A speed multiplier robot and a control method thereof

Abstract

This invention relates to the field of robotic arm technology, specifically to a speed-multiplying robotic arm and its control method. The speed-multiplying robotic arm includes a frame, a base, an arm assembly, a gripper assembly, and a speed-multiplying component. The frame is provided with a first linear guide rail, and the base is driven by a lead screw motor to move along a first direction. The arm assembly is provided with a second and a third linear guide rail and a rack. The drive motor on the base meshes with the rack through a transmission gear to drive the arm assembly to move along a second direction perpendicular to the first direction. The gripper assembly is slidably disposed on the third linear guide rail. The speed-multiplying component, through a synchronous pulley set, a synchronous belt, a first fixing member, and a second fixing member, causes the gripper assembly to be pulled by the synchronous belt and move relative to the arm assembly when the arm assembly moves, thereby creating a superimposed stroke between the gripper assembly and the base, expanding the picking and placing range.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a high-speed robotic arm and its control method. Background Technology

[0002] In automated loading / unloading, material handling, and workpiece pick-and-place scenarios, robotic arms typically need to move in multiple directions within a limited space inside the equipment, enabling the end effector to reach relatively distant pick-and-place positions. If existing robotic arms directly achieve a larger stroke by extending a single-stage movement module, it easily leads to increased overall length, larger installation space, decreased rigidity of the overhang, and poorer guiding stability. If a multi-stage movement mechanism is used, problems such as dispersed structural layers, complex transmission relationships, and insufficient matching between the end effector's travel and the drive stroke can easily arise, hindering the miniaturization of the equipment and the stable execution of high-speed pick-and-place actions. Furthermore, when the robotic arm performs rapid start-stop, long-distance extension, or load pick-and-place operations, the end effector is susceptible to residual vibration due to the combined effects of structural flexibility, transmission clearance, belt drive elasticity, and inertia. Existing control methods mostly rely on fixed acceleration / deceleration curves, arrival detection, or delay waiting, making it difficult to adapt to the changing vibration characteristics under different endpoint positions, extension states, and load conditions. This often necessitates reducing operating speed or increasing waiting time to ensure pick-and-place stability, impacting overall equipment efficiency. Summary of the Invention

[0003] In view of the above technical problems, the present invention provides a high-speed manipulator and its control method to solve the problem that existing pick-and-place manipulators are difficult to balance large pick-and-place stroke, compact structure and high-speed motion stability in a limited installation space. Furthermore, it improves the problem that residual vibration is easily generated after the end effector stops under different extension and load states, which leads to decreased pick-and-place positioning stability and limited efficiency improvement.

[0004] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0005] According to one aspect of the present invention, a speed-multiplying manipulator is provided, comprising a frame, a base, an arm assembly, a gripper assembly, and a speed-multiplying assembly; The frame is provided with a first linear guide slide rail, and the base is slidably connected to the first linear guide slide rail through a first sliding connector. The frame is provided with a lead screw motor, which is drivenly connected to the base to drive the base to reciprocate along a first direction. The arm assembly includes an arm body, a second linear guide rail and a third linear guide rail disposed on both sides of the arm body, and a rack disposed on the arm body. The base is slidably connected to the second linear guide rail via a second sliding connector. A drive motor is disposed on the base, and a transmission gear is disposed on the drive motor. The transmission gear meshes with the rack, enabling the drive motor to drive the arm assembly to reciprocate along a second direction through the transmission gear and the rack. The first direction is perpendicular to the second direction. The gripper assembly and the speed multiplier assembly are disposed on the arm assembly. The gripper assembly is slidably connected to the third linear guide rail via a third sliding connector. The speed multiplier assembly includes a first synchronous pulley group, a second synchronous pulley group, a synchronous belt, a first fixing member, and a second fixing member. The first synchronous pulley group and the second synchronous pulley group are rotatably disposed at opposite ends of the arm body along the second direction. The synchronous belt is wound around the first synchronous pulley group and the second synchronous pulley group. The first fixing member is disposed on the base and fixes a reference belt body of the synchronous belt. The second fixing member is disposed on the gripper assembly and fixes an output belt body of the synchronous belt. When the drive motor drives the arm assembly to move relative to the base through the transmission gear and the rack, the first synchronous pulley set and the second synchronous pulley set move synchronously with the arm assembly, causing the output belt to be displaced relative to the arm assembly in the second direction. The output belt pulls the gripper assembly to move relative to the arm assembly along the third linear guide rail through the second fixing member, so that the movement stroke of the gripper assembly relative to the base is formed by the superposition of the movement stroke of the arm assembly relative to the base and the movement stroke of the gripper assembly relative to the arm assembly.

[0006] Furthermore, the arm assembly includes an arm body, a synchronous wheel fixing plate disposed at the end of the arm body, and a synchronous wheel connecting shaft disposed on the synchronous wheel fixing plate. The first synchronous wheel group and the second synchronous wheel group are respectively rotatably mounted on the corresponding synchronous wheel fixing plates through the corresponding synchronous wheel connecting shafts. The position of the synchronous wheel fixing plate on the arm body is adjustable.

[0007] Furthermore, the gripper assembly includes a gripper mounting base and a gripper connecting plate. The gripper mounting base is connected to the third sliding connector, the second fixing member is disposed on the gripper mounting base, and the gripper connecting plate is connected to the gripper mounting base.

[0008] Furthermore, position sensors are provided in the frame, the base, the arm assembly, and the gripper assembly; when the position sensor is provided on the frame, the position sensor is used to detect the positioning state of the base moving along the first linear guide rail; when the position sensor is provided on the base, the position sensor is used to detect the positioning state of the arm assembly moving relative to the base along the second linear guide rail; when the position sensor is provided on the arm assembly, the position sensor is used to detect the positioning state of the gripper assembly moving relative to the arm assembly along the third linear guide rail, and the position sensor is electrically connected to the control unit.

[0009] According to another aspect of the present invention, a method for controlling a high-speed robotic arm is provided, the method being applied to a control unit, the control unit being used to control, as described above, the high-speed robotic arm, the method comprising: The target pick-up and place position of the gripper assembly and the current position information of the speed-multiplying manipulator are obtained. Based on the target pick-up and place position and the current position information, the first motion amount of the base along the first direction and the second motion amount of the arm assembly relative to the base along the second direction are determined. Based on the speed-multiplying linkage relationship between the travel distance of the arm assembly relative to the base and the travel distance of the gripper assembly relative to the arm assembly, the target pick-up and place position is converted into the first original motion command of the lead screw motor and the second original motion command of the drive motor. Based on the target pick-up and place position, the current position information, the first motion amount, the second motion amount, and the load state of the gripper assembly, the input shaping parameters corresponding to the current motion endpoint are determined in the pre-established vibration parameter mapping relationship. The input shaping parameters include the delay parameter and damping parameter corresponding to the vibration mode to be suppressed. The first original motion command or the second original motion command is taken as the original motion command to be processed. The original motion command to be processed is allocated into a first component command and a second component command. The first component command is output with a delay relative to the second component command according to the delay parameter. The first component command and the second component command are normalized and weighted according to the damping parameter to obtain a shaped motion command. The total number of commands of the shaped motion command is matched with the total number of commands of the original motion command to be processed. The vibration response generated by the first component command under the vibration mode to be suppressed and the vibration response generated by the second component command under the vibration mode to be suppressed cancel each other out. The first and second original motion commands are respectively used as input shaping commands to be processed, forming shaping motion commands corresponding to the lead screw motor and the drive motor respectively. The shaping motion commands are then output to the lead screw motor and the drive motor respectively, causing the base to move along the first direction and the arm assembly to move along the second direction. During the movement of the arm assembly, the speed multiplier component pulls the gripper assembly to move synchronously relative to the arm assembly, thereby causing the gripper assembly to move according to the target pick-up and put-down position and suppressing residual vibration after the gripper assembly stops.

[0010] Furthermore, the vibration parameter mapping relationship is established through a calibration process, which includes: Multiple calibration endpoints are determined within the preset working space of the speed-multiplying manipulator, and corresponding calibration motion commands are generated based on each calibration endpoint. The control unit drives the base and the arm assembly according to the calibration motion command, so that the gripper assembly moves to the corresponding calibration endpoint. After the gripper assembly is in place, residual vibration data is collected by the vibration detection unit set at the end of the gripper assembly and the arm assembly. The residual vibration data is the acceleration change data at the vibration detection position. The residual vibration data is filtered and frequency domain transformed according to the first direction, the second direction, or the vibration direction of the end of the gripper assembly to obtain the vibration spectrum associated with the corresponding calibration endpoint, and the peak frequency is extracted from the vibration spectrum as the natural frequency of the vibration mode to be suppressed. The corresponding delay parameter is determined based on the natural frequency, and the corresponding damping parameter is determined based on the attenuation relationship of the vibration amplitude corresponding to the natural frequency within the antiphase time interval. The calibration endpoints, the natural frequencies corresponding to each calibration endpoint, the delay parameter, and the damping parameter are associated and stored to form the vibration parameter mapping relationship.

[0011] Furthermore, determining the input shaping parameters includes: Parameter query coordinates are generated based on the target pick-up and place position, the current position information, the first motion amount, the second motion amount, the load state, and the motion endpoint state of the gripper assembly. The endpoint motion state includes the arm assembly extension state, the gripper assembly extension state, and the load state. In the vibration parameter mapping relationship, multiple calibration endpoints around the parameter query coordinates are selected, and interpolation weights are generated based on the spatial distance between the parameter query coordinates and each calibration endpoint, the travel difference in the first direction, and the travel difference in the second direction. The natural frequency and damping parameter associated with each calibration endpoint are weighted according to the interpolation weight to obtain the target natural frequency and target damping parameter corresponding to the endpoint of this motion. The target delay parameter that causes the vibration response to enter the antiphase state is determined based on the target natural frequency. The target delay parameter and the target damping parameter are used as the input shaping parameters for this movement. The input shaping parameters are re-determined before the start of the next movement so that the input shaping parameters are adaptively adjusted according to the movement endpoint of the gripper assembly, the extension state of the arm assembly, and the load state.

[0012] Furthermore, when there are multiple vibration modes to be suppressed in the vibration spectrum, the corresponding natural frequency, delay parameter and damping parameter are determined for each vibration mode to be suppressed, and multiple input shaping processing units are connected in series according to the mode suppression order; Each of the input shaping processing units assigns motion commands input to the input shaping processing unit into delayed weighted components and undelayed weighted components. The delay duration of the delayed weighted components is determined by the corresponding delay parameter, and the weights of the delayed weighted components and the undelayed weighted components are determined by the normalization of the corresponding damping parameter. The motion command output by the previous stage input shaping processing unit is used as the input of the next stage input shaping processing unit, so that the frequency peaks corresponding to the multiple vibration modes to be suppressed are suppressed in sequence, and the overall swing mode of the arm assembly, the end flexible mode of the gripper assembly, and the belt drive flexible mode caused by the speed multiplier component are suppressed together.

[0013] Furthermore, both the first and second original motion commands are configured as either position commands or speed commands. When generating the first and second original motion commands, the control unit performs consistency checks on the first directional travel of the base, the second directional travel of the arm assembly relative to the base, and the linkage travel of the gripper assembly relative to the arm assembly according to the speed multiplication relationship, so that the composite travel formed by the gripper assembly relative to the base matches the target pick-up and place position. The input shaping parameters are determined by the endpoint of the current motion and the endpoint state. When the speed amplitude of the first original motion command and the second original motion command changes, the target delay parameter remains unchanged, and the first original motion command and the second original motion command are regenerated according to the changed speed amplitude. During normal operation, the control unit performs input shaping in an open-loop feedforward manner and detects the positioning status of the base, the arm assembly, and the gripper assembly through a position sensor electrically connected to the control unit. When acquiring new residual vibration data during the calibration and maintenance phase, the control unit converts the new residual vibration data into a new vibration spectrum and updates the vibration parameter mapping relationship according to the new vibration spectrum, so that the input shaping parameters adapt to the changes in the structural stiffness, synchronous belt tension, and load state of the speed-multiplying manipulator.

[0014] The technical solution of the present invention has the following beneficial effects: This invention forms a layered guiding and linkage pick-and-place structure through a frame, base, arm assembly, gripper assembly, and speed-multiplying assembly. The base can move along a first direction, the arm assembly can move relative to the base along a second direction, and the gripper assembly can move further on the arm assembly, thereby enabling the robot to adjust its pick-and-place position in two vertical directions. At the same time, the speed-multiplying assembly forms a stroke superposition relationship through a synchronous pulley set, a synchronous belt, a reference belt fixed to the base, and an output belt fixed to the gripper assembly. This ensures that the movement stroke of the gripper assembly relative to the base is formed by the movement stroke of the arm assembly and the movement stroke of the gripper assembly relative to the arm assembly. This expands the effective end stroke without simply increasing the length of the arm body, which helps to reduce the space occupied by the equipment and improve the pick-and-place coverage.

[0015] Furthermore, the control method of this invention determines the input shaping parameters based on the target pick-up / placement position, current position information, motion amount, and load state. The original motion command is decomposed into delayed-weighted component commands and output to the lead screw motor and drive motor, so that the vibration responses corresponding to the component commands cancel each other out under the vibration mode to be suppressed. By establishing a vibration parameter mapping relationship through a calibration process and adaptively selecting or updating the input shaping parameters under different motion endpoints, extension states, and load states, residual vibration after the gripper assembly stops can be reduced, pick-up / placement waiting time can be decreased, end-effector positioning stability and repeatable pick-up / placement consistency can be improved, and wear on transmission components caused by vibration impact can be reduced. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a speed-boosting robotic arm as described in the embodiments of this specification; Figure 2 This is a schematic diagram of the structure of a speed-boosting robot in one of the embodiments of this specification from another direction; Figure 3 This is a partial structural diagram of a speed-boosting robotic arm as described in the embodiments of this specification; Figure 4 This is a schematic diagram of the hand and arm components in the embodiments of this specification; Figure 5 This is a schematic diagram of the arm assembly in the embodiments of this specification; Figure 6This is a schematic diagram of the hand gripper assembly in the embodiments of this specification; Figure 7 This is a flowchart of a speed-boosting robotic arm control method as described in the embodiments of this specification.

[0017] Explanation of reference numerals in the attached figures: 1. Frame; 11. First linear guide rail; 12. First sliding connector; 13. Screw motor; 2. Base; 21. Drive motor; 22. Transmission gear; 3. Arm assembly; 31. Arm body; 32. Second linear guide rail; 33. Third linear guide rail; 34. Rack; 35. Second sliding connector; 36. Third sliding connector; 37. Synchronous pulley fixing plate; 38. Synchronous pulley connecting shaft; 4. Grip assembly; 41. Grip mounting base; 42. Grip connecting plate; 5. Speed ​​multiplier assembly; 51. First synchronous pulley group; 52. Second synchronous pulley group; 53. Synchronous belt; 54. First fixing component; 55. Second fixing component; 6. Position sensor. Detailed Implementation

[0018] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention may be practiced with one or more of these specific details omitted, or other methods, components, systems, steps, etc., may be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of the invention.

[0019] Furthermore, the accompanying drawings are merely illustrative of the invention. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0020] Reference Figures 1 to 6 As shown, a speed-multiplying robotic arm provided in an embodiment of the present invention includes a frame 1, a base 2, an arm assembly 3, a gripper assembly 4, and a speed-multiplying assembly 5; A first linear guide slide rail 11 is provided on the frame 1, and the base 2 is slidably connected to the first linear guide slide rail 11 through a first sliding connector 12. A lead screw motor 13 is provided on the frame 1, and the lead screw motor 13 is connected to the base 2 for driving the base 2 to reciprocate along the first direction. The arm assembly 3 includes an arm body 31, a second linear guide rail 32 and a third linear guide rail 33 disposed on both sides of the arm body 31, and a rack 34 disposed on the arm body 31. The base 2 is slidably connected to the second linear guide rail 32 through a second sliding connector 35. A drive motor 21 is disposed on the base 2, and a transmission gear 22 is disposed on the drive motor 21. The transmission gear 22 meshes with the rack 34, so that the drive motor 21 can drive the arm assembly 3 to reciprocate along the second direction through the transmission gear 22 and the rack 34. The first direction is perpendicular to the second direction. The gripper assembly 4 and the speed multiplier assembly 5 are mounted on the arm assembly 3. The gripper assembly 4 is slidably connected to the third linear guide rail 33 via the third sliding connector 36. The speed multiplier assembly 5 includes a first synchronous pulley group 51, a second synchronous pulley group 52, a synchronous belt 53, a first fixing member 54, and a second fixing member 55. The first synchronous pulley group 51 and the second synchronous pulley group 52 are rotatably mounted on opposite ends of the arm body 31 along the second direction. The synchronous belt 53 is wound around the first synchronous pulley group 51 and the second synchronous pulley group 52. The first fixing member 54 is mounted on the base 2 and fixes a reference belt body of the synchronous belt 53. The second fixing member 55 is mounted on the gripper assembly 4 and fixes an output belt body of the synchronous belt 53. When the drive motor 21 drives the arm assembly 3 to move relative to the base 2 through the transmission gear 22 and rack 34, the first synchronous pulley set 51 and the second synchronous pulley set 52 move synchronously with the arm assembly 3, causing the output belt to be displaced relative to the arm assembly 3 in the second direction. The output belt pulls the gripper assembly 4 to move relative to the arm assembly 3 along the third linear guide rail 33 through the second fixing member 55. The movement stroke of the gripper assembly 4 relative to the base 2 is formed by the superposition of the movement stroke of the arm assembly 3 relative to the base 2 and the movement stroke of the gripper assembly 4 relative to the arm assembly 3.

[0021] In one embodiment, the arm assembly 3 includes an arm body 31, a synchronous pulley fixing plate 37 disposed at the end of the arm body 31, and a synchronous pulley connecting shaft 38 disposed on the synchronous pulley fixing plate 37. The first synchronous pulley set 51 and the second synchronous pulley set 52 are rotatably mounted on the corresponding synchronous pulley fixing plate 37 via the corresponding synchronous pulley connecting shaft 38. The position of the synchronous pulley fixing plate 37 on the arm body 31 is adjustable. By mounting the first synchronous pulley set 51 and the second synchronous pulley set 52 on the adjustable synchronous pulley fixing plate 37, the relative position between the two synchronous pulley sets can be adjusted during assembly or maintenance, thereby facilitating the adjustment of the tension of the synchronous belt 53, reducing the impact of slackness, deviation, or unstable meshing of the synchronous belt 53 on the speed doubler transmission accuracy, and improving the smoothness of the operation of the speed doubler assembly 5.

[0022] In one embodiment, the gripper assembly 4 includes a gripper mounting base 41 and a gripper connecting plate 42. The gripper mounting base 41 is connected to a third sliding connector 36, a second fixing member 55 is disposed on the gripper mounting base 41, and the gripper connecting plate 42 is connected to the gripper mounting base 41. By connecting the gripper mounting base 41 to the third sliding connector 36 and disposing of the second fixing member 55 on the gripper mounting base 41, the traction force of the synchronous belt 53 can be directly transmitted to the sliding bearing part of the gripper assembly 4, reducing the off-center load and deformation in the traction force transmission path. At the same time, the gripper connecting plate 42 is connected to the gripper mounting base 41, which facilitates the subsequent installation of suction cups, grippers, or other picking and placing actuators, improving the assembly convenience and structural expandability of the gripper assembly 4.

[0023] In one embodiment, position sensors 6 are provided in the frame 1, base 2, arm assembly 3, and gripper assembly 4. When the position sensor 6 is installed on the frame 1, it is used to detect the positioning state of the base 2 along the first linear guide rail 11. When the position sensor 6 is installed on the base 2, it is used to detect the positioning state of the arm assembly 3 relative to the base 2 along the second linear guide rail 32. When the position sensor 6 is installed on the arm assembly 3, it is used to detect the positioning state of the gripper assembly 4 relative to the arm assembly 3 along the third linear guide rail 33. The position sensors 6 are electrically connected to the control unit. By installing position sensors 6 in the frame 1, base 2, arm assembly 3, and gripper assembly 4, the positioning states of the base 2, arm assembly 3, and gripper assembly 4 on their respective guide rails can be detected respectively. This allows the control unit to obtain position signals at each motion level, facilitating origin confirmation, stroke limit, and positioning judgment. It also reduces end-effector position errors caused by deviations at a single motion level and improves the safety and control reliability of the high-speed manipulator during operation.

[0024] Working principle: When the high-speed manipulator is working, the lead screw motor 13 drives the base 2 to reciprocate along the first linear guide rail 11 on the frame 1 in the first direction, thereby realizing the position adjustment of the manipulator in the first direction, i.e., lifting adjustment. The drive motor 21 is set on the base 2, and the drive motor 21 drives the transmission gear 22 to rotate. The transmission gear 22 meshes with the rack 34 set on the arm body 31. Since the base 2 is slidably engaged with the second linear guide rail 32 on the arm body 31 through the second sliding connector 35, the rotation of the transmission gear 22 can push the rack 34 and the arm assembly 3 to reciprocate relative to the base 2 in the second direction.

[0025] As the arm assembly 3 moves along the second direction, the first synchronous pulley set 51 and the second synchronous pulley set 52 move synchronously with the arm body 31. A synchronous belt 53 is wound around the first synchronous pulley set 51 and the second synchronous pulley set 52, with one reference belt portion of the synchronous belt 53 fixed to the base 2 by a first fixing member 54, and the other output belt portion fixed to the gripper assembly 4 by a second fixing member 55. Since the reference belt portion remains fixed relative to the base 2, when the arm assembly 3 moves relative to the base 2, the first synchronous pulley set 51 and the second synchronous pulley set 52 rotate relative to the synchronous belt 53 while moving with the arm assembly 3, causing the output belt portion of the synchronous belt 53 to displace relative to the arm assembly 3 along the second direction. The output belt portion pulls the gripper assembly 4 via the second fixing member 55, causing the gripper assembly 4 to move relative to the arm assembly 3 via the third sliding connector 36 along the third linear guide rail 33.

[0026] Therefore, the travel distance of the gripper assembly 4 relative to the base 2 is formed by the superposition of two parts: one part is the travel distance of the arm assembly 3 relative to the base 2, and the other part is the travel distance of the gripper assembly 4 relative to the arm assembly 3 under the traction of the synchronous belt 53. This allows the gripper assembly 4 to obtain a larger output travel distance even when the arm assembly 3 travels a relatively small distance. The position of the synchronous pulley fixing plate 37 on the arm body 31 is adjustable, and it can be used to adjust the installation position of the first synchronous pulley group 51 and the second synchronous pulley group 52 to adjust the tension of the synchronous belt 53 and ensure the stability of the synchronous belt 53 traction process. The position sensor 6 is used to detect the positioning status of the base 2, the arm assembly 3, and the gripper assembly 4, and transmits the detection signal to the control unit to confirm whether each motion level has reached the predetermined position.

[0027] In one embodiment. Refer to Figure 7 The diagram shown is a flowchart of a speed-enhancing robotic arm according to an embodiment of the present invention. The method is applied to a control unit, which controls the speed-enhancing robotic arm as described above. The method includes the following steps S101-S104: In step S101, the target pick-up and place position of the gripper assembly and the current position information of the speed-multiplying manipulator are obtained. Based on the target pick-up and place position and the current position information, the first motion amount of the base along the first direction and the second motion amount of the arm assembly relative to the base along the second direction are determined. Based on the speed-multiplying linkage relationship between the movement stroke of the arm assembly relative to the base and the movement stroke of the gripper assembly relative to the arm assembly, the target pick-up and place position is converted into the first original motion command of the lead screw motor and the second original motion command of the drive motor.

[0028] Both the first and second original motion commands are configured as either position commands or speed commands. When generating the first and second original motion commands, the control unit performs consistency checks on the first directional travel of the base, the second directional travel of the arm assembly relative to the base, and the linkage travel of the gripper assembly relative to the arm assembly according to the speed multiplication relationship, so that the composite travel formed by the gripper assembly relative to the base matches the target pick-up and place position.

[0029] For explanation, the target pick-up / placement position can be the pick-up or place-down position that the end of the gripper assembly needs to reach. The current position information can include the current position of the base in the first direction, the current position of the arm assembly relative to the base in the second direction, and the current position of the gripper assembly relative to the arm assembly in the second direction. The current position information can be obtained from one or more of the following: position sensor, lead screw motor feedback information, and drive motor feedback information. Alternatively, it can be determined by the control unit based on the positioning status after the last movement.

[0030] The control unit determines the first amount of motion required for the base to move along the first direction based on the position difference between the target pick-up / placement position and the current position. Since the first direction is perpendicular to the second direction, the first amount of motion is mainly used to compensate for the positional deviation of the target pick-up / placement position in the first direction. The control unit also determines the second amount of motion required for the arm assembly to move relative to the base based on the positional deviation of the target pick-up / placement position in the second direction, combined with the stroke superposition relationship formed by the speed-multiplying component. When the arm assembly moves along the second direction, the speed-multiplying component pulls the gripper assembly to produce a synchronous displacement relative to the arm assembly. Therefore, the combined stroke of the gripper assembly relative to the base in the second direction is formed by the movement stroke of the arm assembly relative to the base and the synchronous stroke of the gripper assembly relative to the arm assembly.

[0031] After determining the first and second motion quantities, the control unit converts the first motion quantity into a first original motion command for the lead screw motor and the second motion quantity into a second original motion command for the drive motor. The first original motion command can be a position command or a speed command; the second original motion command can also be a position command or a speed command. The first original motion command is used to cause the lead screw motor to drive the base to move along the first linear guide rail, and the second original motion command is used to cause the drive motor to drive the arm assembly to move relative to the base along the second linear guide rail via transmission gears and racks.

[0032] When generating the first and second original motion commands, the control unit performs a consistency check on the first direction travel of the base, the second direction travel of the arm assembly relative to the base, and the linkage travel of the gripper assembly relative to the arm assembly. This consistency check is used to determine whether the composite travel formed by the gripper assembly relative to the base matches the target pick-up / placement position. When the composite travel does not match the target pick-up / placement position, the control unit can readjust the first or second motion amount to maintain the correspondence between the base movement, the arm assembly movement, and the linkage movement of the gripper assembly, avoiding the overlay of the end travel caused by the speed-multiplying component while only generating commands according to the drive motor travel.

[0033] In step S102, based on the target pick-up and place position, the current position information, the first motion amount, the second motion amount, and the load state of the gripper assembly, the input shaping parameters corresponding to the current motion endpoint are determined in a pre-established vibration parameter mapping relationship. The input shaping parameters include the delay parameter and damping parameter corresponding to the vibration mode to be suppressed.

[0034] Before executing step S102, a calibration process is first performed. The vibration parameter mapping relationship is established through the calibration process, which includes: determining multiple calibration endpoints within the preset working space of the high-speed manipulator, and generating corresponding calibration motion commands based on each calibration endpoint; the control unit drives the base and the arm assembly according to the calibration motion commands, so that the gripper assembly moves to the corresponding calibration endpoint, and after the gripper assembly is in place, residual vibration data is collected by the vibration detection unit set at the end of the gripper assembly and the arm assembly. The residual vibration data is the acceleration change data at the vibration detection position. The residual vibration data is filtered and frequency-domain transformed according to the first direction, the second direction, or the vibration direction of the end of the gripper assembly to obtain the vibration spectrum associated with the corresponding calibration endpoint. The peak frequency is extracted from the vibration spectrum as the natural frequency of the vibration mode to be suppressed. The corresponding delay parameter is determined according to the natural frequency. The corresponding damping parameter is determined according to the attenuation relationship of the vibration amplitude corresponding to the natural frequency in the antiphase time interval. Each calibration endpoint, the natural frequency corresponding to each calibration endpoint, the delay parameter, and the damping parameter are associated and stored to form the vibration parameter mapping relationship.

[0035] The determination of the input shaping parameters includes: generating parameter query coordinates based on the target pick-up / placement position, the current position information, the first motion amount, the second motion amount, the load state, and the motion endpoint state of the gripper assembly, wherein the endpoint motion state is the extension state of the arm assembly, the extension state of the gripper assembly, and the load state; selecting multiple calibration endpoints around the parameter query coordinates in the vibration parameter mapping relationship, generating interpolation weights based on the spatial distance between the parameter query coordinates and each calibration endpoint, the travel difference in the first direction, and the travel difference in the second direction; weighting the natural frequency and damping parameter associated with each calibration endpoint according to the interpolation weights to obtain the target natural frequency and target damping parameter corresponding to the current motion endpoint; determining the target delay parameter that causes the vibration response to enter an antiphase state based on the target natural frequency, using the target delay parameter and the target damping parameter as the input shaping parameters for the current motion, and re-determining the input shaping parameters before the start of the next motion, so that the input shaping parameters adaptively adjust with changes in the motion endpoint of the gripper assembly, the extension state of the arm assembly, and the load state.

[0036] As an explanation, the vibration parameter mapping relationship can be pre-established through a calibration process before the high-speed manipulator begins formal operation, or it can be updated during the calibration and maintenance phase based on new residual vibration data. The calibration process is used to enable the control unit to obtain vibration characteristics under different motion endpoints, different extension states, and different load states, so that the matching input shaping parameters can be selected based on the current motion endpoint during subsequent formal pick-and-place operations.

[0037] During the calibration process, multiple calibration endpoints can be selected within the preset working space of the speed-multiplying robot. These endpoints preferably cover the common movement range of the base in the first direction, the common extension range of the arm assembly in the second direction, and the end effector range formed by the gripper assembly under the traction of the speed-multiplying component. The control unit generates corresponding calibration motion commands based on each calibration endpoint and drives the lead screw motor and drive motor according to these commands, causing the base to move along the first direction, the arm assembly to move relative to the base along the second direction, and the gripper assembly to move to the corresponding calibration endpoint via the speed-multiplying component.

[0038] After the gripper assembly reaches the calibration endpoint, the vibration detection unit collects acceleration change data at the vibration detection location. The vibration detection unit can be located on the gripper assembly or at the end of the arm assembly, and is used to characterize residual vibrations caused by the overall swing of the arm assembly, flexible deformation at the end of the gripper assembly, or the transmission flexibility of the speed-multiplying assembly after the gripper assembly stops. To reduce the influence of vibrations in irrelevant directions on parameter determination, the control unit can filter the acceleration change data according to a first direction, a second direction, or the vibration direction at the end of the gripper assembly, retaining data from directions with a high correlation to the residual vibration after this movement.

[0039] The control unit performs frequency domain transformation on the filtered residual vibration data to obtain the vibration spectrum associated with the corresponding calibration endpoint. The peak frequency in the vibration spectrum is used to characterize the more obvious vibration modes to be suppressed at the calibration endpoint, and the control unit can extract the peak frequency as the natural frequency. If there are multiple obvious peaks in the vibration spectrum, they can be used as the natural frequencies of different vibration modes to be suppressed, and the corresponding input shaping parameters can be determined in subsequent steps.

[0040] The delay parameter is determined based on the natural frequency and is used to cause the vibration response generated by the component command to enter an anti-phase state. Let the natural frequency be... The delay parameter is The delay parameter can then be determined by the following formula. ; In the formula, The natural frequency of the vibration mode to be suppressed. This is the delay parameter corresponding to the vibration mode to be suppressed. This delay parameter corresponds to half of the vibration period, causing the delayed output component command to form a vibration phase opposite to the undelayed component command in the target vibration mode.

[0041] The damping parameters are determined based on the decay relationship of the vibration amplitude during the antiphase time interval. Let the vibration amplitude at the first moment be... After delay parameter The amplitude of the subsequent vibration is The damping parameter is The damping parameter can be determined by the following formula. ; In the formula, The amplitude of the vibration at the start of the phase reversal time interval. For the delayed parameter The amplitude of the vibration afterward These are the damping parameters corresponding to the vibration modes to be suppressed. For structures with weak damping, It can approach one; for conditions with strong damping or large load variations, The vibration amplitude attenuation varies. The control unit stores the calibration endpoints, corresponding natural frequencies, delay parameters, and damping parameters in association, thus forming a vibration parameter mapping relationship.

[0042] During the actual pick-up and place process, the control unit generates parameter query coordinates based on the target pick-up and place position, current position information, first motion amount, second motion amount, load status, and the motion endpoint status of the gripper assembly. The motion endpoint status can include the extension status of the arm assembly, the extension status of the gripper assembly, and the load status. The load status can be determined by the workpiece information in the current pick-up and place task, or by the adsorption status, changes in drive motor current, changes in lead screw motor current, or a preset load level.

[0043] The parameter query coordinates are used to find calibration data that closely matches the current motion state within the vibration parameter mapping relationship. The control unit can select multiple calibration endpoints around the parameter query coordinates within the vibration parameter mapping relationship and generate interpolation weights based on the spatial distance between the parameter query coordinates and each calibration endpoint, the travel difference in the first direction, and the travel difference in the second direction. The smaller the spatial distance, the smaller the travel difference in the first direction, and the smaller the travel difference in the second direction, the greater the interpolation weight of the corresponding calibration endpoint.

[0044] Let the number of calibration endpoints involved in the interpolation be... , No. The interpolation weights for each calibration endpoint are: , No. The natural frequency corresponding to each calibration endpoint is: , No. The damping parameters corresponding to each calibration endpoint are: The target's natural frequency is The target damping parameter is Then the target's natural frequency and target damping parameters can be obtained by the following formula: ; ; In the formula, For the first The interpolation weights of each calibration endpoint are given, and the sum of all interpolation weights is one. The natural frequency of the target corresponding to the endpoint of this motion. This refers to the target damping parameter corresponding to the endpoint of this motion. Through this weighted processing, the input shaping parameters can be adjusted according to changes in the endpoint of the gripper assembly's motion, the extension state of the arm assembly, the extension state of the gripper assembly, and the load state, avoiding the decrease in vibration suppression effect at certain motion positions caused by using only fixed parameters.

[0045] Obtaining the target's natural frequency Then, the control unit determines the target delay parameter based on the target's natural frequency. The target delay parameter can be determined by the following formula: ; In the formula, This refers to the target delay parameter corresponding to this motion. The control unit will assign the target delay parameter... and target damping parameters The input shaping parameters for this motion are used for subsequent input shaping processing of the first and second original motion commands. Before the next motion begins, the control unit re-determines the input shaping parameters based on the new target pick-up / placement position, current position information, motion amount, extension state, and load state, so that each pick-up / placement action matches the vibration characteristics at the corresponding motion endpoint.

[0046] In step S103, the first original motion command or the second original motion command is taken as the original motion command to be processed. The original motion command to be processed is allocated into a first component command and a second component command. The first component command is output with a delay relative to the second component command according to the delay parameter. The first component command and the second component command are normalized and weighted according to the damping parameter to obtain a shaped motion command. The total command amount of the shaped motion command matches the total command amount of the original motion command to be processed. The vibration response generated by the first component command under the vibration mode to be suppressed and the vibration response generated by the second component command under the vibration mode to be suppressed cancel each other out.

[0047] When multiple vibration modes to be suppressed exist in the vibration spectrum, the corresponding natural frequency, delay parameter, and damping parameter are determined for each vibration mode to be suppressed, and multiple input shaping processing units are connected in series according to the mode suppression order. Each input shaping processing unit allocates the motion command input to it into a delay-weighted component and an undelay-weighted component. The delay duration of the delay-weighted component is determined by the corresponding delay parameter, and the weights of the delay-weighted component and the undelay-weighted component are determined by the normalization of the corresponding damping parameter. The motion command output by the previous stage input shaping processing unit is used as the input of the next stage input shaping processing unit, so that the frequency peaks corresponding to the multiple vibration modes to be suppressed are suppressed sequentially, and the overall swing mode of the arm assembly, the end flexible mode of the gripper assembly, and the belt-driven flexible mode caused by the speed-multiplying component are jointly suppressed.

[0048] As an explanation, the control unit performs input shaping processing on the first and second raw motion commands respectively. For any raw motion command to be processed, it can be denoted as... The motion response formed after the original motion command is applied to the high-speed manipulator can be divided into the desired motion response and the residual vibration response, which satisfy the following relationship: ; In the formula, This represents the total response corresponding to the original motion command to be processed. For the desired motion response used to bring the base, arm assembly, or gripper assembly to the target position, This represents the residual vibration response corresponding to the vibration mode to be suppressed.

[0049] The control unit assigns the original motion command to be processed into a second component command and a first component command. The second component command is output without delay, while the first component command is output with a delay parameter relative to the second component command. The delay parameter corresponds to half a vibration cycle of the vibration mode to be suppressed, ensuring that the residual vibration response caused by the first component command is out of phase with the residual vibration response caused by the second component command. If the delay parameter is... The damping parameter is The residual vibration response after the delay parameter satisfies the following relationship: ; In the formula, The delay parameter is the corresponding delay parameter of the vibration mode to be suppressed. For damping parameters, This represents the delayed residual vibration response. This relationship indicates that the delayed residual vibration response, after being corrected by the damping parameter, can cancel out the undelayed residual vibration response in the target mode.

[0050] The control unit normalizes and weights the first and second component commands based on the damping parameters, ensuring that the total command quantity after superimposing the two component commands matches the total command quantity of the original motion command to be processed. The shaping motion command can be obtained by the following formula: ; In the formula, For plastic surgery movement instructions, The raw motion command to be processed. For delayed output component instructions, The normalized weights for the first component instruction. This is the normalized weight for the second component command. Through the above normalized weighting, the shaping motion command still maintains the total displacement or total velocity that matches the original motion command to be processed, while ensuring that the residual vibration responses corresponding to the two component commands cancel each other out in the vibration mode to be suppressed.

[0051] When the first original motion command is used as the original motion command to be processed, the control unit receives the shaping motion command for the lead screw motor; when the second original motion command is used as the original motion command to be processed, the control unit receives the shaping motion command for the drive motor. The two shaping processes can use the same input shaping parameters, or they can use input shaping parameters corresponding to the first and second direction movements respectively, to adapt to the different effects of base movement, arm assembly movement, and gripper assembly linkage movement on residual vibration.

[0052] When multiple vibration modes to be suppressed exist in the vibration spectrum, the control unit determines the corresponding natural frequency, delay parameter, and damping parameter for each vibration mode to be suppressed, and connects multiple input shaping processing units in series according to the mode suppression order. Each input shaping processing unit performs component delay and normalization weighting processing on the motion command input to its level. The motion command output by the previous level input shaping processing unit is used as the input of the next level input shaping processing unit, so that the frequency peaks corresponding to the multiple vibration modes to be suppressed are suppressed sequentially.

[0053] When multiple input shaping processing units are connected in series, the earlier units can suppress the overall swing mode of the arm assembly, while the later units can suppress the end-effector flexible mode of the gripper assembly or the belt-driven flexible mode caused by the speed-multiplying component. Each input shaping processing unit does not change the final motion endpoint; it only alters the time distribution of the motion command through a weighted combination of delayed and non-delayed components. This reduces residual vibration after the gripper assembly stops without adding additional feedback control.

[0054] In step S104, the first original motion command and the second original motion command are respectively used as the original motion command to be processed for input shaping processing to form the shaped motion commands corresponding to the lead screw motor and the drive motor respectively. The shaped motion commands are then output to the lead screw motor and the drive motor respectively, so that the base moves along the first direction and the arm assembly moves along the second direction. During the movement of the arm assembly, the speed multiplier component pulls the gripper assembly to move synchronously relative to the arm assembly, so that the gripper assembly moves according to the target pick-up and put-down position and suppresses the residual vibration after the gripper assembly stops.

[0055] The input shaping parameters are determined by the endpoint of the current motion and the endpoint state. When the speed amplitude of the first original motion command and the second original motion command changes, the target delay parameter remains unchanged, and the first original motion command and the second original motion command are regenerated according to the changed speed amplitude.

[0056] During normal operation, the control unit performs input shaping in an open-loop feedforward manner and detects the positioning status of the base, the arm assembly, and the gripper assembly through a position sensor electrically connected to the control unit.

[0057] When acquiring new residual vibration data during the calibration and maintenance phase, the control unit converts the new residual vibration data into a new vibration spectrum and updates the vibration parameter mapping relationship according to the new vibration spectrum, so that the input shaping parameters adapt to the changes in the structural stiffness, synchronous belt tension, and load state of the speed-multiplying manipulator.

[0058] As an explanation, the control unit sends the first and second original motion commands into the input shaping process, respectively, to form a first shaping motion command corresponding to the lead screw motor and a second shaping motion command corresponding to the drive motor. The first shaping motion command controls the lead screw motor to drive the base to move along a first direction, and the second shaping motion command controls the drive motor to drive the arm assembly to move relative to the base along a second direction. Since both shaping motion commands are obtained by delay-weighted processing of the corresponding original motion commands, their total command quantity still matches the motion quantity corresponding to the target pick-up and place position. Therefore, it does not change the target endpoint of the base and the arm assembly, but only changes the output distribution of the motion commands in time.

[0059] After the control unit outputs the first shaping motion command to the lead screw motor, the lead screw motor drives the base to move along the first linear guide rail to complete the position adjustment in the first direction. After the control unit outputs the second shaping motion command to the drive motor, the drive motor drives the arm assembly to move relative to the base along the second linear guide rail through the meshing of the transmission gear and rack. During the movement of the arm assembly, the synchronous belt in the speed-multiplying component pulls the gripper assembly to move relative to the arm assembly along the third linear guide rail through the output belt, so that the gripper assembly forms a linkage displacement based on the displacement of the arm assembly, thereby enabling the gripper assembly to reach the target pick-up and place position.

[0060] The input shaping parameters are determined by the endpoint and state of the current motion. The endpoint state can include the extended state of the arm assembly, the extended state of the gripper assembly, and the load state. Since the delay parameter corresponds to the natural frequency of the vibration mode to be suppressed, when the velocity amplitude of the first or second original motion command changes but the endpoint and state of the current motion remain unchanged, the control unit can keep the target delay parameter unchanged and regenerate the first and second original motion commands based on the changed velocity amplitude, and then perform input shaping processing on the regenerated original motion commands. This maintains the suppression relationship for the same vibration mode to be suppressed when the running speed changes, and avoids recalibrating the natural frequency due to the adjustment of the velocity amplitude.

[0061] During normal operation, the control unit performs input shaping processing in an open-loop feedforward manner. This means that the control unit preprocesses the original motion command based on the input shaping parameters before outputting the motion command, and then directly outputs the preprocessed shaped motion command to the lead screw motor and drive motor, without relying on the vibration detection unit for real-time closed-loop correction during each pick-and-place action. Position sensors are used to detect the positioning status of the base, arm assembly, and gripper assembly. The control unit confirms whether the base has reached the target position in the first direction, whether the arm assembly has reached the target position in the second direction, and whether the gripper assembly has completed its linkage positioning based on the feedback from the position sensors. In this way, the vibration detection unit is mainly used during calibration and maintenance phases; during normal operation, it reduces the control complexity caused by continuous vibration detection.

[0062] During the calibration and maintenance phase, when the control unit acquires new residual vibration data, it can perform frequency domain transformation on the new residual vibration data to obtain a new vibration spectrum, and extract a new peak frequency from the new vibration spectrum. If the new peak frequency, vibration amplitude attenuation relationship, or modal distribution changes relative to the stored data, the control unit updates the vibration parameter mapping relationship with the new calibration endpoint, new natural frequency, new delay parameter, and new damping parameter. This update process allows the input shaping parameters to be corrected according to changes in structural stiffness, synchronous belt tension, and load state after long-term operation of the high-speed manipulator, thereby maintaining the residual vibration suppression effect of subsequent pick-and-place operations.

[0063] Compared with the prior art, the present invention forms a layered guiding and linkage pick-and-place structure through a frame, base, arm assembly, gripper assembly and speed-multiplying assembly. The base can move along a first direction, the arm assembly can move relative to the base along a second direction, and the gripper assembly can move further on the arm assembly, thereby enabling the robot to adjust its pick-and-place position in two vertical directions. At the same time, the speed-multiplying assembly forms a stroke superposition relationship through a synchronous pulley set, a synchronous belt, a reference belt fixed to the base, and an output belt fixed to the gripper assembly. This makes the movement stroke of the gripper assembly relative to the base formed by the movement stroke of the arm assembly and the movement stroke of the gripper assembly relative to the arm assembly. This expands the effective end stroke without simply increasing the length of the arm body, which is beneficial to reduce the space occupied by the equipment and improve the pick-and-place coverage.

[0064] Furthermore, the control method of this invention determines the input shaping parameters based on the target pick-up / placement position, current position information, motion amount, and load state. The original motion command is decomposed into delayed-weighted component commands and output to the lead screw motor and drive motor, so that the vibration responses corresponding to the component commands cancel each other out under the vibration mode to be suppressed. By establishing a vibration parameter mapping relationship through a calibration process and adaptively selecting or updating the input shaping parameters under different motion endpoints, extension states, and load states, residual vibration after the gripper assembly stops can be reduced, pick-up / placement waiting time can be decreased, end-effector positioning stability and repeatable pick-up / placement consistency can be improved, and wear on transmission components caused by vibration impact can be reduced.

[0065] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0066] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A speed-boosting robotic arm, characterized in that, Includes frame, base, arm assembly, gripper assembly, and speed-boosting assembly; The frame is provided with a first linear guide slide rail, and the base is slidably connected to the first linear guide slide rail through a first sliding connector. The frame is provided with a lead screw motor, which is drivenly connected to the base to drive the base to reciprocate along a first direction. The arm assembly includes an arm body, a second linear guide rail and a third linear guide rail disposed on both sides of the arm body, and a rack disposed on the arm body. The base is slidably connected to the second linear guide rail via a second sliding connector. A drive motor is disposed on the base, and a transmission gear is disposed on the drive motor. The transmission gear meshes with the rack, enabling the drive motor to drive the arm assembly to reciprocate along a second direction through the transmission gear and the rack. The first direction is perpendicular to the second direction. The gripper assembly and the speed multiplier assembly are disposed on the arm assembly. The gripper assembly is slidably connected to the third linear guide rail via a third sliding connector. The speed multiplier assembly includes a first synchronous pulley group, a second synchronous pulley group, a synchronous belt, a first fixing member, and a second fixing member. The first synchronous pulley group and the second synchronous pulley group are rotatably disposed at opposite ends of the arm body along the second direction. The synchronous belt is wound around the first synchronous pulley group and the second synchronous pulley group. The first fixing member is disposed on the base and fixes a reference belt body of the synchronous belt. The second fixing member is disposed on the gripper assembly and fixes an output belt body of the synchronous belt. When the drive motor drives the arm assembly to move relative to the base through the transmission gear and the rack, the first synchronous pulley set and the second synchronous pulley set move synchronously with the arm assembly, causing the output belt to be displaced relative to the arm assembly in the second direction. The output belt pulls the gripper assembly to move relative to the arm assembly along the third linear guide rail through the second fixing member, so that the movement stroke of the gripper assembly relative to the base is formed by the superposition of the movement stroke of the arm assembly relative to the base and the movement stroke of the gripper assembly relative to the arm assembly.

2. The speed-multiplying robotic arm according to claim 1, characterized in that, The arm assembly includes an arm body, a synchronous wheel fixing plate disposed at the end of the arm body, and a synchronous wheel connecting shaft disposed on the synchronous wheel fixing plate. The first synchronous wheel group and the second synchronous wheel group are respectively rotatably mounted on the corresponding synchronous wheel fixing plates through the corresponding synchronous wheel connecting shafts. The position of the synchronous wheel fixing plate on the arm body is adjustable.

3. The speed-doubled robotic arm according to claim 1, characterized in that, The gripper assembly includes a gripper mounting base and a gripper connecting plate. The gripper mounting base is connected to the third sliding connector. The second fixing member is disposed on the gripper mounting base, and the gripper connecting plate is connected to the gripper mounting base.

4. The speed-multiplying robotic arm according to claim 1, characterized in that, Position sensors are provided in the frame, the base, the arm assembly, and the gripper assembly. When the position sensor is located on the frame, it is used to detect the positioning state of the base along the first linear guide rail. When the position sensor is located on the base, it is used to detect the positioning state of the arm assembly relative to the base along the second linear guide rail. When the position sensor is located on the arm assembly, it is used to detect the positioning state of the gripper assembly relative to the arm assembly along the third linear guide rail. The position sensors are electrically connected to the control unit.

5. A method for controlling a high-speed robotic arm, characterized in that, The method is applied to a control unit, the control unit being used to control the speed-multiplying manipulator as described in any one of claims 1 to 4, the method comprising: The target pick-up and place position of the gripper assembly and the current position information of the speed-multiplying manipulator are obtained. Based on the target pick-up and place position and the current position information, the first motion amount of the base along the first direction and the second motion amount of the arm assembly relative to the base along the second direction are determined. Based on the speed-multiplying linkage relationship between the travel distance of the arm assembly relative to the base and the travel distance of the gripper assembly relative to the arm assembly, the target pick-up and place position is converted into the first original motion command of the lead screw motor and the second original motion command of the drive motor. Based on the target pick-up and place position, the current position information, the first motion amount, the second motion amount, and the load state of the gripper assembly, the input shaping parameters corresponding to the current motion endpoint are determined in the pre-established vibration parameter mapping relationship. The input shaping parameters include the delay parameter and damping parameter corresponding to the vibration mode to be suppressed. The first original motion command or the second original motion command is taken as the original motion command to be processed. The original motion command to be processed is allocated into a first component command and a second component command. The first component command is output with a delay relative to the second component command according to the delay parameter. The first component command and the second component command are normalized and weighted according to the damping parameter to obtain a shaped motion command. The total number of commands of the shaped motion command is matched with the total number of commands of the original motion command to be processed. The vibration response generated by the first component command under the vibration mode to be suppressed and the vibration response generated by the second component command under the vibration mode to be suppressed cancel each other out. The first and second original motion commands are respectively used as input shaping commands to be processed, forming shaping motion commands corresponding to the lead screw motor and the drive motor respectively. The shaping motion commands are then output to the lead screw motor and the drive motor respectively, causing the base to move along the first direction and the arm assembly to move along the second direction. During the movement of the arm assembly, the speed multiplier component pulls the gripper assembly to move synchronously relative to the arm assembly, thereby causing the gripper assembly to move according to the target pick-up and put-down position and suppressing residual vibration after the gripper assembly stops.

6. The speed-doubled robotic arm control method according to claim 5, characterized in that, The vibration parameter mapping relationship is established through a calibration process, which includes: Multiple calibration endpoints are determined within the preset working space of the speed-multiplying manipulator, and corresponding calibration motion commands are generated based on each calibration endpoint. The control unit drives the base and the arm assembly according to the calibration motion command, so that the gripper assembly moves to the corresponding calibration endpoint. After the gripper assembly is in place, residual vibration data is collected by the vibration detection unit set at the end of the gripper assembly and the arm assembly. The residual vibration data is the acceleration change data at the vibration detection position. The residual vibration data is filtered and frequency domain transformed according to the first direction, the second direction, or the vibration direction of the end of the gripper assembly to obtain the vibration spectrum associated with the corresponding calibration endpoint, and the peak frequency is extracted from the vibration spectrum as the natural frequency of the vibration mode to be suppressed. The corresponding delay parameter is determined based on the natural frequency, and the corresponding damping parameter is determined based on the attenuation relationship of the vibration amplitude corresponding to the natural frequency within the antiphase time interval. The calibration endpoints, the natural frequencies corresponding to each calibration endpoint, the delay parameter, and the damping parameter are associated and stored to form the vibration parameter mapping relationship.

7. The speed-doubled robotic arm control method according to claim 6, characterized in that, Determining the input shaping parameters includes: Parameter query coordinates are generated based on the target pick-up and place position, the current position information, the first motion amount, the second motion amount, the load state, and the motion endpoint state of the gripper assembly. The endpoint motion state includes the arm assembly extension state, the gripper assembly extension state, and the load state. In the vibration parameter mapping relationship, multiple calibration endpoints around the parameter query coordinates are selected, and interpolation weights are generated based on the spatial distance between the parameter query coordinates and each calibration endpoint, the travel difference in the first direction, and the travel difference in the second direction. The natural frequency and damping parameter associated with each calibration endpoint are weighted according to the interpolation weight to obtain the target natural frequency and target damping parameter corresponding to the endpoint of this motion. The target delay parameter that causes the vibration response to enter the antiphase state is determined based on the target natural frequency. The target delay parameter and the target damping parameter are used as the input shaping parameters for this movement. The input shaping parameters are re-determined before the start of the next movement so that the input shaping parameters are adaptively adjusted according to the movement endpoint of the gripper assembly, the extension state of the arm assembly, and the load state.

8. The speed-doubled robotic arm control method according to claim 6, characterized in that, When there are multiple vibration modes to be suppressed in the vibration spectrum, the corresponding natural frequency, delay parameter and damping parameter are determined for each vibration mode to be suppressed, and multiple input shaping processing units are connected in series according to the mode suppression order; Each of the input shaping processing units assigns motion commands input to the input shaping processing unit into delayed weighted components and undelayed weighted components. The delay duration of the delayed weighted components is determined by the corresponding delay parameter, and the weights of the delayed weighted components and the undelayed weighted components are determined by the normalization of the corresponding damping parameter. The motion command output by the previous stage input shaping processing unit is used as the input of the next stage input shaping processing unit, so that the frequency peaks corresponding to the multiple vibration modes to be suppressed are suppressed in sequence, and the overall swing mode of the arm assembly, the end flexible mode of the gripper assembly, and the belt drive flexible mode caused by the speed multiplier component are suppressed together.

9. The speed-doubled robotic arm control method according to claim 5, characterized in that, Both the first and second original motion commands are configured as either position commands or speed commands. When generating the first and second original motion commands, the control unit performs consistency checks on the first direction stroke of the base, the second direction stroke of the arm assembly relative to the base, and the linkage stroke of the gripper assembly relative to the arm assembly according to the speed multiplication relationship, so that the composite stroke formed by the gripper assembly relative to the base matches the target pick-up and place position. The input shaping parameters are determined by the endpoint of the current motion and the endpoint state. When the speed amplitude of the first original motion command and the second original motion command changes, the target delay parameter remains unchanged, and the first original motion command and the second original motion command are regenerated according to the changed speed amplitude. During normal operation, the control unit performs input shaping in an open-loop feedforward manner and detects the positioning status of the base, the arm assembly, and the gripper assembly through a position sensor electrically connected to the control unit. When acquiring new residual vibration data during the calibration and maintenance phase, the control unit converts the new residual vibration data into a new vibration spectrum and updates the vibration parameter mapping relationship according to the new vibration spectrum, so that the input shaping parameters adapt to the changes in the structural stiffness, synchronous belt tension, and load state of the speed-multiplying manipulator.

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