A robot

Abstract

The present invention belongs to the field of robotics technology and discloses a robot comprising an integrated drive and control board and an arm body. The integrated drive and control board comprises a control module, a drive module, and a substrate. The control module and drive module are arranged on the substrate, and the control module is electrically connected to the drive module. The arm body is provided with the integrated drive and control board. By arranging the integrated drive and control board on the arm body, the present invention can, on the one hand, disperse the control components of the robot, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and increasing the service life of the robot; on the other hand, it can reduce the number of electronic components that the base of the robot needs to accommodate, thereby making the volume of the base smaller and enabling the robot to be suitable for use in smaller spaces; and on the other hand, it can simplify the connection relationship between the various drive structures of the arm body and the integrated drive and control board.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot. Background Art

[0002] Robots are cross-disciplinary products integrating mechanics, electrical engineering, and electronic information technology. The most common robots are those that can replace humans in tasks such as handling, assembly, loading and unloading, palletizing, welding, and painting. These robots are primarily composed of at least a mechanical body, a reducer, a motor, a driver, and a controller. Currently, the controllers and drivers of common robots on the market are separate and need to be installed separately, both on a base. This base occupies a large amount of space, consumes a large amount of installation materials, and results in complex signal transmission connections and heat dissipation. Furthermore, this split design makes it difficult to accommodate applications in confined spaces.

[0003] Based on the above situation, it is necessary to design a new robot. Summary of the Invention

[0004] An object of the present invention is to provide a robot capable of dispersing control components of the robot, thereby preventing local overheating of the robot.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In a first aspect, a robot is provided, comprising:

[0007] A drive-control integrated board, comprising a control module, a drive module, and a substrate, wherein the control module and the drive module are arranged on the substrate, and the control module is electrically connected to the drive module;

[0008] An arm body is provided with the drive control integrated plate.

[0009] Specifically, by arranging the drive and control integrated board on the arm body, on the one hand, the control components of the robot can be dispersed, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and improving the service life of the robot; on the other hand, the number of electronic components that the base of the robot needs to accommodate can be reduced, thereby making the volume of the base smaller, so that the robot can be suitable for a smaller space; on the other hand, the connection relationship between the various drive structures of the arm body and the drive and control integrated board can be simplified.

[0010] As an optional solution, a robotic arm is included, and the robotic arm includes at least one arm body.

[0011] Optionally, the robotic arm also includes an arm that is not provided with the integrated drive and control board.

[0012] As an optional solution, the integrated drive and control board further includes a first communication module, and the first communication module is electrically connected to the control module and / or the drive module.

[0013] Specifically, by providing the first communication module, remote connection between the control module and external devices can be achieved, and interaction between different integrated drive and control boards can be achieved, thereby improving the use flexibility and application scope of the integrated drive and control board.

[0014] Optionally, the first communication module is installed on the substrate.

[0015] Optionally, the first communication module is located between the control module and the driving module. Further, the first communication module is arranged close to the control module.

[0016] As an optional solution, the first communication module is connected to a network.

[0017] As an optional solution, the first communication module uses a wired or wireless connection network.

[0018] As an optional solution, the control module includes a first control part and a second control part, the first control part and the first communication module are arranged on the first surface of the substrate, and the second control part and the driving module are arranged on the second surface of the substrate.

[0019] Optionally, an internal heat sink is provided between the first and second surfaces of the substrate to dissipate heat from the first control unit, the second control unit, the driver module, and the first communication module. Furthermore, the internal heat sink includes heat fins supporting the first and second surfaces, and a heat dissipation fan disposed around the periphery. The heat dissipation fan can increase airflow velocity within the heat dissipation fins, thereby improving heat dissipation.

[0020] As an optional solution, the integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the control module and / or the drive module.

[0021] Optionally, the I / O interface is installed on the substrate.

[0022] As an optional solution, the integrated drive and control board further includes a heat sink, and the heat sink is bonded to the substrate.

[0023] As an optional solution, a base is further included, and the robotic arm is movably mounted on the base.

[0024] As an optional solution, the base is installed with the drive and control integrated board.

[0025] Optionally, the integrated drive and control board can be installed inside or outside the base, or inside or outside the robotic arm. Specifically, installing it inside the base or robotic arm can reliably protect the integrated drive and control board and increase its service life; installing it outside the base or robotic arm can improve maintenance convenience and heat dissipation performance.

[0026] As an optional solution, the integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

[0027] As an optional solution, any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect to external device signals;

[0028] Alternatively, all of the drive-control integrated boards are connected to a cloud controller, and the cloud controller controls the signals of all of the drive-control integrated boards and connects them to external device signals.

[0029] As an optional solution, a connecting board is also included, which is used to control the signals of all the drive and control integrated boards and connect with external device signals. The connecting board includes a control part and a mounting board. The control part is arranged on the mounting board, and the drive and control integrated board is electrically connected to the control part.

[0030] Specifically, by setting up the control part electrically connected to the drive and control integrated board, on the one hand, it is possible to achieve overall control of all the drive and control integrated boards, coordinate the signal interaction between different drive and control integrated boards, so that the robot's control system can form comprehensive and reliable control over the execution components. On the other hand, the drive and control integrated board can use the control part as a unified external linkage control interface, which can simplify the overall control logic and thereby reduce the overall design difficulty.

[0031] Optionally, the connecting plate is mounted on the base.

[0032] As an optional solution, the connecting board further includes a second communication module, the second communication module is provided on the mounting board, and the control part is electrically connected to the second communication module.

[0033] Specifically, the second communication module can realize remote interaction between the control part and external devices, thereby improving the efficiency of interconnection between the robot's control system and external devices.

[0034] As an optional solution, the second communication module is connected to a network.

[0035] As an optional solution, the second communication module uses a wired or wireless connection network.

[0036] As an optional solution, a connection socket is further included, which includes a first cascade socket for the integrated drive and control board to be plugged in and a second cascade socket for the connection board to be plugged in, and the second cascade socket is electrically connected to the first cascade socket.

[0037] Specifically, by providing the connecting socket with the first cascade socket and the second cascade socket, on the one hand, the installation reliability of the drive and control integrated board and the connecting plate can be improved, and on the other hand, the rapid disassembly and assembly of the drive and control integrated board and the connecting plate and the connecting socket can be facilitated, thereby improving the convenience and flexibility of using different drive and control integrated boards and connecting plates in combination.

[0038] A second aspect provides a robot comprising

[0039] robotic arm;

[0040] At least one drive-control integrated board, at least one of the drive-control integrated boards is arranged on the robotic arm, the drive-control integrated board includes a control module, a drive module and a substrate, the control module and the drive module are arranged on the substrate, and the control module is electrically connected to the drive module.

[0041] Specifically, by arranging part of the drive and control integrated board on the robotic arm, on the one hand, the control components of the robot can be dispersed, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and improving the service life of the robot; on the other hand, the number of electronic components that the base of the robot needs to accommodate can be reduced, thereby making the volume of the base smaller, so that the robot can be suitable for a smaller space; on the other hand, the connection relationship between the various drive structures of the robotic arm and the drive and control integrated board can be simplified.

[0042] As an optional solution, the integrated drive and control board further includes a first communication module, and the first communication module is electrically connected to the control module and / or the drive module.

[0043] Specifically, by providing the first communication module, remote connection between the control module and external devices can be achieved, and interaction between different integrated drive and control boards can be achieved, thereby improving the use flexibility and application scope of the integrated drive and control board.

[0044] Optionally, the first communication module is installed on the substrate.

[0045] As an optional solution, the first communication module is connected to a network.

[0046] As an optional solution, the first communication module uses a wired or wireless connection network.

[0047] As an optional solution, the integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the control module and / or the drive module.

[0048] Optionally, the I / O interface is installed on the substrate.

[0049] As an optional solution, the integrated drive and control board further includes a heat sink, and the heat sink is bonded to the substrate.

[0050] As an optional solution, the robotic arm includes a plurality of arm bodies, the number of the drive and control integrated boards is more than two, and each of the drive and control integrated boards controls at least one of the arm bodies.

[0051] As an optional solution, one integrated drive and control board controls one arm body accordingly.

[0052] As an optional solution, the integrated drive and control board is installed on the arm body that it controls; or, the integrated drive and control board is installed on the arm body adjacent to the arm body that it controls.

[0053] Specifically, each arm is provided with a drive and control integrated board, and the drive and control integrated board controls the arm on which it is located or the adjacent arm. This design can simplify the connection structure between all the drive and control integrated boards and each arm and improve the reliability of signal transmission.

[0054] As an optional solution, a base is further included, and the robotic arm is movably mounted on the base.

[0055] As an optional solution, at least one of the drive and control integrated boards is installed on the base.

[0056] As another optional solution, all of the drive and control integrated boards are installed on the robotic arm.

[0057] As an optional solution, the integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

[0058] As an optional solution, any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect to external device signals;

[0059] Alternatively, all of the drive-control integrated boards are connected to a cloud controller, which controls the signals of all of the drive-control integrated boards and connects them to external device signals.

[0060] Specifically, this design can improve the interaction efficiency between the arms of different robots, thereby improving the efficiency and flexibility of the linkage operations of different robots.

[0061] As an optional solution, a connecting board is also included, which is used to control the signals of all the drive and control integrated boards and connect with external device signals. The connecting board includes a control part and a mounting board. The control part is arranged on the mounting board, and the drive and control integrated board is electrically connected to the control part.

[0062] Specifically, by setting up the control part electrically connected to the drive and control integrated board, on the one hand, it is possible to achieve overall control of all the drive and control integrated boards, coordinate the signal interaction between different drive and control integrated boards, so that the robot's control system can form comprehensive and reliable control over the execution components. On the other hand, the drive and control integrated board can use the control part as a unified external linkage control interface, which can simplify the overall control logic and make the robot network relationship composed of different robots clear and simple, thereby reducing the overall design difficulty.

[0063] Optionally, the connecting plate is mounted on the base.

[0064] As an optional solution, the connecting board further includes a second communication module, the second communication module is provided on the mounting board, and the control part is electrically connected to the second communication module.

[0065] Specifically, the second communication module can realize remote interaction between the control part and external devices, thereby improving the efficiency of interconnection between the robot's control system and external devices.

[0066] As an optional solution, the second communication module is connected to a network.

[0067] As an optional solution, the second communication module uses a wired or wireless connection network.

[0068] As an optional solution, a connection socket is further included, which includes a first cascade socket for the integrated drive and control board to be plugged in and a second cascade socket for the connection board to be plugged in, and the second cascade socket is electrically connected to the first cascade socket.

[0069] Specifically, by providing the connecting socket with the first cascade socket and the second cascade socket, on the one hand, the installation reliability of the drive and control integrated board and the connecting plate can be improved, and on the other hand, the rapid disassembly and assembly of the drive and control integrated board and the connecting plate and the connecting socket can be facilitated, thereby improving the convenience and flexibility of using different drive and control integrated boards and connecting plates in combination.

[0070] A third aspect provides a robot, comprising:

[0071] robotic arm;

[0072] At least one drive and control integrated board, at least one of the drive and control integrated boards is arranged on the robotic arm, the drive and control integrated board includes an integrated first substrate and a second substrate, the first substrate is a control function board, the second substrate is a drive function board, and the first substrate is electrically connected to the second substrate.

[0073] As an optional solution, the integrated drive and control board further includes a first communication module, and the first communication module is electrically connected to the first substrate and / or the second substrate.

[0074] Optionally, the first communication module is installed on the first substrate or the second substrate.

[0075] As an optional solution, the first communication module is connected to a network.

[0076] As an optional solution, the first communication module uses a wired or wireless connection network.

[0077] As an optional solution, the integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the first substrate and / or the second substrate.

[0078] Optionally, the I / O interface is installed on the first substrate.

[0079] As an optional solution, the integrated drive and control board further includes a heat sink, and the heat sink is bonded to the first substrate or the second substrate.

[0080] As an optional solution, the robotic arm includes a plurality of arm bodies, the number of the drive and control integrated boards is more than two, and each of the drive and control integrated boards controls at least one of the arm bodies.

[0081] As an optional solution, one integrated drive and control board controls one arm body accordingly.

[0082] As an optional solution, the integrated drive and control board is installed on the arm body that it controls; or, the integrated drive and control board is installed on the arm body adjacent to the arm body that it controls.

[0083] As an optional solution, a base is further included, and the robotic arm is movably mounted on the base.

[0084] As an optional solution, at least one of the drive and control integrated boards is installed on the base.

[0085] As another optional solution, all of the drive and control integrated boards are installed on the robotic arm.

[0086] As an optional solution, the integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

[0087] As an optional solution, any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect to external device signals;

[0088] Alternatively, all of the drive-control integrated boards are connected to a cloud controller, and the cloud controller controls the signals of all of the drive-control integrated boards and connects them to external device signals.

[0089] As an optional solution, a connecting board is also included, which is used to control the signals of all the drive and control integrated boards and connect with external device signals. The connecting board includes a control part and a mounting board. The control part is arranged on the mounting board, and the drive and control integrated board is electrically connected to the control part.

[0090] Optionally, the connecting plate is mounted on the base.

[0091] As an optional solution, the connecting board further includes a second communication module, the second communication module is provided on the mounting board, and the control part is electrically connected to the second communication module.

[0092] As an optional solution, the second communication module is connected to a network.

[0093] As an optional solution, the second communication module uses a wired or wireless connection network.

[0094] The beneficial effects of the present invention are: providing a robot, by arranging the drive and control integrated board on the arm body, on the one hand, the control components of the robot can be dispersed, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and improving the service life of the robot; on the other hand, it can reduce the number of electronic components that the base of the robot needs to accommodate, thereby making the volume of the base smaller, so that the robot can be suitable for a smaller space; on the other hand, it can simplify the connection relationship between the various drive structures of the arm body and the drive and control integrated board. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0096] Figure 1 This is a schematic diagram of a first structure of the robot described in the embodiment;

[0097] Figure 2 This is a structural schematic diagram of the drive-control integrated board described in the embodiment;

[0098] Figure 3 This is another structural schematic diagram of the integrated drive and control board described in the embodiment;

[0099] Figure 4This is a schematic diagram of a second structure of the robot described in the embodiment;

[0100] Figure 5 This is a schematic structural diagram of the drive-control integrated plate and the connecting plate according to the embodiment;

[0101] Figure 6 This is another structural schematic diagram of the drive-control integrated board described in the embodiment;

[0102] Figure 7 This is a schematic diagram of a third structure of the robot described in the embodiment;

[0103] Figure 8 This is a fourth structural schematic diagram of the robot described in the embodiment.

[0104] Figures 1 to 8 middle:

[0105] 1. Base;

[0106] 2. Robotic arm; 21. Arm body; 211. First axis; 212. Second axis; 213. Third axis; 214. Fourth axis; 215. Fifth axis; 216. Sixth axis;

[0107] 3. Drive-control integrated board; 31. Control module; 311. First control part; 312. Second control part; 32. Drive module; 33. Baseboard; 34. First communication module; 35. Heat dissipation fins; 36. Heat dissipation fan; 37. First baseboard; 38. Second baseboard;

[0108] 4. Connecting plate; 41. Control unit; 42. Mounting plate; 43. Second communication module;

[0109] 5. Connecting socket; 51. First cascade socket; 52. Second cascade socket. DETAILED DESCRIPTION

[0110] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0111] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0112] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0113] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0114] Example 1:

[0115] A robot, such as Figure 1 and Figure 2 As shown ( Figure 1 This is just one type of SCARA robot. In fact, this technology is not limited to Figure 1The specific shape structure or model shown is not limited to the category of SCARA robots, but can also be other categories of robots, such as two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots, and is suitable for various specific shapes, structures and models of two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots), including a drive and control integrated board 3 and an arm body 21, the drive and control integrated board 3 includes a control module 31, a drive module 32 and a substrate 33, the control module 31 and the drive module 32 are arranged on the substrate 33, and the control module 31 is electrically connected to the drive module 32; the arm body 21 is provided with a drive and control integrated board 3. Specifically, by placing the integrated drive and control board 3 on the arm 21, on the one hand, the robot's control components can be dispersed, thereby preventing local overheating of the robot, thereby ensuring reliable operation and increasing the robot's service life. On the other hand, the number of electronic components that must be accommodated by the robot's base 1 can be reduced, thereby making the base 1 smaller and allowing the robot to fit into even smaller spaces. On another hand, the connection between the various drive structures of the arm 21 and the integrated drive and control board 3 can be simplified. Furthermore, the arm 21 with the integrated drive and control board 3 can form a standard arm structure with its own control function, which can quickly replace the arm in the robot arm 2. This design is highly convenient and versatile.

[0116] In this embodiment, the robot includes a robotic arm 2, which includes at least one arm 21. Optionally, the robotic arm 2 also includes an arm that is not provided with an integrated drive and control board 3. That is, the robotic arm 2 is composed of an arm 21 with an integrated drive and control board 3 and an arm that is not provided with an integrated drive and control board 3. The integrated drive and control board 3 can control the arm 21 and the arm. Of course, in some embodiments, the robotic arm 2 can also be composed only of the arm 21 and does not include any other arms. In this case, all arms 21 are provided with an integrated drive and control board 3, so that each arm 21 can achieve self-control.

[0117] Optionally, the integrated drive and control board 3 further includes a first communication module 34, which is electrically connected to the control module 31 and / or the drive module 32. Specifically, by providing the first communication module 34, remote connection between the control module 31 and external devices and interaction between different integrated drive and control boards 3 can be achieved, thereby increasing the flexibility and applicability of the integrated drive and control board 3. Optionally, the first communication module 34 is mounted on the baseboard 33. Furthermore, the first communication module 34 is located between the control module 31 and the drive module 32, and the first communication module 34 is disposed near the control module 31.

[0118] Optionally, the first communication module 34 is connected to a network. Further, the first communication module 34 is connected to the network via a wired or wireless connection.

[0119] Optionally, the integrated drive and control board 3 further includes an I / O interface, which is electrically connected to the control module 31 and / or the drive module 32 , and is mounted on the base plate 33 .

[0120] Optionally, the integrated drive and control board 3 further includes a heat sink, which is bonded to the base plate 33 .

[0121] In this embodiment, the robot further includes a base 1 , and a robotic arm 2 is movably mounted on the base 1 .

[0122] Optionally, any one of the integrated drive and control boards 3 can serve as a main control board, for controlling the signals of all the integrated drive and control boards 3 and connecting with external device signals.

[0123] Example 2:

[0124] The difference between this embodiment and the first embodiment is that:

[0125] like Figure 3 As shown, the control module 31 includes a first control part 311 and a second control part 312 . The first control part 311 and the first communication module 34 are arranged on the first surface of the substrate 33 , and the second control part 312 and the driving module 32 are arranged on the second surface of the substrate 33 .

[0126] Optionally, an internal heat sink is provided between the first and second surfaces of the substrate 33 to dissipate heat from the first control unit 311, the second control unit 312, the driver module 32, and the first communication module 34. Furthermore, the internal heat sink includes heat fins 35 supporting the first and second surfaces, and a heat dissipation fan 36 disposed around the periphery. The heat dissipation fan 36 can increase airflow velocity within the heat dissipation fins 35, thereby improving heat dissipation.

[0127] Example 3:

[0128] The difference between this embodiment and the first embodiment is that:

[0129] like Figure 4 As shown, the base 1 is mounted with an integrated drive and control board 3. Furthermore, the integrated drive and control board 3 can be located inside or outside the base 1, or inside or outside the robotic arm 2. Specifically, if located inside the base 1 or robotic arm 2, the integrated drive and control board 3 can be reliably protected and its service life can be increased; if located outside the base 1 or robotic arm 2, maintenance convenience and heat dissipation performance can be improved.

[0130] Optionally, the integrated drive and control board 3 installed on the base 1 is a main control board, which is used to control the signals of all the integrated drive and control boards 3 and connect with external device signals.

[0131] Example 4:

[0132] The difference between this embodiment and the first embodiment is that:

[0133] All integrated drive and control boards 3 are connected to a cloud controller, which controls their signals and connects them to external device signals. In other words, in this embodiment, the integrated drive and control boards 3 do not need to function as main control boards. Instead, the cloud controller serves as the robot's central control center, enabling overall control of the robot. This design improves the interaction efficiency between the arms 21 of different robots, thereby enhancing the efficiency and flexibility of their coordinated operations.

[0134] Embodiment 5:

[0135] The difference between this embodiment and the first embodiment is that:

[0136] The robot also includes a connecting board 4, which is used to control the signals of all the drive control integrated boards 3 and connect to external device signals, such as Figure 5 As shown, the connecting board 4 includes a control portion 41 and a mounting plate 42. The control portion 41 is provided on the mounting plate 42, and the integrated drive and control board 3 is electrically connected to the control portion 41. Specifically, by providing the control portion 41 electrically connected to the integrated drive and control board 3, on the one hand, it is possible to achieve overall control of all the integrated drive and control boards 3 and coordinate the signal interaction between different integrated drive and control boards 3 so that the robot's control system can form comprehensive and reliable control over the actuators. On the other hand, the integrated drive and control board 3 can use the control portion 41 as a unified external linkage control interface, which can simplify the overall control logic and thus reduce the overall design difficulty.

[0137] Optionally, the connecting plate 4 is mounted on the base 1 .

[0138] In this embodiment, the connection plate 4 also includes a second communication module 43, which is mounted on the mounting plate 42. The control unit 41 is electrically connected to the second communication module 43. The second communication module 43 is connected to the network, and furthermore, the second communication module 43 uses a wired or wireless connection to the network. Specifically, the second communication module 43 enables remote interaction between the control unit 41 and external devices, thereby improving the efficiency of the interconnection between the robot's control system and external devices.

[0139] Optionally, the robot further includes a connection base 5, which includes a first cascade socket 51 for plugging into the integrated drive and control board 3 and a second cascade socket 52 for plugging into the connection board 4, wherein the second cascade socket 52 is electrically connected to the first cascade socket 51. Specifically, by providing the connection base 5 with the first cascade socket 51 and the second cascade socket 52, on the one hand, the installation reliability of the integrated drive and control board 3 and the connection board 4 can be improved, and on the other hand, the rapid disassembly and assembly of the integrated drive and control board 3, the connection board 4 and the connection base 5 can be facilitated, thereby improving the convenience and flexibility of using different combinations of the integrated drive and control boards 3 and the connection boards 4.

[0140] Example 6:

[0141] A robot, such as Figure 1 and Figure 2 As shown ( Figure 1 This is just one type of SCARA robot. In fact, this technology is not limited to Figure 1 The specific shape structure or model shown is not limited to the category of SCARA robots, but can also be other categories of robots, such as two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots, and is suitable for various specific shapes, structures and models of two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots), including a robotic arm 2 and at least one drive-control integrated board 3, at least one of the drive-control integrated boards 3 is arranged on the robotic arm 2, the drive-control integrated board 3 includes a control module 31, a drive module 32 and a substrate 33, the control module 31 and the drive module 32 are arranged on the substrate 33, and the control module 31 is electrically connected to the drive module 32. Specifically, by arranging part of the drive and control integrated board 3 on the robot arm 2, on the one hand, the control components of the robot can be dispersed, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and improving the service life of the robot; on the other hand, the number of electronic components that the base 1 of the robot needs to accommodate can be reduced, thereby making the volume of the base 1 smaller, so that the robot can be suitable for a smaller space; on the other hand, the connection relationship between the various drive structures of the robot arm 2 and the drive and control integrated board 3 can be simplified.

[0142] Optionally, the integrated drive-control board 3 also includes a first communication module 34, which is electrically connected to the control module 31 and / or the drive module 32. Specifically, the provision of the first communication module 34 enables remote connection between the control module 31 and external devices, as well as interaction between different integrated drive-control boards 3, thereby increasing the flexibility and applicability of the integrated drive-control board 3. Furthermore, the first communication module 34 is mounted on the baseboard 33 and connected to a network, either wired or wirelessly.

[0143] Optionally, the integrated drive and control board 3 further includes an I / O interface, which is electrically connected to the control module 31 and / or the drive module 32 , and is mounted on the base plate 33 .

[0144] Optionally, the integrated drive and control board 3 further includes a heat sink, which is bonded to the base plate 33 .

[0145] In this embodiment, the robot arm 2 includes a plurality of arms 21 , and the number of the drive-control integrated boards 3 is more than two, and each drive-control integrated board 3 controls at least one arm 21 . Optionally, one drive-control integrated board 3 controls one arm 21 .

[0146] Optionally, all the integrated drive and control boards 3 are installed on the robotic arm 2 .

[0147] Optionally, the integrated drive and control board 3 is mounted on the arm 21 that it controls; or, the integrated drive and control board 3 is mounted on an adjacent arm 21 to the arm 21 that it controls. Specifically, each arm 21 is provided with a single integrated drive and control board 3, and the integrated drive and control board 3 controls the arm 21 on which it is located or the adjacent arm 21. This design can simplify the connection structure between all integrated drive and control boards 3 and each arm 21 and improve the reliability of signal transmission.

[0148] In this embodiment, the robot further includes a base 1 , and a robotic arm 2 is movably mounted on the base 1 .

[0149] Optionally, any one of the integrated drive and control boards 3 can serve as a main control board, for controlling the signals of all the integrated drive and control boards 3 and connecting with external device signals.

[0150] Embodiment seven:

[0151] The difference between this embodiment and the sixth embodiment is that:

[0152] like Figure 3 As shown, the control module 31 includes a first control part 311 and a second control part 312 . The first control part 311 and the first communication module 34 are arranged on the first surface of the substrate 33 , and the second control part 312 and the driving module 32 are arranged on the second surface of the substrate 33 .

[0153] Optionally, an internal heat sink is provided between the first and second surfaces of the substrate 33 to dissipate heat from the first control unit 311, the second control unit 312, the driver module 32, and the first communication module 34. Furthermore, the internal heat sink includes heat fins 35 supporting the first and second surfaces, and a heat dissipation fan 36 disposed around the periphery. The heat dissipation fan 36 increases airflow velocity within the heat dissipation fins 35, thereby improving heat dissipation.

[0154] Embodiment 8:

[0155] The difference between this embodiment and the sixth embodiment is that:

[0156] like Figure 4 As shown, at least one drive-control integrated board 3 is installed on the base 1. Optionally, the drive-control integrated board 3 installed on the base 1 is a main control board, which is used to control the signals of all the drive-control integrated boards 3 and connect to external device signals.

[0157] Embodiment 9:

[0158] The difference between this embodiment and the sixth embodiment is that:

[0159] All integrated drive and control boards 3 are connected to a cloud controller, which controls their signals and connects them to external device signals. In other words, in this embodiment, the integrated drive and control boards 3 do not need to function as main control boards. Instead, the cloud controller serves as the robot's central control center, enabling overall control of the robot. This design improves the interaction efficiency between the arms 21 of different robots, thereby enhancing the efficiency and flexibility of their coordinated operations.

[0160] Embodiment 10:

[0161] The difference between this embodiment and the sixth embodiment is that:

[0162] The robot also includes a connecting board 4, which is used to control the signals of all the drive control integrated boards 3 and connect to external device signals, such as Figure 5 As shown, the connecting board 4 includes a control portion 41 and a mounting plate 42. The control portion 41 is provided on the mounting plate 42, and the integrated drive and control board 3 is electrically connected to the control portion 41. Specifically, by providing the control portion 41 electrically connected to the integrated drive and control board 3, on the one hand, it is possible to achieve overall control of all the integrated drive and control boards 3 and coordinate the signal interaction between different integrated drive and control boards 3 so that the robot's control system can form comprehensive and reliable control over the actuators. On the other hand, the integrated drive and control board 3 can use the control portion 41 as a unified external linkage control interface, which can simplify the overall control logic and thus reduce the overall design difficulty.

[0163] Optionally, the connecting plate 4 is mounted on the base 1 .

[0164] In this embodiment, the connection plate 4 also includes a second communication module 43, which is mounted on the mounting plate 42. The control unit 41 is electrically connected to the second communication module 43. The second communication module 43 is connected to the network, and furthermore, the second communication module 43 uses a wired or wireless connection to the network. Specifically, the second communication module 43 enables remote interaction between the control unit 41 and external devices, thereby improving the efficiency of the interconnection between the robot's control system and external devices.

[0165] Optionally, the robot further includes a connection base 5, which includes a first cascade socket 51 for plugging into the integrated drive and control board 3 and a second cascade socket 52 for plugging into the connection board 4, wherein the second cascade socket 52 is electrically connected to the first cascade socket 51. Specifically, by providing the connection base 5 with the first cascade socket 51 and the second cascade socket 52, on the one hand, the installation reliability of the integrated drive and control board 3 and the connection board 4 can be improved, and on the other hand, the rapid disassembly and assembly of the integrated drive and control board 3, the connection board 4 and the connection base 5 can be facilitated, thereby improving the convenience and flexibility of using different combinations of the integrated drive and control boards 3 and the connection boards 4.

[0166] Example 11:

[0167] A robot, such as Figure 1 and Figure 6 As shown ( Figure 1 This is just one type of SCARA robot. In fact, this technology is not limited to Figure 1 The specific shape structure or model shown is not limited to the category of SCARA robots, but can also be other categories of robots, such as two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots, and is suitable for various specific shape structures and models of two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multi-axis robots and Delta robots), including a robotic arm 2 and at least one drive-control integrated board 3, at least one of the drive-control integrated boards 3 is arranged on the robotic arm 2, and the drive-control integrated board 3 includes an integrated first substrate 37 and a second substrate 38, the first substrate 37 is a control function board, and the second substrate 38 is a drive function board, and the first substrate 37 is electrically connected to the second substrate 38. Specifically, by arranging part of the drive and control integrated board 3 on the robot arm 2, on the one hand, the control components of the robot can be dispersed, thereby avoiding local overheating of the robot, thereby ensuring the reliable operation of the robot and improving the service life of the robot; on the other hand, the number of electronic components that the base 1 of the robot needs to accommodate can be reduced, thereby making the volume of the base 1 smaller, so that the robot can be suitable for a smaller space; on the other hand, the connection relationship between the various drive structures of the robot arm 2 and the drive and control integrated board 3 can be simplified.

[0168] Optionally, the integrated drive and control board 3 further includes a first communication module 34, which is electrically connected to the first substrate 37 and / or the second substrate 38. Furthermore, the first communication module 34 is mounted on the first substrate 37 or the second substrate 38, and is connected to a network, and the first communication module 34 uses a wired or wireless connection to the network.

[0169] Optionally, the integrated drive and control board 3 further includes an I / O interface, which is electrically connected to the first substrate 37 and / or the second substrate 38 . Furthermore, the I / O interface is mounted on the first substrate 37 .

[0170] Optionally, the integrated drive and control board 3 further includes a heat sink, which is bonded to the first substrate 37 or the second substrate 38 .

[0171] In this embodiment, the robot arm 2 includes a plurality of arms 21 , and the number of the drive-control integrated boards 3 is more than two, and each drive-control integrated board 3 controls at least one arm 21 . Optionally, one drive-control integrated board 3 controls one arm 21 .

[0172] Optionally, all the integrated drive and control boards 3 are installed on the robotic arm 2 .

[0173] Optionally, the integrated drive and control board 3 is installed on the arm body 21 controlled by itself; or, the integrated drive and control board 3 is installed on an adjacent arm body 21 of the arm body 21 controlled by itself.

[0174] In this embodiment, the robot further includes a base 1 , and a robotic arm 2 is movably mounted on the base 1 .

[0175] Optionally, any one of the integrated drive and control boards 3 can serve as a main control board, for controlling the signals of all the integrated drive and control boards 3 and connecting with external device signals.

[0176] Example 12:

[0177] The difference between this embodiment and the eleventh embodiment is that:

[0178] At least one integrated drive and control board is mounted on the base. Optionally, the integrated drive and control board mounted on the base is a main control board, which is used to control the signals of all integrated drive and control boards and connect with external device signals.

[0179] Example 13:

[0180] The difference between this embodiment and the eleventh embodiment is that:

[0181] All integrated drive and control boards are connected to a cloud controller, which controls their signals and connects them to external device signals. In other words, in this embodiment, none of the integrated drive and control boards need to serve as the main control board. Instead, the cloud controller serves as the robot's central control center, enabling overall control of the robot. This design improves the interaction efficiency between different robot arms, thereby enhancing the efficiency and flexibility of coordinated operations.

[0182] Example 14:

[0183] The difference between this embodiment and the eleventh embodiment is that:

[0184] The robot also includes a connection board, which is used to control the signals of all the integrated drive-control boards and connect them to external device signals. The connection board includes a control portion and a mounting plate. The control portion is disposed on the mounting plate, and the integrated drive-control board is electrically connected to the control portion. Specifically, by providing a control portion electrically connected to the integrated drive-control board, on the one hand, it is possible to achieve overall control of all the integrated drive-control boards and coordinate signal interactions between different integrated drive-control boards, so that the robot's control system can form comprehensive and reliable control over the actuator components. On the other hand, the integrated drive-control board can use the control portion as a unified external linkage control interface, which can simplify the overall control logic and thus reduce the overall design difficulty.

[0185] Optionally, the connecting plate is mounted on the base.

[0186] In this embodiment, the connection board also includes a second communication module, which is mounted on the mounting board and electrically connected to the control unit. The second communication module is connected to a network and can be connected to the network using either a wired or wireless connection. Specifically, the second communication module enables remote interaction between the control unit and external devices, thereby improving the efficiency of interconnection between the robot's control system and external devices.

[0187] Optionally, the robot further includes a connector, the connector including a first cascade socket for plugging into the integrated drive-control board and a second cascade socket for plugging into the connection board, the second cascade socket being electrically connected to the first cascade socket. Specifically, by providing a connector having the first cascade socket and the second cascade socket, the reliability of the installation of the integrated drive-control board and the connection board can be improved, while also facilitating the rapid assembly and disassembly of the integrated drive-control board, the connection board, and the connector, thereby improving the convenience and flexibility of using different combinations of integrated drive-control boards and connection boards.

[0188] Embodiment 15:

[0189] A robot, such as Figure 7 and Figure 2As shown, the robot comprises a base 1 and a robotic arm 2. The robotic arm 2 comprises six arms movably connected in sequence, namely a first axis 211, a second axis 212, a third axis 213, a fourth axis 214, a fifth axis 215, and a sixth axis 216. The first axis 211 is movably connected to the base 1. The robot also comprises a drive-control integrated board 3 for controlling the movement of the robotic arm 2. The drive-control integrated board 3 comprises a control module 31, a drive module 32, and a base plate 33. The control module 31 and the drive module 32 are disposed on the base plate 33, and the control module 31 is electrically connected to the drive module 32. In this embodiment, a drive and control integrated board 3 is provided in the base 1 and the third axis 213. The drive and control integrated board 3 located on the base 1 controls the movement of the first axis 211 and the second axis 212, and the drive and control integrated board 3 located on the third axis 213 controls the movement of the third axis 213, the fourth axis 214, the fifth axis 215 and the sixth axis 216; or, the drive and control integrated board 3 located on the base 1 controls the movement of the first axis 211, the second axis 212 and the third axis 213, and the drive and control integrated board 3 located on the third axis 213 controls the movement of the fourth axis 214, the fifth axis 215 and the sixth axis 216. Specifically, the above design can, on the one hand, disperse the control components of the robot on the base 1 and the robotic arm 2, thereby preventing the base 1 from overheating and affecting the normal operation and service life of the robot; on the other hand, it can place the control components on the fourth axis 214, the fifth axis 215 and the sixth axis 216 in front of the third axis 213, making the mass of the fourth axis 214, the fifth axis 215 and the sixth axis 216 lighter, thereby ensuring that the rear end arm can move quickly and reliably.

[0190] Optionally, the integrated drive-control board 3 also includes a first communication module 34, which is electrically connected to the control module 31 and / or the drive module 32. Specifically, the provision of the first communication module 34 enables remote connection between the control module 31 and external devices, as well as interaction between different integrated drive-control boards 3, thereby increasing the flexibility and applicability of the integrated drive-control board 3. Furthermore, the first communication module 34 is mounted on the baseboard 33 and connected to a network, either wired or wirelessly.

[0191] Optionally, the integrated drive and control board 3 further includes an I / O interface, which is electrically connected to the control module 31 and / or the drive module 32 , and is mounted on the base plate 33 .

[0192] Example 16:

[0193] A robot, such as Figure 8 and Figure 2As shown, the robot comprises an integrated drive and control board 3 and an arm 21. The integrated drive and control board 3 includes a control module 31, a drive module 32, and a substrate 33. The control module 31 and the drive module 32 are disposed on the substrate 33, with the control module 31 electrically connected to the drive module 32. The arm 21 is provided with the integrated drive and control board 3. Specifically, by disposing the integrated drive and control board 3 within the arm 21, on the one hand, the robot's control components can be dispersed, thereby preventing local overheating of the robot, thereby ensuring reliable operation and increasing the robot's service life; on the other hand, the number of electronic components required to be accommodated by the robot's base 1 can be reduced, thereby making the base 1 smaller and enabling the robot to fit into smaller spaces; and on the other hand, the connection relationship between the various drive structures of the arm 21 and the integrated drive and control board 3 can be simplified. Furthermore, the arm 21 with the integrated drive and control board 3 forms a standard arm structure with its own control functions, allowing for quick replacement of arms within the robotic arm 2. This design is highly convenient and versatile.

[0194] In this embodiment, the robot includes a robotic arm 2, which includes at least one arm 21. Optionally, the robotic arm 2 also includes an arm that is not provided with an integrated drive and control board 3. That is, the robotic arm 2 is composed of an arm 21 with an integrated drive and control board 3 and an arm that is not provided with an integrated drive and control board 3. The integrated drive and control board 3 can control the arm 21 and the arm. Of course, in some embodiments, the robotic arm 2 can also be composed only of the arm 21 and does not include any other arms. In this case, all arms 21 are provided with an integrated drive and control board 3, so that each arm 21 can achieve self-control.

[0195] Optionally, the integrated drive and control board 3 further includes a first communication module 34, which is electrically connected to the control module 31 and / or the drive module 32. Specifically, by providing the first communication module 34, remote connection between the control module 31 and external devices and interaction between different integrated drive and control boards 3 can be achieved, thereby increasing the flexibility and applicability of the integrated drive and control board 3. Optionally, the first communication module 34 is mounted on the baseboard 33. Furthermore, the first communication module 34 is located between the control module 31 and the drive module 32, and the first communication module 34 is disposed near the control module 31.

[0196] Optionally, the first communication module 34 is connected to a network. Further, the first communication module 34 is connected to the network via a wired or wireless connection.

[0197] Optionally, the integrated drive and control board 3 further includes an I / O interface, which is electrically connected to the control module 31 and / or the drive module 32 , and is mounted on the base plate 33 .

[0198] Optionally, the integrated drive and control board 3 further includes a heat sink, which is bonded to the base plate 33 .

[0199] In this embodiment, the robot further includes a base 1 , and a robotic arm 2 is movably mounted on the base 1 .

[0200] Optionally, any one of the integrated drive and control boards 3 can serve as a main control board, for controlling the signals of all the integrated drive and control boards 3 and connecting with external device signals.

[0201] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0202] In this specification, reference to terms such as "one embodiment" or "example" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0203] Furthermore, the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot, characterized in that: include A drive-control integrated board, comprising a control module, a drive module, and a substrate, wherein the control module and the drive module are arranged on the substrate, and the control module is electrically connected to the drive module; An arm body, wherein the arm body is provided with the drive-control integrated board; the drive-control integrated board further comprises a first communication module; The control module includes a first control part and a second control part, the first control part and the first communication module are arranged on the first surface of the substrate, and the second control part and the driving module are arranged on the second surface of the substrate; An internal heat sink is provided between the first surface and the second surface of the substrate, and the internal heat sink includes heat dissipation fins supporting the first surface and the second surface, and a heat dissipation fan provided on the periphery; The robot includes a mechanical arm, and the mechanical arm includes at least one arm body; The robot further includes a connecting board, which is used to control the signals of all the drive-control integrated boards and connect to external device signals. The connecting board includes a control part and a mounting board. The control part is provided on the mounting board, and the drive-control integrated board is electrically connected to the control part. The connecting board further includes a second communication module, the second communication module is arranged on the mounting board, and the control part is electrically connected to the second communication module.

2. A robot according to claim 1, characterized in that: The first communication module is electrically connected to the control module and / or the driving module.

3. A robot according to claim 2, characterized in that: The first communication module is connected to the network.

4. A robot according to claim 3, characterized in that: The first communication module uses a wired or wireless connection network.

5. A robot according to claim 1, characterized in that: The integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the control module and / or the drive module.

6. A robot according to claim 1, characterized in that: The drive-control integrated board further includes a heat sink, and the heat sink is bonded to the substrate.

7. A robot according to claim 1, characterized in that: It also includes a base, and the robotic arm is movably installed on the base.

8. A robot according to claim 7, characterized in that: The drive-control integrated board is installed on the base.

9. A robot according to claim 8, characterized in that: The integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

10. The robot according to claim 1, characterized in that: Any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect with external device signals; Alternatively, all of the drive-control integrated boards are connected to a cloud controller, which controls the signals of all of the drive-control integrated boards and connects them to external device signals.

11. The robot according to claim 1, characterized in that: The second communication module is connected to the network.

12. A robot according to claim 11, characterized in that: The second communication module uses a wired or wireless connection network.

13. A robot, characterized in that: include robotic arm; At least one drive-control integrated board, at least one of the drive-control integrated boards is disposed on the robotic arm, the drive-control integrated board includes a control module, a drive module, a first communication module and a substrate, the control module and the drive module are disposed on the substrate, and the control module is electrically connected to the drive module; The control module includes a first control part and a second control part, the first control part and the first communication module are arranged on the first surface of the substrate, and the second control part and the driving module are arranged on the second surface of the substrate; An internal heat sink is provided between the first surface and the second surface of the substrate, and the internal heat sink includes heat dissipation fins supporting the first surface and the second surface, and a heat dissipation fan provided on the periphery; The robotic arm includes a plurality of arm bodies, the number of the drive-control integrated boards is more than two, and each drive-control integrated board controls at least one of the arm bodies; It also includes a connecting board, which is used to control the signals of all the drive-control integrated boards and connect them to external device signals. The connecting board includes a control part and a mounting board. The control part is provided on the mounting board, and the drive-control integrated board is electrically connected to the control part. The connecting board further includes a second communication module, the second communication module is arranged on the mounting board, and the control part is electrically connected to the second communication module.

14. A robot according to claim 13, characterized in that: The first communication module is electrically connected to the control module and / or the driving module.

15. A robot according to claim 14, characterized in that: The first communication module is connected to the network.

16. A robot according to claim 15, characterized in that: The first communication module uses a wired or wireless connection network.

17. The robot according to claim 13, characterized in that: The integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the control module and / or the drive module.

18. The robot according to claim 13, characterized in that: The drive-control integrated board further includes a heat sink, and the heat sink is bonded to the substrate.

19. The robot according to claim 13, characterized in that: One drive-control integrated board controls one arm body accordingly.

20. A robot according to claim 19, characterized in that: The drive-control integrated board is installed on the arm body controlled by the self-controlling board; or, the drive-control integrated board is installed on the arm body adjacent to the arm body controlled by the self-controlling board.

21. The robot according to claim 13, characterized in that: It also includes a base, and the robotic arm is movably installed on the base.

22. A robot according to claim 21, characterized in that: At least one drive-control integrated board is mounted on the base.

23. A robot according to claim 22, characterized in that: The integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

24. The robot according to claim 13, characterized in that: Any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect with external device signals; Alternatively, all of the drive-control integrated boards are connected to a cloud controller, which controls the signals of all of the drive-control integrated boards and connects them to external device signals.

25. The robot according to claim 13, characterized in that: The second communication module is connected to the network.

26. A robot according to claim 25, characterized in that: The second communication module uses a wired or wireless connection network.

27. A robot, characterized in that: include robotic arm; At least one drive-control integrated board, at least one of the drive-control integrated boards is disposed on the robotic arm, the drive-control integrated board comprising an integrated first substrate and a second substrate, the first substrate being a control function board, the second substrate being a drive function board, the first substrate being electrically connected to the second substrate; The robotic arm includes a plurality of arm bodies, the number of the drive-control integrated boards is more than two, and one drive-control integrated board controls one arm body; It also includes a connecting board, which is used to control the signals of all the drive-control integrated boards and connect them to external device signals. The connecting board includes a control part and a mounting board. The control part is provided on the mounting board, and the drive-control integrated board is electrically connected to the control part. The connecting board further comprises a second communication module, the second communication module is arranged on the mounting board, and the control part is electrically connected to the second communication module; It also includes a base, and the robotic arm is movably installed on the base.

28. A robot according to claim 27, characterized in that: The integrated drive and control board further includes a first communication module, and the first communication module is electrically connected to the first substrate and / or the second substrate.

29. A robot according to claim 28, characterized in that: The first communication module is connected to the network.

30. A robot according to claim 29, characterized in that: The first communication module uses a wired or wireless connection network.

31. A robot according to claim 27, characterized in that: The integrated drive and control board further includes an I / O interface, and the I / O interface is electrically connected to the first substrate and / or the second substrate.

32. A robot according to claim 27, characterized in that: The integrated drive and control board further includes a heat sink, and the heat sink is bonded to the first substrate or the second substrate.

33. A robot according to claim 27, characterized in that: The drive-control integrated board is installed on the arm body controlled by the self-controlling board; or, the drive-control integrated board is installed on the arm body adjacent to the arm body controlled by the self-controlling board.

34. A robot according to claim 27, characterized in that: At least one drive-control integrated board is mounted on the base.

35. A robot according to claim 34, characterized in that: The integrated drive and control board installed on the base is a main control board, which is used to control the signals of all the integrated drive and control boards and connect with external device signals.

36. A robot according to claim 32, characterized in that: Any one of the drive-control integrated boards can be used as a main control board to control the signals of all the drive-control integrated boards and connect with external device signals; Alternatively, all of the drive-control integrated boards are connected to a cloud controller, which controls the signals of all of the drive-control integrated boards and connects them to external device signals.

37. A robot according to claim 36, characterized in that: The second communication module is connected to the network.

38. A robot according to claim 37, characterized in that: The second communication module uses a wired or wireless connection network.

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