rope 164, and the output part 1623 of the main scaling component 162 is also rotatably connected to the main turntable 121 via the drive rope 164. The drive rope 164 can be, for example, a steel wire rope. Steel wire ropes have advantages such as a large load-bearing safety factor, safe and reliable use, high tensile strength, fatigue strength and impact toughness, wear resistance, shock resistance, and good operational stability.

[0086] Of course, in other implementations, the output shaft 1612 and the input part 1622 can also be rotatably connected by a transmission belt or gear, and similarly, the output part 1623 and the main body turntable 121 can also be rotatably connected by a transmission belt or gear.

[0087] In this embodiment, the radius of the input part 1622 of the body scaling member 162 is greater than the radius of the output shaft 1612 to achieve the first stage of deceleration, and the radius of the body turntable 121 is greater than the radius of the output part 1623 of the body scaling member 162 to achieve the second stage of deceleration.

[0088] In other words, by limiting the radius of the input section 1622 to be larger than the radius of the output shaft 1612, and limiting the radius of the main body turntable 121 to be larger than the radius of the output section 1623, a two-stage speed reduction is achieved. Therefore, compared to a solution where the output shaft 1612 of the main body motor 161 is directly fixed to the main body turntable 121, this solution uses a smaller motor to achieve the rotation of the main body turntable 121, reducing the overall size of the input device 10 and achieving miniaturization. Simultaneously, by using a scaling element to connect the motor output shaft 1612 to the main body turntable 121, the position of the main body motor 161 can be set more flexibly to a certain extent, further contributing to the miniaturization of the input device 10.

[0089] Of course, in one implementation scenario of another embodiment, the radius of the input portion 1622 of the body scaling member 162 may also be equal to the radius of the output shaft 1612, and the radius of the output portion 1623 may be smaller than the radius of the body turntable 121.

[0090] In another implementation scenario of other embodiments, the radius of the input portion 1622 of the body scaling member 162 is greater than the radius of the output shaft 1612, and the radius of the output portion 1623 is equal to the radius of the body turntable 121.

[0091] In another embodiment, the body drive device 16 may include only the body motor 161 and the body sensor. That is, the body drive device 16 in this embodiment may not include a body scaling component. The output shaft 1612 of the body motor 161 can be rotatably connected to the body turntable 121 via a drive rope. The drive rope can be, for example, a steel wire rope.

[0092] For example, the radius of the main body turntable 121 is larger than the radius of the output shaft 1612. By limiting the radius of the main body turntable 121 to be larger than the radius of the output shaft 1612, speed reduction is achieved. Therefore, compared to the scheme where the output shaft 1612 of the main body motor 161 is directly fixedly connected to the main body turntable 121, this scheme can achieve the rotation of the main body turntable 121 using a smaller motor, which is beneficial for miniaturizing the input device 10. Of course, in other embodiments, the output shaft 1612 and the main body turntable 121 can also be rotatably connected by a transmission belt or gears.

[0093] In other embodiments, the output shaft of the main motor can also be directly fixedly connected to the main turntable.

[0094] The body sensor is coupled to the body turntable 121 and is used to sense the position change of the base 12 rotating about the first axis A1. In some embodiments, the body sensor is a rotation sensor, such as a single-turn absolute encoder, a multi-turn absolute encoder, or other sensors that measure rotation.

[0095] Please see Figure 5 and Figure 8A , Figure 8A yes Figure 5 The diagram shows the structure from another angle.

[0096] Input device 10 may further include a first drive unit 17, the first drive unit 17 being used to drive the first arm 13 relative to the base 12 around the second axis A2. Figure 4 Rotate.

[0097] In some embodiments, the first drive device 17 may include a first motor 171, a first transmission mechanism 172, and a first sensor. The arm turntable 132 is rotatably connected to the output shaft 1712 of the first motor 171 via the first transmission mechanism 172. Rotation of the output shaft 1712 drives the arm turntable 132 to rotate, causing the first arm 13 to rotate relative to the base 12. The rotational speed of the output shaft 1712 of the first motor 171 is greater than the rotational speed of the arm turntable 132. The first sensor is used to sense changes in the position of the first arm 13.

[0098] In this embodiment, a first transmission mechanism 172 is set between the first motor 171 and the arm turntable 132. The first transmission mechanism 172 achieves speed reduction, so the rotational speed of the output shaft 1712 of the first motor 171 is greater than the rotational speed of the arm turntable 132. Compared with the scheme in which the output shaft 1712 of the first motor 171 is directly fixedly connected to the arm turntable 132, this scheme can achieve the rotation of the arm turntable 132 using a smaller motor, reducing the overall size of the input device 10, realizing the miniaturization of the input device 10, and improving the flexibility of the input device 10 operation.

[0099] Meanwhile, the rotational connection between the output shaft 1712 of the first motor 171 and the arm turntable 132 achieved through the first transmission mechanism 172 can, to a certain extent, make the position of the first motor 171 more flexible, and further realize the miniaturization of the input device 10.

[0100] Please see Figure 8A , Figure 9 and Figure 10A , Figure 9 yes Figure 8A A cross-sectional structural diagram of the structure shown.

[0101] Figure 10A yes Figure 9 A magnified schematic diagram of the I region of the structure shown.

[0102] A first motor 171 is mounted on the base 12. The first motor 171 may include a motor body 1711 and an output shaft 1712 connected to the motor body 1711. The motor body 1711 of the first motor 171 is mounted on a first mounting plate 123. The output shaft 1712 of the first motor 171 is spaced apart from the arm turntable 132. One end of the first motor 171 near the second mounting plate 124 (i.e., the end away from the output shaft 1712) passes through the second mounting plate 124, so that the first motor 171 overlaps with the first mounting plate 123 and the second mounting plate 124 and the space between them in the longitudinal direction, which is beneficial to the lateral miniaturization of the input device 10. Of course, in other embodiments, the motor body 1711 of the first motor 171 may also be mounted on the first mounting plate 123 but does not pass through the second mounting plate 124.

[0103] In some embodiments, the first mounting plate 123 may include a first fixing groove 1233 and a first clearance hole 1234. The first clearance hole 1234 is located in the middle of the bottom wall of the first fixing groove 1233 and penetrates the bottom wall of the first fixing groove 1233 and the surface of the first mounting plate 123 away from the second mounting. The second mounting plate 124 may include a first through hole 1243. The motor body 1711 is mounted in the first fixing groove 1233 through the first through hole 1243, and the output shaft 1712 of the first motor 171 passes through the first mounting plate 123 through the first clearance hole 1234 and is spaced apart from the arm turntable 132. Of course, in other embodiments, the way the first motor 171 is mounted on the first mounting plate 123 is limited to the above description.

[0104] In this embodiment, the first mounting plate 123 is provided with a first fixing member 127. The output shaft 1712 of the first motor 171 is rotatably connected to the first fixing member 127 at the end away from the motor body 1711, which ensures that the first motor 171 is stably installed on the base 12 and that the output shaft 1712 outputs more smoothly when rotating.

[0105] The first transmission mechanism 172 may include a first transmission member 1721, a first scaling member 1722, and a second transmission member 1723. The first transmission member 1721 is rotatably connected between the output shaft 1712 and the input portion 1722a of the first scaling member 1722, and the second transmission member 1723 is connected between the output portion 1722b of the first scaling member 1722 and the arm turntable 132. In this embodiment, the specific structure of the first scaling member 1722 is the same as that of the main body scaling member 162, and will not be described again. The first scaling member 1722 is mounted on the first mounting plate 123 and is located between the first motor 171 and the arm turntable 132.

[0106] In this embodiment, both the first transmission component 1721 and the second transmission component 1723 are drive ropes. The drive rope can be, for example, a steel wire rope. Steel wire ropes have advantages such as a high load-bearing safety factor, reliable operation, high tensile strength, fatigue strength, impact toughness, wear resistance, shock resistance, and good operational stability. Of course, the first transmission component 1721 and the second transmission component 1723 can also be other transmission components such as conveyor belts or gears.

[0107] For example, the first transmission member 1721 may include a first drive rope and a second drive rope. The first drive rope and the second drive rope are arranged crosswise. The two ends of the first drive rope are fixed clockwise around the output shaft 1712 and the input part 1722a, respectively. The two ends of the second drive rope are fixed counterclockwise around the output shaft 1712 and the input part 1722a, respectively. Of course, in other embodiments, the two ends of the first drive rope may also be fixed counterclockwise around the output shaft 1712 and the input part 1722a, respectively, and the two ends of the second drive rope may be fixed clockwise around the output shaft 1712 and the input part 1722a, respectively. For example, the second transmission member 1723 may include a third drive rope and a fourth drive rope. The third drive rope and the fourth drive rope are arranged crosswise. The two ends of the third drive rope are fixed clockwise around the output part 1722b and the peripheral wall of the arm turntable 132, respectively. The two ends of the fourth drive rope are fixed counterclockwise around the output part 1722b and the peripheral wall of the arm turntable 132, respectively. Of course, in other implementations, the two ends of the third drive rope can also be fixed by winding counterclockwise around the peripheral wall of the output part 1722b and the arm turntable 132, respectively, and the two ends of the fourth drive rope can be fixed by winding clockwise around the peripheral wall of the output part 1722b and the arm turntable 132, respectively.

[0108] Therefore, whether the output shaft 1712 rotates clockwise or counterclockwise, it can drive the arm turntable 132 to rotate clockwise or counterclockwise.

[0109] Of course, in other embodiments, the output shaft 1712 and the input section 1722a can also be rotatably connected by a drive belt or gears. Similarly, the output section 1722b and the arm turntable 132 can also be rotatably connected by a drive belt or gears.

[0110] In this embodiment, the radius of the input part 1722a of the first scaling member 1722 is greater than the radius of the output shaft 1712 to achieve the first stage of deceleration, and the radius of the arm turntable 132 is greater than the radius of the output part 1722b of the first scaling member 1722 to achieve the second stage of deceleration.

[0111] In other words, by limiting the radius of the input section 1722a to be greater than the radius of the output shaft 1712 and the radius of the arm turntable 132 to be greater than the radius of the output section 1722b, a two-stage speed reduction is achieved. Compared with the scheme where the output shaft 1712 of the first motor 171 is directly fixedly connected to the arm turntable 132, this scheme can achieve the rotation of the arm turntable 132 using a smaller motor, thereby reducing the overall size of the input device 10 and realizing the miniaturization of the input device 10.

[0112] Meanwhile, by using a scaling component to connect the motor output shaft 1712 and the arm turntable 132, the position of the first motor 171 can be set more flexibly to a certain extent, further realizing the miniaturization of the input device 10.

[0113] Of course, in one implementation scenario of another embodiment, the radius of the input portion 1722a of the first scaling member 1722 may also be equal to the radius of the output shaft 1712, and the radius of the output portion 1722b may be smaller than the radius of the arm turntable 132.

[0114] In another implementation scenario of other embodiments, the radius of the input portion 1722a of the first scaling member 1722 is greater than the radius of the output shaft 1712, and the radius of the output portion 1722b is equal to the radius of the arm turntable 132.

[0115] Please see Figure 10B , Figure 10B yes Figure 8A The diagram shows a structural schematic of another embodiment of the structure shown.

[0116] In other embodiments, the first transmission mechanism may also include only the first transmission member 1721, meaning the first transmission mechanism 172 may not include the first scaling member 1722 and the second transmission member 1723. The first transmission member 1721 is connected between the arm turntable 132 and the output shaft 1712 of the first motor 171, i.e., the arm turntable 132 and the output shaft 1712 are rotatably connected via the first transmission member 1721, which may be, for example, a steel wire rope. The manner in which the first transmission member 1721 is rotatably connected to the arm turntable 132 and the output shaft 1712 is similar to... Figure 8A The first transmission component 1721 is rotatably connected between the output shaft and the input section in the same way, and will not be described again.

[0117] The radius of the arm turntable 132 is larger than the radius of the output shaft 1712 of the first motor 171. By limiting the radius of the arm turntable 132 to be larger than the radius of the output shaft 1712, speed reduction is achieved. Therefore, compared to the scheme where the output shaft 1712 of the first motor 171 is directly fixedly connected to the arm turntable 132, this scheme can achieve the rotation of the arm turntable 132 using a smaller motor, which is beneficial for miniaturizing the input device 10. Of course, in other embodiments, the output shaft 1712 and the arm turntable 132 can also be rotatably connected by a transmission belt or gears.

[0118] In other embodiments, the output shaft of the first motor may also be directly fixedly connected to the first arm.

[0119] The first sensor is coupled to the arm turntable 132 and is used to sense the position change of the first arm 13 rotating about the second axis A2. In some embodiments, the first sensor is a rotation sensor, such as a single-turn absolute encoder, a multi-turn absolute encoder, or other sensors that measure rotation.

[0120] Please see Figure 4 The input device 10 may also include a transmission turntable 181 and a transmission arm 182. The transmission turntable 181 is rotatably connected to the base 12, and the transmission arm 182 is rotatably connected between the transmission turntable 181 and the second arm 14. The rotation of the transmission turntable 181 drives the transmission arm 182 to move, thereby driving the second arm 14 to rotate relative to the first arm 13.

[0121] For example, the transmission turntable 181 is rotatably connected to one side of the fixed shaft 126 that passes through the second mounting plate 124. The transmission turntable 181, transmission arm 182, first arm 13, and second arm 14 form a parallelogram mechanism. It can be understood that in this embodiment, the transmission turntable 181 and arm turntable 132 are respectively located on opposite sides of the base 12, ensuring the force balance of the base 12.

[0122] Of course, in other embodiments, the input device 10 may not be provided with a transmission turntable 181 and a transmission arm 182. The input device 10 may drive the second arm 14 to rotate relative to the first arm 13 through a driving mechanism such as a steel wire.

[0123] Please see Figure 11 , Figure 11 yes Figure 5 The diagram shows the structure from another angle.

[0124] Input device 10 may further include a second drive unit 19, which drives the transmission turntable 181 relative to the base 12 around a second axis A2. Figure 4 The rotation of the first arm 13 causes the transmission arm 182 to move linearly, thereby driving the second arm 14 to rotate relative to the first arm 13 around the third axis A3. Figure 3 Rotate.

[0125] In some embodiments, the second drive unit 19 may include a second motor 191. Figure 12 The second motor 191 has a second transmission mechanism 192 and a second sensor. The output shaft 1912 of the second motor 191 is rotatably connected to the transmission turntable 181 via the second transmission mechanism 192. The second motor 191 drives the transmission turntable 181 to rotate via the second transmission mechanism 192, thereby driving the second arm 14 to rotate. Alternatively, in other embodiments, the output shaft 1912 of the second motor 191 can also be rotatably connected to the second arm 14 via the second transmission mechanism 192. The second sensor is used to sense changes in the position of the second arm 14.

[0126] In this embodiment, a second transmission mechanism 192 is set between the second motor 191 and the transmission turntable 181. The speed reduction is achieved through the second transmission mechanism 192. Compared with the scheme in which the output shaft 1912 of the second motor 191 is directly fixedly connected to the transmission turntable 181, this scheme can achieve the rotation of the transmission turntable 181 using a smaller motor, thereby reducing the overall size of the input device 10 and realizing the miniaturization of the input device 10.

[0127] Meanwhile, the rotational connection between the output shaft 1912 of the second motor 191 and the transmission turntable 181 via the second transmission mechanism 192 can make the position of the second motor 191 more flexible to a certain extent, and further realize the miniaturization of the input device 10.

[0128] Please see Figure 11 , Figure 12 and Figure 13 , Figure 12 yes Figure 11 A cross-sectional view of the structure shown from another angle; Figure 13 yes Figure 12 A magnified schematic diagram of region II of the structure shown.

[0129] The second motor 191 is mounted on the base 12. The second motor 191 may include a motor body 1911 and an output shaft 1912 connected to the motor body 1911. The motor body 1911 of the second motor 191 is mounted on the second mounting plate 124. The output shaft 1912 of the second motor 191 is spaced apart from the transmission turntable 181. The end of the second motor 191 near the first mounting plate 123 (i.e., the end away from the output shaft 1912) passes through the first mounting plate 123. Thus, the second motor 191 overlaps with the first mounting plate 123 and the second mounting plate 124 and the space between them in the length direction, which is beneficial for achieving lateral miniaturization of the input device 10.

[0130] Of course, in other embodiments, the motor body 1911 of the second motor 191 may also be mounted on the second mounting plate 124 but not through the first mounting plate 123.

[0131] In this embodiment, the second motor 191 and the first motor 171 are both arranged parallel to each other, passing through the first mounting plate 123 and the second mounting plate 124. For example, the extension lines of the first motor 171 and the second motor 191 in the longitudinal direction are both parallel to the rotation axis of the arm turntable 132. Compared with arranging the first motor 171 and the second motor 191 side by side and spaced apart in their axial direction, the lateral size of the input device 10 is greatly reduced, which is beneficial to the miniaturization of the input device 10.

[0132] In some embodiments, the second mounting plate 124 may include a second fixing groove 1244 and a second clearance hole 1245. The second clearance hole 1245 is located in the middle of the bottom wall of the second fixing groove 1244 and penetrates the bottom wall of the second fixing groove 1244 and the surface of the second mounting plate 124 away from the first mounting. The first mounting plate 123 may include a second through hole 1235. The motor body 1911 is mounted in the second fixing groove 1244 through the second through hole 1235. The output shaft 1912 of the second motor 191 passes through the second mounting plate 124 through the second clearance hole 1245 and is spaced apart from the transmission turntable 181. Of course, in other embodiments, the way the second motor 191 is mounted on the second mounting plate 124 is limited to the above description.

[0133] In this embodiment, the second mounting plate 124 may be provided with a second fixing member 128. The output shaft 1912 of the second motor 191, away from the motor body 1911, is rotatably connected to the second fixing member 128, which ensures that the second motor 191 is stably installed on the base 12 and that the output shaft 1912 outputs more smoothly when rotating.

[0134] like Figure 11 The second transmission mechanism 192 may include a third transmission member 1921, a second scaling member 1922, and a fourth transmission member 1923. The third transmission member 1921 is rotatably connected between the output shaft 1912 and the input portion 1922a of the second scaling member 1922, and the fourth transmission member 1923 is connected between the output portion 1922b of the second scaling member 1922 and the transmission turntable 181.

[0135] The specific structure of the second scaling component 1922 in this embodiment is the same as that of the main scaling component 162, and will not be described again. The second scaling component 1922 is mounted on the second mounting plate 124 and is located between the second motor 191 and the transmission turntable 181.

[0136] In this embodiment, both the third transmission component 1921 and the fourth transmission component 1923 are drive ropes. The drive rope can be, for example, a steel wire rope. Steel wire ropes have advantages such as a large load-bearing safety factor, safe and reliable use, high tensile strength, fatigue strength and impact toughness, wear resistance, shock resistance and good operational stability.

[0137] It should be noted that the drive rope configuration of the third transmission component 1921 and the fourth transmission component 1923 can be referenced from that of the first and second transmission components, and will not be repeated here.

[0138] Of course, in other embodiments, the output shaft 1912 and the input section 1922a can also be rotatably connected by a drive belt or gears. Similarly, the output section 1922b and the drive turntable 181 can also be rotatably connected by a drive belt or gears.

[0139] In this embodiment, the radius of the input part 1922a of the second scaling member 1922 is greater than the radius of the output shaft 1912 to achieve the first stage of deceleration, and the radius of the transmission turntable 181 is greater than the radius of the output part 1922b of the second scaling member 1922 to achieve the second stage of deceleration.

[0140] In other words, by limiting the radius of the input section 1922a to be larger than the radius of the output shaft 1912, and limiting the radius of the transmission turntable 181 to be larger than the radius of the output section 1922b, a two-stage speed reduction is achieved. Therefore, compared to the scheme where the output shaft 1912 of the second motor 191 is directly fixedly connected to the transmission turntable 181, this scheme uses a smaller motor to achieve the rotation of the transmission turntable 181, reducing the overall size of the input device 10 and achieving miniaturization. Simultaneously, by using a scaling element to connect the motor output shaft 1912 to the transmission turntable 181, the placement of the second motor 191 becomes more flexible, further contributing to the miniaturization of the input device 10.

[0141] Of course, in one implementation scenario of another embodiment, the radius of the input portion 1922a of the second scaling member 1922 may also be equal to the radius of the output shaft 1912, and the radius of the output portion 1922b may be smaller than the radius of the transmission turntable 181.

[0142] In another implementation scenario of other embodiments, the radius of the input portion 1922a of the second scaling member 1922 is greater than the radius of the output shaft 1912, and the radius of the output portion 1922b is equal to the radius of the transmission turntable 181.

[0143] In other embodiments, the second transmission mechanism 192 may also include only the third transmission member 1921, that is, the second transmission mechanism 192 may not include the second scaling member 1922 and the fourth transmission member 1923. The third transmission member 1921 is connected between the transmission turntable 181 and the output shaft 1912 of the second motor 191, that is, the transmission turntable 181 and the output shaft 1912 are rotatably connected through the third transmission member 1921, which is, for example, a steel wire rope.

[0144] The radius of the transmission turntable 181 is larger than the radius of the output shaft 1912 of the second motor 191. By limiting the radius of the transmission turntable 181 to be larger than the radius of the output shaft 1912, speed reduction is achieved. Therefore, compared to the scheme where the output shaft 1912 of the second motor 191 is directly fixedly connected to the transmission turntable 181, this scheme can achieve the rotation of the transmission turntable 181 using a smaller motor, which is beneficial for miniaturizing the input device 10. Of course, in other embodiments, the output shaft 1912 and the transmission turntable 181 can also be rotatably connected by a transmission belt or gears.

[0145] In other embodiments, the output shaft of the second motor can also be directly fixedly connected to the transmission turntable.

[0146] The second sensor is coupled to the drive turntable 181 and is used to sense the position change of the second arm 14 rotating about the third axis A3. In some embodiments, the second sensor is a rotation sensor, such as a single-turn absolute encoder, a multi-turn absolute encoder, or other sensors that measure rotation.

[0147] Please refer to the following: Figure 8A The input device 10 may further include a first gravity compensation mechanism 20, which is connected between the base 12 and the first arm 13 to generate a torque that balances the gravitational torque of the parallelogram mechanism in a first degree of freedom of rotation about the second axis A2. In some embodiments, the first gravity compensation mechanism 20 may include a first rotation mechanism 21 and a first elastic mechanism 22. The first rotation mechanism 21 may include a plurality of rotating parts distributed on the first mounting plate 123 of the base 12 and the first arm 13.

[0148] For ease of understanding, the first rotating mechanism 21 may include a first rotating portion and a second rotating portion. For example, the first rotating portion is disposed on the first mounting plate 123, and the second rotating portion is disposed on the arm turntable 132 of the first arm 13. The first elastic mechanism 22 is coupled between the body turntable 121 of the base 12 and the first rotating mechanism 21 to generate a torque in the first degree of freedom that balances the gravitational torque of the parallelogram mechanism, allowing the user to easily drag the input device 10 in the first degree of freedom.

[0149] In some embodiments, the first rotating mechanism 21 may include a first rotating part 211, a second rotating part 212, a third rotating part 213, and a fourth rotating part 214. The first rotating part 211 is fixedly connected to the first mounting plate 123 via an adapter. The second rotating part 212 is coaxially arranged with the first rotating part 211 and is rotatable relative to the first rotating part 211. The third rotating part 213 and the fourth rotating part 214 are respectively rotatably connected to the first arm 13.

[0150] The rotation axis of the third rotating part 213 coincides with the second axis A2, and the rotation of the third rotating part 213 is independent of the rotation of the first arm 13 around the second axis A2. The rotation axes of the second rotating part 212 and the fourth rotating part 214 are parallel to the second axis A2, respectively. For example, the second rotating part 212, the third rotating part 213 and the fourth rotating part 214 can be disposed on the same side wall of the first mounting plate 123 and the first arm 13 to facilitate the arrangement of the first elastic mechanism 22.

[0151] The first elastic mechanism 22 may include a first elastic element 221 and a first cable 222. In some embodiments, the first elastic element 221 and the first cable 222 may be configured as follows: Specifically, the first end of the first elastic element 221 is connected to the main body turntable 121, the first end of the first cable 222 is fixedly connected to the first rotating part 211, and the second end of the first cable 222 is wound around the second rotating part 212, guided by the third rotating part 213, and then wound around the fourth rotating part 214 before being connected to the second end of the first elastic element 221.

[0152] In other embodiments, the first elastic element 221 and the first cable 222 can be configured as follows: Specifically, the first end of the first elastic element 221 is connected to the main body turntable 121, the first end of the first cable 222 is fixedly connected to the first rotating part 211, and the second end of the first cable 222 is wound around the fourth rotating part 214, guided by the third rotating part 213, and then wound around the second rotating part 212 before connecting to the second end of the first elastic element 221. Alternatively, the first end of the first elastic element 221 is connected to the main body turntable 121, the first end of the first cable 222 is fixedly connected to the first rotating part 211, and the second end of the first cable 222 is wound around the fourth rotating part 214, guided by the third rotating part 213, and then wound around the second rotating part 212 before connecting to the second end of the first elastic element 221.

[0153] The first cable 222 being guided by the third rotating part 213 may include the first cable 222 being tangentially arranged with the third rotating part 213 so as not to affect the commutation of the input device 10 around the second axis A2. In such cases... Figure 8AIn the schematic diagram shown, when the input device 10 is neutral, that is, when the input device 10 as a whole does not rotate to the left or right relative to the base 12, the first cable 222 is tangent to the left and right sides of the third rotating part 213, respectively. This structural design can provide a certain degree of compensation for the corresponding gravitational torque in the first degree of freedom by means of the first elastic element 221.

[0154] The first cable 222 described herein may include a rigid cable, which may include a cable that is not stretchable along its axial direction. The first elastic element 221 may be, for example, a spring or other elastic element.

[0155] Please see Figure 8B , Figure 8B This is a partial structural schematic diagram of the first gravity compensation mechanism in another embodiment.

[0156] In some embodiments, the first gravity compensation mechanism 20 may further include a first scaling mechanism 23, which is connected between the second end of the first cable 222 and the second end of the first elastic element 221. The first scaling mechanism 23 may include a first rotating member 231 and a second rotating member 232, which are rotatably connected. For example, both the first rotating member 231 and the second rotating member 232 are gears that mesh, and the radius of the first rotating member 231 is smaller than the radius of the second rotating member 232. The second end of the first cable 222 is connected to the first rotating member 231, and the second rotating member 232 is connected to the second end of the first elastic element 221. Because the radius of the first rotating member 231 is smaller than that of the second rotating member 232, compared to a direct connection between the second end of the first cable 222 and the second end of the first elastic element 221, the size of the first elastic element 221 can be set smaller, further miniaturizing the input device to a certain extent. Of course, in other embodiments, the first rotating member 231 and the second rotating member 232 may be other components other than gears. For example, the first rotating member 231 and the second rotating member 232 may be rotatably connected by a transmission belt, a synchronous belt, etc.

[0157] It should be noted that when the first arm 13 rotates to different positions, the torque that the parallelogram mechanism needs to compensate for in the first degree of freedom is different. However, since the gravity of each component of the parallelogram mechanism, the rotation angle of the first arm 13, the rotation angle of the transmission turntable 181 and other parameters are all determined, the torque that the first arm 13 needs to compensate for in the first degree of freedom in different positions can be calculated.

[0158] This application allows for the selection of a first elastic element 221 with a suitable elastic coefficient as needed. For example, the larger the elastic coefficient of the elastic element, the greater the torque that the gravity compensation mechanism can compensate for. Since the torque that the parallelogram mechanism needs to compensate for changes during the rotation of the first arm 13, the torque compensated by the first gravity compensation mechanism 20 will also differ when the first arm 13 rotates to different positions. However, since parameters such as the elastic coefficient of the first elastic element 221 and the distance between each rotating part are fixed, the torque compensated by the first gravity compensation mechanism 20 for the parallelogram mechanism in the first degree of freedom can be calculated when the first arm 13 is in different positions.

[0159] In this embodiment, the first drive device 17 cooperates with the first gravity compensation mechanism 20 to compensate for the gravitational torque in the first degree of freedom of the parallelogram mechanism rotating around the second axis A2. The surgical robot may also include a control device, which is configured to be coupled to components such as the first motor 171 and the first sensor of the first drive device 17 to receive, process, and send relevant commands. The control device can control the first motor 171 of the first drive device 17 to drive the first arm 13 to rotate around the second axis A2, and at the same time control the first drive device 17 to generate a torque to compensate for the gravitational torque in the first degree of freedom of the parallelogram mechanism rotating around the second axis A2.

[0160] Of course, in other embodiments, gravity compensation can also be performed solely by the first drive device 17 or the first gravity compensation mechanism 20.

[0161] The control device can be integrated into the input device 10; it can also be integrated into the main control console or the slave control device; or it can be set up independently of the main control console and the slave control device, and can be deployed locally or in the cloud. The control device can consist of one or more controllers.

[0162] It should be noted that since the torque compensated by the first gravity compensation mechanism 20 is fixed in the structural design and cannot be adjusted, the torque compensated by the first drive device 17 can be adjusted as needed. Therefore, the cooperation between the first drive device 17 and the first gravity compensation mechanism 20 can achieve accurate gravity compensation during the rotation of the parallelogram mechanism around the second axis A2, reducing the user's operational burden.

[0163] Meanwhile, compared to using only the first drive device 17 for gravity compensation, this application combines the first drive device 17 and the first gravity compensation mechanism 20, which reduces the compensation load on the first motor 171 of the first drive device 17, enabling the miniaturization of the first motor 171 and facilitating the miniaturization of the input device 10. Compared to using only the first gravity compensation mechanism 20 for gravity compensation, this application combines the first drive device 17 and the first gravity compensation mechanism 20, which improves the accuracy of gravity compensation.

[0164] In some embodiments, the compensation ratio between the first driving device 17 and the first gravity compensation mechanism 20 can be set as needed to match different application requirements. For example, the compensation ratio between the first driving device 17 and the first gravity compensation mechanism 20 can be any ratio such as 2:8, 3:7, 4:6, etc. Taking a compensation ratio of 2:8 as an example, if the parallelogram mechanism is in a certain position and the torque to be compensated in the first degree of freedom is 100 Nm, then the first driving device 17 compensates for 20 Nm, and the first gravity compensation mechanism 20 compensates for 80 Nm. The compensation ratio of the first gravity compensation mechanism 20 can be adjusted by selecting a first elastic element 221 with different elastic coefficients; the higher the elastic coefficient of the first elastic element 221, the higher the compensation ratio of the first gravity compensation mechanism 20.

[0165] In this embodiment, the ratio of the first gravity compensation mechanism 20 to the first drive device 17 is 8:2. That is, the first gravity compensation mechanism 20 compensates for most of the gravity, and the first drive device 17 compensates for a small part of the gravity. This can ensure accurate gravity compensation and reduce the load on the first motor 171 of the first drive device 17. The size of the first motor 171 can be minimized to achieve miniaturization of the input device 10 and reduce the user's operating burden.

[0166] In this embodiment, the torque that the first driving device 17 needs to compensate is equal to the torque that the first arm 13 needs to compensate at this position minus the torque compensated by the first gravity compensation mechanism 20 when the first arm 13 is at this position. This ensures that no matter where the first arm 13 rotates, the first driving device 17 and the first gravity compensation mechanism 20 can cooperate to generate the torque of gravity on the first degree of freedom of the entire parallelogram mechanism rotating around the second axis A2.

[0167] For example, the first sensor is coupled to the control device, which obtains the position change of the first arm 13 through the first sensor of the first drive device 17, so as to obtain the torque that needs to be compensated corresponding to the position of the first arm 13, so as to control the second motor 191 to cooperate with the gravity compensation mechanism to generate the torque of gravity of the parallelogram mechanism.

[0168] In some embodiments, the first gravity compensation mechanism 20 may further include a first force sensor, which is coupled to a control device. The first force sensor is used to sense the torque actually compensated by the first gravity compensation mechanism 20. The control device determines that the torque that the first drive device 17 needs to compensate is equal to the torque that the first arm 13 needs to compensate at that position - the torque that the first arm 13 actually compensates at that position.

[0169] It should be noted that after a long period of use, the first gravity compensation mechanism 20 may experience component aging, such as changes in the elastic coefficient of the first elastic element 221. As a result, the torque of the first gravity compensation mechanism 20 in compensating the parallelogram mechanism will decrease. However, if the torque that the first drive device 17 needs to compensate is still calculated at this time, the calculated torque of the first drive device 17 will be less than the actual required torque, so that the parallelogram cannot be well compensated.

[0170] This embodiment monitors the actual torque that the first gravity compensation mechanism 20 needs to compensate in real time, and obtains the torque that the first drive device 17 needs to compensate based on the actual torque compensated by the first gravity compensation mechanism 20. This avoids the problem of inaccurate torque calculation of the first gravity compensation mechanism 20 due to aging, and ensures that the gravity torque of the parallelogram mechanism is accurately compensated, thereby improving the user experience.

[0171] Of course, in some embodiments, the control device may also compare the actual compensation torque of the first gravity compensation mechanism 20 obtained by the first sensor with the calculated torque of the first gravity compensation mechanism 20. If the difference between the two exceeds a predetermined value, the user will be reminded that the first gravity compensation mechanism 20 has failed or needs to be replaced.

[0172] Please refer to the following: Figure 11 The input device 10 may further include a second gravity compensation mechanism 30, which is connected between the base 12 and the transmission turntable 181 to generate a torque that balances the gravitational torque of the parallelogram mechanism in a second degree of freedom of rotation about the third axis A3. In some embodiments, the second gravity compensation mechanism 30 may include a second rotation mechanism 31 and a second elastic mechanism 32. The second rotation mechanism 31 may include a plurality of rotating parts distributed on the second mounting plate 124 of the base 12 and the transmission turntable 181.

[0173] For ease of understanding, the second rotating mechanism 31 may include a rotating portion of the first part and a rotating portion of the second part. For example, the rotating portion of the first part is disposed on the second mounting plate 124, and the rotating portion of the second part is disposed on the transmission turntable 181. The second elastic mechanism 32 is coupled between the body turntable 121 of the base 12 and the second rotating mechanism 31 to generate a torque in the second degree of freedom that balances the gravitational torque of the parallelogram mechanism, allowing the user to easily drag the input device 10 in the second degree of freedom.

[0174] The second rotating mechanism 31 may include a fifth rotating part 311, a sixth rotating part 312, and a seventh rotating part 313. For example, the fifth rotating part 311 may include a fifth pulley, the sixth rotating part 312 may include a sixth pulley, and the seventh rotating part 313 may include a seventh pulley. The fifth rotating part 311 is fixedly connected to the second mounting plate 124 via a connector, and the sixth rotating part 312 and the seventh rotating part 313 are rotatably connected to the transmission turntable 181, respectively.

[0175] The rotation axis of the sixth rotating part 312 coincides with the second axis A2, and the rotation of the sixth rotating part 312 is independent of the rotation of the first arm 13 around the second axis A2. The rotation axis of the seventh rotating part 313 is parallel to the second axis A2. The sixth rotating part 312 and the seventh rotating part 313 can also be disposed on the same side wall of the second mounting plate 124 and the transmission turntable 181.

[0176] When the input device 10 may include a first gravity compensation mechanism 20 and a second gravity compensation mechanism 30, the rotating parts in the first rotating mechanism 21 and the second rotating mechanism 31 may typically be configured on different side walls of the input device 10 to prevent inaccurate compensation torque due to mutual interference when laying elastic elements and cables.

[0177] The second elastic mechanism 32 may include a second elastic element 321 and a second cable 322. In some embodiments, the second elastic element 321 and the second cable 322 may be configured such that, specifically, the first end of the second elastic element 321 is connected to the main body turntable 121, the first end of the second cable 322 is fixedly connected to the fifth rotating part 311, and the second end of the first cable 222 is wound around the seventh rotating part 313, guided by the sixth rotating part 312, and then connected to the second end of the second elastic element 321. Alternatively, the first end of the second elastic element 321 is connected to the main body turntable 121, the first end of the second cable 322 is fixedly connected to the fifth rotating part 311, and the second end of the first cable 222 is wound around the seventh rotating part 313, guided by the sixth rotating part 312, and then connected to the second end of the second elastic element 321.

[0178] Of course, in other embodiments, the second rotating mechanism 31 may also include an eighth rotating part, which is coaxially arranged with the fifth rotating part 311 and is rotatable relative to the fifth rotating part 311. The second end of the second cable 322 finally passes around the eighth rotating part and is connected to the second end of the second elastic element 321.

[0179] The second cable 322 being guided by the sixth rotating part 312 may include the second cable 322 being tangentially arranged with the sixth rotating part 312, or the second cable 322 being arranged around the sixth rotating part 312. This structural design can provide a certain degree of compensation for the corresponding gravitational torque in the third degree of freedom by means of the second elastic element 321.

[0180] In this embodiment, the input device 10 may include both a first gravity compensation mechanism 20 and a second gravity compensation mechanism 30. These two gravity compensation mechanisms can compensate for the corresponding gravitational torque in the two degrees of freedom corresponding to the parallelogram mechanism, allowing the user to easily drag the input device 10 in both degrees of freedom. Of course, in other embodiments, the input device 10 may include only the first gravity compensation mechanism 20 or the second gravity compensation mechanism 30, or it may not include either gravity compensation mechanism.

[0181] The second cable 322 described herein may include a rigid cable, which may include a cable that is not stretchable along its axial direction. The second elastic element 321 may be, for example, a spring or other elastic element.

[0182] In some embodiments, the second gravity compensation mechanism may further include a second scaling mechanism, the structure of which is substantially the same as that of the first scaling mechanism, and will not be described in detail here. The second scaling mechanism is connected between the second end of the second cable and the second end of the second elastic element. Compared to a direct connection between the second end of the second cable and the second end of the second elastic element, the size of the second elastic element can be set to be smaller, which can achieve miniaturization of the input device to a certain extent.

[0183] It should be noted that when the transmission turntable 181 rotates to different positions, the torque that the parallelogram mechanism needs to compensate for in the second degree of freedom is different. However, since the gravity of each component of the parallelogram mechanism, the rotation angle of the first arm 13, the rotation angle of the transmission turntable 181 and other parameters are all determined, the torque that the transmission turntable 181 needs to compensate for in the second degree of freedom when it is in different positions can be calculated.

[0184] This application allows for the selection of a second elastic element 321 with a suitable elastic coefficient as needed. Since the elastic coefficient of the second elastic element 321 and the setting distance of each rotating part are all determined, the torque compensated by the second gravity compensation mechanism 30 to the parallelogram mechanism in the second degree of freedom can be calculated when the transmission turntable 181 is located in different positions.

[0185] In this embodiment, the second drive device 19 cooperates with the second gravity compensation mechanism 30 to compensate for the gravitational torque on the second degree of freedom of the parallelogram mechanism. The control device is also configured to be coupled to components such as the second motor 191 and the second sensor of the second drive device 19 to receive, process, and send relevant commands. The control device can control the second motor 191 of the second drive device 19 to drive the transmission turntable 181 to rotate around the second axis A2, thereby driving the second arm 14 to rotate along the third axis A3, and at the same time control the second drive device 19 to generate a torque to compensate for the gravitational torque on the second degree of freedom of the parallelogram mechanism as a whole rotating around the third axis A3.

[0186] The way and effect of the second drive device 19 and the second gravity compensation mechanism 30 in compensating for gravity torque are roughly the same as the way and effect of the first drive device 17 and the first gravity compensation mechanism 20 in compensating for gravity torque, and will not be described again.

[0187] In some embodiments, the second gravity compensation mechanism 30 may further include a second force sensor, which is coupled to a control device. The second force sensor is used to sense the torque actually compensated by the second gravity compensation mechanism 30. The control device determines that the torque that the second drive device 19 needs to compensate is equal to the torque that the first arm 13 needs to compensate at that position minus the torque that the first arm 13 actually compensates at that position.

[0188] It should be noted that after prolonged use, the second gravity compensation mechanism 30 may experience component aging, such as changes in the elastic coefficient of the first elastic element 221. As a result, the torque of the second gravity compensation mechanism 30 in compensating the parallelogram mechanism will decrease. However, if the torque that the second drive device 19 needs to compensate is calculated at this time, the calculated torque that the second drive device 19 needs to compensate is less than the actual torque that needs to be compensated, so that the parallelogram cannot be properly compensated.

[0189] This embodiment monitors the actual compensation torque of the second gravity compensation mechanism 30 in real time, and obtains the torque that the second drive device 19 needs to compensate based on the actual compensation torque of the second gravity compensation mechanism 30, thereby ensuring that the gravity torque of the parallelogram mechanism is accurately compensated and improving the user experience.

[0190] Of course, in some embodiments, the control device may also compare the actual torque compensated by the second gravity compensation mechanism 30 obtained by the second sensor with the calculated torque compensated by the second gravity compensation mechanism 30. If the difference between the two exceeds a predetermined value, the user will be reminded that the second gravity compensation mechanism 30 has failed or needs to be replaced.

[0191] Please see Figure 14 , Figure 14 This is a flowchart illustrating a control method for an input device 10, which is executed by a control device to control the aforementioned input device 10.

[0192] The control method for input device 10 may include the following steps:

[0193] S110: In response to the first arm 13 moving to the first position, determine the first torque that needs to be compensated when the first arm 13 is in the first position.

[0194] In some implementations, combined with Figure 4 The first arm 13 is equipped with a first sensor for sensing position changes of the first arm 13 rotating about the second axis A2. When the first arm 13 moves to a first position, the first sensor sends the first position information of the first arm 13 to the control device, or the control device obtains the first position information of the first arm 13 from the first sensor. In response to the first position information, the control device determines a first torque that needs to be compensated when the first arm 13 is in the first position. Of course, in other embodiments, the position change of the first arm 13 can also be input through other input devices, and the control device determines the first torque by obtaining the first position information input by the input device.

[0195] It should be noted that the first position is any position reached after the first arm moves.

[0196] In some implementations, the control device determines a first torque M that needs to be compensated when the first arm 13 is in the first position. AT The specific method is as follows:

[0197] M AT =(G1*L1+G3*L3+G4*L4)*sinθ1+M x1

[0198] Wherein, G1 is the weight of the transmission turntable 181, G3 is the weight of the transmission arm 182, and G4 is the weight of the second arm 14. θ1 may include the angle of rotation of the parallelogram mechanism as a whole around the base 12, that is, θ1 is related to the first degree of freedom; wherein, the first degree of freedom and the second degree of freedom are relatively independent. L1 is the distance between the center of gravity of the first arm 13 and the end of the first arm 13 connected to the first mounting plate 123, L3 is the distance between the end of the first arm 13 connected to the second arm 14 and the center of gravity of the transmission arm 182, and L4 is the distance between the end of the transmission arm 182 connected to the transmission turntable 181 and the end of the transmission turntable 181 connected to the second mounting plate 124. M x1 The gravitational moment of the operating component 15 mounted on the second arm 14 in the first degree of freedom. Since the operating component 15 is located in different positions, its corresponding M... x1 The values ​​are different, but M x1 The specific value can be calculated.

[0199] Among them, due to (G1*L1+G3*L3+G4*L4) and M x1 Since all quantities are known, the gravitational torque of the parallelogram mechanism in the first degree of freedom is a sine function of the variable θ1. The variable θ1 is related to the change in the gravitational torque of the parallelogram mechanism in the first degree of freedom (i.e., the degree of freedom of rotation of the parallelogram mechanism as a whole relative to the base 12). The first position information of the first arm 13, i.e., θ1, can be obtained through the first sensor. Substituting θ1 sensed by the first sensor into the above formula yields the first torque that needs to be compensated when the first arm 13 is in the first position. Of course, the first torque M that needs to be compensated when the first arm 13 is in any position... AT It can also be calculated and stored in advance. When the first sensor senses θ1, the corresponding first torque is found in the stored data.

[0200] Of course, if the input device 10 can only include the base 12, the first arm 13, the first motor 171, the first sensor, and the first gravity compensation mechanism 20, the first position of the first arm 13 can be obtained through the first sensor, and the first torque that needs to be compensated when the first arm 13 is in the first position can be calculated based on the information of the first position.

[0201] S120: Based on the first torque and the first sub-torque that the first gravity compensation mechanism 20 can compensate, determine the second sub-torque that the first motor 171 needs to compensate.

[0202] In some embodiments, combined with Figure 8ABefore determining the second sub-torque that the first motor 171 needs to compensate based on the first torque and the ability of the first gravity compensation mechanism 20 to compensate for the first sub-torque, the control method may further include acquiring the first sub-torque that the first gravity compensation mechanism 20 can compensate for in the first position. For example, the control device, in response to first position information, determines the first sub-torque that the first gravity compensation mechanism 20 can compensate for when it is in the first position.

[0203] In some embodiments, the control device determines that the first sub-torque M can be compensated when the first gravity compensation mechanism 20 is in the first position. A1 The specific method is as follows:

[0204] M A1 =k1*a1*b1*sinθ1

[0205] Wherein, k1 represents the elastic coefficient of the first elastic element 221, a1 represents the distance between the rotation axis of the fourth rotating part 214 and the rotation axis of the third rotating part 213, and b1 represents the distance between the rotation axis of the third rotating part 213 and the rotation axis of the second rotating part 212.

[0206] Since k1*a1*b1 are known quantities, the first sub-torque that the first gravity compensation mechanism 20 can compensate for is a sine function of the variable θ1. The first position information of the first arm 13, θ1, can be obtained through the first sensor. Substituting θ1 sensed by the first sensor into the above formula yields the first sub-torque that the first gravity compensation mechanism 20 can compensate for when it is in the first position. Of course, the first sub-torque that the first gravity compensation mechanism 20 can compensate for when the first arm 13 is in any position can also be pre-calculated and stored. When θ1 sensed by the first sensor is obtained, the corresponding first sub-torque for θ1 can be found in the stored data.

[0207] In this embodiment, by substituting the first torque and the first sub-torque that the first gravity compensation mechanism 20 can compensate into the following formula, the second sub-torque M that the first motor 171 needs to compensate can be obtained. A2 The formula is:

[0208] M A2 =M AT -M A1 .

[0209] Of course, in other embodiments, the second sub-torque that the first motor 171 needs to compensate can also be determined based on the compensation ratio between the first gravity compensation mechanism 20 and the first motor 171. For example, if the compensation ratio between the first gravity compensation mechanism 20 and the first motor 171 is 8:2, then the second sub-torque that the first motor 171 needs to compensate is 1 / 5M. ATIt should be noted that the compensation ratio between the first gravity compensation mechanism 20 and the first motor 171 can be set during the structural design of the input device 10. For example, the first sub-torque compensated by the first gravity compensation mechanism 20 is set to 80% of the first torque. When setting the components of the first gravity compensation mechanism 20, the setting parameters of each component or between components are comprehensively considered so that k1*a1*b1*sinθ1=0.8*M AT That's all.

[0210] In some embodiments, since the first arm and the first motor are rotatably connected, the first motor will rotate accordingly as the parallelogram mechanism is dragged by the operator in the first degree of freedom. During rotation, the first motor outputs different currents due to varying forces. The control device can obtain the torque that the first motor should compensate by acquiring the output current of the first motor. For example, the parallelogram mechanism can be arbitrarily dragged to obtain the current changes of the first motor when the first arm is in different positions. The torque that the first motor needs to compensate at different positions can be obtained through these current changes. Then, when the first arm moves to the corresponding position, the first motor is driven to compensate for the corresponding torque.

[0211] In other embodiments, the first gravity compensation mechanism 20 may further include a first force sensor, which is coupled to a control device. The first force sensor is used to sense the first sub-torque actually compensated by the first gravity compensation mechanism 20. The control device determines that the second sub-torque that the first drive device 17 needs to compensate is equal to the first torque that the first arm 13 needs to compensate at that position minus the first sub-torque that the first arm 13 actually compensates at that position.

[0212] This embodiment monitors the first sub-torque actually compensated by the first gravity compensation mechanism 20 in real time, and obtains the second sub-torque that the first drive device 17 needs to compensate based on the first sub-torque actually compensated by the first gravity compensation mechanism 20. This avoids the problem of inaccurate calculation of the first sub-torque due to the aging of the first gravity compensation mechanism 20, and ensures that the gravity torque of the parallelogram mechanism in the first degree of freedom is accurately compensated, thereby improving the user experience.

[0213] Of course, the first motor can also periodically identify whether the force compensated by the first gravity compensation mechanism changes at different positions, and periodically correct the first sub-torque of the first gravity compensation mechanism to ensure that the gravitational torque of the quadrilateral mechanism in the first degree of freedom is accurately compensated, thereby improving the user experience. S130: Drive the first motor 171 to output the second sub-torque.

[0214] In some embodiments, after the control device obtains the second sub-torque that the first motor 171 needs to output, it controls the first motor 171 to output the second sub-torque, so that the first motor 171 and the first gravity compensation mechanism 20 can cooperate to ensure that the gravity of the first arm 13 can be compensated during the rotation of the first arm 13 around the second axis A2 (first degree of freedom).

[0215] Since the first sub-torque compensated by the first gravity compensation mechanism 20 is determined during the structural design, it cannot be flexibly adjusted during use. However, the second sub-torque compensated by the first drive device 17 can be adjusted as needed. Therefore, the first drive device 17 and the first gravity compensation mechanism 20 can work together to achieve accurate compensation of gravity in the first degree of freedom of the parallelogram mechanism, reducing the user's operational burden.

[0216] In some embodiments, the control method of the input device 10 may further include the control device comparing the first sub-torque actually compensated by the first gravity compensation mechanism 20 obtained by the first sensor with the first sub-torque that the first gravity compensation mechanism 20 can compensate. If the difference between the two exceeds a predetermined value, the user is reminded that the first gravity compensation mechanism 20 has failed or needs to be replaced.

[0217] Please see Figure 15 , Figure 15 This is another flowchart illustrating a control method for an input device 10, which is executed by a control device to control the aforementioned input device 10.

[0218] The control method for input device 10 may include the following steps:

[0219] S210: In response to the first arm 13 moving to the first position, determine the first torque that needs to be compensated when the first arm 13 is in the first position.

[0220] S220: Based on the fact that the first torque and the first gravity compensation mechanism 20 can compensate for the first sub-torque, determine the second sub-torque that the first motor 171 needs to compensate.

[0221] S230: Drives the first motor 171 to output the second sub-torque.

[0222] It should be noted that the specific content of step S210 is roughly the same as that of step S110, and will not be repeated here; the specific content of step S220 is roughly the same as that of step S120, and will not be repeated here; the specific content of step S230 is roughly the same as that of step S130, and will not be repeated here.

[0223] S240: In response to the transmission turntable 181 moving to the second position, determine the second torque that needs to be compensated when the transmission turntable 181 is in the second position.

[0224] In some implementations, combined with Figure 4The transmission turntable 181 is equipped with a sensor for sensing position changes of the transmission turntable 181 rotating around the second axis A2. When the transmission turntable 181 moves to the second position, the second sensor sends the second position information of the transmission turntable 181 to the control device, or the control device obtains the second position information of the transmission turntable 181 from the second sensor. In response to the second position information, the control device determines the first torque that needs to be compensated when the transmission turntable 181 is in the second position. Of course, in other embodiments, the position change of the transmission turntable 181 can also be input through other input devices, and the control device determines the second torque by obtaining the second position information input by the input device.

[0225] It should be noted that the second position is any position reached after the transmission turntable has moved.

[0226] In some implementations, the control device determines that a second torque M needs to be compensated when the transmission turntable 181 is in the second position. BT The specific method is as follows:

[0227] M BT =(G2*L2'+G3*L3'+G4*L4')*sinθ2+M x2

[0228] Wherein, G2 is the weight of the first arm 13, G3 is the weight of the transmission arm 182, and G4 is the weight of the second arm 14. θ2 can include the rotation angle between two adjacent links in the parallelogram mechanism, that is, θ2 is related to the second degree of freedom, where the first and second degrees of freedom are relatively independent. L2' is the distance between the center of gravity of the transmission turntable 181 and the end of the transmission turntable 181 connected to the second mounting plate 124, L3' is the distance between the end of the first arm 13 connected to the second arm 14 and the end of the first arm 13 connected to the first mounting plate 123, and L4' is the distance between the end of the transmission arm 182 connected to the transmission turntable 181 and the center of gravity of the second arm 14. M x2 The gravitational moment of the operating component 15 mounted on the second arm 14 in the second degree of freedom. Since the operating component 15 is located in different positions, its corresponding M... x2 The values ​​are different, but M x2 The specific value can be calculated.

[0229] Among them, due to (G2*L2'+G3*L3'+G4*L4') and M x2Since all quantities are known, the gravitational torque of the parallelogram mechanism in the second degree of freedom is a sine function of the variable θ2. The variable θ2 is related to the change in the gravitational torque of the parallelogram mechanism in the second degree of freedom (i.e., the degree of freedom of relative rotation between the internal links in the parallelogram mechanism). The second position information of the transmission turntable 181, i.e., θ2, can be obtained through the second sensor. Substituting θ2 sensed by the second sensor into the above formula yields the second torque that needs to be compensated when the transmission turntable 181 is in the second position. Of course, the second torque that needs to be compensated when the transmission turntable 181 is in any position can also be calculated and stored in advance. When θ2 sensed by the second sensor is obtained, the corresponding second torque for θ2 can be found in the stored data.

[0230] S250: Based on the second torque and the third sub-torque that the second gravity compensation mechanism 30 can compensate, it is determined that the second motor 191 needs to compensate for the fourth sub-torque.

[0231] In some embodiments, combined with Figure 11 Before determining the fourth sub-torque based on the second torque and the third sub-torque, the control method may further include acquiring the third sub-torque that the second gravity compensation mechanism 30 can compensate when in the second position. For example, the control device, in response to the second position information, determines the third sub-torque that the second gravity compensation mechanism 30 can compensate when in the second position.

[0232] In some embodiments, the control device determines the third sub-torque M that can be compensated when the second gravity compensation mechanism 30 is in the second position. B1 The specific method is as follows, obtained from the formula:

[0233] M B1 =k2*a2*b2*sinθ2

[0234] Wherein, k2 represents the elastic coefficient of the second elastic element 321, a2 represents the distance from the rotation axis of the seventh rotating part 313 to the second axis A2, and b2 represents the distance from the rotation axis of the sixth rotating part 312 to the rotation axis of the fifth rotating part 311.

[0235] Since k2*a2*b2 are known quantities, the third sub-torque of the second gravity compensation mechanism 30 is a sine function of the variable θ2. The second position information of the transmission turntable 181, i.e., θ2, can be obtained through the second sensor. Substituting θ2 sensed by the second sensor into the above formula yields the third sub-torque that the second gravity compensation mechanism 30 can compensate for when it is in the second position. Of course, the third sub-torque compensated by the second gravity compensation mechanism 30 can also be pre-calculated and stored for any position of the transmission turntable 181. When θ2 sensed by the second sensor is obtained, the corresponding third sub-torque for θ2 can be found in the stored data.

[0236] In this embodiment, by substituting the second torque and the third sub-torque into the following formula, the fourth sub-torque M to be compensated for by the second motor 191 can be obtained. B2 The formula is:

[0237] M B2 =M BT -M B1 .

[0238] Of course, in other embodiments, the fourth sub-torque that the second motor 191 needs to compensate can also be determined based on the compensation ratio between the second gravity compensation mechanism 30 and the second motor 191. For example, if the compensation ratio between the second gravity compensation mechanism 30 and the second motor 191 is 8:2, then the fourth sub-torque that the second motor 191 needs to compensate is 1 / 5M. BT It should be noted that the compensation ratio between the second gravity compensation mechanism 30 and the second motor 191 can be set during the structural design of the input device 10. For example, the third sub-torque compensated by the second gravity compensation mechanism 30 is set to 80% of the first torque. When setting the components of the second gravity compensation mechanism 30, the setting parameters of each component or between components are comprehensively considered so that k2*a2*b2*sinθ2=0.8*M BT That's all.

[0239] In some embodiments, since the transmission turntable and the second motor are rotatably connected, the second motor will also rotate accordingly when the parallelogram mechanism is dragged by the operator in the second degree of freedom. During rotation, the second motor outputs different currents due to varying forces. The control device can determine the torque that the second motor should compensate by acquiring the output current of the second motor. For example, the parallelogram mechanism can be arbitrarily dragged to obtain the current changes of the second motor when the transmission turntable is in different positions. The torque that the second motor needs to compensate at different positions can be obtained through these current changes. Then, when the transmission turntable moves to the corresponding position, the second motor is driven to compensate for the corresponding torque.

[0240] In other embodiments, the second gravity compensation mechanism 30 may further include a second force sensor coupled to a control device. The second force sensor is used to sense the third sub-torque actually compensated by the second gravity compensation mechanism 30. The control device determines that the fourth sub-torque that the second drive device 19 needs to compensate is equal to the second torque that the second arm 14 needs to compensate at that position minus the third sub-torque actually compensated by the second gravity compensation mechanism 30 at that position. This embodiment avoids the problem of inaccurate calculation of the third sub-torque due to aging of the second gravity compensation mechanism 30 by monitoring the third sub-torque actually compensated by the second gravity compensation mechanism 30 in real time, and obtains the fourth sub-torque that the second drive device 19 needs to compensate from the third sub-torque actually compensated by the second gravity compensation mechanism 30, thus ensuring that the gravity torque of the parallelogram mechanism in the second degree of freedom is accurately compensated, and improving the user experience.

[0241] Of course, the second motor can also periodically identify whether the force compensated by the second gravity compensation mechanism changes at different positions, and periodically correct the third sub-torque of the second gravity compensation mechanism to ensure that the gravitational torque of the quadrilateral mechanism in the second degree of freedom is accurately compensated, thereby improving the user experience.

[0242] S260: Drives the second motor 191 to output the fourth sub-torque.

[0243] In some embodiments, after the control device obtains the fourth sub-torque that the second motor 191 needs to output, it controls the second motor 191 to output the fourth sub-torque, so that the gravity in the second degree of freedom can be compensated during the rotation of the transmission shaft around the second axis A2 by the cooperation of the second motor 191 and the second gravity compensation mechanism 30.

[0244] Since the third sub-torque compensated by the second gravity compensation mechanism 30 is determined during the structural design, it cannot be flexibly adjusted during use. However, the fourth sub-torque compensated by the second drive device 19 can be adjusted as needed. Therefore, the second drive device 19 and the second gravity compensation mechanism 30 can work together to achieve accurate compensation of gravity in the second degree of freedom of the parallelogram mechanism, reducing the user's operational burden.

[0245] The control method of this application achieves gravity compensation for the parallelogram mechanism in the first degree of freedom by controlling the first drive device 17 in conjunction with the first gravity compensation mechanism 20, and achieves gravity compensation for the parallelogram mechanism in the second degree of freedom by controlling the second drive device 19 in conjunction with the second gravity compensation mechanism 30. This ensures the miniaturization of the input device 10, improves the operational flexibility of the input device 10, and allows the user to easily drag the input device 10 in both degrees of freedom.

[0246] In some embodiments, the control method of the input device 10 may further include the control device comparing the third sub-torque actually compensated by the second gravity compensation mechanism 30 obtained by the second sensor with the calculated third sub-torque that the second gravity compensation mechanism 30 can compensate. If the difference between the two exceeds a predetermined value, the user is reminded that the second gravity compensation mechanism 30 has failed or needs to be replaced.

[0247] The above are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, may be included within the patent protection scope of the present invention.

Claims

1. An input device, characterized in that, The device includes a base, a first arm, a second arm, a first motor, a first transmission mechanism, a first gravity compensation mechanism, and an operating component. The base, the first arm, the second arm, and the operating component are rotatably connected in sequence. The operating component is configured to receive operations from an operator. The rotation of the first arm and the second arm provides the operating component with at least two degrees of freedom of movement. The first motor is mounted on the base. The first arm includes an arm turntable. The arm turntable is rotatably connected to the output shaft of the first motor through the first transmission mechanism. The rotation of the output shaft drives the arm turntable to rotate, causing the first arm to rotate relative to the base. The rotational speed of the output shaft is greater than the rotational speed of the arm turntable. The first gravity compensation mechanism includes multiple rotating parts, a first cable, and a first elastic element. The multiple rotating parts include a first rotating part fixedly connected to the base, a second rotating part coaxially arranged with the first rotating part and rotatable relative to the first rotating part, a third rotating part rotatably connected to the first arm and rotating around the same axis as the first arm, and a fourth rotating part rotatably connected to the first arm. The first cable is wound around the second rotating part and the fourth rotating part and guided by the third rotating part. The first end of the first cable is fixedly connected to the first rotating part, the second end of the first cable is connected to one end of the first elastic element, and the other end of the first elastic element is fixed to the base. When the input device as a whole does not rotate to the left or right relative to the base, the first cable is tangent to the left and right sides of the third rotating part, respectively.

2. The input device according to claim 1, characterized in that, The first transmission mechanism includes a first transmission member, which is connected between the arm turntable and the output shaft of the first motor. The radius of the arm turntable is larger than the radius of the output shaft of the first motor.

3. The input device according to claim 1, characterized in that, The first transmission mechanism includes a first transmission member, a first scaling member, and a second transmission member. The first transmission member is rotatably connected between the output shaft and the input part of the first scaling member. The second transmission member is connected between the output part of the first scaling member and the arm turntable. The radius of the input part is larger than the radius of the output part.

4. The input device according to any one of claims 1-3, characterized in that, The input device further includes a second motor and a second transmission mechanism. The second motor is mounted on the base, and the output shaft of the second motor is rotatably connected to the second arm through the second transmission mechanism.

5. The input device according to claim 4, characterized in that, The input device further includes a transmission turntable and a transmission arm. The transmission turntable is rotatably connected to the base, and the transmission arm is rotatably connected between the transmission turntable and the second arm. The second motor drives the transmission turntable to rotate through the second transmission mechanism. The rotation of the transmission turntable drives the transmission arm to move, thereby driving the second arm to rotate relative to the first arm.

6. The input device according to claim 5, characterized in that, The base includes a body, a first mounting plate, and a second mounting plate. The first mounting plate and the second mounting plate are both connected to the body and are arranged opposite to each other. The arm turntable and the first motor are mounted on the first mounting plate at intervals, and the transmission turntable and the second motor are mounted on the second mounting plate at intervals.

7. The input device according to claim 6, characterized in that, The second motor is arranged parallel to the first motor.

8. The input device according to claim 6 or 7, characterized in that, The end of the first motor near the second mounting plate passes through the second mounting plate.

9. The input device according to claim 7, characterized in that, The end of the second motor near the first mounting plate passes through the first mounting plate.

10. The input device according to claim 6, characterized in that, The input device further includes a fixed shaft that passes through and is fixed to the first mounting plate and the second mounting plate. The two ends of the fixed shaft are rotatably connected to the arm turntable and the transmission turntable, respectively.

11. The input device according to claim 6, characterized in that, The input device further includes a connector, a main motor, and a main transmission mechanism. The base also includes a main turntable, which is connected to the main body. The main motor is mounted on the connector, and the output shaft of the main motor is rotatably connected to the main turntable through the main transmission mechanism.

12. The input device according to claim 11, characterized in that, The extension line of the main motor in the length direction is perpendicular to the rotation axis of the arm turntable, and the extension lines of both the first motor and the second motor in the length direction are parallel to the rotation axis of the arm turntable.

13. The input device according to claim 1, characterized in that, The input device further includes a first sensor, which is used to sense the position change of the first arm so as to control the first motor to cooperate with the first gravity compensation mechanism to generate a torque that balances the gravitational torque of the first arm.

14. A surgical robot, characterized in that, The surgical robot includes the input device and control device as described in any one of claims 1-12; The control device is coupled to the first motor, and the control device is configured to: In response to the first arm moving to the first position, a first torque that needs to be compensated when the first arm is in the first position is determined; Based on the first torque and the first sub-torque that the first gravity compensation mechanism can compensate for, determine the second sub-torque that the first motor needs to compensate for. The first motor is driven to output the second sub-torque.

15. The surgical robot according to claim 14, characterized in that, The input device further includes a first sensor, which is coupled to the control device and is used to sense the position change of the first arm. The response to the first arm moving to the first position specifically includes responding to the first position information acquired by the first sensor.

16. The surgical robot according to claim 14, characterized in that, The input device further includes a first force sensor, which is coupled to the control device and is used to sense the first sub-torque actually compensated by the first gravity compensation mechanism, and to determine the second sub-torque that the first motor needs to compensate, including: The first sub-torque is obtained through the first force sensor; The second sub-torque is determined in the following manner: The second sub-torque = the first torque - the first sub-torque.

17. The surgical robot according to claim 14, characterized in that, The input device further includes determining the second sub-torque based on the compensation ratio of the first motor and the first gravity compensation mechanism.

18. A surgical robot, characterized in that, The input device includes any one of claims 1-13.

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