Automatic control multi-axis mechanical arm based on target position and control method thereof

Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an automatic control multi-axis mechanical arm based on a target position and a control method of the automatic control multi-axis mechanical arm. The vertical main body is arranged on the base, the vertical main body is connected with the base through a first rotating device, and the first rotating device is used for driving the vertical main body to rotate relative to the base; a lifting device is arranged on the vertical main body and is used for driving the swing arm to move up and down; the swing arm is arranged on the lifting device through a swing device, the swing device is used for driving the swing arm to swing, an angle keeping mechanism is arranged on the swing arm, and the angle keeping mechanism is used for keeping the orientation of the execution end of the swing arm in the swing process of the swing arm; and the control device is used for controlling the action of each degree of freedom of the multi-axis mechanical arm according to the target position coordinates. According to the invention, the unique control instruction can be obtained from the target position, and automatic control is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent manufacturing, and in particular relates to an automatic control multi-axis mechanical arm based on a target position and a control method thereof. Background Art

[0002] In automated industrial production, robotic arms are widely used, mainly to solve the problem of product flow between different workstations and play a role in flow connection; some robotic arms are equipped with actuators at the execution end to perform specific production operations on the products, such as welding, painting, gluing, screwing, taking pictures, etc.

[0003] The main feature of the robotic arm is that it integrates multi-dimensional motion mechanisms in one structure to achieve multi-angle and multi-directional motion drive. It can also conveniently control the movement of each part by adjusting the control reference to adapt to changes in products on the production line. It can even change the specific actuator at the execution end to change the specific function of the robotic arm. This makes the robotic arm extremely adaptable and can complete a large number of repetitive actions accurately and efficiently.

[0004] Currently, the control method of the robotic arm basically relies on programmers to modify the driving parameters of each joint. This method undoubtedly raises the threshold for using the robotic arm and is not conducive to the promotion of the use of the robotic arm. Summary of the invention

[0005] The purpose of the embodiment of the present invention is to provide an automatically controlled multi-axis robotic arm based on the target position, aiming to solve the problem that the current control method of the robotic arm basically relies on programmers to modify the driving parameters of each joint, which increases the threshold for using the robotic arm and is not conducive to the promotion of the use of the robotic arm.

[0006] The embodiment of the present invention is implemented by automatically controlling a multi-axis mechanical arm based on a target position, and the automatically controlling multi-axis mechanical arm based on a target position comprises: A base, the base is used for installation and fixing; A vertical body, the vertical body is arranged on a base, the vertical body and the base are connected via a first rotating device, the first rotating device is used to drive the vertical body to rotate relative to the base; a lifting device is arranged on the vertical body, the lifting device is used to drive the swing arm to move up and down; A swing arm, wherein the swing arm is arranged on the lifting device through a swing device, the swing device is used to drive the swing arm to swing, and an angle holding mechanism is arranged on the swing arm, and the angle holding mechanism is used to hold the orientation of the execution end of the swing arm during the swinging process of the swing arm; A control device is used to control the movement of each degree of freedom of the multi-axis robot according to the target position coordinates.

[0007] Another object of an embodiment of the present invention is to provide a control method for automatically controlling a multi-axis robotic arm based on a target position, which is applied to the automatically controlling a multi-axis robotic arm based on a target position described in any embodiment of the present invention, comprising: Get the target location coordinates; Determine the orientation according to the target position coordinates, and control the first rotary motor to rotate a corresponding angle according to the orientation so that the actuator faces the target position; Determine the grasping distance according to the target position coordinates, determine the swing angle according to the grasping distance and the arm length by a trigonometric relationship, and drive the swing motor according to the swing angle to make the swing arm swing to a corresponding angle; The lifting height is determined by the triangular relationship between the grabbing distance and the arm length, and the lifting motor is driven to move the swing arm to a corresponding height according to the lifting height; Control the actuator movement to grasp the target.

[0008] The automatically controlled multi-axis robotic arm based on the target position provided in the embodiment of the present invention includes a rotational degree of freedom provided by a first rotating device, a lifting degree of freedom provided by a lifting device, and a swinging degree of freedom provided by a swinging device, and an angle holding mechanism is used to keep the direction of the actuator hand at the end of the robotic arm unchanged during the swinging process, so that the present invention can uniquely determine the control parameters of the three degrees of freedom of rotation, lifting degree of freedom and swinging degree of freedom according to the coordinates of the target position, thereby realizing automatic control based on the target position, solving the problem of excessive reliance on professionals in the control of the robotic arm, and facilitating the popularization and use of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A structural diagram of an automatic control multi-axis robotic arm based on target position provided by an embodiment of the present invention; Figure 2 is a structural diagram of a first rotating device; Figure 3 This is a structural diagram of the lifting device; Figure 4 is a top view of the lifting device; Figure 5 The three-dimensional structure of the swing arm Figure 1 ; Figure 6 The three-dimensional structure of the swing arm Figure 2 .

[0010] In the accompanying drawings: 1. base; 2. vertical main body; 3. first rotating device; 31. first rotating motor; 32. mounting plate; 33. fixed wheel; 4. lifting device; 41. lifting motor; 42. slide rail; 43. sliding seat; 44. screw; 5. swing device; 51. swing motor; 52. swing arm; 6. angle holding mechanism; 61. swing rod; 62. mounting piece; 7. actuator. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0012] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0013] like Figure 1 As shown, it is a structural diagram of an automatic control multi-axis robotic arm based on a target position provided by an embodiment of the present invention, including: A base 1, the base 1 is used for installation and fixing; A vertical body 2, the vertical body 2 is arranged on the base 1, the vertical body 2 and the base 1 are connected via a first rotating device 3, the first rotating device 3 is used to drive the vertical body 2 to rotate relative to the base 1; a lifting device 4 is arranged on the vertical body 2, the lifting device 4 is used to drive the swing arm 52 to move up and down; A swing arm 52, wherein the swing arm 52 is disposed on the lifting device 4 via a swing device 5, wherein the swing device 5 is used to drive the swing arm 52 to swing, and an angle holding mechanism 6 is disposed on the swing arm 52, wherein the angle holding mechanism 6 is used to hold the orientation of the execution end of the swing arm 52 during the swinging process of the swing arm 52; A control device is used to control the movement of each degree of freedom of the multi-axis robot according to the target position coordinates.

[0014] In this embodiment, the base 1 is used for the installation and fixation of the entire robot arm. The base 1 can be installed on a platform or the ground. This is an optional installation method. In this embodiment, the vertical body 2 is installed on the base 1 as the main body of the robot arm. It can be rotated relative to the base 1 under the drive of the first rotating device 3. It can be understood that the vertical body 2 can be installed longitudinally or horizontally. Considering that the overall structure is an external suspension when installed horizontally, longitudinal installation is preferred to balance the overall force situation and make the overall more stable. Of course, this is an optional implementation method and does not limit the implementation of the present invention. In this embodiment, the vertical body 2 can be connected to the external device or power supply through a cable. Since the vertical body 2 needs to rotate during operation, the cable can be solved by corresponding measures, such as reserving the required free length or using a rotating joint and other structures. This is an optional specific implementation method, and this embodiment does not further limit this. In this embodiment, a lifting device 4 is provided on the vertical body 2 to achieve the adjustment of the height direction of the actuator 7.

[0015] In this embodiment, the swing arm 52 is arranged on the vertical body 2, and the swing arm 52 can swing relative to the vertical body 2, so that the end of the swing arm 52 for installing the actuator 7 is close to or away from the vertical body 2. Preferably, in the initial state where the swing angle is 0 degrees, the swing arm 52 is parallel or approximately parallel to the vertical body 2, and the connection position of the swing arm 52 and the vertical body 2 is located at the top or the side of the top end of the vertical body 2, so that the swing arm 52 is treated in a suspended state to obtain a more balanced force state, making the whole more stable and reliable. In this embodiment, an angle holding mechanism 6 is also provided on the swing arm 52. Through the device of the angle holding mechanism 6, the direction of the actuator 7 installed on the swing arm 52 can be kept unchanged during the swinging process of the swing arm 52, preferably always facing the direction of the material, such as always vertically downward, downward, or always horizontal.

[0016] In this embodiment, the control device can be arranged on the vertical body 2, or it can be arranged separately at other positions independent of the vertical body 2, and it is electrically connected to the driving devices of each degree of freedom through cables. In this embodiment, the control device can include various forms of hardware such as a control circuit board, a control chip, an on-off controller, a frequency converter, a PLC controller, a transformer, etc., which are commonly used electrical hardware components in the control of the robot arm, and this embodiment does not further limit this. In this embodiment, as a preferred solution, the control device is installed on the other side of the vertical body 2 relative to the swing arm 52 to balance the gravity of the swing arm 52 and improve the overall stability. It can be understood that the control device is connected to the driving members of the first rotating device 3, the lifting device 4, and the swing device 5 respectively, for controlling the actions of each degree of freedom. As a further optional implementation method, the control device can also be provided with input devices such as a display screen, a button, a remote control, etc., for inputting relevant instructions (such as target position coordinates) to realize the control of the robot arm.

[0017] The target position-based automatic control multi-axis robotic arm provided in this embodiment includes a rotational degree of freedom provided by a first rotating device 3, a lifting degree of freedom provided by a lifting device 4, and a swinging degree of freedom provided by a swinging device 5, and the angle holding mechanism 6 is used to keep the hand orientation of an actuator 7 at the end of the robotic arm unchanged during the swinging process, so that this embodiment can uniquely determine the control parameters of the three degrees of freedom, namely, the rotational degree of freedom, the lifting degree of freedom, and the swinging degree of freedom according to the coordinates of the target position, thereby realizing automatic control based on the target position, solving the problem of excessive reliance on professionals in the control of the robotic arm, and facilitating the popularization and use of the robotic arm.

[0018] like Figure 2 As shown, as a preferred embodiment of the present invention, the first rotating device 3 includes a first rotating motor 31, a fixed wheel 33 and a bearing; A mounting plate 32 is provided at the bottom of the vertical body 2, the first rotating motor 31 is provided on the mounting plate 32, a fixing wheel 33 is provided on the base 1, and the first rotating motor 31 is transmission-connected with the fixing wheel 33; The bearing is rotatably arranged on the base 1 , and the mounting plate 32 is connected to the bearing.

[0019] In this embodiment, the first rotating motor 31 and the fixed wheel 33 can be driven by a gear rack, gear meshing or a transmission belt, etc., which is not further limited in this embodiment. In this embodiment, since the fixed wheel 33 is fixed relative to the base 1 and the first rotating motor 31 is fixed relative to the vertical body 2, when the first rotating motor 31 rotates, the entire vertical body 2 rotates relative to the base 1, thereby changing the overall orientation of the vertical body 2. The mounting plate 32 is connected to the bearing to facilitate the rotation of the vertical body 2 as a whole.

[0020] like Figure 3 , Figure 4 As shown, as a preferred embodiment of the present invention, the lifting device 4 includes a lifting motor 41, a slide rail 42 and a sliding seat 43; The lifting motor 41 is disposed on one end of the vertical body 2 away from the base 1, and the output shaft of the lifting motor 41 is connected to the screw rod 44 through a transmission member to drive the screw rod 44 to rotate; The slide rail 42 is arranged in parallel with the screw rod 44, the sliding seat 43 is slidably connected to the slide rail 42, and a connecting hole matching the screw rod 44 is arranged on the slide seat 43. The lifting motor 41 drives the screw rod 44 to rotate to make the sliding seat 43 slide up and down along the slide rail 42.

[0021] In this embodiment, the lifting motor 41 can be arranged at the top of the vertical body 2 or at the side of the end of the vertical body 2 away from the base 1. The output shaft of the lifting motor 41 is connected to the screw 44 through a transmission member, and the transmission member here can be various types such as a gear rack, a gear meshing, a belt drive, a worm gear, etc. Exemplarily, the screw 44 is arranged longitudinally and is located inside the vertical body 2 on the inner side of the slide rail 42. The connecting hole of the sliding seat 43 cooperates with the screw 44, and the sliding seat 43 is driven to slide along the slide rail 42 by the rotation of the screw 44.

[0022] like Figure 5 , Figure 6 As shown, as a preferred embodiment of the present invention, the swing device 5 includes a swing motor 51 and a swing arm 52; The swing motor 51 is arranged on the sliding seat 43; The swing arm 52 is rotatably connected to the sliding seat 43 via a rotating shaft, and the rotating shaft is transmission-connected to the swing motor 51 so that the swing motor 51 can drive the rotating shaft to rotate so that the swing arm 52 swings.

[0023] In this embodiment, the swing arm 52 is mounted on the sliding seat 43 via a rotating shaft, and the rotating shaft is driven by a swing motor to swing, thereby changing the swing angle of the swing arm 52. In this embodiment, the swing motor 51 and the rotating shaft can be driven by a gear rack, gear meshing, or a worm gear, which is an optional specific implementation method and is not further limited in this embodiment.

[0024] As a preferred embodiment of the present invention, two swing arms 52 are provided, and the two swing arms 52 move synchronously when swinging.

[0025] In this embodiment, the two swing arms 52 have the same shape and can be placed at both ends of the rotating shaft, or they can have their own rotating shafts (the respective rotating shafts are arranged coaxially), and the two are connected by another shaft or pin to achieve synchronous swinging. Gears or pulleys can also be set on the rotating shaft for transmission with the swing motor 51.

[0026] like Figure 5 , Figure 6 As shown, as a preferred embodiment of the present invention, the angle maintaining mechanism 6 includes a rocker 61; The swing rod 61 is rotatably connected to the sliding seat 43, and the end of the swing rod 61 is connected to the end of the swing arm 52 through a mounting member 62. The mounting member 62 is rotatably connected to the swing rod 61 and the swing arm 52 respectively. The mounting member 62 is used to install the actuator 7. The swing rod 61 and the swing arm 52 are arranged side by side and in parallel, and the swing lengths of the two are equal. The rocker arm 61 and the rocker arm 52 satisfy L1=L2 and L1∥L2, wherein L1 is a line connecting the swing center of the rocker arm 61 and the swing center of the rocker arm 52, and L2 is a line connecting the first connection point and the second connection point of the mounting member 62, the first connection point is the center (axis) of the connection position between the mounting member 62 and the rocker arm 52, and the second connection point is the center (axis) of the connection position between the mounting member 62 and the rocker arm 61.

[0027] In this embodiment, it is necessary to understand that the pendulum length here refers to the length from the swing center (rotation center) to the connection point. Specifically, for the swing arm 52, it refers to the length from the swing center of the swing arm 52 to the first connection point, and for the swing rod 61, it refers to the length from the swing center of the swing rod 61 to the second connection point.

[0028] In this embodiment, since the mounting member 62 is rotationally connected to the swing arm 52 and the swing rod 61, the connection point here is essentially the central axis, that is, L1 and L2 are the distances between axes (the shortest distance). Through the above settings, the solution provided in this embodiment can achieve that during the swinging process of the swing arm 52 and the swing rod 61, the overall orientation of the mounting member 62 remains unchanged, and the orientation of the actuator 7 installed thereon remains unchanged. In this way, the variables during the swinging process of the upper swing arm 52 are controlled, so that the mechanism arm can uniquely determine the amplitude of each degree of freedom according to the coordinates of the target position, thereby realizing automatic control.

[0029] As a preferred embodiment of the present invention, the target position-based automatic control multi-axis robotic arm also includes an actuator 7, which is arranged at one end of the swing arm 52 away from the swing device 5, and a second rotating device is arranged on the actuator 7. The second rotating device includes a second rotating motor, and the second rotating motor is used to drive the grasping device to rotate, and the grasping device grasps the material by clamping or adsorption.

[0030] In this embodiment, the second rotating device is used to adjust the angle of the actuator 7 relative to the material. This angle is independent of the aforementioned degrees of freedom and is related to the orientation of the material itself, but not the position of the material. It does not belong to the part of the automated control process described in the present invention. The addition of a second rotating device can make the robot arm better adapt to the different placement states of the material. In this embodiment, the grasping device can be a specific structure in the form of a cylinder or a suction cup, or other types of actuators 7 can be used as needed, and this embodiment does not further limit this.

[0031] An embodiment of the present invention further provides a control method for automatically controlling a multi-axis robotic arm based on a target position, which is applied to the automatically controlling a multi-axis robotic arm based on a target position described in any embodiment of the present invention, and includes: Get the target location coordinates; Determine the orientation according to the target position coordinates, and control the first rotary motor 31 to rotate a corresponding angle according to the orientation so that the actuator 7 is directed toward the target position; Determine the grasping distance according to the target position coordinates, determine the swing angle according to the grasping distance and the arm length by a trigonometric relationship, and drive the swing motor 51 to move according to the swing angle so that the swing arm 52 swings a corresponding angle; The lifting height is determined by the triangular relationship between the grasping distance and the arm length, and the lifting motor 41 is driven to move the swing arm 52 to a corresponding height according to the lifting height; The actuator 7 is controlled to move to grab the target.

[0032] In this embodiment, the target position coordinates can be one or more. This embodiment takes the robot arm from the initial position to the first target position as an example for explanation. When there are multiple target positions, the robot arm drives the actuator 7 from the previous target position to the next target position according to the above process. In this embodiment, the coordinates of the target position can be expressed in a variety of forms. This embodiment is explained in the most commonly used form of (x, y, z). Of course, the coordinates of the target position can also be expressed in cylindrical coordinates or other forms. In this embodiment, as an exemplary implementation method, the installation plane of the robot arm coincides with the XOY plane of the coordinate system, and the longitudinal center of the vertical body 2 (for example, the center of the slide rail 42, the axis of the screw rod 44, etc. can be used as the longitudinal center of the vertical body 2) coincides with the Z axis. Then, the direction of the target position on the XOY plane (that is, the angle between the projection of the line connecting the target position and the coordinate origin on the XOY plane and the positive direction of the X axis) can be obtained from the x and y of the target position. According to this direction, the first rotary motor 31 is controlled to move so that the actuator 7 is oriented in this direction. The grasping distance is the distance between the projection of the target position on the XOY plane and the coordinate origin, that is, ; In the present embodiment, the arm length is the swing length of the swing arm 52 and / or the swing rod 61, that is, L1 or L2, which is replaced by L in the present embodiment. The arm length is essentially the rotation radius of the swing arm 52 or the swing rod 61; in the present embodiment, the swing angle is the angle between the swing arm 52 or the swing rod 61 and the Z axis, which can be specifically defined as the angle with the negative direction of the Z axis; in the present embodiment, the lifting height here can be based on the rotation center of the swing arm 52 or the swing rod 61, that is, the distance between the rotation center of the swing arm 52 or the swing rod 61 and the XOY plane. This is explained with the target position coordinate z=0 as an example. When z is not equal to 0, h also needs to add the height difference between the target position coordinate and the XOY plane.

[0033] As a preferred embodiment of the present invention, The swing angle is determined by the trigonometric relationship based on the grasping distance and arm length, specifically: The lifting height is determined by the triangular relationship based on the grasping distance and arm length, specifically: or in, is the swing angle, L is the arm length, is the grasping distance, To increase or decrease the height.

[0034] In this embodiment, the rotation angle (rotation angle of the first rotary motor 31 ), the swing angle and the lifting height can all be uniquely determined by the target position coordinates, without the need for other control parameters, and automatic drive control based on the target position can be achieved.

[0035] As a preferred embodiment of the present invention, controlling the actuator 7 to move to grab the target specifically includes: Execute the startup phase; Enter the fast action phase; Enter the slow motion phase.

[0036] In this embodiment, specifically, the execution start-up phase is specifically as follows: controlling the lifting device 4 to lift to a first preset height, determining the maximum change value in the turning angle, the swing angle, and the lifting height (taking the current state of the robot arm as the initial state, respectively calculating the path length traveled by the actuator 7 when executing one of the parameters alone, and the parameter corresponding to the longest path length is the maximum change value), calculating the average of the path lengths corresponding to the remaining two parameters, calculating the longest path length and the value of the obtained average to obtain the path difference, and controlling the robot arm to execute the corresponding parameter according to the ratio of the path difference to the longest path (for example, the maximum change value is the swing angle). , the ratio of the path difference to the longest path is 0.1, then execute 0.1 first swing amplitude).

[0037] In this embodiment, the rotation, lifting and swinging actions are performed synchronously in the rapid action stage, and the speeds of the three actions are uniform according to the time allocated in the rapid action stage (for example, the total action time t is set, and the time distribution in the three stages can be set to 0.1t, 0.8t, and 0.1t).

[0038] In this embodiment, in the slow motion stage, the lifting and swinging are first performed synchronously until the swinging is in place, and then the lifting device 4 is lowered to a second preset height and finally reaches the target position coordinate. The first preset height and the second preset height can be the same or different, and can be a fixed value or a fixed ratio value of the total lifting height.

[0039] In this embodiment, in order to realize the above process, it is necessary to pre-set the first preset height, the second preset height, the allocated time ratio of the three stages and the total given time, so as to determine the action duration / corresponding action speed of the three stages.

[0040] In this embodiment, as a further optimization of the above process, for repetitive operations, path planning can be performed as follows: a distance sensor is also provided on the actuator 7 or the mounting member 62, and after determining the rotation angle, swing angle and lifting height of the robot arm from the first target position to the second target position, the actuator 7 is controlled to move to the middle position (the middle position is defined as the position of half of the calculated rotation angle, the minimum swing angle of the equipment and the maximum lifting height of the equipment), and then moves from the middle position to the second target position; in this process, the distance sensor detects the distance to the nearest object during the movement in real time, and calculates the real-time value of the distance and the maximum value of the whole process. The ratio a is obtained to obtain the adjustment ratio b=1-a; in the next repetition process, the swing angle and lifting height in the motion parameters of the middle position are proportionally increased or decreased by b times (and the minimum value after increase or decrease is a times of the original value; the increase or decrease is determined by the change in the distance from the target path after increase or decrease, and the goal is to make the distance between the changed path and the target path smaller; it should be understood that a and b are updated in each process), and this process is repeated until the motion parameters of the middle position can no longer be adjusted, and the position that can no longer be adjusted is used as a fixed middle position, so that the motion path and the target path are as consistent as possible, while avoiding obstacles. In this embodiment, it can be understood that the target path is the shortest path from the current position (first target position) to the second target position. It can be understood that the path planning process given in this embodiment, after obtaining each planned path, can be executed in sequence according to the execution start-up phase, the fast action phase, and the slow action phase in the aforementioned embodiment.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Automatically controlled multi-axis robotic arm based on target position, characterized in that: The automatic control multi-axis robotic arm based on the target position includes: A base, the base is used for installation and fixing; A vertical body, the vertical body is arranged on a base, the vertical body and the base are connected via a first rotating device, the first rotating device is used to drive the vertical body to rotate relative to the base; a lifting device is arranged on the vertical body, the lifting device is used to drive the swing arm to move up and down; A swing arm, wherein the swing arm is arranged on the lifting device through a swing device, the swing device is used to drive the swing arm to swing, and an angle holding mechanism is arranged on the swing arm, and the angle holding mechanism is used to hold the orientation of the execution end of the swing arm during the swinging process of the swing arm; A control device is used to control the movement of each degree of freedom of the multi-axis robot according to the target position coordinates.

2. The target position-based automatic control multi-axis robotic arm according to claim 1, characterized in that: The first rotating device includes a first rotating motor, a fixed wheel and a bearing; A mounting plate is provided at the bottom of the vertical main body, the first rotating motor is provided on the mounting plate, a fixed wheel is provided on the base, and the first rotating motor is drivingly connected to the fixed wheel; The bearing is rotatably arranged on the base, and the mounting plate is connected to the bearing.

3. The target position-based automatic control multi-axis robotic arm according to claim 1, characterized in that: The lifting device comprises a lifting motor, a slide rail and a sliding seat; The lifting motor is arranged at one end of the vertical main body away from the base, and the output shaft of the lifting motor is connected to the screw rod through a transmission member to drive the screw rod to rotate; The slide rail is arranged in parallel with the lead screw, the slide seat is slidably connected to the slide rail, a connecting hole matching with the lead screw is arranged on the slide seat, and the lifting motor drives the lead screw to rotate to make the slide seat slide up and down along the slide rail.

4. The target position-based automatic control multi-axis robotic arm according to claim 1, characterized in that: The swing device comprises a swing motor and a swing arm; The swing motor is arranged on the sliding seat; The swing arm is rotatably connected to the sliding seat via a rotating shaft, and the rotating shaft is transmission-connected to the swing motor so that the swing motor can drive the rotating shaft to rotate so as to swing the swing arm.

5. The target position-based automatic control multi-axis robotic arm according to claim 4, characterized in that: The two swing arms are provided with two swing arms, and the two swing arms move synchronously when swinging.

6. The target position-based automatic control multi-axis robotic arm according to claim 4, characterized in that: The angle maintaining mechanism comprises a rocker rod; The swing rod is rotatably connected to the sliding seat, the end of the swing rod is connected to the end of the swing arm through a mounting piece, the mounting piece is rotatably connected to the swing rod and the swing arm respectively, the mounting piece is used to install the actuator, the swing rod and the swing arm are arranged side by side and in parallel, and the swing lengths of the two are equal; The rocker arm and the rocker arm satisfy L1=L2 and L1∥L2, wherein L1 is a line connecting the swing center of the rocker arm and the swing center of the rocker arm, and L2 is a line connecting the first connection point and the second connection point of the mounting member, the first connection point is the center of the connection position between the mounting member and the rocker arm, and the second connection point is the center of the connection position between the mounting member and the rocker arm.

7. The target position-based automatic control multi-axis robotic arm according to claim 1, characterized in that: The target position-based automatically controlled multi-axis robotic arm also includes an actuator, which is arranged at one end of the swing arm away from the swing device. A second rotating device is arranged on the actuator, and the second rotating device includes a second rotating motor. The second rotating motor is used to drive a grasping device to rotate, and the grasping device grasps the material by clamping or adsorption.

8. A control method for a multi-axis robotic arm automatically controlled based on a target position, applied to the multi-axis robotic arm automatically controlled based on a target position as claimed in any one of claims 1 to 7, characterized in that: include: Get the target location coordinates; Determine the orientation according to the target position coordinates, and control the first rotary motor to rotate a corresponding angle according to the orientation so that the actuator faces the target position; Determine the grasping distance according to the target position coordinates, determine the swing angle according to the grasping distance and the arm length by a trigonometric relationship, and drive the swing motor according to the swing angle to make the swing arm swing to a corresponding angle; The lifting height is determined by the triangular relationship between the grabbing distance and the arm length, and the lifting motor is driven to move the swing arm to a corresponding height according to the lifting height; Control the actuator movement to grasp the target.

9. The control method for automatically controlling a multi-axis robotic arm based on a target position according to claim 8, characterized in that: The swing angle is determined by the trigonometric relationship based on the grasping distance and arm length, specifically: The lifting height is determined by the triangular relationship based on the grasping distance and arm length, specifically: or in, is the swing angle, L is the arm length, is the grasping distance, To increase or decrease the height.

Images