Digital twin seven-axis industrial robot

Abstract

The utility model discloses a kind of digital twin seven-axis industrial robots, it is related to industrial robot technical field, including seven-axis industrial robot main body, the linear adjustment mechanism is fixedly connected in seven-axis industrial robot main body side, the multidimensional adjustment mechanism is installed in linear adjustment mechanism side face.This utility model, when seven-axis industrial robot main body executes work, linear adjustment mechanism can be rotated by one servo motor drive screw, drive silk block to realize horizontal movement, cooperate multidimensional adjustment mechanism to the flexible adjustment of four-axis direction to camera, completely break the visual angle limitation of fixed camera, this kind of adjustment ability can make camera accurate avoidance seven-axis robot body redundant axis detour, when external expansion axis moves, the mechanical arm shielding generated, and workpiece protrusion, equipment barrier etc. Problem, effectively eliminate visual blind area, ensure that camera can still stablely gather complete image data when robot moves to end or arm deeply into deep cavity operation along ground rail.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a digital twin seven-axis industrial robot. Background Technology

[0002] Seven-axis industrial robots, with their redundant axes or externally extended axes, break through the spatial and posture limitations of six-axis robots, enabling long-distance operations and complex obstacle avoidance. They are key equipment for high-end manufacturing. Digital twin seven-axis industrial robots, on the other hand, are intelligent systems that deeply integrate these physical robots with digital twin technology. By constructing a 1:1 twin model in virtual space, integrating its geometric and kinematic characteristics, and relying on sensors to collect data such as joint angles and end-effector positions in real time, they achieve dynamic synchronization between the virtual and physical models.

[0003] For example, CN222270353U discloses a seven-axis industrial robot. The outer end of the first operating arm is folded and connected to the second operating arm through the third and fourth rotating shafts. The outer end of the second operating arm is equipped with a sixth rotating shaft that is rotatably connected to a six-axis connecting plate. The sixth rotating shaft is installed inside the six-axis connecting plate. A servo motor is installed inside the protective cover. A harmonic reducer is installed at the output end of the servo motor. A harmonic reducer flange plate is installed at the bottom of the harmonic reducer. A motor mounting plate is installed on the harmonic reducer flange plate.

[0004] However, in existing technologies, when seven-axis industrial robots use cameras to collect data to support the construction of digital twins, the cameras mostly adopt a fixed perspective. Because seven-axis robots have complex meandering movements of redundant axes and a wide range of movement capabilities of external extended axes, the perspective of fixed cameras is permanently limited. When the robot moves along the track to the end of the track or the arm goes deep into the cavity of the workpiece, the camera will be blocked by the robot arm, workpiece protrusions, or surrounding equipment, forming a visual blind spot that cannot be covered. This limitation directly leads to the lack of data sources for the digital twin model. During 3D reconstruction, the model will have gaps due to the lack of images in key areas. The visual tracking of the robot's joint motion trajectory is prone to breakpoints, causing significant deviations between the motion posture of the virtual model and the physical entity. Ultimately, this results in the digital twin being unable to achieve real-time and accurate state mapping. Utility Model Content

[0005] The purpose of this invention is to solve the problems existing in the prior art by proposing a digital twin seven-axis industrial robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a digital twin seven-axis industrial robot, comprising a seven-axis industrial robot body, a linear adjustment mechanism fixedly connected to the side of the seven-axis industrial robot body, a multi-dimensional adjustment mechanism mounted on the side of the linear adjustment mechanism, the multi-dimensional adjustment mechanism comprising a fixed frame, a first mounting frame fixedly connected to the side of the fixed frame, a second servo motor fixedly connected to the end of the first mounting frame, a second mounting frame fixedly connected to the output end of the second servo motor, a third servo motor fixedly connected to the end of the second mounting frame, a third mounting frame fixedly connected to the output end of the third servo motor, and a camera mounted on the surface of the third mounting frame.

[0007] Preferably, the multi-dimensional adjustment mechanism further includes a fourth servo motor, the bottom of which is fixedly connected to the linear adjustment mechanism, and the output end of the fourth servo motor is fixedly connected to the fixed frame.

[0008] Preferably, the linear adjustment mechanism includes a strip slide rail, a No. 1 servo motor is installed at the end of the strip slide rail, a lead screw is fixedly connected to the output end of the No. 1 servo motor, a lead block is threadedly connected to the surface of the lead screw, and the lead block is slidably connected to the strip slide rail.

[0009] Preferably, a limiting rod is fixedly connected inside the strip rail, and the wire block is slidably inserted into the limiting rod.

[0010] Preferably, a fixing plate is fixedly connected to the surface of the wire block, an annular slider is fixedly connected to the surface of the fixing plate, an annular slide rail is installed on the side of the fixing frame, and the annular slider is slidably connected to the annular slide rail.

[0011] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0012] 1. In this utility model, when the seven-axis industrial robot body performs operations, the linear adjustment mechanism can drive the lead screw to rotate through the first servo motor, thereby driving the lead block to move horizontally. In conjunction with the coordinated actions of the fourth servo motor driving the fixed frame to rotate, the second servo motor driving the second mounting frame to rotate, and the third servo motor driving the third mounting frame to rotate in the multi-dimensional adjustment mechanism, the camera can be flexibly adjusted in four-axis directions, completely breaking the limitation of the fixed camera's field of view. This adjustment capability allows the camera to accurately avoid problems such as redundant axis detours of the seven-axis robot body, mechanical arm obstruction caused by the movement of external extension axes, as well as workpiece protrusions and equipment obstructions, effectively eliminating blind spots and ensuring that the camera can still stably collect complete image data when the robot moves along the ground rail to the end or the arm goes deep into the cavity for operation.

[0013] 2. In this utility model, in the linear adjustment mechanism, the limiting rod inside the strip slide rail is slidably inserted with the wire block. When the lead screw driven by the No. 1 servo motor moves the wire block horizontally, it can accurately limit the movement trajectory of the wire block, effectively preventing the wire block from deviating or shaking, and significantly improving its horizontal movement stability. At the same time, the annular slider connected to the fixing plate on the surface of the wire block forms a sliding fit with the annular slide rail on the side of the fixing frame. This provides a stable lateral pulling force for the fixing frame and limits its movement when the No. 4 servo motor drives the fixing frame to rotate, preventing deviation or vibration during the rotation of the fixing frame. This avoids image blurring or acquisition angle deviation caused by equipment shaking, providing a clearer and more accurate image data source for the digital twin model, and further ensuring the precise synchronization of the virtual model and the physical entity of the seven-axis industrial robot. Attached Figure Description

[0014] Figure 1 This utility model presents a first three-dimensional structural schematic diagram of a digital twin seven-axis industrial robot;

[0015] Figure 2 This utility model provides a second three-dimensional structural schematic diagram of a digital twin seven-axis industrial robot;

[0016] Figure 3 This utility model provides a three-dimensional structural diagram of a camera in a digital twin seven-axis industrial robot.

[0017] Figure 4 This utility model provides a three-dimensional structural diagram of a linear adjustment mechanism in a digital twin seven-axis industrial robot.

[0018] Figure 5 This utility model provides a cross-sectional structural diagram of a ring slide rail in a digital twin seven-axis industrial robot.

[0019] Figure 6 This invention presents a three-dimensional structural diagram of the first mounting frame in a digital twin seven-axis industrial robot.

[0020] Legend: 1. Seven-axis industrial robot body; 2. Linear adjustment mechanism; 21. Strip slide rail; 22. Servo motor No. 1; 23. Lead block; 24. Lead screw; 25. Limit rod; 3. Multi-dimensional adjustment mechanism; 31. Fixing frame; 32. Mounting frame No. 1; 33. Mounting frame No. 2; 34. Mounting frame No. 3; 35. Servo motor No. 2; 36. Servo motor No. 3; 37. Servo motor No. 4; 38. Fixing plate; 39. Circular slider; 310. Circular slide rail; 4. Camera. Detailed Implementation

[0021] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: As Figure 1 - Figure 6 As shown, this utility model provides a digital twin seven-axis industrial robot, including a seven-axis industrial robot body 1. A linear adjustment mechanism 2 is fixedly connected to the side of the seven-axis industrial robot body 1. A multi-dimensional adjustment mechanism 3 is installed on the side of the linear adjustment mechanism 2. The multi-dimensional adjustment mechanism 3 includes a fixed frame 31. A first mounting frame 32 is fixedly connected to the side of the fixed frame 31. A second servo motor 35 is fixedly connected to the end of the first mounting frame 32. A second mounting frame 33 is fixedly connected to the output end of the second servo motor 35. A third servo motor 36 is fixedly connected to the end of the second mounting frame 33. A third mounting frame 34 is fixedly connected to the output end of the third servo motor 36. A camera 4 is installed on the surface of the third mounting frame 34. The multi-dimensional adjustment mechanism 3 also includes a fourth servo motor 37. The bottom of the fourth servo motor 37 is fixedly connected to the linear adjustment mechanism 2, and the output end of the fourth servo motor 37 is fixedly connected to the fixed frame 31.

[0024] The specific settings and functions of this embodiment are described below: The seven-axis industrial robot body 1 completes the corresponding operation according to the set program. During the process of the seven-axis industrial robot body 1 completing the set operation, the camera 4 collects the required image information. During the process of the camera 4 collecting external image information, according to the relative position of the seven-axis industrial robot body 1 and the processing component during operation, the first servo motor 22 drives the lead screw 24 to rotate, thereby moving the bottom lead block 23 horizontally. Then, the fourth servo motor 37 drives the fixed frame 31 to rotate, the second servo motor 35 drives the second mounting frame 33 to rotate, and the third servo motor 36 drives the third mounting frame 34 to rotate. Finally, the four-axis direction of the camera 4 is adjusted to ensure the accuracy of the information collected by the camera 4.

[0025] When the seven-axis industrial robot body 1 is performing operations, the linear adjustment mechanism 2 can drive the lead screw 24 to rotate via the first servo motor 22, thereby causing the lead block 23 to move horizontally. This, combined with the coordinated actions of the fourth servo motor 37 driving the fixed frame 31 to rotate, the second servo motor 35 driving the second mounting frame 33 to rotate, and the third servo motor 36 driving the third mounting frame 34 in the multi-dimensional adjustment mechanism 3, enables flexible adjustment of the camera 4 in four axes, completely breaking the limitations of the fixed camera 4's field of view. This adjustment capability allows the camera 4 to precisely avoid problems such as redundant axis detours of the seven-axis robot body, mechanical arm obstruction during external extension axis movement, workpiece protrusions, and equipment blockages, effectively eliminating blind spots and ensuring that the camera 4 can still stably acquire complete image data when the robot moves along the ground rail to the end effector or when the arm is working deep inside a cavity. The integrity of the data source directly solves the problem of discontinuity in the 3D reconstruction of the digital twin model, avoids the breakpoints in the visual tracking of robot joint motion trajectories, significantly reduces the posture deviation between the virtual model and the physical entity, and ultimately achieves real-time and accurate mapping of the working state of the seven-axis industrial robot by the digital twin, improving the reliability of the digital twin in monitoring, simulation and diagnosis.

[0026] Example 2: Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the linear adjustment mechanism 2 includes a strip slide rail 21, a first servo motor 22 is installed at the end of the strip slide rail 21, a lead screw 24 is fixedly connected to the output end of the first servo motor 22, a lead block 23 is threadedly connected to the surface of the lead screw 24, the lead block 23 is slidably connected to the strip slide rail 21, a limit rod 25 is fixedly connected inside the strip slide rail 21, the lead block 23 is slidably inserted into the limit rod 25, a fixing plate 38 is fixedly connected to the surface of the lead block 23, an annular slider 39 is fixedly connected to the surface of the fixing plate 38, an annular slide rail 310 is installed on the side of the fixing frame 31, and the annular slider 39 is slidably connected to the annular slide rail 310.

[0027] The overall effect of this embodiment is that, during the horizontal movement of the wire block 23 driven by the first servo motor 22, the limiting rod 25 limits the movement of the wire block 23, thereby improving the stability of the wire block 23's movement. At the same time, the fixing plate 38, the annular slider 39, and the annular slide rail 310 provide a stable lateral pulling force to the fixing frame 31. Furthermore, during the rotation of the fixing frame 31, its movement is limited, thereby improving the stability of the fixing frame 31 during the adjustment process and thus improving the stability of the camera 4.

[0028] In the linear adjustment mechanism 2, the limiting rod 25 inside the strip slide rail 21 is slidably inserted into the wire block 23. When the first servo motor 22 drives the lead screw 24 to move the wire block 23 horizontally, it can accurately limit the movement trajectory of the wire block 23, effectively preventing the wire block 23 from deviating or shaking, and significantly improving its horizontal movement stability. At the same time, the annular slider 39 connected to the fixing plate 38 on the surface of the wire block 23 forms a sliding engagement with the annular slide rail 310 on the side of the fixed frame 31. This provides a stable lateral pulling force for the fixed frame 31 and limits its movement when the fourth servo motor 37 drives the fixed frame 31 to rotate, preventing the fixed frame 31 from deviating or vibrating during rotation. The synergistic effect of these structures greatly improves the overall stability of the multi-dimensional adjustment mechanism 3, thereby ensuring that the camera 4 remains stable during four-axis adjustment and operation acquisition, avoiding image blurring or acquisition angle deviation caused by equipment shaking, providing a clearer and more accurate image data source for the digital twin model, and further ensuring the precise synchronization of the virtual model with the physical entity of the seven-axis industrial robot body 1.

[0029] The usage and working principle of this device are as follows: The seven-axis industrial robot body 1 completes the corresponding operation according to the set program. During the process of the seven-axis industrial robot body 1 completing the set operation, the camera 4 collects the required image information. During the process of the camera 4 collecting external image information, according to the relative position of the seven-axis industrial robot body 1 and the processing component during the operation, the first servo motor 22 drives the lead screw 24 to rotate, thereby moving the bottom lead block 23 horizontally. Then, the fourth servo motor 37 drives the fixed frame 31 to rotate, the second servo motor 35 drives the second mounting frame 33 to rotate, and the third servo motor 36 drives the third mounting frame 34 to rotate. Finally, the four-axis direction of the camera 4 is adjusted to ensure the accuracy of the information collected by the camera 4.

[0030] During the horizontal movement of the wire block 23 driven by the servo motor 22, the limiting rod 25 limits the movement of the wire block 23, improving the stability of the movement of the wire block 23. At the same time, the fixing plate 38, the annular slider 39 and the annular slide rail 310 provide a stable lateral pulling force to the fixing frame 31. During the rotation of the fixing frame 31, its movement is limited, improving the stability of the fixing frame 31 during the adjustment process, thereby improving the stability of the camera 4.

[0031] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A digital twin seven-axis industrial robot, comprising a seven-axis industrial robot body (1), wherein a linear adjustment mechanism (2) is fixedly connected to the side of the seven-axis industrial robot body (1), characterized in that: The linear adjustment mechanism (2) is equipped with a multi-dimensional adjustment mechanism (3) on its side. The multi-dimensional adjustment mechanism (3) includes a fixed frame (31). A first mounting frame (32) is fixedly connected to the side of the fixed frame (31). A second servo motor (35) is fixedly connected to the end of the first mounting frame (32). A second mounting frame (33) is fixedly connected to the output end of the second servo motor (35). A third servo motor (36) is fixedly connected to the end of the second mounting frame (33). A third mounting frame (34) is fixedly connected to the output end of the third servo motor (36). A camera (4) is mounted on the surface of the third mounting frame (34).

2. The digital twin seven-axis industrial robot according to claim 1, characterized in that: The multidimensional adjustment mechanism (3) also includes a fourth servo motor (37), the bottom of which is fixedly connected to the linear adjustment mechanism (2), and the output end of the fourth servo motor (37) is fixedly connected to the fixed frame (31).

3. The digital twin seven-axis industrial robot according to claim 1, characterized in that: The linear adjustment mechanism (2) includes a strip slide rail (21), a first servo motor (22) is installed at the end of the strip slide rail (21), a lead screw (24) is fixedly connected to the output end of the first servo motor (22), a lead block (23) is threadedly connected to the surface of the lead screw (24), and the lead block (23) is slidably connected to the strip slide rail (21).

4. A digital twin seven-axis industrial robot according to claim 3, characterized in that: The strip slide rail (21) is fixedly connected to a limiting rod (25), and the wire block (23) is slidably inserted into the limiting rod (25).

5. A digital twin seven-axis industrial robot according to claim 4, characterized in that: A fixing plate (38) is fixedly connected to the surface of the wire block (23), and an annular slider (39) is fixedly connected to the surface of the fixing plate (38). An annular slide rail (310) is installed on the side of the fixing frame (31), and the annular slider (39) is slidably connected to the annular slide rail (310).

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