Robot master-slave control arm and control system thereof

Abstract

The invention relates to the technical field of master-slave control arms, in particular to a master-slave control arm of a robot and a control system of the master-slave control arm, and aims to solve the problem that the distance between the master-slave control arms is inconvenient to adjust, the master-slave control arm of the robot comprises a base and a control assembly, and the control assembly comprises a servo motor installed on the left side face of the base; a T-shaped sliding groove is formed in the upper surface of the base, and two T-shaped sliding blocks are fixedly installed on the inner wall of the T-shaped sliding groove. Through cooperation of a servo motor, a positive and negative threaded rod and a T-shaped sliding block, the T-shaped sliding block can drive a mounting plate to move, and then the mounting plate can slide, so that the mounting plate can drive a master control arm and a slave control arm to move, and the distance between the master control arm and the slave control arm is adjusted; and an electromagnet can be used for adsorbing a transverse plate, so that the transverse plate pushes a tooth block to move downwards to be matched with the tooth plate to position a connecting plate, and the master control arm and the slave control arm are prevented from sliding.

Description

Technical Field

[0001] The present invention relates to the technical field of master-slave control arms, and particularly to a robot master-slave control arm and its control system. Background Art

[0002] A master-slave control arm is a component used in an automotive suspension system. It helps maintain the wheel alignment and effectively controls the movement of the vehicle. A master-slave control arm system typically consists of two control arms: a master control arm and a slave control arm.

[0003] Currently, during the use of the master-slave control arm, in order to enable the master-slave control to work smoothly, control between the master-slave control arms is required. Although the current master-slave control arms can be controlled during use, there are still some deficiencies during use. For example, it is not convenient to adjust the distance between the master-slave control arms during use, resulting in the master manipulator and the slave manipulator being prone to collide with each other during actual use, posing a safety hazard.

[0004] Based on this, the present invention designs a robot master-slave control arm and its control system to solve the problem. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot master-slave control arm and its control system to solve the problem that dust generated during the crushing of recycled materials rushes out of the machine in the above-mentioned background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A robot master-slave control arm and its control system, including a base and a control component. The control component includes a servo motor installed on the left side surface of the base. A T-shaped chute is opened on the upper surface of the base. Two T-shaped sliders are fixedly installed on the inner wall of the T-shaped chute. A left-right threaded rod is commonly threadedly connected to the inner walls of the two T-shaped sliders. The left and right ends of the left-right threaded rod are rotatably installed on the inner wall of the T-shaped chute through bearings. The left end of the left-right threaded rod is fixedly installed with the output end of the servo motor. An installation plate is fixedly installed on the upper surface of each T-shaped slider. A master control arm and a slave control arm are respectively fixedly installed on the upper surfaces of the two installation plates. A toothed plate is fixedly installed on the front surface of the base. A support plate is fixedly installed on the front surface of each installation plate. A sliding opening is opened on the upper surface of each support plate. A toothed block is slidably installed on the inner wall of each sliding opening. A cross plate is fixedly installed on the upper surface of each toothed block.

[0007] Preferably, two springs are fixedly installed on the bottom surface of each cross plate. The bottom ends of the two groups of springs are respectively fixedly installed on the upper surfaces of the two groups of support plates.

[0008] Preferably, two electromagnets are fixedly installed on the upper surface of each support plate. The two groups of electromagnets respectively attract the two cross plates.

[0009] Preferably, warning strips are provided on both the front and the rear of the base, and the sides of the two warning strips close to each other are adhesively bonded to the front surface of the base and the back surface of the warning strip respectively.

[0010] Preferably, two fixing blocks are fixedly installed on the upper surface of the base. Two sliding holes are formed in the right side surface of each mounting plate. Two sliding rods are slidably installed on the inner walls of the two groups of sliding holes in common. The left and right ends of the two sliding rods are fixedly installed on the sides of the two fixing blocks close to each other respectively.

[0011] Preferably, a limiting ring is fixedly installed on the outer surface of the forward and reverse threaded rod.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: By providing the cooperation of the servo motor, the forward and reverse threaded rod and the T-shaped slider, the T-shaped slider can drive the mounting plate to move, and then the mounting plate can slide, so that the mounting plate can drive the main control arm and the slave control arm to move, and then the distance between the main control arm and the slave control arm can be adjusted. And the electromagnet can adsorb the cross plate, so that the cross plate pushes the tooth block to move downward, thus cooperating with the toothed plate to position the connecting plate and preventing the main control arm and the slave control arm from sliding. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 is a three-dimensional structural schematic diagram of the front cross-section of the base of the present invention;

[0016] Figure 3 is a three-dimensional structural schematic diagram of the side cross-section of the base of the present invention;

[0017] Figure 4 is the present invention Figure 1 The enlarged schematic diagram of the structure at A in.

[0018] In the drawings, the list of components represented by each reference numeral is as follows:

[0019] 1. Base; 2. Control component; 201. Servo motor; 202. T-shaped chute; 203. Left-right threaded rod; 204. T-shaped slider; 205. Mounting plate; 3. Main control arm; 4. Slave control arm; 5. Warning strip; 6. Tooth plate; 601. Support plate; 602. Horizontal plate; 603. Spring; 604. Slide opening; 605. Tooth block; 606. Electromagnet; 7. Fixed block; 701. Slide hole; 702. Slide rod; 8. Limit ring. Detailed implementation manner

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present invention.

[0021] Please refer to Figures 1 to 4 , the present invention provides a technical solution: a master-slave control arm of a robot and its control system, including a base 1 and a control component 2. The control component 2 includes a servo motor 201 installed on the left side surface of the base 1. A T-shaped chute 202 is opened on the upper surface of the base 1. Two T-shaped sliders 204 are fixedly installed on the inner wall of the T-shaped chute 202. A left-right threaded rod 203 is commonly threaded in the inner walls of the two T-shaped sliders 204. The left and right ends of the left-right threaded rod 203 are rotatably installed on the inner wall of the T-shaped chute 202 through bearings. The left end of the left-right threaded rod 203 is fixedly installed on the output end of the servo motor 201. A mounting plate 205 is fixedly installed on the upper surface of each T-shaped slider 204. A main control arm 3 and a slave control arm 4 are respectively fixedly installed on the upper surfaces of the two mounting plates 205. A tooth plate 6 is fixedly installed on the front surface of the base 1. A support plate 601 is fixedly installed on the front surface of each mounting plate 205. A slide opening 604 is opened on the upper surface of each support plate 601. A tooth block 605 is slidably installed in the inner wall of each slide opening 604. A horizontal plate 602 is fixedly installed on the upper surface of each tooth block 605.

[0022] Please refer to Figure 4 , two springs 603 are fixedly installed on the bottom surface of each horizontal plate 602. The bottom ends of the two groups of springs 603 are respectively fixedly installed on the upper surfaces of the two groups of support plates 601. By providing the springs 603, an elastic force can be applied to the horizontal plate 602, so that the horizontal plate 602 can drive the tooth block 605 to move upward, enabling the mounting plate 205 to move smoothly.

[0023] Please refer to Figure 4, on the upper surface of each support plate 601, two electromagnets 606 are fixedly installed. The two groups of electromagnets 606 are respectively attracted to the two cross plates 602. By providing the electromagnets 606, the cross plate 602 can move downward, thereby pushing the tooth block 605 downward, so that the tooth block 605 can move downward, and then the tooth block 605 can move downward to contact the toothed plate 6 and position the toothed plate 6.

[0024] Please refer to Figure 1 , warning strips 5 are provided in front of and behind the base 1. The side surfaces of the two warning strips 5 close to each other are adhesively bonded to the front surface of the base 1 and the back surface of the warning strip 5 respectively. Through the warning strips 5, non-staff can be warned to prevent non-staff from loosening.

[0025] Please refer to Figure 1 , two fixing blocks 7 are fixedly installed on the upper surface of the base 1. Two sliding holes 701 are opened on the right side surface of each mounting plate 205. Two sliding rods 702 are slidably installed on the inner walls of the two groups of sliding holes 701. The left and right ends of the two sliding rods 702 are fixedly installed on the side surfaces of the two fixing blocks 7 close to each other. By providing the sliding holes 701 and the sliding rods 702, the mounting plate 205 can be positioned to keep the mounting plate 205 stable.

[0026] Please refer to Figure 2 , a limit ring 8 is fixedly installed on the outer surface of the left and right threaded rod 203. Through the limit ring 8, the T-shaped slider 204 can be limited to prevent the T-shaped sliders 204 from colliding with each other.

[0027] The implementation principle of a master-slave control arm and its control system of a robot in an embodiment of the present application is as follows: when in use, the master control arm 3 and the slave control arm 4 are controlled to work through the control system. And when it is necessary to adjust the distance between the master control arm 3 and the slave control arm 4, by starting the servo motor 201, the servo motor 201 can drive the left and right threaded rod 203 to rotate, and then the left and right threaded rod 203 controls the T-shaped slider 204 to move, so that the T-shaped slider 204 can drive the mounting plate 205 to move, so that the mounting plate 205 can drive the master control arm 3 and the slave control arm 4 to adjust their positions. After the adjustment is completed, the electromagnet 606 is started, so that the electromagnet 606 adsorbs the cross plate 602, and then the cross plate 602 moves downward, so that the tooth block 605 moves downward, and then the tooth block 605 meshes with the toothed plate 6 to position the mounting plate 205.

[0028] The specification drawings in this application are only schematic in nature. The dimensions and shapes of the components shown therein are not actually limited, but only a schematic representation. In the actual implementation process, the components can be reasonably configured and adjusted according to specific requirements and actual situations.

[0029] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0030] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A master-slave control arm of a robot and its control system, comprising a base (1) and a control component (2), characterized in that: The control component (2) includes a servo motor (201) installed on the left side of the base (1). A T-shaped chute (202) is formed on the upper surface of the base (1). Two T-shaped sliders (204) are fixedly installed on the inner wall of the T-shaped chute (202). A left-right threaded rod (203) is commonly screwed on the inner walls of the two T-shaped sliders (204). The left and right ends of the left-right threaded rod (203) are rotatably installed on the inner wall of the T-shaped chute (202) through bearings. The left end of the left-right threaded rod (203) is fixedly installed on the output end of the servo motor (201). An installation plate (205) is fixedly installed on the upper surface of each T-shaped slider (204). A main control arm (3) and a slave control arm (4) are respectively fixedly installed on the upper surfaces of the two installation plates (205). A toothed plate (6) is fixedly installed on the front surface of the base (1). A support plate (601) is fixedly installed on the front surface of each installation plate (205). A sliding opening (604) is formed on the upper surface of each support plate (601). A toothed block (605) is slidably installed on the inner wall of each sliding opening (604). A cross plate (602) is fixedly installed on the upper surface of each toothed block (605).

2. The master-slave control arm of a robot and its control system according to claim 1, characterized in that: Two springs (603) are fixedly installed on the bottom surface of each cross plate (602). The bottom ends of the two groups of springs (603) are respectively fixedly installed on the upper surfaces of the two groups of support plates (601).

3. The master-slave control arm of a robot and its control system according to claim 1, characterized in that: Two electromagnets (606) are fixedly installed on the upper surface of each support plate (601). The two groups of electromagnets (606) attract the two cross plates (602) respectively.

4. A master-slave control arm of a robot and its control system according to claim 1, characterized in that: Warning strips (5) are provided in front of and behind the base (1). The side surfaces of the two warning strips (5) close to each other are adhesively bonded to the front surface of the base (1) and the back surface of the warning strip (5) respectively.

5. A master-slave control arm of a robot and its control system according to claim 1, characterized in that: Two fixing blocks (7) are fixedly installed on the upper surface of the base (1). Two sliding holes (701) are formed on the right side surface of each installation plate (205). Two sliding rods (702) are commonly slidably installed on the inner walls of the two groups of sliding holes (701). The left and right ends of the two sliding rods (702) are respectively fixedly installed on the side surfaces of the two fixing blocks (7) close to each other.

6. The master-slave control arm of a robot and its control system according to claim 1, characterized in that: A limiting ring (8) is fixedly installed on the outer surface of the left-right threaded rod (203).

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