Modularized linear workbench with intelligent control system

Abstract

The invention discloses a modularized linear type workbench with an intelligent control system, the equipment architecture comprises a linear type working platform connected to a rack, the two sides of the linear type working platform are respectively provided with a robot ground rail capable of moving left and right along the linear type working platform; the robot ground rail is connected with a mechanical arm with a shaft and a gripper, and the mechanical arm is at least connected with an industrial camera, a Usb camera and a monitoring camera; the system architecture comprises an intelligent control system and a linear module structure control system in communication connection with the intelligent control system. The intelligent control system is connected with the camera, the mechanical arm and the linear module structure control system through network ports; the linear module structure control system is in communication connection with the robot ground rail and the linear type working platform through network ports, the robot is not only suitable for an automatic production line, but also suitable for multiple fields of industrial manufacturing, logistics carrying and the like, the production efficiency is effectively improved, the labor cost is reduced, and the intelligent development of the industry is promoted.

Description

Technical Field

[0001] The present invention relates to a modular linear workbench with an intelligent control system, and more specifically, to a modular linear workbench with an intelligent control system, and belongs to the field of automation and robotics. Background Art

[0002] With the rapid development of modern industry, automation and intelligence have become key trends in the manufacturing industry. On the production line, improving production efficiency, reducing costs, improving product quality and enhancing flexibility are the main goals pursued by enterprises. Although the traditional workbench and robotic arm system has achieved automation to a certain extent, it still has some limitations, such as lack of flexibility, low efficiency, and complex operation. The range of motion and accuracy of the robotic arm are limited, making it difficult to meet the requirements of high precision and complex operations.

[0003] Most automation systems lack intelligent monitoring and adjustment capabilities, resulting in unstable production efficiency and product quality. Advanced algorithms and data analysis can further improve the system's predictive capabilities and decision-making efficiency. The linear workbench provides an efficient way of material handling and processing, suitable for production lines that require continuous operation.

[0004] Based on the above technical background and market demand, the present invention proposes a modular linear workbench with an intelligent control system, aiming to solve the limitations of the existing technology and provide an efficient, flexible and intelligent automated production solution. Summary of the invention

[0005] The purpose of the present invention is to provide a modular linear workbench with an intelligent control system, aiming to solve the above-mentioned functional deficiencies and improve the automation level and production efficiency of the production line.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] The present invention discloses a modular linear workbench with an intelligent control system, comprising a device architecture and a system architecture, wherein the device architecture comprises a linear work platform connected to a frame, wherein a robot ground rail capable of moving left and right along the linear work platform is respectively installed on both sides of the linear work platform, wherein a mechanical arm having a shaft and a gripper is connected to the robot ground rail, and at least one industrial camera, a USB camera, and a monitoring camera are connected to the mechanical arm;

[0008] The system architecture includes an intelligent control system and a linear module structure control system that is communicatively connected to the intelligent control system;

[0009] The intelligent control system is connected to the camera, the robotic arm, and the linear module structure control system through the network port; the linear module structure control system is communicatively connected to the robot ground rail and the linear work platform through the network port.

[0010] Preferably, the linear module structure control system includes a processor and an embedded touch screen and a PLC connected to the processor. The PLC is connected to the intelligent control system through a network port, the embedded touch screen is connected to the PLC through a serial port, and the PLC is communicated with the robot ground rail and the linear work platform respectively through the network port.

[0011] Preferably, the intelligent control system includes a central processing unit and a device interface module connected to the central processing unit, an image processing module, a display module, an operation flow module, a strategy editor, a message receiving and sending module, a file operation module, and a multi-threading support module;

[0012] The device interface module is connected with industrial cameras, USB cameras, surveillance cameras, robotic arms, PLCs and peripheral communication equipment; the image processing module includes an electrically connected image processing chip, an image memory, a camera calibration module, an image data interface, and an image processing acceleration card. The image processing module is used to implement classic processing methods, deep learning methods, support third-party image processing machine ports, and camera calibration; the display module includes an electrically connected high-definition display screen, a display screen controller, and a display memory. The display module is used to implement image display, title display, and table display; the operation module includes an electrically connected operation button and switch, an operation logic controller, and a status indicator light. The operation module is used to implement start, stop, jump, count, N to 1, and delay; the message transceiver module includes an electrically connected network interface card, a serial communication interface, a message queue manager, and an encryption module. The operation module is used to open the interface, close the interface, send data, and receive messages; the file operation module includes an electrically connected storage device and a file system manager. The file operation module is used to implement single file read operations, single file write operations, and batch file reads.

[0013] Preferably, the robot ground rail includes a slide platform, a ball screw driven by a No. 1 motor is provided on the slide platform, a guide rail parallel to the ball screw is connected to the slide platform, a slider is threadedly connected to the ball screw, and the slider is slidably mounted on the guide rail, the slider is screwed to a mechanical pile connecting plate, and the mechanical arm is mounted on the mechanical pile connecting plate; the No. 1 motor is communicatively connected to a processor in a linear module structure control system.

[0014] Preferably, the linear work platform includes a servo motor, a No. 1 synchronous pulley, and a No. 2 synchronous pulley that are communicated with the processor in the linear module structure control system, the servo motor is connected to the No. 1 synchronous pulley through a coupling, and the No. 1 synchronous pulley and the No. 2 synchronous pulley are connected by a synchronous belt; the No. 1 synchronous pulley is connected to a main roller, and the active roller is connected to a secondary roller through a conveyor belt, and the conveyor belt is driven by the servo motor to drive the objects to be processed or assembled to move along a linear trajectory.

[0015] Preferably, a tensioning mechanism is provided in the conveyor belt, and the tensioning mechanism includes a screw with a gradually increasing diameter and is driven by a screw motor No. 2, and the screw motor No. 2 is communicatively connected to a processor in a linear module structure control system, and the screw is rotatably mounted on a frame, and a bearing seat is threadedly connected to the screw, and the bearing seat is slidably mounted on a track on the frame and the track is parallel to the roller, and a bearing is provided on the bearing seat, and the screw is rotated to change the force of the bearing against the conveyor belt, thereby changing the wrap angle of the conveyor belt on the roller, thereby achieving the purpose of adjusting the tightness.

[0016] Preferably, a variety of end effectors can be installed on the robot arm to meet different processing and assembly requirements; the end effectors include a clamp, a welding gun, and a suction cup.

[0017] Preferably, the axes of the robotic arm are each provided with a robotic arm servo motor and a reducer to achieve precise position control and speed regulation, and the robotic arm servo motor and the reducer are both communicatively connected to a central processing unit.

[0018] Preferably, the intelligent control system also includes an actuator control module and a sensor network composed of a number of sensors. The central control unit is responsible for receiving real-time data from the sensor network and each camera, performing data processing and analysis, and issuing control instructions to the actuator control module. The actuator control module controls the operation of the reducer, each motor and the end effector.

[0019] Preferably, the sensors include position sensors, force sensors, and visual sensors for real-time monitoring of the status and working environment of the workbench and the robotic arm.

[0020] Beneficial effects: The present invention can monitor and adjust the operation of the robot arm and the workbench, optimize the production process, and improve the level of automation. By equipping two robot arms, the present invention can realize multi-task parallel processing and significantly improve production efficiency. The addition of the intelligent control system enables the workbench to adapt to different production needs and realize automated and intelligent production operations.

[0021] The modular design of the present invention allows the workbench to be quickly adjusted and reconfigured according to specific application scenarios, with high flexibility and adaptability. Therefore, the present invention is not only applicable to automated production lines, but also to industrial manufacturing, logistics and other fields, effectively improving production efficiency, reducing labor costs, and promoting the intelligent development of the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a block diagram of the overall principle of the present invention.

[0023] Figure 2 It is a schematic diagram of the overall structure of a modular linear workbench.

[0024] Figure 3 This is a principle block diagram of the linear module structure control system of the present invention.

[0025] Figure 4 It is an operation flow chart of the present invention.

[0026] Figure 5 This is a principle block diagram of the intelligent control system of the present invention.

[0027] Figure 6 This is a top view of the modular linear workbench as a whole.

[0028] Figure 7 It is a side view of the overall modular linear workbench. DETAILED DESCRIPTION

[0029] The present invention and its implementation methods are described below, which are not restrictive and the actual implementation methods are not limited thereto. In short, if ordinary technicians in the field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

[0030] In order to make the objectives, technical solutions and effective improvements of the present invention more clear, the following will be described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] like Figure 1-7 The figure shows a specific embodiment of a modular linear workbench with an intelligent control system, which is a modular linear workbench with an intelligent control system, including a device architecture and a system architecture, wherein the device architecture includes a linear work platform 2 connected to a frame, the frame is connected to a slide table in a robot ground rail 1 through a workbench connecting plate 14, and a robot ground rail 1 capable of moving left and right along the linear work platform 2 is installed on both sides of the linear work platform 2, and a 6-axis mechanical arm with a gripper is connected to the robot ground rail 1, and at least one industrial camera, a USB camera, and a monitoring camera are connected to the mechanical arm;

[0032] The system architecture includes an intelligent control system and a linear module structure control system that is communicatively connected to the intelligent control system;

[0033] The intelligent control system is connected to the camera, the robotic arm, and the linear module structure control system through the network port; the linear module structure control system is communicatively connected to the robot ground rail 1 and the linear work platform 2 through the network port.

[0034] Working principle:

[0035] The intelligent control system connects the industrial camera, 6-axis robot arm, and linear module structure control system through the network port for control. Figure 4 shown.

[0036] After the device is powered on, it enters the initialization process. During the initialization process, the robotic arm, linear work platform 2, and robot ground rail 1 return to the initial position, and each camera detects and completes the initialization. After the initialization is completed, the workpiece to be processed is placed on the linear work platform 2, and the intelligent control system process is started, entering the decision-making process. The decision-making process can be written in a specific way, and then the compiler will call different functional module processes according to different commands. This allows the entire process to proceed quickly. Figure 4 The present application does not impose any specific limitation on a specific process mode of the present invention and can be changed according to actual needs.

[0037] Linear workbench structure design:

[0038] The main frame of the linear workbench 2 is constructed with high-strength aluminum alloy profiles to ensure the stability and load-bearing capacity of the structure. The surface of the workbench is paved with wear-resistant and corrosion-resistant steel plates or composite panels to facilitate the placement and fixing of items to be processed or assembled. A sheet metal cabinet structure is designed under the workbench to install hardware equipment such as electrical control components and drive motors, while providing cable management and protection.

[0039] Synchronous belt drive mechanism:

[0040] The synchronous pulley drive mechanism is located at one end of the workbench and is powered by a high-torque, low-noise servo motor. The servo motor is connected to the first synchronous pulley 21 through a coupling, and the first synchronous pulley 21 is connected to the second synchronous pulley 22 through a high-strength synchronous belt to form a closed-loop transmission system. The synchronous belt can drive the ratchet shaft to rotate, thereby driving the conveyor belt to move along a straight track. A clamp or positioning device can be installed on the conveyor belt as needed to fix the items to be processed.

[0041] Tensioning mechanism 23:

[0042] The tensioning mechanism 23 is arranged at the other end of the workbench and is used to adjust the tightness of the conveyor belt. The tensioning mechanism is mainly composed of a screw 24, a bearing seat and a bearing. By rotating the screw 24, the bearing seat can be pushed to move in a straight line direction, thereby changing the wrap angle of the conveyor belt on the roller to achieve the purpose of adjusting the tightness. The tensioning mechanism is also equipped with a locking device to ensure that it can be firmly locked after the adjustment is completed to prevent loosening.

[0043] Robot arm installation and positioning:

[0044] The robot arm is connected to the slider through the mechanical pile connecting plate 13 to ensure that the robot arm can move smoothly on the slide rail with the slider. A variety of end effectors such as clamps, welding guns, suction cups, etc. can be installed on the robot arm to meet different processing and assembly requirements. The robot arm is also equipped with a high-precision servo motor and a reducer to achieve precise position control and speed regulation.

[0045] Embodiment 3 of the intelligent control system:

[0046] System architecture: The intelligent control system adopts a distributed architecture, including a central control unit, a sensor network, an actuator control module, etc.

[0047] The central control unit (CPU) is responsible for receiving real-time data from the sensor network, processing and analyzing the data, and issuing control instructions to the actuator control module.

[0048] Sensor Networks:

[0049] Various sensors such as position sensors, force sensors, vision sensors, etc. are installed on the linear workbench 2 and the robot ground rail 1 to monitor the status and working environment of the workbench and the robot arm in real time.

[0050] Actuator control module:

[0051] The actuator control module is responsible for receiving control instructions from the central control unit (processor) and driving the corresponding actuators such as servo motors to complete the specified actions.

[0052] Intelligent control system:

[0053] The intelligent control system can integrate a variety of algorithms and data analysis functions according to actual needs, and can predict potential problems in the production process based on real-time data, and automatically adjust the control strategy to optimize the production process. This system can be connected to the AI ​​system function to continuously accumulate production experience and optimize control parameters to improve production efficiency and product quality.

[0054] In a preferred embodiment, the linear module structure control system includes a processor and an embedded touch screen and a PLC connected to the processor. The PLC is connected to the intelligent control system through a network port, the embedded touch screen is connected to the PLC through a serial port, and the PLC is communicated with the robot ground rail 1 and the linear work platform 2 respectively through the network port.

[0055] In a preferred embodiment, the intelligent control system includes a central processing unit and a device interface module connected to the central processing unit, an image processing module, a display module, an operation flow module, a strategy editor, a message receiving and sending module, a file operation module, and a multi-threading support module;

[0056] The device interface module is connected to industrial cameras, USB cameras, surveillance cameras, robotic arms, PLCs and peripheral communication devices. Peripheral communication devices are external devices and are not limited to single communication devices (peripheral communication devices can be external computers, sensors, signal collectors, displays, etc.), and are added according to function selection; the image processing module includes an electrically connected image processing chip, image memory, camera calibration module, image data interface, image processing acceleration card. The image processing module is used to implement classic processing methods, deep learning methods, support third-party image processing machine ports, and camera calibration; the display module includes an electrically connected high-definition display screen, display screen controller, and display memory The display module is used to realize image display, title display, and table display; the operation module includes electrically connected operation buttons and switches, operation logic controller, and status indicator light, and the operation module is used to realize start, stop, jump, count, N to 1, and delay; the message transceiver module includes an electrically connected network interface card, a serial communication interface, a message queue manager, and an encryption module, and the operation module is used to realize opening the interface, closing the interface, sending data, and receiving messages; the file operation module includes an electrically connected storage device and a file system manager, and the file operation module is used to realize single file read operation, single file write operation, and batch file read.

[0057] Device interface module:

[0058] The intelligent control system integrates a rich set of hardware interface device interfaces, which can easily connect multiple devices such as cameras, IO modules, PLCs, robotic arms, etc., and supports free protocols and most common protocols.

[0059] Image processing module:

[0060] The image processing function includes a classic image processing module, which contains 46 major categories and 173 minor categories of image processing functions. It also supports deep learning and third-party interfaces, allowing users to add their own algorithm functions.

[0061] Display module:

[0062] The display functions include image display, title display, table display, and you can also layout the entire display yourself.

[0063] Support multi-threaded operation modules:

[0064] The intelligent control system supports multi-threaded writing and can write multi-threaded flow charts in the same interface.

[0065] Process operation module:

[0066] The process operation function includes the following functional modules: start module, end module, jump module, counting module, N-choose-1 module, and delay module.

[0067] Each thread has a start module and a stop module. In the start module, you can define variables and read file related operations.

[0068] Message sending and receiving module:

[0069] The message sending and receiving function includes opening the interface, closing the interface, sending data and receiving data. In the receiving data module, you can choose to pre-send data, and in the sending data module, you can choose to pre-receive data.

[0070] File operation module:

[0071] The file operation functions include single file reading, single file writing, batch file reading, and batch file writing. This module can be operated quickly by clicking the browse button.

[0072] Policy Editor:

[0073] Complex process strategy editing can be performed according to different production process requirements to complete repetitive and complex logical sequence process requirements.

[0074] The following specific description of each module of the present application belongs to the preferred mode, and no specific limitation is imposed on the specific electrical components, as long as the functions can be realized:

[0075] 1. Image processing module

[0076] Electrical components and connection relationships:

[0077] The image processing module is mainly composed of the following electrical components:

[0078] 1. Image processing chip such as NVIDIA Jetson Nano or Intel Movidius Neural ComputeStick: Responsible for executing image processing algorithms, including classic image processing, deep learning image processing, etc. The chip is connected to the central processing unit through a PCIe or USB interface to achieve high-speed data transmission.

[0079] 2. Image data interfaces such as USB 3.0 and Gigabit Ethernet: used to receive image data from industrial cameras, USB cameras, and surveillance cameras. These interfaces are directly connected to the camera to ensure the real-time and integrity of the image data.

[0080] 3. Optional image processing acceleration card, such as GPU or FPGA: For image processing tasks that require a lot of calculations, an image processing acceleration card can be equipped, which is connected to the image processing chip through the PCIe interface to increase the processing speed.

[0081] 4. Image memory such as DDR4 RAM: used to temporarily store image data and processing results to ensure that data is not lost during the processing process. This memory is directly connected to the image processing chip.

[0082] 5. Camera calibration module: includes calibration software and necessary calibration board, which is used to calibrate the camera to ensure the accuracy of image data. The calibration module is connected to the image processing chip through the software interface.

[0083] Example model specifications:

[0084] Image processing chip: NVIDIA Jetson Nano, with 4GB LPDDR4 memory, supporting CUDA and TensorRT.

[0085] Image data interface: USB 3.0 interface, supporting data transmission rate up to 5Gbps.

[0086] Image processing accelerator card: NVIDIA GTX 1660Super, 6GB GDDR6 video memory.

[0087] Graphics Memory: Corsair Vengeance LPX 16GB (2x 8GB) DDR4 3200MHz.

[0088] 2. Display Module

[0089] Electrical components and connection relationships:

[0090] The display module is mainly composed of the following electrical components:

[0091] 1. High-definition display screen such as LCD or OLED: used to display images, titles, tables and other information. The display screen is connected to the central processor via HDMI or DisplayPort interface.

[0092] 2. Display screen controller: responsible for converting image data into signals that the display screen can recognize and controlling the display content and format of the display screen. The controller is directly connected between the display screen and the central processing unit.

[0093] 3. Display memory is optional: used to temporarily store image data to be displayed on the display screen to ensure smooth display. This memory is usually integrated into the display controller or central processing unit.

[0094] Example model specifications:

[0095] High Definition Display: Dell Ultrasharp U2415, 23.8-inch, 1920x1080 resolution.

[0096] Display controller: The integrated graphics card built into the CPU, such as the Intel Core i7-9700K.

[0097] 3. Operation Module

[0098] Electrical components and connection relationships:

[0099] The operation module is mainly composed of the following electrical components:

[0100] 1. Operation buttons and switches: used to implement operations such as start, stop, jump, count, N to 1, delay, etc. These buttons and switches are connected to the central processor through the GPIO interface or I2C interface.

[0101] 2. Operation logic controller: responsible for parsing the signals from the operation buttons and switches and performing the corresponding operations according to the preset logic. The controller is usually integrated into the central processing unit or implemented through FPGA.

[0102] 3. Status indicator: used to display the current operating status or error information. The indicator is connected to the central processing unit through the GPIO interface.

[0103] Example model specifications:

[0104] Operation buttons and switches: Cherry MX 2.0 mechanical keyboard, with stable switch performance and long service life.

[0105] Operation logic controller: Microcontroller unit MCU integrated in Intel Core i7-9700K CPU.

[0106] 4. Message sending and receiving module

[0107] Electrical components and connection relationships:

[0108] The message transceiver module is mainly composed of the following electrical components:

[0109] 1. Network interface card such as Gigabit Ethernet: used to communicate with other devices or networks. The network interface card is connected to the central processor through the PCIe interface.

[0110] 2. Serial communication interfaces such as RS-232 and RS-485: used for serial communication with peripherals or sensors. These interfaces are connected to the central processor through a UART controller.

[0111] 3. Message queue manager: responsible for receiving, storing and forwarding messages from the network interface card or serial communication interface. The manager is usually integrated into the central processor or implemented through a dedicated message queue middleware.

[0112] 4. Optional encryption module: used to encrypt and decrypt messages to ensure the security of communication. The encryption module can be implemented by hardware encryption chip or software encryption library.

[0113] Example model specifications:

[0114] Network interface card: Intel I211 Gigabit Ethernet Controller, supporting Gigabit Ethernet communication.

[0115] Serial communication interface: FTDI FT232RL USB-to-Serial Converter, supports RS-232 communication.

[0116] Message queue manager: RabbitMQ, open source message queue middleware.

[0117] Encryption module: AES-256 hardware encryption chip, providing efficient and secure encryption services.

[0118] 5. File Operation Module

[0119] Electrical components and connection relationships:

[0120] The file operation module is mainly composed of the following electrical components:

[0121] 1. Storage devices such as SSD and HDD: used to store file data. Storage devices are connected to the CPU via SATA, PCIe or NVMe interfaces.

[0122] 2. File system manager: responsible for file creation, reading, writing, and deletion. The manager is usually integrated into the operating system, such as Windows, Linux, etc.

[0123] 3. File cache is optional: used to temporarily store file data that is about to be read or written, improving the efficiency of file operations. The cache is usually integrated into the storage device or the CPU cache.

[0124] Example model specifications:

[0125] Storage device: Samsung 970EVO Plus NVMe SSD, 500GB capacity, providing high-speed read and write performance.

[0126] File System Manager: NTFS file system in Windows 10 operating system.

[0127] File Cache: High-speed cache integrated into the Samsung 970EVO Plus NVMe SSD.

[0128] In a preferred embodiment, the robot ground rail 1 includes a slide platform, a ball screw driven by a No. 1 motor is provided on the slide platform, a guide rail parallel to the ball screw is connected to the slide platform, a slider is threadedly connected to the ball screw, and the slider is slidably mounted on the guide rail, the slider is screwed to a mechanical pile connecting plate 13, and the robot arm is mounted on the mechanical pile connecting plate 13; the No. 1 motor is communicatively connected to a processor in a linear module structure control system.

[0129] The linear work platform 2 includes a servo motor, a No. 1 synchronous pulley 21, and a No. 2 synchronous pulley 22 that are communicated with the processor in the linear module structure control system. The servo motor is connected to the No. 1 synchronous pulley 21 through a coupling, and the No. 1 synchronous pulley 21 and the No. 2 synchronous pulley 22 are connected by a synchronous belt; the No. 1 synchronous pulley 21 is connected to a main roller, and the active roller is connected to an auxiliary roller through a conveyor belt. The conveyor belt is driven by the servo motor to drive the objects to be processed or assembled to move along a linear trajectory.

[0130] A tensioning mechanism is provided in the conveyor belt, and the tensioning mechanism includes a screw 24 with a gradually increasing diameter and is driven by a No. 2 motor of the screw 24. The No. 2 motor is communicatively connected to a processor in a linear module structure control system. The screw 24 is rotatably mounted on a frame, and a bearing seat is threadedly connected to the screw 24. The bearing seat is slidably mounted on a track on the frame and the track is parallel to the roller. A bearing is provided on the bearing seat. By rotating the screw 24, the force of the bearing against the conveyor belt is changed, thereby changing the wrap angle of the conveyor belt on the roller, thereby achieving the purpose of adjusting the tightness.

[0131] The robot arm can be equipped with a variety of end effectors to meet different processing and assembly requirements; the end effectors include a clamp, a welding gun, and a suction cup.

[0132] The six axes of the robotic arm are all provided with a robotic arm servo motor and a reducer to achieve precise position control and speed regulation, and the robotic arm servo motor and the reducer are both communicatively connected with the central processing unit.

[0133] The intelligent control system also includes an actuator control module and a sensor network composed of several sensors. The central control unit is responsible for receiving real-time data from the sensor network and each camera, performing data processing and analysis, and issuing control instructions to the actuator control module. The actuator control module controls the operation of the reducer, each motor and the end effector.

[0134] The sensors include position sensors, force sensors, and visual sensors, which are used to monitor the status and working environment of the workbench and the robotic arm in real time.

[0135] Detailed implementation of the robot ground track:

[0136] In a preferred embodiment, the design of the robot track 1 fully considers stability and precision. The slide table serves as the support of the entire structure, and its surface is precisely machined to ensure the stability of the slider sliding on it. Motor No. 1 uses a high-performance servo motor to drive the ball screw to rotate through a precise control system. The threaded connection design between the ball screw and the slider enables the slider to achieve precise linear movement under the rotation of the ball screw. At the same time, in order to enhance the stability of the slider, a guide rail parallel to the ball screw is installed on the slide table, and the slider can be slidably mounted on the guide rail, which further improves the stability and precision of the movement.

[0137] The mechanical pile connecting plate 13 is firmly connected to the slider by screws, ensuring the stability and reliability of the mechanical arm after installation. The mechanical arm is installed on the mechanical pile connecting plate through a standard interface, which is convenient for quick replacement and debugging. The No. 1 motor and the processor in the linear module structure control system realize data exchange through a communication protocol. The processor controls the operation of the No. 1 motor according to the preset program and algorithm, thereby realizing precise control of the mechanical arm.

[0138] Detailed embodiment of the linear working platform:

[0139] The design of the linear work platform 2 focuses more on efficiency and stability. The servo motor is used as a power source and is connected to the first synchronous pulley 21 through a coupling to achieve smooth power transmission. The first synchronous pulley 21 and the second synchronous pulley 22 are connected by a synchronous belt to ensure the synchronization and stability of power. The first synchronous pulley 21 is also connected to the main roller, which is connected to the auxiliary roller through a conveyor belt to form a stable transmission system.

[0140] The servo motor drives the conveyor belt at a constant speed under the control of the linear module structure control system, thus achieving the precise movement of the items to be processed or assembled along the linear trajectory. This design not only improves production efficiency, but also ensures the quality and stability of the product.

[0141] Detailed embodiment of the conveyor belt tensioning mechanism:

[0142] In order to ensure that the tension of the conveyor belt is moderate and avoid failures caused by looseness or over-tightening, we have designed an efficient tensioning mechanism. The mechanism includes a screw 24 with a gradually increasing diameter, which is driven to rotate by the second motor. The screw 24 is rotatably mounted on the frame, and a bearing seat is threadedly connected thereto. The bearing seat is slidably mounted on a track on the frame, and the track is parallel to the roller, ensuring the smoothness and accuracy of the movement of the bearing seat.

[0143] The bearing seat is provided with a bearing, and the force of the bearing against the conveyor belt can be changed by rotating the screw 24, thereby changing the wrap angle of the conveyor belt on the roller to achieve the purpose of adjusting the tightness. This design not only improves the stability and life of the conveyor belt, but also facilitates the maintenance and adjustment of the user.

[0144] Detailed implementation of the end effector of the robotic arm:

[0145] In order to meet different processing and assembly requirements, a variety of end effectors can be installed on the robot arm. These end effectors include fixtures, welding guns, suction cups, etc., which are used for different operations such as clamping, welding and suction. Each end effector is carefully designed and manufactured to ensure its stability and reliability during the working process. At the same time, the interface between the end effector and the robot arm adopts a standardized design, which is convenient for quick replacement and debugging.

[0146] Detailed implementation of the robotic arm servo motor and reducer:

[0147] The six axes of the robot are equipped with robot servo motors and reducers to achieve precise position control and speed regulation. The servo motor uses a high-performance permanent magnet synchronous motor, which has the advantages of high efficiency, energy saving, and low noise. The reducer uses a precision planetary reducer or harmonic reducer, which has the characteristics of large transmission ratio, high transmission efficiency, and small return clearance.

[0148] The servo motor and reducer are connected to the central processor for communication, and data exchange and command control are achieved through a precise control system. The central processor controls the operation of the servo motor and the transmission ratio of the reducer according to the preset program and algorithm, thereby achieving precise control of the six axes of the robot arm.

[0149] Detailed implementation of the intelligent control system:

[0150] The intelligent control system is the core part of the entire workbench, including the actuator control module and a sensor network composed of several sensors. The central control unit is responsible for receiving real-time data from the sensor network and each camera, processing and analyzing the data, and issuing control instructions to the actuator control module. The actuator control module controls the working status of the reducer, each motor and the end effector, realizing precise control of the entire workbench.

[0151] The sensor network includes position sensors, force sensors, visual sensors, etc., which are used to monitor the status and working environment of the workbench and robotic arm in real time. These sensors are connected to the central control unit through standard interfaces to ensure the accuracy and real-time nature of the data. At the same time, the central control unit also has powerful data processing and analysis capabilities. It can process and analyze the received data according to preset algorithms and rules, and issue corresponding control instructions to the actuator control module.

[0152] In summary, the technical solution of this application achieves efficient, stable and flexible processing and assembly operations through optimized design and precise control, meeting the needs of different users.

[0153] Finally, it should be noted that the present invention is not limited to the above embodiments, and there are many variations. All variations that can be directly derived or associated with the content disclosed by ordinary technicians in this field should be considered as the protection scope of the present invention.

Claims

1. A modular linear workbench with an intelligent control system, characterized in that: The invention comprises a device architecture and a system architecture, wherein the device architecture comprises a linear work platform (2) connected to a frame, wherein a robot ground rail (1) capable of moving left and right along the linear work platform (2) is respectively installed on both sides of the linear work platform (2), wherein a 6-axis mechanical arm with a gripper is connected to the robot ground rail (1), and at least one industrial camera, a USB camera, and a monitoring camera are connected to the mechanical arm; The system architecture includes an intelligent control system and a linear module structure control system that is communicatively connected to the intelligent control system; The intelligent control system is connected to the camera, the mechanical arm, and the linear module structure control system through a network port; the linear module structure control system is communicatively connected to the robot ground rail (1) and the linear work platform (2) through a network port.

2. A modular linear workbench with an intelligent control system according to claim 1, characterized in that: The linear module structure control system comprises a processor, an embedded touch screen and a PLC connected to the processor; the PLC is connected to the intelligent control system via a network port; the embedded touch screen is connected to the PLC via a serial port; and the PLC is respectively connected to a robot ground rail (1) and a linear work platform (2) via the network port for communication.

3. A modular linear workbench with an intelligent control system according to claim 2, characterized in that: The intelligent control system includes a central processing unit and a device interface module connected to the central processing unit, an image processing module, a display module, an operation flow module, a strategy editor, a message receiving and sending module, a file operation module, and a multi-threading support module; The device interface module is connected with industrial cameras, USB cameras, surveillance cameras, robotic arms, PLCs and peripheral communication equipment; the image processing module includes an electrically connected image processing chip, an image memory, a camera calibration module, an image data interface, and an image processing acceleration card. The image processing module is used to implement classic processing methods, deep learning methods, support third-party image processing machine ports, and camera calibration; the display module includes an electrically connected high-definition display screen, a display screen controller, and a display memory. The display module is used to implement image display, title display, and table display; the operation module includes an electrically connected operation button and switch, an operation logic controller, and a status indicator light. The operation module is used to implement start, stop, jump, count, N to 1, and delay; the message transceiver module includes an electrically connected network interface card, a serial communication interface, a message queue manager, and an encryption module. The operation module is used to open the interface, close the interface, send data, and receive messages; the file operation module includes an electrically connected storage device and a file system manager. The file operation module is used to implement single file read operations, single file write operations, and batch file reads.

4. A modular linear workbench with an intelligent control system according to claim 1 or 2, characterized in that: The robot ground rail (1) comprises a slide platform, a ball screw driven by a No. 1 motor is arranged on the slide platform, a guide rail parallel to the ball screw is connected to the slide platform, a slider is threadedly connected to the ball screw, and the slider is slidably mounted on the guide rail, the slider is screwed to a mechanical pile connection plate (13), and the robot arm is mounted on the mechanical pile connection plate (13); the No. 1 motor is communicatively connected to a processor in a linear module structure control system.

5. The modular linear workbench with an intelligent control system according to claim 1, characterized in that: The linear work platform (2) comprises a servo motor, a first synchronous belt pulley (21), and a second synchronous belt pulley (22) which are connected to the processor in the linear module structure control system in communication, the servo motor is connected to the first synchronous belt pulley (21) via a coupling, and the first synchronous belt pulley (21) and the second synchronous belt pulley (22) are connected via a synchronous belt; the first synchronous belt pulley (21) is connected to a main roller, and the driving roller is connected to an auxiliary roller via a conveyor belt, and the conveyor belt is driven by the servo motor to drive the object to be processed or assembled to move along a linear trajectory.

6. The modular linear workbench with an intelligent control system according to claim 1, characterized in that: The conveyor belt is provided with a tensioning mechanism (23), the tensioning mechanism (23) includes a screw (24) with a gradually increasing diameter and is driven by a second motor of the screw (24), the second motor is communicatively connected to a processor in a linear module structure control system, the screw (24) is rotatably mounted on a frame, a bearing seat is threadedly connected to the screw (24), the bearing seat is slidably mounted on a track on the frame and the track is parallel to the roller, a bearing is provided on the bearing seat, and by rotating the screw (24), the force with which the bearing supports the conveyor belt is changed, thereby changing the wrap angle of the conveyor belt on the roller, thereby achieving the purpose of adjusting the tightness.

7. The modular linear workbench with an intelligent control system according to claim 3, characterized in that: The robot arm can be equipped with a variety of end effectors to meet different processing and assembly requirements; the end effectors include a clamp, a welding gun, and a suction cup.

8. The modular linear workbench with intelligent control system according to claim 7, characterized in that: The six axes of the robotic arm are all provided with a robotic arm servo motor and a reducer to achieve precise position control and speed regulation, and the robotic arm servo motor and the reducer are both communicatively connected with the central processing unit.

9. A modular linear workbench with an intelligent control system according to claim 8, characterized in that: The intelligent control system also includes an actuator control module and a sensor network composed of several sensors. The central control unit is responsible for receiving real-time data from the sensor network and each camera, performing data processing and analysis, and issuing control instructions to the actuator control module. The actuator control module controls the operation of the reducer, each motor and the end effector.

10. A modular linear workbench with an intelligent control system according to claim 9, characterized in that: The sensors include position sensors, force sensors, and visual sensors, which are used to monitor the status and working environment of the workbench and the robotic arm in real time.

Images