Hand-arm connection wrist device and compliant control method adapting to work posture deviation

Abstract

The present invention relates to the field of robotics, and in particular to a hand-arm connection wrist device that adapts to working posture deviation and a flexible control method; the device comprises an upper connecting plate, a light source, an optical signal receiving component, an elastic component, a limit component, a lower connecting plate, a signal acquisition and processing circuit and a power supply module; the upper connecting plate is used to be connected to the end of the robot, and the lower connecting plate is used to be connected to the end tool, the elastic component and the limit component are arranged between the upper connecting plate and the lower connecting plate, and the elastic component is sleeved on the limit component, and the passive compliant movement of the lower connecting plate can be achieved through the elastic component; through the elastic deformation of the elastic component, a large range of six-degree-of-freedom flexible motion can be achieved, assembly deviation can be compensated, and damage to parts due to rigid contact and collision can be avoided; the six-dimensional posture of the lower connecting plate relative to the upper connecting plate can be measured by the light source and the optical signal receiving component, which is used for active control of the robot to adapt to working deviation; the components of the entire device are simple to install, the structure is compact, easy to integrate, and miniaturization and lightweight can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a hand-arm wrist device adaptable to working posture deviation and a compliant control method. Background Art

[0002] Assembly is the final step in the manufacturing process and directly impacts product quality. Robots, with their advantages of large workspace, flexibility, and high efficiency, are widely used to complete various assembly tasks. However, during automated robotic assembly, problems such as jamming and wedging can occur due to kinematic errors and manufacturing tolerances, making assembly difficult. Furthermore, the stiffness of the contact environment can cause serious damage to parts or the robot. Therefore, compliant assembly technology is needed.

[0003] Currently, robotic compliant assembly technologies primarily include active compliant control methods and passive compliant devices. Active compliant control methods use force sensors to sense environmental contact information and employ control algorithms to achieve a certain degree of compliance in the assembly. However, this method is affected by sensor performance. Force sensors are highly sensitive, and their output data fluctuates significantly, adversely affecting the stability of the control system. Furthermore, the control algorithm is complex. Furthermore, for force control, the control system cannot react or make decisions until contact force is generated and detected. Therefore, passive compliant devices are required to absorb contact force and act as a buffer. Passive compliant devices are typically installed between the robot's end effector and the part to be assembled. Their specific elastic mechanisms enable the robot to adapt and adjust its movement when in contact with the environment to achieve assembly. However, most passive compliant devices currently lack measurement information feedback and cannot be integrated with robotic control, limiting improvements in the accuracy and adaptability of robotic assembly control.

[0004] For example, Chinese invention patent publication number CN111152201A discloses a passive compliance device with variable stiffness and six-dimensional force perception for automatic assembly. The device achieves passive compliance through a variable stiffness beam assembly, and measures force / torque through the arrangement of strain gauges to provide perception information for active compliance control. Although the device has a certain degree of compliance and can measure force / torque information, it has a large stiffness and a small passive compliance range. It cannot protect components from impact, and requires complex active compliance control algorithms to achieve assembly, resulting in low assembly efficiency.

[0005] Chinese invention patent publication number CN116175522A discloses a multi-dimensional passive compliance device and method with force and posture detection functions. The device achieves passive compliance through a flexible branch chain of an elastic plate, measures posture through a camera device and a calibration plate, and uses the obtained posture information to obtain force / torque information. Although the device has compliance, posture and force perception capabilities, the algorithm used by the device to obtain posture using vision is relatively complex, and the device is difficult to miniaturize, making it unsuitable for environments with compact structures and small spaces. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the problems in the prior art that the algorithm for obtaining posture using vision is relatively complex, the device is difficult to miniaturize, and is not suitable for environments with compact structures and small spaces, thereby providing a hand-arm connection wrist device and a flexible control method that can adapt to work posture deviations.

[0007] In order to solve the above technical problems, the present invention provides a hand-arm connection wrist device that adapts to working posture deviation, including an upper connecting plate, a light source, an optical signal receiving component, an elastic component, a limit component, a lower connecting plate, a signal acquisition and processing circuit and a power supply module; the upper connecting plate is used to be connected to the end of the robot, and the lower connecting plate is used to be connected to the end tool, the elastic component and the limit component are arranged between the upper connecting plate and the lower connecting plate, and the elastic component is sleeved on the limit component, and the passive compliant movement of the lower connecting plate can be achieved through the elastic component; the light source is installed on the lower connecting plate, the optical signal receiving component is installed on the upper connecting plate, and the light source and the optical signal receiving component correspond to each other, the signal acquisition and processing circuit and the power supply module are arranged on the workbench, the optical signal receiving component receives the light emitted by the light source and outputs a corresponding electrical signal, the signal acquisition and processing circuit collects all electrical signals, and calculates the six-dimensional posture of the lower connecting plate relative to the upper connecting plate.

[0008] Furthermore, both the upper connecting plate and the lower connecting plate are provided with mounting grooves, one end of the elastic component is connected to the upper connecting plate via the mounting groove, and the other end of the spring component is connected to the lower connecting plate via the mounting groove.

[0009] Furthermore, the limiting assembly includes a limiting shaft and a limiting washer, one end of the limiting shaft is connected to the upper connecting plate, the other end of the limiting shaft passes through the limiting washer, the limiting shaft is inserted into the limiting groove on the lower connecting plate, and the limiting washer cooperates with the limiting groove.

[0010] Furthermore, there are three groups of optical signal receiving components, and the three groups of optical signal receiving components are spaced apart between the upper connecting plate and the lower connecting plate.

[0011] Furthermore, the optical signal receiving component includes a mounting sheet metal and a signal processing board, and a two-dimensional PSD sensor, the mounting sheet metal is connected to the upper connecting plate and the lower connecting plate, the signal processing board is connected to the mounting sheet metal, and the two-dimensional PSD sensor is arranged on the signal processing board.

[0012] Furthermore, the planes where the sensitive surfaces of the three two-dimensional PSD sensors are located are perpendicular to each other in space, wherein the plane where the sensitive surface of one two-dimensional PSD sensor is located is parallel to the upper connecting plate.

[0013] Furthermore, the light paths of the three light sources are perpendicular to each other in space and are respectively directed toward the sensitive surfaces of the three two-dimensional PSD sensors.

[0014] The present invention also provides a compliant control method for a hand-arm wrist device adapted to working posture deviation, comprising the following steps:

[0015] Step 1: Mounting an upper connecting plate of a hand-arm wrist device adapted to working posture deviation on the end of a robot, and mounting an end working tool on a lower connecting plate of the hand-arm wrist device adapted to working posture deviation;

[0016] Step 2: Control the robot to move along a predetermined working path. When the end working tool contacts the environment during the working process, the hand-arm wrist device adapted to the working posture deviation passively moves to make the end working tool reach the target position.

[0017] Step 3, measuring the six-dimensional pose of the lower connecting plate of the hand-arm wrist device adapted to the working posture deviation between the robot end and the end working tool relative to the upper connecting plate, that is, the posture deviation between the robot end and the target working position;

[0018] Step 4: Calculate the displacement that needs to be compensated at the end of the robot and control the end of the robot to move in the direction where the posture deviation is reduced.

[0019] Furthermore, the six-dimensional posture of the lower connecting plate of the hand-arm connection wrist device relative to the upper connecting plate of the measuring robot end and the end working tool that adapts to the working posture deviation includes: the optical signal receiving component receives the light emitted by the light source and outputs a corresponding electrical signal, the signal acquisition and processing circuit collects all electrical signals, determines the projection position of the light source on the sensitive surface of the two-dimensional PSD sensor, and obtains the six-dimensional posture of the lower connecting plate relative to the upper connecting plate through coordinate transformation operation.

[0020] Furthermore, the displacement that needs to be compensated for at the end of the robot is obtained from the six-dimensional posture of the lower connecting plate relative to the upper connecting plate, the current posture of the end of the robot and the geometric shape of the work object.

[0021] The technical solution of the present invention has the following advantages:

[0022] The hand-arm connection wrist device that adapts to working posture deviation provided by the present invention includes an upper connecting plate, a light source, an optical signal receiving component, an elastic component, a limit component, a lower connecting plate, a signal acquisition and processing circuit and a power supply module; the upper connecting plate is used to be connected to the end of the robot, and the lower connecting plate is used to be connected to the end tool, the elastic component and the limit component are arranged between the upper connecting plate and the lower connecting plate, and the elastic component is sleeved on the limit component, and the passive compliant movement of the lower connecting plate can be achieved through the elastic component; the light source is installed on the lower connecting plate, the optical signal receiving component is installed on the upper connecting plate, and the light source and the optical signal receiving component correspond to each other, the signal acquisition and processing circuit and the power supply module are arranged on the workbench, the optical signal receiving component receives the light emitted by the light source and outputs a corresponding electrical signal, the signal acquisition and processing circuit collects all electrical signals, and calculates the six-dimensional posture of the lower connecting plate relative to the upper connecting plate.

[0023] The upper connecting plate is connected to the end of the robot, and the lower connecting plate is connected to the end tool, so that the device can be used for operation; wherein, the elastic component and the limit component, the light source, and the optical signal receiving component are all arranged between the upper connecting plate and the lower connecting plate. Through the setting of the elastic component, the passive compliance movement of the lower connecting plate can be realized. At the same time, the optical signal receiving component receives the light emitted by the light source and outputs the corresponding electrical signal. The signal acquisition and processing circuit collects all electrical signals and calculates the six-dimensional posture of the lower connecting plate relative to the upper connecting plate.

[0024] Through the elastic deformation of the elastic component, a large range of six-degree-of-freedom compliant motion can be achieved, assembly deviations can be compensated, and damage to parts due to rigid contact and collisions can be avoided; the six-dimensional position of the lower connecting plate relative to the upper connecting plate can be measured through the light source and the optical signal receiving component, which is used for active control of the robot to adapt to operational deviations; and the six-dimensional relative position of the lower connecting plate relative to the upper connecting plate can be collected in real time, with a simple algorithm and stable data, providing perception information for robot control; at the same time, the entire device is easy to install, compact in structure, easy to integrate, and easy to achieve miniaturization and lightweighting.

[0025] The device enables the lower connecting plate to achieve passive compliant motion in a large range of six degrees of freedom, compensates for the posture deviation during the robot assembly process, and can collect the six-dimensional relative posture of the lower connecting plate relative to the upper connecting plate in real time, which is used for the robot to actively control and adjust the assembly posture. In addition, the conical surface of the limit washer and the restoring force of the elastic component can return the lower connecting plate to its initial position, reducing the cumulative error and facilitating the next assembly operation.

[0026] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A schematic structural diagram of a hand-arm wrist device adapted to working posture deviation provided by the present invention;

[0029] Figure 2 A schematic structural diagram of an optical signal receiving component of a hand-arm wrist device adapted to work posture deviation provided by the present invention;

[0030] Figure 3 A schematic structural diagram of a light source of a hand-arm wrist device adapted to working posture deviation provided by the present invention;

[0031] Figure 4 A front view of the hand-arm wrist device adapted to working posture deviation provided by the present invention;

[0032] Figure 5 A schematic diagram of the installation of an optical signal receiving component of a hand-arm wrist device adapted to work posture deviation provided by the present invention;

[0033] Figure 6 A partial cross-sectional view of the hand-arm wrist connection device adapted to working posture deviation provided by the present invention;

[0034] Figure 7 A top view of the hand-arm wrist device adapted to working posture deviation provided by the present invention;

[0035] Figure 8 This is a flow chart of the compliant control method for the hand-arm wrist device adapted to working posture deviation provided by the present invention.

[0036] Description of reference numerals:

[0037] 1. Upper connecting plate; 2. Light source; 201. Light source mounting bracket; 3. Optical signal receiving assembly; 301. Two-dimensional PSD sensor; 302. Signal processing board; 303. Mounting sheet metal; 4. Spring; 5. Limit assembly; 501. Limit shaft; 502. Limit part; 503. Limit washer; 6. Lower connecting plate; 601. Limit slot. DETAILED DESCRIPTION

[0038] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0039] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the aforementioned features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0040] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0041] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0042] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0043] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0044] See also Figures 1 to 8 As shown, the present invention provides a hand-arm connection wrist device that adapts to working posture deviation, including an upper connecting plate 1, a light source 2, an optical signal receiving component 3, an elastic component 4, a limit component 5, a lower connecting plate 6, a signal acquisition and processing circuit and a power module; the upper connecting plate 1 is used to be connected to the end of the robot, and the lower connecting plate 6 is used to be connected to the end tool, the elastic component 4 and the limit component 5 are arranged between the upper connecting plate 1 and the lower connecting plate 6, and the elastic component 4 is sleeved on the limit component 5, and the passive compliance movement of the lower connecting plate 6 can be achieved through the elastic component 4; the light source 2 is installed on the lower connecting plate 6, the optical signal receiving component 3 is installed on the upper connecting plate 1, and the light source 2 and the optical signal receiving component 3 correspond to each other, the signal acquisition and processing circuit and the power module are arranged on the workbench, the optical signal receiving component 3 receives the light emitted by the light source 2 and outputs a corresponding electrical signal, the signal acquisition and processing circuit collects all electrical signals, and calculates the six-dimensional posture of the lower connecting plate 6 relative to the upper connecting plate 1.

[0045] The upper connecting plate 1 is connected to the end of the robot, and the lower connecting plate 6 is connected to the end tool, so that the device can be used for operation; wherein, the elastic component 4 and the limit component 5, the light source 2, and the optical signal receiving component 3 are all arranged between the upper connecting plate 1 and the lower connecting plate 6. Through the setting of the elastic component 4, the passive compliance movement of the lower connecting plate 6 can be realized. At the same time, the light signal receiving component 3 receives the light emitted by the light source 2 and outputs the corresponding electrical signal. The signal acquisition and processing circuit collects all electrical signals and calculates the six-dimensional posture of the lower connecting plate 6 relative to the upper connecting plate 1.

[0046] Through the elastic deformation of the elastic component 4, a large range of six-degree-of-freedom compliant motion can be achieved, assembly deviations can be compensated, and damage to parts due to rigid contact and collisions can be avoided; the six-dimensional position of the lower connecting plate relative to the upper connecting plate can be measured through the light source and the optical signal receiving component, which is used for active control of the robot to adapt to operational deviations; and the six-dimensional relative position of the lower connecting plate 6 relative to the upper connecting plate 1 can be collected in real time, with a simple algorithm and stable data, providing perception information for robot control; at the same time, the entire device is easy to install, compact in structure, easy to integrate, and easy to achieve miniaturization and lightweighting.

[0047] The device enables the lower connecting plate 6 to achieve passive compliant movement in a large range of six degrees of freedom, compensates for the posture deviation during the robot assembly process, and can collect the six-dimensional relative posture of the lower connecting plate 6 relative to the upper connecting plate 1 in real time, which is used for the robot to actively control and adjust the assembly posture. In addition, the conical surface of the limiting washer 503 and the restoring force of the elastic component 4 can return the lower connecting plate 6 to the initial position, reducing the cumulative error and facilitating the next assembly operation.

[0048] Among them, the signal acquisition and processing circuit and the power supply module are placed on the workbench and connected to the optical signal receiving component and the light source wire.

[0049] The upper connecting plate 1 is provided with wire holes and connection holes for installing and connecting external equipment, and is fixedly connected to the end of the robot by screws; the lower connecting plate 6 is provided with connection holes for installing and connecting external equipment, and is fixedly connected to the end tool by screws. The upper connecting plate 1 and the lower connecting plate 6 are connected by an elastic component 4 and a limit component 5. The passive compliant movement of the lower connecting plate 6 can be achieved through the elastic deformation of the elastic component 4.

[0050] In some optional embodiments, both the upper connecting plate 1 and the lower connecting plate 6 are provided with mounting grooves, one end of the elastic component 4 is connected to the upper connecting plate 1 through the mounting groove, and the other end of the elastic component 4 is connected to the lower connecting plate 6 through the mounting groove.

[0051] That is, the elastic component 4 can be installed between the upper connecting plate 1 and the lower connecting plate 6 through the installation groove; wherein, the elastic component 4 is a spring and has three groups, which are evenly distributed around the circumference and arranged between the upper connecting plate 1 and the lower connecting plate 6.

[0052] In some optional embodiments, the limiting assembly 5 includes a limiting shaft 501 and a limiting washer 503, one end of the limiting shaft 501 is connected to the upper connecting plate 1, and the other end of the limiting shaft 501 passes through the limiting washer 503, the limiting shaft 501 is inserted into the limiting groove 601 on the lower connecting plate 6, and the limiting washer 503 cooperates with the limiting groove 601.

[0053] Among them, the lower end of the limiting shaft 501 is truncated cone-shaped, called the limiting part 502, the upper end of the limiting shaft 501 is fixedly connected to the upper connecting plate 1 by screws, the lower end of the limiting shaft 501 is sleeved with a limiting washer 503, and the lower connecting plate 6 is provided with a limiting groove 601, the limiting washer 503 cooperates with the inner wall of the limiting groove 601, and the conical surface of the limiting part 502 cooperates with the conical surface of the limiting washer 503, so that the device returns to the initial position, reduces the cumulative error, and facilitates the next assembly operation. A certain gap is maintained between the outer side of the lower end of the limiting part 502 and the inner wall of the limiting groove 601, so that the lower connecting plate 6 can adjust its posture within a certain range.

[0054] In some optional embodiments, the optical signal receiving assembly 3 comprises three groups, and the three groups of optical signal receiving assemblies 3 are spaced apart and arranged between the upper connecting plate 1 and the lower connecting plate 6. Specifically, the optical signal receiving assembly 3 includes a mounting sheet metal 303, a signal processing board 302, and a two-dimensional PSD sensor 301. The mounting sheet metal 303 is connected to the upper connecting plate 1 and the lower connecting plate 6, the signal processing board 302 is connected to the mounting sheet metal 303, and the two-dimensional PSD sensor 301 is arranged on the signal processing board 302.

[0055] The two-dimensional PSD sensor 301 is mounted on the signal processing board 302 to form an optical signal receiving component 3. To reduce the size of the device, the optical signal receiving component 3 is mounted on the optical signal receiving component 3 mounting sheet metal 303 via hexagonal copper studs. The optical signal receiving component 3 mounting sheet metal 303 is fixed to the upper connecting plate 1 via screws.

[0056] Moreover, the planes where the sensitive surfaces of the three two-dimensional PSD sensors 301 are located are perpendicular to each other in space, wherein the plane where the sensitive surface of one two-dimensional PSD sensor 301 is located is parallel to the upper connecting plate 1 , and the planes where the sensitive surfaces of two two-dimensional PSD sensors 301 are located are perpendicular to the upper connecting plate 1 .

[0057] Light source 2 is a laser diode, mounted on a light source mounting bracket via a screw. The mounting bracket is fixedly connected to the lower connecting plate 6 via screws. The optical paths of the three light sources 2 are perpendicular to each other in space and are directed toward the sensitive surfaces of the three 2D PSD sensors 301. The optical path of one light source 2 is perpendicular to the lower connecting plate 6, while the optical paths of two light sources 2 are parallel to the lower connecting plate 6. The arrangement of the light sources 2 and the 2D PSD sensors 301 corresponds to each other, facilitating the measurement of the 6D spatial pose.

[0058] The power module is electrically connected to the light source 2, the optical signal receiving component 3, and the signal acquisition and processing circuit. The signal acquisition circuit can be a PSD processing unit or an analog-to-digital conversion circuit.

[0059] The light source 2 is installed on the lower connecting plate 6, and the optical signal receiving component 3 is installed on the upper connecting plate 1. The optical signal receiving component 3 receives the light emitted by the light source 2 and outputs a corresponding electrical signal. The signal acquisition and processing circuit collects all electrical signals, and determines the projection position of the light source 2 on the sensitive surface of the two-dimensional PSD sensor 301 based on the received electrical signals. The six-dimensional posture of the lower connecting plate 66 relative to the upper connecting plate 1 is obtained through coordinate transformation operation.

[0060] The present invention also provides a compliant control method for a hand-arm wrist device that adapts to working posture deviation, comprising the following steps: Step 1, installing the upper connecting plate 1 of the hand-arm wrist device that adapts to working posture deviation on the end of the robot, and installing the end working tool on the lower connecting plate 6 of the hand-arm wrist device that adapts to working posture deviation; Step 2, controlling the robot to move according to a predetermined working path, when the end working tool comes into contact with the environment during the operation process, the hand-arm wrist device that adapts to working posture deviation performs passive compliant movement to make the end working tool reach the target position; Step 3, measuring the six-dimensional posture of the lower connecting plate 6 of the hand-arm wrist device that adapts to working posture deviation between the robot end and the end working tool relative to the upper connecting plate 1, that is, the posture deviation between the robot end and the target working position; Step 4, calculating the displacement that needs to be compensated for the robot end, and controlling the robot end to move in the direction of reducing the posture deviation.

[0061] Among them, the six-dimensional posture of the lower connecting plate 6 of the hand-arm connection wrist device that adapts to the working posture deviation between the end of the measuring robot and the end working tool relative to the upper connecting plate 1 includes: the optical signal receiving component 3 receives the light emitted by the light source 2 and outputs a corresponding electrical signal, the signal acquisition and processing circuit collects all electrical signals, determines the projection position of the light source 2 on the sensitive surface of the two-dimensional PSD sensor 301, and obtains the six-dimensional posture of the lower connecting plate 6 relative to the upper connecting plate 1 through coordinate transformation operation.

[0062] Specifically, the displacement that needs to be compensated at the end of the robot is obtained from the six-dimensional posture of the lower connecting plate 6 relative to the upper connecting plate 1, the current posture of the end of the robot and the geometric shape of the work object.

[0063] The robot calculates the current end position of the robot using the robot forward kinematics equation based on the data of each joint encoder, and combines the six-dimensional position of the lower connecting plate 6 relative to the upper connecting plate 1 and the geometric shape of the work object to obtain the displacement that needs to be compensated for the end of the robot.

[0064] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A hand-arm wrist device that adapts to work posture deviation, characterized in that: It comprises an upper connecting plate (1), a light source (2), an optical signal receiving component (3), an elastic component (4), a limit component (5), a lower connecting plate (6), a signal acquisition and processing circuit, and a power supply module; The upper connecting plate (1) is used to be connected to the end of the robot, and the lower connecting plate (6) is used to be connected to the end tool. The elastic component (4) and the limiting component (5) are arranged between the upper connecting plate (1) and the lower connecting plate (6), and the elastic component (4) is sleeved on the limiting component (5), and the passive compliant movement of the lower connecting plate (6) can be achieved through the elastic component (4); The light source (2) is mounted on the lower connecting plate (6), the optical signal receiving component (3) is mounted on the upper connecting plate (1), and the light source (2) and the optical signal receiving component (3) correspond to each other. The signal acquisition and processing circuit and the power supply module are arranged on a workbench. The optical signal receiving component (3) receives the light emitted by the light source (2) and outputs a corresponding electrical signal. The signal acquisition and processing circuit collects all electrical signals and calculates the six-dimensional position of the lower connecting plate (6) relative to the upper connecting plate (1).

2. The hand-arm wrist device adapted to working posture deviation according to claim 1, characterized in that: The upper connecting plate (1) and the lower connecting plate (6) are both provided with mounting grooves, one end of the elastic component (4) is connected to the upper connecting plate (1) via the mounting groove, and the other end of the elastic component (4) is connected to the lower connecting plate (6) via the mounting groove.

3. The hand-arm wrist device adapted to working posture deviation according to claim 1, characterized in that: The limiting assembly (5) comprises a limiting shaft (501) and a limiting washer (503), one end of the limiting shaft (501) is connected to the upper connecting plate (1), the other end of the limiting shaft (501) passes through the limiting washer (503), the limiting shaft (501) is inserted into the limiting groove (601) on the lower connecting plate (6), and the limiting washer (503) cooperates with the limiting groove (601).

4. The hand-arm wrist device adapted to working posture deviation according to claim 1, characterized in that: The optical signal receiving components (3) have three groups, and the three groups of optical signal receiving components (3) are arranged at intervals between the upper connecting plate (1) and the lower connecting plate (6).

5. A hand-arm wrist device adapted to working posture deviation according to any one of claims 1 to 4, characterized in that: The optical signal receiving component (3) comprises a mounting sheet metal (303), a signal processing board (302), and a two-dimensional PSD sensor (301); the mounting sheet metal (303) is connected to the upper connecting board (1) and the lower connecting board (6); the signal processing board (302) is connected to the mounting sheet metal (303); and the two-dimensional PSD sensor (301) is arranged on the signal processing board (302).

6. The hand-arm wrist device adapted to working posture deviation according to claim 5, characterized in that: The planes where the sensitive surfaces of the three two-dimensional PSD sensors (301) are located are perpendicular to each other in space, wherein the plane where the sensitive surface of one two-dimensional PSD sensor (301) is located is parallel to the upper connecting plate (1).

7. The hand-arm wrist device adapted to working posture deviation according to claim 5, characterized in that: The light paths of the three light sources (2) are perpendicular to each other in space and are respectively directed toward the sensitive surfaces of the three two-dimensional PSD sensors (301).

8. A compliant control method for a hand-arm wrist device adapted to working posture deviation according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Installing an upper connecting plate (1) of a hand-arm connecting wrist device adapted to working posture deviation on the end of a robot, and installing an end working tool on a lower connecting plate (6) of the hand-arm connecting wrist device adapted to working posture deviation; Step 2: Control the robot to move along a predetermined working path. When the end working tool contacts the environment during the working process, the hand-arm wrist device adapted to the working posture deviation passively moves to make the end working tool reach the target position. Step 3, measuring the six-dimensional posture of the lower connecting plate (6) of the hand-arm connecting wrist device adapted to the working posture deviation between the robot end and the end working tool relative to the upper connecting plate (1), that is, the posture deviation between the robot end and the target working position; Step 4: Calculate the displacement that needs to be compensated at the end of the robot and control the end of the robot to move in the direction where the posture deviation is reduced.

9. The method for compliantly controlling a hand-arm wrist device adapted to working posture deviation according to claim 8, characterized in that: The six-dimensional posture of the lower connecting plate (6) of the hand-arm connecting wrist device relative to the upper connecting plate (1) for measuring the deviation of the working posture adapted to the end of the robot and the end working tool comprises: The optical signal receiving component (3) receives the light emitted by the light source (2) and outputs a corresponding electrical signal. The signal acquisition and processing circuit collects all electrical signals, determines the projection position of the light source (2) on the sensitive surface of the two-dimensional PSD sensor (301), and obtains the six-dimensional position of the lower connecting plate (6) relative to the upper connecting plate (1) through coordinate transformation calculation.

10. The method for compliant control of a hand-arm wrist device adapted to working posture deviation according to claim 8, characterized in that: The displacement that needs to be compensated for at the end of the robot is obtained from the six-dimensional posture of the lower connecting plate (6) relative to the upper connecting plate (1), the current posture of the end of the robot and the geometric shape of the work object.

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