Shaft number-variable robot and control method thereof

Abstract

The invention provides a shaft number-variable robot and a control method thereof. The robot comprises a base; one end of a first joint arm is connected to the base; at least N mechanical arms are provided; N is a natural number not 0; when N is equal to 1, one end of the mechanical arm is connected with the other end of the first joint arm in a manner of a joint part capable of rotating around a transverse swing shaft or a pitching shaft or in a twisting manner; when N is bigger than 1, one end of any mechanical arm is detachably connected with the adjacent mechanical arms in a manner of the joint part capable of rotating around the transverse swing shaft or the pitching shaft or in a twisting manner; driving parts are arranged in the base, the first joint arm and the mechanical arms; the driving parts comprise multiple drivers and multiple motors; and the multiple drivers drive the multiple motors to rotate by the following two modes: each motor freely rotates; or at least one motor rotating around the transverse swing shaft rotates in a horizontal plane. The robot improves the rigidity, can be quickly applied to the production activity, and can actuate various tasks through flexible action angles.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot with variable number of axes and a control method thereof. Background technique [0002] There are currently two main types of robots on the market: SCARA robots and 6R robots. [0003] SCARA robot, that is, planar articulated robot, is a robot arm used in assembly operations. Different from general articulated robots, the robot only has good flexibility on the plane, but has high rigidity in the direction perpendicular to the plane, so it is very suitable for assembly operations in the vertical direction. It can be realized in assembly, handling and other operations. Fast speed and high frequency. [0004] The 6R robot, that is, the robot with six rotating joints, has two more joints than the four-axis manipulator, so it has more degrees of freedom and can pick up parts with any orientation on the horizontal plane. It is generally used in assembly, arc welding, spot weldin...

AI Technical Summary

Problems solved by technology

[0006] The SCARA robot has a light structure and fast response, but it has the disadvantages of being unable to perform three-dimensional actions and the overall structural layout is not compact enough. Due to its specific shape, its working range is similar to a fan-shaped area. In practice, the complex working area requires additional Adding a robot to cooperate with the operation will not only cause the loss of operation accuracy, but also greatly increase the assembly cost, so it is not completely suitable for the large-volume, high-precision assembly operations of the 3C industry

[0007] The disadvantages of traditional robotic arms (for example: 6R robots) are slow speed, high price, and limited spherical working range

Furthermore, the specialty of the six-axis robotic arm is the application of a large number of curved surfaces such as grinding and polishing. When used in the 3C industry, only a small amount of three-dimensional movements are required, and many advantages of the structure cannot be used. The cost of use is high, and there is no advantage in terms of cost performance.

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