Multi-terminal adaptive execution mechanism based on heterogeneous data fusion
Through multi-end adaptation actuators based on heterogeneous data fusion, the problem of insufficient rapid switching capabilities of existing actuators in different tasks and environments is solved, and high-precision and flexible operation results are achieved.
Patent Information
- Application Number
- CN202411992045.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-14
AI Technical Summary
The existing actuators lack the ability to switch quickly in different tasks and environments, resulting in low production efficiency, complex equipment maintenance, and insufficient multi-sensor data fusion affects the accuracy of the execution path.
Using a multi-end adaptation actuator based on heterogeneous data fusion, the integration of the motion mechanism, parallel mechanism, multiple sensors and control boxes can achieve accurate identification of special-shaped objects at different positions and rapid adaptation of multiple end effectors.
It improves data quality and accuracy, enhances the decision-making ability and work efficiency of the robot, improves flexibility and adaptability, and achieves large-scale and high-precision operations.
Smart Images
Figure CN119610064A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of parallel robots, and in particular to a multi-terminal adaptation actuator based on heterogeneous data fusion. Background Art
[0002] In modern automated production, flexible and precise actuators are the core to improving production efficiency and operation quality. However, traditional actuators are usually only able to adapt to a single type of end effector and lack the ability to quickly switch between different tasks and environments, which not only reduces production efficiency but also increases the complexity of equipment maintenance and operation. With the increasing demand for multi-functional and high-precision operations in industrial automation, designing an actuator that is compatible with a variety of end effectors and can achieve precise control has become the key to technological development. Especially in the fields of automated assembly, intelligent logistics, and precision machining, the rapid adaptation and efficient control of end effectors are crucial to improving productivity and quality.
[0003] Although there are some actuators with certain adaptability, there are still many problems in the existing system: on the one hand, the replacement and adaptation process of the end effector is usually complicated and requires manual intervention; on the other hand, the accuracy and stability of the system are limited by the mechanical structure and control system, and it is difficult to achieve the ideal execution effect; in addition, the lack of fusion of multi-sensor data affects the accuracy of the execution path. How to intelligently adapt different end effectors to achieve high-precision operations and effectively fuse sensor data is a challenge facing current technology. With the advancement of heterogeneous sensor technology, how to efficiently fuse data from different types of sensors has become the key to improving execution accuracy and system flexibility. However, the existing multi-sensor data fusion and actuator adaptation technologies still have limitations, resulting in the inability of the execution system to perform precise control in complex environments. Especially on mobile platforms such as AGV, how to achieve large-scale and high-precision operations has become an urgent need in modern intelligent manufacturing and automation applications. Therefore, there is an urgent need for a new type of execution system that can efficiently fuse sensor data, intelligently adapt to different end effectors, and achieve accurate and efficient task execution in various application scenarios to meet increasingly complex industrial needs. Summary of the invention
[0004] In order to solve the shortcomings of existing robots that perform intelligent work based on sensor data when facing special-shaped objects in different positions, the present invention proposes a multi-terminal adaptive actuator based on heterogeneous data fusion. Through heterogeneous data fusion, various data fed back by sensors can be more effectively utilized to achieve accurate recognition of special-shaped objects in different positions. The multi-terminal adaptive actuator can select suitable end effectors according to different work requirements, thereby improving the adaptability and flexibility of the robot, thereby improving the overall performance of the robot.
[0005] To achieve the above purpose, the specific technical solutions of the present invention are as follows: A multi-terminal adaptation actuator based on heterogeneous data fusion, comprising a motion mechanism, a parallel mechanism, an actuator, a pressure sensor, a visual sensor, a laser sensor and a control box; The motion mechanism includes a heavy-load AGV, a support frame and a transmission mechanism. The motion mechanism is a three-dimensional motion mechanism. The heavy-load AGV moves in the horizontal direction, and the transmission mechanism moves in the vertical direction. The support frame includes a bottom plate, a bracket base and a bracket. The bottom plate is fixed on the heavy-load AGV, the bracket base is fixed on the bottom plate, and the bracket is fixed on the bracket base by bolts. The transmission mechanism includes a linear rail, a slider, a ball screw, a guide nut, a coupling, a motor, a motor support, a bearing and a bearing support; the motor support and the bearing support are fixed to the bracket by bolts, the motor is fixed on the top of the motor support, a bearing is provided in the hole below, the motor is connected to the coupling, the other end of the coupling is connected to the ball screw, the ball screw passes through the bearing in the motor support, and the other end is fixed by a bearing support provided with a bearing, a guide nut is installed on the ball screw, and the guide nut is connected to the fixed platform assembly, the linear rail is fixed to the bracket by bolts and is symmetrically installed on both sides of the ball screw, a slider is provided on the linear rail, and the top of the slider is connected to the fixed platform assembly.
[0006] Preferably, the parallel mechanism comprises a fixed platform assembly, a center rod assembly, a first drive link, a second drive link, a third drive link, a fourth drive link, a first redundant drive link and a second redundant drive link; The fixed platform assembly comprises a fixed platform, a rotating support, a rotating slider, a first rotating assembly, a second rotating assembly, a third rotating assembly and a ball bearing slide, and the bottom surface of the fixed platform is connected to the slider and the guide nut; A first rotating assembly is provided at the central axis position of the fixed platform, the fixed platform is coaxially matched with the rotating support through the first rotating assembly, a second rotating assembly is installed on the rotating support, and the rotating support is coaxially matched with the rotating slider through the second rotating assembly; The axes of the first rotating assembly, the second rotating assembly and the third rotating assembly are located in the same rotating plane, the axes of the first rotating assembly and the second rotating assembly are perpendicular, the axes of the first rotating assembly and the third rotating assembly are perpendicular, and the axes of the second rotating assembly and the third rotating assembly are parallel; The central rod assembly comprises a central rod, a sliding plate, a moving platform and a rotating assembly; the sliding plate is mounted on the central rod, the central rod is connected to the rotating slider through the sliding plate and the ball bearing slide seat, the top of the central rod is the moving platform, the moving platform is provided with eight driving link support plates, each fixed plate is provided with a bearing, two driving link support plates are a pair and divided into four pairs, and the first driving link, the second driving link, the third driving link and the fourth driving link are connected in sequence, and a rotating assembly rotating around the axis of the central rod is installed above the moving platform; The first driving connecting rod comprises a shaft, a moving pair, a motor and a motor support, the motor support and the rotating support are coaxially matched through a third rotating assembly, one end of the motor support fixes the motor, and the other end is connected to the moving pair, the other end of the moving pair is provided with a through hole, the shaft is installed in the through hole, and the first driving connecting rod is connected to the moving platform through the shaft; The second driving link comprises a ball joint, a Hooke's joint, a moving pair, a motor and a motor support, one end of the Hooke's joint is fixed to the fixed platform, and the other end is connected to the motor support, a motor is fixed to the motor support and connected to the moving pair, the other end of the moving pair is connected to the ball joint, and the other end of the ball joint is connected to the moving platform, and the middle part of the second driving link is connected to the first redundant driving link; The first redundant driving link comprises a rotating pair, a moving pair, a Hooke's hinge, a motor and a motor support, one end of the Hooke's hinge is fixed to the bottom plate, and the other end is connected to the motor support, the motor is fixed to the motor support and connected to the moving pair, the other end of the moving pair is connected to the rotating pair, and the other end of the rotating pair is connected to the second driving link; The structure and connection method of the third driving connecting rod are the same as those of the first driving connecting rod; The structure and driving mode of the fourth driving connecting rod are the same as those of the second driving connecting rod; The structure and connection method of the second redundant driving link are the same as those of the first redundant driving link.
[0007] Preferably, the actuator comprises a control support, an actuator and a conversion joint; the control support is fixed to the rotating assembly, the control support is coaxially matched with the actuator through a bearing, and the conversion joint is installed on the actuator; Different actuators can be installed and replaced on the conversion joint of the actuator.
[0008] Preferably, the pressure sensor is installed at the end of the actuator, the visual sensor is installed on the base plate, and the laser sensor is installed in front of the heavy-load AGV.
[0009] Preferably, the control box is located behind the support frame and is connected to the base plate by bolt fastening.
[0010] Compared with the prior art, the present invention has the following advantages: (1) It fuses multi-sensor data, greatly improving the quality and accuracy of the data; (2) It can install different end effectors according to needs, improving the flexibility and adaptability of the robot; (3) It has redundant drive characteristics, can adjust the position and posture of the end effector, and has high flexibility and high precision; (4) It can avoid the singular position of the parallel structure and achieve a larger working range. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is an overall schematic diagram of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 2 It is a schematic diagram of a motion mechanism of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 3 It is a schematic diagram of a parallel mechanism of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 4 It is a schematic diagram of a fixed platform component of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 5 It is a schematic diagram of a central rod assembly of a multi-terminal adaptation actuator based on heterogeneous data fusion according to the present invention; Figure 6 It is a schematic diagram of a first driving connecting rod of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 7 It is a schematic diagram of the connection between the second driving connecting rod and the first redundant driving connecting rod of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention; Figure 8 It is a schematic diagram of an actuator of a multi-terminal adaptation actuator based on heterogeneous data fusion of the present invention.
[0012] in: Figure 1 :1. Motion mechanism, 2. Parallel structure, 3. Actuator, 4. Pressure sensor, 5. Visual sensor, 6. Laser sensor, 7. Control box; Figure 2 :11. heavy-load AGV, 12. support frame, 13. transmission mechanism, 121. bottom plate, 122. bracket base, 123. bracket, 131. linear rail, 132. slider, 133. ball screw, 134. guide nut, 135. coupling, 136. motor, 137. motor support, 138. bearing support; Figure 3:21, fixed platform assembly, 22, center rod assembly, 23, first drive connecting rod, 24, second drive connecting rod, 25, third drive connecting rod, 26, fourth drive connecting rod, 27, first redundant drive connecting rod, 28, second redundant drive connecting rod; Figure 4 : 211, fixed platform, 212, rotating support, 213, rotating slider, 214, first rotating assembly, 215, second rotating assembly, 216, third rotating assembly, 217, ball slide; Figure 5 : 221, center rod, 222, sliding plate, 223, moving platform, 224, rotating assembly; Figure 6 :231, shaft, 232, moving pair, 233, motor, 234, motor support; Figure 7 :241, revolute pair, 242, Hooke's hinge, 243, translation pair, 244, motor, 245, motor support, 271, revolute pair, 272, translation pair, 273, Hooke's hinge, 274, motor, 275, motor support; Figure 8 : 31. Control support, 32. Actuator, 33. Conversion joint. DETAILED DESCRIPTION
[0013] The present invention aims to solve the problems of low comprehensive performance and single purpose of parallel robots, and provides a multi-terminal adaptive actuator based on heterogeneous data fusion, which improves the quality and accuracy of data by integrating multiple sensor data, thereby enhancing the robot's decision-making ability and work efficiency. In addition, the robot of the present invention is equipped with a multi-terminal actuator, and different working devices can be installed according to needs, which improves flexibility, practicality and work efficiency, thereby improving the overall performance of the robot. The technical scheme in the embodiment of the present invention will be described in detail and clearly below in conjunction with the drawings in the embodiment of the present invention. The dynamic platform of the present invention can be installed Figure 1 The drill bit, suction cup and manipulator shown are not limited thereto. The following embodiment is only one embodiment of the present invention and is not limited to the following implementation methods. Without departing from the concept of the present invention, various improvements, modifications and substitutions made by technicians in this field on this basis all belong to the protection scope specified in the claims of the present invention.
[0014] See also Figure 1-Figure 8 , the present invention provides the following technical solutions: A multi-terminal adaptation actuator based on heterogeneous data fusion, comprising a motion mechanism 1, a parallel mechanism 2, an actuator 3, a pressure sensor 4, a visual sensor 5, a laser sensor 6 and a control box 7; The motion mechanism 1 includes a heavy-load AGV 11, a support frame 12 and a transmission mechanism 13. The motion mechanism 1 is a three-dimensional motion mechanism. The heavy-load AGV 11 moves in the horizontal direction, and the transmission mechanism 13 moves in the vertical direction. The support frame includes a bottom plate 121, a bracket base 122 and a bracket 123, the bottom plate 121 is fixed on the heavy-load AGV 11, the bracket base 122 is fixed on the bottom plate 121, and the bracket 123 is fixed on the bracket base 122 by bolt fastening; The transmission mechanism 13 includes a linear rail 131, a slider 132, a ball screw 133, a guide nut 134, a coupling 135, a motor 136, a motor support 137 and a bearing support 138; the motor support 137 and the bearing support 138 are fixed to the bracket 123 by bolts, the motor 136 is fixed on the top of the motor support 137, and a bearing is provided in the lower hole, the motor 136 is connected to the coupling 135, and the other end of the coupling 135 is connected to the ball screw 133, the ball screw 133 passes through the bearing in the motor support 137, and the other end is fixed by the bearing support 138 provided with a bearing, the ball screw 133 is installed with a guide nut 134, and the guide nut 134 is connected to the fixed platform assembly 21, the linear rail 131 is fixed to the bracket 123 by bolts and is symmetrically installed on both sides of the ball screw 133, the linear rail 131 is provided with a slider 132, and the top of the slider 132 is connected to the fixed platform assembly 21.
[0015] Preferably, the parallel mechanism includes a fixed platform assembly 21, a center rod assembly 22, a first drive link 23, a second drive link 24, a third drive link 25, a fourth drive link 26, a first redundant drive link 27 and a second redundant drive link 28; The fixed platform assembly 21 includes a fixed platform 211, a rotating support 212, a rotating slider 213, a first rotating assembly 214, a second rotating assembly 215, a third rotating assembly 216 and a ball sliding seat 217; The bottom surface of the fixed platform 211 is connected to the slider 132 and the guide nut 134. A first rotating assembly 214 is provided at the central axis of the fixed platform 211. The fixed platform 211 is coaxially matched with the rotating support 212 through the first rotating assembly 214. A second rotating assembly 215 is installed on the rotating support 212. The rotating support 212 is coaxially matched with the rotating slider 213 through the second rotating assembly 215. The axes of the first rotating assembly 214, the second rotating assembly 215 and the third rotating assembly 216 are located in the same rotating plane, the axes of the first rotating assembly 214 and the second rotating assembly 215 are perpendicular, the axes of the first rotating assembly 214 and the third rotating assembly 216 are perpendicular, and the axes of the second rotating assembly 215 and the third rotating assembly 216 are parallel; The central rod assembly 22 includes a central rod 221, a sliding plate 222, a moving platform 223 and a rotating assembly 224; The sliding plate 222 is installed on the center rod 221, and the center rod 221 is connected to the rotating slider 213 through the sliding plate 222 and the ball slide seat 217. The top of the center rod 221 is a moving platform 223, and the moving platform 223 is provided with eight driving connecting rod support plates, and a bearing is installed in each fixed plate. The two driving connecting rod support plates are divided into four pairs as a pair, and the first driving connecting rod, the second driving connecting rod, the third driving connecting rod, and the fourth driving connecting rod are connected in sequence. A rotating component 224 rotating around the axis of the center rod is installed above the moving platform 223; The first driving connecting rod 23 includes a shaft 231, a moving pair 232, a motor 233 and a motor support 234. The motor support 234 is coaxially matched with the rotating support 212 through the third rotating assembly 216. The motor 233 is fixed at one end of the motor support 234, and the other end is connected to the moving pair 232. The other end of the moving pair 232 is provided with a through hole, and the shaft 231 is installed in the through hole. The first driving connecting rod 23 is connected to the moving platform 223 through the shaft 231. The second driving link 24 includes a ball joint 241, a Hooke's joint 242, a moving pair 243, a motor 244 and a motor support 245. One end of the Hooke's joint 242 is fixed to the fixed platform 211, and the other end is connected to the motor support 245. The motor 244 is fixed to the motor support 245 and is connected to the moving pair 243. The other end of the moving pair 243 is connected to the ball joint 241, and the other end of the ball joint 241 is connected to the moving platform 223. The middle part of the second driving link 24 is connected to the first redundant driving link 27. The first redundant driving link 27 comprises a rotating pair 271, a moving pair 272, a Hooke's hinge 273, a motor 274 and a motor support 275. One end of the Hooke's hinge 273 is fixed to the bottom plate 121, and the other end is connected to the motor support 275. The motor 274 is fixed to the motor support 275 and connected to the moving pair 272. The other end of the moving pair 272 is connected to the rotating pair 271. The other end of the rotating pair 271 is connected to the second driving link 24. The structure and connection method of the third driving connecting rod 25 are the same as those of the first driving connecting rod 23; The structure and driving mode of the fourth driving connecting rod 26 are the same as those of the second driving connecting rod 24; The structure and connection method of the second redundant driving link 28 are the same as those of the first redundant driving link 27 .
[0016] Preferably, the actuator 3 includes a control support 31 , an actuator 32 and a conversion joint 33 ; the control support 31 is fixed on the rotating assembly 224 , the control support 31 is coaxially matched with the actuator 32 through a bearing, and the conversion joint 33 is installed on the actuator 32 .
[0017] Different actuators can be installed and replaced on the conversion joint 33 of the actuator 3.
[0018] Preferably, the pressure sensor 4 is installed at the end of the actuator 32 , the visual sensor 5 is installed on the base plate 121 , and the laser sensor 6 is installed in front of the heavy-load AGV 11 .
[0019] Preferably, the control box 7 is located behind the support frame 12 and is connected to the base plate 121 by bolt fastening.
[0020] The parts not described in detail in the present invention can be implemented by existing technologies or by referring to existing methods. The various embodiments are described in a progressive manner. The parts with the same or similar features can refer to each other, and the focus is on explaining the differences. The above embodiments are only a part of the present invention and do not limit the present invention. For those skilled in the art, the present invention can be subjected to various changes and modifications. Any modification, equivalent substitution or improvement within the spirit and principle of the present invention should be included in the scope of protection of the claims of the present invention.
Claims
1. A multi-terminal adaptation actuator based on heterogeneous data fusion, characterized in that: It includes a motion mechanism, a parallel mechanism, an actuator, a pressure sensor, a visual sensor, a laser sensor and a control box; the motion mechanism includes a heavy-load AGV, a support frame and a transmission mechanism, the support frame includes a base plate, a bracket base and a bracket, the base plate is fixed on the heavy-load AGV, the bracket base is fixed on the base plate, and the bracket is fixed to the bracket base by bolts; the transmission mechanism includes a linear rail, a slider, a ball screw, a guide nut, a coupling, a motor, a motor support, a bearing and a bearing support, the motor support and the bearing support are fixed to the bracket by bolts, the motor is fixed above the motor support, a bearing is provided in the lower hole, the motor is connected to the coupling, the other end of the coupling is connected to the ball screw, the ball screw passes through the bearing in the motor support, and the other end is fixed by a bearing support provided with a bearing, a guide nut is installed on the ball screw, and the guide nut is connected to the fixed platform assembly, the linear rail is fixed to the bracket by bolts and is symmetrically installed on both sides of the ball screw, a slider is provided on the linear rail, and the top of the slider is connected to the fixed platform assembly; The parallel mechanism includes a fixed platform assembly, a center rod assembly, a first drive link, a second drive link, a third drive link, a fourth drive link, a first redundant drive link and a second redundant drive rod; the fixed platform assembly includes a fixed platform, a rotating support, a rotating slider, a first rotating assembly, a second rotating assembly, a third rotating assembly and a ball slide seat, the bottom surface of the fixed platform is connected to the slider and the guide nut, a first rotating assembly is provided at the center axis position of the fixed platform, the fixed platform is coaxially matched with the rotating support through the first rotating assembly, the second rotating assembly is installed on the rotating support, and the rotating support is coaxially matched with the rotating slider through the second rotating assembly; the center rod assembly includes a center rod, a sliding plate, a moving platform and a rotating assembly, the sliding plate is installed on the center rod, the center rod is connected to the rotating slider through the sliding plate and the ball slide seat, the top of the center rod is a moving platform, and the moving platform is provided with eight drive link support plates, each fixed Bearings are installed in the plate, and the two drive link support plates are divided into four pairs as a pair, which are connected in sequence to the first drive link, the second drive link, the third drive link, and the fourth drive link. A rotating assembly that rotates around the axis of the center rod is installed above the moving platform; the first drive link includes a shaft, a movable pair, a motor and a motor support, and the motor support and the rotating support are coaxially matched through the third rotating assembly. The motor is fixed at one end of the motor support, and the other end is connected to the movable pair. The other end of the movable pair is provided with a through hole, and the shaft is installed in the through hole. The first drive link is connected to the moving platform through the shaft; the second drive link includes a ball joint, a Hooke's joint, a movable pair, a motor and a motor support. One end of the Hooke's joint is fixed to the fixed platform, and the other end is connected to the motor support. The motor is fixed on the motor support and is connected to the movable pair. The other end of the movable pair is connected to the ball joint, and the other end of the ball joint is connected to the moving platform. The middle part of the second drive link is connected to the first redundant drive link; The first redundant driving link comprises a rotating pair, a moving pair, a Hooke's hinge, a motor and a motor support, one end of the Hooke's hinge is fixed to the bottom plate, and the other end is connected to the motor support, a motor is fixed to the motor support and connected to the moving pair, the other end of the moving pair is connected to the rotating pair, and the other end of the rotating pair is connected to the second driving link; the structure and connection method of the third driving link are the same as those of the first driving link; the structure and driving method of the fourth driving link are the same as those of the second driving link; The structure and connection method of the second redundant driving connecting rod are the same as those of the first redundant driving connecting rod; The actuator comprises a control support, an actuator and a conversion joint, wherein the control support is fixed on the rotating assembly, the control support is coaxially matched with the actuator through a bearing, and the conversion joint is installed on the actuator; The pressure sensor is installed at the end of the actuator, the visual sensor is installed on the bottom plate, and the laser sensor is installed in front of the heavy-load AGV; The control box is located behind the supporting frame and is connected to the base plate by bolt fastening.
2. A multi-terminal adaptation actuator based on heterogeneous data fusion as claimed in claim 1, characterized in that: The motion mechanism is a three-dimensional motion mechanism, wherein the heavy-load AGV moves in the horizontal direction and the transmission mechanism moves in the vertical direction.
3. A multi-terminal adaptation actuator based on heterogeneous data fusion as claimed in claim 1, characterized in that: The axes of the first rotating assembly, the second rotating assembly and the third rotating assembly are located in the same rotating plane, the axes of the first rotating assembly and the second rotating assembly are perpendicular, the axes of the first rotating assembly and the third rotating assembly are perpendicular, and the axes of the second rotating assembly and the third rotating assembly are parallel.
4. The multi-terminal adaptation actuator based on heterogeneous data fusion according to claim 1, characterized in that: Different actuators can be installed and replaced on the conversion joint of the actuator.