CN114012759A

CN114012759A - Robot motion control assembly and robot

Info

Publication number: CN114012759A
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: 2022-02-08
Anticipated expiration: 2041-12-08
Also published as: CN114012759B

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 mounting shell, a first feedback assembly, a first elastic piece and a rope, and the first mounting shell is detachably connected with the robot; the first feedback assembly is arranged on the first mounting shell, one end of the rope is connected to the input end of the first feedback assembly, 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 enabling the input end of the first feedback assembly to reset. Above-mentioned setting makes the robot can change the back feedback information to the user with the distance between the user, highly simulated the true state of the dog of sauntering, improved user experience.

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 work semi-autonomously or fully autonomously. With the advent of machine dogs, some users can take a dog walking activity outdoors.

Most of the robot control methods in the market are remote controller control, and the remote controller is mostly integral, and only has single mode of operation, can only pass through rocker or button control robot motion promptly. Some of the remote controllers have large volume and complex structure and are not easy to carry and operate; and the number of rocker bars or keys of a part of remote controllers is more, and the operability is poor. In addition, all remote controllers can not make corresponding feedback signals according to the motion state of the remote controllers under the condition that the controlled robot autonomously moves, and the dog walking experience of a user is reduced.

Therefore, a new control assembly is needed to improve the above problems.

Disclosure of Invention

The invention aims to provide a robot motion control assembly and a robot, and aims to solve the problem that a corresponding feedback signal cannot be sent to an operator according to the motion state of the robot under the condition of autonomous motion of a controlled robot.

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

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

the first control assembly comprises a first mounting shell, a first feedback assembly, a first elastic piece and a rope, and the first mounting shell is used for being detachably connected with the robot; the first feedback assembly is arranged on the first mounting shell, one end of the rope is connected to the input end of the first feedback assembly, 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 enabling the input end of the first feedback assembly to reset.

As a preferable scheme of the robot motion control assembly, the first feedback assembly includes a first encoder and a first rotating shaft, the first encoder is disposed in the first mounting housing, the first rotating shaft is rotatably disposed in the first mounting housing and connected to an input end of the first encoder, and one end of the rope is wound around the first rotating shaft; when the distance between the relative user of robot changes, the rope passes through first pivot drives first encoder rotates, the controller according to the action of first encoder to the robot sends first instruction, first elastic component is located first pivot with between the first installation casing, be used for making first pivot resets.

As a preferred scheme of the robot motion control assembly, the first elastic member is a spring, the first control assembly further includes a pull wire, one end of the pull wire is connected with the first rotating shaft, the other end of the pull wire is connected with one end of the spring, and the other end of the spring is connected to the first mounting shell.

As a preferred scheme of a robot motion control assembly, the first mounting housing includes a first base and a first cover, the first mounting housing is formed by covering the first cover on the first base, and the first encoder, the first rotating shaft and the first elastic member are connected to the first base and/or the first cover.

As a preferred scheme of robot motion control subassembly, robot motion control subassembly still includes the second control subassembly, the 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, work as the motion of robot leads to the rope is around self axis when rotating, first installation casing is relative the second installation casing rotates, drives the input of second encoder rotates, the controller basis the action of second encoder to the robot sends the second instruction.

As a preferred scheme of a robot motion control assembly, the second control assembly further comprises a fourth base and a bearing, the fourth base is fixed on the robot, the fourth base is provided with a mounting seat, an outer ring of the bearing is arranged in the mounting seat, and the second mounting shell is connected to an inner ring of the bearing.

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

As a preferable scheme of the robot motion control assembly, the second control assembly further comprises a slip ring and a connecting rod, the slip ring is fixedly arranged on the third base, and a cable between the second electronic control assembly and a control circuit of the robot is connected through the slip ring; the connecting rod penetrates through and is fixed in an internal annular shaft of the slip ring, one end of the connecting rod is connected with the second mounting shell, and the other end of the connecting rod is connected to the input end of the second encoder.

As a preferred 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 including a robot motion control assembly according to any of the above aspects.

The invention has the beneficial effects that:

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

The robot motion control assembly enables the rope to be tensioned or loosened when the distance between the robot and a user changes through the arrangement of the first feedback assembly, the input end of the first feedback assembly is driven to act, the input end of the first feedback assembly is enabled to reset under the action of the first elastic piece, the controller sends a motion command to the robot in the action process of the input end of the first feedback assembly, and the arrangement of the first elastic piece can also generate force buffering between the robot and an operator. According to the arrangement, the robot can feed back information to the user according to the difference between the self movement speed and the user movement speed when the robot autonomously moves, interaction adaptive to the user is achieved, the real state of walking the dog is highly simulated, and user experience is improved.

Drawings

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

FIG. 2 is a schematic structural diagram illustrating a state in which a first control assembly and a second control assembly are 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 first schematic diagram illustrating an internal structure of a first control element according to an embodiment of the present invention;

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

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

FIG. 9 is a schematic diagram of a clamping structure of the first control assembly and the second control assembly according to the embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a first control assembly in an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a second control assembly in an embodiment of the 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 snap ring; 108. a first cover body; 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 body; 204. a second encoder; 205. a fourth base; 206. a bearing; 207. a transfer seat; 208. a second electronic control assembly; 209. a slip ring; 210. a connecting rod.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular 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. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1 to 5, the present embodiment provides a robot motion control assembly, which includes a first control assembly 100, wherein the first control assembly 100 includes a first base 101, a first feedback assembly, a first elastic member 102 and a rope 103, the first base 101 is used for being detachably connected with a robot; the first feedback assembly is arranged on the first base 101, one end of the rope 103 is connected to the input end of the first feedback assembly, 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 enabling the input end of the first feedback assembly to reset. In this embodiment, the robot may be in the shape of a dog, but in other embodiments, the robot may also be in the shape of other animals, and the invention is not limited thereto. It should be noted that the first control assembly 100 is electrically and/or communicatively connected to the controller through the first electronic control assembly 110, so as to transmit the signal of the first feedback assembly to the controller. Specifically, the first electronic control component 110 is disposed on the first base 101, the second electronic control component 208 is disposed on the robot, and when the first base 101 and the robot are connected, the first electronic control component 110 and the second electronic control component 208 are electrically and/or communicatively connected. The first electronic control assembly 110 is provided with a male connector, and the second electronic control assembly 208 is provided with a female connector. Of course, the first electronically controlled component 110 may also be connected to the controller by way of wireless communication. In consideration of cost and signal transmission effect, the present embodiment prefers a wired transmission method, and the following description is also made only for the wired transmission method.

The embodiment is characterized in that the first feedback assembly is arranged, so that when the distance between the robot and the user changes, the rope 103 is tensioned or loosened, the input end of the first feedback assembly is driven to act under the action of the first elastic element 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 higher than that of a user, the rope 103 is tensioned, at the moment, the controller reduces the speed of the robot or stops moving instructions, the user can also improve the speed of the robot after the rope 103 is tensioned, and therefore when the robot autonomously acts, information can be fed back to the user according to the difference between the self moving speed and the moving speed of the user, interaction adaptive to the user is achieved, 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 for pulling a dog, is in a strip-shaped structure, is small in volume when coiled and is easy to carry; the structure is simple, no complex button or rocker is provided, the rocker or button is not required to be operated in the control process, and the operation is convenient.

The first feedback assembly may be implemented in various ways, and this embodiment provides an implementation manner, 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 rotatably disposed on the first base 101 and connected to an input end of the first encoder 104 through a shaft sleeve 106 and a snap ring 107, where the shaft sleeve 106 is sleeved at two ends of the first rotating shaft 105, and the snap ring 107 is snapped at two ends of the first rotating shaft 105 and 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 element 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 perpendicular, under the action of the first elastic member 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 to be wound around the rope 103 and then wound on the first rotating shaft 105 when the rope 103 is loosened, 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 tension between the robot and the user according to the rotating angle of the first encoder 104, so as to send a command of deceleration or stop movement to the robot. Because first pivot 105 is connected with first elastic component 102, when first pivot 105 rotated, first elastic component 102 stored energy, and at this moment, there was certain pulling force between user and the robot to can bring real dog of sauntering experience for the user.

Wherein, the force corresponding to the rotation angle 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, and at this time, the larger the controller controls the deceleration of the robot, and even controls 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 the different elastic coefficients of the first elastic member bring different force feedbacks to the user, so as to bring different dog walking feelings to the user. For example, when the elastic coefficient is larger, the power of the robot is larger, and larger pulling force can be generated, so that a dog with a larger size can be simulated; and vice versa.

Regarding the first feedback component, the change of the distance between the robot and the user can also be fed back in the form of a sliding resistor or a position sensor, and the input end of the sliding resistor or the input end of the sensor can also be reset through an elastic element. Wherein, one end of the rope 103 of the sliding resistor is connected with the input end, and a first elastic element 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 consideration of the manufacturing cost and the simulation effect, the feedback component in the form of an encoder is preferred in the present embodiment, 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, and 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 inserted into 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 both non-circular. It should be noted that the roller encoder can measure the rotation angle of the connecting shaft 115, and the structure and the operation principle thereof are well known to those skilled in the art, and therefore, the structure of the roller encoder will not be described herein again.

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 pulling wire 114 is fixed and wound around the first rotating shaft 105. The spring is arranged to calculate the force corresponding to the deformation of the spring. In addition, the spring is convenient to install, the structure of the first base 101 can be fully utilized, and occupied space is reduced. Specifically, a fixing shaft 116 is arranged in the first base 101, and the other end of the spring is hooked on the fixing shaft 116, so that the mounting efficiency is high. In other embodiments of this embodiment, the first elastic member 102 may also be a torsion spring, one end of which is connected to the first rotating shaft 105 and the other end of which is connected to the first base 101.

Optionally, the first control assembly 100 further includes a first cover 108, the first cover 108 covers the first base 101 and encloses with the first base 101 to form a first installation housing, the first encoder 104, the first rotating shaft 105 and the first elastic element 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 passes 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 first encoder 104, the first rotating shaft 105 and the other end of 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 disposed on the first base 101, the first through groove and the second through groove are surrounded to form the through holes. This arrangement makes the installation of the rope 103 easier.

In order to avoid the rope 103 from rubbing the first cover 108, in this embodiment, further, the first control assembly 100 further includes a scraping-preventing member 109, the scraping-preventing member 109 includes a scraping-preventing cylinder and a flange disposed on an outer side of one end of the scraping-preventing cylinder, the scraping-preventing cylinder is disposed in the through hole, the flange abuts against an outer surface of the first cover 108, and the rope 103 is disposed in the scraping-preventing cylinder.

In order to simulate a more realistic dog walking experience, certain feedback needs to be provided for the user when the movement direction of the robot changes. For this purpose, as shown in fig. 6 to 7, in this embodiment, the robot motion control assembly further includes a second control assembly 200, the second control assembly 200 includes a second base 201, a third base 202, and a second encoder 204, the second encoder 204 is fixed to the robot through the third base 202, one end of the second base 201 is connected to the input end of the second encoder 204, and the other end is detachably connected to the first base 101, when the robot moves to cause the rope 103 to rotate around its own axis, the first base 101 rotates relative to the second base 201 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 arrangement of the structure, when the walking direction of the robot changes, the input end of the second encoder 204 can rotate under the action of the rope 103 in the hand of the user, and at the moment, the controller sends a second instruction to the robot according to the rotating angle of the second encoder 204 so as to control the robot to adjust the moving direction to be consistent with the moving 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 to 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 an adapter 207, and the adapter 207 is fixedly disposed on an inner ring of the bearing 206 and is screwed with the second base 201. The adapter 207 is provided to make the second base 201 simple in structure and easy to produce.

In this embodiment, optionally, a first electronic control component 110 is disposed in the first control component 100 and configured to process and/or transmit a signal of the first feedback component, the first electronic control component 110 is disposed on the first base 101 and electrically and/or communicatively connected to the first feedback component, a second electronic control component 208 of the second control component 200 is disposed on the second base 201 and 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 component 110 is electrically and/or communicatively connected to the second electronic control component 208. The above arrangement enables information of the first feedback assembly to be transmitted to the controller. Besides, the arrangement can supply power to the first control assembly 100 through the power supply of the robot, so that the first control assembly 100 does not need to be separately supplied with power, and the trouble of charging the first control assembly 100 or replacing a battery is avoided. Finally, when the first control assembly 100 is separated from the robot, the appearance of the robot remains intact without a leaky control line, improving the aesthetic appearance of the robot.

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 electronic control assembly 208 and the controller of the robot is connected through the slip ring 209; the connecting rod 210 is inserted into and fixed in the inner annular shaft of the slip ring 209, one end of the connecting rod 210 is connected with the second base 201, and the other end is connected to the input end of the second encoder 204. With the above arrangement, 360-degree 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, which is inserted into the second connecting groove. The cross-sectional shapes of the first connecting groove and the second connecting groove are non-circular, the cross-sectional shapes of the connecting ends of the connecting rod 210 and 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.

The controller is electrically and/or communicatively connected with the second encoder 204, and the first encoder 104 is electrically and/or communicatively connected with the first electronic control assembly 110 and the second electronic control assembly 208. Since the first encoder 104 or the second encoder 204 can perform angle measurement, other sensors capable of generating angle signals may be used instead, and the invention is not limited thereto.

The second control assembly 200 further includes a second cover 203, the second cover 203 is disposed on the second base 201 and encloses a second mounting housing, the second cover 203 has a second hole, the second electronic control assembly 208 is disposed in the second mounting housing, and an end of the second electronic control assembly 208 connected to the first electronic control assembly 110 is disposed through the second hole. In this embodiment, the first cover 108 has a first hole, and the end of the first electrical control assembly 110 connected to the second electrical control assembly 208 penetrates through the first hole. The second electronic control assembly 208 may be disposed on the second cover 203 or the second base 201.

Referring to fig. 8 to 11, regarding the connection relationship between the first base 101 and the second base 201, in the present embodiment, the first base 101 and the second base 201 are preferably connected by a snap-fit connection or a screw-connection. The manner of screwing is conventional and familiar to those skilled in the art, and therefore, will not be described herein. In this embodiment, further described by taking clamping as an example, the first control assembly 100 further includes a clamping seat 111, a second elastic member 112 and two clamping members 113, 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 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 be 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 avoiding hole, and a hand of a user can pass through the avoiding hole to press the two clamping members 113 so as to make the two clamping members 113 be close to each other; the second base 201 is provided with two hanging holes which are oppositely arranged, and when the first base 101 is abutted against the second base 201, the hook of the clamping piece 113 is clamped in the hanging holes. Wherein the second elastic member 112 is a spring.

Optionally, the fixed connection between the above components may be in the form of a screw, a rivet, a weld, or a snap, and is not particularly limited.

Example two

The embodiment also provides a robot, which comprises a robot body and the robot motion control assembly in the scheme, wherein the robot motion control assembly can control the robot.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot motion control assembly, comprising:

a first control assembly (100), the first control assembly (100) comprising a first mounting housing for detachable connection with a robot, a first feedback assembly, a first resilient member (102) and a cable (103); the first feedback assembly is arranged on the first mounting shell, one end of the rope (103) is connected to the input end of the first feedback assembly, and the other end of the rope is 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 mounting shell and used for enabling the input end of the first feedback assembly to reset.

2. The robot motion control assembly of claim 1, wherein the first feedback assembly comprises a first encoder (104) and a first rotating shaft (105), the first encoder (104) is disposed in the first mounting housing, the first rotating shaft (105) is rotatably disposed in the first mounting housing and connected to an input end of the first encoder (104), and one end of the rope (103) is wound around 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 mounting shell and used for enabling the first rotating shaft (105) to reset.

3. The robot motion control assembly of claim 2, wherein the first elastic 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 rotating shaft (105) and the other end being connected to one end of the spring, the other end of the spring being connected to the first mounting housing.

4. The robot motion control assembly of claim 2, wherein the first mounting housing comprises a first base (101) and a first cover (108), the first mounting housing is enclosed by the first base (101) and the first cover (108), and the first encoder (104), the first shaft (105) and the first elastic member (102) are connected to the first base (101) and/or the first cover (108).

5. A robot motion control assembly according to any of claims 1-4, the robot motion control assembly further comprises a second control assembly (200), the second control assembly (200) comprising a second mounting housing, a third mount (202), and a second encoder (204), the second encoder (204) is fixed to the robot by a third mount (202), one end of the second mounting shell is connected with the input end of the second encoder (204), the other end is detachably connected with the first mounting shell, when the movement of the robot causes the rope (103) to rotate around the axis of the robot, the first mounting shell rotates relative to the second mounting shell to drive the input end of the second encoder (204) to rotate, the controller issues a second instruction to the robot in accordance with the action of the second encoder (204).

6. The robot motion control assembly according to claim 5, characterized in that 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 in which an outer ring of the bearing (206) is arranged, the second mounting housing being connected to an inner ring of the bearing (206).

7. The robotic motion control assembly of claim 5, wherein the first electronically controlled assembly (110) of the first control assembly (100) is disposed within the first mounting housing and is electrically and/or communicatively coupled to the first feedback assembly, wherein the second electronically controlled 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, and wherein the first electronically controlled assembly (110) is electrically and/or communicatively coupled to the second electronically controlled assembly (208) when the first control assembly (100) is coupled to the second control assembly (200).

8. The robot motion control assembly according to claim 7, characterized in that the second control assembly (200) further comprises a slip ring (209) and a connecting rod (210), the slip ring (209) being fixed to the third base (202), cables between the second electronically controlled assembly (208) and the control circuitry of the robot being connected through the slip ring (209); the connecting rod (210) penetrates through and is fixed in an internal annular shaft of the sliding ring (209), one end of the connecting rod (210) is connected with the second mounting shell, and the other end of the connecting rod is connected to the input end of the second encoder (204).

9. The robot motion control assembly of claim 5, wherein the first mounting housing and the second mounting housing are connected by a snap fit or a threaded connection.

10. A robot comprising a robot motion control assembly according to any of claims 1-9.