Portable five-axis algorithm development execution device

Abstract

The utility model provides a portable five-axis algorithm development execution device. The portable five-axis algorithm development execution device is provided with three linear motion shafts, wherein the three linear motion shafts can respectively drive the motion directions of rotary motion parts to be perpendicular to each other in pairs; the rotary motion part is provided with two rotary motion shafts, the rotary axes of the two rotary motion shafts are perpendicular to each other, and one rotary motion shaft of the rotary motion part is fixedly connected with one linear motion shaft of the linear motion part; the linear motion part can drive the rotary motion part to move in the motion direction of any linear motion shaft of the linear motion part; the supporting frame is of a frame structure, one end of the supporting frame is fixedly connected with the linear motion part, and the other end of the supporting frame is connected with trundles; and a driving part for driving each linear motion shaft of the linear motion part and each rotary motion shaft of the rotary motion part.

Description

Technical Field

[0001] This utility model relates to the technical field of five-axis algorithm development and execution devices, and in particular to a portable five-axis algorithm development and execution device. Background Technology

[0002] Traditional five-axis actuators are mostly based on PCs or dedicated industrial PCs, resulting in bulky hardware and reliance on fixed power supplies, making them unsuitable for the portability requirements of laboratory settings. Early five-axis linkage control used offline programming, which could not dynamically respond to complex trajectory adjustment needs, especially prone to cumulative errors during multi-axis synchronous interpolation. Traditional inverse kinematics algorithms require high-performance computing equipment and lack the ability to avoid singular configurations, making it difficult to balance computational speed and safety in miniaturized devices. Currently, there is a need for an integrated embedded control system that integrates trajectory planning, interpolation calculations, and drive signal output functions to reduce device size. Therefore, there is an urgent need for a portable five-axis algorithm development actuator. Utility Model Content

[0003] (a) Technical problems to be solved

[0004] To address the aforementioned issues, this invention provides a portable five-axis algorithm development and execution device to alleviate the technical problems of inconvenience in existing execution devices.

[0005] (II) Technical Solution

[0006] This utility model provides a portable five-axis algorithm development and execution device, comprising:

[0007] Rotating motion part;

[0008] The linear motion unit has three linear motion axes that can drive the rotational motion unit in directions that are perpendicular to each other.

[0009] The rotary motion unit has two rotary motion axes that are perpendicular to each other. One of the rotary motion axes of the rotary motion unit is fixedly connected to one of the linear motion axes of the linear motion unit. The linear motion unit can drive the rotary motion unit to move in the direction of any one of the linear motion axes of the linear motion unit.

[0010] The support frame is a frame structure. One end of the support frame is fixedly connected to the linear motion part, and the other end of the support frame is connected to a caster.

[0011] A drive unit is used to drive each linear motion axis of the linear motion unit and each rotary motion axis of the rotary motion unit.

[0012] In this embodiment of the invention, the linear motion unit includes:

[0013] The first linear motion axis is connected to the support frame;

[0014] The second linear motion axis is connected to the first linear motion axis, and the first linear motion axis can drive the second linear motion axis to move.

[0015] The third linear motion axis is connected to the second linear motion axis, and the second linear motion axis can drive the third linear motion axis to move.

[0016] In this embodiment of the invention, the first linear motion axis has two parallel first axis guide rails.

[0017] In this embodiment of the invention, each of the two first-axis guide rails has a first-axis ball screw with a servo motor.

[0018] In this embodiment of the utility model, the second linear motion shaft has two parallel second axis guide rails, and the second linear motion shaft is provided with a second axis ball screw with a servo motor. The two ends of the second linear motion shaft are respectively connected to one of the two first axis ball screws.

[0019] In this embodiment of the utility model, the third linear motion axis has two parallel third axis guide rails, and the third linear motion axis is equipped with a third ball screw with a servo motor. The third linear motion axis is connected to the second axis ball screw.

[0020] In this embodiment of the invention, the rotating motion unit includes:

[0021] A first rotating axis is connected to the third linear motion axis. The rotation axis of the first rotating axis is in the same direction as the motion direction of the third linear motion axis. The first rotating axis has a servo motor.

[0022] A second rotating shaft is connected to the first rotating shaft. The rotation axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft. The second rotating shaft has a servo motor.

[0023] In this embodiment of the utility model, the support frame is equipped with a control box, and the drive unit is installed inside the control box.

[0024] In this embodiment of the invention, the driving unit includes a plurality of servo motor drivers, which are used to drive the servo motors of the two first axis guide rails, the servo motor of the second linear motion axis, the servo motor of the third linear motion axis, the servo motor of the first rotary axis, and the servo motor of the second rotary axis.

[0025] In this embodiment of the utility model, it further includes:

[0026] The protective cover can enclose the rotary motion part, the linear motion part, the support frame, and the drive part within the protective cover.

[0027] (III) Beneficial Effects

[0028] As can be seen from the above technical solution, the portable five-axis algorithm development and execution device of this utility model has at least one or a part of the following beneficial effects:

[0029] The integrated embedded control system integrates trajectory planning, interpolation calculation and drive signal output functions, reducing the size of the device and improving the portability of the actuator. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a portable five-axis algorithm development and execution device according to an embodiment of the present invention.

[0031] Figure 2 This is another structural schematic diagram of the portable five-axis algorithm development and execution device according to an embodiment of this utility model.

[0032] Figure 3 This is a schematic diagram of the linear motion section of the portable five-axis algorithm development and execution device according to an embodiment of this utility model.

[0033] Figure 4 This is a schematic diagram of the rotating motion unit of the portable five-axis algorithm development and execution device according to an embodiment of this utility model.

[0034] Figure 5 This is a schematic diagram of the drive unit of the portable five-axis algorithm development and execution device according to an embodiment of this utility model.

[0035] Figure 6 A schematic diagram of the structure of the portable five-axis algorithm development and execution device with a protective cover installed according to an embodiment of this utility model.

[0036] [Explanation of key component symbols in the attached drawings of this utility model embodiment]

[0037] 1. Linear motion unit

[0038] 11 First linear motion axis

[0039] 111 First Axis Guide Rail

[0040] 112 First Axis Ball Screw

[0041] 12 Second linear motion axis

[0042] 121 Second axis guide rail

[0043] 122 Second Axis Ball Screw

[0044] 13 Third linear motion axis

[0045] 131 Third axis guide rail

[0046] 132 Third ball screw

[0047] 2 Rotational motion part

[0048] 21 First Rotational Axis

[0049] 22 Second Rotation Axis

[0050] 3 Support frame

[0051] 31 Casters

[0052] 32 Control Box

[0053] 4. Drive Unit

[0054] 41 Servo Motor Driver

[0055] 5 servo motors

[0056] 6 Protective shields Detailed Implementation

[0057] This invention provides a portable five-axis algorithm development and execution device. The portable five-axis algorithm development and execution device features a compact motion controller and an integrated embedded control system, integrating trajectory planning and reducing device size. Its lightweight mechanical structure overcomes the main shortcomings and deficiencies of existing execution devices.

[0058] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0059] In this embodiment of the invention, a portable five-axis algorithm development and execution device is provided, such as... Figure 1 and Figure 2As shown, a portable five-axis algorithm development and execution device includes: a linear motion unit 1, having three linear motion axes that can drive a rotary motion unit 2, each with a direction perpendicular to the others. The rotary motion unit 2 has two rotary motion axes with mutually perpendicular rotation axes. One rotary motion axis of the rotary motion unit 2 is fixedly connected to one linear motion axis of the linear motion unit 1. The linear motion unit 1 can drive the rotary motion unit 2 to move in the direction of any one of its linear motion axes. A support frame 3 is a frame structure, with one end fixedly connected to the linear motion unit 1 and the other end connected to a caster 31. A drive unit 4 is used to drive each linear motion axis of the linear motion unit 1 and each rotary motion axis of the rotary motion unit 2.

[0060] In the embodiments of this utility model, such as Figure 3 As shown, the linear motion unit includes: a first linear motion shaft 11, connected to a support frame; a second linear motion shaft 12, connected to the first linear motion shaft 11, which can drive the second linear motion shaft 12 to move; and a third linear motion shaft 13, connected to the second linear motion shaft 12, which can drive the third linear motion shaft 13 to move.

[0061] In the embodiments of this utility model, such as Figure 3 As shown, the first linear motion axis 11 has two parallel first axis guide rails 111.

[0062] In the embodiments of this utility model, such as Figure 3 As shown, each of the two first axis guide rails 111 has a first axis ball screw 112 with a servo motor 5.

[0063] In the embodiments of this utility model, such as Figure 3 As shown, the second linear motion axis 12 has two parallel second axis guide rails 121, and the second linear motion axis 12 is equipped with a second axis ball screw 122 with a servo motor 5. The two ends of the second linear motion axis 12 are respectively connected to one of the two first axis ball screws 112.

[0064] In this embodiment of the utility model, the third linear motion axis 13 has two parallel third axis guide rails 131, and the third linear motion axis 13 is provided with a third ball screw 132 with a servo motor 5. The third linear motion axis 13 is connected to the second axis ball screw 122.

[0065] In the embodiments of this utility model, such as Figure 4As shown, the rotary motion unit includes: a first rotary shaft 21 connected to a third linear motion shaft, the rotation axis of the first rotary shaft 21 being in the same direction as the motion direction of the third linear motion shaft, and the first rotary shaft 21 having a servo motor 5. A second rotary shaft 22 connected to the first rotary shaft 21, the rotation axis of the second rotary shaft 22 being perpendicular to the axis of the first rotary shaft 21, and the second rotary shaft 22 having a servo motor 5.

[0066] In the embodiments of this utility model, such as Figure 1 and Figure 5 As shown, the support frame 3 is equipped with a control box 32, and the drive unit 4 is installed inside the control box 32.

[0067] In the embodiments of this utility model, such as Figures 1 to 5 The drive unit shown includes multiple servo motor drivers 41, which are used to drive the servo motors 5 of the two first axis guide rails 111, the servo motors 5 of the second linear motion axis 12, the servo motors 5 of the third linear motion axis 13, the servo motors 5 of the first rotation axis 21, and the servo motors 5 of the second rotation axis 22.

[0068] In the embodiments of this utility model, such as Figure 6 As shown, it also includes: a protective cover 6, which can cover the rotary motion part, the linear motion part, the support frame, and the drive part inside the protective cover 6.

[0069] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings. It should be noted that implementations not illustrated or described in the drawings or the main text of the specification are forms known to those skilled in the art and are not described in detail. Furthermore, the definitions of the elements and methods described above are not limited to the various specific structures, shapes, or methods mentioned in the embodiments, and those skilled in the art can easily modify or substitute them.

[0070] Based on the above description, those skilled in the art should have a clear understanding of the portable five-axis algorithm development and execution device of this utility model.

[0071] In summary, this utility model provides a portable five-axis algorithm development and execution device. This portable five-axis algorithm development and execution device has a compact motion controller, adopts an integrated embedded control system, integrates trajectory planning, reduces the size of the device, and can improve the portability of the execution device.

[0072] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this utility model.

[0073] Furthermore, the shapes and dimensions of the components in the figures do not reflect actual size and proportion, but are merely illustrative of embodiments of the present invention. Additionally, any reference numerals placed between parentheses in the claims should not be construed as limiting the scope of the claims.

[0074] Unless otherwise stated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be varied according to the desired characteristics derived from the content of this invention. Specifically, all figures used in the specification and claims to indicate the content of components, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. Generally, this means that there may be variations of ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments.

[0075] Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0076] The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify the corresponding elements does not imply that the element has any ordinal number, nor does it represent the order of one element with another element, or the order of manufacturing methods. The use of these ordinal numbers is only to enable a named element to be clearly distinguished from another element with the same name.

[0077] Furthermore, unless specifically described or required to occur in a specific order, the order of the above steps is not limited to those listed above and can be varied or rearranged according to the desired design. Moreover, the above embodiments can be used in combination with each other or with other embodiments based on design and reliability considerations; that is, technical features from different embodiments can be freely combined to form more embodiments.

[0078] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose. Furthermore, in the unit claims enumerating several means, several of these means may be embodied by the same hardware item.

[0079] Similarly, it should be understood that, in order to simplify the present invention and aid in understanding one or more of the various disclosed aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the disclosed aspects consist of fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the present invention.

[0080] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A portable five-axis algorithm development execution device characterized by comprising: The utility model relates to a kind of three-axis motion platform, including: Rotary motion part; Linear motion part, with three can respectively drive the motion direction of the rotary motion part two two mutually perpendicular linear motion axis; The rotary motion part, with two rotary axis mutually perpendicular rotary motion axis, one rotary motion axis of the rotary motion part is fixedly connected with one linear motion axis of the linear motion part, and the linear motion part can drive the rotary motion part move in the motion direction of any one linear motion axis of the linear motion part; Support frame, for frame structure, one end of the support frame is fixedly connected with the linear motion part, and the other end of the support frame is linked with caster; Driving part, for driving each linear motion axis of the linear motion part and each rotary motion axis of the rotary motion part.

2. The portable five-axis algorithm development execution device according to claim 1, characterized by, The linear motion part includes: First linear motion axis, connected with the support frame; Second linear motion axis, connected with the first linear motion axis, and the first linear motion axis can drive the second linear motion axis to move; Third linear motion axis, connected with the second linear motion axis, and the second linear motion axis can drive the third linear motion axis to move.

3. The portable five-axis algorithm development execution device according to claim 2, characterized by, The first linear motion axis has two parallelly arranged first shaft guide rails.

4. The portable five-axis algorithm development execution device according to claim 3, characterized by Two first shaft guide rails each have a first shaft ball screw with a servo motor.

5. The portable five-axis algorithm development execution device according to claim 4, characterized by, The second linear motion axis has two parallelly arranged second shaft guide rails, and the second linear motion axis is provided with a second shaft ball screw with a servo motor, and two ends of the second linear motion axis are respectively connected with one of the two first shaft ball screws.

6. The portable five-axis algorithm development execution device according to claim 5, characterized by The third linear motion axis has two parallelly arranged third shaft guide rails, and the third linear motion axis is provided with a third shaft ball screw with a servo motor, and the third linear motion axis is connected with the second shaft ball screw.

7. The portable five-axis algorithm development execution device according to claim 6, characterized by The rotary motion part includes: First rotary axis, connected with the third linear motion axis, the rotation axis direction of the first rotary axis is same with the motion direction of the third linear motion axis, and the first rotary axis has a servo motor; Second rotary axis, connected with the first rotary axis, the rotation axis direction of the second rotary axis is perpendicular to the axis direction of the first rotary axis, and the second rotary axis has a servo motor.

8. The portable five-axis algorithm development execution device according to claim 1, characterized by, The support frame is provided with a control box, and the driving part is installed in the control box.

9. The portable five-axis algorithm development execution device according to claim 7, characterized by, The driving part includes a plurality of servo motor drivers, and the plurality of servo motor drivers are used for driving the servo motors of the two first shaft guide rails, the servo motor of the second linear motion axis, the servo motor of the third linear motion axis, the servo motor of the first rotary axis and the servo motor of the second rotary axis.

10. The portable five-axis algorithm development execution device according to claim 1, characterized by, Further including: Protective cover, the rotary motion part, the linear motion part, the support frame, the driving part can be covered in the protective cover.

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