Control switch assembly and mechanical arm

Abstract

The embodiment of the utility model provides a control switch assembly and a mechanical arm, the control switch assembly is used for being installed on the mechanical arm and controlling the mechanical arm, the control switch assembly comprises a base part and a plurality of control switches arranged on the base part, each control switch comprises an operation button, the pressing surfaces of the operation buttons of the at least two control switches are different from at least one of the concavo-convex degree, the roughness and the shape.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of medical equipment, in particular to a control switch assembly and a mechanical arm. BACKGROUND

[0002] With the continuous development of robot technology, the mechanical arm is widely applied in the medical field. The surgical mechanical arm usually includes multiple control switches. If the wrong switch is accidentally triggered, the surgery may be interrupted, and even the patient may be accidentally injured.

[0003] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely describing the technical scheme of the present application and facilitating the understanding of those skilled in the art. CONTENT OF THE INVENTION

[0004] In view of at least one of the above technical problems or other similar problems, the embodiment of the present application provides a control switch assembly and a mechanical arm. By setting at least one of the concave-convex degree, roughness and shape of the pressing surface of the operation button of at least two control switches to be different, the operator can trigger the correct control switch without visual inspection, thereby avoiding misoperation. Thus, the operation time can be shortened, the operation efficiency can be improved, and the safety of the operation environment can be improved.

[0005] According to an aspect of the embodiment of the present application, a control switch assembly is provided for being installed to and controlling a mechanical arm, the control switch assembly comprising:

[0006] a base and multiple control switches arranged on the base, each control switch comprising an operation button, wherein at least one of the concave-convex degree, roughness and shape of the pressing surface of the operation button of at least two control switches is different.

[0007] Further, the pressing surface of the operation button of the multiple control switches comprises at least two concave-convex degrees of a plane, a concave surface and a convex surface.

[0008] Further, at least one control switch of the multiple control switches further comprises at least two series micro switches arranged below the operation button, and the operation button drives the micro switches when being pressed.

[0009] Further, the multiple control switches comprise a first control switch, the first control switch comprises a first operation button, the base is arranged with a first protruding portion around the first operation button at intervals, and the upper surface height of the first protruding portion is greater than the upper surface height of the first operation button.

[0010] Further, the first protruding portion comprises a pair of arc-shaped protrusions arranged oppositely around the first operation button.

[0011] Further, the first protruding portion is integrally arranged with the base portion, or is independently arranged from the base portion and rotatably fixed to the base portion.

[0012] Further, when the operator operates the first control switch with hands, the thumb of the operator is located at the first operation button, and the first protruding portion is oppositely located at both sides of the thumb.

[0013] Further, the plurality of control switches further comprises a second control switch adjacent to the first control switch, the second control switch comprising a second operation button, the base portion comprising a second protruding portion arranged at both sides of the second operation button, the upper surface height of the second protruding portion being greater than the upper surface height of the second operation button.

[0014] Further, the upper surface height of the first protruding portion is greater than the upper surface height of the second protruding portion.

[0015] Further, the second protruding portion comprises a pair of long strip-shaped protrusions oppositely arranged at both sides of the second operation button, the extension direction of the pair of long strip-shaped protrusions being at a specific included angle.

[0016] Further, the pair of long strip-shaped protrusions respectively comprises a converging end and a diverging end, wherein the distance of the pair of long strip-shaped protrusions at the diverging end is greater than the distance at the converging end, and the distance of the pair of long strip-shaped protrusions at the diverging end is greater than the outer dimension of the first control switch.

[0017] Further, the plurality of control switches further comprises a third control switch adjacent to the second control switch, the second control switch and the third control switch being commonly located at the inner side of the second protruding portion.

[0018] According to an aspect of the embodiments of the present application, a control switch assembly is provided for being mounted to and controlling a robot arm, the control switch assembly comprising:

[0019] a base portion, and a first control switch and a second control switch arranged on the base portion;

[0020] the base portion comprising a first protruding portion at least partially surrounding the first control switch and a second protruding portion arranged at least partially surrounding the second control switch;

[0021] the first control switch comprising a first operation button, and the second control switch comprising a second operation button, at least one of the following being different between the first operation button and the second operation button: the concave-convex degree, the roughness, and the shape of the pressing surface.

[0022] Further, at least two series micro-switches are arranged under at least one of the first operation button and the second operation button, and the at least one operation button drives the micro-switches when pressed.

[0023] According to another aspect of the embodiments of the present application, a surgical robot arm is provided, which comprises the control switch assembly of any of the preceding aspects

[0024] Specific implementations of the embodiments of the present application are disclosed in detail in the following description and accompanying drawings, indicating the ways in which the principles of the embodiments of the present application can be employed. It should be understood that the embodiments of the present application are not limited in scope to the specific implementations described. Many modifications, variations, and equivalents of the embodiments of the present application can be constructed within the scope of the appended claims and the spirit and principles of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application, constitute a part of the specification and illustrate the embodiments of the present application and, together with the description, serve to explain the principles of the present application. It should be understood that the drawings are provided only for the purpose of illustrating the embodiments of the present application and that many other embodiments of the present application can be obtained from the drawings without creative effort. In the drawings:

[0026] Figure 1 is a schematic diagram of a robot arm of the embodiments of the present application;

[0027] Figure 2 is a schematic diagram of a control switch assembly of the embodiments of the present application;

[0028] Figure 3 is a schematic diagram of a micro-switch of the embodiments of the present application;

[0029] Figure 4 is a schematic diagram of a control switch assembly of the embodiments of the present application;

[0030] Figure 5 is a schematic diagram of a control switch assembly of the embodiments of the present application;

[0031] Figure 6 is a schematic diagram of a control switch assembly of the embodiments of the present application. DETAILED DESCRIPTION

[0032] The foregoing and other features of the present embodiments will become apparent to those skilled in the art upon consideration of the following description with reference to the accompanying drawings. In the drawings, like reference numerals refer to like elements throughout. The embodiments of the present application to which the description refers are specifically illustrated in the accompanying drawings, which are shown by way of example as follows, wherein principles of the present application can be employed, and it is understood that the present application is not limited to the described embodiments. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0033] In the present embodiments, the terms "first", "second", and the like are used to distinguish different elements, but do not indicate the spatial arrangement or time sequence of the elements, and the elements should not be limited by these terms. The term "and / or" includes any one and all combinations of the associated listed terms. The terms "comprise", "include", "have", and the like mean the presence of the stated features, elements, components, or assemblies, but do not exclude the presence or addition of one or more other features, elements, components, or assemblies.

[0034] In the present embodiments, the singular forms "a", "an", and "the" include the plural forms, and should be broadly understood as "one" or "a kind of", rather than limited to the meaning of "one"; in addition, the term "said" should be understood to include both the singular form and the plural form, unless the context clearly indicates otherwise. In addition, the term "according to" should be understood as "at least partially according to", and the term "based on" should be understood as "at least partially based on", unless the context clearly indicates otherwise.

[0035] In the drawings of the present utility model, the same or similar reference numerals correspond to the same or similar parts; in the description of the present utility model, it is understood that if the terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore the positional relationship described in the drawings is only used for exemplary illustration, and cannot be understood as a limitation on the present patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0036] Features described and / or illustrated with respect to one implementation can be used in one or more other implementations in the same or similar manner, in combination with or in place of features in other implementations. The term "comprise / comprising" when used herein means the presence of the stated features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0037] The mechanical arm described in the present application can be applied to various fields, including but not limited to the fields of industry, medicine, etc. The embodiments of the present application take a surgical mechanical arm as an example, but are not limited thereto.

[0038] Figure 1 is a schematic diagram of a mechanical arm according to an embodiment of the present application. As shown in Figure 1 , the mechanical arm 100 includes a plurality of joint arms 101, a base 102 fixedly connected to the end joint arm 101, a clamp 103 fixedly connected to the base 102, and a plurality of control switches 104 of the base 102. The mechanical arm 100 is used to hold a surgical instrument (such as a drill, a clamp, a vertebra, a needle, etc.) in the clamp 103 to perform corresponding surgical operations on the surgical site or affected area of a patient. The control switches can control the pose of the mechanical arm, so that the instrument used to perform the surgical operation can perform different actions, such as moving, rotating, drilling, clamping, opening and closing, etc.

[0039] In some embodiments, the plurality of control switches includes a control switch for triggering manual control of the overall movement of the mechanical arm, a control switch for controlling the position of the mechanical arm relative to a fixed surgical channel, such as a control switch for controlling the counterclockwise or clockwise rotation of the mechanical arm around the surgical channel and a control switch for controlling the up and down movement of the mechanical arm along the direction of the surgical channel, etc. which will not be exemplified one by one here.

[0040] The above illustrates the mechanical arm schematically, and the embodiments of the present application will be described in detail below in combination with the drawings. In each of the following embodiments, the mechanical arm shown in Figure 1 is taken as an example for description, and the description is also applicable to other types of mechanical arms. The embodiments of the present application are not limited thereto.

[0041] The embodiments of the present application provide a control switch assembly for mounting to and controlling a mechanical arm. For example, the pose of the mechanical arm is controlled, and the specific control functions are exemplified as described above, which will not be repeated here.

[0042] Figure 2 is a schematic diagram of a control switch assembly according to an embodiment of the present application. As shown in Figure 2 , the control switch assembly 200 includes:

[0043] a base 201 and a plurality of control switches 202 provided on the base 201, each control switch 202 including an operation button, wherein at least one of the concave-convex degree, the roughness, and the shape of the pressing surface of the operation button of at least two control switches 202 is different.

[0044] In some embodiments, the base 201 is used to be held by the operator's hand, the base 201 is generally cylindrical to facilitate holding, and the plurality of control switches 202 are located on the same side of the base 201. Optionally, a protruding platform 2011 can be provided on the base 201, and the plurality of control switches 202 can be all arranged on the protruding platform 2011, so that the operator can quickly locate the plurality of control switches 202 without visual inspection.

[0045] In some embodiments, the control switch 202 can include an operation button, and the triggering mode of the operation button includes but is not limited to single long press, single short press, double short press, etc., and the embodiments of the present application are not limited thereto. For example, after pressing the operation button (keeping pressed), the control function corresponding to the operation button is manually or automatically executed, and after releasing the operation button, the control function corresponding to the operation button is stopped. Or, after pressing once and releasing, the control function corresponding to the operation button is manually or automatically executed, which will not be exemplified one by one here.

[0046] In some embodiments, at least one control switch of the plurality of control switches 202 further includes at least two series micro switches arranged below the operation button, and the operation button drives the micro switches when pressed. When the operation button is pressed and the micro switches are driven, the control switch is correctly triggered. Figure 3 The micro switch of the embodiment of the present application is shown in FIG. 3, Figure 3 When the operation button is uniformly pressed, all the micro switches 301 can be turned on, and since the micro switches are in series, only when all the micro switches are turned on, the control switch is correctly triggered. By arranging the micro switches, the false triggering of the operation button can be prevented when the operation button is partially touched or pressed.

[0047] In some embodiments, the pressing surfaces of the operation buttons of the at least two control switches 202 are different in shape. For example, the shapes of the pressing surfaces of the operation buttons of the plurality of control switches include circle, trapezoid, square, etc., and the embodiments of the present application are not limited thereto.

[0048] For example, when a certain operation button is triggered and pressed by the thumb of the operator, the shape of the operation button can be a circle, and the area of the circle can be approximately the same as the pressing area of the thumb, which is only an example, and the embodiments of the present application are not limited thereto. As shown in Figure 2 The shape of the pressing surface of the operation button of the control switch 202a is a circle, the shapes of the pressing surfaces of the operation buttons of the control switches 202b and 202c are right-angled trapezoids, and the shape of the pressing surface of the operation button of the control switch 202d is an equilateral trapezoid, which is only an example, and the embodiments of the present application are not limited thereto.

[0049] In some embodiments, the pressing surfaces of the operation buttons of the at least two control switches are different in terms of concave-convex degree. For example, the pressing surfaces of the operation buttons of the plurality of control switches include at least two concave-convex degrees among a plane, a concave surface, and a convex surface. As shown in Figure 4 , the pressing surface of the operation button of the control switch 202a is a plane, the pressing surface of the operation button of the control switches 202b and 202c is an upper convex surface, and the pressing surface of the operation button of the control switch 202d is a lower concave surface. This is only an example, and the embodiments of the present application are not limited thereto.

[0050] In some embodiments, the pressing surfaces of the operation buttons of the at least two control switches are different in terms of roughness. For example, as shown in Figure 2 , the pressing surfaces of the operation buttons of the control switches 202a and 202d are smooth, and the pressing surfaces of the operation buttons of the control switches 202b and 202c are grainy. This is only an example, and the embodiments of the present application are not limited thereto.

[0051] By setting at least one of the concave-convex degree, the roughness, and the shape of the pressing surfaces of the operation buttons of the at least two control switches to be different, the pressing surfaces of the at least operation buttons will have different tactile sensations when touched, so that the operator can trigger the correct control switch without visual inspection, avoiding misoperation.

[0052] In some embodiments, the plurality of control switches includes a first control switch including a first operation button, which can be a control switch with a relatively high frequency of use or operation. For example, it can be used to trigger the overall movement of the robotic arm, and when the first operation button of the first control switch is pressed, the overall movement of the robotic arm can be manually controlled. This is only an example, and the embodiments of the present application are not limited thereto.

[0053] In some embodiments, a first protrusion portion around the first operation button can be arranged at intervals on the base, and the upper surface of the first protrusion portion is higher than the upper surface of the first operation button. Figure 5 and Figure 6 are different angle schematic views of the control switch assembly according to an embodiment of the present application, as shown in Figure 5 and Figure 6 Taking the control switch 202a as the first control switch as an example, a first protrusion portion 501 is arranged at intervals around the operation button of the control switch 202a on the base 201 (for example, on the protruding platform 2011). That is, the first protrusion portion 501 is only partially arranged around the operation button of the control switch 202a.

[0054] By arranging the first protrusion portion, it can be prevented that the surgical tool or other articles placed on the control switch assembly trigger the button by mistake.

[0055] In some embodiments, the first protrusion includes a pair of arc-shaped protrusions 601 oppositely arranged around the first operation button. When the operator operates the first control switch with his hand, the operator's thumb is located on the first operation button, and the first protrusion is oppositely located on both sides of the thumb. That is, the pair of arc-shaped protrusions are respectively arranged on both sides of the thumb, and through the arrangement of the first protrusion, the overall structure of the control switch assembly is more ergonomic, which is convenient for the user to operate, and the oppositely arranged first protrusion can also limit the thumb.

[0056] In some embodiments, the first protrusion is integrally arranged with the base, that is, the position of the first protrusion is fixed. Alternatively, the first protrusion is independent of the base and is rotatably fixed to the base, that is, the position of the first protrusion is variable. The position of the first protrusion can be adaptively adjusted according to the use habit of the operator, the angle at which the hand holds the base, and the position of the thumb, so that the overall structure of the control switch assembly is further ergonomic.

[0057] In some embodiments, as shown in Figure 5 and Figure 6 , the base 201 (for example, the protrusion platform 2011) is further provided with a third protrusion 503, and the third protrusion 503 is arranged around the circumference of the first operation button. Through the arrangement of the third protrusion, the operator can quickly and accurately locate the first operation button without visual inspection.

[0058] In some embodiments, the first protrusion 501 can be arranged on the third protrusion 503, for example, the first protrusion 501 is integrally arranged with the third protrusion 503. Alternatively, the first protrusion 501 is independent of the third protrusion 503 and is rotatably fixed to the third protrusion 503, which will not be exemplified here.

[0059] In some embodiments, the plurality of control switches further includes a second control switch adjacent to the first control switch, and the second control switch includes a second operation button. The second control switch can be a control switch with a lower frequency of use or operation frequency than the first control switch. For example, a control switch for controlling the mechanical arm to rotate counterclockwise or clockwise around the surgical channel, and when the second operation button of the second control switch is kept pressed, the mechanical arm can be controlled to rotate counterclockwise or clockwise around the surgical channel. This is only an example, and the embodiments of the present application are not limited thereto.

[0060] In some embodiments, the base is provided with a second protrusion on both sides of the second operation button, and the upper surface height of the second protrusion is greater than the upper surface height of the second operation button. As shown in Figure 5 andFigure 6 As shown, taking control switch 202b as an example of a second control switch, second protrusions 502 are provided on both sides of the control switch 202b on the base 201 (e.g., on the protruding platform 2011). By providing the second protrusions, it is possible to prevent accidental triggering of the button when surgical instruments or other items are placed on the control switch assembly.

[0061] In some embodiments, when there are multiple second control switches (e.g., control switches 202b and 202c), the multiple second control switches are located together inside the second protrusion. This reduces costs while preventing false triggering.

[0062] In some embodiments, the second protrusion 502 includes a pair of elongated protrusions 602 disposed opposite to each other on both sides of the second operation button. The pair of elongated protrusions 602 extend at a specific angle, meaning they are not parallel. When there are multiple second control switches (e.g., control switches 202b and 202c), the multiple second control switches are located between the pair of elongated protrusions 602.

[0063] In some embodiments, the pair of elongated protrusions 602 each include a converging end 61 and a separating end 62, with the separating end 62 closer to the first operation button and the converging end 61 farther away from the first operation button. Specifically, the distance between the pair of elongated protrusions 602 at the separating end 62 is greater than the distance at the converging end 61; that is, the distance between the pair of elongated protrusions is greater near the separating end and smaller near the converging end. Furthermore, the distance between the pair of elongated protrusions 602 at the separating end 62 is greater than the external dimensions of the first control switch.

[0064] In some embodiments, the second protrusion 502 may be disposed on the base 201, for example, on the outer side of the protruding platform 2011, or the second protrusion 502 may be disposed on the protruding platform 2011. This embodiment is not intended to limit the scope of the invention. The second protrusion 502 may be integrally disposed with the base or the protruding platform or disposed independently; examples will not be provided here.

[0065] In some embodiments, such as Figure 5 and 6 As shown, the height of the upper surface of the first protrusion is greater than the height of the upper surface of the second protrusion, thereby preventing the operation button from being fully triggered.

[0066] In some implementations, the plurality of control switches also includes a third control switch adjacent to the second control switch, such as... Figure 5 and Figure 6As shown, the third control switch is taken as an example of the control switch 202d. The third control switch can be a control switch with a lower frequency of use or operation frequency than the first control switch. For example, the third control switch is used to control the up-and-down movement of the mechanical arm along the direction of the surgical channel. When the third operation button is pressed to maintain the third control switch, the up-and-down movement of the mechanical arm along the direction of the surgical channel can be controlled. This is only an example, and the embodiments of the present application are not limited thereto.

[0067] In some embodiments, the second control switch and the third control switch are located on the inner side of the second protrusion. For example, the second control switch and the third control switch are located between a pair of long strip-shaped protrusions 602, the second control switch is closer to the separation end 62, the third control switch is closer to the aggregation end 61, and the distance between the aggregation end 61 and the pair of long strip-shaped protrusions 602 is greater than the outer dimension of the third control switch.

[0068] The above describes the first control switch, the second control switch, and the third control switch, but the embodiments of the present application are not limited thereto. The control switches can have other control functions, the control switch assembly can include other control switches, or can not include all the control switches described above, which are not exemplified one by one here.

[0069] It should be noted that the layout of the control switches described above is not limited thereto, and the arrangement of the second protrusion can also be changed according to the layout of the control switches, which are not exemplified one by one here.

[0070] As can be seen from the above embodiments, by setting at least one of the concave-convex degree, roughness, and shape of the pressing surface of the operation button of at least two control switches to be different, the operator can trigger the correct control switch without visual inspection, thereby avoiding misoperation. Thus, the operation time can be shortened, the operation efficiency can be improved, and the safety of the operation environment can be improved.

[0071] In addition, by setting the micro switch, the mis-triggering of the operation button when partially touching or pressing the operation button can be prevented.

[0072] In addition, by setting the protrusion around the control switch, the control switch that conforms to the ergonomics can be provided, and the mis-triggering of the button when placing the surgical tool or other articles on the control switch assembly can be prevented.

[0073] The embodiments of the present application also provide a control switch assembly for installing to and controlling a mechanical arm, such as Figure 2 As shown, the control switch assembly 200 includes:

[0074] a base 201 and a first control switch 202a, a second control switch 202b, and a second control switch 202c arranged on the base 201;

[0075] The base 201 comprises a first protrusion 501 at least partially surrounding the first control switch 202a and a second protrusion 502 at least partially surrounding the second control switch 202b, 202c;

[0076] The first control switch 202a comprises a first operation button, and the second control switch 202b, 202c comprises a second operation button, at least one of the concave-convex degree, roughness and shape of the pressing surface of the first operation button and the second operation button is different.

[0077] The embodiments of the base, the first control switch, the second control switch, the first protrusion, the second protrusion, the first operation button and the second operation button can refer to the foregoing embodiments, which will not be repeated here.

[0078] In some embodiments, the plurality of control switches further comprises a third control switch adjacent to the second control switch, and the second control switch and the third control switch are located on the inner side of the second protrusion together. The embodiments of the third control switch can refer to the foregoing embodiments, which will not be repeated here.

[0079] In some embodiments, at least one operation button of the control switch described above is provided with at least two micro switches connected in series under the operation button, and the micro switches are driven when the operation button is pressed. The embodiments of the micro switch can refer to the foregoing embodiments, which will not be repeated here.

[0080] As can be seen from the foregoing embodiments, by setting at least one of the concave-convex degree, roughness and shape of the pressing surface of the operation buttons of the two control switches to be different, the operator can trigger the correct control switch without visual inspection, avoiding misoperation. Therefore, the operation time can be shortened, the operation efficiency can be improved, and the safety of the operation environment can be improved. In addition, by providing the protrusions around the control switches, the control switches that meet the ergonomic requirements are provided, and the buttons can be prevented from being triggered by mistake when the surgical tools or other articles are placed on the control switch assembly.

[0081] The embodiments of the application also provide a surgical robot arm comprising the control switch assembly 200 described in the foregoing embodiments, and the repeated parts will not be repeated here.

[0082] In some embodiments, the robot arm can refer to the embodiments of Figure 1 , but the embodiments of the application are not limited thereto, and the following will only take Figure 1 as an example to describe the use mode of the robot arm.

[0083] In some embodiments, when using the mechanical arm, the base is held by hand, the thumb is placed on the first control switch, the first control switch is pressed and kept pressed, the overall movement of the mechanical arm can be manually controlled, after moving to a suitable position, the thumb is released, and the surgical channel is locked by the surgical system. After locking the surgical channel, the second control switch is pressed and kept pressed, the clockwise or counterclockwise rotation of the mechanical arm around the locked surgical channel can be controlled, or the third control switch is pressed and kept pressed, the up and down movement of the mechanical arm along the locked surgical channel can be controlled. Through the control of the second control switch and the third control switch, the pose of the surgical instrument (such as a drill bit, a clamp, a vertebra, a needle, etc.) in the clamp 103 can be further controlled to perform corresponding surgical operations on the surgical site or the affected part of the patient.

[0084] The triggering mode of the above control switch is only an example, and the embodiments of the present application are not limited thereto, and will not be exemplified one by one here.

[0085] The above various embodiments only exemplarily illustrate the embodiments of the present application, but the present application is not limited thereto, and appropriate modifications can be made on the basis of the above various embodiments. For example, the above various embodiments can be used alone, or one or more of the above various embodiments can be combined.

[0086] The embodiments of the present application are described above in combination with specific embodiments, but those skilled in the art should understand that these descriptions are exemplary and are not a limitation on the protection scope of the embodiments of the present application. Those skilled in the art can make various modifications and changes to the embodiments of the present application according to the spirit and principles of the embodiments of the present application, and these modifications and changes are within the scope of the embodiments of the present application.

[0087] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts between the embodiments can be referred to each other. The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and it cannot limit the protection scope of the present application. Any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

Claims

1. A control switch assembly for mounting to and controlling a robotic arm, characterized in that, The control switch assembly comprises: a base and a plurality of control switches arranged on the base, each control switch comprising an operation button, wherein at least one of the following is different between the operation buttons of at least two control switches: a concave-convex degree, a roughness, and a shape of a pressing surface of the operation button.

2. The control switch assembly of claim 1, wherein, The pressing surface of the operation button of the plurality of control switches comprises at least two of the following: a plane, a concave surface, and a convex surface.

3. The control switch assembly of claim 1, wherein, At least one of the plurality of control switches further comprises at least two micro switches arranged in series under the operation button, the micro switches being driven when the operation button is pressed.

4. The control switch assembly of claim 1, wherein, The plurality of control switches comprises a first control switch, the first control switch comprising a first operation button, the base being provided with a first protrusion portion spaced apart around the first operation button, an upper surface of the first protrusion portion being higher than an upper surface of the first operation button.

5. The control switch assembly of claim 4, wherein, The first protrusion portion comprises a pair of arc-shaped protrusions arranged oppositely around the first operation button.

6. The control switch assembly of claim 5, wherein, The first protrusion portion is integrally arranged with the base, or the first protrusion portion is independent of the base and rotatably fixed to the base.

7. The control switch assembly of claim 5, wherein, When an operator operates the first control switch with hands, a thumb of the operator is located on the first operation button, and the first protrusion portion is oppositely located on both sides of the thumb.

8. The control switch assembly of claim 4, wherein, The plurality of control switches further comprises a second control switch adjacent to the first control switch, the second control switch comprising a second operation button, the base comprising a second protrusion portion arranged on both sides of the second operation button, an upper surface of the second protrusion portion being higher than an upper surface of the second operation button.

9. The control switch assembly of claim 8, wherein, The upper surface of the first protrusion portion is higher than the upper surface of the second protrusion portion.

10. The control switch assembly of claim 8, wherein, The second protrusion portion comprises a pair of strip-shaped protrusions arranged oppositely on both sides of the second operation button, the pair of strip-shaped protrusions extending in a specific angle.

11. The control switch assembly of claim 10, wherein, The pair of strip-shaped protrusions respectively comprises a converging end and a diverging end, wherein a distance between the diverging ends of the pair of strip-shaped protrusions is greater than a distance between the converging ends, and the distance between the diverging ends of the pair of strip-shaped protrusions is greater than an outer dimension of the first control switch.

12. The control switch assembly of claim 8, wherein, The plurality of control switches further comprises a third control switch adjacent to the second control switch, the second control switch and the third control switch being located on an inner side of the second protrusion portion.

13. A control switch assembly for mounting to and controlling a robotic arm, characterized in that, The control switch assembly comprises: a base and a first control switch and a second control switch arranged on the base; the base comprising a first protrusion portion at least partially surrounding the first control switch and a second protrusion portion arranged at least partially surrounding the second control switch; the first control switch comprising a first operation button, and the second control switch comprising a second operation button, at least one of the following being different between a pressing surface of the first operation button and a pressing surface of the second operation button: a concave-convex degree, a roughness, and a shape.

14. The control switch assembly of claim 13, wherein, At least one of the first operation button and the second operation button is provided with at least two micro switches arranged in series under the at least one operation button, the micro switches being driven when the at least one operation button is pressed.

15. A robot arm, characterized in that A control switch assembly as claimed in any one of claims 1-14.

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