CN118789533B - A robot wrist and control method thereof - Google Patents
A robot wrist and control method thereof Download PDFInfo
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- CN118789533B CN118789533B CN202411282519.3A CN202411282519A CN118789533B CN 118789533 B CN118789533 B CN 118789533B CN 202411282519 A CN202411282519 A CN 202411282519A CN 118789533 B CN118789533 B CN 118789533B
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- joint structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
本发明涉及机械手领域，公开了一种机器人手腕及其控制方法，包括驱动底座、轴承座、万向节结构、角度传感单元和绳驱机构；所述绳驱机构设置于所述驱动底座内，且与所述万向节结构连接，所述绳驱机构收紧带动所述万向节结构的转动方向为第一方向，所述驱动底座上设置所述轴承座，所述轴承座上设置有所述万向节结构，所述万向节结构上设置有所述角度传感单元，所述角度传感单元用于感知沿所述第一方向转动的旋转角度。本发明通过角度传感单元获取万向节结构的角度位置，配合绳驱机构以实现更为精细的操作，精准控制机器人手腕的角度。
The present invention relates to the field of manipulators, and discloses a robot wrist and a control method thereof, comprising a driving base, a bearing seat, a universal joint structure, an angle sensing unit and a rope drive mechanism; the rope drive mechanism is arranged in the driving base and connected to the universal joint structure, the rope drive mechanism is tightened to drive the universal joint structure to rotate in a first direction, the bearing seat is arranged on the driving base, the universal joint structure is arranged on the bearing seat, the angle sensing unit is arranged on the universal joint structure, and the angle sensing unit is used to sense the rotation angle along the first direction. The present invention obtains the angle position of the universal joint structure through the angle sensing unit, cooperates with the rope drive mechanism to achieve more delicate operation, and accurately controls the angle of the robot wrist.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a robot wrist and a control method thereof.
Background
The humanoid robot wrist is a highly precise robot device, imitates the flexibility and functionality of a human wrist, and is a key component for connecting an upper arm of a robot with an end effector. A robot wrist is typically made up of a plurality of joints, each corresponding to one degree of freedom of the wrist. These joints may be rotational joints, sliding joints, or a combination of both to simulate the flexion and extension, rotation, lateral bending, etc. of a human wrist. Where a revolute joint refers to a rotation allowing the wrist to rotate in a horizontal or vertical plane similar to the rotation ability of a human wrist, a flexor joint refers to a flexion and extension simulating the wrist, typically on the front side of the wrist, and a lateral flexion joint refers to a rotation allowing the wrist to flex inward or outward, providing additional range of motion. To drive these joints, the wrist employs various driving techniques, such as electric, hydraulic, pneumatic, etc., each of which has unique advantages and application scenarios. The transmission system is used as a key of power transmission, adopts various mechanisms such as tendon ropes, gears, connecting rods and the like, and ensures effective power transmission and accurate control.
The tendon rope drives the wrist to control the movement of the joint through the stretching and shrinking of the cable or the rope, the tendon rope is used as a main element for driving the wrist, and the pulley system is used for changing the path of the rope to realize the multidirectional movement of the joint. The line-driven wrist is compact in structure and can realize complex movements in a limited space. The motion of multiple degrees of freedom can be easily realized, and high flexibility is provided. This driving is similar to human tendons and takes a place in the field of humanoid robots with its unique advantages.
At present, the existing humanoid robot wrist cannot provide accurate feedback of the joint at the current angle position and is difficult to control the angle of the robot wrist.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention aims to solve the technical problems that aiming at the defects in the prior art, a robot wrist and a control method thereof are provided, and aims to solve the problems that the existing robot wrist in the prior art cannot provide accurate feedback of a joint at a current angle position and is difficult to control the angle of the robot wrist.
The technical scheme adopted for solving the technical problems is as follows:
A robot wrist comprises a driving base, a bearing seat, a universal joint structure, an angle sensing unit and a rope driving mechanism;
The rope driving mechanism is arranged in the driving base and connected with the universal joint structure, and the rope driving mechanism tightens up and drives the rotation direction of the universal joint structure to be a first direction;
The driving base is provided with the bearing seat, the bearing seat is provided with the universal joint structure, the universal joint structure is provided with the angle sensing unit, and the angle sensing unit is used for sensing a rotating angle along the first direction.
Optionally, the rope driving mechanism includes:
the driving assembly is arranged in the driving base;
one end of the driving main rope is wound on the driving assembly, and the other end of the driving main rope is connected with the universal joint structure;
one end of the driving auxiliary rope is wound on the driving assembly, and the other end of the driving auxiliary rope is connected with the universal joint structure;
The driving assembly is used for pulling the driving auxiliary rope and the driving main rope so as to drive the universal joint structure to rotate around the first direction.
Optionally, the driving assembly includes:
the motor is arranged in the driving base;
The reel is arranged on the motor, and the driving main rope and the driving auxiliary rope with opposite transmission directions are wound on the reel;
the first transmission part is connected with the driving main rope;
the second transmission part is connected with the driving auxiliary rope;
When the motor rotates, the driving main rope tightens up, the driving auxiliary rope relaxes or the driving main rope relaxes and the driving auxiliary rope tightens up so as to drive the universal joint structure to rotate around the first direction.
Optionally, the first transmission component includes:
The first lower pulley is arranged on the bearing seat and is positioned at one side of the first direction;
The first upper pulley is arranged on the universal joint structure and is positioned on the same side as the first lower pulley;
The driving main rope is sequentially wound on the first lower pulley and the first upper pulley and is connected with one side of the bearing seat.
Optionally, the second transmission member includes:
The second lower pulley is arranged on the bearing seat and positioned on the other side of the first direction;
The second upper pulley is arranged on the universal joint structure and is positioned on the same side as the second lower pulley;
the first transmission pulley is arranged in the bearing seat;
the second transmission pulley is arranged in the bearing seat;
One end of the driving auxiliary rope is wound out from the upper side of the first transmission pulley and the lower side of the second transmission pulley, sequentially wound on the second lower pulley and the second upper pulley and connected with the other side of the bearing seat.
Optionally, the rope driving mechanism further includes a pre-tightening assembly for adjusting the pre-tightening force of the driving main rope and the driving auxiliary rope, and the pre-tightening assembly includes:
The first channel is arranged on the bearing seat, and the driving main rope is arranged on the first channel in a penetrating way;
The first abutting piece is arranged on the first channel and used for locking the driving main rope;
the second channel is arranged on the bearing seat, and the driving auxiliary rope is arranged on the second channel in a penetrating manner;
The second abutting piece is arranged on the second channel and used for locking the driving auxiliary rope.
Optionally, the rope drives the mechanism and is provided with a plurality ofly, and the cross arrangement is gone up in the drive base.
Optionally, the gimbal structure includes:
One end of the universal joint is arranged in the middle of the bearing seat;
the connecting seat is rotationally arranged on the universal joint and is used for being connected with a mechanical palm.
Optionally, the robot wrist further comprises a control system, and the control system is electrically connected with the angle sensing unit and the rope driving mechanism.
A control method of a robot wrist, the control method being applied to the robot wrist according to any one of the above-described aspects, the control method comprising:
acquiring current bending state information;
calculating a target bending direction and a target bending angle based on the current bending state information, and acquiring a tightening instruction;
And controlling the rope driving mechanism based on the tightening instruction to drive the robot wrist to bend to a target position.
The beneficial effects are that:
According to the invention, the rope driving mechanism is arranged, and the universal joint structure is driven to rotate along the first direction by utilizing the rope driving mode, so that the robot wrist is driven to rotate with high efficiency, the angle of the robot wrist can be accurately controlled by matching with the angle sensing unit, and finer operation is performed.
Drawings
FIG. 1 is a block diagram of a robot wrist of the present invention;
FIG. 2 is a block diagram of another view of a robot wrist of the present invention;
FIG. 3 is an internal block diagram of a robot wrist of the present invention;
FIG. 4 is an internal block diagram of another view of the robot wrist of the present invention;
FIG. 5 is a block diagram of the bearing housing and universal joint structure of the present invention;
FIG. 6 is a block diagram of a drive base and bearing housing of the present invention;
FIG. 7 is a first state of use of the robot wrist of the present invention;
FIG. 8 is a second state of use of the robot wrist of the present invention;
FIG. 9 is a third state of use of the robot wrist of the present invention;
fig. 10 is a flow chart of the steps of the control method of the present invention.
In the figure:
100. A driving base;
200. A bearing seat;
300. The universal joint structure comprises a universal joint structure, a connecting seat and a connecting seat;
410. Motor, 420, reel, 430, driving main rope, 440, driving auxiliary rope, 4501, first lower pulley, 4502, first upper pulley, 4601, first transmission pulley, 4602, second transmission pulley, 4603, second lower pulley, 4604, second upper pulley;
510. first through hole 520, first channel 530, second through hole 540, second channel.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, robot connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or communicating between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, the application provides a robot wrist, which comprises a driving base 100, a bearing seat 200, a universal joint structure 300, an angle sensing unit and a rope driving mechanism, wherein the rope driving mechanism is arranged in the driving base 100 and is connected with the universal joint structure 300, the rope driving mechanism tightens and drives the rotation direction of the universal joint structure 300 to be a first direction, the bearing seat 200 is arranged on the driving base 100, the universal joint structure 300 is arranged on the bearing seat 200, the angle sensing unit is arranged on the universal joint structure 300, and the angle sensing unit is used for sensing the rotation angle along the first direction.
Specifically, a bearing seat 200 is disposed at one end of the driving base 100 disclosed in this embodiment, the driving base 100 is mainly used for connecting a mechanical arm, a specific shape can be set according to a use scene, the driving base 100 can be manufactured into a cylindrical shape and a cuboid shape, the interior is hollow, the bearing seat 200 is matched with the corresponding driving base 100 shape, for example, the driving base 100 in the cylindrical shape is matched with the bearing seat 200 in the cylindrical shape, preferably, the shape of the driving base 100 in this embodiment is the cylindrical shape, and the driving base 100 can simulate the shape of a human arm and is more realistic.
Further, in this embodiment, an angle sensing unit is further disclosed to be disposed on the gimbal structure 300, as shown in fig. 1, one end of the gimbal structure 300 is disposed at a middle position of the bearing seat 200, the angle sensing unit is mounted on the gimbal structure 300, and can directly obtain accurate feedback of a current angle position of a wrist of the robot in a first direction, so that finer operation can be performed, and the other end of the gimbal structure 300 is used for connecting a mechanical palm, so that the device and the mechanical palm can be directly assembled, and a plug and play effect can be realized.
Further, in this embodiment, a driving base 100 and a bearing seat 200 are disclosed, as shown in fig. 1, where X is set to a first direction, the first direction has two directions, left and right sides, Y is set to a second direction, the second direction has two directions, and upper and lower sides, and by installing a rope driving mechanism in the driving base 100, motion control on a robot wrist is achieved in a smaller space, and then the rope driving mechanism drives the universal joint structure 300 to rotate around the first direction, so as to achieve efficient motion of driving the robot wrist in the first direction.
Referring to fig. 2, in another embodiment of the present application, the other end of the driving base 100 is provided with a through hole, which is a threaded hole, for screw-assembling with the robot arm, so that the present device is easily assembled.
Referring to fig. 1 to 3, in another embodiment of the present application, the rope driving mechanism includes a driving assembly, a driving main rope 430 and a driving auxiliary rope 440, the driving assembly is disposed in the driving base 100, one end of the driving main rope 430 is wound around the driving assembly, the other end is connected with the gimbal structure 300, one end of the driving auxiliary rope 440 is wound around the driving assembly, the other end is connected with the gimbal structure 300, wherein the driving directions of the driving main rope 430 and the driving auxiliary rope 440 are opposite, and the driving assembly is used for pulling the driving auxiliary rope 440 and the driving main rope 430, so as to drive the gimbal structure 300 to rotate around the first direction.
Specifically, the present embodiment discloses that the rope driving mechanism includes a driving component, a driving main rope 430 and a driving auxiliary rope 440, and the driving main rope 430 and the driving auxiliary rope 440 are controlled simultaneously by the driving component, when the driving component drives, the driving main rope 430 tightens up, the driving auxiliary rope 440 relaxes or the driving main rope 430 relaxes, and the driving auxiliary rope 440 tightens up, so as to drive the universal joint structure 300 to rotate around the first direction.
As shown in fig. 1 to 3, in another embodiment of the present application, the driving assembly includes a motor 410, a reel 420, a first transmission member and a second transmission member, the motor 410 is disposed in the driving base 100, the reel 420 is disposed on the motor 410, the reel 420 is wound with the driving main rope 430 and the driving auxiliary rope 440 having opposite transmission directions, the first transmission member is connected to the driving main rope 430, the second transmission member is connected to the driving auxiliary rope 440, and when the motor 410 rotates, the driving main rope 430 tightens, the driving auxiliary rope 440 tightens or the driving main rope 430 tightens, and the driving auxiliary rope 440 tightens, so as to drive the universal joint structure 300 to rotate around the first direction.
Specifically, the driving assembly includes a motor 410, a reel 420, a first transmission member, and a second transmission member, and the motor 410, the reel 420, the first transmission member, and the second transmission member are all installed in the driving base 100. More specifically, the reel 420 has two wheel discs, which are respectively wound around the driving main rope 430 and the driving sub-rope 440, the other end of the driving main rope 430 is connected to the gimbal structure 300 through the first transmission member, and the other end of the driving sub-rope 440 is connected to the gimbal structure 300 through the second transmission member, wherein the connection positions are on opposite sides of the gimbal structure 300, and it is understood that the opposite sides refer to the left side and the right side in the first direction. In this scheme, the trend of the main driving rope 430 and the auxiliary driving rope 440 is changed by adopting the first transmission part and the second transmission part, so that the operation is convenient, the labor-saving effect can be achieved, and the flexibility of the main driving rope 430 and the auxiliary driving rope 440 is stronger.
Referring to fig. 1 to 3, in another embodiment of the present application, the first transmission member includes a first lower pulley 4501 and a first upper pulley 4502, the first lower pulley 4501 is disposed on the bearing housing 200 and located at one side of the first direction, the first upper pulley 4502 is disposed on the gimbal structure 300 and located at the same side as the first lower pulley 4501, wherein the driving main rope 430 is sequentially wound on the first lower pulley 4501 and the first upper pulley 4502 and connected to one side of the bearing housing 200.
Specifically, the first transmission component disclosed in this embodiment includes the first lower pulley 4501 and the first upper pulley 4502, the first lower pulley 4501 is mounted on the bearing seat 200 and located at one side of the first direction, the first upper pulley 4502 is mounted on the universal joint structure 300, and the first lower pulley 4501 and the first upper pulley 4502 are aligned and located at the upper and lower directions of the first direction respectively, so that the transmission connection of the driving main rope 430 and the universal joint structure 300 can be realized, and the structure is simple and the assembly is convenient. More specifically, since the installation position of the motor 410 is opposite to the first upper pulley 4502 and the first lower pulley 4501, the positions of the motor 410, the first upper pulley 4502 and the first lower pulley 4501 are respectively located at different heights of the same position, at this time, the power for driving the main rope 430 can be output without additional pulleys, the structural arrangement is simplified, and the assembly cost is reduced.
As shown in fig. 1 to 3, in another embodiment of the present application, the second transmission member includes a second lower pulley 4603, a second upper pulley 4604, a first transmission pulley 4601 and a second transmission pulley 4602, the second lower pulley 4603 is disposed on the bearing housing 200 and located on the other side of the first direction, the second upper pulley 4604 is disposed on the universal joint structure 300 and located on the same side as the second lower pulley 4603, the first transmission pulley 4601 is disposed in the bearing housing 200, and the second transmission pulley 4602 is disposed in the bearing housing 200, wherein one end of the driving sub-rope 440 is wound out from the upper side of the first transmission pulley 4601 and the lower side of the second transmission pulley 4602, and sequentially wound on the second lower pulley 4603 and the second upper pulley 4604 and connected to the other side of the bearing housing 200.
Specifically, the second transmission member disclosed in this embodiment includes the second lower pulley 4603, the second upper pulley 4604, the first transmission pulley 4601 and the second transmission pulley 4602, the positions of the second lower pulley 4603, the second upper pulley 4604 and the first lower pulley 4501, and the first upper pulley 4502 are at different heights in the same position, so that the driving sub-rope 440 can be connected to the other side, and the first transmission pulley 4601 and the second transmission pulley 4602 can not only play a role of changing the trend of the driving sub-rope 440, but also can maintain a tensioned state for the driving sub-rope 440, avoid the slackening of the driving sub-rope 440, and improve the stability of the driving sub-rope 440.
Referring to fig. 5 and 6, in another embodiment of the present application, the rope driving mechanism further includes a pre-tightening assembly for adjusting the pre-tightening force of the driving main rope 430 and the driving auxiliary rope 440, the pre-tightening assembly includes a first channel 520, a first abutment, a second channel 540 and a second abutment, the first channel 520 is disposed on the bearing housing 200, the driving main rope 430 is threaded on the first channel 520, the first abutment is disposed on the first channel 520 for locking the driving main rope 430, the second channel 540 is disposed on the bearing housing 200, the driving auxiliary rope 440 is threaded on the second channel 540, and the second abutment is disposed on the second channel 540 for locking the driving auxiliary rope 440.
Specifically, in this embodiment, a pre-tightening assembly is disclosed for adjusting the pre-tightening force of the driving main rope 430 and the driving auxiliary rope 440, in this embodiment, the first channel 520 and the second channel 540 may be installed at any position of the bearing seat 200, so as to implement the pre-tightening force adjustment of the driving main rope 430 and the driving auxiliary rope 440. Specifically, the first channel 520 includes an inlet and an outlet, the first channel 520 is provided with a first through hole 510, the driving main rope 430 penetrates from the inlet of the first channel 520 and then penetrates from the outlet of the first channel 520, and is abutted by a first abutting piece on the first through hole 510, and because the fixing lengths of the driving main rope 430 on the bearing seat 200 are different, the pretightening force of the driving main rope 430 is also different, so that the pretightening force of the driving main rope 430 can be adjusted through the first channel 520. Similarly, the second channel 540 includes an inlet and an outlet, the second channel 540 is provided with a second through hole 530, the driving auxiliary rope 440 penetrates from the inlet of the second channel 540, then penetrates from the outlet of the second channel 540, and is abutted by a second abutting piece on the second through hole 530, and the adjustment of the pretightening force of the driving auxiliary rope 440 is realized through different lengths of the fixed driving auxiliary rope 440.
Further, the first abutting piece and the second abutting piece disclosed in this embodiment are mainly used for fixing the driving main rope 430 and the driving auxiliary rope 440, the structural shapes of the first abutting piece and the second abutting piece are identical, and the first abutting piece and the second abutting piece can be fixed in the form of a pin, a bolt or a bolt, and preferably, the first abutting piece is a bolt in this scheme, the first through hole 510 is a bolt hole, and the first abutting piece can be quickly installed and removed, and is simple and reliable.
Referring to fig. 5 and 6, in another embodiment of the present application, the first passage 520 is installed at a side of the bearing housing 200 adjacent to the driving main rope 430, and the second passage 540 is installed at a side of the bearing housing 200 adjacent to the driving sub-rope 440.
Specifically, the driving main rope 430 passes through the first lower pulley 4501 and then passes through the first upper pulley 4502, and since the first channel 520 is installed on one side of the bearing seat 200 close to the driving main rope 430, the driving main rope 430 can directly penetrate into the first channel 520, so that excessive winding on the bearing seat 200 is prevented, knotting is easy to occur, the length of the driving main rope 430 can be correspondingly reduced, material saving is facilitated, and cost reduction is facilitated. Similarly, the material of the driving sub-string 440 may be reduced accordingly. The positions of the first channel 520 and the second channel 540 are defined in this embodiment, so that the driving main rope 430 and the driving auxiliary rope 440 can directly penetrate into the first channel, thereby reducing the cost, and achieving the effects of beautiful appearance and preventing knots.
Referring to fig. 1 to 6, in another embodiment of the present application, the rope driving mechanism is provided in plurality and is arranged to cross on the driving base 100.
Specifically, in this embodiment, the plurality of rope driving mechanisms are provided, each rope driving mechanism is disposed in the driving base 100, and each rope driving mechanism corresponds to one direction of the universal joint structure 300, and is used for driving the universal joint structure 300 to rotate along different directions, so that the robot wrist of the device is more flexible and reliable. More specifically, the cross arrangement on the driving base 100 means that the positions of the rope driving mechanisms are staggered so as to avoid interference. In addition, the adoption of the standardized rope driving mechanisms can promote modularized production, is convenient for the exchange and the universality of parts, can reduce the manufacturing cost, reduce the investment, is easy to maintain and replace, and improves the reliability and the consistency of the device.
Referring to fig. 5, in another embodiment of the present application, the universal joint structure 300 includes a universal joint 310 and a connection seat 320, one end of the universal joint 310 is disposed at the middle position of the bearing seat 200, the connection seat 320 is rotatably disposed on the universal joint 310, and the connection seat 320 is used for connecting with a palm of a machine.
Specifically, in this embodiment, the universal joint structure 300 is further disclosed, where the universal joint structure 300 includes a universal joint 310 and a connection seat 320, the universal joint 310 is used to drive the connection seat 320 to rotate, and the connection seat 320 is used to connect with a mechanical palm, so that the device and the mechanical palm can be assembled, and a plug-and-play effect is achieved.
In another embodiment of the present application, the angle sensor unit is an angle sensor, which is also called an angle displacement sensor, and is a sensor capable of measuring a rotation angle relative to a fixed reference point, and accuracy of angle measurement is improved by measuring a rotation angle of a first direction of a wrist of a robot using the angle sensor.
In another embodiment of the application, the robot wrist further comprises a control system electrically connected with the angle sensing unit and the tether mechanism.
Specifically, the control system is integrated equipment, such as a controller, a singlechip and the like, and is used for receiving information feedback of the angle sensing unit and controlling the rope driving mechanism through the control system, so that the angle position control of the robot wrist can be realized, and the operation of a user is facilitated.
In another embodiment of the present application, the universal joint structure 300 is preferably a cross joint structure, the cross joint structure has two rotation directions which are crossed, wherein the two rotation directions of the cross joint structure include a first direction X and a second direction Y, as shown in fig. 1, the direction pointed by the arrow is to drive the main rope 430, the first direction X has two directions, a left side and a right side, and the second direction Y also has two directions, an upper side and a lower side, so that the corresponding rope driving mechanism is also provided in two, and the corresponding angle sensing units are also provided in two rotation directions of the cross joint structure respectively, so that the robot wrist can be driven to move in the two rotation directions of the cross joint structure with two degrees of freedom.
Based on the above embodiments, please refer to fig. 7 to 9, the cross structure is gradually bent to the left, when the motor 410 drives the reel 420 clockwise, the driving main rope 430 is relaxed, the driving auxiliary rope 440 is tightened to drive the universal joint structure 300 to rotate to the left in the first direction, so as to form the left low and right high of the universal joint structure 300, and similarly, when the motor 410 drives the reel 420 anticlockwise to drive the universal joint structure 300 to rotate to the right in the first direction, which is not shown in the drawings. Therefore, the robot wrist provided by the application has a larger and more flexible rotating angle range.
Referring to fig. 10, the present application further provides a control method of a robot wrist, where the control method is applied to the robot wrist according to any one of the foregoing technical solutions, and the control method includes:
S100, acquiring current bending state information;
s200, calculating a target bending direction and a target bending angle based on the current bending state information, and acquiring a tightening instruction;
And S300, controlling the rope driving mechanism to tighten based on the tightening instruction, and driving the robot wrist to bend to a target position.
Specifically, the current bending state information includes an initial state of the robot wrist, that is, a state where the robot wrist in a balanced state is not used, and a position state where the robot wrist has been bent to a last instructed target position, and the current bending state information is acquired by the angle sensing unit.
Referring to fig. 10, in the above technical solution, a user sends a target bending direction and a target bending angle to a rope driving mechanism, an angle sensing unit obtains current bending state information of a universal joint structure, the current bending state information is sent to the rope driving mechanism, the rope driving mechanism analyzes a difference value between the current bending state information and the target bending direction and the target bending angle, and a tightening instruction is analyzed by the rope driving mechanism, wherein the tightening instruction refers to a tightening length of the rope driving mechanism, so that the universal joint structure is controlled to rotate to a target position along a first direction, and closed-loop control of a wrist of the robot is realized.
In summary, the invention provides a robot wrist and a control method thereof, compared with the existing robot wrist, the robot wrist has high flexibility, light weight, compact structure and larger moving range, the angle sensing unit is arranged on the universal joint structure, the accurate feedback of the current angle position of the robot wrist in the first direction can be directly obtained, the rope driving mechanism is arranged, the rope driving mode is adopted to drive the robot wrist to rotate in high efficiency, meanwhile, the angle of the robot wrist can be accurately controlled to perform finer operation, and the device can be directly assembled with the palm of a machine and the robot arm through the arrangement of the universal joint structure and the driving base, so that plug and play is realized.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411282519.3A CN118789533B (en) | 2024-09-13 | 2024-09-13 | A robot wrist and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411282519.3A CN118789533B (en) | 2024-09-13 | 2024-09-13 | A robot wrist and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118789533A CN118789533A (en) | 2024-10-18 |
| CN118789533B true CN118789533B (en) | 2024-11-29 |
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| CN202411282519.3A Active CN118789533B (en) | 2024-09-13 | 2024-09-13 | A robot wrist and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590651A (en) * | 2009-06-29 | 2009-12-02 | 北京航空航天大学 | A rope-driven full-closed-loop feedback ball joint |
| CN112894780A (en) * | 2021-04-02 | 2021-06-04 | 广东工业大学 | Rope-driven wrist module based on three-degree-of-freedom series-parallel mechanism and using method thereof |
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| CN109848975B (en) * | 2019-02-20 | 2020-12-08 | 哈尔滨工业大学（深圳） | A rope-driven series-parallel hybrid mechanism for large-load manipulators |
| US11446814B2 (en) * | 2020-06-01 | 2022-09-20 | Dalian University Of Technology | Electromagnetic drive spherical robotic wrist with two degrees of freedom and control method therefor |
| CN111673795B (en) * | 2020-07-01 | 2025-02-07 | 浙江理工大学 | A three-degree-of-freedom wrist joint structure for a rope-driven manipulator |
| CN116459117A (en) * | 2023-04-19 | 2023-07-21 | 常州大学 | A seven-degree-of-freedom upper limb rehabilitation robot with mixed connection and mixed drive |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590651A (en) * | 2009-06-29 | 2009-12-02 | 北京航空航天大学 | A rope-driven full-closed-loop feedback ball joint |
| CN112894780A (en) * | 2021-04-02 | 2021-06-04 | 广东工业大学 | Rope-driven wrist module based on three-degree-of-freedom series-parallel mechanism and using method thereof |
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