Robot motion control device and use method thereof

Abstract

The invention relates to the technical field of machine control, and discloses a robot motion control device and a using method thereof.The self-adaptive structure is arranged above a machine shell and used for controlling robot arms with the corresponding number to machine materials, and the self-adaptive structure comprises an inner pipe, an inner column, a clamping groove, a sleeve, clamping teeth, a moving rod and a shifting block; the inner pipe is rotatably connected to the front wall face of the middle plate and is cylindrical, the rear wall face of the inner pipe can be fixedly connected with the end of the adjusting shaft, the inner column is fixedly connected into a cavity of the inner pipe, the clamping groove is formed in the wall face of the inner column, the sleeve is movably connected to the upper portion of the machine shell and is cylindrical, and the clamping teeth are fixedly connected into a cavity of the sleeve. The moving rod is connected to the wall face of the machine shell in a sliding mode, the shifting block is fixedly connected to the wall face of the moving rod, the sleeve can be connected with the inner pipe in a sleeved mode, the robot arms with the needed number can be automatically adjusted according to the size of an object needing to be machined through the self-adaptive structure to machine the object, and compared with the prior art, the robot arm machining device has higher practicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of machine control, and in particular, relates to a robot motion control device and a use method thereof. Background Art

[0002] Robot is the common name for automatically controlled machines, referring to man-made machine devices that can perform tasks automatically to replace or assist human work.

[0003] The prior art (publication number: CN113733071B) discloses an industrial robot motion control device, comprising two fixed blocks, a plurality of first screw rods rotatably connected between the two fixed blocks, a plurality of first sliding rods fixed between the two fixed blocks and below the first screw rods, a moving block being screwed on the outer side wall of the first screw rod, and the outer side wall of the first sliding rod being slidably connected to the moving block.

[0004] The prior art works by controlling each robotic arm individually one by one. Although the prior art can control the robotic arms, it cannot automatically match the corresponding number of robotic arms for processing according to the size of the object to be processed, so the practicability of the prior art is low.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned prior art, the basic concept of the technical solution adopted by the present invention is:

[0007] A robot motion control device,

[0008] The casing is a rectangular box with a hollow cavity and an open rear wall. The rear half of the top of the casing is fixedly connected to the machine tool. The front wall of the machine tool is fixedly connected to the middle plate, which is a rectangular plate. The middle plate and the machine tool can form a U-shaped plate with the opening facing downwards.

[0009] A shift rail, the shift rail runs through and is opened on the top of the machine tool, the shift rail is a rectangular groove, and multiple shift rails are evenly opened on the top of the machine tool. An adjustment shaft is rotatably connected in the openings of the machine tool and the middle plate, and a limit column is also rotatably connected in the openings of the machine tool and the middle plate. The adjustment shaft and the limit column are cylindrical, and the adjustment shaft is located above the limit column. The number of the adjustment shaft and the limit column is consistent with the shift rail, and the position of each adjustment shaft and the limit column is aligned with the shift rail. The wall surface of each adjustment shaft is respectively threadedly connected with a transfer block, and the wall surface of each transfer block can also slide along the arc surface of the corresponding limit column. The top of each transfer block is fixedly connected with a robot arm, and the robot arm can slide along the corresponding shift rail;

[0010] An adaptive structure is arranged above the casing to control a corresponding number of robot arms to process materials. The adaptive structure includes: an inner tube, an inner column, a slot, a sleeve, a tooth, a shift rod and a shift block. The inner tube is rotatably connected to the front wall of the middle plate. The inner tube is cylindrical. The rear wall of the inner tube can be fixedly connected to the end of the adjustment shaft. The inner column is fixedly connected to the cavity of the inner tube. The slot is provided on the wall of the inner column. The sleeve is movably connected to the top of the casing. The sleeve is cylindrical. The tooth is fixedly connected to the cavity of the sleeve. The shift rod is slidably connected to the wall of the casing. The shift block is fixedly connected to the wall of the shift rod. The sleeve can be sleeved with the inner tube.

[0011] As a preferred embodiment of the present invention, multiple inner tubes are evenly arranged on the front wall of the middle plate, the number of inner tubes is consistent with the adjustment shaft, each inner tube can be fixedly connected to the corresponding adjustment shaft, the inner tube can pass through the wall of the middle plate, the number of sleeves is consistent with the inner tubes, the position of each sleeve can be aligned with the inner tube, the inner cavity size of the sleeve can adapt to the outer wall size of the inner tube, the inner column is cylindrical, and multiple slots are opened in the arc surface annular array of the inner column, the slots are U-shaped grooves, the wall surface of the inner column at each slot is rounded, the teeth are rectangular rods, multiple teeth are arranged in the annular array in the cavity of the sleeve, the number of teeth is consistent with the slots, the slots can adapt to the size of the teeth, and the end wall surface of the teeth is rounded.

[0012] As a preferred embodiment of the present invention, the shift rod is composed of a horizontally placed rectangular rod in the lower half and a horizontally placed L-shaped rod in the upper half. The lower half of the shift rod can slide along the cavity of the casing, and the bottom of the upper half of the shift rod can fit along the top of the machine tool. The shift block is fixedly connected to the top of one end of the lower half of the shift rod. The shift block is an inclined rectangular plate. The connection between the shift block and the shift rod can pass through the top of the casing. The shift block is located between the inner tube and the sleeve. A rectangular groove is provided on the top of the casing to adapt to the sliding of the connection between the shift block and the shift rod.

[0013] As a preferred embodiment of the present invention, the adaptive structure also includes a large slide post, a small slide post, a paddle plate, a first magnetic ring and a second magnetic ring. The large slide post is located on the front wall of the sleeve, and the small slide post is fixedly connected to the rear wall of the large slide post. The large slide post and the small slide post are rods with capsule-shaped cross-sections. The size of the large slide post is larger than that of the small slide post. The paddle plate is fixedly connected to the rear wall of the small slide post. The paddle plate is disc-shaped, and the bottom arc surface of the paddle plate can contact the top of the casing, and the inclined surface of the paddle block can contact the edge of the paddle plate. The first magnetic ring is fixedly connected to the rear wall of the paddle plate. The first magnetic ring is annular, and the front wall of the sleeve can be fixedly connected to the rear wall of the first magnetic ring. The second magnetic ring is fixedly connected to the arc surface of each inner tube. The first magnetic ring and the second magnetic ring are circular rings of the same size, and the first magnetic ring and the second magnetic ring can be magnetically adsorbed to each other.

[0014] As a preferred embodiment of the present invention, the adaptive structure also includes a fixed plate, a moving box, an adjustment motor, an automatic shaft, a movable plate, a processing motor, a driving shaft, an upper plate and a driving belt. The fixed plate is fixedly connected to the top of the front half of the casing, the moving box is movably connected to the top of the front wall of the casing, the moving box is a hollow rectangular box with an open top, and round wheels are rotatably connected to the bottom two sides of the moving box. The adjustment motor is fixedly connected to the cavity of the moving box, the moving box is located in front of the fixed plate, the automatic shaft is rotatably connected to the cavity of the moving box, the automatic shaft can pass through the wall of the fixed plate at the rear end and be threadedly connected to the fixed plate, the adjustment motor can drive the automatic shaft to rotate, the movable plate is rotatably connected to the rear end of the automatic shaft, the movable plate is a rectangular plate with the same size as the fixed plate, the front wall of the movable plate can fit the rear wall of the fixed plate, the processing motor is fixedly connected to the top of the movable plate, the driving shaft is rotatably connected to the rear wall of the processing motor, the processing motor can drive the driving shaft to rotate, the upper plate is symmetrically fixedly connected to the top two sides of the movable plate, a tensioner is installed at the bottom of each upper plate, and the driving belt transmission is connected to the arc surface of the driving shaft.

[0015] As a preferred embodiment of the present invention, the adaptive structure also includes a driven column, a slide groove and a linkage belt. The driven column is rotatably connected to the rear wall of the movable plate. The number of the driven columns is consistent with the large slide column. The driven column is cylindrical. The slide groove is opened on the rear wall of the driven column. The large slide column and the small slide column can slide along the slide groove. Each large slide column can slide in the slide groove of the corresponding driven column wall. The linkage belt can be sleeved on the arc surface of each driven column. The tensioner can resist the top of the linkage belt. The active belt can also be transmission-connected to the driven column wall located vertically below the active shaft.

[0016] As a preferred embodiment of the present invention, wheel rods are symmetrically fixedly connected to the two ends of the lower half of the shift rod, and the wheel rods are rectangular rods. The wall of each wheel rod is symmetrically rotatably connected with a rotating wheel, and the rotating wheel is cylindrical. The rotating wheel can roll along the casing cavity, and the wall of the upper half of the shift rod is fixedly connected with a locking block, and the locking block is a semi-capsule-shaped block. A bolt is threadedly connected to the top of the locking block, and an interference groove is provided on the top of the machine tool. The bottom of the bolt on the wall of the locking block can pass through the locking block and enter the interference groove. The interference groove is a rectangular groove.

[0017] A method for using robot motion control:

[0018] Step 1: Turn on the power of the adjustment motor, and observe the sleeve moving towards the inner tube after the adjustment motor is turned on;

[0019] Step 2: Place the object to be processed from the top of the machine tool and push it to make the object fit completely with the top of the machine tool;

[0020] Step 3: After placing the object on top of the machine tool, turn on the power of the processing motor. When the processing motor is turned on, a corresponding number of robot arms will be mobilized to process the object on top of the machine tool:

[0021] Step 4: After the object is processed on the top of the machine tool, remove it and slide the shift rod to its original position.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. By setting up an adaptive structure, the required number of robot arms can be automatically mobilized to process the object according to the size of the object to be processed. Compared with the existing technology, this solution has higher practicality.

[0024] 2. The rounded surfaces of the card teeth and the card slot can automatically align the card teeth and the card slot when they are connected, thereby improving the smoothness of the connection between the card teeth and the card slot.

[0025] 3. By setting the round wheels on the wall of the moving box, the friction can be reduced when the moving box moves, and the smoothness of the moving box when it moves on the top of the casing can be improved.

[0026] 4. By setting the rotating wheel, the friction between the moving rod and the wall of the casing can be reduced when the moving rod is moved, thereby improving the smoothness of the moving rod when moving, and preventing the moving rod from moving slowly due to excessive friction.

[0027] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In the attached picture:

[0029] Figure 1 It is a stereogram of the present invention;

[0030] Figure 2 It is a side view of the present invention;

[0031] Figure 3 This is an exploded view of the wall surface of the machine tool of the present invention;

[0032] Figure 4 This is a perspective view of the bottom of the housing cavity of the present invention;

[0033] Figure 5 It is a three-dimensional diagram of the shift rod of the present invention;

[0034] Figure 6 It is a three-dimensional diagram of the movable plate of the present invention;

[0035] Figure 7 This is a cross-sectional view of the driven column cavity of the present invention;

[0036] Figure 8 It is a three-dimensional diagram of the inner tube of the present invention;

[0037] Fig. 9 It is a three-dimensional diagram of the sleeve of the present invention.

[0038] In the figure: 20, casing; 21, machine tool; 22, middle plate; 23, rail shifting; 24, adjustment shaft; 25, limit column; 26, adjustment block; 27, robot arm; 30, fixed plate; 31, shift box; 32, adjustment motor; 33, automatic shaft; 34, movable plate; 35, processing motor; 36, active shaft; 37, upper plate; 38, active belt; 40, driven column; 41, slide groove; 42, large slide column; 43, small slide column; 44, linkage belt; 45, dial plate; 46, first magnetic ring; 47, sleeve; 48, tooth; 50, inner tube; 51, inner column; 52, slot; 53, second magnetic ring; 60, shift rod; 61, dial block; 62, lock block; 63, wheel rod; 64, rotating wheel; 65, contact groove. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the casing 20 is a rectangular box with a hollow cavity and an open rear wall. A machine tool 21 is fixedly connected to the top rear half of the casing 20. A middle plate 22 is fixedly connected to the front wall of the machine tool 21. The middle plate 22 is a rectangular plate. The middle plate 22 and the machine tool 21 can form a U-shaped plate with the opening facing downward.

[0041] The shift rail 23 is provided on the top of the machine tool 21, and the shift rail 23 is a rectangular groove. The shift rail 23 is evenly provided with a plurality of shift rails on the top of the machine tool 21. The machine tool 21 and the opening of the middle plate 22 are rotatably connected with a transfer shaft 24. The opening of the machine tool 21 and the middle plate 22 is also rotatably connected with a limit column 25. The transfer shaft 24 and the limit column 25 are cylindrical, and the transfer shaft 24 is located above the limit column 25. The number of the transfer shaft 24 and the limit column 25 is consistent with the shift rail 23. Each transfer shaft 24 and the limit column 25 are rotatably connected. The position of the limit column 25 is aligned with the shift rail 23, and the wall surface of each adjustment shaft 24 is respectively threadedly connected with an adjustment block 26. The wall surface of each adjustment block 26 can also slide along the arc surface of the corresponding limit column 25. The top of each adjustment block 26 is fixedly connected with a robot arm 27, and the robot arm 27 can slide along the corresponding shift rail 23. The robot arm 27 is consistent with the model of the prior art (publication number: CN113733071B). This is the existing technology, so it will not be repeated here.

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the adaptive structure is arranged above the casing 20 to control a corresponding number of robot arms 27 to process the material. The adaptive structure includes: an inner tube 50, an inner column 51, a slot 52, a sleeve 47, a tooth 48, a shift rod 60 and a shift block 61. The inner tube 50 is rotatably connected to the front wall of the middle plate 22. The inner tube 50 is cylindrical. The rear wall of the inner tube 50 can be fixedly connected to the end of the adjustment shaft 24. The inner column 51 is fixedly connected to the cavity of the inner tube 50. The slot 52 is opened on the wall of the inner column 51. The sleeve 47 is movably connected to the top of the casing 20. The sleeve 47 is cylindrical. The tooth 48 is fixedly connected to the cavity of the sleeve 47. The shift rod 60 is slidably connected to the wall of the casing 20. The shift block 61 is fixedly connected to the wall of the shift rod 60. The sleeve 47 can be sleeved with the inner tube 50.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown, multiple inner tubes 50 are evenly arranged on the front wall of the middle plate 22, the number of inner tubes 50 is consistent with the adjustment shaft 24, each inner tube 50 can be fixedly connected to the corresponding adjustment shaft 24, the inner tube 50 can pass through the wall of the middle plate 22, the number of sleeves 47 is consistent with the inner tubes 50, the position of each sleeve 47 can be aligned with the inner tube 50, the inner cavity size of the sleeve 47 can adapt to the outer wall size of the inner tube 50, the inner column 51 is cylindrical, and multiple slots 52 are opened in the arc surface annular array of the inner column 51, the slots 52 are U-shaped slots, the wall of the inner column 51 at each slot 52 is rounded, the teeth 48 are rectangular rods, and the teeth 48 are arranged in a plurality of annular arrays in the cavity of the sleeve 47, the number of the teeth 48 is consistent with the slots 52, and the slots 52 can adapt to The size of the latch tooth 48, the end wall of the latch tooth 48 is rounded, the shift rod 60 is composed of a horizontal rectangular rod in the lower half and a horizontal L-shaped rod in the upper half, the lower half of the shift rod 60 can slide along the cavity of the casing 20, the bottom of the upper half of the shift rod 60 can fit along the top of the machine tool 21, the shift block 61 is fixedly connected to the top of one end of the lower half of the shift rod 60, the shift block 61 is an inclined rectangular plate, the connection between the shift block 61 and the shift rod 60 can pass through the top of the casing 20, the shift block 61 is located between the inner tube 50 and the sleeve 47, and a rectangular groove is provided on the top of the casing 20 to adapt to the sliding of the connection between the shift block 61 and the shift rod 60, and the adaptive structure also includes a large sliding card column 42, a small sliding card column 43, a shift plate 45, a first magnetic ring 46 and a second magnetic ring 53, the large slide post 42 is located on the front wall of the sleeve 47, the small slide post 43 is fixedly connected to the rear wall of the large slide post 42, the large slide post 42 and the small slide post 43 are rods with capsule-shaped cross-sections, the size of the large slide post 42 is larger than the small slide post 43, the dial plate 45 is fixedly connected to the rear wall of the small slide post 43, the dial plate 45 is disc-shaped, the bottom arc surface of the dial plate 45 can contact the top of the housing 20, the inclined surface of the dial block 61 can contact the edge of the dial plate 45, the first magnetic ring 46 is fixedly connected to the rear wall of the dial plate 45, the first magnetic ring 46 is annular, the front wall of the sleeve 47 can be fixedly connected to the rear wall of the first magnetic ring 46, the second magnetic ring 53 is fixedly connected to the arc surface of each inner tube 50, the first magnetic ring 46 and the second magnetic ring 53 are of size The first magnetic ring 46 and the second magnetic ring 53 can be magnetically attracted to each other. The adaptive structure also includes a driven column 40, a slide groove 41 and a linkage belt 44. The driven column 40 is rotatably connected to the rear wall of the movable plate 34. The number of the driven columns 40 is consistent with the large slide column 42. The driven column 40 is cylindrical. The slide groove 41 is opened on the rear wall of the driven column 40. The large slide column 42 and the small slide column 43 can slide along the slide groove 41. Each large slide column 42 can slide in the slide groove 41 on the wall of the corresponding driven column 40. The linkage belt 44 can be sleeved on the arc surface of each driven column 40. The tensioner can resist the top of the linkage belt 44. The active belt 38 can also be connected to the wall of the driven column 40 located vertically below the active shaft 36 for transmission.

[0044] When in use, first turn on the power of the adjustment motor 32. When the power is turned on, the adjustment motor 32 will drive the automatic shaft 33 to rotate. As the automatic shaft 33 rotates, it can drive the shift box 31 to move toward the fixed plate 30 through the threaded connection with the fixed plate 30. During the movement of the shift box 31, the automatic shaft 33 will drive the movable plate 34 to move backward synchronously. The movable plate 34 can drive the processing motor 35, the driving shaft 36, the upper plate 37, the driven column 40, the large sliding column 42, the small sliding column 43, the linkage belt 44, the paddle plate 45, the first magnetic ring 46, the sleeve 47 and the latching tooth 48 to move synchronously toward the inner tube 50. When the sleeve 47 moves to the point of docking with the inner tube 50, it stops moving. At this time, align the top of the object to be processed with one side of the shift rod 60 and push it along the top of the machine tool 21. As the object is pushed, the shift rod 60 can be driven to slide synchronously along the top of the machine tool 21. When the shift rod 60 slides, its lower half will move along the cavity of the casing 20. When the lower half of the shift rod 60 moves, it will drive the shift block 61 to move synchronously. As the shift block 61 moves between the sleeve 47 and the inner tube 50, the inclined surface of the shift block 61 will contact the arc surface of the shift plate 45 and push the shift plate 45 toward the inner tube 50 between each group of passed shift plates 45 and inner tubes 50. As the shift plate 45 moves, the outer wall surfaces of the sleeve 47 and the inner tube 50 can be driven to be socketed, and the latch teeth 48 are latched into the latch teeth. In the groove 52, as the sleeve 47 moves, the first magnetic ring 46 and the second magnetic ring 53 can be attracted to each other, and when the dial plate 45 moves, the small slide column 43 and the large slide column 42 will be driven to slide along the slide groove 41. When it is necessary to control the robot arm 27 to process the object on the top of the machine tool 21, the power of the processing motor 35 is turned on, and the processing motor 35 can drive the driving shaft 36 to rotate. As the driving shaft 36 rotates, the driven column 40 vertically below can be driven to rotate through the driving belt 38. The tensioner at the bottom of the upper plate 37 can be controlled to drive all the driven columns 40 to rotate synchronously on the wall of the movable plate 34 through the linkage belt 44. When the driven column 40 rotates, it can drive the large slide column 4 2. The small sliding column 43, the shifting plate 45, the first magnetic ring 46, the sleeve 47 and the latching teeth 48 rotate synchronously, and the inner tube 50 sleeved with the sleeve 47 can drive it to rotate as the sleeve 47 rotates. When the inner tube 50 rotates, it will drive the adjustment shaft 24 to rotate in the opening of the machine tool 21 and the middle plate 22. As the adjustment shaft 24 rotates, it can drive the robot arm 27 to adapt to the size of the object through the threaded connection with the adjustment block 26. The sleeve 47 that is not sleeved with the inner tube 50 will only rotate by itself. After the object is processed, the shift rod 60 is shifted to the original position. As the shift rod 60 drives the shifting block 61 to move, the inner tube 50 and the sleeve 47 that have been docked in advance can be separated from each other by guiding the shifting plate 45.

[0045] To sum up, by setting up an adaptive structure, the required number of robot arms 27 can be automatically mobilized to process the object according to the size of the object to be processed. Compared with the prior art, this solution has higher practicality. The rounded surfaces of the tooth 48 and the slot 52 can automatically align the tooth 48 and the slot 52 when they are docked, thereby improving the smoothness of the docking between the tooth 48 and the slot 52.

[0046] like Figure 6 As shown, the adaptive structure also includes a fixed plate 30, a moving box 31, an adjustment motor 32, an automatic shaft 33, a movable plate 34, a processing motor 35, a driving shaft 36, an upper plate 37 and a driving belt 38. The fixed plate 30 is fixedly connected to the top of the front half of the casing 20, and the moving box 31 is movably connected to the top of the front wall of the casing 20. The moving box 31 is a hollow rectangular box with an open top. The bottom sides of the moving box 31 are rotatably connected with round wheels. The adjustment motor 32 is fixedly connected to the cavity of the moving box 31. The moving box 31 is located in front of the fixed plate 30. The automatic shaft 33 is rotatably connected in the cavity of the moving box 31. The rear end of the automatic shaft 33 can be moved from the fixed plate 30 The wall surface passes through and is threadedly connected to the fixed plate 30, the adjustment motor 32 can drive the automatic shaft 33 to rotate, the movable plate 34 is rotatably connected to the rear end of the automatic shaft 33, the movable plate 34 is a rectangular plate with the same size as the fixed plate 30, the front wall surface of the movable plate 34 can fit the rear wall surface of the fixed plate 30, the processing motor 35 is fixedly connected to the top of the movable plate 34, the driving shaft 36 is rotatably connected to the rear wall surface of the processing motor 35, the processing motor 35 can drive the driving shaft 36 to rotate, the upper plate 37 is symmetrically fixedly connected to the top two sides of the movable plate 34, a tensioner is installed at the bottom of each upper plate 37, and the driving belt 38 is transmission-connected to the arc surface of the driving shaft 36;

[0047] In specific use, when the moving box 31 moves along the top of the housing 20, the round wheel on the wall of the moving box 31 will roll synchronously with the top of the housing 20;

[0048] In summary, by providing the round wheels on the wall of the moving box 31 , the friction force of the moving box 31 can be reduced when the moving box 31 moves, and the smoothness of the moving box 31 when it moves on the top of the housing 20 can be improved.

[0049] like Figure 5 As shown, the two ends of the lower half of the shift rod 60 are symmetrically fixedly connected with wheel rods 63, which are rectangular rods, and the wall surface of each wheel rod 63 is symmetrically rotatably connected with a rotating wheel 64, which is cylindrical and can roll along the cavity of the casing 20. The wall surface of the upper half of the shift rod 60 is fixedly connected with a locking block 62, which is a semi-capsule-shaped block, and a bolt is threadedly connected to the top of the locking block 62. A resistance groove 65 is provided on the top of the machine tool 21, and the bottom of the bolt on the wall surface of the locking block 62 can pass through the locking block 62 and enter the resistance groove 65, and the resistance groove 65 is a rectangular groove;

[0050] In specific use, when the lower half of the shift rod 60 moves along the cavity of the housing 20, the rotating wheel 64 can roll along the inner wall of the cavity of the housing 20, and the bolt on the top of the locking block 62 is screwed and passed through the locking block 62;

[0051] In summary, by providing the rotating wheel 64, the friction between the moving rod 60 and the wall of the housing 20 can be reduced when the moving rod 60 is moved, thereby improving the smoothness of the moving rod 60 and preventing the moving rod 60 from moving slowly due to excessive friction.

[0052] Working principle: First, turn on the power of the adjustment motor 32. When the power is turned on, the adjustment motor 32 will drive the automatic shaft 33 to rotate. As the automatic shaft 33 rotates, it can drive the moving box 31 to move toward the fixed plate 30 through the threaded connection with the fixed plate 30. During the movement of the moving box 31, the automatic shaft 33 will drive the movable plate 34 to move backward synchronously. The movable plate 34 can drive the processing motor 35, the active shaft 36, the upper plate 37, the driven column 40, the large sliding column 42, the small sliding column 43, the linkage belt 44, the paddle plate 45, the first magnetic ring 46, the sleeve 47 and the latch 48 to move synchronously toward the inner tube 50. When the sleeve 47 moves to the point of docking with the inner tube 50, it stops moving. At this time Align the top of the object to be processed with one side of the shift rod 60 and push it along the top of the machine tool 21. As the object is pushed, the shift rod 60 can be driven to slide synchronously along the top of the machine tool 21. When the shift rod 60 slides, its lower half will move along the cavity of the casing 20. When the lower half of the shift rod 60 moves, it will drive the shift block 61 to move synchronously. As the shift block 61 moves between the sleeve 47 and the inner tube 50, the inclined surface of the shift block 61 will contact the arc surface of the shift plate 45 and push the shift plate 45 toward the inner tube 50 between each group of passed shift plates 45 and inner tube 50. As the shift plate 45 moves, the outer wall surface of the sleeve 47 and the inner tube 50 can be driven to be socketed, and the latching tooth 48 is latched into the latching groove 52, with the movement of the sleeve 47, the first magnetic ring 46 can be attracted to the second magnetic ring 53, and when the dial plate 45 moves, the small slide column 43 and the large slide column 42 will be driven to slide along the slide groove 41. When it is necessary to control the robot arm 27 to process the object on the top of the machine tool 21, the power of the processing motor 35 is turned on, and the processing motor 35 can drive the driving shaft 36 to rotate. With the rotation of the driving shaft 36, the driven column 40 vertically below can be driven to rotate through the driving belt 38. The tensioner at the bottom of the upper plate 37 can be controlled to drive all the driven columns 40 to rotate synchronously on the wall of the movable plate 34 through the linkage belt 44. When the driven column 40 rotates, it can drive the large slide column 42 , the small sliding column 43, the shift plate 45, the first magnetic ring 46, the sleeve 47 and the latching tooth 48 rotate synchronously, and the inner tube 50 sleeved with the sleeve 47 can drive it to rotate as the sleeve 47 rotates. When the inner tube 50 rotates, the adjustment shaft 24 will be driven to rotate in the opening of the machine tool 21 and the middle plate 22. As the adjustment shaft 24 rotates, the robot arm 27 can be driven to adapt to the object size through the threaded connection with the adjustment block 26. The sleeve 47 that is not sleeved with the inner tube 50 will only rotate on its own. After the object processing is completed, the shift rod 60 will be shifted to the original position. As the shift rod 60 drives the shift block 61 to move, the inner tube 50 and the sleeve 47 that have been connected in advance can be separated from each other by guiding the shift plate 45.

[0053] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A robot motion control device, characterized in that: include: The casing (20) is a rectangular box with a hollow cavity and an open rear wall. The top rear half of the casing (20) is fixedly connected to a machine tool (21). The front wall of the machine tool (21) is fixedly connected to a middle plate (22). The middle plate (22) is a rectangular plate. The middle plate (22) and the machine tool (21) can form a U-shaped plate with the opening facing downward. The shift rail (23) is provided on the top of the machine tool (21). The shift rail (23) is in the form of a rectangular groove. A plurality of shift rails (23) are evenly provided on the top of the machine tool (21). An adjusting shaft (24) is rotatably connected in the opening of the machine tool (21) and the middle plate (22). A limiting column (25) is also rotatably connected in the opening of the machine tool (21) and the middle plate (22). The adjusting shaft (24) and the limiting column (25) are cylindrical. The adjusting shaft (24) is located above the limiting column (25). The number of shafts (24) and limiting columns (25) is consistent with that of the shift rail (23); the positions of each adjustment shaft (24) and limiting column (25) are aligned with the shift rail (23); the wall surface of each adjustment shaft (24) is respectively threadedly connected with an adjustment block (26); the wall surface of each adjustment block (26) can also slide along the arc surface of the corresponding limiting column (25); the top of each adjustment block (26) is fixedly connected with a robot arm (27); and the robot arm (27) can slide along the corresponding shift rail (23); The adaptive structure is arranged above the housing (20) and is used to control a corresponding number of robot arms (27) to process materials. The adaptive structure comprises: an inner tube (50), an inner column (51), a slot (52), a sleeve (47), a latch tooth (48), a shift rod (60) and a shift block (61). The inner tube (50) is rotatably connected to the front wall surface of the middle plate (22). The inner tube (50) is cylindrical. The rear wall surface of the inner tube (50) can be aligned with the rear wall surface of the adjusting shaft (24). The ends are fixedly connected, the inner column (51) is fixedly connected to the cavity of the inner tube (50), the slot (52) is opened on the wall of the inner column (51), the sleeve (47) is movably connected to the upper part of the casing (20), the sleeve (47) is cylindrical, the latch teeth (48) are fixedly connected to the cavity of the sleeve (47), the shift rod (60) is slidably connected to the wall of the casing (20), the shift block (61) is fixedly connected to the wall of the shift rod (60), and the sleeve (47) can be sleeved with the inner tube (50).

2. A robot motion control device and a method of using the same according to claim 1, characterized in that: A plurality of inner tubes (50) are evenly arranged on the front wall of the middle plate (22), the number of the inner tubes (50) is consistent with the number of the adjustment shafts (24), each inner tube (50) can be fixedly connected to the corresponding adjustment shaft (24), the inner tube (50) can pass through the wall of the middle plate (22), the number of the sleeves (47) is consistent with the number of the inner tubes (50), the position of each sleeve (47) can be aligned with the inner tube (50), and the inner cavity size of the sleeve (47) can be adapted to the outer wall size of the inner tube (50). The inner column (51) is cylindrical, a plurality of slots (52) are provided in an arcuate annular array on the inner column (51), the slots (52) are U-shaped, the wall surface of the inner column (51) at each slot (52) is rounded, the latch teeth (48) are rectangular rods, a plurality of latch teeth (48) are arranged in an annular array in the cavity of the sleeve (47), the number of the latch teeth (48) is consistent with the number of the slots (52), the slots (52) can adapt to the size of the latch teeth (48), and the end wall surface of the latch teeth (48) is rounded.

3. A robot motion control device and a method of using the same according to claim 1, characterized in that: The shift rod (60) is composed of a rectangular rod with a horizontal lower portion and an L-shaped rod with a horizontal upper portion. The lower portion of the shift rod (60) can slide along the cavity of the casing (20), and the bottom of the upper portion of the shift rod (60) can fit along the top of the machine tool (21). The shift block (61) is fixedly connected to the top of one end of the lower portion of the shift rod (60). The shift block (61) is an inclined rectangular plate. The connection between the shift block (61) and the shift rod (60) can pass through the top of the casing (20). The shift block (61) is located between the inner tube (50) and the sleeve (47). The top of the casing (20) is provided with a rectangular groove adapted to the sliding connection between the shift block (61) and the shift rod (60).

4. A robot motion control device and a method of using the same according to claim 1, characterized in that: The adaptive structure further comprises a large sliding post (42), a small sliding post (43), a paddle (45), a first magnetic ring (46) and a second magnetic ring (53); the large sliding post (42) is located on the front wall of the sleeve (47); the small sliding post (43) is fixedly connected to the rear wall of the large sliding post (42); the large sliding post (42) and the small sliding post (43) are rods with capsule-shaped cross-sections; the size of the large sliding post (42) is larger than that of the small sliding post (43); the paddle (45) is fixedly connected to the rear wall of the small sliding post (43); the paddle (45) is disc-shaped; the paddle (46) is fixedly connected to the rear wall of the small sliding post (43); the paddle (45) is disc-shaped; the paddle (46) is fixedly connected to the rear wall of the small sliding post (43); the paddle (46 ... The bottom arc surface of the inner tube (50) can contact the top of the housing (20), the inclined surface of the shift block (61) can contact the edge of the shift plate (45), the first magnetic ring (46) is fixedly connected to the rear wall surface of the shift plate (45), the first magnetic ring (46) is in a circular ring shape, the front wall surface of the sleeve (47) can be fixedly connected to the rear wall surface of the first magnetic ring (46), the second magnetic ring (53) is fixedly connected to the arc surface of each inner tube (50), the first magnetic ring (46) and the second magnetic ring (53) are circular rings of the same size, and the first magnetic ring (46) and the second magnetic ring (53) can be magnetically attracted to each other.

5. A robot motion control device and a method of using the same according to claim 4, characterized in that: The adaptive structure further comprises a fixed plate (30), a shifting box (31), an adjustment motor (32), an automatic shaft (33), a movable plate (34), a processing motor (35), a driving shaft (36), an upper plate (37) and a driving belt (38); the fixed plate (30) is fixedly connected to the top of the front half of the casing (20); the shifting box (31) is movably connected to the top of the front wall of the casing (20); the shifting box (31) is a hollow rectangular box with an open top; round wheels are rotatably connected to both sides of the bottom of the shifting box (31); the adjustment motor (32) is fixedly connected to the cavity of the shifting box (31); the shifting box (31) is located in front of the fixed plate (30); the automatic shaft (33) is rotatably connected to the cavity of the shifting box (31); the rear end of the automatic shaft (33) can be moved from the fixed plate (3 0) wall passes through and is threadedly connected to the fixed plate (30), the adjustment motor (32) can drive the automatic shaft (33) to rotate, the movable plate (34) is rotatably connected to the rear end of the automatic shaft (33), the movable plate (34) is a rectangular plate with the same size as the fixed plate (30), the front wall of the movable plate (34) can fit the rear wall of the fixed plate (30), the processing motor (35) is fixedly connected to the top of the movable plate (34), the driving shaft (36) is rotatably connected to the rear wall of the processing motor (35), the processing motor (35) can drive the driving shaft (36) to rotate, the upper plate (37) is symmetrically fixedly connected to the top two sides of the movable plate (34), a tensioner is installed at the bottom of each upper plate (37), and the driving belt (38) is transmission-connected to the arc surface of the driving shaft (36).

6. A robot motion control device and a method of using the same according to claim 5, characterized in that: The adaptive structure also includes a driven column (40), a slide groove (41) and a linkage belt (44). The driven column (40) is rotatably connected to the rear wall surface of the movable plate (34). The number of the driven columns (40) is consistent with the number of the large slide column (42). The driven column (40) is cylindrical. The slide groove (41) is arranged on the rear wall surface of the driven column (40). The large slide column (42) and the small slide column (43) can slide along the slide groove (41). Each large slide column (42) can slide in the slide groove (41) on the wall surface of the corresponding driven column (40). The linkage belt (44) can be sleeved on the arc surface of each driven column (40). The tensioner can resist the top of the linkage belt (44). The driving belt (38) can also be transmission-connected to the wall surface of the driven column (40) located vertically below the driving shaft (36).

7. A robot motion control device and a method of using the same according to claim 2, characterized in that: The two ends of the lower half of the shift rod (60) are symmetrically fixedly connected with wheel rods (63), which are rectangular rods. The wall surface of each wheel rod (63) is symmetrically rotatably connected with a rotating wheel (64), which is cylindrical and can roll along the cavity of the casing (20). The wall surface of the upper half of the shift rod (60) is fixedly connected with a locking block (62), which is a semi-capsule-shaped block. The top of the locking block (62) is threadedly connected with a bolt. The top of the machine tool (21) is provided with a resistance groove (65), and the bottom of the bolt on the wall surface of the locking block (62) can pass through the locking block (62) and enter the resistance groove (65), and the resistance groove (65) is a rectangular groove.

8. A method for using a robot motion control device: The first step is to turn on the power of the adjustment motor (32), and after the adjustment motor (32) is turned on, observe that the sleeve (47) moves toward the inner tube (50); Step 2: placing the object to be processed from the top of the machine tool (21) and pushing the object to completely fit the top of the machine tool (21); Step 3: After the object is placed on the top of the machine tool (21), the power of the processing motor (35) is turned on. When the processing motor (35) is turned on, a corresponding number of robot arms (27) will be mobilized to process the object on the top of the machine tool (21): Step 4: After the object is processed on the top of the machine tool (21), it is removed and the position of the shift rod (60) is slid back to its original position.

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