A robot motion control device and method of use thereof

Abstract

The application relates to the technical field of machine control, and discloses a robot motion control device and a use method thereof. An adaptive structure is arranged above a machine shell and used for controlling a corresponding number of robot arms to process materials. The adaptive structure comprises an inner tube, an inner column, a clamping groove, a sleeve, a clamping tooth, a moving rod and a pushing block. The inner tube is rotationally connected to the front wall surface of a middle plate, the inner tube is in a cylindrical shape, the rear wall surface of the inner tube can be fixedly connected to the end of a moving shaft, the inner column is fixedly connected to the cavity of the inner tube, the clamping groove is arranged on the wall surface of the inner column, the sleeve is movably connected to the top of the machine shell, the sleeve is in a cylindrical shape, the clamping tooth is fixedly connected to the cavity of the sleeve, the moving rod is slidingly connected to the wall surface of the machine shell, the pushing block is fixedly connected to the wall surface of the moving rod, and the sleeve can be sleeved with the inner tube. By arranging the adaptive structure, the required number of robot arms can be automatically moved according to the size of the object to be processed, and the object can be processed. Compared with the prior art, the scheme has higher practicability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machine control, and in particular relates to a robot motion control device and a method for using the same. BACKGROUND

[0002] Robots are commonly known as automatically controlled machines, which are artificial mechanical devices that can automatically perform tasks to replace or assist human work.

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

[0004] The prior art controls each mechanical arm individually and sequentially to make it work, and although the prior art can control the mechanical arm to work, the prior art cannot automatically match the corresponding number of mechanical arms for processing according to the size of the object to be processed, so the practicality of the prior art is low.

[0005] Therefore, the present application is proposed. SUMMARY

[0006] To solve the technical problems existing in the prior art, the basic idea of the technical scheme adopted by the present application is:

[0007] A robot motion control device,

[0008] A machine shell, which is a rectangular box with a hollow cavity and an open rear wall, is fixedly connected with a machine bed at the top rear half position, the front wall of the machine bed is fixedly connected with a middle plate, the middle plate is a rectangular plate, and the middle plate and the machine bed can form a inverted U-shaped plate with the opening facing downward;

[0009] A moving rail, which is a rectangular groove, is provided through the top of the machine bed, a plurality of moving rails are uniformly provided on the top of the machine bed, a rotating shaft is rotatably connected in the opening of the machine bed and the middle plate, a limiting column is also rotatably connected in the opening of the machine bed and the middle plate, the rotating shaft and the limiting column are cylindrical, the rotating shaft is located above the limiting column, the number of the rotating shaft and the limiting column is consistent with the number of the moving rail, the position of each rotating shaft and limiting column is aligned with the moving rail, the wall surface of each rotating shaft is threadedly connected with a moving block, the wall surface of each moving block can slide along the arc surface of the corresponding limiting column, and the top of each moving block is fixedly connected with a robot arm, which can slide in the corresponding moving rail.

[0010] The adaptive structure is arranged above the shell and is used for controlling a corresponding number of robot arms to process materials, and comprises an inner tube, an inner column, a clamping groove, a sleeve, a clamping tooth, a moving rod and a pushing block, the inner tube is rotationally connected to the front wall surface of the middle plate, the inner tube is in a cylindrical shape, the rear wall surface of the inner tube is fixedly connected to the end of the moving shaft, the inner column is fixedly connected to the cavity of the inner tube, the clamping groove is arranged on the wall surface of the inner tube, the sleeve is movably connected above the shell, the sleeve is in a cylindrical shape, the clamping tooth is fixedly connected to the cavity of the sleeve, the moving rod is slidably connected to the wall surface of the shell, the pushing block is fixedly connected to the wall surface of the moving rod, and the sleeve can be sleeved with the inner tube.

[0011] As a preferred embodiment of the present application, a plurality of inner tubes are uniformly arranged on the front wall surface of the middle plate, the number of the inner tubes is consistent with that of the moving shafts, each inner tube is fixedly connected to a corresponding moving shaft, the inner tube can pass through the wall surface of the middle plate, the number of the sleeves is consistent with that of the inner tubes, the position of each sleeve can be aligned with the inner tube, the cavity of the sleeve can be adapted to the size of the outer wall surface of the inner tube, the inner column is in a cylindrical shape, a plurality of clamping grooves are annularly arranged on the curved surface of the inner column, each clamping groove is in a U-shaped slot, the wall surface of the inner column at each clamping groove is in a round shape, the clamping tooth is in a rectangular shape, a plurality of clamping teeth are annularly arranged in the cavity of the sleeve, the number of the clamping teeth is consistent with that of the clamping grooves, the clamping groove can be adapted to the size of the clamping tooth, and the end wall surface of the clamping tooth is in a round shape.

[0012] As a preferred embodiment of the present application, the moving rod is composed of a lower half transverse rectangular rod and an upper half transverse L-shaped rod, the lower half of the moving rod can slide along the cavity of the shell, the bottom of the upper half of the moving rod can be attached to the top of the machine tool, the pushing block is fixedly connected to the top of one end of the lower half of the moving rod, the pushing block is in an obliquely arranged rectangular plate, the connection between the pushing block and the moving rod can pass through the top of the shell, the pushing block is located between the inner tube and the sleeve, and a rectangular slot is arranged on the top of the shell and is adapted to the sliding of the connection between the pushing block and the moving rod.

[0013] As a preferred embodiment of the present application, the adaptive structure further comprises a large sliding clamping column, a small sliding clamping column, a pushing plate, a first magnetic ring and a second magnetic ring, the large sliding clamping column is located on the front wall surface of the sleeve, the small sliding clamping column is fixedly connected to the rear wall surface of the large sliding clamping column, the large sliding clamping column and the small sliding clamping column are in a capsule-shaped cross-section rod, the size of the large sliding clamping column is larger than that of the small sliding clamping column, the pushing plate is fixedly connected to the rear wall surface of the small sliding clamping column, the pushing plate is in a disc shape, the bottom arc surface of the pushing plate can be in contact with the top of the shell, the inclined surface of the pushing block can be in contact with the edge of the pushing plate, the first magnetic ring is fixedly connected to the rear wall surface of the pushing plate, the first magnetic ring is in a circular ring shape, the front wall surface of the sleeve can be fixedly connected to the rear wall surface of the first magnetic ring, the second magnetic ring is fixedly connected to the curved surface of each inner tube, the first magnetic ring and the second magnetic ring are circular rings with the same size, and the first magnetic ring and the second magnetic ring can be magnetically attracted to each other.

[0014] As a preferred embodiment of the present application, the adaptive structure further comprises a fixed plate, a moving box, a moving 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 shell, the moving box is movably connected to the top of the front wall of the shell, the moving box is a hollow rectangular box with an open top, two circular wheels are rotatably connected to the bottom of the moving box, the moving 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 rear end of the automatic shaft can pass through the wall of the fixed plate and is screwedly connected to the fixed plate, the moving 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 be attached to 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 of the movable plate, a tensioner is mounted on the bottom of each upper plate, and the driving belt is drivingly connected to the arc surface of the driving shaft.

[0015] As a preferred embodiment of the present application, the adaptive structure further comprises a driven column, a sliding 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 that of the large sliding columns, the driven column is in a cylindrical shape, the sliding groove is formed in the rear wall of the driven column, the large sliding column and the small sliding column can slide in the sliding groove, each large sliding column can slide in the sliding groove of the corresponding driven column wall, the linkage belt can be sleeved on the arc surface of each driven column, the tensioner can abut against the top of the linkage belt, and the driving belt can also be drivingly connected to the wall surface of the driven column located vertically below the driving shaft.

[0016] As a preferred embodiment of the present application, the lower half of the moving rod is symmetrically fixedly connected with a wheel rod, the wheel rod is in a rectangular shape, the wall surface of each wheel rod is symmetrically rotatably connected with a rotating wheel, the rotating wheel is in a cylindrical shape and can roll in the cavity of the shell, the wall surface of the upper half of the moving rod is fixedly connected with a lock block, the lock block is in a half-capsule shape, a bolt is screwedly connected to the top of the lock block, the top of the machine tool is provided with an abutting groove, the bottom of the bolt of the wall surface of the lock block can pass through the lock block and enter the abutting groove, and the abutting groove is in a rectangular shape.

[0017] A use method of the robot motion control,

[0018] First step: turn on the power of the moving motor, and observe the movement of the sleeve towards the inner tube after the moving motor is turned on;

[0019] Second step: place the object to be processed on the top of the machine tool and push the object to completely attach to the top of the machine tool;

[0020] Third step: turn on the power of the machining motor after the object is placed on the top of the machine tool, and the corresponding number of robot arms will be mobilized to process the object on the top of the machine tool when the machining motor is turned on:

[0021] Fourth step: after the object is processed on the top of the machine tool, it is taken down and the position of the moving rod is slid to restore.

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

[0023] 1. By setting the adaptive structure, the required number of robot arms can be automatically mobilized for processing the object of the required size, and the present application has higher practicability compared with the prior art.

[0024] 2. The round corner surface of the clamping tooth and the clamping groove can automatically align when the clamping tooth and the clamping groove are connected, improving the smoothness of the clamping tooth and the clamping groove when they are connected.

[0025] 3. By setting the round wheel of the moving box wall surface, the friction can be reduced when the moving box moves, and the smoothness of the moving box when moving on the top of the machine shell is improved.

[0026] 4. By setting the rotating wheel, the friction with the wall surface of the machine shell can be reduced when the moving rod moves, thereby improving the smoothness of the moving rod when moving, and preventing the problem of slow movement of the moving rod due to excessive friction.

[0027] The specific embodiments of the present application will be described in further detail below in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] In the drawings:

[0029] Figure 1 is a perspective view of the present application;

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

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

[0032] Figure 4 is a bottom perspective view of the cavity in the machine shell of the present application;

[0033] Figure 5 is a perspective view of the moving rod of the present application;

[0034] Figure 6 is a perspective view of the movable plate of the present application;

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

[0036] Figure 8 is a perspective view of the inner tube of the present application;

[0037] Figure 9 For the sleeve perspective view of the application.

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

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

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

[0041] The moving rail 23 penetrates the top of the machine tool 21. The moving rail 23 is a rectangular slot. Multiple moving rails 23 are evenly arranged on the top of the machine tool 21. The opening of the machine tool 21 and the middle plate 22 is rotatably connected with the moving shaft 24. The opening of the machine tool 21 and the middle plate 22 is also rotatably connected with the limit column 25. The moving shaft 24 and the limit column 25 are cylindrical. The moving shaft 24 is located above the limit column 25. The number of the moving shaft 24 and the limit column 25 is consistent with the number of the moving rail 23. The position of each moving shaft 24 and limit column 25 is aligned with the moving rail 23. The wall surface of each moving shaft 24 is threadedly connected with the moving block 26. The wall surface of each moving block 26 can slide along the arc surface of the corresponding limit column 25. The top of each moving block 26 is fixedly connected with the robot arm 27. The robot arm 27 can slide in the corresponding moving 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 is not described here.

[0042] As shown in Figure 1 , Figure 2 ,Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 As shown in FIGS. 1-10, the adaptive structure is arranged above the casing 20 for controlling the corresponding number of robot arms 27 to process the materials, and the adaptive structure comprises an inner tube 50, an inner column 51, a clamping groove 52, a sleeve 47, a clamping tooth 48, a moving rod 60 and a pushing block 61. The inner tube 50 is rotationally connected to the front wall surface of the middle plate 22, and the inner tube 50 is in a cylindrical shape. The rear wall surface of the inner tube 50 is fixedly connected to the end of the adjusting shaft 24. The inner column 51 is fixedly connected to the cavity of the inner tube 50. The clamping groove 52 is arranged on the wall surface of the inner column 51. The sleeve 47 is movably connected above the casing 20, and the sleeve 47 is in a cylindrical shape. The clamping tooth 48 is fixedly connected to the cavity of the sleeve 47. The moving rod 60 is slidingly connected to the wall surface of the casing 20. The pushing block 61 is fixedly connected to the wall surface of the moving rod 60. The sleeve 47 can be sleeved with the inner tube 50.

[0043] As shown in FIGS. 1-10, the adaptive structure is arranged above the casing 20 for controlling the corresponding number of robot arms 27 to process the materials, and the adaptive structure comprises an inner tube 50, an inner column 51, a clamping groove 52, a sleeve 47, a clamping tooth 48, a moving rod 60 and a pushing block 61. The inner tube 50 is rotationally connected to the front wall surface of the middle plate 22, and the inner tube 50 is in a cylindrical shape. The rear wall surface of the inner tube 50 is fixedly connected to the end of the adjusting shaft 24. The inner column 51 is fixedly connected to the cavity of the inner tube 50. The clamping groove 52 is arranged on the wall surface of the inner column 51. The sleeve 47 is movably connected above the casing 20, and the sleeve 47 is in a cylindrical shape. The clamping tooth 48 is fixedly connected to the cavity of the sleeve 47. The moving rod 60 is slidingly connected to the wall surface of the casing 20. The pushing block 61 is fixedly connected to the wall surface of the moving rod 60. The sleeve 47 can be sleeved with the inner tube 50. Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9As shown, the inner tube 50 is uniformly arranged on the front wall of the middle plate 22, the number of the inner tube 50 is consistent with the number of the adjusting shaft 24, each inner tube 50 can be fixedly connected with the corresponding adjusting shaft 24, the inner tube 50 can pass through the wall of the middle plate 22, the number of the sleeve 47 is consistent with the number of the inner tube 50, the position of each sleeve 47 can be aligned with the inner tube 50, the inner size of the cavity of the sleeve 47 can be adapted to the outer wall size of the inner tube 50, the inner column 51 is in a cylindrical shape, the clamping groove 52 is arranged in multiple on the arc surface of the inner column 51, the clamping groove 52 is in a U-shaped slot, the wall of the inner column 51 at each clamping groove 52 is in a rounded shape, the clamping tooth 48 is in a rectangular rod, the clamping tooth 48 is arranged in multiple on the inner cavity of the sleeve 47, the number of the clamping tooth 48 is consistent with the number of the clamping groove 52, the clamping groove 52 can be adapted to the size of the clamping tooth 48, the end wall of the clamping tooth 48 is in a rounded shape, the moving rod 60 is composed of a lower half transverse rectangular rod and an upper half transverse L-shaped rod, the lower half of the moving rod 60 can slide along the inner cavity of the shell 20, the bottom of the upper half of the moving rod 60 can be attached to the top of the machine tool 21, the push block 61 is fixedly connected to the top of one end of the lower half of the moving rod 60, the push block 61 is in an obliquely arranged rectangular plate, the connection between the push block 61 and the moving rod 60 can pass through the top of the shell 20, the push block 61 is located between the inner tube 50 and the sleeve 47, a rectangular slot is arranged on the top of the shell 20, which is adapted to the sliding of the connection between the push block 61 and the moving rod 60, the adaptive structure further comprises a large sliding clamping column 42, a small sliding clamping column 43, a push plate 45, a first magnetic ring 46 and a second magnetic ring 53, the large sliding clamping column 42 is located on the front wall of the sleeve 47, the small sliding clamping column 43 is fixedly connected to the rear wall of the large sliding clamping column 42, the large sliding clamping column 42 and the small sliding clamping column 43 are in a capsule-shaped cross-section rod, the size of the large sliding clamping column 42 is larger than that of the small sliding clamping column 43, the push plate 45 is fixedly connected to the rear wall of the small sliding clamping column 43, the push plate 45 is in a disc shape, the bottom arc surface of the push plate 45 can be in contact with the top of the shell 20, the inclined surface of the push block 61 can be in contact with the edge of the push plate 45, the first magnetic ring 46 is fixedly connected to the rear wall of the push plate 45, the first magnetic ring 46 is in a circular ring shape, the front wall of the sleeve 47 can be fixedly connected with 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 circular rings with the same size, the first magnetic ring 46 and the second magnetic ring 53 can be magnetically attracted to each other, the adaptive structure further comprises a driven column 40, a sliding 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 column 40 is consistent with the number of the large sliding clamping column 42, the driven column 40 is in a cylindrical shape, the sliding groove 41 is arranged on the rear wall of the driven column 40, the large sliding clamping column 42 and the small sliding clamping column 43 can slide in the sliding groove 41, each large sliding clamping column 42 can slide in the sliding 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 abut against the top of the linkage belt 44, the driving belt 38 can further be drivingly connected with the wall surface of the driven column 40 located vertically below the driving shaft 36.

[0044] In specific use, first turn on the power of the mobilization motor 32, the mobilization motor 32 will drive the automatic shaft 33 to rotate when the power is turned on, with the rotation of the automatic shaft 33, the box moving device 31 can be driven to move towards the fixed plate 30 through the threaded connection with the fixed plate 30, during the movement of the box moving device 31, the automatic shaft 33 will drive the movable plate 34 to move synchronously towards the back, 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 card column 42, the small sliding card column 43, the linkage belt 44, the push plate 45, the first magnetic ring 46, the sleeve 47 and the card tooth 48 to move synchronously towards the inner tube 50, when the sleeve 47 is about to be connected with the inner tube 50, it stops moving, at this time, the top of the object to be processed is aligned with one side of the moving rod 60 and is pushed along the top of the machine tool 21, with the pushing of the object, the moving rod 60 can be driven to slide along the top of the machine tool 21, the lower half of the moving rod 60 will move along the cavity of the machine shell 20, the lower half of the moving rod 60 will drive the push block 61 to move synchronously when moving, when the push block 61 moves between the sleeve 47 and the inner tube 50, the inclined surface of the push block 61 will contact the arc surface of the push plate 45 and resist the push plate 45 towards the inner tube 50 between each set of push plate 45 and inner tube 50, with the movement of the push plate 45, the sleeve 47 and the outer wall of the inner tube 50 can be sleeved, and the card tooth 48 is clamped into the card slot 52, with the movement of the sleeve 47, the first magnetic ring 46 can be attracted to the second magnetic ring 53, when the push plate 45 moves, the small sliding card column 43 and the large sliding card column 42 will slide along the sliding groove 41, when it is necessary to control the robot arm 27 to process the object on the top of the machine tool 21, turn on the power of the processing motor 35, the processing motor 35 can drive the driving shaft 36 to rotate, with the rotation of the driving shaft 36, the vertical driven column 40 below can be driven to rotate through the driving belt 38, the tensioner at the bottom of the upper plate 37 can drive all the driven columns 40 to rotate synchronously on the wall surface of the movable plate 34 through the linkage belt 44, when the driven column 40 rotates, the large sliding card column 42, the small sliding card column 43, the push plate 45, the first magnetic ring 46, the sleeve 47 and the card tooth 48 can rotate synchronously, the inner tube 50 sleeved with the sleeve 47 can rotate with the rotation of the sleeve 47, when the inner tube 50 rotates, the mobilization shaft 24 can rotate in the opening of the machine tool 21 and the middle plate 22, with the rotation of the mobilization shaft 24, the robot arm 27 can adapt to the size of the object through the threaded connection with the mobilization block 26, the sleeve 47 not sleeved with the inner tube 50 will only rotate, after the object is processed, the moving rod 60 is pushed to the original position, with the movement of the moving rod 60 driving the push block 61, the previously connected inner tube 50 and sleeve 47 can be separated from each other by guiding the push plate 45;

[0045] To sum up, by setting the adaptive structure can automatically mobilize the required number of robot arms 27 to process the object size required for processing, the present scheme has higher practicability compared with the prior art, the fillet-shaped surface of the clamping tooth 48 and the clamping groove 52 can automatically align when the clamping tooth 48 and the clamping groove 52 are connected, and the smoothness of the clamping tooth 48 and the clamping groove 52 when connected is improved.

[0046] As shown in Figure 6 The adaptive structure further comprises a fixed plate 30, a moving box 31, a mobilization 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 shell 20. The moving box 31 is movably connected to the top of the front wall of the shell 20. The moving box 31 is a hollow rectangular box with an open top. Two circular wheels are rotatably connected to the bottom of the moving box 31. The mobilization 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 to the cavity of the moving box 31. The rear end of the automatic shaft 33 can pass through the wall of the fixed plate 30 and is threadedly connected to the fixed plate 30. The mobilization 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 be attached to 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 of the movable plate 34. Each upper plate 37 is provided with a tensioner at the bottom. The driving belt 38 is drivingly 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 shell 20, the circular wheels on the wall of the moving box 31 will roll synchronously with the top of the shell 20.

[0048] To sum up, by setting the circular wheels on the wall of the moving box 31, the friction of the moving box 31 can be reduced when it moves, and the smoothness of the moving box 31 when moving on the top of the shell 20 is improved.

[0049] As shown in Figure 5 The lower half of the moving rod 60 is symmetrically fixedly connected with a wheel rod 63. The wheel rod 63 is a rectangular rod. Each wheel rod 63 is symmetrically rotatably connected with a rotating wheel 64. The rotating wheel 64 is a cylindrical shape. The rotating wheel 64 can roll in the cavity of the shell 20. The upper half of the moving rod 60 is fixedly connected with a locking block 62. The locking block 62 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 an abutting groove 65. The bottom of the bolt on the wall of the locking block 62 can pass through the locking block 62 and enter the abutting groove 65. The abutting groove 65 is a rectangular groove.

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

[0051] In summary, by setting the rotating wheel 64, the friction with the wall of the casing 20 can be reduced when the moving rod 60 moves, thereby improving the smoothness of the moving rod 60 when moving, and preventing the problem that the moving rod 60 moves slowly due to excessive friction.

[0052] Working principle: first, the power of the motor 32 is turned on, the motor 32 will drive the automatic shaft 33 to rotate when the power is turned on, with the rotation of the automatic shaft 33, the moving box 31 can be driven to move towards 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 synchronously towards the back, 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 card column 42, the small sliding card column 43, the linkage belt 44, the push plate 45, the first magnetic ring 46, the sleeve 47 and the card tooth 48 to move synchronously towards the inner tube 50, when the sleeve 47 moves to the point of abutting with the inner tube 50, it stops moving, at this time, the object to be processed is aligned with one side of the moving rod 60 on the top of the machine tool 21 and is pushed along the top of the machine tool 21, with the pushing of the object, the moving rod 60 can be driven to slide synchronously along the top of the machine tool 21, the lower half of the moving rod 60 will move along the cavity of the machine shell 20, the lower half of the moving rod 60 will drive the push block 61 to move synchronously when moving, when the push block 61 moves between the sleeve 47 and the inner tube 50, the inclined surface of the push block 61 will contact the arc surface of the push plate 45 and abut the push plate 45 towards the inner tube 50 between each set of push plate 45 and inner tube 50, with the movement of the push plate 45, the sleeve 47 and the outer wall of the inner tube 50 can be sleeved, and the card tooth 48 is clamped into the card slot 52, with the movement of the sleeve 47, the first magnetic ring 46 can be attracted to the second magnetic ring 53, when the push plate 45 moves, it will drive the small sliding card column 43 and the large sliding card column 42 to slide along the sliding 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, the processing motor 35 can drive the driving shaft 36 to rotate, with the rotation of the driving shaft 36, the vertical driven column 40 below can be driven to rotate through the driving belt 38, the tensioner at the bottom of the upper plate 37 can drive all the driven columns 40 to rotate synchronously on the wall surface of the movable plate 34 through the linkage belt 44, when the driven column 40 rotates, it can drive the large sliding card column 42, the small sliding card column 43, the push plate 45, the first magnetic ring 46, the sleeve 47 and the card tooth 48 to rotate synchronously, the inner tube 50 sleeved with the sleeve 47 can rotate with the sleeve 47, when the inner tube 50 rotates, it will drive the adjusting shaft 24 to rotate in the opening between the machine tool 21 and the middle plate 22, with the rotation of the adjusting shaft 24, the robot arm 27 can be adapted to the size of the object through the threaded connection with the adjusting block 26, the sleeve 47 not sleeved with the inner tube 50 will only rotate, after the object is processed, the moving rod 60 is pushed to the original position, with the movement of the moving rod 60 driving the push block 61, the previously abutted inner tube 50 and sleeve 47 can be separated from each other by guiding the push plate 45.

[0053] It is to be understood that the present application is described by way of example only, and that modifications or alterations can be made to the features and embodiments described without departing from the spirit and scope of the application. In addition, modifications can be made to the features and embodiments described to accommodate specific situations and materials without departing from the spirit and scope of the application. Accordingly, the application is not limited to the specific embodiments disclosed herein, but rather, the scope of the application includes all embodiments falling within the scope of the claims.

Claims

1. A robot motion control apparatus characterized by comprising: Include: The shell (20), the shell (20) is hollow in the cavity and the rear wall surface is open rectangular box, the top rear half position of the shell (20) is fixedly connected with the machine tool (21), the front wall surface of the machine tool (21) is fixedly connected with the middle plate (22), the middle plate (22) is rectangular plate, the middle plate (22) and the machine tool (21) can form the open downward character-shaped plate; The rail (23) is through the top of the machine tool (21), the rail (23) is rectangular slot, the rail (23) is evenly provided in the top of the machine tool (21), the opening of the machine tool (21) and the middle plate (22) is rotatably connected with the adjusting shaft (24), the opening of the machine tool (21) and the middle plate (22) is also rotatably connected with the limit column (25), the adjusting shaft (24) and the limit column (25) are cylindrical, the adjusting shaft (24) is located above the limit column (25), the number of the adjusting shaft (24) and the limit column (25) is consistent with the rail (23), the position of each adjusting shaft (24) and the limit column (25) is aligned with the rail (23), the wall surface of each adjusting shaft (24) is respectively threadedly connected with the adjusting block (26), the wall surface of each adjusting block (26) can also slide along the arc surface of the corresponding limit column (25), the top of each adjusting block (26) is fixedly connected with the robot arm (27), the robot arm (27) can slide along the corresponding rail (23); The adaptive structure is arranged above the shell (20) for controlling the corresponding number of robot arms (27) to process the material, the adaptive structure comprises: inner tube (50), inner column (51), clamping groove (52), sleeve (47), clamping tooth (48), moving rod (60) and shifting 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 fixedly connected with the end of the adjusting shaft (24), the inner column (51) is fixedly connected in the cavity of the inner tube (50), the clamping groove (52) is provided in the wall surface of the inner column (51), the sleeve (47) is movably connected above the shell (20), the sleeve (47) is cylindrical, the clamping tooth (48) is fixedly connected in the cavity of the sleeve (47), the moving rod (60) is slidably connected to the wall surface of the shell (20), the shifting block (61) is fixedly connected to the wall surface of the moving rod (60), the sleeve (47) can be sleeved with the inner tube (50).

2. A robot motion control apparatus according to claim 1, wherein The inner tube (50) is uniformly arranged on the front wall surface of the middle plate (22), the number of the inner tube (50) is consistent with the adjusting shaft (24), each inner tube (50) can be fixedly connected with the corresponding adjusting shaft (24), the inner tube (50) can pass through the wall surface of the middle plate (22), the number of the sleeve (47) is consistent with the inner tube (50), the position of each sleeve (47) can be aligned with the inner tube (50), the inner size of the cavity of the sleeve (47) can be adapted to the outer wall surface size of the inner tube (50), the inner column (51) is in a cylindrical shape, the clamping grooves (52) are arranged in an arc surface annular array on the inner column (51), the clamping grooves (52) are in a U-shaped groove, the wall surface of the inner column (51) at each clamping groove (52) is in a rounded shape, the clamping teeth (48) are in a rectangular rod, the clamping teeth (48) are arranged in an annular array in the cavity of the sleeve (47), the number of the clamping teeth (48) is consistent with the clamping grooves (52), the clamping grooves (52) can be adapted to the size of the clamping teeth (48), and the end wall surface of the clamping teeth (48) is in a rounded shape.

3. The robot motion control device of claim 1, wherein, The moving rod (60) is composed of a lower half transverse rectangular rod and an upper half transverse L-shaped rod, the lower half of the moving rod (60) can slide in the cavity of the machine shell (20), the bottom of the upper half of the moving rod (60) can be attached to the top of the machine tool (21), the shifting block (61) is fixedly connected to one end of the top of the lower half of the moving rod (60), the shifting block (61) is in an obliquely arranged rectangular plate, the connection between the shifting block (61) and the moving rod (60) can pass through the top of the machine shell (20), and the shifting block (61) is located between the inner tube (50) and the sleeve (47). The top of the machine shell (20) is provided with a rectangular groove suitable for the sliding of the connection between the shifting block (61) and the moving rod (60).

4. The robot motion control apparatus according to claim 1, wherein The self-adaptive structure further comprises a large sliding clamping column (42), a small sliding clamping column (43), a shifting plate (45), a first magnetic ring (46) and a second magnetic ring (53), the large sliding clamping column (42) is located on the front wall surface of the sleeve (47), the small sliding clamping column (43) is fixedly connected to the rear wall surface of the large sliding clamping column (42), the large sliding clamping column (42) and the small sliding clamping column (43) are in a capsule-shaped cross-section rod, the size of the large sliding clamping column (42) is larger than that of the small sliding clamping column (43), the shifting plate (45) is fixedly connected to the rear wall surface of the small sliding clamping column (43), the shifting plate (45) is in a disc shape, the bottom arc surface of the shifting plate (45) can be in contact with the top of the machine shell (20), the inclined surface of the shifting block (61) can be in contact with the edge of the shifting plate (45), the first magnetic ring (46) is fixedly connected to the rear wall surface of the shifting 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 with the rear wall surface of the first magnetic ring (46), and 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 with 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 apparatus according to claim 4, wherein The adaptive structure further comprises a fixed plate (30), a moving box (31), a moving motor (32), an automatic shaft (33), a movable plate (34), a processing motor (32), 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 shell (20), the moving box (31) is movably connected to the top of the front wall of the shell (20), the moving box (31) is a hollow rectangular box with an open top, the bottom of the moving box (31) is rotatably connected to two circular wheels, the moving 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 to the cavity of the moving box (31), the rear end of the automatic shaft (33) can pass through the wall of the fixed plate (30) and is screwedly connected to the fixed plate (30), the moving 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 be attached to the rear wall of the fixed plate (30), the processing motor (32) 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 (32), the processing motor (32) can drive the driving shaft (36) to rotate, the upper plate (37) is symmetrically fixedly connected to the top of the movable plate (34), each upper plate (37) is provided with a tensioner at the bottom, and the driving belt (38) is drivingly connected to the arc surface of the driving shaft (36).

6. A robot motion control apparatus according to claim 5, wherein The adaptive structure further comprises a driven column (40), a sliding 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 column (40) is consistent with that of the large sliding column (42), the driven column (40) is in a cylindrical shape, the sliding groove (41) is formed in the rear wall of the driven column (40), the large sliding column (42) and the small sliding column (43) can slide in the sliding groove (41), each large sliding column (42) can slide in the sliding groove (41) of the corresponding wall surface of the driven column (40), and the linkage belt (44) can be sleeved on the arc surface of each driven column (40). The tensioner can abut against the top of the linkage belt (44), and the driving belt (38) can also be drivingly connected to the wall surface of the driven column (40) located vertically below the driving shaft (36).

7. The robotic motion control device of claim 2, wherein, The lower half of the moving rod (60) is symmetrically fixedly connected with a wheel rod (63), the wheel rod (63) is in a rectangular shape, the wall surface of each wheel rod (63) is symmetrically rotatably connected with a rotating wheel (64), the rotating wheel (64) is in a cylindrical shape, and the rotating wheel (64) can roll in the cavity of the shell (20). The wall surface of the upper half of the moving rod (60) is fixedly connected with a lock block (62), the lock block (62) is in a semi-capsule shape, the top of the lock block (62) is screwedly connected with a bolt, the top of the machine tool (21) is provided with an abutting groove (65), and the bottom of the bolt of the wall surface of the lock block (62) can pass through the lock block (62) and enter the abutting groove (65). The abutting groove (65) is in a rectangular shape.

8. A method of using a robot motion control apparatus as claimed in claim 5, First step: Turn on the power of the mobilization motor (32), and observe the sleeve (47) moving towards the inner tube (50) after the mobilization motor (32) is turned on; Second step: Place the object to be processed on the top of the machine tool (21) and push it to make the object completely adhere to the top of the machine tool (21); Third step: Turn on the power of the processing motor (35) after the object is placed on the top of the machine tool (21), and the corresponding number of robot arms (27) will be mobilized to process the object on the top of the machine tool (21) when the processing motor (35) is turned on; Fourth step: After the object is processed on the top of the machine tool (21), it can be removed and the position of the moving rod (60) can be slid back to its original position.

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