CN218875467U - Motion control platform of mechanical arm - Google Patents

Abstract

A motion control platform for a robotic arm, the platform comprising: the system comprises a control system and an execution system, wherein the execution system is connected with the control system; the execution system includes: the mechanical arm comprises a transverse moving structure, a longitudinal moving structure, a vertical moving structure and a mechanical arm, wherein the longitudinal moving structure is arranged on the transverse moving structure and used for driving the longitudinal moving structure to move in the transverse direction, the vertical moving structure is arranged on the longitudinal moving structure and used for driving the vertical moving structure to move in the longitudinal direction, the mechanical arm is arranged on the vertical moving structure and used for driving the mechanical arm to move in the vertical direction, and the mechanical arm has at least one degree of freedom. The utility model provides a motion control platform of arm can expand the working range of machining tool, improves machining efficiency.

Description

Motion control platform of mechanical arm

Technical Field

The embodiment of the utility model provides a relate to arm technical field, especially relate to a motion control platform of arm.

Background

In the field of industrial processing, enlarging the processing range is an important factor for improving the processing efficiency. Therefore, a motion control platform for a robot arm is needed to expand the processing range and improve the processing efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem provide a motion control platform of arm to extension range of work improves machining efficiency.

In order to solve the technical problem, an embodiment of the utility model provides a motion control platform of arm, the platform includes: a control system; the execution system is connected with the control system; the execution system includes: the mechanical arm comprises a transverse moving structure, a longitudinal moving structure, a vertical moving structure and a mechanical arm, wherein the longitudinal moving structure is arranged on the transverse moving structure, the transverse moving structure is used for driving the longitudinal moving structure to move in a transverse direction, the vertical moving structure is arranged on the longitudinal moving structure, the longitudinal moving structure is used for driving the vertical moving structure to move in a longitudinal direction, the mechanical arm is arranged on the vertical moving structure, the vertical moving structure is used for driving the mechanical arm to move in a vertical direction, the mechanical arm has at least one degree of freedom, the transverse direction is perpendicular to the longitudinal direction, and the vertical direction is perpendicular to a plane defined by the transverse direction and the longitudinal direction.

Optionally, the control system includes: the system comprises a drive control subsystem and a calculation subsystem, wherein the calculation subsystem is connected with the drive control subsystem, the drive control subsystem is connected with an execution system, the calculation subsystem is used for sending a motion instruction to the drive control subsystem, and the drive control subsystem is connected with the execution system.

Optionally, the platform further includes a frame, and the lateral moving structure is disposed on the frame.

Optionally, the robot arm includes a first joint assembly, the first joint assembly including: first middle mounting, a drive mechanism and a first output mounting, wherein, first middle mounting with vertical removal structure fixed connection, a drive mechanism and a drive mechanism set up in on the first middle mounting, a drive mechanism with a drive mechanism connects, a drive mechanism with first output mounting is connected, a drive mechanism drives a first output mounting rotates, a first output mounting is connected with end instrument, a first axis of rotation is on a parallel with vertical direction, a first axis of rotation does the axis of rotation of a first output mounting.

Optionally, the mechanical arm further includes a second joint assembly, and the second joint assembly includes: second intermediate fixed spare, second actuating mechanism, second drive mechanism and second output mounting, wherein, second intermediate fixed spare with first output mounting fixed connection, second actuating mechanism and second drive mechanism set up in on the second intermediate fixed spare, second actuating mechanism with second drive mechanism connects, second drive mechanism with second output mounting is connected, second drive mechanism drives second output mounting rotates, second output mounting is connected with end tool, second rotation axis perpendicular to first rotation axis, second rotation axis does the rotation axis of second output mounting.

Optionally, the mechanical arm further includes a third joint assembly, and the third joint assembly further includes: third actuating mechanism, third drive mechanism and third output mounting, wherein, third actuating mechanism and third drive mechanism set up in on the second middle fixing piece, third actuating mechanism with third drive mechanism connects, third drive mechanism with third output mounting connects, third drive mechanism drives third output mounting rotates, third output mounting with end instrument connects, and third axis of rotation perpendicular to the second axis of rotation, the third axis of rotation does the axis of rotation of third output mounting.

Optionally, the third transmission mechanism includes: first drive unit and second drive unit, first drive unit with first drive unit connects, second drive unit with third output mounting connects, wherein, first drive unit drives first drive unit rotates around the second axis of rotation, second drive unit with first drive unit connects, second drive unit is used for will centering on the rotation of second axis of rotation changes into the rotation that centers on the third axis of rotation.

Optionally, the second intermediate fixing member includes a first surface and a second surface opposite to each other, the second driving mechanism and the second transmission mechanism are disposed on the first surface, and the third driving mechanism and the third transmission mechanism are disposed on the second surface.

Optionally, the platform further includes a cable, one end of the cable is connected to the control system, the other end of the cable is connected to the end tool, the first transmission mechanism includes a first rotating shaft, a hole is disposed on the first output fixing member, the first rotating shaft and the second intermediate fixing member are hollow, and the cable is connected to the end tool sequentially through the first rotating shaft, the hole on the first output fixing member, and the second intermediate fixing member.

Optionally, the lateral moving structure includes: the transverse guide rail is arranged along the transverse direction, the transverse driving mechanism and the transverse transmission mechanism are arranged on the transverse guide rail, the transverse driving mechanism is connected with the transverse transmission mechanism, and the transverse transmission mechanism is connected with the longitudinal moving structure.

Optionally, the longitudinal moving structure includes: the longitudinal guide rail is arranged along the longitudinal direction, the longitudinal driving mechanism and the longitudinal transmission mechanism are arranged on the longitudinal guide rail, the longitudinal driving mechanism is connected with the longitudinal transmission mechanism, and the longitudinal transmission mechanism is connected with the vertical moving structure.

Optionally, the vertical moving structure includes: the vertical driving mechanism and the vertical transmission mechanism are arranged on the vertical guide rail, the vertical driving mechanism is connected with the vertical transmission mechanism, and the vertical transmission mechanism is connected with the mechanical arm.

Optionally, the lateral moving structure includes a plurality of lateral moving units, where each lateral moving unit is configured to drive the longitudinal moving structure to move in the lateral direction; and/or the longitudinal moving structure comprises a plurality of longitudinal moving units, wherein each longitudinal moving unit is used for driving the vertical moving structure to move in the longitudinal direction; and/or the vertical moving unit comprises a plurality of vertical moving units, the vertical moving units correspond to the mechanical arms one by one, and each vertical moving unit is used for driving the corresponding mechanical arm to move in the vertical direction.

Optionally, the platform further comprises a display screen.

Compared with the prior art, the technical scheme of the utility model following beneficial effect has:

the embodiment of the utility model provides a motion control platform of mechanical arm includes control system and actuating system, wherein, actuating system includes horizontal migration structure, vertical migration structure and mechanical arm, wherein, vertical migration structure can drive the mechanical arm and move in the vertical direction; simultaneously, because the longitudinal movement structure can drive vertical movement structure and remove in longitudinal direction, and the arm setting is on vertical movement structure, and vertical movement structure sets up on longitudinal movement structure, consequently, the arm can be under longitudinal direction upward movement under the drive of longitudinal movement structure. Further, since the transverse moving structure can drive the longitudinal moving structure to move in the transverse direction, the mechanical arm can also move in the transverse direction under the drive of the transverse moving structure. Therefore, the translation motion of the mechanical arm in the three-degree-of-freedom large motion range can be realized. Further, since the robot arm has at least one degree of freedom, an arc-shaped processing locus can be realized. Therefore, the embodiment of the utility model provides a motion control platform of arm can combine together the processing orbit of big breadth and the nimble reachability of arm, has expanded the operation scope, has improved machining efficiency to reduce cost can further.

Drawings

Fig. 1 is an isometric view of a motion control platform of a robot arm in an embodiment of the invention;

fig. 2 is an isometric view of a laterally moving structure in an embodiment of the invention;

fig. 3 is a partial isometric view of a longitudinally moving structure and a vertically moving structure in an embodiment of the present invention;

fig. 4 is a first isometric view of a robot in an embodiment of the invention;

fig. 5 is a second isometric view of a robot in an embodiment of the invention;

fig. 6 is an exploded view of a robot in an embodiment of the present invention.

Detailed Description

As described in the background art, there is a need for a motion control platform for a robot arm to expand the processing range and improve the processing efficiency.

The inventor of the utility model discovers through research that the processing of flexible automation is realized to following two kinds of system of processing of present special process equipment adoption: (1) Programmable Logic Controller (PLC), drive control and rectangular coordinate multi-axis motion mechanical execution system; (2) industrial robot + external axis extension. However, although the PLC is widely applied to the automation field, its calculation characteristics are not suitable for integrating complex algorithms, and the openness of programming is not sufficient; in the aspect of function expansion, the PLC mainly plays a role of 'coordination control', and is not simple and flexible enough for small-sized equipment and has higher cost. The industrial robot has the problem of limited processing range, an external shaft specially for the industrial robot needs to be expanded in order to enlarge the processing range, the cost is increased, and in addition, the external shaft of the robot is single in structural form and inflexible in process adaptability.

In order to solve the technical problem, an embodiment of the present invention provides a motion control platform for a robot arm, in an embodiment of the present invention, the motion control platform for a robot arm provided by the embodiment of the present invention includes a control system and an execution system, wherein the execution system includes a lateral movement structure, a longitudinal movement structure, a vertical movement structure and a robot arm, wherein the vertical movement structure can drive the robot arm to move in a vertical direction; meanwhile, the longitudinal moving structure can drive the vertical moving structure to move in the longitudinal direction, and the mechanical arm is arranged on the vertical moving structure which is arranged on the longitudinal moving structure, so that the mechanical arm can move in the longitudinal direction under the driving of the longitudinal moving structure. Further, because the transverse moving structure can drive the longitudinal moving structure to move in the transverse direction, the mechanical arm can also move in the transverse direction under the drive of the transverse moving structure. Therefore, the translation motion of the mechanical arm in the three-degree-of-freedom large motion range can be realized. Further, since the robot arm has at least one degree of freedom, an arc-shaped processing trajectory can be realized. Therefore, the embodiment of the utility model provides a motion control platform of arm can combine together the nimble reachability of the processing orbit of big breadth and arm, has expanded the operation scope, has improved machining efficiency to reduce cost can further.

In order to make the aforementioned objects, features and advantages of the embodiments of the present invention more comprehensible, embodiments of the present invention are described in detail with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is an axonometric view of a motion control platform of a robot arm according to an embodiment of the present invention. The motion control platform of the robot arm may be used for processing of process equipment, but is not limited thereto. The following non-limiting description of the motion control platform of the robot arm in the embodiment of the present invention is provided with reference to fig. 1.

The motion control platform of the robot arm shown in fig. 1 may include: a control system 10 and an execution system (not shown), wherein the control system 10 is connected with the execution system. The control system 10 may include, among other things, a drive control subsystem (not shown) and a computing subsystem (not shown). Specifically, the computing subsystem is connected to the drive control subsystem, the drive control subsystem is connected to the execution system, the computing subsystem is configured to send motion commands to the drive control subsystem, and the drive control subsystem may be connected to the execution system. The control system 10 may be any suitable device known in the art that can provide control commands to the robotic arm 15.

More specifically, the drive control subsystem may be a servo drive control system. The drive control subsystem may include a plurality of drive controllers, the drive controllers and the drive mechanisms of the motion platform having a one-to-one correspondence. The plurality of drive controllers may be respectively connected to the computing subsystem, for example, may be connected to the computing subsystem via an EtherCAT bus. The drive control subsystem may employ any of a variety of suitable devices known in the art.

The computing subsystem may have the following functions: (1) A position servo function, specifically, position control, speed control, acceleration control, multi-axis linkage, dynamic compensation, and the like can be performed; (2) A coordinate calculation function, which specifically calculates axis values of the linear axes and the joint axes, and converts a plurality of coordinate systems (for example, a tool coordinate system, an absolute coordinate system, a system coordinate system, a workpiece coordinate system, a user coordinate system, etc.); (3) The detection function, namely, position detection, vision, force sense, tracing and the like can be carried out according to the data of the sensor; (4) The self-checking fault safety function can be used for carrying out self-diagnosis check on the system state, fault feedback safety protection, service life suggestion maintenance of equipment parts, abnormal detection and the like, for example; (5) A storage function, which can be provided with programming storage of the control program; (6) teaching programming functions, etc. In addition, the computing subsystem also has various communication interfaces, such as ethernet, RJ45 (TCP/IP, modbus TCP), HDMI, USB, and the like. The computing subsystem also has a plurality of manipulation buttons (not shown) for a user to control the operation state of the platform, etc. through the manipulation buttons. The computer subsystem may employ any of a variety of suitable devices known in the art.

Further, the execution system may include: a lateral movement structure 11, a longitudinal movement structure (not shown), a vertical movement structure (not shown), a robotic arm 15, and an end tool 16. The transverse moving mechanism 11 can drive the longitudinal moving structure to move along the transverse guide rail 111, the longitudinal moving structure can drive the vertical moving structure to move along the longitudinal guide rail 121, and the vertical moving structure can drive the mechanical arm 15 to move along the vertical guide rail 131. The end tool 16 is fixedly connected to the mechanical arm 15, and the end tool 16 may be configured according to a processing scenario, in a specific example, the processing scenario is a welding scenario, and the end tool 16 may be a welding torch, etc.

Specifically, the platform may further include a workpiece holder 18, a workpiece to be machined (not shown) is fixedly disposed on the workpiece holder 18, and the control system 10 may control the end tool 16 to move to and machine the workpiece to be machined. In one particular example, the workpiece fixture 18 may be a jig, but is not so limited.

Further, the platform may further include a frame 14, and the traverse structure 11 may be disposed on the frame 14. The frame 14 can be console mode structure, cantilever type structure or truss-like structure, can set up the frame that corresponds the structure according to the technology scene of reality, the embodiment of the utility model provides a do not restrict this. The frame 14 shown in fig. 1 is a truss-like structure.

Further, the mechanical arm 15 may include a plurality of joint assemblies, and the degree of freedom of the mechanical arm 15 may be determined according to the number of the shutdown assemblies, and the embodiment of the present invention does not limit the number of the joint assemblies of the mechanical arm 15. The robot arm 15 shown in fig. 1 includes: a first joint assembly 41, a second joint assembly 42 and a third joint assembly 43. The description of the robot arm 15 can be found in the following detailed description of fig. 4 to 6, and will not be repeated here.

Further, the platform may further comprise a teach pendant 17, and the teach pendant 17 may be connected to the control system 10.

Referring to fig. 2, fig. 2 is an isometric view of the laterally moving structure 11 of fig. 1. As shown in fig. 2, the lateral movement structure 11 may include: a transverse guide 111, a transverse drive mechanism 112 and a transverse transmission mechanism (not shown in fig. 2). Wherein the cross rail 111 may be arranged in a lateral direction, more specifically, the cross rail 111 may be arranged on a rack. Wherein, cross guide 111 can be the single track, also can be the double track, and the quantity of cross guide 111 can be according to the structure setting of frame, the embodiment of the utility model provides a do not restrict to this. More specifically, cross rail 111 may have a rail rack 1110 thereon.

Further, the transverse driving mechanism 112 and the transverse transmission mechanism may be disposed on the transverse guide rail 111, the transverse driving mechanism 112 is connected to the transverse transmission mechanism, and the transverse transmission mechanism 113 is connected to the longitudinal moving mechanism, so that the transverse driving mechanism 112 may drive the longitudinal moving mechanism to move on the transverse guide rail 111 through the transverse transmission mechanism, that is, the longitudinal moving mechanism may move in the transverse direction.

Specifically, the transverse driving mechanism 112 may include a transverse servo motor (not shown in fig. 2), and the transverse transmission mechanism may include a transverse speed reducer and a transverse driving gear. The horizontal speed reducer can be connected with the horizontal servo motor, the horizontal driving gear is connected with the horizontal speed reducer, and the horizontal servo motor can drive the horizontal driving gear to rotate through the horizontal speed reducer.

Further, the lateral moving structure 11 may further include a lateral fixing member 113, wherein at least a portion of the longitudinal moving structure may be disposed on the lateral fixing member 113, the lateral fixing member 113 may be connected to a lateral driving gear, and the lateral driving gear drives the lateral fixing member 113 to move on the lateral guide rail 111 when rotating, so as to drive the longitudinal moving structure to move in the lateral direction. In one specific example, the lateral fixing member 113 may include: a transverse trolley (not shown in fig. 2) and a transverse linear slide (not shown in fig. 2), but is not limited thereto.

Further, the lateral moving structure 11 may further include a lateral cable drag chain 114, and the lateral cable drag chain 114 may be disposed on the lateral guide rail 111 and connected to the lateral fixing member 113.

Referring to fig. 3, fig. 3 is a partial isometric view of the longitudinally moving structure and the vertically moving structure of fig. 1. As shown in fig. 3, the longitudinal movement structure may include: the longitudinal guide rail comprises a longitudinal guide rail beam 120 and a longitudinal guide rail 121, wherein the longitudinal guide rail 121 is arranged on the longitudinal guide rail beam 120, and a longitudinal guide rail rack 1210 can be arranged on the longitudinal guide rail 121. Wherein, longitudinal guide roof beam 120 can be planer-type structure, overhanging type structure, or unsettled truss-like structure, the embodiment of the utility model provides a do not restrict to this. The longitudinal guide rails 121 may be a single rail or a double rail, and the number of the longitudinal guide rails 121 may be set according to the longitudinal guide rail beams 120. More specifically, the longitudinal guide rail beams 120 may be provided on the lateral fixing members 113 in fig. 2. Wherein the longitudinal guide rail beams 120 are arranged in the longitudinal direction.

Further, the longitudinal moving structure may further include a longitudinal driving mechanism 122 and a longitudinal transmission mechanism (not labeled in fig. 3), the longitudinal driving mechanism 122 and the longitudinal transmission mechanism may be disposed on the longitudinal rail 121, the longitudinal driving mechanism 122 is connected to the longitudinal transmission mechanism, and the longitudinal transmission mechanism is connected to the vertical moving structure, so that the longitudinal driving mechanism 122 may drive the vertical moving structure to move on the longitudinal rail 121 through the longitudinal transmission mechanism, that is, the vertical moving structure may move in the longitudinal direction.

Specifically, the longitudinal driving mechanism 122 may include a longitudinal servomotor, and the longitudinal transmission mechanism may include a longitudinal decelerator and a longitudinal driving gear. The longitudinal speed reducer can be connected with the longitudinal servo motor, the longitudinal driving gear can be connected with the longitudinal speed reducer, and the longitudinal servo motor can drive the longitudinal driving gear to rotate through the longitudinal speed reducer.

Further, the longitudinal moving structure may further include a longitudinal fixing member (not shown in fig. 3), wherein at least a portion of the vertical moving structure may be disposed on the longitudinal fixing member, the longitudinal fixing member may be connected to a longitudinal driving gear, and the longitudinal driving gear drives the longitudinal fixing member to move when rotating, so as to drive the vertical moving structure to move in the longitudinal direction. In one particular example, the longitudinal fixture may include: a longitudinal linear slide 1230 and a longitudinal sled 1231, but is not limited thereto. Specifically, the vertical moving structure may be disposed on the longitudinal pulley 1231, the longitudinal linear slider 1230 is fixedly connected to the longitudinal pulley 1231, and the longitudinal driving gear may be connected to the longitudinal linear slider 1230 and drive the longitudinal linear slider 1230 to move on the longitudinal rail 121, so as to drive the vertical moving structure to move in the longitudinal direction.

Further, the longitudinal moving structure may further include a longitudinal cable drag chain 124, and the longitudinal cable drag chain 124 may be disposed on the longitudinal guide rail 121 and connected to the longitudinal fixing member.

Further, the vertical moving structure may include: the vertical guide rail comprises a vertical guide rail beam 130 and a vertical guide rail 131, wherein the vertical guide rail 131 is arranged on the vertical guide rail beam 130, the vertical guide rail beam 130 is arranged along the vertical direction, and a vertical guide rail rack (not shown in fig. 3) can be arranged on the vertical guide rail 131. The vertical guide rail beam 130 may be fixedly disposed on the longitudinal fixture. The vertical guide rails 131 may be a single rail or a double rail, and the number of the vertical guide rails 131 may be set according to the structure of the vertical guide rail beam 130.

Further, the vertical moving structure may further include a vertical driving mechanism 132 and a vertical transmission mechanism (not shown in fig. 3), the vertical driving mechanism 132 and the vertical transmission mechanism may be disposed on the vertical guide rail 131, the vertical driving mechanism 132 is connected with the vertical transmission mechanism, and the vertical transmission mechanism is connected with the robot arm, so that the vertical driving mechanism 132 may drive the robot arm to move on the vertical guide rail 131 through the vertical transmission mechanism, that is, the robot arm may move in the vertical direction.

Specifically, the vertical drive mechanism 132 may include a vertical servomotor, and the vertical transmission mechanism may include a vertical reducer and a vertical drive gear. Wherein, vertical reduction gear can be connected with vertical servo motor, vertical drive gear can be connected with vertical reduction gear, and vertical servo motor can drive vertical drive gear through vertical reduction gear and rotate.

Further, the vertical moving structure may further include a vertical fixing member 134, wherein the mechanical arm may be disposed on the vertical fixing member 134, the vertical fixing member 134 may be connected to a vertical driving gear, and the vertical driving gear drives the vertical fixing member 134 to move when rotating, so as to drive the mechanical arm to move in the vertical direction. In a specific example, the vertical fixture 134 may include: a vertical linear slide, but is not limited thereto. Further, the vertical moving structure may further include a vertical cable drag chain 135.

It should be noted that, in the solution according to the embodiment of the present invention, the transverse direction is perpendicular to the longitudinal direction, and the vertical direction is perpendicular to the plane defined by the transverse direction and the longitudinal direction.

From above, the arm can move in three-dimensional coordinate system under the drive of horizontal migration structure, vertical movement structure and vertical movement structure.

Referring to fig. 4, fig. 5 and fig. 6, fig. 4 is a first perspective view of a mechanical arm according to an embodiment of the present invention, fig. 5 is a second perspective view of a mechanical arm according to an embodiment of the present invention, and fig. 6 is an exploded view of a mechanical arm according to an embodiment of the present invention. The structure of the robot arm will now be described in a non-limiting manner with reference to figures 4, 5 and 6. The robot arm may include a plurality of joint assemblies, and the degree of freedom of the robot arm is determined according to the number of joint assemblies.

The robotic arm may include a first joint assembly, which may include: a first intermediate fixing member 410, a first driving mechanism 411, a first transmission mechanism 412, and a first output fixing member 413.

Specifically, the first middle fixture 410 may be a frame body, and the first middle fixture 410 may be fixed to the vertical moving structure, thereby fixedly connecting the robot arm to the vertical moving structure. The first driving mechanism 411 and the first transmission mechanism 412 may also be disposed on the first middle fixing member 410.

Further, the first driving mechanism 411 is connected to the first transmission mechanism 412, the first transmission mechanism 412 is connected to the first output fixing member 413, and the first driving mechanism 411 can drive the first output fixing member 413 to rotate through the first transmission mechanism 412. The rotation axis of the first output fixing member 413 is a first rotation axis, and the first rotation axis may be parallel to the vertical direction.

More specifically, the first driving mechanism 411 may include a first servo motor and a first motor mounting seat, the first servo motor is mounted on the first motor mounting seat, and the first motor mounting seat is fixedly connected with the first intermediate fixing member.

Further, the first transmission mechanism 412 may include a first connecting sleeve, a first timing belt pinion 4121, a first transmission timing belt, and a first timing belt bull gear 4123. Specifically, the first servo motor may drive the first synchronous belt pinion 4121 to rotate through the first connection sleeve, and when the first synchronous belt pinion 4121 rotates, the first synchronous belt gearwheel 4123 may be driven to rotate through the first transmission synchronous belt.

Further, the first joint assembly may further include a first rotating shaft 414, the first transmission mechanism 412 may further include a first reducer 4124, the first reducer 4124 may be fixed to the first rotating shaft 414, one end of the first rotating shaft 414 may be fixed to the first synchronous large gear 4123, and the first synchronous large gear 4123 may drive the first rotating shaft 414 and the first reducer 4124 to rotate. The first speed reducer 4124 may be a harmonic speed reducer, but is not limited thereto.

Further, the first output fixing member 413 may be fixedly connected to the first speed reducer 4124, and the first output fixing member 413 may be driven by the first speed reducer 4124 to rotate. First output mount 413 may be coupled to end tool 16 directly or may be coupled to end tool 16 via other articulating components. The first output fixing member 413 may be a flange, but is not limited thereto.

Further, the robot arm may further include a second joint assembly, and the second joint assembly may include a second middle fixing member 420, a second driving mechanism 421, a second transmission mechanism (not shown), and a second output fixing member 423.

Specifically, the second middle fixing member 420 may be fixedly connected to the first output fixing member 413, so that the second joint assembly may rotate around the first rotation axis by the first joint assembly.

Further, a second driving mechanism 421 and a second transmission mechanism may be disposed on the second middle fixing member 420, the second driving mechanism 421 is connected to the second transmission mechanism, and the second transmission mechanism is connected to the second output fixing member 423, so that the second driving mechanism 421 drives the second output fixing member 423 to rotate through the second transmission mechanism, a rotation axis of the second output fixing member 423 may be denoted as a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

Specifically, the second driving mechanism 421 may include a second servo motor and a second motor mounting seat, the second servo motor being mounted on the second motor mounting seat, and the second motor mounting seat being fixedly disposed on the second middle fixing member 420.

Further, the second transmission mechanism may include a second connection sleeve, a second timing belt pinion 4221, a second transmission timing belt 4222, and a second timing belt gearwheel 4223. Specifically, the second servo motor can drive the second timing belt pinion 4221 to rotate through the second connecting sleeve 4221, and when the second timing belt pinion 4221 rotates, the second timing belt gearwheel 4223 can be driven to rotate through the second transmission timing belt 4222.

Further, the second transmission mechanism may further include a second speed reducer 4224, the second synchronous belt gearwheel 4223 may be connected to the second speed reducer 4224, and the second speed reducer 4224 may be fixedly connected to the second output fixing member 423, so that the second output fixing member 423 may be driven by the second speed reducer 4234 to rotate. Among them, the second decelerator 4224 may be a harmonic decelerator, but is not limited thereto. Second output mount 423 may be coupled directly to end tool 16 or may be coupled to end tool 16 via other articulating components. The second output fixing member 423 may be a flange, but is not limited thereto.

Further, the robot arm may further include a third joint assembly, and the third joint assembly may include a third driving mechanism 431, a third transmission mechanism (not shown), and a third output fixing member 433.

Specifically, the third driving mechanism 431 and the third transmission mechanism may be provided on the second intermediate fixing member 420. More specifically, the second middle fixing member 420 has a plane-symmetrical structure, the first fixing member 420 includes a first plane and a second plane opposite to each other, the second driving mechanism 421 and the second transmission mechanism are disposed on the first plane, and the third driving mechanism 431 and the third transmission mechanism are disposed on the second plane.

Further, a third driving structure 431 is connected to a third transmission structure, and the third transmission structure is fixedly connected to the third output fixing member 433, so that the third driving structure 431 drives the third output fixing member 433 to rotate through the third transmission structure, the rotation axis of the third output fixing member 433 is a third rotation axis, and the third rotation axis is perpendicular to the second rotation axis.

Specifically, the third driving mechanism 431 may include a third servo motor and a third motor mount, the third servo motor being mounted on the third motor mount, the third motor mount being fixedly disposed on the second intermediate fixing member 420.

Further, the third transmission mechanism may include a first transmission unit (not shown) and a second transmission unit (not shown). The first transmission unit is connected to a third driving mechanism 431, the third driving mechanism 431 drives the first transmission unit to rotate around a second rotation axis, and further, the first transmission unit is connected to a second transmission unit, and the second transmission unit is used for converting the rotation around the second rotation axis into the rotation around a third rotation axis.

Specifically, the first transmission unit may include: a third connecting sleeve, a third synchronous belt pinion 4321, a third transmission synchronous belt 4322 and a third synchronous belt gearwheel 4323. Specifically, the third servo motor can drive the third timing belt pinion 4321 to rotate through the third connection sleeve, and when the third timing belt pinion 4321 rotates, the third timing belt gearwheel 4323 can be driven to rotate through the third transmission timing belt 4322. It should be noted that the rotation axis of the third timing belt gearwheel 4323 is a second rotation axis.

Further, the second transmission unit may include: a first bevel gear 4324, a second bevel gear (not shown), an internal gear pinion shaft 4325, and an internal gear bull gear 4326. Specifically, the first bevel gear 4324 is connected to the third timing belt gearwheel 4323, and is driven by the third timing belt gearwheel 4323 to rotate around the second rotation axis. Further, the second bevel gear is engaged with the first bevel gear 4324 perpendicularly, in other words, axes of the first bevel gear 4324 and the second bevel gear are perpendicular to each other. Thus, rotation of the first bevel gear 4324 causes the second bevel gear to rotate about the third axis of rotation. Further, a second bevel gear is connected to one end of the internal-tooth pinion shaft 4325, and the other end of the internal-tooth pinion shaft 4325 is connected in meshing engagement with the internal-tooth large ring gear 4326, whereby the second bevel gear can rotate the internal-tooth large ring gear 4326 about the third rotation axis via the internal-tooth pinion shaft 4325.

Further, the internal-tooth ring gear 4326 is connected to a third speed reducer 4327, and an output end of the third speed reducer 4327 may be fixedly connected to the third output fixing member 433. Thus, when the internal large ring gear 4326 rotates about the third rotation axis, the third output fixing member 433 can be driven to rotate about the third rotation axis by the third reduction gear 4327. Among them, the third reducer 4327 may be a harmonic reducer, but is not limited thereto. The third output fixing member 433 may be a flange, but is not limited thereto. Further, the third output fastener 433 may be fixedly attached to the end tool 16 directly, or may be attached to the end tool 16 via other articulating components.

Further, the robot arm may further include a side housing 45, and the side housing 45 is mounted on a side of the second fixture 420. The shape of the lateral shell 45 is identical to the shape of the first and second faces of the second fixture 420, and the lateral shell 45 can protect the second joint component and the third joint component from contamination and damage.

Further, the platform includes a cable (not shown) having one end connected to the control system 10 of fig. 1 and the other end connected to the end tool 16. Specifically, the first output fixture 413 is provided with a hole, the first rotating shaft 414 and the second intermediate fixture 420 are hollow, the second intermediate fixture 420 has a plane-symmetric structure, the second driving mechanism 421 and the second transmission mechanism are provided on the first surface, and the third driving mechanism 431 and the third transmission mechanism are provided on the second surface. The cable is connected to the end tool 16 sequentially through the first rotating shaft 414, the hole of the first output fixture 413, and the second intermediate fixture 420. By adopting the scheme, the transmission part of the mechanical arm can not be wound with the cable.

Further, the first driving mechanism 411, the second driving mechanism 421 and the third driving mechanism 431 may all adopt a case structure, thereby protecting the driving mechanisms from contamination and damage.

In a specific example, the lateral moving structure 11 may include a plurality of lateral moving units, that is, each lateral moving unit is used for driving the longitudinal moving structure to move in the lateral direction; and/or the longitudinal moving unit comprises a plurality of longitudinal moving units, wherein each longitudinal moving unit is used for driving the vertical moving structure to move in the longitudinal direction; and/or the vertical moving unit comprises a plurality of vertical moving units, the vertical moving units correspond to the mechanical arms one to one, and each vertical moving unit is used for driving the corresponding mechanical arm to move in the vertical direction.

With continued reference to FIG. 1, the platform may include a display screen (not shown) to enable human-computer interaction. More specifically, a programming interface, an instruction set, and the like may be displayed on the display screen, but is not limited thereto.

Further, the control system 10 may include a plurality of application modules (not shown) for controlling the movement of the end tool 16 in different application scenarios, such as welding, cutting, grinding, measuring, laser machining, assembly, and logistics handling. Further, the control system 10 may further include an image recognition module, and specifically, the platform may further include a camera (not shown), the camera may be configured to acquire an image, the image includes an image of the workpiece to be processed, and the image recognition module may perform image recognition on the image to determine the position of the workpiece to be processed.

In one particular example, the platform may include a plurality of robotic arms and a plurality of end tools, the robotic arms corresponding one-to-one with the end tools, the plurality of end tools being operable to perform different process tasks. Further, the vertical moving structure may include a plurality of vertical moving units, the vertical moving units may correspond to the robot arms one to one, and each vertical moving unit is configured to drive the corresponding robot arm to move in the vertical direction.

Further, the longitudinal moving structure may also include a plurality of longitudinal moving units, each longitudinal moving unit corresponds to the vertical moving unit one to one, and each longitudinal moving unit is configured to drive the corresponding vertical moving unit to move in the longitudinal direction. Furthermore, the lateral moving structure may also include a plurality of lateral moving units, the lateral moving units correspond to the longitudinal moving units one to one, and each lateral moving unit may be configured to drive the corresponding longitudinal moving unit to move in the lateral direction.

Further, the execution system may include a plurality of execution subsystems, and the control system may be used to control end tool movement in one or more of the execution subsystems. Specifically, the lateral movement unit, the longitudinal movement unit, the vertical movement unit, and the robot arm may be combined according to an actual application scenario to obtain one or more execution subsystems. Wherein each execution subsystem may include: a lateral moving unit, a longitudinal moving unit, a vertical moving unit, a robot arm, and an end tool.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.

Claims (14)

1. A motion control platform for a robotic arm, the platform comprising:

a control system;

the execution system is connected with the control system;

the execution system includes: a transverse moving structure, a longitudinal moving structure, a vertical moving structure and a mechanical arm,

wherein the longitudinal moving structure is arranged on the transverse moving structure, the transverse moving structure is used for driving the longitudinal moving structure to move in a transverse direction, the vertical moving structure is arranged on the longitudinal moving structure, the longitudinal moving structure is used for driving the vertical moving structure to move in a longitudinal direction, the mechanical arm is arranged on the vertical moving structure, the vertical moving structure is used for driving the mechanical arm to move in a vertical direction, and the mechanical arm has at least one degree of freedom,

wherein the transverse direction is perpendicular to the longitudinal direction and the vertical direction is perpendicular to a plane defined by the transverse direction and the longitudinal direction.

2. The motion control platform of a robotic arm of claim 1, wherein the control system comprises: the system comprises a drive control subsystem and a calculation subsystem, wherein the calculation subsystem is connected with the drive control subsystem, the drive control subsystem is connected with an execution system, the calculation subsystem is used for sending a motion instruction to the drive control subsystem, and the drive control subsystem is connected with the execution system.

3. The motion control platform of a robotic arm of claim 1, further comprising a frame, the lateral movement structure being disposed on the frame.

4. The motion control platform of a robotic arm as claimed in claim 1, wherein the robotic arm comprises a first joint assembly comprising:

first middle mounting, a drive mechanism and a first output mounting, wherein, first middle mounting with vertical removal structure fixed connection, a drive mechanism and a drive mechanism set up in on the first middle mounting, a drive mechanism with a drive mechanism connects, a drive mechanism with first output mounting is connected, a drive mechanism drives a first output mounting rotates, a first output mounting is connected with end instrument, a first axis of rotation is on a parallel with vertical direction, a first axis of rotation does the axis of rotation of a first output mounting.

5. The motion control platform of a robotic arm as claimed in claim 4, wherein the robotic arm further comprises a second joint assembly comprising:

second intermediate fixed spare, second actuating mechanism, second drive mechanism and second output mounting, wherein, second intermediate fixed spare with first output mounting fixed connection, second actuating mechanism and second drive mechanism set up in on the second intermediate fixed spare, second actuating mechanism with second drive mechanism connects, second drive mechanism with second output mounting is connected, second drive mechanism drives second output mounting rotates, second output mounting with end instrument connects, and second axis of rotation perpendicular to first axis of rotation, second axis of rotation does the axis of rotation of second output mounting.

6. The motion control platform of a robotic arm as claimed in claim 5, wherein the robotic arm further comprises a third joint assembly, the third joint assembly further comprising:

a third driving mechanism, a third transmission mechanism and a third output fixing piece,

wherein, third actuating mechanism and third drive mechanism set up in on the second intermediate fixing piece, third actuating mechanism with third drive mechanism connects, third drive mechanism with third output mounting is connected, third drive mechanism drives third output mounting rotates, third output mounting with end instrument is connected, and third axis of rotation perpendicular to the second axis of rotation, the third axis of rotation is the axis of rotation of third output mounting.

7. The motion control platform of a robotic arm as claimed in claim 6, wherein the third transmission mechanism comprises: first drive unit and second drive unit, first drive unit with third actuating mechanism connects, second drive unit with third output mounting connects, wherein, third actuating mechanism drives first drive unit centers on the second axis of rotation rotates, second drive unit with first drive unit connects, second drive unit is used for will centering on the rotation of second axis of rotation changes to the centre the rotation of third axis of rotation.

8. The motion control platform of a robotic arm as claimed in claim 6, wherein the second intermediate mount comprises opposing first and second faces, the second drive mechanism and the second drive mechanism being disposed on the first face, and the third drive mechanism being disposed on the second face.

9. The motion control platform of a robotic arm of claim 8, further comprising a cable, wherein one end of the cable is connected to the control system and the other end is connected to the end tool, the first transmission mechanism comprises a first rotating shaft, a hole is disposed on the first output fixture, the first rotating shaft and the second intermediate fixture are hollow, and the cable is connected to the end tool sequentially through the first rotating shaft, the hole on the first output fixture and the second intermediate fixture.

10. The motion control platform of a robotic arm of claim 1, wherein the lateral movement structure comprises: a transverse guide rail, a transverse driving mechanism and a transverse transmission mechanism,

the transverse guide rail is arranged along the transverse direction, the transverse driving mechanism and the transverse transmission mechanism are arranged on the transverse guide rail, the transverse driving mechanism is connected with the transverse transmission mechanism, and the transverse transmission mechanism is connected with the longitudinal moving structure.

11. The motion control platform of a robotic arm of claim 1, wherein the longitudinal movement structure comprises: a longitudinal guide rail, a longitudinal driving mechanism and a longitudinal transmission mechanism,

the longitudinal guide rail is arranged along the longitudinal direction, the longitudinal driving mechanism and the longitudinal transmission mechanism are arranged on the longitudinal guide rail, the longitudinal driving mechanism is connected with the longitudinal transmission mechanism, and the longitudinal transmission mechanism is connected with the vertical moving structure.

12. The motion control platform of a robotic arm of claim 1, wherein the vertical movement structure comprises: a vertical guide rail, a vertical driving mechanism and a vertical transmission mechanism,

the vertical guide rail is arranged in the vertical direction, the vertical driving mechanism and the vertical transmission mechanism are arranged on the vertical guide rail, the vertical driving mechanism is connected with the vertical transmission mechanism, and the vertical transmission mechanism is connected with the mechanical arm.

13. The motion control platform of a robotic arm of claim 1, wherein the lateral movement structure comprises a plurality of lateral movement units, wherein each lateral movement unit is configured to move the longitudinal movement structure in the lateral direction;

and/or the longitudinal moving structure comprises a plurality of longitudinal moving units, wherein each longitudinal moving unit is used for driving the vertical moving structure to move in the longitudinal direction;

and/or the vertical moving structure comprises a plurality of vertical moving units, the vertical moving units correspond to the mechanical arms one to one, and each vertical moving unit is used for driving the corresponding mechanical arm to move in the vertical direction.

14. The motion control platform of a robotic arm of claim 1, wherein the platform further comprises a display screen.

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