Robotic arm transmission device and control method, control device

Abstract

This application discloses a robotic arm transmission device and control method, belonging to the field of robotics. The method is applied to a transmission device for a robotic arm, wherein the transmission device includes at least one pulley array; the pulley array includes: multiple sets of pulleys, each set including at least one reconfigurable pulley that can switch between a moving pulley state and a fixed pulley state; at least one transmission wire passing through the pulley sets to form a transmission path, connecting the input end and the output end; and at least one state switching module for controlling the locking / releasing of the reconfigurable pulley. By controlling the transmission wire to pass through different pulley arrays in the transmission device, variable force for input and output is achieved, enabling variable force control at the end and tail of the robotic arm, improving the control flexibility of the robotic arm.

Description

Technical Field

[0001] This application belongs to the field of robotic arm control technology, and in particular relates to a robotic arm transmission device and control method and apparatus. Background Technology

[0002] In the field of robotics, especially in the field of robotic arms, force transmission has always been a technical problem that needs to be solved. Currently, robotic arms use chords for force transmission, such as direct control of the end effector and tail. When chords control the force at the tail of the robotic arm, the control and output ratio between the end effector and tail is typically 1:1 to N. This means that if the tail requires a large or small force, a variable force control must be applied to the end effector. This results in insufficient flexibility in the control and output of the robotic arm's force, affecting its control efficiency. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. To this end, the control method, device, transmission device, and storage medium for the robot proposed in this application can improve the flexibility of robot control and output, and increase the control efficiency of the robot.

[0004] In a first aspect, this application provides a control device for a robotic arm, comprising:

[0005] At least one pulley array;

[0006] The pulley array includes:

[0007] Multiple sets of pulleys, each set of pulleys including at least one reconfigurable pulley that can switch between a moving pulley state and a fixed pulley state;

[0008] And at least one transmission wire passes through the pulley block to form a transmission path, connecting the input end and the output end;

[0009] and at least one state switching module for controlling the locking / releasing of the reconfigurable pulley.

[0010] Secondly, a control method for a robotic arm, characterized by a transmission device applied to the robotic arm, the transmission device comprising multiple pulley arrays and transmission wires, each pulley array comprising multiple pulleys, and variable force for input and output achieved by controlling the transmission wires to pass through different pulleys in the transmission device; comprising:

[0011] Obtain and analyze the first task to obtain the input force and output force.

[0012] The pulley array required to perform the first task is calculated based on the input force and the output force.

[0013] The state of each pulley is adjusted and the transmission path of the transmission wire is determined based on the pulley array.

[0014] The above-described one or more technical solutions in the embodiments of this application have at least the following technical effects:

[0015] The robotic arm transmission device and control method provided in this application embodiment analyze the acquired first task to obtain the input force T1 and the output force T2, calculate the pulley array required to execute the first task based on the input force T1 and the output force T2, and obtain the transmission path of the transmission wire based on the pulley array, thereby realizing variable force control at the end and tail of the robotic arm, improving the control flexibility of the robotic arm, and thus improving the control efficiency of the robotic arm.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of a humanoid robot provided in an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the controller of the humanoid robot provided in the embodiments of this application.

[0020] Figure 3 This is one of the schematic diagrams of the pulley array position layout and transmission path of the transmission device provided in the embodiments of this application.

[0021] Figure 4 This is the second schematic diagram of the pulley array position layout and transmission path of the transmission device provided in the embodiments of this application.

[0022] Figure 5 This is the third schematic diagram of the pulley array position layout and transmission path of the transmission device provided in the embodiments of this application.

[0023] Figure 6 This is the fourth schematic diagram of the pulley array position layout and transmission path of the transmission device provided in the embodiments of this application.

[0024] Figure 7 This is the fifth schematic diagram of the pulley array position layout and transmission path of the transmission device provided in the embodiments of this application.

[0025] Figure 8 This is a schematic diagram of the control device for the robotic arm provided in the embodiments of this application.

[0026] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] The control method, apparatus, transmission device, and storage medium for a robotic arm provided in this application belong to the field of robotics. This method is applied to the transmission device of a robotic arm, which includes multiple pulley arrays and transmission wires. Each pulley array includes multiple pulleys. The input and output forces are varied by controlling the transmission wires to pass through different pulleys in the transmission device. The method includes: acquiring and parsing a first task to obtain input and output forces; calculating the target pulley required to execute the first task based on the input and output forces, and obtaining the transmission path of the transmission wires based on the target pulleys; controlling the target pulleys to be in a lowered state; and controlling the transmission wires to pass through the corresponding target pulleys according to the transmission path. This method utilizes electronic signals to control the raising and lowering of pulleys in the transmission device and controls the transmission wires to pass through the corresponding target pulleys to achieve end-to-tail force variation control, thereby achieving the technical effect of variable force.

[0030] The control method, device, transmission device, and storage medium of the robotic arm provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0031] Figure 1 This is an example humanoid robot 100 applicable to the scenario described in this application embodiment. Figure 2This is a schematic diagram of the controller 108 of the humanoid robot in the example, which can integrate the devices and methods described herein. The humanoid robot 100 may include an upper body 102, two arms 104, and two legs 106. The upper body 102 may include a controller 108 for controlling the robot 100. The controller 108 may include a processing unit 110 and a communication interface 112. The processing unit 110 may be communicatively coupled to the communication interface 112. The processing unit 110 may include a processor 114 and a memory 116. The robot 100 may include a plurality of actuators 118 associated with a plurality of joints. Each arm 104 may include a corresponding hand 120. The robot 100 may include one or more sensors for sensing the robot 100 or its surrounding environment. The robot 100 may include one or more cameras.

[0032] Processor 114 may be implemented as a single-chip or multi-chip processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware component, or any combination thereof, designed to perform the functions described herein. Processor 114 may be a microprocessor. Processor 114 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In some embodiments, controller 108 may include one or more processors 114.

[0033] Memory 116 (e.g., memory cells and / or storage devices) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and / or computer code to perform or facilitate the various processes described herein. In this disclosure, memory 116 may be communicatively connected to processor 114 to provide processor 114 with computer code or instructions for performing at least some of the processes described herein. Furthermore, memory 116 may be or include tangible, non-transient volatile memory or non-volatile memory. For example, memory 116 may include database components, object code components, scripting components, or any other type of information structure for supporting the various activities and information structures described herein.

[0034] The communication interface 112 may include any combination of wired and / or wireless interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wired terminals) for data communication with various systems or devices of the robot 100. Interface 112 can enable communication between the processing unit 110 (or processor 114) and actuators 118, sensors, or cameras integrated into the robot 100. In some embodiments, the communication interface 112 can enable communication with remote systems or devices.

[0035] Processing unit 110 or processor 114 can be configured to control the joints of robot 100. Processing unit 110 or processor 114 can control the joints or joint-associated motion by controlling corresponding actuators 118. Specifically, each joint may include or be associated with one or more actuators 118, which are configured to drive the motion of robot parts or components connected via the joint. As discussed further in detail below, processing unit 110 or processor 114 can send instructions to actuators 118 to induce or trigger precise motion of one or more elements or components of robot 100. Processing unit 110 or processor 114 can control multiple joints simultaneously to achieve coordinated motion of robot 100.

[0036] Processing unit 110 or processor 114 may receive data from sensors and / or cameras integrated in robot 100 and make decisions based on the received data, such as which components of robot 100 should move and how they should move. For example, data received from sensors and / or cameras may indicate obstacles in the path of robot 100. Processing unit 110 or processor 114 may decide to modify the path and determine one or more limbs or control components of robot 100 based on the modified path. In some embodiments, processing unit 110 or processor 114 may receive data from remote devices or systems instructing robot 100 to perform a task and determine a sequence of motion for the limbs or components of robot 100 to perform the task.

[0037] Although Figure 1 The diagram shows the controller integrated in the chest or upper body of robot 100; however, in general, the controller 108 can be placed or integrated in other areas or parts of robot 100. For example, robot 100 may include a head, and the controller 108 may be integrated into or on the head. In some embodiments, the controller 108 may be placed in or on the back, waist region, or waist region of robot 100 and / or placed in or on one of the limbs of robot 100.

[0038] like Figure 3As shown, this application provides a robotic arm transmission device, specifically including: at least one pulley array, wherein the pulley array includes: multiple sets of pulleys, each set of pulleys including at least one reconfigurable pulley that can switch between a moving pulley state and a fixed pulley state; and at least one transmission wire passing through the pulley set to form a transmission path, connecting the input end and the output end;

[0039] In some embodiments, the pulley array includes a housing with the pulley array disposed within it. The housing serves as the main support for the robotic arm transmission device, providing physical support and protective space for the internal components. Each pulley array includes multiple pulleys, and the input and output forces are varied by controlling the transmission wires as they pass through different pulleys in the transmission device. In some embodiments, these pulleys are fixed pulleys with a uniform and fixed diameter.

[0040] In some embodiments, the pulley array includes at least one state switching module for controlling the locking / releasing of the reconfigurable pulleys. In some embodiments, the state switching module is connected or coupled to each of the reconfigurable pulleys in a one-to-one correspondence, and is used to receive control commands from the controller to control the locking or releasing of the reconfigurable pulleys, thereby completing the state switching. In this embodiment, each reconfigurable pulley is equipped with a dedicated state switching module, which is an electromagnetic clutch or a mechanical locking mechanism. In specific implementation, under the digital commands of the controller, the state switching module can drive the corresponding reconfigurable pulley to perform the following two state switching: when the locking mechanism is released, the axis of the pulley can be displaced as the transmission wire is subjected to force, at which time the pulley is in the state of a moving pulley, which is used to amplify the output torque by a factor of two (providing a labor-saving effect); when the locking mechanism is locked, the axis of the pulley is fixed at a specific coordinate in the housing, at which time the pulley switches to the state of a fixed pulley, which only serves to guide the direction of the transmission wire. By adjusting the locking / releasing combinations of each movable pulley in the array, a multi-level stepped torque output can be formed.

[0041] For example, the transmission wire enters the transmission device from the first position (T1) on the top left of the pulley array and exits at the second position (T2) on the bottom right, with the fixed pulley in the "working state" as the point of force in the middle, so as to realize the variable force control of input and output.

[0042] In some embodiments, the input end is typically connected to a power source such as a drive motor, while the output end is connected to the joints or end effector of the robotic arm. In this embodiment, one end of the transmission wire is fixed to the side wall of the robotic arm's cavity or to the central shaft of a specific pulley; the same transmission wire can travel multiple times between the movable pulley and the fixed pulley. Each additional travel of the transmission wire adds an effective calculation to the system, thereby multiplying the output torque obtained at the load output end.

[0043] The transmission wire enters the transmission device from the top left position T1 and exits from the bottom right position T2. ​​The target pulley is used as the fulcrum in the middle to realize variable force control of input and output.

[0044] In some embodiments, the axis of the fixed pulleys is fixed, and their main function is to guide the transmission wires to turn back.

[0045] When the robotic arm is in low-torque mode: When the robotic arm needs to close quickly under no-load, the state switching module controls all pulleys to be in the fixed pulley state. At this time, the transmission wire ratio is 1:1, and the displacement at the input end can be transmitted to the output end quickly with 100% efficiency. When the robotic arm is in high-torque mode: When the robotic finger contacts the target object and needs to increase the gripping force, the state switching module releases the reconfigurable pulley to the movable pulley state. At this time, the winding of the transmission wire on the movable pulley increases the effort saving factor.

[0046] In some embodiments, the transmission device includes multiple pulley arrays, each pulley array including multiple movable pulleys and fixed pulleys, the multiple movable pulleys and fixed pulleys being connected in series or in parallel to achieve control of various torques.

[0047] One end of the transmission cable (also known as a tendon cable) is fixed to the side wall of the robot's cavity or to the central shaft of a pulley. The same transmission cable can travel multiple times between the movable and fixed pulleys, with each travel adding one effective calculation.

[0048] In some embodiments, the pulley array includes a rope length adjustment assembly, employing a screw and nut mechanism or a spring tensioning mechanism, for adjusting the tension of the transmission wire in accordance with changes in the pulley state. After a pulley state switch or path change, the assembly automatically compensates for changes in wire length, maintaining the tendon rope at appropriate tension to prevent derailment or slack. At the instant the pulley is released from the fixed pulley to the movable pulley, due to the change in geometric path, the screw and nut assembly immediately rotates in the opposite direction, finely adjusting the effective length of the transmission wire to ensure that the wire does not loosen or experience momentary overload during the state switch.

[0049] It is understandable that when the reconfigurable pulley switches between a movable pulley and a fixed pulley, or when the fixed pulley switches between a working state and a static state, the geometric path of the transmission wire inside the housing will change, which will result in a surplus or deficit in the total physical path length of the transmission wire.

[0050] To avoid problems such as tendon ligament slackness, derailment, or overload breakage, in any of the above embodiments, the rope length adjustment component is electrically connected to the state switching module and the controller to achieve coordinated action. When the state switching module controls the pulley state to change, the rope length adjustment component drives the action in real time or near real time to compensate for and adjust the effective length of the transmission wire, ensuring that the transmission wire always remains within a preset appropriate tension range under any path reconstruction state, thus maintaining transmission stiffness.

[0051] In complex robotic applications, there are multiple tendons (T1, T2, T3...), each corresponding to different joints or degrees of freedom. The robotic arm simultaneously adjusts the force ratio of all tendons to ensure coordinated force transmission throughout the hand or arm.

[0052] In complex robotic arm applications oriented towards multiple degrees of freedom (DoF), the robotic arm transmission device is equipped with multiple independent transmission wires (e.g., T1, T2, T3...), each of which passes independently through a corresponding pulley array and is connected to different joints or different degrees of freedom of motion of the robotic arm.

[0053] During system operation, the main controller simultaneously processes and decouples the pulley array movements corresponding to all the transmission threads, and jointly controls the various state switching modules and rope length adjustment components to perform real-time global "force ratio adjustment". This ensures that the power transmission between the joints of the entire robotic hand or arm is coordinated and consistent during complex grasping, pinching and other delicate operations, achieving highly compliant and precise force control.

[0054] It is worth noting that, in order to better understand the present invention, the transmission device in this embodiment is briefly described. In some embodiments, such as... Figure 3-7 The diagram shown is a layout of the pulley array in the transmission device.

[0055] Figure 3The diagram shows at least one pulley array in a robotic arm transmission device, specifically including pulleys F1, F2, and F3; reconfigurable pulleys M1, M2, and M3; transmission threads; a rope length adjustment component for thread storage; and a state switching module. Pulleys F1, F2, and F3 can be one of movable pulleys, fixed pulleys, or reconfigurable pulleys. When pulleys F1, F2, and F3 are fixed pulleys, the reconfigurable pulleys M1, M2, and M3 are set as movable pulleys by the state switching module. When reconfigurable pulleys M1, M2, and M3 are movable pulleys, they can slide up and down within the housing, realizing the characteristics of movable pulleys. After the transmission threads are wound, when the input end outputs a force T1, the output end T2 can output a force six times that of T1, showing T1:T2=1:6. When other variable forces are needed, the state of the reconfigurable pulleys is adjusted appropriately. The state switching module is linked to each reconfigurable pulley and can be installed below or near the reconfigurable pulleys.

[0056] Figure 4 The diagram shows at least one other pulley array in the robotic arm transmission device, specifically including pulley F1, reconfigurable pulleys M1, M2, and M3, transmission threads m1, m2, and m3, a thread length adjustment component for thread storage, and a state switching module. Pulley F1 can be a movable pulley, a fixed pulley, or a reconfigurable pulley. When pulley F1 is a fixed pulley, the reconfigurable pulleys M1, M2, and M3 are set as movable pulleys by the state switching module. When the reconfigurable pulleys M1, M2, and M3 are movable pulleys, they can slide up and down within the housing, realizing the characteristics of a movable pulley. When the input terminal outputs a force T1, the transmission wire at the input terminal T1 splits into three wires after passing through the fixed pulley F1. These three wires are respectively connected to the reconfigurable pulleys M1, M2, and M3. The other ends of the reconfigurable pulleys M1, M2, and M3 are connected to the output terminal T2, which can output a force six times that of T1. Therefore, T1:T2 = 1:6. When other variable forces are required, the state of the reconfigurable pulleys can be adjusted appropriately. The state switching module is connected to each of the reconfigurable pulleys and can be installed below or near them.

[0057] Figure 5The diagram shows at least one other pulley array in the robotic arm transmission device, specifically including pulleys F1, F2, and F3, reconfigurable pulleys M1, M2, and M3, transmission threads, a rope length adjustment component for thread storage, and a state switching module. Pulleys F1, F2, and F3 can be one of movable pulleys, fixed pulleys, or reconfigurable pulleys. When pulleys F1, F2, and F3 are fixed pulleys, the reconfigurable pulleys M1, M2, and M3 are set as movable pulleys by the state switching module. When reconfigurable pulleys M1, M2, and M3 are movable pulleys, they can slide up and down within the housing, realizing the characteristics of a movable pulley. The top ends of pulley F1 and reconfigurable pulley M1 are connected. The transmission wire of reconfigurable pulley M1 is connected to the output end T2. The top ends of pulley F2 and reconfigurable pulley M2 are also connected. The transmission wire of reconfigurable pulley M2 is connected to the output end T2. The top ends of pulley F3 and reconfigurable pulley M3 are connected. The transmission wire of reconfigurable pulley M3 is connected to the output end T2. The wire of pulley F1 passes through the wires of F2 and F3 and then enters the wire box of the rope length adjustment component. After the transmission wires are wound, when the input end outputs the force of T1, the output end T2 can output a force of 6 times that of T1. It can be seen that T1:T2=1:6. When other variable forces are needed, the state of the reconfigurable pulleys is adjusted appropriately. The state switching module is connected to each of the reconfigurable pulleys and can be installed below or near the reconfigurable pulleys.

[0058] Figure 6 The diagram shows at least one other pulley array in the robotic arm transmission device, specifically including pulleys F1, F2, and F3, reconfigurable pulleys M1, M2, and M3, transmission threads, a rope length adjustment component for thread storage, and a state switching module. Pulleys F1, F2, and F3 can be movable pulleys, fixed pulleys, or reconfigurable pulleys. When pulleys F1, F2, and F3 are fixed pulleys, reconfigurable pulley M1 is set as a movable pulley by the state switching module, and reconfigurable pulleys M2 and M3 are fixed pulleys. When reconfigurable pulley M1 is a movable pulley, it can slide up and down within the housing, realizing the characteristics of a movable pulley. The tops of pulleys F1 and M1 are connected, and the transmission thread of reconfigurable pulley M1 is connected to the output end T2. The thread of pulley F1 passes through the threads of F2 and F3 and then enters the thread box of the rope length adjustment component. After the transmission wire is wound, when the input end outputs a force T1, the output end T2 can output a force twice that of T1, so T1:T2=1:2. When other variable forces are needed, the state of the reconfigurable pulley can be adjusted appropriately. The state switching module is linked to each of the reconfigurable pulleys and can be installed below or near the reconfigurable pulleys.

[0059] Figure 7The diagram shows at least one other pulley array in the robotic arm transmission device, specifically including pulleys F1, F2, F3, F4, and F5, a reconfigurable pulley M1 for transmitting the transmission thread, thread boxes 1 and 2 for storing the thread, and a state switching module. Thread boxes 1 and 2 can be rope length adjustment components; thread box 2 may also be omitted. Pulleys F1, F2, F3, F4, and F5 can be one of the following: movable pulleys, fixed pulleys, or reconfigurable pulleys. When pulleys F1, F2, F3, F4, and F5 are fixed pulleys, the reconfigurable pulley M1 is set to a movable pulley by the state switching module. When the reconfigurable pulley M1 is a movable pulley, it can slide up and down within the housing, realizing the characteristics of a movable pulley. The thread of pulley F1 is connected to the reconfigurable pulley M1 via the thread of F2. The input end T1 is connected to or overlaps with the thread of pulley F1, and the output end T2 is connected to or overlaps with the thread of pulley F3. The thread of output end T2 is connected to or linked to the reconfigurable pulley M1. After being connected to or linked to the reconfigurable pulley M1, the thread of output end T2 becomes integrated with the threads of pulleys F4 and F5, and then enters the cable box of the rope length adjustment component. After the transmission thread is wound, when the input end outputs the force of T1, the output end (4 times T2) can output a force three times that of T1, showing T1:T2=3:4. When other variable forces are needed, the state of the reconfigurable pulleys is adjusted appropriately. The state switching module is connected to each of the reconfigurable pulleys and can be installed below or near them. Figure 7 The reconfigurable pulley M1 is shown as a single example; however, multiple reconfigurable pulleys can exist. When there are multiple reconfigurable pulleys, they are arranged in parallel, with their axes on the same horizontal line. Similarly, the thread connection winds around each reconfigurable pulley. The threads winding around the reconfigurable pulley in both the left and right directions can be unequal. That is, there can be one thread on the left and multiple threads on the right, multiple threads on the left and one thread on the right, or multiple threads on the left and multiple threads on the right, depending on the input and output forces.

[0060] It should be noted that the positions and numbers of pulleys, threads, and rope length adjustment components shown in the diagram are merely illustrative examples and do not constitute a limitation of the invention. To achieve a ratio between input T1 and output T2, the positions and numbers of pulleys, threads, and rope length adjustment components can be appropriately varied. Furthermore, to adjust the relationship between T1 and T2, the directions of the forces acting on T1 and T2 will change according to the actual situation; the directions of T1 and T2 in the diagram are only for illustrative purposes.

[0061] In some embodiments, the transmission wire is a thread or a tendon cord.

[0062] It is understood that this invention also protects a control method for a robotic arm, applied to a pulley array of the robotic arm. The transmission device includes multiple pulley arrays and transmission wires. Each pulley array includes multiple pulleys. The input and output forces are varied by controlling the transmission wires to pass through different pulleys in the transmission device. This includes:

[0063] S110: Obtain and analyze the first task to get the input force and output force.

[0064] S120, calculate the transmission device required to perform the first task based on the input force and the output force.

[0065] S130, adjust the state of each pulley and determine the transmission path of the transmission wire based on the pulley array.

[0066] The robot control method provided in this application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the pulley array required to execute the first task based on the input force T1 and the output force T2, adjusts the state of each pulley and determines the transmission path of the transmission wire based on the pulley array, realizes variable force control at the end and tail of the robot, improves the control flexibility of the robot, and thus improves the control efficiency of the robot.

[0067] It should be noted that the first task in this embodiment can be obtained by the control unit, or it can be obtained directly by the server first and then transmitted to the control unit. Specifically, the control unit receives the first task input by the operator, that is, the first task can be input through the receiving interface of the hardware device; it can also be a preset input task, from which the control unit selects the first task; or it can be a pre-set task generation rule, so that the control unit can generate the first task according to the generation rule. In some embodiments, the transmission wire is a silk thread or a tendon rope.

[0068] The pulley array device includes a pulley array and a transmission wire. Each pulley array includes multiple pulleys. By controlling the transmission wire to pass through different pulleys in the transmission device, the input and output forces are varied. In some embodiments, these pulleys are fixed pulleys with a uniform and fixed diameter. The transmission wire enters the transmission device from the top left position T1 and exits from the bottom right position T2, with the target pulley as the point of force application, thus achieving variable force control of the input and output.

[0069] In some embodiments, the transmission device includes multiple pulley arrays, each pulley array including multiple movable pulleys and fixed pulleys, the multiple movable pulleys and fixed pulleys being connected in series or in parallel to achieve control of various torques.

[0070] In some embodiments, step S110 includes: analyzing the first task to obtain the ratio between the output force and the input force.

[0071] The first task, analyzed, directly yields the required output and input forces, or the proportional relationship between them. The first task obtains the relationship between the output magnitude and level from the controller; this can be a specific numerical value or a relationship between output and input. The numerical value is precise, while the relationship between output and input is coarse. This precision and coarseness are influenced and controlled by the controller's computing power and resources. Understandably, using the proportional relationship between output and input forces to calculate the target pulley avoids the need for specific numerical calculations, improving processing efficiency.

[0072] Generally, controlled by the calculated relationship between T1 and T2, the target pulley transmits force, while a variable target pulley allows for variable force control between input and output forces. T1 is the input force (input tendon tension), T2 is the output force (output tendon tension), m is the number of effective movable pulleys on the input side multiplied by the number of windings, and n is the number of effective movable pulleys on the output side multiplied by the number of windings; m and n are positive integers. By changing the ratio of m and n, the input force can be amplified (m < n), reduced (m > n), or proportionally (m = n) to the output force.

[0073] Movable pulley effect: The force ratio changes by a factor of one with each effective movable pulley. Fixed pulley effect: Only the direction of the force changes, not its magnitude. When a movable pulley is jammed (becomes a fixed pulley), its multiplier effect disappears, leaving only the function of changing direction. Conversely, when a fixed pulley is released (becomes a movable pulley), a multiplier effect is added.

[0074] Numerical Example A (m=2, n=1): Output force T2 = 2·T1 (force amplified by 2 times). Numerical Example B: Jamming a movable pulley → m=1, n=1 → T2 = T1 (proportional). Numerical Example C: Releasing a fixed pulley to become a movable pulley → m=1, n=2 → T2 = T1×½ (force reduced).

[0075] In some embodiments, step S120 includes:

[0076] The pulley array required to perform the first task is calculated based on the input force and the output force.

[0077] The pulley array includes: multiple sets of pulleys, each set of pulleys including at least one reconfigurable pulley that can switch between a moving pulley state and a fixed pulley state; and at least one transmission wire passing through the pulley set to form a transmission path, connecting the input end and the output end; and at least one state switching module for controlling the locking / releasing of the reconfigurable pulley.

[0078] In this embodiment, since the layout of the pulley array in the transmission device is adjustable, after obtaining the first task, the required pulley array for executing the first task is calculated based on the required output force and input force values ​​or ratios to achieve the predetermined output result. More specifically, the controller obtains the magnitude of the output force required to complete the first task based on the obtained first task instruction, and obtains the number of reconfigurable pulleys for executing the first task based on the magnitude of the output force. Generally, when performing the corresponding calculations, integer values ​​are not obtained; rounding is required to obtain integer results, such as rounding up to obtain the number of reconfigurable pulleys and fixed pulleys.

[0079] After obtaining the pulley array required to perform the first task, it is also necessary to confirm which pulleys are performing the first task, that is, to determine the reconfigurable pulleys required for the pulley array, so as to control the state of the reconfigurable pulleys to be in the lowered state. The transmission path is determined according to the order of each target pulley, so that the transmission wire can pass through it as the point of force, thereby realizing the variable force control of the end and tail of the robot.

[0080] Understandably, each pulley has its own corresponding identifier. After determining which pulleys are the target pulleys and which are other pulleys, the identifiers of the pulleys that are lowered and raised are collected by the controller so that the controller can send commands to control them.

[0081] It is worth noting that when controlling the transmission wire to pass through the transmission path, it can be guided through by magnets placed on the transmission wire and pulley.

[0082] In some embodiments, calculating the target number and target position of the target pulleys required to perform the first task based on the input force and the output force includes:

[0083] The number of redundant reconfigurable pulleys and fixed pulleys required to obtain the redundancy coefficient;

[0084] The first quantity is calculated based on the input force and the output force;

[0085] The target quantity is determined by the redundancy quantity and the first quantity.

[0086] As mentioned earlier, when calculating the number of reconfigurable and fixed pulleys, the calculated values ​​are rounded up to meet the basic pulley requirements for the first task. Furthermore, a certain degree of redundancy is needed, i.e., a redundancy coefficient is obtained. This redundancy coefficient determines the number of reconfigurable and fixed pulleys, further improving the robot's control flexibility and safety. For example, the redundancy coefficient typically corresponds to n+1 redundant pulleys. Therefore, if the calculated number is n pulleys, the final number of reconfigurable and fixed pulleys required for the first task is confirmed to be n+1.

[0087] In some embodiments, step S130 includes:

[0088] The reconfigurable pulley in the transmission device is defined as a movable pulley.

[0089] In some embodiments, the pulley array includes at least one state switching module for controlling the locking / releasing of the reconfigurable pulleys. In some embodiments, the state switching module is connected or coupled to each of the reconfigurable pulleys in a one-to-one correspondence, and is used to receive control commands from the controller to control the locking or releasing of the reconfigurable pulleys, thereby completing the state switching. In this embodiment, each reconfigurable pulley is equipped with a dedicated state switching module, which is an electromagnetic clutch or a mechanical locking mechanism. In specific implementation, under the digital commands of the controller, the state switching module can drive the corresponding reconfigurable pulley to perform the following two state switching: when the locking mechanism is released, the axis of the pulley can be displaced as the transmission wire is subjected to force, at which time the pulley is in the state of a moving pulley, which is used to amplify the output torque by a factor of two (providing a labor-saving effect); when the locking mechanism is locked, the axis of the pulley is fixed at a specific coordinate in the housing, at which time the pulley switches to the state of a fixed pulley, which only serves to guide the direction of the transmission wire. By adjusting the locking / releasing combinations of each movable pulley in the array, a multi-level stepped torque output can be formed.

[0090] For example, the transmission wire enters the transmission device from the first position (T1) on the top left of the pulley array and exits at the second position (T2) on the bottom right, with the fixed pulley in the "working state" as the point of force in the middle, so as to realize the variable force control of input and output.

[0091] In some embodiments, the input end is typically connected to a power source such as a drive motor, while the output end is connected to the joints or end effector of the robotic arm. In this embodiment, one end of the transmission wire is fixed to the side wall of the robotic arm's cavity or to the central shaft of a specific pulley; the same transmission wire can travel multiple times between the movable pulley and the fixed pulley. Each additional travel of the transmission wire adds an effective calculation to the system, thereby multiplying the output torque obtained at the load output end.

[0092] In some embodiments, the method further includes:

[0093] The target pulley and the transmission path are sent to a preset neural network to calculate and verify whether the corresponding output force meets the requirements for executing the first task. If the requirements are not met, the process returns to the step of calculating the pulley array required to execute the first task based on the input force and the output force, and obtaining the transmission path of the transmission wire based on the pulley array.

[0094] In this embodiment, the transmission path and the number and position of the target pulleys need to be verified a second time. This second verification occurs during the calculation of the transmission path of the transmission wire. Generally, this is calculated using the predictive capabilities of artificial intelligence, specifically through visual recognition and Bayesian training. The confirmed transmission path and the number and position of the target pulleys are input into the corresponding neural network, and the output is calculated to determine whether it satisfies the execution of the first task. If it does, proceed to S130. If it does not, or if the first task changes, return to S120.

[0095] The robot control method provided in this application can be executed by a robot control device. This application uses the robot control device transmitting the robot control method as an example to illustrate the robot control device provided in this application.

[0096] This application also provides a control device for a robotic arm, such as... Figure 9 As shown, a transmission device applied to a robotic arm includes multiple pulley arrays and transmission wires. Each pulley array includes multiple pulleys, and the input and output forces are varied by controlling the transmission wires to pass through different pulleys in the transmission device. The device includes:

[0097] The acquisition and analysis module 210 is used to acquire and analyze the first task to obtain the input force and output force.

[0098] Calculation module 220 is used to calculate the transmission device required to perform the first task based on the input force and the output force;

[0099] The adjustment module 230 adjusts the state of each pulley and determines the transmission path of the transmission wire based on the pulley array.

[0100] The control device for the robotic arm provided in this application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the transmission device required to execute the first task based on the input force T1 and the output force T2, and obtains the transmission path of the transmission wire based on the target pulley, thereby realizing variable force control at the end and tail of the robotic arm, improving the control flexibility of the robotic arm, and thus improving the control efficiency of the robotic arm.

[0101] The control device for the robotic arm in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the device.

[0102] The control device for the robotic arm in this embodiment can be a device with an operating system. This operating system can be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems; this embodiment does not specifically limit the specific operating system.

[0103] This application also provides a transmission device, including a plurality of pulley arrays disposed in a pulley channel, a variable length transmission wire disposed at the input end, and a controller electrically connected to the retraction and extension structure of the pulley array and the control structure of the transmission wire. By passing the transmission wire through different pulleys, variable force control of input and output is achieved. The controller is capable of executing the robotic arm control method described in Embodiment 2.

[0104] The transmission device provided in this application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the pulley array required to execute the first task based on the input force T1 and the output force T2, and obtains the transmission path of the transmission wire based on the pulley array, thereby realizing variable force control at the end and tail of the robot, improving the control flexibility of the robot, and thus improving the control efficiency of the robot.

[0105] In some embodiments, the transmission device includes multiple pulley arrays, each pulley array including multiple pulleys, and the multiple pulley arrays are connected in series or in parallel to achieve control of various torques.

[0106] In some embodiments, the transmission device is placed in the dexterous hand of the humanoid robot to achieve variable force control of the input and output forces.

[0107] In some embodiments, the transmission device includes a post for winding a transmission thread disposed at the input end, the post being disposed on a rotatable control structure that, under the control of a controller, realizes the change in the length of the transmission thread.

[0108] In some embodiments, the transmission device includes a storage compartment disposed at the input end for storing the transmission wire and preventing the transmission wire from becoming soiled.

[0109] In some embodiments, the transmission device further includes a housing, which includes a front back plate and a rear back plate, and a pulley channel formed by the front back plate and the rear back plate for receiving pulleys. The pulley channel is provided with a corresponding retraction and extension structure for retracting or extending the pulleys under the control of the controller.

[0110] In some embodiments, this application also provides an electronic device 300, including a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements the various processes of the above-described control method embodiment for the retraction and extension of the transmission device and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0111] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0112] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described control method embodiment for the retraction and extension of the transmission device and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0113] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0114] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0116] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0117] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0118] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic arm transmission device, characterized in that, include: At least one pulley array; The pulley array includes: Multiple sets of pulleys, each set of pulleys including at least one reconfigurable pulley that can switch between a moving pulley state and a fixed pulley state; And at least one transmission wire passes through the pulley block to form a transmission path, connecting the input end and the output end; and at least one state switching module for controlling the locking / releasing of the reconfigurable pulley.

2. The apparatus according to claim 1, characterized in that, The transmission device includes a rope length adjustment assembly, which employs a screw and nut mechanism or a spring tensioning mechanism to adjust the tension of the transmission wire in accordance with changes in the pulley's state.

3. The apparatus according to claim 2, characterized in that, The transmission device includes a dedicated state switching module for each of the reconfigurable pulleys. The reconfigurable pulleys slide in a first direction within the housing. The state switching module is an electromagnetic clutch or a mechanical locking mechanism.

4. The apparatus according to claim 3, characterized in that, The transmission device includes a rope length adjustment component that is driven in real time or quasi-real time when the state switching module controls the pulley state to change, in order to compensate for and adjust the effective length of the transmission wire.

5. The apparatus according to claim 4, characterized in that, The transmission device includes multiple independent transmission wires, each of which passes independently through a corresponding pulley array.

6. The apparatus according to claim 5, characterized in that, The pulley array also includes at least one fixed pulley, and when there are multiple fixed pulleys, the axes of at least two fixed pulleys are aligned in the second direction.

7. A control method for a robotic arm, characterized in that, A transmission device for a robotic arm, comprising multiple pulley arrays and transmission wires, each pulley array including multiple pulleys, wherein the input and output force are varied by controlling the transmission wires to pass through different pulleys in the transmission device; including: Obtain and analyze the first task to obtain the input force and output force. The pulley array required to perform the first task is calculated based on the input force and the output force. The state of each pulley is adjusted and the transmission path of the transmission wire is determined based on the pulley array.

8. The method according to claim 7, characterized in that, The acquisition and parsing of the first task to obtain the input force and output force includes: The first task is analyzed to obtain the ratio between the output force and the input force.

9. The method according to claim 8, characterized in that, The step of calculating the transmission device required to perform the first task based on the input force and the output force, and adjusting the state of each pulley and determining the transmission path of the transmission wire based on the pulley array, includes: Calculate the number and arrangement of pulley arrays required to perform the first task based on the input force and the output force; Based on the target quantity and the target position, the order in which the transmission wires need to pass through the target pulleys is determined, and the transmission path is determined.

10. A control device for a robotic arm, characterized in that, A transmission device for a robotic arm, comprising multiple pulley arrays and transmission wires, each pulley array including multiple pulleys, wherein variable force for input and output is achieved by controlling the transmission wires to pass through different pulleys in the transmission device; the device includes: The acquisition and analysis module is used to acquire and analyze the first task to obtain the input force and output force. The calculation module is used to calculate the pulley array required to perform the first task based on the input force and the output force; The adjustment module is used to adjust the state of each pulley and determine the transmission path of the transmission wire based on the pulley array.

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