CN114012759B

CN114012759B - Robot motion control assembly and robot

Info

Publication number: CN114012759B
Application number: CN202111493470.2A
Authority: CN
Inventors: 黄炫煜; 王凤昕; 罗震; 甘泉; 谌振宇
Original assignee: Beijing Haqi Robot Technology Co ltd
Current assignee: Beijing Haqi Robot Technology Co ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2023-06-06
Anticipated expiration: 2041-12-08
Also published as: CN114012759A

Abstract

The invention relates to the technical field of robots, and particularly discloses a robot motion control assembly and a robot, wherein the robot motion control assembly comprises a first control assembly, the first control assembly comprises a first installation shell, a first feedback assembly, a first elastic piece and a rope, and the first installation shell is used for being detachably connected with the robot; the first feedback component is arranged on the first installation shell, one end of the rope is connected with the input end of the first feedback component, and the other end of the rope is used for being held by a user; when the distance between the robot and the user changes, the first feedback assembly acts, the controller sends a first instruction to the robot according to the action of the first feedback assembly, and the first elastic piece is used for resetting the input end of the first feedback assembly. The robot can feed back information to the user after the distance between the robot and the user is changed, so that the real state of walking the dog is highly simulated, and the user experience is improved.

Description

Robot motion control assembly and robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot motion control assembly and a robot.

Background

A Robot (Robot) is an intelligent machine that can operate semi-autonomously or fully autonomously. At present, with the appearance of machine dogs, some users can take a "dog walking" action outdoors.

Most of the robots in the market are controlled by remote controllers, which are mostly integrated, and only have a single operation mode, i.e. the robots can be controlled to move only by a rocker or a button. Some of the remote controllers are large in size, complex in structure and not easy to carry and operate; and part of remote controller has more rockers or keys and poor operability. Moreover, all remote controllers cannot make corresponding feedback signals according to the motion state of the remote controllers under the condition that the controlled robot moves autonomously, so that the dog walking experience of a user is reduced.

Therefore, there is a need to design a new control assembly to improve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a robot motion control assembly and a robot, which are used for solving the problem that corresponding feedback signals cannot be made to an operator according to the motion state of the robot under the condition that the controlled robot moves autonomously.

In order to achieve the above purpose, the invention adopts the following technical scheme:

in one aspect, the present invention provides a robotic motion control assembly comprising:

the first control assembly comprises a first installation shell, a first feedback assembly, a first elastic piece and a rope, wherein the first installation shell is used for being detachably connected with the robot; the first feedback component is arranged on the first installation shell, one end of the rope is connected with the input end of the first feedback component, and the other end of the rope is used for being held by a user; when the distance between the robot and a user changes, the first feedback assembly acts, the controller sends a first instruction to the robot according to the action of the first feedback assembly, and the first elastic piece is arranged between the input end of the first feedback assembly and the first installation shell and used for resetting the input end of the first feedback assembly.

As a preferable scheme of the robot motion control assembly, the first feedback assembly comprises a first encoder and a first rotating shaft, the first encoder is arranged on the first installation shell, the first rotating shaft is rotatably arranged on the first installation shell and is connected with the input end of the first encoder, and one end of the rope is wound on the first rotating shaft; when the distance between the robot and a user changes, the rope drives the first encoder to rotate through the first rotating shaft, the controller sends a first instruction to the robot according to the action of the first encoder, and the first elastic piece is arranged between the first rotating shaft and the first installation shell and used for resetting the first rotating shaft.

As a preferable scheme of the robot motion control assembly, the first elastic piece is a spring, the first control assembly further comprises a stay wire, one end of the stay wire is connected with the first rotating shaft, the other end of the stay wire is connected with one end of the spring, and the other end of the spring is connected with the first installation shell.

As a preferred scheme of robot motion control subassembly, first installation casing includes first base and first lid, first installation casing by first lid is located first base encloses and establishes, first encoder first pivot with first elastic component connect in first base and/or first lid.

As a preferred scheme of robot motion control subassembly, robot motion control subassembly still includes second control subassembly, second control subassembly includes second installation casing, third base and second encoder, the second encoder is fixed in through the third base the robot, second installation casing one end connect in the input of second encoder, the other end can dismantle connect in first installation casing, when the motion of robot leads to the rope rotates around self axis, first installation casing rotates relative the second installation casing drives the input of second encoder rotates, the controller is according to the action of second encoder gives the second instruction to the robot.

As a preferred scheme of robot motion control subassembly, the second control subassembly still includes fourth base and bearing, the fourth base is fixed in the robot, the fourth base is equipped with the mount pad, the outer lane of bearing is located in the mount pad, the second installation casing connect in the inner circle of bearing.

As a preferable scheme of the robot motion control assembly, a first electric control assembly of the first control assembly is arranged inside the first installation shell and is electrically and/or communicatively connected with a first feedback assembly, a second electric control assembly of the second control assembly is arranged inside the second installation shell and is electrically and/or communicatively connected with the controller, and when the first control assembly is connected with the second control assembly, the first electric control assembly is electrically and/or communicatively connected with the second electric control assembly.

As a preferred scheme of the robot motion control assembly, the second control assembly further comprises a slip ring and a connecting rod, wherein the slip ring is fixedly arranged on the third base, and a cable between the second electric control assembly and a control circuit of the robot is connected through the slip ring; the connecting rod is arranged in a penetrating mode and is fixed in an inner annular shaft of the slip ring, one end of the connecting rod is connected with the second installation shell, and the other end of the connecting rod is connected with the input end of the second encoder.

As a preferable scheme of the robot motion control assembly, the first installation shell and the second installation shell are connected in a clamping or screwing mode.

In another aspect, the present invention provides a robot comprising a robot motion control assembly according to any of the above aspects.

The beneficial effects of the invention are as follows:

the invention provides a robot motion control assembly, which comprises a first control assembly, wherein the first control assembly comprises a first installation shell, a first feedback assembly, a first elastic piece and a rope, and the first installation shell is used for being detachably connected with a robot; the first feedback component is arranged on the first installation shell, one end of the rope is connected with the input end of the first feedback component, and the other end of the rope is used for being held by a user; when the distance between the robot and the user changes, the first feedback assembly acts, the controller sends a first instruction to the robot according to the action of the first feedback assembly, and the first elastic piece is arranged between the input end of the first feedback assembly and the first installation shell and used for resetting the input end of the first feedback assembly.

The robot motion control assembly is arranged through the first feedback assembly, so that when the distance between the robot and a user changes, the rope can be tensioned or loosened, the input end of the first feedback assembly is driven to act, the input end of the first feedback assembly is reset under the action of the first elastic piece, the controller gives a motion instruction to the robot in the process of the input end of the first feedback assembly, and the first elastic piece is arranged, so that force buffering can be generated between the robot and an operator. The device realizes that the robot can feed back information to the user according to the motion speed of the robot and the motion speed of the user when the robot independently acts, interaction adaptive to the user is realized, the real state of dog walking is highly simulated, and user experience is improved.

Drawings

FIG. 1 is a schematic diagram of a connection state of a first control component and a second control component according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first control component and a second control component separated according to an embodiment of the present invention;

FIG. 3 is an exploded view of a first control assembly according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating an internal structure of a first control module according to an embodiment of the present invention;

FIG. 5 is a schematic diagram showing an internal structure of a first control module according to an embodiment of the present invention;

FIG. 6 is an exploded view of a second control assembly according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating an internal structure of a second control module according to an embodiment of the present invention;

FIG. 8 is a schematic diagram showing the relative positions of the clamping seat, the second elastic member and the clamping member according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a clamping structure of a first control component and a second control component according to an embodiment of the invention;

FIG. 10 is a schematic diagram of a first control component according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a second control component according to an embodiment of the present invention.

In the figure:

100. a first control assembly; 101. a first base; 102. a first elastic member; 103. a rope; 104. a first encoder; 105. a first rotating shaft; 106. a shaft sleeve; 107. a clasp; 108. a first cover; 109. a scratch-resistant member; 110. a first electronic control assembly; 111. a clamping seat; 112. a second elastic member; 113. a clamping piece; 114. a pull wire; 115. a connecting shaft; 116. a fixed shaft;

200. a second control assembly; 201. a second base; 202. a third base; 203. a second cover; 204. a second encoder; 205. a fourth base; 206. a bearing; 207. an adapter; 208. a second electronic control assembly; 209. a slip ring; 210. and (5) connecting a rod.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention 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 invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first location" and "second location" are two distinct locations and wherein the first feature is "above," "over" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is level above the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the present invention 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 invention.

Example 1

As shown in fig. 1 to 5, the present embodiment provides a robot motion control assembly comprising a first control assembly 100, wherein the first control assembly 100 comprises a first base 101, a first feedback assembly, a first elastic member 102 and a rope 103, the first base 101 being adapted to be detachably connected to a robot; the first feedback component is arranged on the first base 101, one end of the rope 103 is connected to the input end of the first feedback component, and the other end of the rope is used for being held by a user; when the distance between the robot and the user changes, the first feedback assembly acts, the controller sends a first instruction to the robot according to the action of the first feedback assembly, and the first elastic piece 102 is arranged between the input end of the first feedback assembly and the first base 101 and used for resetting the input end of the first feedback assembly. In this embodiment, the robot may be in the shape of a dog, but in other embodiments, the robot may be in the shape of other animals, not limited thereto. It should be noted that, the first control component 100 is electrically and/or communicatively connected to the controller through the first electronic control component 110 to transmit the signal of the first feedback component to the controller. Specifically, the first electronic control assembly 110 is disposed on the first base 101, the second electronic control assembly 208 is disposed on the robot, and when the first base 101 is connected to the robot, the first electronic control assembly 110 and the second electronic control assembly 208 are electrically connected and/or communicatively connected. Wherein, the first electric control assembly 110 is provided with a male connector, and the second electric control assembly 208 is provided with a female connector. Of course, the first electronic control assembly 110 may also be connected to the controller by wireless communication. In view of cost and signal transmission effect, the present embodiment is preferably a wired transmission method, and hereinafter, only a wired transmission method will be specifically described.

The first feedback assembly is arranged in the embodiment, so that when the distance between the robot and the user changes, the rope 103 is tensioned or loosened and drives the input end of the first feedback assembly to act under the action of the first elastic piece 102, and the controller gives an instruction to the robot according to the action of the input end of the first feedback assembly. When the speed of the robot is greater than that of a user, the rope 103 is tensioned, at this time, the controller reduces the speed of the robot or stops moving instructions, and the user can also improve the speed of the robot after feeling the tensioning of the rope 103, so that when the robot acts autonomously, information can be fed back to the user according to the difference of the movement speed of the robot and the movement speed of the user, interaction adaptive to the user is realized, the real state of walking a dog is highly simulated, and user experience is improved.

In addition, the robot motion control assembly is similar to a safety rope of a dog, is of a strip-shaped structure, has small volume when being coiled, and is easy to carry; and the structure is simple, no complex buttons or rockers are needed, and the operation is convenient because the rockers or buttons are not needed in the control process.

Regarding the first feedback assembly, there may be various embodiments, and this embodiment provides an embodiment, where the first feedback assembly includes a first encoder 104 and a first rotating shaft 105, the first encoder 104 is disposed on the first base 101, the first rotating shaft 105 is rotationally disposed on the first base 101 and connected with an input end of the first encoder 104 through a shaft sleeve 106 and a snap ring 107, the shaft sleeve 106 is sleeved on two ends of the first rotating shaft 105, and the snap ring 107 is clamped on two ends of the first rotating shaft 105 and is located outside the shaft sleeve 106. One end of the rope 103 is wound on the first rotating shaft 105; when the distance between the robot and the user changes, the rope 103 drives the first encoder 104 to rotate through the first rotating shaft 105, the controller sends a first instruction to the robot according to the action of the first encoder 104, and the first elastic piece 102 is arranged between the first rotating shaft 105 and the first base 101 and used for resetting the first rotating shaft 105. The first encoder 104 is arranged so that the extending direction of the rope 103 and the extending direction of the first rotating shaft 105 can be vertical, under the action of the first elastic piece 102, the connection relationship between the rope 103 and the first rotating shaft 105 is similar to a tape measure, when the rope 103 is tensioned, the first rotating shaft 105 rotates so as to wind out the rope 103, when the rope 103 is loosened, the rope is wound on the first rotating shaft 105, based on the relationship, when the distance between a user and the robot is increased, the first rotating shaft 105 rotates to drive the first encoder 104 to rotate, and the controller judges the pulling force between the robot and the user according to the rotating angle of the first encoder 104, so that a command for decelerating or stopping the movement is sent to the robot. Because the first rotating shaft 105 is connected with the first elastic piece 102, when the first rotating shaft 105 rotates, the first elastic piece 102 stores energy, and at the moment, a certain tensile force exists between a user and the robot, so that a real dog walking feeling can be brought to the user.

Wherein the force corresponding to the angle of rotation of the first encoder 104 is positively correlated with the elasticity of the first elastic member 102. The larger the rotation angle of the first encoder 104, the larger the pulling force felt by the user, at this time, the greater the controller controls the robot to decelerate or even control the robot to stop.

Of course, the force corresponding to the rotation angle of the first encoder 104 can also be set according to the requirement, and different force feedback is brought to the user through different elastic coefficients of the first elastic element, so as to bring different dog walking feelings to the user. Illustratively, when the coefficient of elasticity is greater, the robot is more powerful, and can produce greater tension, thereby simulating a dog of greater size; and vice versa.

With respect to the first feedback assembly, the change of the distance between the robot and the user may also be fed back in the form of a sliding resistor or a position sensor, or the input end of the sliding resistor or the input end of the sensor may be reset by an elastic member. One end of the rope 103 of the sliding resistor is connected with the input end, and a first elastic member 102 is arranged between the input end of the sliding resistor and the first base 101. The controller may control the speed of the robot according to the change in the resistance.

Of course, in view of processing cost and simulation effect, the present embodiment prefers a feedback component in the form of an encoder, and the feedback component will be specifically described below by taking the encoder as an example.

Regarding the selection of the encoder, in this embodiment, the first encoder 104 includes a roller encoder, the first control assembly 100 further includes a connecting shaft 115, one end of the connecting shaft 115 is connected to the first rotating shaft 105, and the other end is disposed through a rotating hole of the roller encoder. The connecting shaft 115 is inserted into an inner hole of the roller encoder, and the shape of the connecting shaft 115 and the shape of the inner hole of the roller encoder are non-circular. It should be noted that, the roller encoder can measure the rotation angle of the connecting shaft 115, and its structure and working principle are well known to those skilled in the art, so the structure of the roller encoder will not be described herein.

Preferably, the first elastic member 102 is a spring, and the first control assembly 100 further includes a pull wire 114, one end of the pull wire 114 is connected to the first rotating shaft 105, the other end is connected to one end of the spring, and the other end of the spring is connected to the first base 101. Specifically, one end of the pull wire 114 is fixed and wound around the first rotation shaft 105. The arrangement of the springs is convenient for calculating the force corresponding to the deformation quantity of the springs. In addition, the spring is convenient to install, and the structure of the first base 101 can be fully utilized, so that occupied space is reduced. Specifically, the fixed shaft 116 is arranged in the first base 101, the other end of the spring is hooked on the fixed shaft 116, and the installation efficiency is high. In other implementations of this embodiment, the first elastic member 102 may also be a torsion spring, where one end of the torsion spring is connected to the first rotating shaft 105 and the other end of the torsion spring is connected to the first base 101.

Optionally, the first control assembly 100 further includes a first cover 108, where the first cover 108 covers the first base 101 and encloses a first installation housing with the first base 101, the first encoder 104, the first rotating shaft 105, and the first elastic member 102 are all located in the first installation housing, the first cover 108 is provided with a through hole penetrating through the first cover 108, and the rope 103 penetrates through the through hole. With the above arrangement, the first encoder 104, the first rotation shaft 105, and the first elastic member 102 can be protected from external impact. Of course, the other ends of the first encoder 104, the first rotation shaft 105, and the first elastic member 102 may also be connected to the first cover 108. Regarding the arrangement of the through holes, in this embodiment, optionally, the first cover 108 is provided with a first through groove, the first base 101 is provided with a second through groove, and when the first cover 108 is covered on the first base 101, the first through groove and the second through groove enclose a through hole. This arrangement makes the installation of the ropes 103 easier.

In order to avoid friction of the rope 103 on the first cover 108, in this embodiment, further, the first control assembly 100 further includes a scraping prevention member 109, the scraping prevention member 109 includes a scraping prevention cylinder and a flange disposed at an outer side of one end of the scraping prevention cylinder, the scraping prevention cylinder is disposed through the through hole, the flange is abutted to an outer surface of the first cover 108, and the rope 103 is disposed through the scraping prevention cylinder.

In order to simulate a more realistic dog walking experience, certain feedback needs to be provided to the user when the movement direction of the robot changes. For this reason, in the embodiment, as shown in fig. 6 to 7, the robot motion control assembly further includes a second control assembly 200, where the second control assembly 200 includes a second base 201, a third base 202, and a second encoder 204, where the second encoder 204 is fixed to the robot by the third base 202, one end of the second base 201 is connected to an input end of the second encoder 204, and the other end of the second base 201 is detachably connected to the first base 101, and when the movement of the robot causes the rope 103 to rotate around its own axis, the first base 101 rotates relative to the second base 201, so as to drive the input end of the second encoder 204 to rotate, and the controller sends a second instruction to the robot according to the action of the second encoder 204. With the above arrangement, when the walking direction of the robot is changed, the input end of the second encoder 204 is rotated by the rope 103 in the hand of the user, and at this time, the controller issues a second instruction to the robot according to the rotation angle of the second encoder 204, so as to control the robot to adjust the movement direction to be consistent with the movement direction of the user.

Preferably, the second control assembly 200 further comprises a fourth base 205 and a bearing 206, the fourth base 205 is fixed on the robot, the fourth base 205 is provided with a mounting seat, an outer ring of the bearing 206 is arranged in the mounting seat, and the second base 201 is connected to an inner ring of the bearing 206. This arrangement allows the input of the second encoder 204 to be subjected to only rotational forces and not easily damaged. Preferably, the second control assembly 200 further includes a adaptor 207, and the adaptor 207 is fixedly disposed on an inner ring of the bearing 206 and is screwed with the second base 201. The arrangement of the adapter 207 makes the second base 201 simple in structure and easy to produce.

In this embodiment, optionally, the first control unit 100 is provided with a first electronic control unit 110, which is used to process and/or transmit the signal of the first feedback unit, the first electronic control unit 110 is provided on the first base 101 and is electrically and/or communicatively connected to the first feedback unit, and the second electronic control unit 208 of the second control unit 200 is provided on the second base 201 and is electrically and/or communicatively connected to the controller, and when the first base 101 is connected to the second base 201, the first electronic control unit 110 is electrically and/or communicatively connected to the second electronic control unit 208. The arrangement enables information of the first feedback assembly to be transferred to the controller. In addition, the power supply of the robot can supply power to the first control assembly 100, so that the first control assembly 100 does not need to be independently supplied with power, and the trouble of charging or replacing the battery of the first control assembly 100 is avoided. Finally, when the first control assembly 100 is separated from the robot, the appearance of the robot remains intact, no control line is leaked, and the aesthetic property of the robot is improved.

Preferably, the second control assembly 200 further comprises a slip ring 209 and a connecting rod 210, the slip ring 209 is fixedly arranged on the third base 202, and a cable between the second electric control assembly 208 and a controller of the robot is connected through the slip ring 209; the connecting rod 210 is inserted through and fixed to the inner annular shaft of the slip ring 209, one end of the connecting rod 210 is connected to the second base 201, and the other end is connected to the input end of the second encoder 204. With the above arrangement, 360 degrees of rotation of the second base 201 can be achieved without interference with the cable. Optionally, the second base 201 is provided with a first connecting groove, one end of the connecting rod 210 is inserted into the first connecting groove, the other end of the connecting rod 210 is provided with a second connecting groove, and the input end of the second encoder 204 may be an input shaft, and the input shaft is inserted into the second connecting groove. The cross-sectional shapes of the first connecting groove and the second connecting groove are non-circular, and the cross-sectional shapes of the connecting rod 210 and the connecting end of the first connecting groove are the same as those of the first connecting groove, and the cross-sectional shape of the input shaft is the same as that of the second connecting groove.

Wherein the controller is electrically and/or communicatively coupled to the second encoder 204 via the connection of the first electronic control assembly 110 and the second electronic control assembly 208 to the first encoder 104. Since the first encoder 104 or the second encoder 204 can measure the angle, other sensors capable of generating the angle signal can be used instead, but not limited to this.

The second control assembly 200 further includes a second cover 203, where the second cover 203 covers the second base 201 and encloses a second installation housing, the second cover 203 is provided with a second hole, the second electric control assembly 208 is located in the second installation housing, and one end of the second electric control assembly 208 connected with the first electric control assembly 110 is disposed through the second hole. In this embodiment, the first cover 108 is provided with a first hole, and one end of the first electronic control assembly 110 connected to the second electronic control assembly 208 is disposed through the first hole. The second electronic control assembly 208 may be disposed on the second cover 203 or the second base 201.

As shown in fig. 8 to 11, regarding the connection relationship between the first base 101 and the second base 201, in this embodiment, the first base 101 and the second base 201 are preferably connected by a clamping or screwing manner. The screwing manner is conventional and familiar to those skilled in the art, and will not be described in detail here. In this embodiment, taking the clamping as an example for further explanation, the first control assembly 100 further includes a clamping seat 111, a second elastic member 112 and two clamping members 113, where the clamping seat 111 is fixedly disposed on the first base 101, the two clamping members 113 are slidably disposed on the clamping seat 111 and can be close to or far away from each other, the second elastic member 112 is disposed between the two clamping members 113 and is used for making the two clamping members 113 far away from each other, hooks at one ends of the two clamping members 113 are disposed opposite to each other, the second cover 203 is provided with a avoidance hole, and a user's hand can press the two clamping members 113 through the avoidance hole so as to make the two clamping members 113 close to each other; the second base 201 is provided with two hanging holes which are oppositely arranged, and when the first base 101 and the second base 201 are abutted, the hooks of the clamping pieces 113 are clamped in the hanging holes. Wherein the second elastic member 112 is a spring.

Optionally, the fixed connection between the parts may be in the form of a screw, a rivet, a weld, or a buckle, which is not limited specifically.

Example two

The embodiment also provides a robot, which comprises a robot body and a robot motion control component capable of controlling the robot in the scheme.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A robotic motion control assembly, comprising:

a first control assembly (100), the first control assembly (100) comprising a first mounting housing, a first feedback assembly, a first elastic member (102) and a rope (103), the first mounting housing being for detachable connection with the robot; the first feedback component is arranged on the first installation shell, one end of the rope (103) is connected to the input end of the first feedback component, and the other end of the rope is used for being held by a user; when the distance between the robot and a user changes, the first feedback assembly acts, the controller sends a first instruction to the robot according to the action of the first feedback assembly, and the first elastic piece (102) is arranged between the input end of the first feedback assembly and the first installation shell and used for resetting the input end of the first feedback assembly;

the first feedback assembly comprises a first encoder (104) and a first rotating shaft (105), the first encoder (104) is arranged on the first installation shell, the first rotating shaft (105) is rotatably arranged on the first installation shell and is connected with the input end of the first encoder (104), and one end of the rope (103) is wound on the first rotating shaft (105); when the distance between the robot and a user changes, the rope (103) drives the first encoder (104) to rotate through the first rotating shaft (105), the controller sends a first instruction to the robot according to the action of the first encoder (104), and the first elastic piece (102) is arranged between the first rotating shaft (105) and the first installation shell and used for resetting the first rotating shaft (105).

2. The robotic motion control assembly of claim 1, wherein the first resilient member (102) is a spring, the first control assembly (100) further comprising a pull wire (114), one end of the pull wire (114) being connected to the first shaft (105), the other end being connected to one end of the spring, the other end of the spring being connected to the first mounting housing.

3. The robot motion control assembly according to claim 1, wherein the first mounting housing comprises a first base (101) and a first cover (108), the first mounting housing is formed by the first cover (108) covering the first base (101), and the first encoder (104), the first rotating shaft (105) and the first elastic member (102) are connected to the first base (101) and/or the first cover (108).

4. A robot motion control assembly according to any of claims 1-3, characterized in that the robot motion control assembly further comprises a second control assembly (200), the second control assembly (200) comprising a second mounting housing, a third base (202) and a second encoder (204), the second encoder (204) being fixed to the robot by the third base (202), one end of the second mounting housing being connected to the input of the second encoder (204) and the other end being detachably connected to the first mounting housing, the first mounting housing rotating relative to the second mounting housing when the movement of the robot causes the rope (103) to rotate about its own axis, bringing about a rotation of the input of the second encoder (204), the controller issuing a second command to the robot in accordance with the action of the second encoder (204).

5. The robotic motion control assembly according to claim 4, wherein the second control assembly (200) further comprises a fourth base (205) and a bearing (206), the fourth base (205) being fixed to the robot, the fourth base (205) being provided with a mounting seat, an outer ring of the bearing (206) being provided in the mounting seat, the second mounting housing being connected to an inner ring of the bearing (206).

6. The robotic motion control assembly of claim 4, wherein a first electrical control assembly (110) of the first control assembly (100) is disposed within the first mounting housing and is electrically and/or communicatively coupled to a first feedback assembly, and a second electrical control assembly (208) of the second control assembly (200) is disposed within the second mounting housing and is electrically and/or communicatively coupled to the controller, the first electrical control assembly (110) being electrically and/or communicatively coupled to the second electrical control assembly (208) when the first control assembly (100) is coupled to the second control assembly (200).

7. The robot motion control assembly according to claim 6, wherein the second control assembly (200) further comprises a slip ring (209) and a connecting rod (210), the slip ring (209) is fixedly arranged on the third base (202), and a cable between the second electronic control assembly (208) and a control circuit of the robot is connected through the slip ring (209); the connecting rod (210) is arranged in a penetrating mode and is fixed in an inner annular shaft of the sliding ring (209), one end of the connecting rod (210) is connected with the second installation shell, and the other end of the connecting rod is connected with the input end of the second encoder (204).

8. The robotic motion control assembly of claim 4, wherein the first mounting housing and the second mounting housing are connected by a snap fit or screw fit.

9. A robot comprising the robot motion control assembly of any one of claims 1-8.