Manipulator control structure
Through the combination of segmented linear motors and encoder ruler belts, the problems of large space occupied by traditional robots and poor coordinated control are solved, space saving and precise assembly operations are achieved, equipment costs are reduced and coordinated control accuracy of robots is improved.
Patent Information
- Application Number
- CN202421149252.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-05-23
AI Technical Summary
Traditional robots take up a large space and have poor synergistic control effect due to the control of separate drive devices in the automated assembly line.
The robot control structure is adopted that combines a segmented linear motor and an encoder ruler belt. The two mechanical mobile phone groups are controlled to share the working route through a segmented linear motor, optimize the driving method and connection method, set up a hollow structure to reduce the load, and be on the platform. Encoder ruler belts are installed on racks and mobile racks for precise position monitoring.
It reduces space occupation, reduces equipment costs, improves the coordinated control accuracy of the robot, and realizes accurate assembly operations and efficient robot operation.
Smart Images
Figure CN222270300U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robot automation control, and in particular to a robot control structure. Background Art
[0002] With the development of industrial automation, robots are increasingly used in automated assembly lines. At present, multiple robots are usually equipped in automated assembly lines to adapt to different assembly processes. However, traditional robot movement is mostly controlled by a separate drive device, which not only takes up a large space, but also has poor collaborative control effects for multiple robots. Utility Model Content
[0003] In view of the problems existing in the prior art, the present application provides a manipulator control structure.
[0004] The present application provides a manipulator control structure, which adopts the following technical solution:
[0005] A manipulator control structure comprises a frame and two manipulator hand groups arranged on the frame, a segmented linear motor is fixedly arranged on the frame, and the two manipulator hand groups are respectively fixed to movers at different segments of the segmented linear motor.
[0006] Optionally, the robot arm assembly includes a table slidably set on the frame, a mobile frame slidably set on the table, a lifting frame sliding vertically on the mobile frame, and a robot arm body set on the lifting frame, the table is fixedly connected to the mover of the segmented linear motor, the table is provided with a first driving member for driving the mobile frame to slide, and the mobile frame is provided with a second driving member for driving the lifting frame to rise and fall.
[0007] Optionally, there are two segmented linear motors, which are arranged on both sides of the frame. The length directions of the two segmented linear motors are parallel, the movers on the two segmented linear motors correspond one to one, and the two sides of the frame are respectively fixedly connected to the corresponding movers on the two segmented linear motors.
[0008] Optionally, the platform includes a crossbeam and a base fixedly arranged on both sides of the crossbeam, the base corresponds to the segmented linear motor one by one, and the base is connected to the mover on the corresponding segmented linear motor, and the movable frame is slidably arranged on the crossbeam.
[0009] Optionally, the crossbeam and the base are both hollowed out.
[0010] Optionally, the robot body includes a grabbing frame rotatably arranged on a lifting frame, and a grabbing mechanism arranged on the grabbing frame, and the lifting frame is provided with a driving source for driving the grabbing frame to rotate.
[0011] Optionally, the grab frame is made of aviation aluminum.
[0012] Optionally, the frame and the two stands are provided with encoder tapes, and each stand corresponds to at least one encoder tape, and the stand is fixedly connected to the corresponding encoder tape, the encoder tapes on the stand correspond to the movable stand, and the movable stand is fixedly connected to the corresponding encoder tape.
[0013] In summary, the present application includes at least one of the following beneficial technical effects:
[0014] 1. This application uses linear motors to control the movement of two robotic arm groups in segments, so that the two robotic arm groups share a working route, reducing the required space and lowering equipment costs; by optimizing the driving method of the linear motor and the connection method of the robot, etc., the collaborative control accuracy of the robot is improved, and precise assembly operations are achieved.
[0015] 2. This application effectively reduces the load of the segmented linear motor and improves the operating efficiency and accuracy of the segmented linear motor by hollowing out the beam and the base.
[0016] 3. This application realizes accurate monitoring of the positions of the two racks and the mobile rack by respectively providing corresponding encoder tapes for the two racks and the mobile rack to provide real-time feedback of the travel positions of the corresponding racks or the mobile racks. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;
[0018] Figure 2 It is a structural schematic diagram used to express a mechanical mobile phone group in an embodiment of the present application.
[0019] Explanation of the reference numerals: 1. Frame; 11. Segmented linear motor; 2. Mechanical mobile assembly; 21. Stand; 211. Beam; 212. Base; 22. Moving frame; 23. Lifting frame; 24. First driving member; 25. Second driving member; 26. Grabbing frame; 27. Grabbing mechanism; 28. Driving source; 3. Encoder tape. DETAILED DESCRIPTION
[0020] The following is combined with Figure 1-2 This application is described in further detail.
[0021] The present application embodiment discloses a manipulator control structure. Figure 1, including a frame 1, and two mechanical mobile phone groups 2 slidably arranged on the frame 1 along a horizontal direction, the mechanical mobile phone group 2 includes a stand 21 slidably arranged on the frame 1 along a horizontal direction, and the sliding directions of the stands 21 on the two mechanical mobile phone groups 2 are parallel.
[0022] Reference Figure 1 Segmented linear motors 11 are fixedly installed on both sides of the frame 1, and the length directions of the two segmented linear motors 11 are parallel to the sliding direction of the stage 21. Each segmented linear motor 11 is respectively provided with two segments, and the segments on the two segmented linear motors 11 correspond to each other one by one. A mover is correspondingly arranged at each segment of the segmented linear motor 11, and the two sides of the stage 21 are respectively fixedly connected to the movers on the corresponding segments of the two segmented linear motors 11.
[0023] Reference Figure 1 , 2 The stand 21 includes a crossbeam 211 and a base 212 fixedly arranged on both sides of the crossbeam 211. The base 212 corresponds to the segmented linear motor 11 one by one, and the base 212 is connected to the mover on the corresponding segmented linear motor 11. The crossbeam 211 and the base 212 are both hollowed out. By hollowing out the crossbeam 211 and the base 212, the load of the segmented linear motor 11 is effectively reduced, and the operating efficiency and accuracy of the segmented linear motor 11 are improved.
[0024] Reference Figure 2 The robot hand assembly 2 also includes a moving frame 22 that is horizontally slidably arranged on the beam 211, a lifting frame 23 that is vertically slidably arranged on the moving frame 22, and a robot body arranged on the lifting frame 23. The sliding direction of the moving frame 22 on the beam 211 is perpendicular to the sliding direction of the platform 21 on the frame 1. A first driving member 24 for driving the moving frame 22 to slide is arranged on the beam 211. The first driving member 24 includes a first linear motor, which is fixedly arranged on the beam 211, and the mover of the first linear motor is fixedly connected to the moving frame 22.
[0025] Reference Figure 1 , 2An encoder tape 3 is respectively arranged on both sides of each stand 21, and the encoder tapes 3 corresponding to the stand 21 are all installed on the frame 1, and the stand 21 is fixedly connected to the corresponding encoder tape 3; an encoder tape 3 is also installed on each stand 21, the encoder tape 3 on the stand 21 corresponds to the corresponding mobile frame 22, and the mobile frame 22 is fixedly connected to the corresponding encoder tape 3; the encoder tapes 3 are electrically connected to a linear encoder reader for real-time monitoring and feedback of the travel position information of the corresponding stand 21 or mobile frame 22. The mechanical mobile phone group 2 is usually also equipped with a central control system, and the travel information fed back by the encoder tape 3 is transmitted to the central control system through electrical signals to realize accurate monitoring of the positions of the stand 21 and the mobile frame 22.
[0026] Reference Figure 2 The moving frame 22 is provided with a second driving member 25 for driving the lifting frame 23 to move up and down. The second driving member 25 includes a second linear motor. The second linear motor is fixedly arranged on the moving frame 22. The mover of the second linear motor is fixedly connected to the lifting frame 23.
[0027] Reference Figure 2 The main body of the manipulator includes a grabbing frame 26 rotatably arranged on the lifting frame 23, and a grabbing mechanism 27 arranged on the grabbing frame 26. The rotation axis of the grabbing frame 26 is vertical. The lifting frame 23 is provided with a driving source 28 for driving the grabbing frame 26 to rotate. The driving source 28 includes a servo motor, which is fixedly arranged on the lifting frame 23, and the output shaft of the servo motor is fixedly connected to the grabbing frame 26. The grabbing frame 26 is made of aviation aluminum, and the grabbing frame 26 is also hollowed out. By using the grabbing frame 26 with aviation aluminum and hollowing out the grabbing frame 26, the load of the segmented linear motor 11 is further reduced.
[0028] Reference Figure 2 The grasping mechanism 27 includes a clamp-type grasping mechanism 27, an adsorption-type grasping mechanism 27, a magnetic grasping mechanism 27 and a bionic grasping mechanism 27. According to the different workpieces to be picked up and placed, the corresponding grasping mechanism 27 is selected and installed on the grasping frame 26 one by one or in combination to achieve efficient, stable and reliable manipulator grasping operation.
[0029] The implementation principle of a manipulator control structure in an embodiment of the present application is: by controlling the movement of two manipulator hand groups 2 in sections through linear motors, the two manipulator hand groups 2 share a working route, thereby reducing the required space and reducing equipment costs; by optimizing the driving method of the linear motor and the connection method of the manipulator, etc., the coordinated control accuracy of the manipulator is improved, and precise assembly operations are achieved.
[0030] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A manipulator control structure, characterized in that: The invention comprises a frame (1) and two mechanical handpiece assemblies (2) arranged on the frame (1); a segmented linear motor (11) is fixedly arranged on the frame (1); and the two mechanical handpiece assemblies (2) are respectively fixed to movers at different segments of the segmented linear motor (11).
2. A robot control structure according to claim 1, characterized in that: The robot arm assembly (2) comprises a platform (21) slidably arranged on a frame (1), a mobile frame (22) slidably arranged on the platform (21), a lifting frame (23) slidably arranged on the mobile frame (22) in a vertical direction, and a robot arm main body arranged on the lifting frame (23); the platform (21) is fixedly connected to a mover of a segmented linear motor (11); a first driving member (24) for driving the mobile frame (22) to slide is arranged on the platform (21); and a second driving member (25) for driving the lifting frame (23) to rise and fall is arranged on the mobile frame (22).
3. A robot control structure according to claim 2, characterized in that: Two segmented linear motors (11) are provided and are arranged on both sides of the frame (1); the length directions of the two segmented linear motors (11) are parallel; the movers on the two segmented linear motors (11) correspond one to one; and the two sides of the platform (21) are respectively fixedly connected to the movers corresponding to each other on the two segmented linear motors (11).
4. A robot control structure according to claim 3, characterized in that: The platform (21) comprises a crossbeam (211) and bases (212) fixedly arranged on both sides of the crossbeam (211); the bases (212) correspond to the segmented linear motors (11) one by one, and the bases (212) are connected to the movers on the corresponding segmented linear motors (11); and the moving frame (22) is slidably arranged on the crossbeam (211).
5. A robot control structure according to claim 4, characterized in that: The crossbeam (211) and the base (212) are both hollowed out.
6. A robot control structure according to claim 2, characterized in that: The robot body comprises a grabbing frame (26) rotatably arranged on a lifting frame (23), and a grabbing mechanism (27) arranged on the grabbing frame (26); the lifting frame (23) is provided with a driving source (28) for driving the grabbing frame (26) to rotate.
7. A robot control structure according to claim 6, characterized in that: The grabbing frame (26) is made of aviation aluminum.
8. A robot control structure according to claim 2, characterized in that: The frame (1) and the two stands (21) are both provided with encoder tapes (3), and each stand (21) corresponds to at least one encoder tape (3), and the stand (21) is fixedly connected to the corresponding encoder tape (3), the encoder tape (3) on the stand (21) and the movable stand (22) correspond to each other, and the movable stand (22) is fixedly connected to the corresponding encoder tape (3).