Multi-degree-of-freedom rotation mechanism, robot arm, robot control method and system, and computer-readable storage medium

Abstract

The present invention discloses a control method and system for a multi-degree-of-freedom rotation mechanism, a manipulator, and a robot, and a computer-readable storage medium. The control method comprises the steps of: determining a target posture of the multi-degree-of-freedom rotation mechanism; determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture; controlling the first driver according to the first driving parameter and / or controlling the second driver according to the second driving parameter to realize the rotation of the first limb. The present application determines the driving parameters of the first driver and the second driver through the target posture, and controls the first driver and / or the second driver respectively according to the driving parameters to realize the rotation control of the first limb in different directions. The multi-degree-of-freedom rotation mechanism presents a variety of different target postures, and the control of the first limb is more flexible, thereby completing a variety of different tasks.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multi-degree-of-freedom rotation mechanism, a robot arm, a robot control method and system, and a computer-readable storage medium. Background Art

[0002] With the development of robotics technology, robots are widely used. Robots are mechanical devices that perform work automatically, mainly composed of mechanical bodies, memory or program functions and core parts. They can accept human command and control, run pre-programmed programs for control, or be controlled according to principles and guidelines formulated by artificial intelligence technology. Its task is to assist or replace human work, such as manufacturing, construction, or dangerous work. Robots can have multiple movable limbs to perform corresponding tasks and complete work through their limbs.

[0003] The robot's limbs can show different postures by rotating, so as to perform a variety of different tasks. In the prior art, the robot's limbs are usually controlled by unidirectional rotation. For example, in the patent document with publication number CN109808791A, the connectors are connected by a rotating shaft to achieve unidirectional rotation of two adjacent connectors, and the rotation is controlled by a hydraulic cylinder. Although the movement accuracy is high, the adaptability of the limbs is poor, and it is difficult to perform a variety of different tasks.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a multi-degree-of-freedom rotation mechanism, a manipulator, a robot control method and system, and a computer-readable storage medium are provided, aiming to solve the problem that the limbs of robots in the prior art usually adopt unidirectional rotation control, making it difficult to perform a variety of different tasks.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A control method for a multi-degree-of-freedom rotation mechanism, wherein the multi-degree-of-freedom rotation mechanism comprises:

[0008] Pedestal;

[0009] A movable component, movably connected to the base;

[0010] A first driver and a second driver are both disposed on the base and connected to the movable component;

[0011] A first limb, disposed on the movable component;

[0012] Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction;

[0013] The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction;

[0014] The control method comprises the steps of:

[0015] Determine the target posture of a multi-degree-of-freedom rotational mechanism;

[0016] Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0017] The first driver is controlled according to the first driving parameter and / or the second driver is controlled according to the second driving parameter to achieve rotation of the first limb.

[0018] The control method of the multi-degree-of-freedom rotation mechanism, wherein the movable component comprises:

[0019] A first rotating frame and a second rotating frame are both rotatably disposed on the base;

[0020] A third rotating frame, rotatably connected to the second rotating frame;

[0021] A connecting rod, both ends of which are rotatably connected to the first rotating frame and the third rotating frame respectively;

[0022] Wherein, the first rotating frame is connected to the first driver, and the second rotating frame is connected to the second driver;

[0023] The first limb is disposed on the third rotating frame;

[0024] The first driving parameter is a first rotation angle of the first rotating frame, and the second driving parameter is a second rotation angle of the second rotating frame;

[0025] The step of determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture includes:

[0026] The first rotation angle and the second rotation angle are determined according to the target posture.

[0027] The control method of the multi-degree-of-freedom rotation mechanism, wherein the multi-degree-of-freedom rotation mechanism further comprises:

[0028] a second limb, rotatably connected to the first limb;

[0029] a third actuator, disposed on the first limb;

[0030] a rotating wheel rotatably disposed on the first limb;

[0031] wherein the rotating wheel abuts against the second limb;

[0032] The third driver is used to drive the rotating wheel to rotate;

[0033] The control method further comprises:

[0034] Determining a third driving parameter of the third driver according to the target posture;

[0035] The third actuator is controlled according to the third driving parameter to rotate the second limb.

[0036] The control method of the multi-degree-of-freedom rotation mechanism, wherein the multi-degree-of-freedom rotation mechanism further comprises:

[0037] a torque sensor, for detecting the torque of the rotating wheel or the third driver;

[0038] a controller, electrically connected to the torque sensor, the first driver, the second driver, and the third driver respectively;

[0039] The control method further comprises:

[0040] Acquiring a torque value collected by the torque sensor;

[0041] According to the torque value, the third driver is controlled to drive the rotating wheel to rotate.

[0042] The control method of the multi-degree-of-freedom rotation mechanism, wherein, according to the torque value, controlling the third driver to drive the rotating wheel to rotate, comprises:

[0043] When the torque value is less than or equal to a first preset torque value, the third driver is controlled to drive the rotating wheel to rotate a first preset angle.

[0044] The control method of the multi-degree-of-freedom rotation mechanism, wherein the controlling the third driver to drive the rotating wheel to rotate according to the torque value, further comprises:

[0045] When the torque value is greater than or equal to a second preset torque value, the third driver is controlled to drive the rotating wheel to rotate gradually; wherein the second preset torque value is greater than the first preset torque value.

[0046] The control method of the multi-degree-of-freedom rotation mechanism, wherein the control method further comprises:

[0047] According to the torque value, the first driver is controlled to drive the first limb to rotate.

[0048] The control method of the multi-degree-of-freedom rotation mechanism, wherein, according to the torque value, controlling the first driver to drive the first limb to rotate, comprises:

[0049] When the torque value is less than or equal to a first preset torque value, controlling the first driver to drive the first limb to rotate by a second preset angle;

[0050] When the torque value is greater than or equal to a second preset torque value, the first driver and / or the second driver is controlled to drive the first limb to move gradually.

[0051] A control system for a multi-degree-of-freedom rotation mechanism comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the control methods described above when executing the computer program.

[0052] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any of the control methods described above when executed by a processor.

[0053] A method for controlling a robot arm, wherein the robot arm comprises:

[0054] Pedestal;

[0055] A movable component, movably connected to the base;

[0056] A first driver and a second driver are both disposed on the base and connected to the movable component;

[0057] A first limb, disposed on the movable component;

[0058] Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction;

[0059] The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction;

[0060] The control method comprises the steps of:

[0061] Determine the target posture of the robot hand;

[0062] Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0063] The first driver is controlled according to the first driving parameter and / or the second driver is controlled according to the second driving parameter to achieve rotation of the first limb.

[0064] A method for controlling a robot, wherein the robot comprises:

[0065] Pedestal;

[0066] A movable component, movably connected to the base;

[0067] A first driver and a second driver are both disposed on the base and connected to the movable component;

[0068] A first limb, disposed on the movable component;

[0069] Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction;

[0070] The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction;

[0071] The control method comprises the steps of:

[0072] Determine the robot's target pose;

[0073] Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0074] The first driver is controlled according to the first driving parameter and / or the second driver is controlled according to the second driving parameter to achieve rotation of the first limb.

[0075] Beneficial effects: The present application determines the driving parameters of the first driver and the second driver through the target posture, and controls the first driver and / or the second driver respectively according to the driving parameters, thereby realizing the rotation control of the first limb in different directions. The multi-degree-of-freedom rotation mechanism presents a variety of different target postures, and the control of the first limb is more flexible, thereby completing a variety of different tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is a schematic structural diagram of a multi-degree-of-freedom rotation mechanism in an embodiment of the present invention.

[0077] Figure 2 It is a schematic diagram of the structure of the base, the movable component, the first driver and the second driver in an embodiment of the present invention.

[0078] Figure 3 It is a side view of the base, the movable component, the first driver and the second driver in the embodiment of the present invention.

[0079] Figure 4 4 is a cross-sectional view of a multi-degree-of-freedom rotation mechanism in an embodiment of the present invention.

[0080] Figure 5 Schematic diagram of the structure of the third driver and the rotating wheel in the embodiment of the present invention.

[0081] Figure 6 It is a cross-sectional view of the multi-degree-of-freedom rotation mechanism in the curled state according to the embodiment of the present invention.

[0082] Figure 7 It is a side view of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention at the initial position.

[0083] Figure 8 It is a first side view of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the first independent rotation.

[0084] Fig. 9 It is a second side view of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the first independent rotation.

[0085] Fig.10 It is a first side view of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the second independent rotation.

[0086] Fig.11 It is a second side view of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the second independent rotation.

[0087] Fig.12 Schematic diagram of the structure of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the second independent rotation.

[0088] Fig.13 Schematic diagram of the structure of the multi-degree-of-freedom rotation mechanism in the embodiment of the present invention during the first independent rotation.

[0089] Fig.14 It is a schematic structural diagram of the multi-degree-of-freedom rotation mechanism in an embodiment of the present invention in a first independent rotation and bending state.

[0090] Fig.15 It is a schematic structural diagram of a multi-degree-of-freedom rotation mechanism in a bent state according to an embodiment of the present invention.

[0091] Fig.16 It is a flow chart of a control method of a multi-degree-of-freedom rotation mechanism in an embodiment of the present invention.

[0092] Description of reference numerals:

[0093] 10. Base; 20. Movable assembly; 21. First rotating frame; 211. First base; 212. First extension; 22. Second rotating frame; 221. Second base; 222. Second extension; 23. Third rotating frame; 231. Third base; 232. Third extension; 24. Connecting rod; 241. First connecting part; 242. Second connecting part; 30. First drive; 40. Second drive; 50. First limb; 60. Second limb; 70. Third drive; 71. Worm; 80. Rotating wheel; 81. Abutment; 82. Worm gear; 83. Gap; 90. Third limb; 91. Connecting piece; 92. Elastic element. DETAILED DESCRIPTION

[0094] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0095] Please also see Figure 1-Figure 15 , the present invention provides some embodiments of a multi-degree-of-freedom rotation mechanism.

[0096] like Figure 1 As shown, the multi-degree-of-freedom rotation mechanism of the present invention comprises:

[0097] Base 10;

[0098] A movable component 20, movably connected to the base 10;

[0099] The first driver 30 and the second driver 40 are both disposed on the base 10 and connected to the movable component 20;

[0100] A first limb 50, disposed on the movable component 20;

[0101] The first driver 30 is used to drive the movable component 20 to move and drive the first limb 50 to rotate along a first direction; the second driver 40 is used to drive the movable component 20 to move and drive the first limb 50 to rotate along a second direction.

[0102] Specifically, the movable component 20 enables the first limb 50 to move relative to the base 10, and the first limb 50 can be rotated in the first direction by the first driver 30, and the first limb 50 can be rotated in the second direction by the second driver 40. The first driver 30 is connected to the movable component 20 and drives the movable component 20 to move; the second driver 40 is connected to the movable component 20 and drives the movable component 20 to move. The first driver 30 and the second driver 40 independently drive the movable component 20 to move and change the shape of the movable component 20. The first driver 30 changes the shape of the movable component 20 and the second driver 40 changes the shape of the movable component 20 without affecting each other. The rotation of the first limb 50 in the first direction and the rotation of the first limb 50 in the second direction can also be independent and without affecting each other. The first driver 30 and the second driver 40 can be driven simultaneously or successively, and the rotation trajectory of the first limb 50 will be different, which is specifically determined according to the task performed by the multi-degree-of-freedom rotation mechanism.

[0103] The first direction and the second direction are different directions. For example, the first direction and the second direction may form an angle, which may be 90° or other angle values. When the angle is 90°, the first direction and the second direction may be two directions perpendicular to each other. The first limb 50 may change position and orientation in three-dimensional space.

[0104] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the active component 20 includes:

[0105] The first rotating frame 21 and the second rotating frame 22 are both rotatably disposed on the base 10;

[0106] A third rotating frame 23, rotatably connected to the second rotating frame 22;

[0107] A connecting rod 24, both ends of which are rotatably connected to the first rotating frame 21 and the third rotating frame 23 respectively;

[0108] The first rotating frame 21 is connected to the first driver 30 , the second rotating frame 22 is connected to the second driver 40 ; and the first limb 50 is disposed on the third rotating frame 23 .

[0109] Specifically, the first rotating frame 21 rotates relative to the base 10, the second rotating frame 22 rotates relative to the base 10, and the rotation direction of the second rotating frame 22 is the second direction. The third rotating frame 23 rotates relative to the second rotating frame 22, and the connecting rod 24 rotates relative to the first rotating frame 21 and relative to the third rotating frame 23. The first rotating frame 21 is driven by the first driver 30 to rotate, and the second rotating frame 22 is driven by the second driver 40 to rotate. The first limb 50 is disposed on the third rotating frame 23.

[0110] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 4 , Figure 5 as well as Figure 6 As shown, the multi-degree-of-freedom rotation mechanism also includes:

[0111] A second limb 60, rotatably connected to the first limb 50;

[0112] A third driver 70, disposed on the first limb 50;

[0113] A rotating wheel 80 rotatably disposed on the first limb 50;

[0114] The rotating wheel 80 abuts against the second limb 60 ; the third driver 70 is used to drive the rotating wheel 80 to rotate.

[0115] Specifically, the second limb 60 is rotatably connected to the first limb 50, and the rotating wheel 80 can rotate. The rotating wheel 80 is arranged on the first limb 50 and rotates relative to the first limb 50. The third driver 70 refers to a structure that drives the rotating wheel 80 to rotate. The rotating wheel 80 can be against the second limb 60, and under the drive of the third driver 70, the rotating wheel 80 rotates and pushes the second limb 60 to rotate. The rotating wheel 80 is not fixedly connected to the second limb 60, and the rotating wheel 80 can be in contact with the second limb 60 or separated from the second limb 60. It can be seen that the state of the rotating wheel 80 and the second limb 60 is divided into: a contact state and a separation state. When the rotating wheel 80 and the second limb 60 are in a contact state, the rotating wheel 80 is driven to rotate by the third driver 70, and the rotating wheel 80 can push the second limb 60 to rotate or push the rotating wheel 80 to separate from the second limb 60. When the rotating wheel 80 is in a separated state from the second limb 60 , the rotating wheel 80 can be driven to rotate by the third driver 70 , so that the rotating wheel 80 and the second limb 60 remain in a separated state, and the rotating wheel 80 can contact the second limb 60 and further push the second limb 60 to rotate.

[0116] In a preferred implementation of the embodiment of the present invention, Figure 4-Figure 6As shown, the rotating wheel 80 is provided with abutting portion 81 and a plurality of worm teeth 82 , the abutting portion 81 abuts against the second limb 60 , and the output shaft of the third driver 70 is provided with a worm 71 , and the worm 71 meshes with the worm teeth 82 .

[0117] Specifically, the rotating wheel 80 is provided with abutting portion 81, which is used to abut against the second limb 60. The abutting portion 81 is used to abut against the second limb 60 and can push the second limb 60. The rotating wheel 80 is also provided with a worm gear 82, which meshes with the worm 71. The third driver 70 drives the worm 71 to rotate, and drives the rotating wheel 80 to rotate.

[0118] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 4 as well as Figure 6 As shown, the multi-degree-of-freedom rotation mechanism also includes:

[0119] A third limb 90, rotatably connected to the second limb 60;

[0120] The connecting member 91 has two ends connected to the first limb 50 and the third limb 90 respectively.

[0121] Specifically, the third limb 90 is rotatably connected to the second limb 60, and the two ends of the connecting member 91 are rotatably connected to the first limb 50 and the third limb 90, so that the second limb 60 and the third limb 90 form a joint rotation. Figure 6 , Fig.14 as well as Fig.15 As shown, when the rotating wheel 80 pushes the second limb 60 to rotate relative to the first limb 50 , the third limb 90 will also rotate relative to the second limb 60 .

[0122] In a preferred implementation of the embodiment of the present invention, Figure 4-Figure 6 As shown, the rotating wheel 80 is provided with a gap portion 83, which is located between the worm gear 82 and the abutting portion 81, and the gap portion 83 does not contact the second limb 60. The multi-degree-of-freedom rotating mechanism also includes:

[0123] The elastic element 92 is used to stretch the second limb 60 and the third limb 90 .

[0124] Specifically, when the second limb 60 is separated from the abutting portion 81, the second limb 60 rotates to a position corresponding to the gap portion 83, and there is a gap between the second limb 60 and the gap portion 83, and the two do not contact each other, then the first limb 50, the second limb 60 and the third limb 90 are in a bent state. The elastic element 92 stretches the second limb 60 and the third limb 90 to be in an extended state.

[0125] In a preferred implementation of the embodiment of the present invention, the multi-degree-of-freedom rotation mechanism further includes:

[0126] A torque sensor, used to detect the torque of the rotating wheel 80 or the third driver 70;

[0127] The controller is electrically connected to the torque sensor, the first driver 30 , the second driver 40 , and the third driver 70 , respectively.

[0128] Specifically, the torque sensor can be provided on the rotating wheel 80, the output shaft of the third driver 70, or the worm 71. The controller can obtain the torque collected by the torque sensor and control the first driver 30, the second driver 40, and the third driver 70. When the rotating wheel 80 is in contact with the second limb 60, the torque collected by the torque sensor is larger; when the rotating wheel 80 is not in contact with the second limb 60, the torque collected by the torque sensor is smaller. Therefore, the contact state between the rotating wheel 80 and the second limb 60 is determined by the torque collected by the torque sensor.

[0129] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 13 As shown, the movable modes of the movable component 20 include: a first independent rotation, a second independent rotation and a combined rotation; wherein, in the first independent rotation, the first rotating frame 21, the connecting rod 24 and the third rotating frame 23 all rotate, and the second rotating frame 22 does not rotate; in the second independent rotation, the second rotating frame 22, the connecting rod 24 and the third rotating frame 23 all rotate, and the first rotating frame 21 does not rotate; in the combined rotation, the first rotating frame 21, the second rotating frame 22, the connecting rod 24 and the third rotating frame 23 all rotate.

[0130] Specifically, each rotating frame and connecting rod 24 in the movable assembly 20 can form independent rotation and joint rotation, for example, Figure 7 , Figure 8 , Fig. 9 as well as Fig.13 As shown, the first rotating frame 21 rotates independently relative to the second rotating frame 22 (referred to as the first type of independent rotation). Figure 7 , Fig.10 , Fig.11 as well as Fig.12As shown, the second rotating frame 22 rotates independently relative to the first rotating frame 21 (referred to as the second independent rotation), and each rotating frame and the connecting rod 24 in the movable assembly 20 rotate jointly (referred to as joint rotation). In the first independent rotation, the first rotating frame 21 rotates and drives the third rotating frame 23 and the connecting rod 24 to rotate, while the second rotating frame 22 remains stationary, so that the first rotating frame 21 rotates independently relative to the second rotating frame 22, and the first limb 50 rotates in the first direction. In the second independent rotation, the second rotating frame 22 rotates and drives the third rotating frame 23 and the connecting rod 24 to rotate, while the first rotating frame 21 remains stationary, so that the second rotating frame 22 rotates independently relative to the first rotating frame 21, and the first limb 50 rotates in the second direction. In the joint rotation, the first rotating frame 21, the second rotating frame 22, the third rotating frame 23 and the connecting rod 24 all rotate, so that the first limb 50 rotates in three-dimensional space.

[0131] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the first rotating frame 21 includes:

[0132] A first base 211 connected to the output shaft of the first driver 30;

[0133] The first extension portion 212 is disposed on the first base portion 211 and is rotatably connected to the first end of the connecting rod 24 .

[0134] Specifically, the first base portion 211 is rotatably disposed on the base 10, and the first extension portion 212 is obliquely disposed on the first base portion 211, and an obtuse angle is formed between the first extension portion 212 and the first base portion 211. The first end of the connecting rod 24 is rotatably connected to the first extension portion 212. The first driver 30 drives the first base portion 211 to rotate, and drives the first extension portion 212 to rotate, so that the first end of the connecting rod 24 rotates relative to the first extension portion 212.

[0135] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the second rotating frame 22 includes:

[0136] A second base 221 connected to the output shaft of the second driver 40;

[0137] The second extending portion 222 is disposed on the second base portion 221 .

[0138] Specifically, the second base 221 is rotatably disposed on the base 10, and the second extension 222 is vertically disposed on the second base 221. The third rotating frame 23 is rotatably disposed on the second extension 222. The second driver 40 drives the second base 221 to rotate, and drives the second extension 222 to rotate, so that the third rotating frame 23 rotates relative to the second extension 222.

[0139] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the third rotating frame 23 includes:

[0140] The third base portion 231 is rotatably connected to the second end of the connecting rod 24;

[0141] A third extension portion 232, disposed on the third base portion 231;

[0142] The third extending portion 232 is rotatably connected to the second extending portion 222 .

[0143] Specifically, the third base portion 231 is rotatably connected to the second end of the connecting rod 24, and the third extension portion 232 is rotatably disposed on the third base portion 231. The third extension portion 232 is vertically disposed on the third base portion 231.

[0144] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 4 As shown, the connecting rod 24 includes:

[0145] A first connection portion 241 and a second connection portion 242 connected to each other;

[0146] An angle is formed between the first connection portion 241 and the second connection portion 242 .

[0147] Specifically, the first connecting portion 241 is rotatably connected to the first extending portion 212, and the second connecting portion 242 is rotatably connected to the third base portion 231. The connecting rod 24 and the third rotating frame 23 are rotated in conjunction with each other.

[0148] Based on the multi-degree-of-freedom rotation mechanism described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for a multi-degree-of-freedom rotation mechanism:

[0149] like Fig.16 As shown, the control method of the multi-degree-of-freedom rotation mechanism of the embodiment of the present invention comprises the following steps:

[0150] Step S100, determining a target posture of a multi-degree-of-freedom rotation mechanism;

[0151] Step S200, determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0152] Step S300: controlling the first driver according to the first driving parameter and / or controlling the second driver according to the second driving parameter to realize rotation of the first limb.

[0153] Specifically, by controlling the multi-degree-of-freedom rotation mechanism, the multi-degree-of-freedom rotation mechanism is made to present different postures, thereby performing different target tasks. The target posture of the multi-degree-of-freedom rotation mechanism is specifically presented by the first limb, the second limb and the third limb. The rotation of the first limb is controlled by the first driver and the second driver. Since the first driver and the second driver can independently rotate the first limb, the first driving parameter of the first driver and the second driving parameter of the second driver can be determined according to the target posture of the multi-degree-of-freedom rotation mechanism. Then, the first driver is controlled according to the first driving parameter, and the second driver is controlled according to the second driving parameter to realize the rotation of the first limb. When controlling the first driver and the second driver, only the first driver can be controlled, only the second driver can be controlled, or the first driver and the second driver can be controlled simultaneously or successively.

[0154] The driving parameter can be expressed by a rotation angle, wherein the first driving parameter is a first rotation angle of the first rotating frame, and the second driving parameter is a second rotation angle of the second rotating frame. The first rotation angle is the angle at which the output shaft of the first driver rotates, and the second rotation angle is the angle at which the output shaft of the second driver rotates.

[0155] The present application determines the driving parameters of the first driver and the second driver through the target posture, and controls the first driver and / or the second driver respectively according to the driving parameters, so as to realize the rotation of the first limb in different directions and present a variety of target postures, thereby completing a variety of different tasks.

[0156] Step S200 specifically includes:

[0157] Step S210: Determine the first rotation angle and the second rotation angle according to the target posture.

[0158] Specifically, the first rotation angle and the second rotation angle are determined according to the target posture. Usually, the multi-degree-of-freedom rotation mechanism is located at an initial position and presents an initial posture. When performing a target task, it is necessary to rotate to the target position and present a target posture. The first rotation angle and the second rotation angle are determined according to the difference between the target posture and the initial posture.

[0159] The target posture of the multi-degree-of-freedom rotation mechanism can be determined according to the target task to be performed. The target posture of the first limb is expressed as angles in different directions. For example, the target posture includes a first angle along a first direction and a second angle along a second direction. The first angle is the angle of the target posture relative to the initial posture in the first direction, and the second angle is the angle of the target posture relative to the initial posture in the second direction. The first rotation angle is determined according to the first angle, and the second rotation angle is determined according to the second angle.

[0160] The control method further comprises:

[0161] Step S400, determining a third driving parameter of the third driver according to the target posture;

[0162] Step S500: Control the third driver according to the third driving parameter to rotate the second limb.

[0163] Specifically, according to the target posture, a third driving parameter of the third driver can also be determined, and then the third driver can be controlled according to the third driving parameter to realize the rotation of the second limb and the third limb. The third driver can be controlled simultaneously with the first driver (or the second driver) or successively.

[0164] The third driving parameter is a third rotation angle of the output shaft of the third driver. The third rotation angle is determined according to the target posture, and the third driver can be controlled according to the third rotation angle. The target posture also includes a third angle along the curling direction. The third angle is the angle of the target posture relative to the initial posture in the curling direction. The third rotation angle is determined according to the third angle.

[0165] The control method further comprises:

[0166] Step S600, obtaining the torque value collected by the torque sensor;

[0167] Step S700: Control the third driver to drive the rotating wheel to rotate according to the torque value.

[0168] Specifically, the torque sensor collects the torque value, and controls the third driver to drive the rotating wheel to rotate according to the collected torque value, so that the second limb is in or maintains a curled state. Since the second limb may be curled due to external force or accidental collision, in order to avoid damage to the second limb, the third driver can be controlled to drive the rotating wheel to rotate, so that the second limb is further curled or maintained in a curled state.

[0169] Step S600 specifically includes:

[0170] Step S610: Control the third driver to drive the rotating wheel to rotate with the rated torque, and collect the torque value through the torque sensor.

[0171] Specifically, when the torque sensor collects torque, the third driver can be controlled to drive the rotating wheel to rotate with the rated torque (or rated power), and the torque can be collected through the torque sensor. When the third driver outputs with the rated torque, the rated torque can be a torque that is sufficient to drive the rotating wheel to rotate but cannot drive the second limb to rotate, or it can be a torque that is sufficient to drive the rotating body to rotate and drive the second limb to rotate. Then the rated torque can be one or more, and the torque magnitudes of the multiple rated torques can be different. Although the third driver outputs with the rated torque, the contact state of the rotating wheel and the second limb is different, the rotation state of the rotating wheel and the rotation state of the second limb may also be different, and the torque collected by the torque sensor will also be different. Step S610 realizes the collection of torque values, specifically controlling the third driver to drive the rotating wheel to rotate with the rated torque, and collecting torque values ​​through the torque sensor, which can be performed at a preset interval time, that is, step S610 is executed every preset interval time, and the torque value collected by the torque sensor is obtained. The preset interval time can be adjusted according to specific circumstances.

[0172] Step S700 specifically includes:

[0173] Step S710: When the torque value is less than or equal to a first preset torque value, control the third driver to drive the rotating wheel to rotate a first preset angle.

[0174] Specifically, the first preset torque value is relatively small, for example, it can be a preset torque value close to zero. When the collected torque value is less than or equal to the first preset torque value, the second limb may be separated from the rotating wheel, and the second limb has been passively curled, indicating that the multi-degree-of-freedom rotation mechanism is subjected to external force or accidental collision. In order to avoid damage to the multi-degree-of-freedom rotation mechanism, the third driver is controlled to drive the rotating wheel to rotate the first preset angle so that the second limb maintains the curled state. The first preset angle can be the maximum rotation angle of the second limb (or rotating wheel). The third driver is controlled to drive the rotating wheel to rotate the first preset angle, so that the second limb can be in a completely curled state and cannot continue to curl. The time for the third driver to drive the rotating wheel to rotate the first preset angle is less than the first preset time, so as to achieve rapid curling of the second limb (or rotating wheel).

[0175] Step S700 also includes:

[0176] Step S720: When the torque value is greater than or equal to a second preset torque value, control the third driver to drive the rotating wheel to rotate gradually; wherein the second preset torque value is greater than the first preset torque value.

[0177] Specifically, the second preset torque value is a larger preset torque value. When the collected torque value is greater than or equal to the second preset torque value, the squeezing force of the second limb on the rotating wheel increases, and the second limb is already in a fully extended state. It is possible that it is subjected to external force, contacts the target (the target is the target in the target task), or accidentally touches other objects, and the third driver is controlled to gradually rotate the rotating wheel. The time for the third driver to drive the rotating wheel to gradually rotate is greater than the second preset time, so that the second limb (or rotating wheel) is gradually and slowly curled, and the second preset time is greater than the first preset time. Since the second limb may touch the target or other objects, slow curling can avoid damage to the multi-degree-of-freedom rotation mechanism and the target.

[0178] Step S700 also includes:

[0179] Step S730: When the torque value reaches the maximum preset torque value, control the third driver to stop driving the rotating wheel to rotate.

[0180] Specifically, when the collected torque value reaches the maximum preset torque value, it indicates that the limb has grasped the target or other object, and then it is necessary to control the third driver to stop driving the rotating wheel to rotate.

[0181] The control method further comprises:

[0182] Step S800: Control the first driver to drive the first limb to rotate according to the torque value.

[0183] Specifically, in addition to driving the rotating wheel to rotate by controlling the third driver, the first driver can also drive the first limb to rotate. The curling of the first limb is mainly achieved by the first driver, so only the first driver can be controlled to drive the first limb to curl.

[0184] Step S800 specifically includes:

[0185] Step S810: When the torque value is less than or equal to a first preset torque value, control the first driver to drive the first limb to rotate to a second preset angle.

[0186] Specifically, when the collected torque value is less than or equal to the first preset torque value, the first driver can be used to drive the first limb to rotate to a second preset angle, so that the first limb is in a curled state. The second preset angle can be the maximum rotation angle of the first limb. When the first driver is controlled to drive the first limb to rotate to the second preset angle, the first limb is in a completely curled state and cannot continue to curl. The first controller is controlled to drive the first limb to rotate to the second preset angle for a time shorter than the first preset time, so that the first limb can be quickly curled.

[0187] Step S800 also includes:

[0188] Step S820: When the torque value is greater than or equal to a second preset torque value, control the first driver and / or the second driver to drive the first limb to move gradually.

[0189] Specifically, when the collected torque value is greater than or equal to the second preset torque value, the first limb has been in a fully extended state, and it may be due to external force, contact with a target, or accidental contact with other objects, then the first driver and / or the second driver is controlled to drive the first limb component to gradually move. The time for controlling the first driver and / or the second driver to drive the first limb to gradually move is greater than the second preset time, so that the first limb moves gradually and slowly. Since the multi-degree-of-freedom rotation mechanism may contact the target or other objects, slow movement can avoid damage to the multi-degree-of-freedom rotation mechanism and the target.

[0190] Step S800 also includes:

[0191] Step S830: When the torque value reaches the maximum preset torque value, control the first driver and the second driver to stop driving the first limb to move.

[0192] Specifically, when the collected torque value reaches the maximum preset torque value, it indicates that the multi-degree-of-freedom rotation mechanism has grasped the target or other object, and it is necessary to control the first driver and the second driver to stop driving the first limb movement.

[0193] Based on the control method of the multi-degree-of-freedom rotation mechanism described in any of the above embodiments, the present invention further provides an embodiment of a control system of the multi-degree-of-freedom rotation mechanism:

[0194] The control system of the multi-degree-of-freedom rotation mechanism of the present invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method described in any one of the above embodiments when executing the computer program.

[0195] Based on the control method of the multi-degree-of-freedom rotation mechanism described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium:

[0196] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the control method described in any one of the above embodiments are implemented.

[0197] Based on the multi-degree-of-freedom rotation mechanism described in any of the above embodiments, the present invention further provides an embodiment of a robot hand, the robot hand comprising:

[0198] Pedestal;

[0199] A movable component, movably connected to the base;

[0200] A first driver and a second driver are both disposed on the base and connected to the movable component;

[0201] A first limb, disposed on the movable component;

[0202] Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction;

[0203] The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction.

[0204] Based on the robot hand described in the above embodiment, the present invention further provides an embodiment of a control method of the robot hand, and the control method comprises the following steps:

[0205] Determine the target posture of the robot hand;

[0206] Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0207] The first driver is controlled according to the first driving parameter and / or the second driver is controlled according to the second driving parameter to achieve rotation of the first limb.

[0208] Based on the multi-degree-of-freedom rotation mechanism described in any one of the above embodiments, the present invention further provides an embodiment of a robot, the robot comprising:

[0209] Pedestal;

[0210] A movable component, movably connected to the base;

[0211] A first driver and a second driver are both disposed on the base and connected to the movable component;

[0212] A first limb, disposed on the movable component;

[0213] Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction;

[0214] The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction.

[0215] Based on the robot described in the above embodiment, the present invention also provides an embodiment of a control method of the robot, and the control method comprises the following steps:

[0216] Determine the robot’s target pose;

[0217] Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture;

[0218] The first driver is controlled according to the first driving parameter and / or the second driver is controlled according to the second driving parameter to achieve rotation of the first limb.

[0219] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A control method for a multi-degree-of-freedom rotation mechanism, characterized in that: The multi-degree-of-freedom rotation mechanism comprises: Pedestal; A movable component, movably connected to the base; A first driver and a second driver are both disposed on the base and connected to the movable component; A first limb, disposed on the movable component; Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction; The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction; The control method comprises the steps of: Determine the target posture of a multi-degree-of-freedom rotational mechanism; Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture; controlling the first driver according to the first driving parameter and / or controlling the second driver according to the second driving parameter to achieve rotation of the first limb; The multi-degree-of-freedom rotation mechanism also includes: a second limb, rotatably connected to the first limb; a third actuator, disposed on the first limb; a rotating wheel rotatably disposed on the first limb; wherein the rotating wheel abuts against the second limb; The third driver is used to drive the rotating wheel to rotate; The control method further comprises: Determining a third driving parameter of the third driver according to the target posture; controlling the third actuator to rotate the second limb according to the third driving parameter; The multi-degree-of-freedom rotation mechanism also includes: a torque sensor, for detecting the torque of the rotating wheel or the third driver; a controller, electrically connected to the torque sensor, the first driver, the second driver, and the third driver respectively; The control method further comprises: Acquiring a torque value collected by the torque sensor; According to the torque value, controlling the third driver to drive the rotating wheel to rotate; The step of controlling the third driver to drive the rotating wheel to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the third driver is controlled to drive the rotating wheel to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating wheel, and the first preset angle is the maximum rotation angle of the rotating wheel.

2. The control method of a multi-degree-of-freedom rotation mechanism according to claim 1, characterized in that: The activity components include: A first rotating frame and a second rotating frame are both rotatably disposed on the base; A third rotating frame, rotatably connected to the second rotating frame; A connecting rod, both ends of which are rotatably connected to the first rotating frame and the third rotating frame respectively; Wherein, the first rotating frame is connected to the first driver, and the second rotating frame is connected to the second driver; The first limb is disposed on the third rotating frame; The first driving parameter is a first rotation angle of the first rotating frame, and the second driving parameter is a second rotation angle of the second rotating frame; The step of determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture includes: The first rotation angle and the second rotation angle are determined according to the target posture.

3. The control method of a multi-degree-of-freedom rotation mechanism according to claim 1, characterized in that: The controlling the third driver to drive the rotating wheel to rotate according to the torque value further includes: When the torque value is greater than or equal to a second preset torque value, the third driver is controlled to drive the rotating wheel to gradually rotate so that the second limb gradually curls; wherein the second preset torque value is greater than the first preset torque value.

4. The control method of a multi-degree-of-freedom rotation mechanism according to claim 3, characterized in that: The control method further comprises: According to the torque value, the first driver is controlled to drive the first limb to rotate.

5. The control method of a multi-degree-of-freedom rotation mechanism according to claim 3, characterized in that: According to the torque value, controlling the first driver to drive the first limb to rotate includes: When the torque value is less than or equal to a first preset torque value, controlling the first driver to drive the first limb to rotate by a second preset angle; When the torque value is greater than or equal to a second preset torque value, the first driver and / or the second driver is controlled to drive the first limb to move gradually.

6. A control system for a multi-degree-of-freedom rotation mechanism, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the control method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 5 are implemented.

8. A method for controlling a robot arm, characterized in that: The robot arm comprises: Pedestal; A movable component, movably connected to the base; A first driver and a second driver are both disposed on the base and connected to the movable component; A first limb, disposed on the movable component; Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction; The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction; The control method comprises the steps of: Determine the target posture of the robot hand; Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture; controlling the first driver according to the first driving parameter and / or controlling the second driver according to the second driving parameter to achieve rotation of the first limb; The robot arm also includes: a second limb, rotatably connected to the first limb; a third actuator, disposed on the first limb; a rotating wheel rotatably disposed on the first limb; wherein the rotating wheel abuts against the second limb; The third driver is used to drive the rotating wheel to rotate; The control method further comprises: Determining a third driving parameter of the third driver according to the target posture; controlling the third actuator to rotate the second limb according to the third driving parameter; The robot arm also includes: a torque sensor, for detecting the torque of the rotating wheel or the third driver; a controller, electrically connected to the torque sensor, the first driver, the second driver, and the third driver respectively; The control method further comprises: Acquiring a torque value collected by the torque sensor; According to the torque value, controlling the third driver to drive the rotating wheel to rotate; The step of controlling the third driver to drive the rotating wheel to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the third driver is controlled to drive the rotating wheel to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating wheel, and the first preset angle is the maximum rotation angle of the rotating wheel.

9. A robot control method, characterized in that: The robot comprises: Pedestal; A movable component, movably connected to the base; A first driver and a second driver are both disposed on the base and connected to the movable component; A first limb, disposed on the movable component; Wherein, the first driver is used to drive the movable component to move and drive the first limb to rotate along a first direction; The second driver is used to drive the movable component to move and drive the first limb to rotate along a second direction; The control method comprises the steps of: Determine the robot's target pose; Determining a first driving parameter of the first driver and a second driving parameter of the second driver according to the target posture; controlling the first driver according to the first driving parameter and / or controlling the second driver according to the second driving parameter to achieve rotation of the first limb; The robot also includes: a second limb, rotatably connected to the first limb; a third actuator, disposed on the first limb; a rotating wheel rotatably disposed on the first limb; wherein the rotating wheel abuts against the second limb; The third driver is used to drive the rotating wheel to rotate; The control method further comprises: Determining a third driving parameter of the third driver according to the target posture; controlling the third actuator to rotate the second limb according to the third driving parameter; The robot also includes: a torque sensor, for detecting the torque of the rotating wheel or the third driver; a controller, electrically connected to the torque sensor, the first driver, the second driver, and the third driver respectively; The control method further comprises: Acquiring a torque value collected by the torque sensor; According to the torque value, controlling the third driver to drive the rotating wheel to rotate; The step of controlling the third driver to drive the rotating wheel to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the third driver is controlled to drive the rotating wheel to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating wheel, and the first preset angle is the maximum rotation angle of the rotating wheel.

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