robot

Abstract

The present invention discloses a robot comprising a base (1), a robot arm (2) and a drive control integrated plate (3), the robot arm (2) being movably attached to the base (1), the drive control integrated plate (3) being provided on the base (1), the drive control integrated plate (3) being configured to control the movement of the robot arm (2), the drive control integrated plate (3) comprising a control module (31), a drive module (32) and a substrate (33), the control module (31) and the drive module (32) being provided on the substrate (33), and the control module (31) being electrically connected to the drive module (32).

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application bearing application number 202011563379.9, filed with the China Patent Office on December 25, 2020, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of robotics, for example to robots. [Background technology]

[0003] A robot is a cross-disciplinary technology product that combines mechanical, electrical, electronic information and other fields. Robots can replace humans in carrying, assembling, loading and unloading, palletizing, welding, spray coating and other operations. The main components of these robots include at least a mechanical body, a reducer, a motor, a driver and a controller. The controller and driver of common robots on the market are separate from each other and need to be installed separately, occupying a large space, requiring many installation aids to be consumed, and the signal transmission connection is complicated. In addition, such a separate design is difficult to meet the needs of use in a small space.

[0004] Based on the above current situation, a new robot design is needed. Summary of the Invention

[0005] The present application provides a robot that makes the overall structure of the robot more compact.

[0006] The base and a robot arm movably attached to the base; The present invention provides a robot comprising: a control module, a drive module, and a substrate, the control module and the drive module being mounted on the substrate, the control module being electrically connected to the drive module; and a drive control integrated plate mounted on the substrate, the control module being configured to control the movement of the robot arm.

[0007] In a preferred embodiment, the drive control integrated plates are two or more in number, all distributed in a stacked manner with spaces between them and connected in a sequential cascade, the robot arm comprises a plurality of arm bodies, and each drive control integrated plate controls at least one arm body of the robot arm.

[0008] In a preferred embodiment, one of the drive control integrated plates controls one arm member of the robot arm.

[0009] Preferably, the number of the drive control integrated plates is equal to the number of arm bodies of the robot arm.

[0010] In a preferred embodiment, any one of the drive control integrated boards can be used as a main control board, and is configured to control signals of all the drive control integrated boards and to be connected to external devices; Alternatively, all of the drive control integrated boards are connected to a cloud controller that is configured to control the signals of all of the drive control integrated boards and to connect the signals to an external device.

[0011] In a preferred embodiment, the robot further comprises a connection base having two or more first cascade sockets into which the two or more drive control integrated plates are inserted, all of which are distributed at intervals and sequentially cascaded.

[0012] In a preferred embodiment, the robot further comprises a drive mechanism attached to the base or robot arm, electrically connected to the drive control board, and configured to move the robot arm in motion.

[0013] In a preferred embodiment, a cavity is provided in the base, and the drive mechanism is attached in the cavity.

[0014] In a preferred embodiment, the drive mechanism includes a drive motor attached to the base or the robot arm, and a reduction gear assembly attached to the drive motor and transmission-connected to an output end of the drive motor.

[0015] In a preferred embodiment, the drive mechanism is attached to the base or robot arm and further comprises a flange to which the drive motor and the reduction gear assembly are attached.

[0016] In a preferred embodiment, the driving mechanism is a driving device made of piezoelectric ceramics.

[0017] In a preferred embodiment, the robot further comprises a heat dissipation structure provided on the base.

[0018] In a preferred embodiment, the heat dissipation structure dissipates heat by air cooling.

[0019] In another preferred embodiment, the heat dissipation structure dissipates heat by adopting liquid cooling.

[0020] In a preferred embodiment, the heat dissipation structure includes a first heat dissipation fan facing the drive control integrated plate and configured to accelerate the diffusion of heat from the drive control integrated plate to all areas within the base and the dissipation of heat to the outside through the wall of the base.

[0021] In a preferred embodiment, the heat dissipation structure includes a second heat dissipation fan that faces a heat dissipation hole provided in the base and is configured to exhaust heat from within the base to the outside of the base.

[0022] In a preferred embodiment, the heat dissipation structure includes a heat dissipation sheet provided on a wall of the base.

[0023] Preferably, the heat dissipation sheet is provided on the outer and / or inner side of the wall of the base.

[0024] In a preferred embodiment, the drive control integrated plate is provided adjacent to the wall having the heat dissipation sheet.

[0025] In a preferred embodiment, the integrated drive control board further includes a first communication module that is provided on the base and electrically connected to the control module and / or the drive module.

[0026] In a preferred embodiment, the first communication module is adapted to be connected to a network.

[0027] In a preferred embodiment, the first communication module is connected to the network via a wired or wireless connection.

[0028] In a preferred embodiment, the control module includes a first control portion provided on the first communication module and the first surface of the substrate, and a second control portion provided on the drive module and the second surface of the substrate.

[0029] In a preferred embodiment, the integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module, and signals are connected between different integrated drive control boards by the first communication modules of the different integrated drive control boards.

[0030] In a preferred embodiment, the robot further comprises a connection plate which is arranged in a stacked manner with a gap between the drive control integrated plates, controls the signals of all the drive control integrated plates and is configured to connect the signals to external equipment, and comprises a third control portion and a mounting plate, the third control portion being provided on the mounting plate, the two or more drive control integrated plates being cascaded in sequence, and the third control portion being electrically connected to at least one of the drive control integrated plates.

[0031] In a preferred embodiment, the connection plate further includes a second communication module provided on the mounting plate, and the third control portion is electrically connected to the second communication module and the at least one integrated drive control plate.

[0032] In a preferred embodiment, the second communication module is adapted to be connected to a network.

[0033] In a preferred embodiment, the second communication module is connected to the network via a wired or wireless connection.

[0034] In a preferred embodiment, the robot further includes a connection base having two or more first cascade sockets into which the two or more drive control integrated plates are inserted, all distributed at intervals along a row and sequentially cascaded, and one second cascade socket into which the connection plate is inserted and electrically connected to at least one of the first cascade sockets.

[0035] In a preferred embodiment, a housing cavity is provided within the base, and the drive control integrated plate is provided within the housing cavity, or a control box is attached to the outside of the wall of the base, and the drive control integrated plate is provided within the control box.

[0036] In a preferred embodiment, the robot further comprises a control function plate or a drive function plate provided on the robot arm.

[0037] The base and a robot arm movably attached to the base; A control box provided at an interval from the base; The robot includes a control module, a drive module, and a substrate, the control module and the drive module being mounted on the substrate, and the control module being electrically connected to the drive module.

[0038] In a preferred embodiment, the number of the integrated drive control plates is two or more, the robot arm has a plurality of arm bodies, all of the integrated drive control plates are distributed in a stacked manner at intervals and connected in a sequential cascade, and each integrated drive control plate controls at least one arm body of the robot arm.

[0039] Preferably, one of the drive control integrated plates controls one arm of the robot arm. Preferably, the number of the drive control integrated plates is equal to the number of the arm members of the robot arm.

[0040] In a preferred embodiment, any one of the integrated drive control boards can be a main control board and is configured to control the signals of all of the integrated drive control boards and to be signal-connected to external equipment, or all of the integrated drive control boards are connected to a cloud controller that is configured to control the signals of all of the integrated drive control boards and to be signal-connected to external equipment.

[0041] Preferably, the robot further comprises a connection seat, into which the two or more drive control integrated plates are inserted, and which is provided with two or more first cascade sockets, all of which are distributed at intervals and sequentially cascaded.

[0042] Preferably, the robot further comprises a drive mechanism attached to the base or robot arm, electrically connected to the drive and control board, and configured to move the robot arm in motion.

[0043] Preferably, a cavity is provided within the base, and the drive mechanism is mounted within the cavity.

[0044] Preferably, the drive mechanism includes a drive motor attached to the base or the robot arm, and a reduction assembly attached to the drive motor and in transmission connection with an output end of the drive motor.

[0045] Preferably, the drive mechanism is mounted to the base or robot arm and further comprises a flange to which the drive motor and reduction assembly are mounted.

[0046] Preferably, the driving mechanism is a driving device made by employing piezoelectric ceramics.

[0047] In a preferred embodiment, the robot further comprises a heat dissipation structure provided in the control box.

[0048] Preferably, the heat dissipation structure employs air cooling to dissipate heat.

[0049] In another preferred embodiment, the heat dissipation structure dissipates heat by adopting liquid cooling.

[0050] Preferably, the heat dissipation structure includes a first heat dissipation fan facing the drive control integrated plate and configured to accelerate the diffusion of heat from the drive control integrated plate to all areas within the control box and the dissipation of heat to the outside through the outer wall of the control box.

[0051] Preferably, the heat dissipation structure includes a second heat dissipation fan facing a heat dissipation hole provided in the control box and configured to exhaust heat within the control box to the outside of the control box.

[0052] Preferably, the heat dissipation structure includes a heat dissipation sheet provided on an outer wall of the control box.

[0053] Preferably, the heat dissipation sheet is provided on the outside and / or inside of the outer wall of the control box.

[0054] Preferably, the drive control integrated plate is provided adjacent to the outer wall having the heat dissipation sheet.

[0055] In a preferred embodiment, the integrated drive control board further includes a first communication module that is provided on the substrate and electrically connected to the control module.

[0056] In a preferred embodiment, the first communication module is adapted to be connected to a network.

[0057] In a preferred embodiment, the first communication module is connected to the network via a wired or wireless connection.

[0058] Preferably, the control module comprises a first control portion provided on the first communications module and on a first side of the substrate, and a second control portion provided on the drive module and on a second side of the substrate.

[0059] In a preferred embodiment, the integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module and / or the drive module, and signals are connected between different integrated drive control boards by the first communication modules of the different integrated drive control boards.

[0060] Preferably, the robot further comprises a connection plate arranged in a stacked manner with a gap between the drive control integrated plates, configured to control signals of all the drive control integrated plates and to connect signals to external equipment, the connection plate comprising a third control portion and a mounting plate, the third control portion being provided on the mounting plate, the two or more drive control integrated plates being cascaded in sequence, and the third control portion being electrically connected to at least one of the drive control integrated plates.

[0061] Preferably, the connection plate further comprises a second communication module provided on the mounting plate, and the third control portion is electrically connected to the second communication module and the at least one drive-control integrated plate.

[0062] Preferably, the second communication module is adapted to be connected to a network.

[0063] Preferably, the second communication module is connected to the network by employing a wired or wireless connection.

[0064] Preferably, the robot further includes a connection base having two or more first cascade sockets into which the two or more drive control integrated plates are inserted, all distributed at intervals along a row and cascaded in sequence, and one second cascade socket into which the connection plate is inserted and electrically connected to at least one of the first cascade sockets.

[0065] In a preferred embodiment, the robot further comprises a control function plate or a drive function plate provided on the robot arm.

[0066] The base and a robot arm movably attached to the base; and an integrated drive and control plate provided on the base and electrically connected to the base, the integrated drive and control plate configured to control the movement of the robot arm.

[0067] In a preferred embodiment, the number of the integrated drive control plates is two or more, the robot arm has a plurality of arm bodies, all the integrated drive control plates are distributed in a stacked manner and connected in a sequential cascade, and each integrated drive control plate controls at least one arm body of the robot arm.

[0068] Preferably, one of the drive control integrated plates controls one arm of the robot arm. Preferably, the number of the drive control integrated plates is equal to the number of the arm members of the robot arm.

[0069] In a preferred embodiment, any one of the integrated drive control boards can be a main control board and is configured to control the signals of all of the integrated drive control boards and to be signal-connected to external equipment, or all of the integrated drive control boards are connected to a cloud controller that is configured to control the signals of all of the integrated drive control boards and to be signal-connected to external equipment.

[0070] In a preferred embodiment, the drive plate and the control plate are connected in a daisy chain fashion.

[0071] Preferably, the robot further comprises a drive mechanism attached to the base or robot arm, electrically connected to the drive and control board, and configured to move the robot arm in motion.

[0072] Preferably, a cavity is provided within the base, and the drive mechanism is mounted within the cavity.

[0073] Preferably, the drive mechanism includes a drive motor attached to the base or the robot arm, and a reduction assembly attached to the drive motor and in transmission connection with an output end of the drive motor.

[0074] Preferably, the drive mechanism is mounted to the base or robot arm and further comprises a flange to which the drive motor and reduction assembly are mounted.

[0075] Preferably, the driving mechanism is a driving device made by employing piezoelectric ceramics.

[0076] In a preferred embodiment, the robot further comprises a heat dissipation structure provided on the base.

[0077] Preferably, the heat dissipation structure employs air cooling to dissipate heat.

[0078] In another preferred embodiment, the heat dissipation structure dissipates heat by adopting liquid cooling.

[0079] Preferably, the heat dissipation structure includes a first heat dissipation fan facing the drive control integrated plate and configured to diffuse the heat of the drive control integrated plate to all areas of the base and accelerate the dissipation of heat to the outside through the wall of the base.

[0080] Preferably, the heat dissipation structure includes a second heat dissipation fan facing a heat dissipation hole provided in the base and configured to exhaust heat within the base to the outside of the base.

[0081] Preferably, the heat dissipation structure includes a heat dissipation sheet provided on a wall of the base.

[0082] Preferably, the heat dissipation sheet is provided on the outer and / or inner side of the wall of the base.

[0083] Preferably, the drive control integrated plate is provided adjacent to the wall having the heat dissipation sheet.

[0084] In a preferred embodiment, the integrated drive control board further includes a communication board electrically connected to the control board.

[0085] In a preferred embodiment, the communication board is adapted to be connected to a network.

[0086] In a preferred embodiment, the communication board is connected to a network by using a wired or wireless connection.

[0087] In a preferred embodiment, the integrated drive control board further includes a communication board electrically connected to the control board, and signals are connected between different integrated drive control boards via the communication boards of the different integrated drive control boards.

[0088] Preferably, the robot further comprises a connection plate arranged in a stacked manner with the drive control integrated plates, configured to control signals of all the drive control integrated plates and to connect the signals to an external device, the connection plate comprising a control portion and a mounting plate, the control portion being provided on the mounting plate, the two or more drive control integrated plates being cascaded in sequence, and the control portion being electrically connected to at least one of the drive control integrated plates.

[0089] Preferably, the connection plate further comprises a communication module provided on the mounting plate, and the control portion is electrically connected to the communication module and the drive control integrated plate.

[0090] Preferably, the communication module is adapted to be connected to a network.

[0091] Preferably, the communication module is connected to the network using wires or wirelessly.

[0092] In a preferred embodiment, a housing cavity is provided within the base, and the drive control integrated plate is provided within the housing cavity, or a control box is attached to the outside of the wall of the base, and the drive control integrated plate is provided within the control box.

[0093] In a preferred embodiment, the robot further comprises a control function plate or a drive function plate provided on the robot arm. [Brief description of the drawings]

[0094] The present invention will now be described with reference to the drawings and examples.

[0095] [Figure 1] FIG. 2 is a schematic diagram of a first structure of a robot described in an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing one structure of the drive control integrated plate described in the embodiment. [Diagram 3] FIG. 2 is a structural schematic diagram of two or more integrated drive control plates described in the embodiment. [Figure 4] FIG. 2 is a structural schematic diagram of a base and a driving mechanism described in the embodiment. [Diagram 5] FIG. 11 is a schematic diagram of another structure of the integrated drive control plate described in the embodiment. [Figure 6] FIG. 4 is a structural schematic diagram of a drive control integrated plate and a connection plate described in the embodiment. [Figure 7] FIG. 1 is a schematic diagram of a second structure of the robot described in the embodiment. [Figure 8]FIG. 13 is a schematic diagram of another structure of the drive control integrated plate described in the embodiment. [Figure 9] FIG. 13 is a schematic diagram of a third structure of the robot described in the embodiment. [Figure 10] FIG. 13 is a schematic diagram of a fourth structure of the robot described in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0096] Hereinafter, technical aspects of the embodiments of the present application will be described with reference to the drawings. It is apparent that the described embodiments are only some of the embodiments of the present application and do not include all of the embodiments.

[0097] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, may be fixedly connected, may be detachably connected, may be integral, may be mechanically connected, may be electrically connected, may be directly connected, may be indirectly connected via an intermediate medium, may be internal communication between two elements, or may be a relationship of interaction between two elements. A person skilled in the art can understand the specific meaning of the above terms in the present application according to the situation.

[0098] In this application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include direct contact between the first feature and the second feature, or may include contact between the first feature and the second feature through another feature between them without direct contact. Furthermore, a first feature being "above," "upper," and "on the upper surface" of a second feature may include direct and diagonally above the second feature, or simply indicate that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," and "on the lower surface" of a second feature may include direct and diagonally below the second feature, or simply indicate that the horizontal height of the first feature is smaller than that of the second feature.

[0099] Hereinafter, technical aspects of the present application will be described through specific embodiments with reference to the drawings.

[0100] Example 1 Figures 1 and 2 (Figure 1 shows one Selective Compliance Assembly Robot Arm) 1 ) is merely a SCARA (Single-arm, SCARA) robot, and in fact, the present technology is not limited to a robot having the shape, structure, or model number shown in FIG. 1 , nor to the classification of a SCARA robot, but may be applied to other types of robots, such as 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots, and may be applied to 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots of various shapes, structures, and models. The robot includes a base 1, a robot arm 2, and a drive control integrated plate 3, the robot arm 2 is movably attached to the base 1, the drive control integrated plate 3 is provided on the base 1, the drive control integrated plate 3 is configured to control the movement of the robot arm 2, the drive control integrated plate 3 includes a control module 31, a drive module 32, and a substrate 33, the control module 31 and the drive module 32 are provided on the substrate 33, and the control module 31 is electrically connected to the drive module 32. By providing the control module 31 and the drive module 32 on the same substrate 33, the overall structure of the control module 31 and the drive module 32 can be made more compact, the required mounting space can be reduced, and the overall structure of the robot can be made more compact.

[0101] Preferably, the number of the drive control integrated plates 3 is two or more, and all the drive control integrated plates 3 are distributed so as to be stacked at intervals and connected in a sequential cascade, and each drive control integrated plate 3 controls at least one arm body 21 of the robot arm 2. One drive control integrated plate 3 controls one arm body 21 of the robot arm 2. The number of the drive control integrated plates 3 and the number of the arm bodies 21 of the robot arm 2 are equal.

[0102] Preferably, any one of the drive control integrated boards 3 can be used as a main control board, and the any one of the drive control integrated boards 3 is configured to control the signals of all the drive control integrated boards 3 and connect signals to external devices. The above design makes the control system of the robot more flexible and can avoid the inability of the entire robot to operate due to damage to the main control board; when one of the drive control integrated boards 3 is damaged, the other drive control integrated board 3 can be used as the main control board to realize the overall control of the robot.

[0103] 3, the robot further includes a connection base 4, which is provided with two or more first cascade sockets 41 into which two or more drive control integrated plates 3 are inserted, and all the first cascade sockets 41 are distributed at intervals and sequentially cascade connected. By providing the connection base 4 with the first cascade sockets 41, on the one hand, the reliability of the installation of the drive control integrated plate 3 can be increased, and on the other hand, the drive control integrated plate and the connection base 4 can be easily quickly attached and detached, thereby improving the convenience and flexibility of combining and using different drive control integrated plates 3.

[0104] Preferably, as shown in Fig. 4, the robot further includes a driving mechanism 5, the driving mechanism 5 is attached to the base 1, the driving mechanism 5 is electrically connected to the drive control integrated plate 3, and the driving mechanism 5 is configured to move the robot arm 2 to move. An accommodation cavity is provided in the base 1, and the driving mechanism 5 is attached in the accommodation cavity. By providing the driving mechanism 5 in the accommodation cavity, the connection between the driving mechanism 5 and the drive control integrated plate 3 can be made simpler and more reliable.

[0105] Preferably, the drive mechanism 5 comprises a drive motor 51 and a reduction assembly 52, the drive motor 51 is attached to the base 1, the reduction assembly 52 is attached to the drive motor 51, and the output end of the drive motor 51 and the reduction assembly 52 are transmission-connected.

[0106] Preferably, the drive motor 51 of the drive mechanism 5 is connected to the drive module 32 of the drive control integrated plate 3, the control module 31 sends a control signal to the drive module 32, the drive module 32 outputs a drive signal to the drive motor 51 in response to the control signal, and the drive motor 51 drives the reduction assembly in response to the drive signal to move the robot arm to move.

[0107] The drive mechanism 5 further comprises a flange 53, which is attached to the base 1, and the drive motor 51 and the reduction gear assembly 52 are attached to the flange 53. The flange 53 is not necessary, and in some cases the flange 53 may not be provided.

[0108] Preferably, the base 1 has an opening, the flange 53 is provided at the opening of the base 1 and is also provided on the base 1 , and the reduction assembly 52 is provided to the drive motor 51 via the flange 53 .

[0109] Preferably, the robot further includes a heat dissipation structure, which is provided on the base 1 .

[0110] Preferably, the heat dissipation structure employs air cooling to dissipate heat.

[0111] The heat dissipation structure includes a first heat dissipation fan, which faces the drive control-integrated plate 3, and is configured to accelerate the diffusion of heat from the drive control-integrated plate 3 to all areas within the base 1 and dissipation to the outside through the wall of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control-integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0112] The heat dissipation structure includes a second heat dissipation fan, the base 1 is provided with a heat dissipation hole, the second heat dissipation fan faces the heat dissipation hole, and the second heat dissipation fan is configured to exhaust the amount of heat within the base 1 to the outside of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0113] The first heat-dissipating fan and the second heat-dissipating fan are not necessarily provided at the same time, and in some cases, only one of the first heat-dissipating fan and the second heat-dissipating fan may be provided independently.

[0114] Preferably, the heat dissipation structure includes a heat dissipation sheet, and the heat dissipation sheet is provided on the wall of the base 1. The heat dissipation sheet is provided on the outside and / or inside of the wall of the base 1, and the drive control-integrated plate 3 is provided close to the wall having the heat dissipation sheet. Such a design can provide a heat dissipation effect of the drive control-integrated plate 3.

[0115] Preferably, as shown in Fig. 5, the integrated drive control board 3 further includes a first communication module 34 provided on the substrate 33, and the first communication module 34 is electrically connected to the control module 31. The first communication module 34 is configured to be connected to a network. The first communication module 34 is connected to the network by adopting a wired or wireless manner. When the number of integrated drive control boards 3 is two or more, signals are connected between the different integrated drive control boards 3 by the first communication modules 34 of the different integrated drive control boards 3.

[0116] Preferably, the control module 31 comprises a first control part 311 and a second control part 312, the first control part 311 and the first communication module 34 being provided on a first side of the substrate 33, and the second control part 312 and the driving module 32 being provided on a second side of the substrate 33.

[0117] Preferably, the first control portion 311 and the second control portion 312 are electrically connected, and the first control portion 311 and / or the second control portion 312 are electrically connected to the drive module 32.

[0118] Preferably, an accommodation cavity is provided inside the base 1, and the drive control integrated plate 3 is provided inside the accommodation cavity.

[0119] Preferably, the robot further includes a control function plate or a driving function plate, which is provided on the robot arm 2. According to the above method, an independent control function plate or driving function plate can be provided on the robot arm 2, and the movement of the robot arm 2 can be controlled by the driving control integrated plate 3 and the control function plate or driving function plate. For example, one arm body 21 of the robot arm 2 is provided with a driving function plate, which is connected to the control module 31 of the driving control integrated plate 3, the driving function plate and the control module 31 control the movement of at least one arm body 21, and the control module 31 and the driving module 32 control the movement of the other arm body 21; or one arm body 21 of the robot arm 2 is provided with a control function plate, which is electrically connected to the driving module 32 of the driving control integrated plate 3, the control function plate and the driving module 32 control the movement of all the arm bodies 21, and The control module 31 and the drive module 32 can also control the movement of all the arm bodies 21, and alternatively, one arm body 21 of the robot arm 2 is provided with a control function plate and a drive function plate, or one arm body 21 of the robot arm 2 is provided with a control function plate and another arm body 21 is provided with a drive function plate, the control function plate and the drive function plate are electrically connected, the control function plate and the drive function plate control the movement of at least one arm body 21, and the control module 31 and the drive module 32 can control the movement of the other arm bodies 21.

[0120] Example 2 The difference between this embodiment and embodiment 1 is that All the drive control integrated boards are configured to be connected to a cloud controller, and the cloud controller controls the signals of all the drive control integrated boards and connects the signals to external devices. That is, none of the drive control integrated boards in this embodiment needs to be the main control board, and the cloud controller is used as the main control center of the robot to realize the overall control of the robot.

[0121] Example 3 The difference between this embodiment and embodiment 1 is that The drive mechanism in this embodiment is not mounted inside the housing cavity, but is mounted on the robot arm. This design makes full use of the space in the height direction so that the robot is arranged in a distributed manner along the vertical direction, and avoids the drive mechanism from occupying space on the base, allowing the base to be designed to be smaller so that the robot can be applied to scenes with a smaller horizontal area.

[0122] Example 4 The difference between this embodiment and embodiment 1 is that The drive mechanism is mounted on the outside of the wall of the base so that the drive mechanism is not mounted inside the housing cavity and heat can be dissipated and maintenance can be performed on the drive mechanism.

[0123] Example 5 The difference between this embodiment and embodiment 1 is that The drive mechanism does not adopt a motor structure, but is a drive device made by adopting piezoelectric ceramics, and the robot arm is moved so as to move by the piezoelectric ceramic drive device.

[0124] Example 6 The difference between this embodiment and embodiment 1 is that The heat dissipation structure of this embodiment adopts liquid cooling to dissipate heat. In order to lower the temperature of the drive-control-integrated plate and make the operation of the drive-control-integrated plate more stable, a liquid flow passage and a liquid flow pump are provided that can exchange heat with the drive-control-integrated plate, and the liquid flow pump drives the cooling liquid to circulate in the liquid flow passage, thereby removing the heat from the drive-control-integrated plate.

[0125] Example 7 The difference between this embodiment and embodiment 1 is that The robot further includes a connection plate 6 arranged so as to be stacked with the drive control integrated plate 3 at intervals, and the connection plate 6 is configured to control the signals of all the drive control integrated plates 3 and to be signal-connected to an external device. As shown in FIG. 6, the connection plate 6 includes a third control portion 61 and a mounting plate 62, and the third control portion 61 is provided on the mounting plate 62, and the multiple drive control integrated plates 3 are sequentially cascaded, and the third control portion 61 is electrically connected to at least one drive control integrated plate 3. The connection plate 6 further includes a second communication module 63, which is provided on the mounting plate 62, and the third control portion 61 is electrically connected to the second communication module 63 and at least one drive control integrated plate 3. The second communication module 63 is configured to be connected to a network, and the second communication module 63 is connected to the network by adopting a wired or wireless connection. The connection plate 6, as the main control plate of the robot, can perform overall control of all the drive control integrated plates 3, i.e., there is no need to use any one of the drive control integrated plates 3 as the main control plate. The second communication module 63 enables remote interaction between the third control part 61 and external devices.

[0126] Preferably, the robot further includes a connection base 4, which includes two or more first cascade sockets 41 into which two or more drive control integrated plates 3 are inserted and one second cascade socket 42 into which the connection plate 6 is inserted, and all the first cascade sockets 41 are distributed at intervals along a row and cascade-connected sequentially, and the second cascade sockets 42 are electrically connected to at least one first cascade socket 41.

[0127] Example 8 The difference between this embodiment and embodiment 1 is that The control box is attached to the outside of the wall 21 of the base 1, and the drive control integrated plate 3 is provided inside the control box. In comparison with an embodiment in which the drive control integrated plate 3 is provided inside the housing cavity of the base 1, this design makes it possible to make the control system configured independently by devices such as the drive control integrated plate 3 into a single whole, making it easier to attach and detach.

[0128] Example 9 7 (FIG. 7 is only one SCARA robot, and in fact, the present technology is not limited to the robot of the shape, structure, or model number shown in FIG. 1, nor to the category of SCARA robots, but may be applied to other categories of robots, for example, 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots, and may be applied to 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots of various shapes, structures, and models), and the robot includes a base 1, a robot arm 2, a control box 7, and a drive control integrated plate 3, the robot arm 2 is movably attached to the base 1, the control box 7 is provided at a distance from the base 1, the drive control integrated plate 3 is provided within the control box 7, and the drive control integrated plate 3 is configured to control the movement of the robot arm 2. 2, the integrated drive control board 3 includes a control module 31, a drive module 32, and a substrate 33, the control module 31 and the drive module 32 are mounted on the substrate 33, and the control module 31 is electrically connected to the drive module 32. Such a design in which the control box 7 and the base 1 are separate allows the control box 7 to be mounted at a position away from the base 1, making it convenient for the base 1 to be applied in a narrow space.

[0129] Preferably, the number of the drive control integrated plates 3 is two or more, and all the drive control integrated plates 3 are distributed in a stacked manner with intervals and cascaded in sequence, and each drive control integrated plate 3 controls at least one arm body 21 of the robot arm 2.

[0130] Preferably, one drive control integrated plate 3 controls one arm body 21 of the robot arm 2. The number of drive control integrated plates 3 and the number of arm bodies 21 of the robot arm 2 are equal.

[0131] Preferably, any one of the drive control integrated boards 3 can be made a main control board, and the any one of the drive control integrated boards 3 is configured to control the signals of all the drive control integrated boards 3 and to be connected to external equipment.

[0132] Preferably, as shown in FIG. 3, the robot further includes a connection base 4, which is provided with two or more first cascade sockets 41 into which two or more drive control integrated plates 3 are inserted, and all the first cascade sockets 41 are distributed at intervals and cascaded in sequence.

[0133] Preferably, as shown in FIG. 4, the robot further includes a drive mechanism 5, the drive mechanism 5 being attached to the base 1 or the robot arm 2, the drive mechanism 5 being electrically connected to the drive control integrated board 3, and the drive mechanism 5 being configured to move the robot arm 2 to perform motion.

[0134] Preferably, a cavity is provided in the base 1, and the drive mechanism 5 is attached in the cavity.

[0135] Preferably, the drive mechanism 5 comprises a drive motor 51 and a reduction assembly 52, the drive motor 51 is attached to the base 1 or the robot arm 2, the reduction assembly 52 is attached to the drive motor 51, and the output end of the drive motor 51 and the reduction assembly 52 are transmission-connected.

[0136] Preferably, the drive motor 51 of the drive mechanism 5 is connected to the drive module 32 of the drive control integrated plate 3, the control module 31 sends a control signal to the drive module 32, the drive module 32 outputs a drive signal to the drive motor 51 in response to the control signal, and the drive motor 51 drives the reduction assembly in response to the drive signal to move the robot arm to move.

[0137] Preferably, the drive mechanism 5 further comprises a flange 53 , which is attached to the base 1 or the robot arm 2 , and the drive motor 51 and the reduction assembly 52 are attached to the flange 53 .

[0138] Preferably, the base 1 has an opening, the flange 53 is provided at the opening of the base 1 and is also provided on the base 1 , and the reduction assembly 52 is provided to the drive motor 51 via the flange 53 .

[0139] Preferably, the driving mechanism 5 does not use a motor structure, and the driving mechanism 5 uses a driving device made of piezoelectric ceramics.

[0140] In this embodiment, the robot further includes a heat dissipation structure, which is provided in the control box 7. The heat dissipation structure dissipates heat by air cooling. In other embodiments, the heat dissipation structure may also dissipate heat by liquid cooling.

[0141] When using air cooling to dissipate heat, the heat dissipation structure preferably includes a first heat dissipation fan, which faces the drive control integrated plate 3, and is configured to accelerate the heat amount of the drive control integrated plate 3 being diffused to all areas in the control box 7 and dissipated to the outside through the outer wall of the control box. The heat dissipation structure further includes a second heat dissipation fan, which is provided in the control box 7 with a heat dissipation hole, which faces the heat dissipation hole, and which is configured to exhaust the heat amount in the control box 7 to the outside of the control box 7. The first heat dissipation fan and the second heat dissipation fan are not necessarily provided at the same time, and in some cases, only one of the first heat dissipation fan and the second heat dissipation fan may be provided independently.

[0142] Preferably, the heat dissipation structure includes a heat dissipation sheet, and the heat dissipation sheet is provided on the outer wall of the control box 7. The heat dissipation sheet is provided on the outside and / or inside of the outer wall of the control box 7, and the drive control integrated plate 3 is provided in close proximity to the outer wall having the heat dissipation sheet.

[0143] Preferably, as shown in Fig. 5, the integrated drive control board 3 further includes a first communication module 34 provided on the substrate 33, and the first communication module 34 is electrically connected to the control module 31. The first communication module 34 is configured to be connected to a network. The first communication module 34 is connected to the network by adopting a wired or wireless manner. When the number of integrated drive control boards 3 is two or more, signals are connected between the different integrated drive control boards 3 by the first communication modules 34 of the different integrated drive control boards 3.

[0144] Preferably, the control module 31 comprises a first control part 311 and a second control part 312, the first control part 311 and the first communication module 34 being provided on a first side of the substrate 33, and the second control part 312 and the driving module 32 being provided on a second side of the substrate 33.

[0145] Preferably, the first control portion 311 and the second control portion 312 are electrically connected, and the first control portion 311 and / or the second control portion 312 are electrically connected to the drive module 32.

[0146] Preferably, the robot further includes a control function plate or a driving function plate, which is provided on the robot arm 2. According to the above method, an independent control function plate or driving function plate can be provided on the robot arm 2, and the movement of the robot arm 2 can be controlled by the driving control integrated plate 3 and the control function plate or driving function plate. For example, one arm body 21 of the robot arm 2 is provided with a driving function plate, which is connected to the control module 31 of the driving control integrated plate 3, the driving function plate and the control module 31 control the movement of at least one arm body 21, and the control module 31 and the driving module 32 control the movement of the other arm body 21; or one arm body 21 of the robot arm 2 is provided with a control function plate, which is electrically connected to the driving module 32 of the driving control integrated plate 3, the control function plate and the driving module 32 control the movement of all the arm bodies 21, and The control module 31 and the drive module 32 can also control the movement of all the arm bodies 21, and alternatively, one arm body 21 of the robot arm 2 is provided with a control function plate and a drive function plate, or one arm body 21 of the robot arm 2 is provided with a control function plate and another arm body 21 is provided with a drive function plate, the control function plate and the drive function plate are electrically connected, the control function plate and the drive function plate control the movement of at least one arm body 21, and the control module 31 and the drive module 32 can control the movement of the other arm bodies 21.

[0147] Example 10 The difference between this embodiment and Example 9 is that The robot further includes a connection plate 6 arranged so as to be stacked with the drive control integrated plate 3 at intervals, and the connection plate 6 is configured to control the signals of all the drive control integrated plates 3 and to be signal-connected to an external device. As shown in FIG. 6, the connection plate 6 includes a third control portion 61 and a mounting plate 62, the third control portion 61 is provided on the mounting plate 62, the multiple drive control integrated plates 3 are sequentially cascaded, and the third control portion 61 is electrically connected to at least one drive control integrated plate 3. The connection plate 6 further includes a second communication module 63, the second communication module 63 is provided on the mounting plate 62, and the third control portion 61 is electrically connected to the second communication module 63 and at least one drive control integrated plate 3. The second communication module 63 is configured to be connected to a network. The second communication module 63 is connected to the network by adopting a wired or wireless connection. In this embodiment, by using the connection plate 6 as the main control plate, overall control is performed for all the drive control integrated plates 3, that is, there is no need to use any one of the drive control integrated plates 3 as the main control plate. The second communication module 63 makes it possible to realize remote interaction between the third control part 61 and external devices.

[0148] Preferably, the robot further includes a connection base 4, which includes two or more first cascade sockets 41 into which two or more drive control integrated plates 3 are inserted and one second cascade socket 42 into which the connection plate 6 is inserted, and all the first cascade sockets 41 are distributed at intervals along a row and cascade-connected sequentially, and the second cascade sockets 42 are electrically connected to at least one first cascade socket 41.

[0149] Example 11 The difference between this embodiment and Example 9 is that All the drive control integrated boards are configured to be connected to a cloud controller, and the cloud controller controls the signals of all the drive control integrated boards and connects the signals to external devices. That is, none of the drive control integrated boards in this embodiment needs to be the main control board, and the cloud controller is used as the main control center of the robot to realize the overall control of the robot.

[0150] Example 12 1 and 8 (FIG. 1 is only one SCARA robot, and in fact, the present technology is not limited to a robot having the shape, structure, or model number shown in FIG. 1, or to the category of SCARA robots, but may be applied to other categories of robots, such as 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots, and may be applied to 2-axis robots, 3-axis robots, 4-axis robots, 5-axis robots, 6-axis robots, multi-axis robots, and Delta robots of various shapes, structures, and models), and the robot includes a base 1, a robot arm 2, and a drive control integrated plate 3, the robot arm 2 is movably attached to the base 1, the drive control integrated plate 3 includes a drive plate 36 and a control plate 35, the drive plate 36 and the control plate 35 are provided on the base 1, the drive plate 36 and the control plate 35 are electrically connected, and the drive control integrated plate 3 is configured to control the movement of the robot arm 2. By designing the control plate 35 and the driving plate 36 as an integral structure, the overall structure of the driving plate 36 and the control plate 35 can be made more compact, the required installation space can be made smaller, and the overall structure of the robot can be made more compact. Preferably, the driving plate 36 and the control plate 35 are connected by adopting a daisy chain.

[0151] Preferably, the number of the drive control integrated plates 3 is two or more, and all the drive control integrated plates 3 are distributed in a stacked manner and connected in a cascade manner in sequence, and each drive control integrated plate 3 controls at least one arm body 21 of the robot arm 2.

[0152] Preferably, one drive control integrated plate 3 controls one arm body 21 of the robot arm 2. The number of drive control integrated plates 3 and the number of arm bodies 21 of the robot arm 2 are equal.

[0153] Preferably, any one of the drive control integrated boards 3 can be made a main control board, and the any one of the drive control integrated boards 3 is configured to control the signals of all the drive control integrated boards 3 and to be connected to external equipment.

[0154] Preferably, the robot further comprises a drive mechanism 5, the drive mechanism 5 being attached to the base 1 or the robot arm 2, the drive mechanism 5 being electrically connected to the drive control integrated board 3, and the drive mechanism 5 being configured to move the robot arm 2 to perform motion.

[0155] Preferably, a cavity is provided in the base 1, and the drive mechanism 5 is attached in the cavity.

[0156] Preferably, the drive mechanism 5 comprises a drive motor 51 and a reduction assembly 52, the drive motor 51 is attached to the base 1 or the robot arm 2, the reduction assembly 52 is attached to the drive motor 51, and the output end of the drive motor 51 and the reduction assembly 52 are transmission-connected.

[0157] Preferably, the drive motor 51 of the drive mechanism 5 is connected to the drive module 32 of the drive control integrated plate 3, the control module 31 sends a control signal to the drive module 32, the drive module 32 outputs a drive signal to the drive motor 51 in response to the control signal, and the drive motor 51 drives the reduction assembly in response to the drive signal to move the robot arm to move.

[0158] Preferably, the drive mechanism 5 further comprises a flange 53 , which is attached to the base 1 or the robot arm 2 , and the drive motor 51 and the reduction assembly 52 are attached to the flange 53 .

[0159] Preferably, the base 1 has an opening, the flange 53 is provided at the opening of the base 1 and is also provided on the base 1, and the reduction gear assembly 52 is provided to the driving motor 51 via the flange 53. Preferably, in some embodiments, the driving mechanism 5 may adopt a driving device made of piezoelectric ceramics instead of a motor structure.

[0160] Preferably, the robot further includes a heat dissipation structure, and the heat dissipation structure is provided on the base 1. The heat dissipation structure dissipates heat by adopting air cooling. In some embodiments, the heat dissipation structure may also dissipate heat by adopting liquid cooling.

[0161] When air cooling is used to dissipate heat, the heat dissipation structure preferably includes a first heat dissipation fan that faces the drive control-integrated plate 3 and is configured to accelerate the heat of the drive control-integrated plate 3 being diffused to all areas of the base 1 and dissipated to the outside through the wall of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control-integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0162] The heat dissipation structure includes a second heat dissipation fan, the base 1 is provided with a heat dissipation hole, the second heat dissipation fan faces the heat dissipation hole, and the second heat dissipation fan is configured to exhaust the amount of heat within the base 1 to the outside of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0163] The first heat-dissipating fan and the second heat-dissipating fan are not necessarily provided at the same time, and in some cases, only one of the first heat-dissipating fan and the second heat-dissipating fan may be provided independently.

[0164] Preferably, the heat dissipation structure includes a heat dissipation sheet, and the heat dissipation sheet is provided on the wall of the base 1. The heat dissipation sheet is provided on the outer side and / or the inner side of the wall 21 of the base 1, and the drive control integrated plate 3 is provided in the vicinity of the wall having the heat dissipation sheet.

[0165] Preferably, the drive control board 3 further includes a communication board, which is electrically connected to the control board 35. The communication board is configured to be connected to a network. The communication board is connected to the network by adopting a wired or wireless connection. When the number of drive control boards 3 is two or more, signals are connected between the different drive control boards 3 by the communication boards of the different drive control boards 3.

[0166] Preferably, a housing cavity is provided within the base 1, and the drive control integrated plate 3 is provided within the housing cavity, or a control box 7 is attached to the outside of the wall of the base 1, and the drive control integrated plate 3 is provided within the control box 7.

[0167] Preferably, the robot further includes a control function plate or a drive function plate, which is provided on the robot arm 2. According to the above method, an independent control function plate or drive function plate can be provided on the robot arm 2, and the movement of the robot arm 2 can be controlled by the drive control integrated plate 3 and the control function plate or drive function plate. For example, one arm body 21 of the robot arm 2 is provided with a drive function plate, which is connected to the control plate 35 of the drive control integrated plate 3, the drive function plate and the control plate 35 control the movement of at least one arm body 21, and the control plate 35 and the drive plate 36 control the movement of the other arm body 21; or one arm body 21 of the robot arm 2 is provided with a control function plate, which is electrically connected to the drive plate 36 of the drive control integrated plate 3, the control function plate and the drive plate 36 control the movement of all the arm bodies 21, and the control plate 3 5 and driving plate 36 can also control the movement of all the arm bodies 21, and further alternatively, one arm body 21 of the robot arm 2 is provided with a control function plate and a driving function plate, or one arm body 21 of the robot arm 2 is provided with a control function plate and the other arm body 21 is provided with a driving function plate, the control function plate and the driving function plate are electrically connected, the control function plate and the driving function plate control the movement of at least one arm body 21, and the control plate 35 and driving plate 36 can control the movement of the other arm body 21.

[0168] Example 13 The difference between this embodiment and embodiment 12 is that The robot further includes a connection plate arranged in a stacked manner with the drive control plate, the connection plate being configured to control signals of all the drive control plates and to connect signals to external devices, the connection plate including a control portion and a mounting plate, the control portion being provided on the mounting plate, the plurality of drive control plates being sequentially cascaded, and the control portion being electrically connected to at least one of the drive control plates. The connection plate further includes a communication module, the communication module being provided on the mounting plate, and the control portion being electrically connected to the communication module and the drive control plate. The communication module is configured to be connected to a network. The communication module is connected to the network by adopting a wired or wireless connection. In this embodiment, the connection plate is used as the main control plate, so that overall control is performed for all the drive control plates, i.e., there is no need to use any one of the drive control plates as the main control plate.

[0169] Example 14 The difference between this embodiment and embodiment 12 is that All the drive control integrated boards are configured to be connected to a cloud controller, and the cloud controller controls the signals of all the drive control integrated boards and connects the signals to external devices. That is, none of the drive control integrated boards in this embodiment needs to be the main control board, and the cloud controller is used as the main control center of the robot to realize the overall control of the robot.

[0170] Example 15 9 and 2, the robot includes a base 1, a robot arm 2, and a drive control integrated plate 3, the robot arm 2 is movably attached to the base 1, the drive control integrated plate 3 is provided on the base 1, and the drive control integrated plate 3 is configured to control the movement of the robot arm 2, the drive control integrated plate 3 includes a control module 31, a drive module 32, and a substrate 33, the control module 31 and the drive module 32 are provided on the substrate 33, and the control module 31 is electrically connected to the drive module 32. By providing the control module 31 and the drive module 32 on the same substrate 33, the overall structure of the control module 31 and the drive module 32 can be made more compact, the required installation space can be made smaller, and the overall structure of the robot can be made more compact.

[0171] Preferably, the number of the drive control integrated plates 3 is two or more, and all the drive control integrated plates 3 are distributed so as to be stacked at intervals and connected in a sequential cascade, and each drive control integrated plate 3 controls at least one arm body 21 of the robot arm 2. One drive control integrated plate 3 controls one arm body 21 of the robot arm 2. The number of the drive control integrated plates 3 and the number of the arm bodies 21 of the robot arm 2 are equal.

[0172] Preferably, any one of the drive control integrated boards 3 can be used as a main control board, and the any one of the drive control integrated boards 3 is configured to control the signals of all the drive control integrated boards 3 and connect signals to external devices. The above design makes the control system of the robot more flexible and can avoid the inability of the entire robot to operate due to damage to the main control board; when one of the drive control integrated boards 3 is damaged, the other drive control integrated board 3 can be used as the main control board to realize the overall control of the robot.

[0173] 3, the robot further includes a connection base 4, which is provided with two or more first cascade sockets 41 into which two or more drive control integrated plates 3 are inserted, and all the first cascade sockets 41 are distributed at intervals and sequentially cascade connected. By providing the connection base 4 with the first cascade sockets 41, on the one hand, it is possible to increase the reliability of the installation of the drive control integrated plate 3, and on the other hand, it is possible to facilitate the quick attachment and detachment of the drive control integrated plate and the connection base 4, thereby increasing the convenience and flexibility of combining and using different drive control integrated plates 3.

[0174] Preferably, the robot further includes a heat dissipation structure, which is provided on the base 1 .

[0175] Preferably, the heat dissipation structure employs air cooling to dissipate heat.

[0176] The heat dissipation structure includes a first heat dissipation fan, which faces the drive control-integrated plate 3, and is configured to accelerate the diffusion of heat from the drive control-integrated plate 3 to all areas within the base 1 and dissipation to the outside through the wall of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control-integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0177] The heat dissipation structure includes a second heat dissipation fan, the base 1 is provided with a heat dissipation hole, the second heat dissipation fan is precisely directed toward the heat dissipation hole, and the second fan is configured to exhaust the heat within the base 1 to the outside of the base 1.

[0178] The first and second heat dissipation fans are not necessarily provided at the same time, and in some cases, only one of the first and second heat dissipation fans may be provided separately. Preferably, the base 1 is provided with an accommodation cavity, and the drive control integrated plate 3 and the heat dissipation structure are both provided in the accommodation cavity.

[0179] Preferably, the heat dissipation structure includes a heat dissipation sheet, and the heat dissipation sheet is provided on the wall of the base 1. The heat dissipation sheet is provided on the outside and / or inside of the wall 21 of the base 1, and the drive control-integrated plate 3 is provided close to the wall having the heat dissipation sheet. Such a design can provide a heat dissipation effect for the drive control-integrated plate 3.

[0180] Preferably, as shown in Fig. 5, the integrated drive control board 3 further includes a first communication module 34 provided on the substrate 33, and the first communication module 34 is electrically connected to the control module 31. The first communication module 34 is configured to be connected to a network. The first communication module 34 is connected to the network by adopting a wired or wireless manner. When the number of integrated drive control boards 3 is two or more, signals are connected between the different integrated drive control boards 3 by the first communication modules 34 of the different integrated drive control boards 3.

[0181] Preferably, the control module 31 comprises a first control part 311 and a second control part 312, the first control part 311 and the first communication module 34 being provided on a first side of the substrate 33, and the second control part 312 and the driving module 32 being provided on a second side of the substrate 33.

[0182] Preferably, the first control portion 311 and the second control portion 312 are electrically connected, and the first control portion 311 and / or the second control portion 312 are electrically connected to the drive module 32.

[0183] Preferably, an accommodation cavity is provided inside the base 1, and the drive control integrated plate 3 is provided inside the accommodation cavity.

[0184] Preferably, the robot further includes a control function plate or a driving function plate, which is provided on the robot arm 2. According to the above method, an independent control function plate or driving function plate can be provided on the robot arm 2, and the movement of the robot arm 2 can be controlled by the driving control integrated plate 3 and the control function plate or driving function plate. For example, one arm body 21 of the robot arm 2 is provided with a driving function plate, which is connected to the control module 31 of the driving control integrated plate 3, the driving function plate and the control module 31 control the movement of at least one arm body 21, and the control module 31 and the driving module 32 control the movement of the other arm body 21; or one arm body 21 of the robot arm 2 is provided with a control function plate, which is electrically connected to the driving module 32 of the driving control integrated plate 3, the control function plate and the driving module 32 control the movement of all the arm bodies 21, and The control module 31 and the drive module 32 can also control the movement of all the arm bodies 21, and alternatively, one arm body 21 of the robot arm 2 is provided with a control function plate and a drive function plate, or one arm body 21 of the robot arm 2 is provided with a control function plate and another arm body 21 is provided with a drive function plate, the control function plate and the drive function plate are electrically connected, the control function plate and the drive function plate control the movement of at least one arm body 21, and the control module 31 and the drive module 32 can control the movement of the other arm bodies 21.

[0185] Example 16 10 and 2, the robot includes a base 1, a robot arm 2, and a drive control integrated plate 3, the robot arm 2 is movably attached to the base 1, the drive control integrated plate 3 is provided on the base 1, and the drive control integrated plate 3 is configured to control the movement of the robot arm 2, the drive control integrated plate 3 includes a control module 31, a drive module 32, and a substrate 33, the control module 31 and the drive module 32 are provided on the substrate 33, and the control module 31 is electrically connected to the drive module 32. By providing the control module 31 and the drive module 32 on the same substrate 33, the overall structure of the control module 31 and the drive module 32 can be made more compact, the required installation space can be made smaller, and the overall structure of the robot can be made more compact.

[0186] Preferably, the number of the drive control integrated plates 3 is two or more, and all the drive control integrated plates 3 are distributed so as to be stacked at intervals and connected in a sequential cascade, and each drive control integrated plate 3 controls at least one arm body 21 of the robot arm 2. Furthermore, one drive control integrated plate 3 controls one arm body 21 of the robot arm 2. The number of the drive control integrated plates 3 and the number of the arm bodies 21 of the robot arm 2 are equal.

[0187] Preferably, any one of the drive control integrated boards 3 can be used as a main control board, and the any one of the drive control integrated boards 3 is configured to control the signals of all the drive control integrated boards 3 and connect signals to external devices. The above design makes the control system of the robot more flexible and can avoid the inability of the entire robot to operate due to damage to the main control board; when one of the drive control integrated boards 3 is damaged, the other drive control integrated board 3 can be used as the main control board to realize the overall control of the robot.

[0188] 3, the robot further includes a connection base 4, which is provided with two or more first cascade sockets 41 into which at least two drive control integrated plates 3 are inserted, and all the first cascade sockets 41 are distributed at intervals and sequentially cascade connected. By providing the connection base 4 with the first cascade sockets 41, on the one hand, it is possible to increase the reliability of the installation of the drive control integrated plate 3, and on the other hand, it is possible to facilitate the quick attachment and detachment of the drive control integrated plate and the connection base 4, thereby increasing the convenience and flexibility of combining and using different drive control integrated plates 3.

[0189] Preferably, the robot further includes a heat dissipation structure, which is provided on the base 1 .

[0190] Preferably, the heat dissipation structure employs air cooling to dissipate heat.

[0191] The heat dissipation structure includes a first heat dissipation fan, which faces the drive control-integrated plate 3, and is configured to accelerate the diffusion of heat from the drive control-integrated plate 3 to all areas within the base 1 and dissipation to the outside through the wall of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control-integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0192] The heat dissipation structure includes a second heat dissipation fan, the base 1 is provided with a heat dissipation hole, the second heat dissipation fan is precisely directed toward the heat dissipation hole, and the second fan is configured to exhaust the amount of heat within the base 1 to the outside of the base 1. Preferably, the base 1 is provided with an accommodation cavity, and the drive control integrated plate 3 and the heat dissipation structure are both provided within the accommodation cavity.

[0193] The first heat-dissipating fan and the second heat-dissipating fan are not necessarily provided at the same time, and in some cases, only one of the first heat-dissipating fan and the second heat-dissipating fan may be provided independently.

[0194] Preferably, the heat dissipation structure includes a heat dissipation sheet, and the heat dissipation sheet is provided on the wall of the base 1. The heat dissipation sheet is provided on the outside and / or inside of the wall 21 of the base 1, and the drive control-integrated plate 3 is provided close to the wall having the heat dissipation sheet. Such a design can provide a heat dissipation effect for the drive control-integrated plate 3.

[0195] Preferably, as shown in Fig. 5, the integrated drive control board 3 further includes a first communication module 34 provided on the substrate 33, and the first communication module 34 is electrically connected to the control module 31. The first communication module 34 is configured to be connected to a network. The first communication module 34 is connected to the network by adopting a wired or wireless manner. When the number of integrated drive control boards 3 is two or more, signals are connected between the different integrated drive control boards 3 by the first communication modules 34 of the different integrated drive control boards 3.

[0196] Preferably, the control module 31 comprises a first control part 311 and a second control part 312, the first control part 311 and the first communication module 34 being provided on a first side of the substrate 33, and the second control part 312 and the driving module 32 being provided on a second side of the substrate 33.

[0197] Preferably, the first control portion 311 and the second control portion 312 are electrically connected, and the first control portion 311 and / or the second control portion 312 are electrically connected to the drive module 32.

[0198] Preferably, an accommodation cavity is provided inside the base 1, and the drive control integrated plate 3 is provided inside the accommodation cavity.

[0199] Preferably, the robot further includes a control function plate or a driving function plate, which is provided on the robot arm 2. According to the above method, an independent control function plate or driving function plate can be provided on the robot arm 2, and the movement of the robot arm 2 can be controlled by the driving control integrated plate 3 and the control function plate or driving function plate. For example, one arm body 21 of the robot arm 2 is provided with a driving function plate, which is connected to the control module 31 of the driving control integrated plate 3, the driving function plate and the control module 31 control the movement of at least one arm body 21, and the control module 31 and the driving module 32 control the movement of the other arm body 21; or one arm body 21 of the robot arm 2 is provided with a control function plate, which is electrically connected to the driving module 32 of the driving control integrated plate 3, the control function plate and the driving module 32 control the movement of all the arm bodies 21, and The control module 31 and the drive module 32 can also control the movement of all the arm bodies 21, and alternatively, one arm body 21 of the robot arm 2 is provided with a control function plate and a drive function plate, or one arm body 21 of the robot arm 2 is provided with a control function plate and another arm body 21 is provided with a drive function plate, the control function plate and the drive function plate are electrically connected, the control function plate and the drive function plate control the movement of at least one arm body 21, and the control module 31 and the drive module 32 can control the movement of the other arm bodies 21.

[0200] In the description of this specification, the orientations or positional relationships of the terms "upper", "lower", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of facilitating the description and simplifying the operation, and should not be understood as indicating or implying that such devices or elements have a specific orientation, and must be configured and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are merely used for distinction in the description, and do not have any special meaning.

[0201] In the present description, the reference term "one embodiment," "example," or the like means that the specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the present description, schematic expressions for the above terms do not necessarily refer to the same embodiment or example. [Explanation of symbols]

[0202] 1 Base 2. Robot Arm 3 Drive control integrated plate 4 Connection seat 5. Driving mechanism 6 Connection plate 7 Control Box 21 Arm body, 31 Control Module 32 Drive module 33 Substrate 34 First communication module 35 Control Board 36 Drive plate 41 1st cascade socket 42 2nd cascade socket 51 Drive motor 52 Reduction Assembly 53 Flange 61 Third control part 62 Mounting plate 63 Second communication module 311 First control part 312 Second control part

Claims

1. The base and a robot arm movably attached to the base; a robot provided on the base and configured to control a motion of the robot arm, the robot comprising a control module, a drive module and a substrate, the control module and the drive module being provided on the substrate, the control module being electrically connected to the drive module; The number of the drive control integrated plates is at least two, and the robot further includes a connection base having at least two first cascade sockets into which the at least two drive control integrated plates are inserted, and all the drive control integrated plates are distributed in a stacked manner with a gap therebetween, and are configured to be cascaded by inserting the corresponding first cascade sockets; Any one of the drive control integrated boards can be a main control board, and is configured to control signals of all the drive control integrated boards and to be connected to external devices; If one drive control plate is damaged, the other drive control plate can be used as the main control plate. robot.

2. The robot arm has a plurality of arm bodies, and each drive control integrated plate controls at least one arm body of the robot arm. The robot according to claim 1.

3. Further comprising a drive mechanism attached to the base or the robot arm, electrically connected to the drive control board, and configured to move the robot arm in response to a drive signal output by the drive control board. The robot according to claim 1.

4. A housing cavity is provided in the base, and the drive mechanism is attached to the housing cavity, Alternatively, the drive mechanism includes a drive motor attached to the base or the robot arm, and a reduction gear assembly attached to the drive motor and transmission-connected to an output end of the drive motor; Or, the driving mechanism is a driving device made by adopting piezoelectric ceramics. The robot according to claim 3.

5. the drive mechanism is attached to the base or the robot arm and further comprises a flange to which the drive motor and the reduction gear assembly are attached. The robot according to claim 4.

6. Further comprising a heat dissipation structure provided on the base, The heat dissipation structure uses air cooling to dissipate heat; The robot according to claim 1.

7. The heat dissipation structure includes a heat dissipation sheet provided on a wall of the base, and the drive control integrated plate is provided adjacent to the wall having the heat dissipation sheet. The robot according to claim 6.

8. the integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module; The first communication module is configured to be connected to a network via a wired or wireless connection. The robot according to claim 1.

9. the control module includes a first control portion provided on the first communication module and the first surface of the substrate, and a second control portion provided on the drive module and the second surface of the substrate; The robot according to claim 8.

10. The integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module, and signals are connected between different integrated drive control boards by the first communication modules of the different integrated drive control boards. The robot according to claim 1.

11. a connection plate arranged so as to be stacked with the at least two drive control integrated plates at a distance therefrom, configured to control signals of all the drive control integrated plates and to be connected to an external device, the connection plate including a third control portion and a mounting plate; the third control portion is provided on the mounting plate, the at least two drive control integrated plates are sequentially cascaded, and the third control portion is electrically connected to at least one of the drive control integrated plates; The robot according to claim 1.

12. The connection plate further includes a second communication module provided on the mounting plate, and the third control portion is electrically connected to the second communication module and the at least one drive control integrated plate; The second communication module is configured to be connected to a network via a wired or wireless connection. The robot according to claim 11.

13. The connection seat further includes a second cascade socket into which the connection plate is inserted and which is electrically connected to at least one of the first cascade sockets. The robot according to claim 11.

14. An accommodation cavity is provided in the base, and the drive control integrated plate is provided in the accommodation cavity. Or, the robot further includes a control function plate or a drive function plate provided on the robot arm. The robot according to claim 1.

15. The base and a robot arm movably attached to the base; A control box provided at an interval from the base; a control module, a drive module, and a substrate, the control module and the drive module being provided on the substrate, the control module being electrically connected to the drive module; The number of the drive control integrated plates is at least two, and the robot further includes a connection base having at least two first cascade sockets into which the at least two drive control integrated plates are inserted, and all the drive control integrated plates are distributed in a stacked manner with a gap therebetween, and are configured to be cascaded by inserting the corresponding first cascade sockets; Any one of the drive control integrated boards can be a main control board, and is configured to control signals of all the drive control integrated boards and to be connected to external devices; If one drive control plate is damaged, the other drive control plate can be used as the main control plate. robot.

16. The robot arm has a plurality of arm bodies, and each drive control integrated plate controls at least one arm body of the robot arm. The robot according to claim 15.

17. A heat dissipation structure provided in the control box; or Further comprising a control function plate or a drive function plate provided on the robot arm; The robot according to claim 15.

18. the integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module; The first communication module is configured to be connected to a network via a wired or wireless connection. The robot according to claim 15.

19. The integrated drive control board further includes a first communication module provided on the substrate and electrically connected to the control module, and signals are connected between different integrated drive control boards by the first communication modules of the different integrated drive control boards. The robot of claim 16.

20. The base and a robot arm movably attached to the base; a drive control integrated plate, the drive plate and the control plate being mounted on the base and electrically connected to each other, configured to control the movement of the robot arm, the drive plate and the control plate being connected in an integrated structure by adopting a daisy chain; The number of the drive control integrated plates is at least two, and all the drive control integrated plates are distributed in a stack and cascaded in sequence; Any one of the drive control integrated boards can be a main control board, which controls the signals of all the drive control integrated boards and is connected to external devices; If one drive control plate is damaged, the other drive control plate can be used as the main control plate. robot.

21. The robot arm has a plurality of arm bodies, and each drive control integrated plate controls at least one arm body of the robot arm. The robot of claim 20.

22. A housing cavity is provided in the base, and the drive control integrated plate is provided in the housing cavity. The robot of claim 20.

23. A heat dissipation structure provided on the base, or Further comprising a control function plate or a drive function plate provided on the robot arm; The robot of claim 20.

24. The integrated drive control board further includes a communication board electrically connected to the control board, The communication board is configured to be connected to a network by wire or wirelessly. The robot of claim 20.

25. The integrated drive control board further includes a communication board electrically connected to at least one of the control board and the drive board, and different integrated drive control boards are connected by signals via the communication boards of the different integrated drive control boards. The robot of claim 21.

Images