Trajectory generation device

Abstract

This application relates to a trajectory generation device, which includes a guide rail module, two motion modules, and a trajectory generating component. The two motion modules are reciprocally slidably mounted on the guide rail module, and are spaced apart. The trajectory generating component is movably connected to the two motion modules via two connecting rods, and during the movement of the two motion modules, the trajectory generating component can perform linear and curvilinear movements in a planar space. The trajectory generation device provided in this application, through the movement of the two motion modules on the guide rail module, realizes the preset trajectory drawing action of the trajectory generating component. This reduces the motion jitter of the trajectory generating component, improves the response rate of the trajectory generating component during trajectory drawing, separates the linear and curvilinear movements of the trajectory generating component, facilitates control of the drawn trajectory, and has a simple structure, improving energy efficiency while reducing usage and maintenance costs.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and in particular to a trajectory generation device. Background Technology

[0002] In high-precision trajectory writing scenarios on displays, current mainstream technologies rely on a teaching pen mounted on the execution end of a robotic arm to achieve trajectory control. For example, a pneumatic or servo-driven teaching pen module is installed on the execution end of the robotic arm, and the planar trajectory and vertical lifting action of the teaching pen are synthesized through the joint motion of the multi-axis robotic arm to quickly draw a preset trajectory on the display screen.

[0003] However, in the actual trajectory drawing process, due to the large size of the robotic arm, the accumulation of inertia during the movement of the teaching pen can easily lead to motion trajectory jitter and response delay. The complex structure of the robotic arm results in high maintenance costs and low energy efficiency. Furthermore, the robotic arm cannot achieve mechanical decoupling between X / Y axis translation and Z axis lifting. Utility Model Content

[0004] Therefore, it is necessary to provide a trajectory generation device to address the technical problems of existing teaching pens, which are prone to motion trajectory jitter and response delay during the drawing process, and whose complex structure makes it impossible to achieve multi-directional motion decoupling.

[0005] A trajectory generation device, the trajectory generation device comprising:

[0006] Guide rail module;

[0007] Two motion modules are provided, both of which are reciprocally slidably disposed on the guide rail module, and the two motion modules are disposed at an interval on the guide rail module;

[0008] A trajectory generator is movably connected to the two motion modules via two connecting rods, and during the motion of the two motion modules, the trajectory generator can perform linear and curved motion in a planar space.

[0009] In one embodiment, one end of each of the two links is hinged to one of the two motion modules, and the other end of each link is hinged to the trajectory generator.

[0010] In one embodiment, one of the guide rail module and the motion module has a permanent magnet, and the other has an energized coil. When the coil is energized, a magnetic force is generated between the guide rail module and the motion module to drive the motion module to move relative to the guide rail module.

[0011] In one embodiment, the trajectory generation device further includes a control module, which is communicatively connected to the two motion modules and is used to control the synchronous and differential motion of the two motion modules.

[0012] In one embodiment, the trajectory generation device further includes a display module having a touch area, and the trajectory generator is in electrical contact with the touch area.

[0013] In one embodiment, the guide rail module is at least partially a linear module;

[0014] Alternatively, the guide rail module may be at least partially an arc-shaped module.

[0015] In one embodiment, the trajectory generation device includes a machine base and an outer cover disposed on the machine base, the guide rail module is disposed on the machine base, and the outer cover covers the outside of the guide rail module, the two motion modules and the trajectory generation component.

[0016] In one embodiment, the outer cover is transparent, and at least one side of the outer cover is provided with an operating door that can be opened and closed relative to the outer cover.

[0017] In one embodiment, the trajectory generation device further includes a power supply module and a cooling module, both of which are disposed on the machine base.

[0018] In one embodiment, the trajectory generation device includes at least one roller disposed at the bottom of the machine platform;

[0019] When there are multiple rollers, the multiple rollers are spaced apart along the circumferential direction of the machine tool.

[0020] In the aforementioned trajectory generation device, two motion modules are reciprocally slidably mounted on a guide rail module, and the trajectory generator is movably connected to the two motion modules via two connecting rods. During the movement of the two motion modules, the connecting rods swing and drive the trajectory generator to perform linear and curvilinear movements in planar space to form a drawn trajectory according to a preset path. The trajectory generation device provided in this application realizes the preset trajectory drawing action of the trajectory generator through the movement of the two motion modules on the guide rail module. Since the motion modules have small inertia during movement, the amount of motion jitter of the trajectory generator can be reduced, and the response rate of the trajectory generator in the trajectory drawing process can be improved. The linear and curvilinear movements of the trajectory generator are separated, which facilitates the control of the drawn trajectory of the trajectory generator. Moreover, the trajectory generation device has a simple structure, improving energy efficiency while reducing the cost of use and maintenance. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the trajectory generation device provided in some embodiments.

[0022] Figure 2 This is a schematic diagram of the trajectory generation device provided in another embodiment.

[0023] Figure 3 This is a bottom view of the trajectory generation device provided in some embodiments.

[0024] Figure label:

[0025] 100. Trajectory generation device;

[0026] 110. Guide rail module; 120. Motion module; 130. Track generator; 140. Linkage rod; 150. Display module; 151. Touch area; 160. Machine base; 170. Outer cover; 171. Operating door; 180. Cooling module; 190. Roller. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0033] The technical solutions provided by the embodiments of this application are described below with reference to the accompanying drawings.

[0034] See Figure 1 As shown, this application provides a trajectory generation device 100, which includes a guide rail module 110, two motion modules 120, and a trajectory generator 130. The trajectory generation device 100 can draw a trajectory along a preset path and perform trajectory drawing demonstrations. For example, the trajectory generation device 100 can be used for drawing and demonstrating corporate logos, promotional slogans, teaching handwriting, etc. This application does not limit the specific application scenarios of the trajectory generation device 100.

[0035] Two motion modules 120 are spaced apart on the guide rail module 110, and both motion modules 120 are capable of reciprocating sliding on the guide rail module 110. For example, if the guide rail module 110... Figure 1As shown, extending in the X direction, two motion modules 120 are spaced apart on the guide rail module 110 along the X direction, and the two motion modules 120 can slide back and forth along the X direction, that is to say, Figure 1 The X-axis shown represents the direction of movement for the two motion modules 120. Each motion module 120 is equipped with anti-collision blocks to improve its safety during movement.

[0036] The trajectory generator 130 is movably connected to two motion modules 120 via two connecting rods 140. For example, the trajectory generator 130 is movably connected to one motion module 120 via one connecting rod 140, and to the other motion module 120 via the other connecting rod 140; that is, the trajectory generator 130 is simultaneously movably connected to both motion modules 120. During the movement of the two motion modules 120, the trajectory generator 130 can perform linear and curvilinear movements in a planar space. Specifically, during the movement of the two motion modules 120, the connecting rod 140 swings and drives the trajectory generator 130 to perform linear and curvilinear movements in a planar space. For example, the trajectory generator 130 can complete [certain tasks] under the action of the connecting rod 140. Figure 1 The X-axis translational motion, Z-axis vertical motion, and curved motion in the XZ plane are shown. The trajectory generator 130 forms a drawn trajectory according to a preset path. Figure 1 The X-axis represents the direction of motion of the two motion modules 120, and the Z-axis represents the perpendicular direction between the trajectory generator 130 and the direction of motion of the two motion modules 120.

[0037] The aforementioned trajectory generation device 100 achieves the preset trajectory drawing action of the trajectory generator 130 through the movement of two motion modules 120 on the guide rail module 110. Since the motion modules 120 have small inertia during the movement, the amount of motion jitter of the trajectory generator 130 can be reduced, and the response rate of the trajectory generator 130 in the trajectory drawing process can be improved. The linear motion and curvilinear motion of the trajectory generator 130 are separated from each other, which makes it easier to control the drawing trajectory of the trajectory generator 130. Moreover, the trajectory generation device 100 has a simple structure, which improves energy efficiency while reducing the cost of use and maintenance, and simplifies the size of the trajectory generation device 100, making it suitable for trajectory drawing needs in different scenarios.

[0038] In one embodiment, see Figure 1 As shown, one end of each of the two connecting rods 140 is hinged to one of the two motion modules 120, and the other end of each of the two connecting rods 140 is hinged to the trajectory generator 130. That is to say, the two ends of the connecting rods 140 are hinged to the motion module 120 and the trajectory generator 130, respectively, and the two motion modules 120, the two connecting rods 140 and the trajectory generator 130 form a four-bar linkage structure.

[0039] Thus, by controlling the distance between the two motion modules 120, the two connecting rods 140 swing and cause the trajectory generator 130 to change its position in the planar space. During the motion of the two motion modules 120, the two motion modules 120, through the two connecting rods 140, drive the trajectory generator 130 to perform straight and curved movements in the planar space, so that the trajectory generator 130 forms a drawn trajectory according to a preset path. Furthermore, the four-bar linkage increases the flexibility of the trajectory generator 130 during movement, improves the control precision of the trajectory generator 130, and enhances the trajectory drawing quality of the trajectory generator 130.

[0040] In one embodiment, see Figure 1 As shown, one of the guide rail module 110 and the motion module 120 has a permanent magnet, and the other of the guide rail module 110 and the motion module 120 has an energized coil. For example, if the guide rail module 110 has a permanent magnet, then the motion module 120 has a coil; conversely, if the guide rail module 110 has a coil, then the motion module 120 has a permanent magnet. Thus, when the coil is energized, a magnetic force can be generated between the guide rail module 110 and the motion module 120, which drives the motion module 120 to move relative to the guide rail module 110.

[0041] Thus, through the interaction between the coil and the permanent magnet, the motion module 120 is driven to move relative to the guide rail module 110 in a magnetic drive manner, thereby improving the motion accuracy and speed of the motion module 120 relative to the guide rail module 110. Since the trajectory drawing action of the trajectory generator 130 is controlled by the motion module 120, the trajectory generator 130 can achieve fine trajectory drawing, thereby improving the trajectory drawing quality of the trajectory generator 130.

[0042] Further, see Figure 1 As shown, the trajectory generation device 100 also includes a control module. The control module is communicatively connected to two motion modules 120, such as via wires, Bluetooth, or WIFI. The control module is used to control the synchronous and differential motion of the two motion modules 120. Thus, by controlling the motion of the two motion modules 120, the control module enables the two motion modules 120 to move at preset speeds. During the motion of the two motion modules 120, the two motion modules 120 drive the trajectory generator 130 to form a drawn trajectory according to a preset path via the connecting rod 140.

[0043] For example, the control module includes a controller and a position feedback unit. The controller, the position feedback unit, and the two motion modules 120 are all communicatively connected. The position feedback unit is used to acquire the position information of the two motion modules 120. Specifically, during the operation of the trajectory generator 130, the position feedback unit promptly feeds back the position information of the two motion modules 120 to the controller. According to the predetermined path planning information, the controller controls the two motion modules 120 to move synchronously or differentially to change the position of the two motion modules 120. During the movement of the two motion modules 120, the two motion modules 120 drive the trajectory generator 130 to form a drawn trajectory according to a preset path through the linkage 140.

[0044] In this embodiment, when the control module controls the two motion modules 120 to move synchronously, that is, when the two motion modules 120 move at the same speed on the guide rail module 110, since the relative distance between the two motion modules 120 does not change, the two motion modules 120 drive the trajectory generator 130 along... Figure 1 The X-axis translation is shown. Furthermore, when the control module controls the differential motion of the two motion modules 120, meaning the two motion modules 120 move at different speeds on the guide rail module 110, the two motion modules 120 move in directions closer to or further away from each other, changing the four-bar linkage configuration. The two motion modules 120 then drive the trajectory generator 130 along... Figure 1 As shown in the Z-axis lifting motion, when the two motion modules 120 move in a direction that brings them closer to each other, the trajectory generator 130 moves along... Figure 1 As shown, the Z-axis moves upward toward the side away from the motion module 120. When the two motion modules 120 move in directions away from each other, the trajectory generator 130 moves along... Figure 1 The Z-axis downwards is directed towards the side closest to the motion module 120, and during the upward and downward movement of the trajectory generator 130 along the Z-axis, the trajectory generator 130 can perform curved motion in the XZ plane. Thus, the control module controls the two motion modules 120 to move synchronously or differentially. Through the synthesis of the linear and curved motions of the trajectory generator 140 in planar space, the two motion modules 120, via the connecting rod 140, drive the trajectory generator 130 to form a drawn trajectory according to a preset path.

[0045] Furthermore, the control module can be a PLC (Programmable Logic Controller), MCU (Micro Control Unit), or other controllers. This application does not limit the specific component type of the control module.

[0046] In one embodiment, see Figure 1As shown, the trajectory generation device 100 also includes a display module 150, which has a touch area 151. The trajectory generator 130 is in electrical contact with the touch area 151. For example, if the trajectory generator 130 is a teaching pen, one end of the teaching pen is hinged to two connecting rods 140, and the end of the teaching pen away from the connecting rods 140 has a touch part. The touch part of the teaching pen can electrically act on the touch area 151 by clicking or sliding to draw a preset trajectory on the display module 150.

[0047] In one embodiment, see Figure 1 As shown, the guide rail module 110 is at least partially a straight module; or, the guide rail module 110 is at least partially an arc-shaped module. Exemplarily, as in one embodiment, the guide rail module 110 is at least partially a straight module, such as the guide rail module 110 being entirely straight in its extension direction, or the guide rail module 110 being a combination of straight and arc-shaped in its extension direction. As in another embodiment, the guide rail module 110 is at least partially an arc-shaped module, such as the guide rail module 110 being entirely arc-shaped in its extension direction, or the guide rail module 110 being a combination of arc and straight in its extension direction. This application does not limit the specific structural form of the guide rail module 110.

[0048] The trajectory generation device 100 described above, by selectively setting the guide rail module 110, allows the guide rail module 110 to adapt to the preset trajectory drawing path of the trajectory generator 130 when the two motion modules 120 move on the guide rail module 110, making it easier to control the drawing trajectory of the trajectory generator 130.

[0049] In one embodiment, see Figure 1 and Figure 2 As shown, the trajectory generation device 100 includes a machine base 160 and an outer cover 170. The guide rail module 110 is mounted on the machine base 160 via screws, snap-fit ​​connections, or other means. The outer cover 170 is mounted on the machine base 160 and covers the outside of the guide rail module 110, the two motion modules 120, and the trajectory generator 130. Thus, the outer cover 170 ensures the closed safety of the motion modules 120 and the trajectory generator 130 during movement, preventing adverse effects from interference on their movement, effectively eliminating the risk of accidental touches and misoperations caused by unauthorized contact, and improving the reliability of the trajectory generator 130 during trajectory drawing.

[0050] Further, see Figure 1 and Figure 2As shown, the outer cover 170 is a transparent component, such as a transparent acrylic sheet, transparent glass sheet, or transparent plastic sheet. In this way, while establishing an isolation and protection mechanism outside the trajectory generating component 130, the outer cover 170 enables blind-spot-free observation of the trajectory generating device 100 during operation, improving the human-computer interaction performance of the trajectory generating device 100. The trajectory generating device 100 can be applied to trajectory drawing exhibitions, teaching, demonstrations, etc., expanding the application scenarios of the trajectory generating device 100.

[0051] Furthermore, at least one side of the outer cover 170 is provided with an operating door 171. For example, an operating door 171 may be provided on the top side of the outer cover 170, or on one side of the outer cover 170. This application does not limit the specific number or location of the operating doors 171. The operating doors 171 are openable and closable relative to the outer cover 170. For example, the operating doors 171 may be pivotally connected to the outer cover 170 via rotating components such as pivots or hinges, or may be detachably connected to the outer cover 170 via screws, snap-fits, or other methods. This application does not limit the specific connection method of the operating doors 171.

[0052] Thus, the trajectory generation device 100 is designed with an open structure. When human-machine interaction actions such as debugging and data acquisition are required, the operation door 171 located on the outer cover 170 can be opened for operation, ensuring that the operator's interaction actions can be accurately applied to the trajectory generation device 100. After the human-machine interaction action of the trajectory generation device 100 is completed, the operation door 171 located on the outer cover 170 can be closed to ensure the closed safety of the trajectory generation device 100 during operation and effectively prevent the risk of accidental touch or misoperation caused by unauthorized contact.

[0053] In one embodiment, see Figures 1-3 As shown, the trajectory generation device 100 also includes a power supply module and a cooling module 180, both of which are mounted on the machine base 160.

[0054] The power supply module is used to supply power to the internal components of the trajectory generation device 100. For example, the power supply module is electrically connected to the motion module 120 and / or the guide rail module 110, and can supply power to the motion module 120 and / or the guide rail module 110. In this way, when the environment in which the trajectory generation device 100 is located experiences problems such as voltage changes, power outages, or lack of power supply, the power supply module independently supplies power to the internal components of the trajectory generation device 100 to ensure the proper operation of the trajectory generation device 100. The trajectory generation device 100 can adapt to trajectory drawing in various complex scenarios, and ensures the operational stability of the trajectory generation device 100, improving the trajectory drawing accuracy and reliability of the trajectory generation device 100.

[0055] Furthermore, the cooling module 180 is used to dissipate heat from the various components of the trajectory generation device 100, ensuring the operational stability of the trajectory generation device 100. For example, if the motion module 120, connecting rod 140, and trajectory generating component 130 generate significant heat during prolonged operation of the trajectory generation device 100, the cooling module 180 can promptly remove the heat generated by these components. The cooling module 180 can be a cooling fan, a cooling unit, etc., and is positioned close to the heat-generating components. This application does not limit the specific component type or placement of the cooling module 180.

[0056] In one embodiment, see Figures 1-3 As shown, the trajectory generation device 100 includes at least one roller 190, which is disposed at the bottom of the machine base 160. The roller 190 can be a caster wheel to improve the flexibility of the trajectory generation device 100 during movement. When there are multiple rollers 190, they are spaced apart along the circumferential direction of the machine base 160. Multiple rollers 190 can improve the support stability of the trajectory generation device 100 during movement. The machine base 160 is preferably made of aluminum alloy to reduce the overall weight of the trajectory generation device 100 and facilitate its transport operation. In this embodiment, there are four rollers 190, which are respectively disposed at the four diagonal positions of the machine base 160. In other feasible embodiments, there can be three, six, eight, or other numbers of rollers 190. This application does not limit the specific number of rollers 190.

[0057] The aforementioned trajectory generation device 100 is equipped with rollers 190 at the bottom of the machine base 160, which facilitates the movement of the trajectory generation device 100 and improves the flexibility of the trajectory generation device 100. The trajectory generation device 100 can be moved to different scenes for trajectory drawing demonstration.

[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A trajectory generation device, characterized in that, The trajectory generation device includes: Guide rail module; Two motion modules are provided, both of which are reciprocally slidably disposed on the guide rail module, and the two motion modules are disposed at an interval on the guide rail module; A trajectory generator is movably connected to the two motion modules via two connecting rods, and during the motion of the two motion modules, the trajectory generator can perform linear and curved motion in a planar space.

2. The trajectory generation device according to claim 1, characterized in that, One end of each of the two connecting rods is hinged to one of the two motion modules, and the other end of each of the two connecting rods is hinged to the trajectory generator.

3. The trajectory generation device according to claim 1, characterized in that, One of the guide rail module and the motion module has a permanent magnet, and the other has an energized coil. When the coil is energized, a magnetic force is generated between the guide rail module and the motion module to drive the motion module to move relative to the guide rail module.

4. The trajectory generation device according to claim 1, characterized in that, The trajectory generation device further includes a control module, which is communicatively connected to the two motion modules and is used to control the synchronous and differential motion of the two motion modules.

5. The trajectory generation device according to claim 1, characterized in that, The trajectory generation device further includes a display module, which has a touch area, and the trajectory generator is in electrical contact with the touch area.

6. The trajectory generation device according to claim 1, characterized in that, The guide rail module is at least partially a linear module; Alternatively, the guide rail module may be at least partially an arc-shaped module.

7. The trajectory generation device according to claim 1, characterized in that, The trajectory generation device includes a machine base and an outer cover disposed on the machine base. The guide rail module is disposed on the machine base, and the outer cover covers the outside of the guide rail module, the two motion modules and the trajectory generation component.

8. The trajectory generation device according to claim 7, characterized in that, The outer cover is transparent, and at least one side of the outer cover is provided with an operating door, which can be opened and closed relative to the outer cover.

9. The trajectory generation apparatus according to any one of claims 7 or 8, characterized in that, The trajectory generation device further includes a power supply module and a cooling module, both of which are mounted on the machine base.

10. The trajectory generation apparatus according to any one of claims 7 or 8, characterized in that, The trajectory generation device includes at least one roller, which is disposed at the bottom of the machine platform; When there are multiple rollers, the multiple rollers are spaced apart along the circumferential direction of the machine tool.

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