Joint device and joint system of manipulator and control method of joint device and joint system

Abstract

The invention discloses a joint device, a joint system and a control method of a manipulator, and belongs to the technical field of robots. The joint device of the manipulator comprises a fixed base, a connecting support, a multi-degree-of-freedom supporting structure, a rope transmission assembly and a driving assembly, and due to the fact that the two ends of the multi-degree-of-freedom supporting structure are movably connected with the fixed base and the connecting support respectively, the bending degree of freedom of the joint device of the manipulator can be improved. Moreover, the driving assembly can drive the multi-degree-of-freedom supporting structure and the connecting support to move to a preset position through the rope transmission assembly, and the rope transmission assembly is always kept in a tensioned state, so that the influence of looseness of the rope transmission assembly on the transmission precision is reduced; the precision and stability of the driving assembly for driving the connecting support column to move through the rope transmission assembly can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint device and a joint system of a manipulator and a control method thereof. Background Art

[0002] With the development of robotics technology, the requirements for the precision of robot operations are getting higher and higher. Dexterous hands, as the end effector for embodied robots to interact with the environment, can give robots functions close to human hands, enabling them to perform fine operations such as grasping, assembly and repair. This not only enhances the practicality and adaptability of robots, but also broadens their application scope in industries such as industry and medicine.

[0003] At present, the robot manipulator includes multiple joints, which are usually driven by motor direct drive, connecting rod drive, gear / worm gear drive, gas / hydraulic drive, tendon cable drive, etc. The tendon cable drive type rope-driven robot dexterous hand has become a more commonly used joint drive method due to its low inertia, easy adjustment, and light weight interactivity.

[0004] However, the joints in current rope-driven robot manipulators have low stability, resulting in low applicability of the robot manipulators. Summary of the invention

[0005] The embodiment of the present application provides a joint device, a joint system and a control method of a robot hand. The joint device can solve the problem of low load capacity of the joints in the prior art rope-driven robot dexterous hand, which leads to low applicability of the robot dexterous hand. The technical solution is as follows:

[0006] According to one aspect of the present application, a joint device of a manipulator is provided, the joint device of the manipulator comprising:

[0007] Fixed base, connecting support, multi-degree-of-freedom support structure, rope transmission assembly and drive assembly;

[0008] The fixed base is arranged opposite to the connecting support;

[0009] The multi-degree-of-freedom support structure is located between the fixed base and the connecting support, and two ends thereof are movably connected to the fixed base and the connecting support respectively;

[0010] The rope transmission assembly is connected to the connecting support and the driving assembly respectively;

[0011] The driving assembly is configured to be suitable for driving the multi-degree-of-freedom support structure and the connecting support to move to a preset position through the rope transmission assembly, and keeping the rope transmission assembly in a tensioned state at all times.

[0012] Optionally, the multi-degree-of-freedom support structure includes a plurality of connecting axes;

[0013] The first ends of the plurality of connecting shafts are movably connected to the fixed base and arranged around the center of the fixed base, and the second ends of the plurality of connecting shafts are movably connected to the connecting support and arranged around the center of the connecting support;

[0014] Any two of the connecting axes are cross-arranged.

[0015] Optionally, the connecting shaft comprises a first shaft body and a second shaft body connected to each other, an end of the first shaft body away from the second shaft body is movably connected to the fixed base, and an end of the second shaft body away from the first shaft body is movably connected to the connecting support;

[0016] An obtuse angle is formed between the first shaft body and the second shaft body and is directed toward the other connecting shaft.

[0017] Optionally, the rope transmission assembly includes a rope winding member and an annular rope body;

[0018] One of the rope winding members is fixed on the fixed base, and the other rope winding member is fixed on the connecting support;

[0019] The annular rope body is wound around the rope winding member and connected to the driving assembly.

[0020] Optionally, the rope winding member includes a first winding post and a second winding post;

[0021] The first winding post is distributed around the fixed base and is fixedly connected to the fixed base;

[0022] The second winding post is distributed around the connecting support and is fixedly connected to the connecting support;

[0023] The annular rope body is wound around the first winding pole and the second winding pole for multiple turns.

[0024] Optionally, the driving assembly changes the tightness of the annular rope body by rotating at a certain angle;

[0025] The driving assembly includes a torque motor, a winding wheel and a mooring pile;

[0026] The torque motor is connected to the winding wheel;

[0027] The tie-line pile is fixedly mounted on the reel, the annular rope body has a knot, and the knot is sleeved on the tie-line pile;

[0028] Wherein, the torque motor drives the winding wheel to rotate to adjust the tightness of the annular rope body.

[0029] Optionally, the fixed base includes a first annular support, and the connecting support includes a second annular support.

[0030] According to another aspect of the present application, a joint system of a manipulator is provided, the joint system of the manipulator comprising: a joint device of the manipulator and a control component, the joint device of the manipulator comprising the joint device of the manipulator described above, the control component being electrically connected to the drive component;

[0031] A first relationship table is pre-stored in the control component, and the first relationship table is used to reflect the corresponding relationship between the position information and the rotation angle, the position information is the position coordinates of the connecting support when the center of the fixed base is taken as the origin, and the rotation angle is the rotation angle of the driving component;

[0032] The control component is used to obtain the rotation angle corresponding to the target position information from the first relationship table according to the obtained target position information, and drive the driving component based on the rotation angle corresponding to the target position information.

[0033] According to another aspect of the present application, a joint control method of a manipulator is provided, which is used for the joint system of the manipulator mentioned above, and the method comprises:

[0034] The control component obtains target location information;

[0035] The control component acquires the rotation angle of the driving component corresponding to the target position information from the first relationship table;

[0036] The control component drives the driving component to rotate based on the rotation angle corresponding to the target position information;

[0037] When the driving assembly rotates, the rope transmission assembly is loosened or tightened;

[0038] When the rope transmission assembly is loosened or tightened, it drives the multi-degree-of-freedom support structure and the connecting support to move, and drives the connecting support to move to a position corresponding to the target position information;

[0039] The control component controls the driving component to stop rotating.

[0040] Optionally, the driving assembly includes a first driving assembly and a second driving assembly, the rope transmission assembly includes a first rope transmission assembly and a second rope transmission assembly, the first driving assembly is used to drive the rope transmission assembly to tighten, and the second driving assembly is used to drive the rope transmission assembly to loosen, so as to drive the multi-degree-of-freedom support structure and the connecting support to move;

[0041] After the control component controls the driving component to stop rotating, the method further includes:

[0042] The control component controls the second drive component to rotate in the opposite direction until the torques of the second drive component and the first drive component both reach the stall torque, and the second drive component stops rotating.

[0043] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0044] 1) The embodiment of the present application provides a joint device of a manipulator including a fixed base, a connecting support, a multi-degree-of-freedom support structure, a rope transmission assembly and a driving assembly. Since the two ends of the multi-degree-of-freedom support structure are movably connected to the fixed base and the connecting support respectively, when the rope transmission assembly drives the connecting support to rotate, the multi-degree-of-freedom support structure can also be tilted and rotated, so that the range of motion and the bending freedom of the multi-degree-of-freedom support structure can be improved, thereby improving the bending freedom of the joint device of the manipulator. In addition, the driving assembly can drive the multi-degree-of-freedom support structure and the connecting support to move to a preset position through the rope transmission assembly, and keep the rope transmission assembly in a tensioned state at all times to reduce the influence of the relaxation of the rope transmission assembly on the transmission accuracy; that is, the driving assembly will stop rotating only when it reaches a stalled state, so the rope transmission assembly can always be in a tensioned state, which can improve the accuracy and stability of the driving assembly driving the connecting support to move through the rope transmission assembly.

[0045] 2) By tilting and cross-setting multiple connection axes in the multi-degree-of-freedom support structure, the multi-degree-of-freedom support structure can be rotated in multiple directions.

[0046] 3) The first axis and the second axis of any connecting axis have an obtuse angle toward other connecting axes. On the one hand, by bending multiple connecting axes, it is possible to avoid interference between the multiple connecting axes during the movement. On the other hand, when the multi-degree-of-freedom support structure drives the connecting support to rotate to the extreme position, the bending positions of the multiple connecting axes (that is, the connection positions of the first axis and the second axis) can overlap each other to form an integral lever structure, so as to enhance the load-bearing capacity of the multi-degree-of-freedom support structure and improve the stability of the joint device of the manipulator.

[0047] 4) When the driving component pulls the multi-degree-of-freedom support structure and the connection support through the annular rope body, the double-strand rope body can transmit force together to improve the bearing capacity of the joint device of the manipulator. In addition, since the annular rope body is fixedly connected to the driving component and is also wound on the rope winding member, the bearing force generated when the annular rope body pulls the multi-degree-of-freedom support structure and the connection support can be dispersed to multiple positions of the annular rope body, which can include the connection position of the annular rope body and the driving component, and the connection position of the annular rope body and the rope winding member. In this way, the stress concentration phenomenon on the annular rope body can be reduced, thereby improving the bearing capacity of the annular rope body, and then improving the bearing capacity of the joint device of the manipulator.

[0048] 5) By winding the annular rope body around the non-rotating first winding post and the second winding post, the error caused by the installation gap can be reduced compared to the pulley in the related art, thereby improving the rotation accuracy of the joint device of the rotating axis manipulator. In addition, the contact surface between the annular rope body and the rope winding member is relatively smooth, so that during the relative movement of the annular rope body and the rope winding member, the friction between the annular rope body and the rope winding member is reduced, thereby reducing the drive energy loss.

[0049] 6) The torque motor can obtain its own rotational torque, thereby determining whether it is in a stalled state. The knot on the annular rope body can be set on the tie-down pile to achieve an anti-detachment connection mode between the annular rope body and the drive assembly.

[0050] 7) Both the first annular support and the second annular support may be hollow structures, which can reduce the interference of the wiring harness assembly on the multi-degree-of-freedom support structure and the connecting support when the joint rotates, and can also improve the neatness and beauty of the wiring harness assembly, thereby improving the operating stability and beauty of the joint device of the manipulator.

[0051] 8) A first relationship table is pre-stored in the control component, and the first relationship table is used to reflect the corresponding relationship between the position information and the rotation angle. The control component controls the rotation angle of the drive component through a table lookup method, which can improve the operating accuracy of the joint system of the manipulator.

[0052] 9) By rotating at least one torque motor in the reverse direction, the control accuracy reduction caused by the preload change of the joint device of the manipulator during the movement can be dynamically compensated, thereby improving the control accuracy and response speed of the joint device system of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 It is a structural schematic diagram of a joint device of a manipulator provided in an embodiment of the present application;

[0055] Figure 2 yes Figure 1 A schematic structural diagram of the joint device of the manipulator shown in another perspective;

[0056] Figure 3 yes Figure 1 A schematic structural diagram of the joint device of the manipulator shown in another perspective;

[0057] Figure 4 A schematic diagram of the movement direction of a joint device of a manipulator provided in an embodiment of the present application;

[0058] Figure 5 It is a structural schematic diagram of a ring-shaped rope body provided in an embodiment of the present application;

[0059] Figure 6 It is a partial structural schematic diagram of a joint device of a manipulator provided in an embodiment of the present application;

[0060] Figure 7 yes Figure 6 The exploded structural diagram of the joint device of the manipulator shown;

[0061] Figure 8 It is a schematic diagram of the projection structure of a multi-degree-of-freedom support structure provided in an embodiment of the present application on a fixed base;

[0062] Fig. 9 It is a structural schematic diagram of a connecting shaft provided in an embodiment of the present application;

[0063] Fig.10 This is a schematic diagram of a connection structure between a driving assembly and an annular rope body provided in an embodiment of the present application;

[0064] Fig.11 It is a flow chart of a joint control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0066] Although the present application can be easily presented as embodiments of different forms, only some of the specific embodiments are shown in the drawings and described in detail in this specification. It should be understood that this description should be regarded as an exemplary description of the principles of the present application and is not intended to limit the present application to that described herein.

[0067] Thus, a feature indicated in this specification will be used to illustrate one of the features of an embodiment of the application, rather than implying that each embodiment of the application must have the described features. In addition, it should be noted that this specification describes many features. Although some features can be combined together to illustrate possible system designs, these features can also be used for other combinations that are not explicitly described. Thus, unless otherwise stated, the described combinations are not intended to be limiting.

[0068] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of various elements of the present application are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indications of these directions also change accordingly.

[0069] Please refer to Figures 1 to 3 , Figure 1 is a structural schematic diagram of a joint device 10 of a manipulator provided in an embodiment of the present application, Figure 2 yes Figure 1 The structure diagram of the joint device 10 of the manipulator shown in FIG. Figure 3 yes Figure 1 The joint device 10 of the manipulator is a schematic structural diagram from another perspective, and the joint device 10 of the manipulator may include: a fixed base 11, a connecting support 15, a multi-degree-of-freedom support structure 12, a rope transmission assembly 13 and a driving assembly 14. The joint device 10 of the manipulator in the embodiment of the present application can be used in a robot.

[0070] The fixed base 11 and the connecting support 15 are arranged opposite to each other; the multi-degree-of-freedom support structure 12 is located between the fixed base 11 and the connecting support 15, and both ends are movably connected to the fixed base 11 and the connecting support 15 respectively; the rope transmission assembly 13 is connected to the connecting support 15 and the driving assembly 14 respectively; the driving assembly 14 is configured to: be suitable for driving the multi-degree-of-freedom support structure 12 and the connecting support 15 to a preset position through the rope transmission assembly 13, and keep the rope transmission assembly 13 in a tensioned state at all times.

[0071] The fixed base 11 can be fastened to other external mechanical structures to install the joint device 10 of the manipulator. The connecting support 15 can be used to connect other external mechanical structures.

[0072] Since the two ends of the multi-degree-of-freedom support structure 12 are movably connected to the fixed base 11 and the connecting support 15 respectively, when the rope transmission assembly 13 drives the connecting support 15 to rotate, the multi-degree-of-freedom support structure 12 can also tilt and rotate. In this way, the range of motion of the multi-degree-of-freedom support structure 12 can be improved. Compared with the universal joint structure, the multi-degree-of-freedom support structure 12 in the embodiment of the present application can improve the bending freedom of the joint device 10 of the manipulator.

[0073] Furthermore, after the driving assembly 14 drives the connecting support 15 to move to a preset position through the rope transmission assembly 13, it can be in a stalled state to tighten the rope transmission assembly 13, so that the rope transmission assembly 13 can be in a continuously tightened state. When the rope transmission assembly 13 is used for a long time, the rope transmission assembly 13 will become loose. The driving assembly in the embodiment of the present application will stop rotating only when it reaches the stalled state. Therefore, the rope transmission assembly 13 can always be in a tensioned state, which can improve the accuracy and stability of the driving assembly 14 when driving the connecting support 15 through the rope transmission assembly 13.

[0074] In an exemplary embodiment, the rope transmission assembly 13 may include a first rope transmission assembly, a second rope transmission assembly and a third rope transmission assembly, and the driving assembly 14 may include a first driving assembly, a second driving assembly and a third driving assembly. In the process of driving the joint device 10 of the manipulator, the first driving assembly may rotate in the first direction to pull the first rope transmission assembly fixedly connected thereto, and the first rope transmission assembly will be tightened under the pulling of the first driving assembly; at the same time, the second driving assembly and the third driving assembly may both rotate in the second direction to loosen the first rope transmission assembly fixedly connected thereto, and the first rope transmission assembly will be loosened under the pulling of the first driving assembly. Since the connecting support 15 is movably connected to the fixed base 11 through the multi-degree-of-freedom support structure 12, a pulling force toward the driving assembly 14 may be applied to the connecting support 15 through the first rope transmission assembly, thereby driving the multi-degree-of-freedom support structure 12 to bend toward the first driving assembly, and then driving the connecting support 15 at one end of the multi-degree-of-freedom support structure 12 to rotate toward the first driving assembly.

[0075] Please refer to Figures 1 to 3Optionally, the rope transmission assembly 13 includes a rope winding member 131 and an annular rope body 1312; one of the rope winding members 131 is fixed on the fixed base 11, and the other rope winding member is fixed on the connecting support 15. The annular rope body 1312 is wound on the rope winding member and connected to the driving assembly 14. In the process of the driving component 14 pulling the multi-degree-of-freedom support structure 121 and the connecting support 15 through the annular rope body 1312, the double-strand rope body can be used to transmit force together to improve the bearing capacity of the joint device 10 of the manipulator; and because the annular rope body 1312 is fixedly connected to the driving component 14 and is also wound around a pair of rope winding members 131, the bearing force on the annular rope body 1312 can be dispersed to multiple connection positions between the annular rope body 1312 and the driving component 14 and the pair of rope winding members 131, so that the stress concentration phenomenon on the annular rope body 1312 can be reduced, thereby improving the bearing capacity of the annular rope body 1312, and then improving the bearing capacity of the joint device 10 of the manipulator. The problem that the joints in the rope-driven robot dexterous hand have low load capacity in the related art, resulting in low applicability of the robot dexterous hand, can be solved.

[0076] Exemplarily, the joint device 10 of the manipulator may include multiple pairs of rope winding members 131, multiple annular rope bodies 1312 and multiple driving components 14. The multiple pairs of rope winding members 131 may correspond one-to-one to the multiple annular rope bodies 1312, and the multiple annular rope bodies 1312 may correspond one-to-one to the multiple driving components 14, and any one of the annular rope bodies 1312 is wound around the corresponding pair of rope winding members 131 and connected to the corresponding driving component 14.

[0077] Please continue to refer to Figure 4 , Figure 4 The schematic diagram of the movement direction of the joint device 10 of a manipulator provided in the embodiment of the present application can be understood as follows: Figure 4In order to facilitate the illustration of the movement direction of the annular rope 1312, the torque motor 141 in the driving assembly 14 is not shown. When the driving assembly 14 pulls the annular rope 1312, the movement directions of the two rope strands in the annular rope 1312 that are fixedly connected to the driving assembly 14 are consistent. In this way, the force can be transmitted jointly by the two rope strands to improve the carrying capacity of the joint device 10 of the manipulator. Furthermore, since the annular rope body 1312 is fixedly connected to the driving assembly 14 and is also wound around the rope winding member 131, the bearing force generated when the annular rope body 1312 pulls the multi-degree-of-freedom support structure 121 and the connecting support 15 can be dispersed to multiple positions of the annular rope body 1312, which may include the connection position between the annular rope body 1312 and the driving assembly 14, and the connection position between the annular rope body 1312 and the rope winding member 131. In this way, the stress concentration phenomenon on the annular rope body 1312 can be reduced, thereby improving the bearing capacity of the annular rope body 1312, and then improving the bearing capacity of the joint device 10 of the manipulator.

[0078] In the embodiment of the present application, multiple driving components 14 are used to adjust the tightening or loosening degree of multiple ropes respectively to adjust the rotation direction of the multi-degree-of-freedom support structure 121 and the connecting support 15, thereby realizing the control of the movement direction of the joint device 10 of the manipulator.

[0079] It should be noted that the rotation of the driving assembly 14 includes two situations: rotation around a first direction and rotation around a second direction. The first direction may be one of a clockwise rotation direction and a counterclockwise rotation direction, and the second direction may be the other of the clockwise rotation direction and the counterclockwise rotation direction. The rotation direction of the driving assembly 14 can be determined according to the actual connection position of the driving assembly 14 and the annular rope body 1312, and the embodiment of the present application does not limit this.

[0080] It is understandable that the annular rope body 1312 includes an annular rope body 1312 of an integral structure and an annular rope body 1312 formed by knotting. For example, please refer to Figure 4 and Figure 5 , Figure 5 1 is a schematic diagram of the structure of an annular rope body 1312 provided in an embodiment of the present application. The annular rope body 1312 may include a winding portion and a connecting portion, wherein the winding portion may be wound on the rope winding member 131, and the connecting portion may be fixedly connected to the driving assembly 14. Alternatively, the annular rope body 1312 includes a winding portion and a first end and a second end located at both ends of the winding portion, and the first end and the second end are fixedly connected by knotting or bonding, so that the annular rope body 1312 is in a loop. Alternatively, both the first end and the second end can be fixedly connected to the driving assembly 14, so it can be considered that the first end and the second end are also fixedly connected, so that the annular rope body 1312 is in a loop.

[0081] Please refer to Figure 4 and Figure 6 , Figure 6 It is a partial structural schematic diagram of a joint device 10 of a manipulator provided in an embodiment of the present application. In an optional implementation, any pair of rope winding members 131 may include a first winding post 1311 and a second winding post 1312; a plurality of first winding posts 1311 are distributed around a fixed base 11, and the first winding post 1311 is fixedly connected to the fixed base 11, a plurality of second winding posts 1312 are distributed around a connecting support 15, and the second winding post 1312 is fixedly connected to the connecting support 15; the annular rope body 1312 is wound around the first winding post 1311 and the second winding post 1312 for multiple turns.

[0082] By winding the annular rope 1312 around the first winding pole 1311 and the second winding pole 1312, when the driving assembly 14 rotates and pulls and tightens the annular rope 1312, the annular rope 1312 wound around the first winding pole 1311 and the second winding pole 1312 can be tightened and the distance between the first winding pole 1311 and the second winding pole 1312 can be shortened, thereby driving the multi-degree-of-freedom support structure 121 and the connecting support 15 to rotate relative to the fixed base 11 through the first winding pole 1311 and the second winding pole 1312.

[0083] In this way, by winding the annular rope 1312 around the first winding post 1311 and the second winding post 1312, the bearing force on the annular rope 1312 can be distributed to the connection position between the annular rope 1312 and the first winding post 1311, and the connection position between the annular rope 1312 and the first winding post 1311, so as to balance the bearing force on the annular rope 1312. In addition, since the annular rope 1312 can be wound around the first winding post 1311 and the second winding post 1312 for multiple turns, when the annular rope 1312 drives the first winding post 1311 and the second winding post 1312 to move relative to each other, the multiple turns of the annular rope 1312 can play the role of pulling the first winding post 1311 and the second winding post 1312, which can improve the load capacity of the annular rope 1312, thereby improving the load capacity of the joint device 10 of the manipulator.

[0084] Exemplarily, the surface where the first winding pole 1311 contacts the annular rope body 1312 and the surface where the second winding pole 1312 contacts the annular rope body 1312 are both relatively smooth, thereby making the contact surface between the annular rope body 1312 and the winding member 131 relatively smooth, so as to reduce the friction between the annular rope body 1312 and the winding member 131 during the relative movement between the annular rope body 131 and the winding member 131, thereby reducing the driving energy loss.

[0085] In an exemplary embodiment, the rope winding member 131 may include a first winding pulley and a second winding pulley, and the rope body is wound around the first winding pulley and the second winding pulley to reduce the difficulty of moving the rope body. Since the winding pulley includes a wheel body and a rotating shaft, there is an installation gap between the wheel body and the rotating shaft, resulting in the movement accuracy of the rope body wound on the pulley being affected by the installation gap during the movement, so that the accuracy of the rope drive structure may be affected. In the embodiment of the present application, by winding the annular rope body 1312 around the non-rotating first winding post 1311 and the non-rotating second winding post 1312, compared with the pulleys in the related art, the first winding post 1311 and the second winding post 1312 are fixedly connected to the fixed base 11 and the connecting support 15 respectively, which can reduce the error caused by the installation gap, thereby improving the rotation accuracy of the joint device 10 of the rotating axis manipulator.

[0086] In an exemplary embodiment, the material of the annular cable body 1312 may include tungsten-molybdenum alloy, so that the annular cable body 1312 has better load-bearing capacity.

[0087] Please refer to Figure 6 , Figure 7 and Figure 8 , Figure 7 yes Figure 6 The exploded structural diagram of the joint device 10 of the manipulator is shown in FIG. Figure 8 It is a schematic diagram of the projection structure of a multi-degree-of-freedom support structure 12 on a fixed base 11 provided in an embodiment of the present application. In an optional implementation, the multi-degree-of-freedom support structure 12 may include a plurality of connecting shafts 121; the first ends of the plurality of connecting shafts 121 are all movably connected to the fixed base 11 and are arranged around the center of the fixed base 11, and the second ends of the plurality of connecting shafts 121 are all movably connected to a connecting support 15 and are arranged around the center of the connecting support 15; any two connecting shafts 121 are cross-arranged.

[0088] When the joint device 10 of the manipulator does not rotate, any one of the connecting shafts 121 can be tilted relative to the fixed base 11 , and the tilt degrees of the multiple connecting shafts 121 can be kept consistent.

[0089] like Figure 8 As shown, in the direction perpendicular to the fixed base 11, the orthographic projections of the first ends of the multiple connecting shafts 121 on the fixed base 11 and the orthographic projections of the second ends on the fixed base 11 can be arranged alternately. And the orthographic projection of the first end of any connecting shaft 121 on the fixed base 11 is located between the orthographic projections of the second ends of the other two connecting shafts 121 on the fixed base 11. In this way, by tilting and cross-arranging the multiple connecting shafts 121, the multi-degree-of-freedom support structure can be rotated in multiple directions.

[0090] Please refer to Figure 7 and Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of a connecting shaft 121 provided in an embodiment of the present application. In an optional implementation, any one connecting shaft 121 can be bent in a direction away from other connecting shafts 121. The connecting shaft 121 may include a first shaft body t1 and a second shaft body t2 connected to each other. An end of the first shaft body t1 away from the second shaft body t2 is movably connected to the fixed base 11, and an end of the second shaft body t2 away from the first shaft body t1 is movably connected to the connecting support 15. An obtuse angle α is formed between the first shaft body t1 and the second shaft body t2 toward other connecting shafts 121. Such a configuration has the following two effects. On the one hand, by bending multiple connecting shafts 121, it is possible to avoid mutual interference between the multiple connecting shafts 121 during the movement. On the other hand, when the multi-degree-of-freedom support structure drives the connecting support 15 to rotate to the extreme position, the bending positions of the multiple connecting shafts 121 (that is, the connection positions of the first axis t1 and the second axis t2) can overlap with each other to form an overall lever structure, so as to enhance the load-bearing capacity of the multi-degree-of-freedom support structure and improve the stability of the joint device 10 of the manipulator.

[0091] In an exemplary embodiment, the angle α between the first axis t1 and the second axis t2 may range from 130° to 150°. For example, the angle α between the first axis t1 and the second axis t2 may be 130°, 135°, 140°, 142°, 148° or 150°.

[0092] Please refer to Figure 6 and Figure 7 In an optional embodiment, the fixed base 11 may include a first annular support 111, and the connecting support 15 may include a second annular support 151. A plurality of connecting shafts 121 may be located between the first annular support 111 and the second annular support 151, and are rotatably connected to the first annular support 111 and the second annular support 151, respectively.

[0093] Exemplarily, both ends of any connecting shaft 121 can be rotatably connected to the first annular support 111 and the second annular support 151 via the rotating shaft z1, wherein the rotating shaft z1 can be rotatably connected to the first annular support 111 or the second annular support 151, and the rotating shaft z1 can rotate along a first axis, and the first axis can be parallel to the circumference of the second annular support 151, and the connecting shaft 121 can be rotatably connected to the rotating shaft z1, and the connecting shaft 121 can rotate along a second axis, and the second axis can be parallel to the radial direction of the second annular support 151.

[0094] Both the first annular support 111 and the second annular support 151 may be hollow structures, and the shapes of the first annular support 111 and the second annular support 151 are similar, which can improve the symmetry and stability of the joint device 10 of the manipulator and also reduce the overall weight of the joint device 10 of the manipulator.

[0095] The joint device 10 of the manipulator may further include a wiring harness assembly, which can pass through the hollow areas of the first annular support 111 and the second annular support 151 and be electrically connected to the drive assembly 14. In this way, the wiring harness assembly can be built into the joint device 10 of the manipulator, which can reduce the interference of the wiring harness assembly on the multi-degree-of-freedom support structure 121 and the connecting support 15 when the joint rotates, and can also improve the neatness and beauty of the wiring harness assembly, thereby improving the operating stability and beauty of the joint device 10 of the manipulator.

[0096] In an optional embodiment, a plurality of first winding posts 1311 may be evenly distributed around the first annular support 111 and fixedly connected to the first annular support 111, and a plurality of second winding posts 1312 may be evenly distributed around the second annular support 151 and fixedly connected to the second annular support 151. Exemplarily, the number of the first winding posts 1311 and the number of the second winding posts 1312 are both three.

[0097] The fixed base 11 may further include a plurality of first connection piles 112, which may be evenly distributed around the first annular support 111 and fixedly connected to the first annular support 111. The connection support 15 may further include a plurality of second connection piles 152, which may be evenly distributed around the second annular support 151 and fixedly connected to the second annular support 151. The plurality of first connection piles 112 may be fixedly connected to the plurality of first winding posts 1311 in one-to-one correspondence, and the plurality of second connection piles 152 may be fixedly connected to the plurality of second winding posts 1312 in one-to-one correspondence.

[0098] Please refer to Figure 2 and Fig.10 , Fig.10 It is a schematic diagram of the connection structure between a driving component 14 and an annular rope body 1312 provided in an embodiment of the present application. In an optional implementation, the driving component 14 changes the tightness of the annular rope body 1312 by rotating a certain angle; the driving component 14 may include a torque motor 141, a winding wheel 142 and a mooring pile 143; the torque motor 141 and the winding wheel 142 are fixedly connected; the mooring pile 143 is fixedly installed on the winding wheel 142, and the annular rope body 132 has a knot 1321, and the knot 1321 is mounted on the mooring pile 143.

[0099] The torque motor 141 can obtain its own rotational torque, and illustratively, the torque motor includes a torque servo motor. When the torque motor rotates, it can drive the winding wheel 142 to rotate, so as to drive the winding wheel 142 to rotate to adjust the tightness of the annular rope body 1312.

[0100] The tie-down stake 143 may be L-shaped and may be located on the side of the reel 142. The connecting portion on the rope body may be a knot 1321, and the knot 1321 may include a rabbit ear knot (also known as a double figure-eight knot, Double Figuer-eight Knot).

[0101] In an exemplary embodiment, the tightening or loosening state of the multiple annular ropes 1312 is adjusted by a combination of different rotation angle values ​​and rotation angular velocities of multiple torque motors, thereby driving the multi-degree-of-freedom support structure 121 and the connecting support 15 to rotate, so that the connecting support 15 rotates to the target position at the target movement speed, thereby realizing the movement control of the joint device 10 of the manipulator.

[0102] An embodiment of the present application further provides a joint system, which may include: a joint device 10 of a manipulator and a control component, wherein the joint device 10 of the manipulator includes the joint device 10 of the manipulator in any of the above embodiments, and the control component is electrically connected to the drive component 14.

[0103] A first relationship table is pre-stored in the control component, and the first relationship table is used to reflect the correspondence between the position information and the rotation angle, the position information is the position coordinates of the connecting support 15 when the center of the fixed base 11 is the origin, and the rotation angle is the rotation angle of the driving component 14; the control component is used to obtain the rotation angle corresponding to the target position information from the first relationship table according to the obtained target position information, and drive the driving component 14 based on the rotation angle corresponding to the target position information.

[0104] The center of the fixed base 11 may be the geometric center point or the centroid of the first annular support 111 in the fixed base 11 , and the position coordinates of the connecting support 15 may refer to the position coordinates of the geometric center point or the centroid of the second annular support 151 .

[0105] The target position information can be position information input by the user or pre-stored in the control component. The first relationship table can contain correspondences between multiple position information and multiple rotation angles. Multiple position information can represent different positions to which the joint device 10 of the manipulator can rotate. The target position information can be one of the multiple position information.

[0106] In this way, the connection support 15 can be rotated to the target position by controlling the forward and reverse rotation of the torque motor in the driving component 14 and the rotation angle of the torque motor through the control component.

[0107] Please refer to Fig.11 , Fig.11 : is a flow chart of a joint control method provided in an embodiment of the present application. The joint control method can be used for the joint system in the above embodiment. The method may include the following steps:

[0108] Step 201: The control component obtains target location information.

[0109] After starting the joint system, the user can set the coordinate system of the joint device 10 of the manipulator before rotation in the control system. For example, the center of mass of the first annular support 111 can be pre-set as the origin of the coordinate system (X0, Y0, Z0), the XY plane of the coordinate axis is parallel to the annular disk surface of the first annular support 111, the Z axis is perpendicular to the annular disk surface of the first annular support 111, the X axis is parallel to the rotation axis of the winding wheel 142, and the Y axis is at a 90° angle to the X axis.

[0110] The joint system may further include a terminal that can be electrically connected to the control component, and the user may input the target position information (X) of the joint device 10 of the manipulator in this round of movement through the terminal. t , Y t , Z t ), that is, the joint device 10 of the manipulator needs to be rotated so that the spatial position coordinates of the center of mass of the second annular support 151 relative to the center of mass of the first annular support 111 (X0, Y0, Z0) are (X t , Y t , Z t ).

[0111] Step 202: The control component obtains the maximum moving speed of the target.

[0112] The maximum moving speed of the target is S t It can be the maximum linear velocity S of the mass center of the second annular support 151 when it moves from the current position to the target position. t .

[0113] Step 203: The control component obtains the rotation angle corresponding to the target position information from the first relationship table.

[0114] The first relationship table may be a mapping relationship table between multiple physical quantities obtained through simulation experiments, and the multiple physical quantities may include: position information, the distance between the first winding post 1311 and the second winding post 1312 in each group of rope winding members 131, the tightness of the multiple annular rope bodies 1312 (that is, the degree of tightening or loosening of the multiple annular rope bodies 1312), and the rotation angles of multiple torque motors.

[0115] Exemplarily, the control component can obtain the target location information (X) from the first relationship table. t , Y t , Z t ) The distance values ​​between the first winding pole 1311 and the second winding pole 1312 in the three groups of rope winding members 131 corresponding to each other are (d1, d2, d3) respectively.

[0116] Since the distance values ​​(d1, d2, d3) between the first winding pole 1311 and the second winding pole 1312 in the three groups of winding members 131 correspond one to one to the tightness values ​​(h1, h2, h3) of the three annular rope bodies 1312, the control component can obtain the tightness values ​​(h1, h2, h3) of the three annular rope bodies 1312 corresponding to the distance values ​​(d1, d2, d3) from the first relationship table.

[0117] Since the tightness values ​​(h1, h2, h3) of the three annular rope bodies 1312 are respectively determined by the rotation angles of the three torque motors, the control component can obtain the rotation angles (θ1, θ2, θ3) of the three torque motors corresponding to the tightness values ​​(h1, h2, h3) from the first relationship table.

[0118] It is also possible to directly establish a correspondence between the position information and the rotation angle, so as to directly obtain the rotation angle according to the target position information input by the user.

[0119] Step 204: The control component obtains the maximum angular velocity corresponding to the target maximum moving speed from the second relationship table.

[0120] The second relationship table can be used to reflect the correspondence between the maximum moving speed and the maximum angular velocity, the maximum moving speed is the maximum moving speed in the process of moving from the center of mass of the first annular support 111 to the target position, and the maximum angular velocity is the maximum angular velocity of the torque motor 141. The control component can obtain the maximum moving speed S from the second relationship table. t The maximum angular velocity of the three corresponding torque motors 141 is used as the maximum angular velocity V corresponding to the target maximum moving speed. t .

[0121] It can be understood that when the target location information or the target maximum moving speed input by the user cannot find the corresponding location information and maximum moving speed in the first relationship table, the location information with the smallest difference with the target location information and the maximum moving speed with the smallest difference with the target maximum moving speed can be used as query results.

[0122] Step 201 and step 202 may be performed simultaneously, and step 203 and step 204 may be performed simultaneously.

[0123] Step 205: The control component drives the driving component 14 based on the rotation angle corresponding to the target position information.

[0124] The control component can control the angular velocity of the three torque motors to accelerate from 0 to the maximum angular velocity Vt, and control the three torque motors to rotate to corresponding rotation angles (θ1, θ2, θ3).

[0125] Step 206 , loosen or tighten the rope transmission assembly 13 when the driving assembly 14 rotates.

[0126] In an optional embodiment, the multiple driving assemblies 14 may include a first driving assembly and a second driving assembly, and the multiple annular rope bodies 1312 include a first annular rope body and a second annular rope body. The first driving assembly is used to drive the first annular rope body to tighten, and the second driving assembly is used to drive the second annular rope body to loosen, so as to drive the multi-degree-of-freedom support structure 121 and the connecting support 15 to rotate.

[0127] Step 207 , when the rope transmission assembly 13 is loosened or tightened, it drives the multi-degree-of-freedom support structure 12 and the connecting support 15 to move, and drives the connecting support 15 to move to a position corresponding to the target position information.

[0128] The multiple drive assemblies 14 may include at least one first drive assembly and at least one second drive assembly, and the multiple annular rope bodies 1312 may include at least one first annular rope body and at least one second annular rope body. Exemplarily, the three drive assemblies 14 include one first drive assembly and two second drive assemblies, and the three annular rope bodies 1312 include one first annular rope body and two second annular rope bodies. One first drive assembly drives a corresponding first annular rope body to tighten, and at the same time, the two second drive assemblies respectively drive the two second annular rope bodies to loosen, so as to adjust the distance between the first winding post 1311 and the second winding post 1312 in the multiple pairs of rope winding members 131 through the multiple annular rope bodies 1312, thereby driving the multi-degree-of-freedom support structure 121 and the connecting support 15 to rotate, so that the spatial position coordinates of the center of mass of the second annular support 151 relative to the center of mass (X0, Y0, Z0) of the first annular support 111 are (X0, Y0, Z0). t , Y t , Z t ).

[0129] During the above movement, the torque motor in the first drive assembly may rotate in a first direction, and the torque motor in the second drive assembly may rotate in a second direction, that is, the rotation directions of the torque motors in different drive assemblies 14 may be opposite.

[0130] Step 208: The control component controls the driving component 14 to stop rotating.

[0131] When the connecting support 15 rotates to the target position, the control component can stop rotating the torque motors in the plurality of driving components 14 .

[0132] Step 209: The control component controls the second drive component to rotate in the opposite direction until the torques of the second drive component and the first drive component both reach the stall torque, and the second drive component stops rotating.

[0133] After the joint device 10 of the manipulator is used for a long time, the annular rope body 1312 may become loose. After the three torque motors in the three driving components 14 have reached the rotation angle (θ1, θ2, θ3), the preset angular velocity V s , the two torque motors in the two second drive components are rotated in reverse, so that the two torque motors can drive the corresponding annular rope body 1312 to tighten. Since the first torque motor in the first drive component does not rotate at this time, the torque motors in the two second drive components will tighten the corresponding annular rope body 1312, and the torque motor in the first drive component will generate a reverse pulling force, so that multiple annular rope bodies 1312 can be tightened until the torques of the second drive component and the first drive component reach the stall torque, and the second drive component stops rotating. The range of the stall torque may include 0.5N~1.5N, and the speed of reverse rotation may be 0.7 rpm~0.9 rpm. Among them, the stall torque, also known as the stall torque, refers to the maximum torque that the motor can withstand under a certain voltage and frequency when the rotor is blocked at all angular positions during operation (that is, when the motor shaft is locked by an external force). It can also be understood that when the counter torque generated by the load resistance is greater than the electromagnetic torque of the motor, the motor will quickly stop or fail to start, and the torque that the motor can output at this time is the stall torque.

[0134] In this way, by rotating at least one torque motor in the opposite direction, the control accuracy reduction caused by the preload change of the joint device 10 of the manipulator during movement can be dynamically compensated, thereby improving the control accuracy and response speed of the joint device 10 system of the manipulator.

[0135] The joint system in the embodiment of the present application maintains the characteristics of low inertia, light mass and high load-to-weight ratio of the rope-driven structure. At the same time, it can improve the accuracy and stability of the joint device 10 during movement through the combination of the double-strand attachment technology of the annular rope body 15 and the supporting control algorithm; and through the winding structure of winding the annular rope body 15 multiple times around the rope winding member 13, the joint device 10 can withstand a larger load and is suitable for more heavy-load robot operation scenarios; and the accuracy of the pre-tightening force of multiple annular rope bodies 15 is improved by rotating the motor in the opposite direction, making the joint system more stable and reliable.

[0136] In the present application, the terms "first", "second" and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0137] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0138] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A joint device of a manipulator, characterized in that: include: Fixed base, connecting support, multi-degree-of-freedom support structure, rope transmission assembly and drive assembly; The fixed base is arranged opposite to the connecting support; The multi-degree-of-freedom support structure is located between the fixed base and the connecting support, and two ends thereof are movably connected to the fixed base and the connecting support respectively; The rope transmission assembly is connected to the connecting support and the driving assembly respectively; The driving assembly is configured to be suitable for driving the multi-degree-of-freedom support structure and the connecting support to move to a preset position through the rope transmission assembly, and keeping the rope transmission assembly in a tensioned state at all times.

2. The joint device of the manipulator according to claim 1, characterized in that: The multi-degree-of-freedom support structure includes a plurality of connecting axes; The first ends of the plurality of connecting shafts are movably connected to the fixed base and arranged around the center of the fixed base, and the second ends of the plurality of connecting shafts are movably connected to the connecting support and arranged around the center of the connecting support; Any two of the connecting axes are cross-arranged.

3. The joint device of the manipulator according to claim 2, characterized in that: The connecting shaft comprises a first shaft body and a second shaft body connected to each other, one end of the first shaft body away from the second shaft body is movably connected to the fixed base, and one end of the second shaft body away from the first shaft body is movably connected to the connecting support; An obtuse angle is formed between the first shaft body and the second shaft body and is directed toward the other connecting shaft.

4. The joint device of the manipulator according to claim 1, characterized in that: The rope transmission assembly comprises a plurality of pairs of rope winding members and a plurality of annular rope bodies; One of the rope winding members in any pair of the rope winding members is fixed on the fixed base, and the other rope winding member is fixed on the connecting support; The plurality of annular rope bodies are wound around a plurality of pairs of rope winding members in a one-to-one correspondence and are all connected to the driving assembly.

5. The joint device of the manipulator according to claim 4, characterized in that: Any pair of the rope winding members includes a first winding post and a second winding post; A plurality of the first winding posts are distributed around the fixed base, and the first winding posts are fixedly connected to the fixed base; A plurality of the second winding posts are distributed around the multi-degree-of-freedom mechanism, and the second winding posts are fixedly connected to the connecting support; The annular rope body is wound around the first winding pole and the second winding pole for multiple turns.

6. The joint device of the manipulator according to claim 5, characterized in that: The driving assembly changes the tightness of the annular rope body by rotating a certain angle; The driving assembly includes a torque motor, a winding wheel and a mooring pile; The torque motor is connected to the winding wheel; The tie-line pile is fixedly mounted on the reel, the annular rope body has a knot, and the knot is sleeved on the tie-line pile; Wherein, the torque motor drives the winding wheel to rotate to adjust the tightness of the annular rope body.

7. The joint device of the manipulator according to claim 1, characterized in that: The fixed base includes a first annular support, and the connecting support includes a second annular support.

8. A joint system of a manipulator, characterized in that: include: A joint device and a control component of a manipulator, wherein the joint device of the manipulator comprises the joint device of the manipulator according to any one of claims 1 to 7, and the control component is electrically connected to the drive component; A first relationship table is pre-stored in the control component, and the first relationship table is used to reflect the corresponding relationship between the position information and the rotation angle, the position information is the position coordinates of the connecting support when the center of the fixed base is taken as the origin, and the rotation angle is the rotation angle of the driving component; The control component is used to obtain the rotation angle corresponding to the target position information from the first relationship table according to the obtained target position information, and drive the driving component based on the rotation angle corresponding to the target position information.

9. A method for controlling joints of a manipulator, characterized in that: The joint system for the manipulator according to claim 8, the method comprising: The control component obtains target location information; The control component acquires the rotation angle of the driving component corresponding to the target position information from the first relationship table; The control component drives the driving component to rotate based on the rotation angle corresponding to the target position information; When the driving assembly rotates, the rope transmission assembly is loosened or tightened; When the rope transmission assembly is loosened or tightened, it drives the multi-degree-of-freedom support structure and the connecting support to move, and drives the connecting support to move to a position corresponding to the target position information; The control component controls the driving component to stop rotating.

10. The method according to claim 9, characterized in that The driving assembly includes a first driving assembly and a second driving assembly, and the rope transmission assembly includes a first rope transmission assembly and a second rope transmission assembly, the first driving assembly is used to drive the rope transmission assembly to tighten, and the second driving assembly is used to drive the rope transmission assembly to loosen, so as to drive the multi-degree-of-freedom support structure and the connecting support to move; After the control component controls the driving component to stop rotating, the method further includes: The control component controls the second drive component to rotate in the opposite direction until the torques of the second drive component and the first drive component both reach the stall torque, and the second drive component stops rotating.

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