Foot pedal control and robot

Abstract

The application discloses a foot controller and a robot. The foot controller comprises a base, a mounting seat, a first foot pedal, first and second supporting assemblies and a first signal generator. The first foot pedal is rotatably supported on the mounting seat through the first and second supporting assemblies. In response to a first action of a foot of an operator, the first foot pedal rotates relative to the mounting seat about a second axis where the first supporting assembly is located. In response to a second action of the foot of the operator, the first foot pedal rotates relative to the mounting seat about a third axis where the second supporting assembly is located. The second axis and the third axis are arranged in parallel and spaced apart. The application reduces the probability of accidental rotation of the first foot pedal relative to the mounting seat.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a foot pedal controller and robot. Background Technology

[0002] A foot pedal controller is a switch that outputs control signals through foot movements. In surgery, doctors apply different foot movements to the foot pedal controller, causing it to output corresponding control signals, thereby controlling the medical equipment to perform different actions.

[0003] In the prior art, the pedal is rotatably mounted on the mounting base via a pivot. The operator controls the pedal's movement by foot motion to trigger a switch, thereby outputting a control signal. When the operator's foot is placed on the pedal, it is difficult to maintain balance. During non-operational periods, the pedal is prone to accidental rotation relative to the mounting base, leading to misoperation. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention aims to provide a foot pedal controller and robot that makes the pedal more stable on the mounting base and reduces the probability of the pedal accidentally rotating relative to the mounting base.

[0005] To solve the above-mentioned technical problems, this application provides a foot pedal controller, which includes a base, a mounting base, a first foot pedal, a first support component, a second support component, and a first signal generator.

[0006] The mounting base is rotatably mounted on the base about a first axis; the first foot pedal is rotatably supported on the mounting base by a first support assembly and a second support assembly; in response to a first movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a second axis where the first support assembly is located; in response to a second movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a third axis where the second support assembly is located, the second axis and the third axis being spaced apart and approximately parallel; in response to a third movement of the operator's foot, the first foot pedal and the mounting base synchronously rotate in the forward direction relative to the base about the first axis; in response to a fourth movement of the operator's foot, the first foot pedal and the mounting base synchronously rotate in the reverse direction relative to the base about the first axis; a first signal generator issues a control signal in response to the rotation of the first foot pedal.

[0007] Furthermore, in response to a first foot movement by the operator, the first foot pedal rotates relative to the mounting base about the second axis where the first support assembly is located, and the second support assembly rotates with the first foot pedal and deviates from the third axis; in response to a second foot movement by the operator, the first foot pedal rotates relative to the mounting base about the third axis where the second support assembly is located, and the first support assembly rotates with the first foot pedal and deviates from the second axis.

[0008] Further, the first support assembly includes a first support member, and the second support assembly includes a second support member, both the first and second support members being disposed on the first foot pedal; in the initial state, the first foot pedal rotatably abuts against the mounting base via the first and second support members, such that the first foot pedal is rotatably supported on the mounting base, the second axis is located on the first support member, and the third axis is located on the second support member; in response to a first movement of the operator's foot, the first foot pedal rotatably abuts against the mounting base via the first support member to rotate relative to the mounting base about the second axis, and the second support member follows the rotation of the first foot pedal and deviates from the third axis; in response to a second movement of the operator's foot, the first foot pedal rotatably abuts against the mounting base via the second support member to rotate relative to the mounting base about the third axis, and the first support member follows the rotation of the first foot pedal and deviates from the second axis.

[0009] Furthermore, the mounting base has a first groove and a second groove, the inner wall surfaces of the first groove and the second groove are both arc surfaces; the central axis of the first groove is the second axis, and the central axis of the second groove is the third axis; in the initial state, the first support member rotatably abuts against the first groove, and the second support member rotatably abuts against the second groove; in response to a first movement of the operator's foot, the first foot pedal rotatably abuts against the first groove through the first support member to rotate relative to the mounting base about the second axis; in response to a second movement of the operator's foot, the first foot pedal rotatably abuts against the second groove through the second support member to rotate relative to the mounting base about the third axis.

[0010] Furthermore, the mounting base has a first arc-shaped hole and a second arc-shaped hole, the bottom end of the first arc-shaped hole forms a first groove, and the bottom end of the second arc-shaped hole forms a second groove; the first support member and the second support member are both rods installed on the first foot pedal, and the rods are respectively inserted into the first arc-shaped hole and the second arc-shaped hole.

[0011] Furthermore, both the first support member and the second support member are protrusions extending downward from the bottom surface of the first foot pedal, and the bottom ends of the protrusions are rotatably abutting against the first groove and the second groove, respectively.

[0012] Further, the first support assembly includes a first carrier member, the second support assembly includes a second carrier member, the first foot pedal is rotatably connected to the first carrier member via a first pivot, and the first foot pedal is rotatably connected to the second carrier member via a second pivot. In the initial state, the first and second carrier members are supported on the mounting base, so that the first foot pedal is rotatably supported on the mounting base. The central axis of the first pivot is the second axis, and the central axis of the second pivot is the third axis. In response to a first movement of the operator's foot, the first foot pedal is supported on the mounting base via the first carrier member and rotates relative to the mounting base about the second axis. The first foot pedal drives the second carrier member to move, causing it to deviate from the third axis. In response to a second movement of the operator's foot, the first foot pedal is supported on the mounting base via the second carrier member and rotates relative to the mounting base about the third axis. The first foot pedal drives the first carrier member to move, causing it to deviate from the second axis.

[0013] Furthermore, the first support assembly also includes a first guide member, and the second support assembly also includes a second guide member. Both the first guide member and the second guide member extend from the bearing surface of the mounting base along an arc-shaped path; wherein the first bearing member slides in engagement with the first guide member, and the second bearing member slides in engagement with the second guide member.

[0014] Furthermore, the pedal controller also includes a first elastic element configured to apply a first elastic force to the first pedal to drive the first pedal to reset after it has rotated about a second axis or a third axis.

[0015] Furthermore, the first axis is approximately perpendicular to the tread surface of the first foot pedal in the initial state.

[0016] Furthermore, the foot pedal controller also includes a second elastic element configured to apply a second elastic force to the mounting base to drive the mounting base to reset after the mounting base rotates about the first axis.

[0017] Furthermore, the first signal generator includes a fixed part and a movable part. The fixed part is disposed on the base; the movable part is disposed on the first foot pedal. Rotation of the first foot pedal causes a change in the relative position of the fixed part and the movable part, thereby triggering the first signal generator.

[0018] Furthermore, the foot pedal controller also includes two safety switches, which are respectively set at a first predetermined position and a second predetermined position on the foot pedal surface; when both safety switches are pressed at the same time, the first signal generator is in the working state, otherwise, the first signal generator is in the non-working state.

[0019] Furthermore, the foot pedal controller also includes a second foot pedal and a second signal generator. The second foot pedal is rotatably mounted on the base about a fourth axis, and the second foot pedal is spaced apart from the first foot pedal; the second signal generator emits a control signal different from that of the first signal generator in response to the rotation of the second foot pedal.

[0020] To address the aforementioned technical problems, this application also provides a robot, which includes a robotic arm, a foot pedal controller, and a controller. The foot pedal controller is the aforementioned foot pedal controller; the controller controls the robotic arm's movement in response to a control signal emitted by a first signal generator.

[0021] Furthermore, the foot pedal controller also includes a second foot pedal and a second signal generator. The second foot pedal is rotatably mounted on the base about a fourth axis, and the second foot pedal is spaced apart from the first foot pedal; the second signal generator emits a control signal different from that of the first signal generator in response to the rotation of the second foot pedal; wherein, the controller also controls the movement of the robotic arm in response to the control signal emitted by the second signal generator.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: The first foot pedal is supported on the mounting base by two support components. In response to a first movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a second axis at one support component. In response to a second movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a third axis at the other support component. The second and third axes are spaced apart and approximately parallel. This invention employs a dual-pivot support structure, which, compared to the single-pivot support structure in the prior art, reduces the probability of the first pedal accidentally rotating relative to the mounting base. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the robot of this application; Figure 2 yes Figure 1 A top view of the robot in use of the foot pedal controller; Figure 3 yes Figure 2 AA section view in the middle; Figure 4 yes Figure 3 The magnified convexity of partial view B in the image; Figure 5 yes Figure 3 A magnified view of partial view C in the image; Figure 6 yes Figure 2 A schematic diagram showing the first foot pedal rotating around the second axis in the foot pedal controller shown. Figure 7 yes Figure 2 A schematic diagram showing the first foot pedal rotating around a third axis in the foot pedal controller shown. Figure 8 yes Figure 2 A schematic diagram showing the first foot pedal rotating in the positive direction around the first axis in the foot pedal controller shown; Figure 9 yes Figure 2 A schematic diagram showing the first foot pedal rotating in the opposite direction around the first axis in the foot pedal controller shown. Figure 10 yes Figure 2 The exploded 3D view of the foot pedal controller shown. Figure 11 yes Figure 3 DD section view in the middle; Figure 12 yes Figure 2 The diagram shows a usage scenario for the foot pedal controller. Figure 13 yes Figure 2 EE section view; Figure 14 This is a cross-sectional structural schematic diagram of the foot pedal controller in another embodiment of the robot of this application; Figure 15 yes Figure 14 An enlarged view of partial view F in the image; Figure 16 yes Figure 14 An enlarged view of the partial view G in the image; Figure 17 This is a cross-sectional structural schematic diagram of the foot pedal controller in another embodiment of the robot of this application; Figure 18 yes Figure 17 An enlarged view of partial view J in the image; Figure 19 yes Figure 17 A magnified view of partial view K in the image; Figure 20 This is a three-dimensional sectional view of the foot pedal controller shown in Figure 17; Figure 21 yes Figure 17 The figure shows a 3D exploded view of the foot pedal controller. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases.

[0026] In the following embodiments, the robot is used in the medical field, but this application is not limited to this. The robot can also be applied to the industrial production field, such as automated welding.

[0027] In the following embodiments, the foot pedal controller controls the movement of the robotic arm, but this application is not limited to this. The foot pedal controller can also be used to control other devices, such as gaming devices. Example

[0028] Please see Figure 1 , Figure 1 This is a three-dimensional structural diagram of an embodiment of the robot of this application.

[0029] The robot includes a frame 1, a robotic arm 2, a foot controller 100, and a controller 4.

[0030] The frame 1 is equipped with casters at its bottom (not shown in the figure), allowing it to be moved. The frame 1 is also equipped with handrails (not shown in the figure) for operators to push it. The robotic arm 2 is mounted on the frame 1. The frame 1 is not mandatory; the robotic arm 2 can also be fixed to the floor or wall of the operating room.

[0031] The robotic arm 2 has a drive end that can move in three-dimensional space. During surgery, surgical instruments 3 are mounted on the drive end of the robotic arm 2. The robotic arm 2 moves the surgical instruments 3 in three-dimensional space, and after moving to a predetermined position, the robotic arm 2 can maintain the position of the surgical instruments 3. The surgical instruments 3 are, for example, clamps or endoscopes. The robotic arm 2 can hold the surgical instruments 3 and maintain their position more stably than a human.

[0032] The foot pedal controller 100 sends control signals under the operator's control to control the movement of the robotic arm 2. In one application scenario, the process of the foot pedal controller 100 controlling the movement of the robotic arm 2 is as follows: The operator (e.g., a doctor) controls the movement of the robotic arm 2 through the foot pedal controller 100, first moving the surgical instrument 3 to its initial position, and then moving it along the negative Z-axis to deliver the surgical instrument 3 into the workspace (e.g., inside the patient's body). During the operation, the foot pedal controller 100 controls the movement of the surgical instrument 3 along the X-axis, Y-axis, or Z-axis to adjust the position of the surgical instrument 3, and controls the rotation of the surgical instrument 3 around the Z-axis to adjust the angle of the surgical instrument 3. After the operation, the operator controls the movement of the surgical instrument 3 along the positive Z-axis through the foot pedal controller 100, causing the surgical instrument 3 to exit the workspace. The X-axis, Y-axis, and Z-axis are perpendicular to each other. In one application scenario, the surgical instrument 3 is an endoscope, and the images obtained by the endoscope are displayed on a screen. When the endoscope moves along the positive or negative X-axis, the image on the screen moves up or down. When the endoscope moves along the positive or negative Y-axis, the image on the display screen shifts to the left or right.

[0033] The controller 4 is electrically connected to both the robotic arm 2 and the foot pedal controller 100, and is used to control the movement of the robotic arm 2 according to the control signals issued by the foot pedal controller 100. The controller 4 is a computer or a microcontroller. In this embodiment, the controller 4 is a microcontroller installed in the foot pedal controller 100.

[0034] Please refer to the following: Figure 2 , Figure 2 yes Figure 1 The top view of the robot with the foot controller 100 in use is shown.

[0035] In this embodiment, the foot pedal controller 100 is generally divided into four areas, namely functional areas one, two, three, and four.

[0036] Functional area one is used to control the movement of surgical instrument 3 along the positive or negative X-axis, or along the positive or negative Y-axis. Functional area one is the frequently used part. For example, when surgical instrument 3 is an endoscope, the doctor needs to constantly adjust the position of the endoscope for easy observation.

[0037] Functional area 2 is used to control the movement of surgical instrument 3 along the positive or negative Z-axis.

[0038] Functional area 3 is used to control the surgical instrument 3 to rotate clockwise or counterclockwise around the Z-axis.

[0039] Functional area four is used to allow operators to rest their feet when the robotic arm 2 is not in operation.

[0040] The following sections will describe the specific structures of functional areas one, two, three, and four in turn.

[0041] Please see Figures 3 to 5, Figure 3 yes Figure 2 AA section view, Figure 4 yes Figure 3 An enlarged view of partial view B in the image. Figure 5 yes Figure 3 An enlarged view of partial view C in the image.

[0042] The foot pedal controller 100 includes a base 101, a mounting base 103, a first foot pedal 105, a first support assembly 131, a second support assembly 133, and first signal generators 111a, 111b, 111c, and 111d.

[0043] When the foot pedal controller 100 is in use, the base 101 rests on a work surface. The work surface is, for example, the floor of an operating room. The base 101 is generally flat, which allows it to remain stable when placed on the work surface.

[0044] Mounting base 103 is rotatably mounted on base 101 about a first axis L1. In use, the first axis L1 extends vertically. Mounting base 103 is positioned directly above base 101. Specifically, rotating shaft 104 is vertically mounted, with its top end connected to mounting base 103 so that rotating shaft 104 and mounting base 103 rotate synchronously. The bottom end of rotating shaft 104 is rotatably connected to base 101 via bearing 102. Rotating shaft 104 and mounting base 103 can be separate or integrated. Bearing 104 is sleeved on rotating shaft 104 and accommodated in a groove (not shown in the figure) on base 101, thereby reducing the vertical gap between mounting base 103 and base 101 and lowering the overall height of foot controller 100.

[0045] In its initial state, the first foot pedal 105 is rotatably supported on the mounting base 103 by the first support assembly 131 and the second support assembly 133. The first support assembly 131 and the second support assembly 133 are spaced apart. The first foot pedal 105 has a stepping surface (top surface) for the operator to step on. The first axis L1 is approximately perpendicular to the stepping surface of the first foot pedal 105 in the initial state. When using the foot pedal controller 100, the operator's foot steps on the first foot pedal 105, and the length direction of the foot is consistent with the spacing direction of the first support assembly 131 and the second support assembly 133.

[0046] In response to the operator's first foot movement, the first foot pedal 105 rotates relative to the mounting base 103 about the second axis L2 where the first support assembly 131 is located, and the second support assembly 133 follows the rotation of the first foot pedal 105 and deviates from the third axis L3.

[0047] In response to a second foot movement by the operator, the first foot pedal 105 rotates relative to the mounting base 103 about the third axis L3 where the second support assembly 133 is located. The first support assembly 131 rotates with the first foot pedal 105 and deviates from the second axis L2. The second axis L2 and the third axis L3 are spaced apart and approximately parallel. In the initial and usage states, the positions of the second axis L2 and the third axis L3 relative to the base 101 remain unchanged, and both are located in the horizontal plane.

[0048] Specifically, Figure 3 In the state shown, as the position of the foot pressing the first pedal 105 changes, the first pedal 105 can rotate relative to the mounting base 103 around the second axis L2, or rotate relative to the mounting base 103 around the third axis L3.

[0049] Please refer to the following: Figure 6 , Figure 6 yes Figure 2 The diagram shows the first foot pedal 105 rotating about the second axis L2 in the foot pedal controller 100. When the foot exerts pressure on the first foot pedal 105 at a position opposite to the second support assembly 133 on the first support assembly 131, for example, when the forefoot 6 presses down forcefully (this action is called foot tilting), the first foot pedal 105 can rotate relative to the mounting base 103 about the second axis L2 in the first direction D1. At this time, the first foot pedal 105 is supported on the mounting base 103 only by the first support assembly 131. Foot tilting is the first action.

[0050] Please refer to the following: Figure 7 , Figure 7 yes Figure 2 The diagram shows the first foot pedal 105 rotating about the third axis L3 in the foot pedal controller 100. When the foot exerts pressure on the first foot pedal 105 at a position opposite to the first support assembly 131 on the second support assembly 133, for example, when the heel 77 presses down forcefully (this action is called foot tilting), the first foot pedal 105 can rotate relative to the mounting base 103 about the third axis L3 in the second direction D2. At this time, the first foot pedal 105 is supported on the mounting base 103 only by the second support assembly 133. Foot tilting is the second action.

[0051] In response to the operator's third foot movement, the first foot pedal 105 and the mounting base 103 rotate synchronously about the first axis L1 relative to the base 101 in the positive direction.

[0052] In response to the operator's fourth foot movement, the first foot pedal 105 and the mounting base 103 rotate synchronously about the first axis L1 in the opposite direction relative to the base 101.

[0053] Specifically, as the direction of the force (friction) exerted by the foot on the first foot pedal 105 changes, that is, as the foot twists around the first axis L1, the first foot pedal 105 can also rotate synchronously with the mounting base 103 around the first axis L1 relative to the base 101 in the forward or reverse direction.

[0054] Please see Figure 2 as well as Figure 8 , Figure 8 yes Figure 2 The diagram shows the first foot pedal 105 rotating in the forward direction around the first axis L1 in the foot pedal controller 100. When a foot is placed on the first foot pedal 105, twisting the foot counterclockwise in the horizontal plane (this action is called leftward rotation of the foot) causes the first foot pedal 105 to rotate around the first axis L1 in the third direction D3. Leftward rotation of the foot is the third action.

[0055] Please see Figure 2 as well as Figure 9 , Figure 9 yes Figure 2 The diagram shows the first foot pedal 105 rotating in the opposite direction around the first axis L1 in the foot pedal controller 100. When a foot is placed on the first foot pedal 105, and the foot is twisted clockwise in the horizontal plane (this action is called right rotation of the foot), the first foot pedal 105 can rotate around the first axis L1 in the fourth direction D4.

[0056] The operator's foot is placed on the first foot pedal 105. By performing four different foot movements—leaning forward, leaning back, rotating left, and rotating right—the operator can rotate the first foot pedal 105 in four different directions. During this process, the foot does not need to leave the first foot pedal 105.

[0057] Furthermore, when the first foot pedal 105 and the mounting base 103 rotate synchronously around the first axis L1 relative to the base 101, the first foot pedal 105 can be supported on the mounting base 103 solely by the first support component 131, solely by the second support component 133, or simultaneously by both the first support component 131 and the second support component 133. Foot movements can include the following: performing the first movement alone; performing the second movement alone; performing the third movement alone; performing the fourth movement alone; performing both the first and third movements simultaneously; performing both the first and fourth movements simultaneously; performing both the second and third movements simultaneously; performing both the second and fourth movements simultaneously.

[0058] Please see Figure 2 The first signal generators 111a, 111b, 111c, and 111d generate control signals in response to the rotation of the first foot pedal 105.

[0059] Specifically, the first signal generator 111b generates a control signal in response to the first foot pedal 105 rotating about the second axis L2 along the first direction D1; the first signal generator 111c generates a control signal in response to the first foot pedal 105 rotating about the third axis L3 along the second direction D2; the first signal generator 111a generates a control signal in response to the first foot pedal 105 rotating about the first axis L1 along the third direction D3; and the first signal generator 111d generates a control signal in response to the first foot pedal 105 rotating about the first axis L1 along the fourth direction D4.

[0060] Please refer to the following: Figure 1 The first signal generators 111a, 111b, 111c, and 111d are electrically connected to the controller 4. The controller 4 controls the movement of the robotic arm 2 based on the control signals emitted by the first signal generators 111a, 111b, 111c, and 111d.

[0061] For example: Leaning forward triggers the first signal generator 111b to send a control signal, and the controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the positive direction of the X-axis. When the foot leans back, the first signal generator 111c is triggered to send a control signal, and the controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the negative direction of the X-axis. When the foot rotates to the left, the first signal generator 111a is triggered to send a control signal, and the controller 4 controls the robotic arm 2 to drive the surgical instrument 3 to move along the positive direction of the Y-axis; When the foot rotates to the right, the first signal generator 111d is triggered to send a control signal, and the controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the negative direction of the Y-axis. As the foot leans forward, it rotates to the left, triggering the first signal generators 111b and 111a to send control signals. The controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the positive X-axis and the positive Y-axis. As the foot leans forward, it rotates to the right, triggering the first signal generators 111b and 111d to send control signals. The controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the positive X-axis and the negative Y-axis. As the foot leans back, it rotates to the left, triggering the first signal generators 111c and 111a to send control signals. The controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the negative X-axis and the positive Y-axis. As the foot leans back, it rotates to the right, triggering the first signal generators 111c and 111d to send control signals. The controller 4 controls the robotic arm 2 to move the surgical instrument 3 along the negative X-axis and the negative Y-axis.

[0062] The first signal generator can issue a control signal in response to the rotation of the first foot pedal 105, controlling the robotic arm 2 to drive the surgical instrument 3 to move at a predetermined speed that matches the rotation. That is, the speed at which the robotic arm 2 drives the surgical instrument 3 is not adjustable. For example, when the first foot pedal 105 rotates around the second axis L2 along the first direction D1, regardless of the magnitude of the rotation, the speed at which the robotic arm 2 drives the surgical instrument 3 to move along the positive X-axis is a fixed value.

[0063] The first signal generator can also issue a control signal in response to the rotation amplitude of the first foot pedal 105, controlling the robotic arm 2 to move the surgical instrument 3 at a predetermined speed that matches the rotation amplitude; that is, the speed at which the robotic arm 2 moves the surgical instrument 3 is adjustable. For example, when the first foot pedal 105 rotates around the second axis L2 along the first direction D1, the greater the rotation amplitude, the greater the speed at which the robotic arm 2 moves the surgical instrument 3 along the positive X-axis. Of course, the speed of the robotic arm 2 can also be adjusted based on other factors, such as the rotation speed of the first foot pedal 105.

[0064] Please see Figure 3 Taking the first signal generator 111b as an example, the specific structure of the first signal generator is described below. The first signal generator 111b includes a fixed part 127 and a movable part 129. The fixed part 127 is disposed on the base 101. The movable part 129 is disposed on the first foot pedal 105. The rotation of the first foot pedal 105 causes a change in the relative position of the fixed part 127 and the movable part 129, thereby triggering the first signal generator 111b. Specifically, when the first foot pedal 105 rotates around the second axis L2 along the first direction D1, the movable part 129 gradually moves away from the fixed part 127, triggering the first signal generator 111b. The first signal generator 111b is a Hall sensor. In other embodiments, the first signal generator 111b can also be triggered by the movable part 129 gradually approaching the fixed part 127. Correspondingly, the movable part 129 and the fixed part 127 should be disposed on the base 101. Figure 3 To the right of the second axis L2, the rotation of the first foot pedal 105 around the second axis L2 in the first direction D1 is identified.

[0065] The specific structures of the first support component 131 and the second support component 133 are described in detail below.

[0066] Please see Figure 10 and Figure 11 , Figure 10 yes Figure 2 The figure shows a three-dimensional exploded view of the foot pedal controller 100. Figure 11 yes Figure 3 DD section view in the image.

[0067] The first support assembly 131 includes a first support member 113. The first support member 113 is disposed on the first foot pedal 105. The second support assembly 133 includes a second support member 117. The second support member 117 is disposed on the first foot pedal 105. In the initial state, the first foot pedal 105 is rotatably abutted against the mounting base 103 via the first support member 113 and the second support member 117, so that the first foot pedal 105 is rotatably supported on the mounting base 103. In the initial state, the second axis L2 is located on the first support member 113, and the third axis L3 is located on the second support member 117. In the initial state, the first support member 113 and the second support member 117 simultaneously abut against the mounting base 103, at which time the first foot pedal 105 is stably supported on the mounting base 103.

[0068] In response to the operator's first foot movement, the first foot pedal 105 rotatably abuts against the mounting base 103 via the first support member 113 to rotate relative to the mounting base 103 about the second axis L2, and the second support member 117 follows the first foot pedal 105 to rotate and deviates from the third axis L3.

[0069] In response to a second foot movement by the operator, the first foot pedal 105 rotatably abuts against the mounting base 103 via the second support member 117 to rotate relative to the mounting base 103 about the third axis L3, and the first support member 113 rotates with the first foot pedal 105 and deviates from the second axis L2.

[0070] More specifically as follows.

[0071] The first foot pedal 105 is generally shaped like a downward-opening cover, having a top wall 1051 and a peripheral wall 1052. The stepping surface of the first foot pedal 105 is located on the top wall 1051.

[0072] Mounting base 103 is generally flat. Mounting base 103 has a first arc-shaped hole 115 and a second arc-shaped hole 119. The first arc-shaped hole 115 and the second arc-shaped hole 119 penetrate the mounting base 103 and are arranged parallel to each other and at intervals. The first arc-shaped hole 115 extends along the second axis L2. The second arc-shaped hole 119 extends along the third axis L3.

[0073] The bottom end of the first arc-shaped hole 115 forms a first groove, the inner wall surface of the first groove is an arc surface, and the central axis of the first groove is the second axis L2. The bottom end of the second arc-shaped hole 119 forms a second groove, the inner wall surface of the second groove is an arc surface, and the central axis of the second groove is the third axis L3.

[0074] The first foot pedal 105 is covered outside the mounting base 103.

[0075] The first support member 113 is a rod. Two first support members 113 are respectively inserted through opposite sides of the peripheral wall 1052 and through the first arc-shaped hole 115. The first support member 113 is detachably connected to the peripheral wall 1052, for example, by a threaded connection. The second support member 117 is a rod. Two second support members 117 are respectively inserted through opposite sides of the peripheral wall 1052 and through the second arc-shaped hole 119. The second support member 117 is detachably connected to the peripheral wall 1052, for example, by a threaded connection.

[0076] In the initial state, the first support member 113 rotatably abuts against the first groove. The second support member 117 rotatably abuts against the second groove. Specifically, in this embodiment, the first support member 113 is cylindrical. The bottom of the first arc-shaped hole 115 abuts against the first support member 113, and its shape matches that of the first support member 113, thus stabilizing the position of the second axis L2. The second support member 117 is cylindrical. The bottom of the second arc-shaped hole 119 matches the shape of the second support member 117, thus stabilizing the position of the third axis L3.

[0077] In response to the operator's first foot movement, the first foot pedal 105 rotatably abuts against the first groove via the first support member 113, thereby rotating relative to the mounting base 103 about the second axis L2. The second support member 117 deviates from the bottom of the second arc-shaped hole 119, that is, the second support member 117 deviates from the third axis L3. The second support member 117 has a second movable clearance H2 within the second arc-shaped hole 119 (see...). Figure 4 This allows the first foot pedal 105 to rotate about the second axis L2 relative to the mounting base 103. When the second support 117 abuts against the top of the second arcuate hole 119, it limits the extreme position of the first foot pedal 105's rotation about the second axis L2 relative to the mounting base 103.

[0078] In response to a second foot movement by the operator, the first foot pedal 105 rotatably abuts against the second groove via the second support member 117, thereby rotating relative to the mounting base 103 about the third axis L3. The first support member 113 deviates from the bottom of the first arc-shaped hole 115, that is, the first support member 113 deviates from the second axis L2. The first support member 113 has a first movable clearance H1 within the first arc-shaped hole 115 (see...). Figure 5 This allows the first foot pedal 105 to rotate about the third axis L3 relative to the mounting base 103. When the first support 113 abuts against the top of the first arcuate hole 115, it limits the extreme position of the first pedal 105's rotation about the third axis L3 relative to the mounting base 103.

[0079] With the above structure, the limit positions of the first foot pedal 105 after rotating around the second axis L2 in the first direction D1 and around the third axis L3 in the second direction D2 can be preset. In addition, the first foot pedal 105 can effectively drive the mounting base 103 to rotate synchronously around the first axis L1. Furthermore, it can effectively prevent the first foot pedal 105 from separating from the mounting base 103 during use and transportation.

[0080] In the above structure, a first abutment portion 107 is formed between the bottom of the first support member 113 and the first arc-shaped hole 115 (see...). Figure 5 The first abutment portion 107 includes the portion where the first support member 113 abuts against the first arc-shaped hole 115, and the portion where the first arc-shaped hole 115 abuts against the first support member 113. The first abutment portion 107 is an arc-shaped surface that abuts against each other. The arc-shaped surface of the first abutment portion 107 has the following advantages: on the one hand, surface contact is more stable than point contact or line contact; on the other hand, it allows the first foot pedal 105 to rotate around the axis (second axis L2) of the first abutment portion 107, ensuring that the rotation center of the first foot pedal 105 does not change during rotation; furthermore, the axial concave-convex fit between the first foot pedal 105 and the mounting base 103 on the first axis L1 reduces the relative movement of the first foot pedal 105 relative to the mounting base 103 during rotation (along the first axis L1). Figure 3 The risk of slippage in the mid-horizontal direction.

[0081] In the above structure, a second abutment portion 109 is formed between the bottom of the second support member 117 and the second arc-shaped hole 119 (see...). Figure 4 The second abutting portion 109 includes the portion where the second support member 117 abuts against the second arc-shaped hole 119, and the portion where the second arc-shaped hole 119 abuts against the second support member 117. The second abutting portion 109 is an arc-shaped surface that abuts against each other. The advantages of the second abutting portion 109 being an arc-shaped surface are the same as those of the first abutting portion 107 being an arc-shaped surface, and will not be repeated here.

[0082] Please see Figure 3 In order to enable the first foot pedal 105 to be reset in time after rotating around the second axis L2 along the first direction D1, and to enable the first foot pedal 105 to be reset in time after rotating around the third axis L3 along the second direction D2, the foot pedal controller 100 also includes a first elastic element 121.

[0083] The first elastic element 121 is configured to apply a first elastic force to the first foot pedal 105 to drive the first foot pedal 105 to reset after the first foot pedal 105 rotates about the second axis L2 or the third axis L3.

[0084] When the first pedal 105 rotates about the second axis L2 in the first direction D1, the first elastic force provides resistance. After the pedaling force decreases or is eliminated, the first elastic force drives the first pedal 105 to rotate in the opposite direction about the second axis L2 in the first direction D1 until the second support member 117 presses against the mounting base 103. Similarly, when the first pedal 105 rotates about the third axis L3 in the second direction D2, the first elastic force provides resistance. After the pedaling force decreases or is eliminated, the first elastic force drives the first pedal 105 to rotate in the opposite direction about the third axis L3 in the second direction D2 until the first support member 113 presses against the mounting base 103.

[0085] In addition, the first spring provides damping force during the rotation of the first foot pedal 105 to give the operator a better experience.

[0086] Specifically, one end of the first elastic element 121 is elastically stretched to the first foot pedal 105, and the other end of the first elastic element 121 is elastically stretched to the base 101. The first elastic element 121 can be a spring.

[0087] In this embodiment, the number of first elastic elements 121 is multiple (e.g., four), and the projection plane perpendicular to the first axis L1 is used as the projection plane. The projections of the multiple first elastic elements 121 are distributed in an array (see...). Figure 11 ).

[0088] Please see Figure 3 In this embodiment, the first axis L1 is approximately perpendicular to the foot surface of the first foot pedal 105. When the foot pedal controller 100 is in use, the first axis L1 is generally vertical. During brief pauses when the operator controls the first foot pedal 105 to rotate, the foot rests on the first foot pedal 105, and part of the operator's weight acts on the first foot pedal 105 along the direction of the first axis L1. This reduces the probability of the first pedal 105 accidentally rotating relative to the base 101 around the first axis L1.

[0089] Please see Figure 3 To ensure that the mounting base 103 is stably supported on the base 101, in this embodiment, the foot pedal controller 100 further includes a thrust bearing 123. The thrust bearing 123 is coaxially arranged with the first axis L1. The thrust bearing 123 is sandwiched between the mounting base 103 and the base 101. To reduce the overall height of the foot pedal controller 100, the base 101 is provided with a groove to accommodate the thrust bearing 123.

[0090] Please see Figure 3To ensure that the first foot pedal 105 can promptly reset after rotating about the first axis L1, the foot pedal controller 100 also includes a second elastic element 125. The second elastic element 125 is configured to apply a second elastic force to the mounting base 103 to drive the mounting base 103 to reset after rotation about the first axis L1. The base 101 is provided with a groove (not shown in the figures) to accommodate the second elastic element 125. Specifically, the second elastic element 125 can be a torsion spring. The second elastic force also provides damping force during the rotation of the first foot pedal 105 to provide a better operator experience.

[0091] Please see Figure 12 , Figure 12 yes Figure 2 The diagram shown illustrates a usage scenario for the foot pedal controller 100.

[0092] In some cases, the robot is also equipped with additional foot controllers 8, which are used simultaneously with the foot controller 100 in this embodiment. To avoid large-scale movement of the operator's feet, the foot controller 100 is arranged adjacent to the foot controller 8. When stepping on the foot controller 8, it is easy to accidentally step on the foot controller 100.

[0093] To address this issue, the foot pedal controller 100 in this embodiment further includes an anti-accidental touch component (safety switch 141). The anti-accidental touch component can be selectively in a triggered or non-triggered state to selectively control the first signal generator to be in an active or inactive state. Specifically, when the operator needs to operate the foot pedal controller 100, the operator activates the anti-accidental touch component to the triggered state, and the first signal generator is in an active state. When the operator does not need to use the foot pedal controller 100, the operator activates the anti-accidental touch component to the non-triggered state, and the first signal generator is in an inactive state. In this case, even if the first foot pedal 105 is accidentally stepped on, no control signal will be issued, or even if a control signal is issued, the controller 4 will not control the robotic arm 2 to move.

[0094] Specifically, the anti-accidental touch component includes two safety switches 141. The two safety switches 141 are respectively disposed at a first predetermined position and a second predetermined position on the step surface of the first foot pedal 105. When both safety switches 141 are stepped on at the same time, the first signal generator is in the working state; otherwise, the first signal generator is in the non-working state.

[0095] The first signal generator is in a non-operating state when the operator does not press any of the safety switches 141, or presses only one safety switch 141. The first signal generator is in an operating state only when the operator presses all of the safety switches 141. The safety switches 141 can be limit switches.

[0096] Please see Figure 2 and Figure 13 , Figure 13 yes Figure 2 The EE section view is shown below. The structure of functional area two is described in detail below.

[0097] Functional area two is roughly located to the left of functional area one. When the operator needs to control the surgical instrument 3 to move along the Z-axis, they should move their feet to functional area two to perform the operation.

[0098] The foot pedal controller 100 also includes a second foot pedal 143 and second signal generators 147a and 147b.

[0099] exist Figure 2 In this configuration, a second foot pedal 143 is spaced to the left of the first foot pedal 105 and located directly above the base 101. The second foot pedal 143 is rotatably mounted on the base 101 about a fourth axis L4. The fourth axis L4 is parallel to either the second axis L2 or the third axis L3. The second foot pedal 143 has a step surface for the operator to step on.

[0100] The second signal generators 147a and 147b respond to the rotation of the second foot pedal 143 by emitting control signals different from those of the first signal generator. Specifically, the second signal generators 147a and 147b are electrically connected to the controller 4. The controller 4 controls the movement of the robotic arm 2 based on the control signals emitted by the second signal generators 147a and 147b.

[0101] When the foot is on the second foot pedal 143 and the foot is tilted forward, the second foot pedal 143 rotates around the fourth axis L4 along the fifth direction D5, and the controller 4 controls the surgical instrument 3 to move along the negative Z-axis. When the foot is on the second foot pedal 143 and the foot is tilted backward, the second foot pedal 143 rotates around the fourth axis L4 along the sixth direction D6, and the controller 4 controls the surgical instrument 3 to move along the positive Z-axis.

[0102] Specifically, the second signal generators 147a and 147b can issue control signals in response to the rotation of the second foot pedal 143, controlling the robotic arm 2 to move the surgical instrument 3 at a predetermined speed matching the rotation, meaning the speed at which the robotic arm 2 moves the surgical instrument 3 is not adjustable. The second signal generators 147a and 147b can also issue control signals in response to the rotation amplitude of the second foot pedal 143, controlling the robotic arm 2 to move the surgical instrument 3 at a predetermined speed matching the rotation amplitude, meaning the speed at which the robotic arm 2 moves the surgical instrument 3 is adjustable. Of course, the speed of the robotic arm 2 can also be adjusted based on other factors, such as the rotation speed of the second foot pedal 143.

[0103] Specifically, the second signal generator 147a generates a control signal in response to the first foot pedal 105 rotating about the fourth axis L4 along the fifth direction D5; the second signal generator 147b generates a control signal in response to the second foot pedal 143 rotating about the fourth axis L4 along the sixth direction D6. The second signal generators 147a and 147b are Hall sensors.

[0104] To isolate the first foot pedal 105 and the second foot pedal 143, the foot pedal controller 100 also includes a partition 145. The partition 145 is disposed between the first foot pedal 105 and the second foot pedal 143. The partition 145 is fixed to the base 101 and protrudes from the stepping surfaces of the first foot pedal 105 and the second foot pedal 143. When a foot is stepped on the first foot pedal 105, it will not touch the second foot pedal 143, and when a foot is stepped on the second foot pedal 143, it will not touch the first foot pedal 105.

[0105] In order to ensure that the second foot pedal 143 can be reset in time after rotating around the fourth axis L4, the foot pedal controller 100 also includes a third elastic element 149.

[0106] The third elastic element 149 is configured to apply a third elastic force to the second foot pedal 143 to provide resistance when the second foot pedal 143 rotates about the fourth axis L4, and after the pedaling force is reduced or eliminated, the third elastic force drives the second foot pedal 143 to rotate in the opposite direction about the fourth axis L4 until it returns to its original position. Additionally, the third elastic force also provides damping force during the rotation of the second foot pedal 143 to provide a better experience for the operator.

[0107] Specifically, there are two third elastic elements 149, located on opposite sides of the fourth axis L4. One end of each third elastic element 149 elastically abuts against the base 101 along the first axis L1, and the other end elastically abuts against the second foot pedal 143. In this embodiment, the third elastic element 149 is a spring plunger. When no force is applied to the second foot pedal 143, it is in a horizontal state. When force is applied, the second foot pedal 143 rotates around the fourth axis L4, further compressing one third elastic element 149 and elastically extending the other. When the force is reduced or eliminated, the further compressed third elastic element 149 drives the second foot pedal 143 to rotate in the opposite direction around the fourth axis L4 to reset.

[0108] Please see Figure 2 Functional area three is roughly located to the right of functional area one. When the operator needs to control the surgical instrument 3 to rotate around the Z-axis, they move their feet to functional area three to perform the operation. Functional area three has the same structure as functional area two; the specific structure of functional area three can be referred to functional area two, and will not be repeated here.

[0109] Please see Figure 2When the operator is not operating robotic arm 2, they can move their feet to the four corners of the functional area.

[0110] Specifically, the foot pedal controller 100 also includes a protrusion 151. The protrusion 151 protrudes from the base 101 and is spaced apart from the first foot pedal 105. The protrusion 151 has a stepping surface for the operator to step on. The protrusion 151 forms functional area four.

[0111] In the above embodiments, the controller 4 may not be located on the foot controller 100, for example, it may be located on the robotic arm 2 or the frame 1.

[0112] In the above embodiments, the directions of movement of the surgical instrument 3 controlled by functional areas one, two, and three are merely examples and can be specifically set as needed.

[0113] In the above embodiments, functional areas two, three, and four are not essential. Even with only functional area one, the probability of the first pedal accidentally rotating relative to the mounting base can be reduced.

[0114] In the above embodiments, the fourth axis L4 may not be parallel to the second axis L2. For example, the fourth axis L4 may be perpendicular to the first axis L1 and the second axis L2 or at a certain angle. In this case, the foot movement is no longer forward or backward, but needs to be changed accordingly. Example

[0115] Please see Figures 14 to 16 , Figure 14 This is a cross-sectional view of the foot pedal controller in another embodiment of the robot of this application. Figure 15 yes Figure 14 An enlarged view of partial view F in the image. Figure 16 yes Figure 14 An enlarged view of the partial view G in the image.

[0116] This embodiment focuses on the differences from Embodiment 1; for parts not described herein, please refer to Embodiment 1. Furthermore, the same reference numerals are used for the same components as in Embodiment 1.

[0117] In this embodiment, the specific structures of the first support component 231 and the second support component 233 are different from those of the first support component 131 and the second support component 133 in Embodiment 1.

[0118] The foot pedal controller 200 includes a base 101, a mounting base 203, a first foot pedal 205, a first support assembly 231, a second support assembly 233, and a first signal generator (not shown in the figure).

[0119] The first foot pedal 205 is rotatably supported on the mounting base 203 by the first support assembly 231 and the second support assembly 233.

[0120] In response to the operator's first foot movement, the first foot pedal 205 rotates relative to the mounting base 203 about the second axis L2 where the first support component 231 is located, and the second support component 233 follows the first foot pedal 205 to rotate and deviates from the third axis L3.

[0121] In response to a second foot movement by the operator, the first foot pedal 205 rotates relative to the mounting base 203 about the third axis L3 where the second support assembly 233 is located. The first support assembly 231 rotates with the first foot pedal 205 and deviates from the second axis L2. The second axis L2 and the third axis L3 are spaced apart and approximately parallel.

[0122] In response to the operator's third foot movement, the first foot pedal 205 and the mounting base 203 rotate synchronously about the first axis L1 relative to the base 101 in the positive direction.

[0123] In response to the operator's fourth foot movement, the first foot pedal 205 and the mounting base 203 rotate synchronously about the first axis L1 in the opposite direction relative to the base 101.

[0124] The first signal generator responds to the rotation of the first foot pedal 205 by issuing a control signal.

[0125] More specifically as follows.

[0126] The first support assembly 231 includes a first support member 213. The first support member 213 is disposed on the first foot pedal 205. Specifically, the first support member 213 is a protrusion extending downward from the bottom surface of the first foot pedal 205. The mounting base 203 has a first groove 215. The inner wall surface of the first groove 215 is an arc surface. The central axis of the first groove 215 is a second axis L2. In the initial state, the bottom end of the first support member 213 rotatably abuts against the first groove 215.

[0127] The second support assembly 233 includes a second support member 217. The second support member 217 is disposed on the first foot pedal 205. Specifically, the second support member 217 is a protrusion extending downward from the bottom surface of the first foot pedal 205. The mounting base 203 has a second groove 219. The inner wall surface of the second groove 219 is an arc surface. The central axis of the second groove 219 is a third axis L3. In the initial state, the bottom end of the second support member 217 rotatably abuts against the second groove 219.

[0128] In response to the operator's first foot movement, the first foot pedal 205 rotatably abuts against the first groove 215 via the first support member 213 to rotate relative to the mounting base 203 about the second axis L2, and the second support member 217 deviates from the second groove 219, that is, the second support member 217 deviates from the third axis L3.

[0129] In response to the operator's second foot movement, the first foot pedal 205 rotatably abuts against the second groove 219 via the second support member 217 to rotate relative to the mounting base 203 about the third axis L3, and the first support member 213 deviates from the first groove 215, that is, the first support member 213 deviates from the second axis L2. Example

[0130] Please see Figures 17 to 21 , Figure 17 This is a cross-sectional view of the foot pedal controller in another embodiment of the robot of this application. Figure 18 yes Figure 17 An enlarged view of partial view J in the image. Figure 19 yes Figure 17 A magnified view of partial view K in the image. Figure 20 yes Figure 17 The three-dimensional cross-sectional view of the foot pedal controller is shown. Figure 21 yes Figure 17 The figure shows a 3D exploded view of the foot pedal controller.

[0131] This embodiment focuses on the differences from Embodiment 1; for parts not described herein, please refer to Embodiment 1. Furthermore, the same reference numerals are used for the same components as in Embodiment 1.

[0132] In this embodiment, the specific structures of the first support component 331 and the second support component 333 are different from those of the first support component 131 and the second support component 133 in Embodiment 1.

[0133] The foot pedal controller 300 includes a base 101, a mounting base 303, a first foot pedal 305, a first support assembly 331, a second support assembly 333, and a first signal generator (not shown in the figure).

[0134] The first foot pedal 305 is rotatably supported on the mounting base 303 by the first support component 331 and the second support component 333.

[0135] In response to the operator's first foot movement, the first foot pedal 305 rotates relative to the mounting base 303 about the second axis L2 where the first support component 331 is located.

[0136] In response to a second foot movement by the operator, the first foot pedal 305 rotates relative to the mounting base 203 about the third axis L3 where the second support assembly 333 is located. The second axis L2 and the third axis L3 are spaced apart and are approximately parallel.

[0137] In response to the operator's third foot movement, the first foot pedal 305 and the mounting base 303 rotate synchronously about the first axis L1 relative to the base 101 in the positive direction.

[0138] In response to the operator's fourth foot movement, the first foot pedal 305 and the mounting base 303 rotate synchronously about the first axis L1 in the opposite direction relative to the base 101.

[0139] The first signal generator responds to the rotation of the first foot pedal 305 by issuing a control signal.

[0140] More specifically as follows.

[0141] The first support assembly 331 includes a first carrier 313, a first rotating shaft 314, and a first guide 315. The first guide 315 extends along an arc-shaped path from the bearing surface of the mounting base 303. Specifically, the first guide 315 extends about a third axis L3. The first carrier 313 is slidably engaged with the first guide 315 and is capable of reciprocating along the first guide 315. A first protrusion on the first foot pedal 305 is rotatably connected to the first carrier 313 via the first rotating shaft 314. In the initial state, the first carrier 313 is supported on the mounting base 303, so that the first foot pedal 105 is rotatably supported on the mounting base 103 via the first support assembly 331, and the central axis of the first rotating shaft 314 is the second axis L2.

[0142] The second support assembly 333 includes a second carrier 317, a second rotating shaft 316, and a second guide 319. The second guide 319 extends along an arc-shaped path from the bearing surface of the mounting base 303. Specifically, the second guide 319 extends about a second axis L2. The second carrier 317 is slidably fitted to the second guide 319 and can reciprocate along the second guide 319. The second protrusion on the first foot pedal 305 is rotatably connected to the second carrier 317 via the second rotating shaft 316. In the initial state, the second carrier 317 is supported on the mounting base 303, so that the first foot pedal 105 is rotatably supported on the mounting base 103 via the second support assembly 333, and the central axis of the second rotating shaft 316 is the third axis L3.

[0143] In response to the operator's first foot movement, the first foot pedal 305 is supported on the mounting base 303 by the first support member 313 and rotates relative to the mounting base 303 around the second axis L2. The first foot pedal 305 drives the second support member 317 to move and deviate from the third axis L3.

[0144] In response to the operator's second foot movement, the first foot pedal 305 is supported on the mounting base 303 by the second support member 317 and rotates relative to the mounting base 303 around the third axis L3. The first foot pedal 305 drives the first support member 313 to move so that it deviates from the second axis L2.

[0145] In this embodiment, by providing the first guide member 315, the first support member 313 can be prevented from slipping on the support surface during the rotation of the first foot pedal 305 around the second axis L2 along the first direction D1, thus keeping the position of the second axis L2 stable. Similarly, by providing the second guide member 319, the second support member 317 can be prevented from slipping on the support surface during the rotation of the first foot pedal 305 around the third axis L3 along the second direction D2, thus keeping the position of the third axis L3 stable.

[0146] In addition, the sliding engagement between the first guide member 315 and the first support member 313, and the sliding engagement between the second guide member 319 and the second support member 317, also enable the first foot pedal 305 and the mounting base 303 to rotate synchronously around the first axis L1 relative to the base 101.

[0147] The first guide member 315 and the second guide member 319 are not necessary. In embodiments where the first guide member 315 and the second guide member 319 are not provided, the first support member 313 can be prevented from sliding relative to the support surface by the friction between the first support member 313 and the support surface, and the second support member 317 can be prevented from sliding relative to the support surface by the friction between the second support member 317 and the support surface. The first foot pedal 305 and the mounting base 303 can be made to rotate synchronously around the first axis L1 relative to the base 101 by the friction between the first support member 313 and the support surface and the friction between the second support member 317 and the support surface.

[0148] In summary, the foot pedal controller and robot provided in this application reduce the probability of the first pedal accidentally rotating relative to the mounting base.

[0149] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0150] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A foot pedal controller, characterized in that, include: Base; Mounting base, which is rotatably disposed on the base about a first axis; A first foot pedal, a first support assembly, and a second support assembly, wherein the first foot pedal is rotatably supported on the mounting base via the first and second support assemblies; In response to a first movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a second axis containing the first support assembly; in response to a second movement of the operator's foot, the first foot pedal rotates relative to the mounting base about a third axis containing the second support assembly, the second axis and the third axis being spaced apart and substantially parallel; in response to a third movement of the operator's foot, the first foot pedal and the mounting base rotate synchronously about the first axis relative to the base in a forward direction; in response to a fourth movement of the operator's foot, the first foot pedal and the mounting base rotate synchronously about the first axis relative to the base in a reverse direction. The foot movements include: performing the first movement alone; performing the second movement alone; performing the third movement alone; performing the fourth movement alone; performing the first and third movements simultaneously; performing the first and fourth movements simultaneously; performing the second and third movements simultaneously; and performing the second and fourth movements simultaneously. A first signal generator, which generates a control signal in response to the rotation of the first foot pedal.

2. The foot pedal controller according to claim 1, characterized in that, In response to a first movement of the operator's foot, the first foot pedal rotates relative to the mounting base about the second axis where the first support assembly is located, and the second support assembly rotates with the first foot pedal and deviates from the third axis; In response to a second foot movement by the operator, the first foot pedal rotates relative to the mounting base about the third axis on which the second support assembly is located, and the first support assembly rotates with the first foot pedal and deviates from the second axis.

3. The foot pedal controller according to any one of claims 1 and 2, characterized in that, The first support assembly includes a first support member, and the second support assembly includes a second support member. Both the first support member and the second support member are disposed on the first foot pedal. In the initial state, the first foot pedal rotatably abuts against the mounting base through the first support member and the second support member, so that the first foot pedal is rotatably supported on the mounting base. The second axis is located on the first support member, and the third axis is located on the second support member. In response to a first foot movement by the operator, the first foot pedal rotatably abuts against the mounting base via a first support member to rotate relative to the mounting base about a second axis, the second support member rotating with the first foot pedal and deviating from the third axis; In response to a second foot movement by the operator, the first foot pedal rotatably abuts against the mounting base via a second support member to rotate relative to the mounting base about the third axis, the first support member rotating with the first foot pedal and deviating from the second axis.

4. The foot pedal controller according to claim 3, characterized in that, The mounting base has a first groove and a second groove, the inner wall surfaces of the first groove and the second groove are both arc surfaces; the central axis of the first groove is the second axis, and the central axis of the second groove is the third axis; in the initial state, the first support member is rotatably abutted against the first groove, and the second support member is rotatably abutted against the second groove; In response to a first movement of the operator's foot, the first foot pedal rotatably abuts against the first groove via the first support to rotate relative to the mounting base about the second axis; in response to a second movement of the operator's foot, the first foot pedal rotatably abuts against the second groove via the second support to rotate relative to the mounting base about the third axis.

5. The foot pedal controller according to claim 4, characterized in that, The mounting base has a first arc-shaped hole and a second arc-shaped hole. The bottom end of the first arc-shaped hole forms the first groove, and the bottom end of the second arc-shaped hole forms the second groove. The first support member and the second support member are both rods disposed on the first foot pedal, and the rods are respectively inserted into the first arc-shaped hole and the second arc-shaped hole.

6. The foot pedal controller according to claim 4, characterized in that, Both the first support member and the second support member are protrusions extending downward from the bottom surface of the first foot pedal, and the bottom ends of the protrusions are rotatably abutting against the first groove and the second groove, respectively.

7. The foot pedal controller according to claim 1, characterized in that, The first support assembly includes a first load-bearing member, the second support assembly includes a second load-bearing member, the first foot pedal is rotatably connected to the first load-bearing member via a first pivot, and the first foot pedal is rotatably connected to the second load-bearing member via a second pivot. In the initial state, the first support member and the second support member are supported on the mounting base, so that the first foot pedal is rotatably supported on the mounting base, the central axis of the first rotating shaft is the second axis, and the central axis of the second rotating shaft is the third axis; In response to a first movement of the operator's foot, the first foot pedal is supported on the mounting base by the first support member and rotates relative to the mounting base about the second axis. The first foot pedal drives the second support member to move so that it deviates from the third axis. In response to a second foot movement by the operator, the first foot pedal is supported on the mounting base by the second support member and rotates relative to the mounting base about the third axis. The first foot pedal causes the first support member to move away from the second axis.

8. The foot pedal controller according to claim 7, characterized in that, The first support assembly further includes a first guide member, and the second support assembly further includes a second guide member, both of which extend from the bearing surface of the mounting base along an arcuate path; The first carrier component is slidably engaged with the first guide component, and the second carrier component is slidably engaged with the second guide component.

9. The foot pedal controller according to claim 1, characterized in that, The foot pedal controller also includes: A first elastic element is configured to apply a first elastic force to the first foot pedal to drive the first foot pedal to reset after the first foot pedal rotates about the second axis or the third axis.

10. The foot pedal controller according to claim 1, characterized in that, The first axis is approximately perpendicular to the foot surface of the first foot pedal in the initial state.

11. The foot pedal controller according to claim 1, characterized in that, The foot pedal controller also includes: A second elastic element is configured to apply a second elastic force to the mounting base to drive the mounting base to reset after it has rotated about the first axis.

12. The foot pedal controller according to claim 1, characterized in that, The first signal generator includes: The fixing part is disposed on the base; The movable part is disposed on the first foot pedal. The rotation of the first foot pedal causes a change in the relative position between the fixed part and the movable part, thereby triggering the first signal generator.

13. The foot pedal controller according to claim 1, characterized in that, The foot pedal controller also includes: Two safety switches are respectively disposed at a first predetermined position and a second predetermined position on the stepping surface of the first foot pedal; when both safety switches are stepped on simultaneously, the first signal generator is in the working state; otherwise, the first signal generator is in the non-working state.

14. The foot pedal controller according to claim 1, characterized in that, The foot pedal controller also includes: The second foot pedal is rotatably mounted on the base about a fourth axis, and the second foot pedal is spaced apart from the first foot pedal. A second signal generator, which responds to the rotation of the second foot pedal by emitting a control signal different from that of the first signal generator.

15. A robot, characterized in that, The robot includes: robotic arm; A foot pedal controller, wherein the foot pedal controller is the foot pedal controller according to any one of claims 1 to 13; A controller that controls the movement of the robotic arm in response to a control signal emitted by the first signal generator.

16. The robot according to claim 15, characterized in that, The foot pedal controller includes: The second foot pedal is rotatably mounted on the base about a fourth axis, and the second foot pedal is spaced apart from the first foot pedal. A second signal generator, which emits a control signal different from that of the first signal generator in response to the rotation of the second foot pedal; The controller also controls the movement of the robotic arm in response to the control signal emitted by the second signal generator.

Images