CN221696979U - Alignment platform and mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of robotic arms, and discloses an alignment platform and a robotic arm. The alignment platform is connected to the end of the robotic arm, and the alignment platform includes: a fixed layer, a lateral moving layer and a longitudinal moving layer; the upper layer of the fixed layer is fixedly installed at the end of the robotic arm; the lateral moving layer is movably installed at the lower layer of the fixed layer, and moves laterally in the horizontal plane relative to the fixed layer; the longitudinal moving layer is movably installed at the lower layer of the lateral moving layer, and moves longitudinally in the horizontal plane relative to the fixed layer; the alignment platform is used to adjust the force control parameters of the end of the robotic arm according to the moving distances of the lateral moving layer and the longitudinal moving layer. The present application adjusts the force control parameters of the end of the robotic arm through the alignment platform, so that the robotic arm can achieve precise alignment when picking up and placing workpieces, the debugging and calibration efficiency is higher, and the workpiece picking and placing alignment operation at the end of the robotic arm is more convenient and quick.

Description

Positioning platform and robotic arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to an alignment platform and a mechanical arm.

Background Art

Collaborative robotic arms are a type of equipment widely used in the field of industrial automation to complete various complex operating tasks.

In order to ensure that the grasping structure at the end of the robot arm can accurately pick up and place the workpiece, and ensure the alignment accuracy of the workpiece during picking and placing, force control algorithms such as torque sensor feedback control, impedance control or force limit control are usually used to control the movement of the robot arm. However, this type of force control algorithm usually needs to fully consider the characteristics of the workpiece and the robot arm, and undergoes careful debugging and optimization, and requires regular maintenance and calibration to ensure the stability and reliability of the alignment accuracy, which consumes a lot of time and effort.

In summary, how to make the workpiece picking and placement operations at the end of the robot arm more convenient and quick has become a technical problem that needs to be solved urgently in the relevant technical field.

Utility Model Content

The main purpose of the utility model is to provide an alignment platform and a mechanical arm, aiming to make the workpiece picking and placing alignment operation at the end of the mechanical arm more convenient and quick.

To achieve the above object, the utility model provides an alignment platform, which is connected to the end of the robot arm, and comprises: a fixed layer, a lateral moving layer and a longitudinal moving layer;

The upper layer of the fixed layer is fixedly installed at the end of the mechanical arm;

The transverse moving layer is movably installed on the lower layer of the fixed layer, and moves transversely in a horizontal plane relative to the fixed layer;

The longitudinal moving layer is movably mounted on the lower layer of the transverse moving layer and moves longitudinally in a horizontal plane relative to the fixed layer;

The alignment platform is used to adjust the force control parameters of the end of the robot arm according to the moving distances of the transverse moving layer and the longitudinal moving layer.

Optionally, the transverse moving layer comprises: a transverse slide rail, a first slider, a first movable rod assembly, a first displacement sensor and an upper layer of the transverse moving layer;

The top of the first sliding block is fixedly connected to the lower layer of the fixed layer, and the bottom of the first sliding block is slidably connected to the surface of the transverse sliding rail;

The transverse slide rail is fixedly installed on the upper layer of the transverse moving layer;

The first movable rod assembly is movably mounted on the upper layer of the transverse movable layer, and the axial direction of the first movable rod assembly is parallel to the transverse slide rail;

The first displacement sensor is fixedly installed on the upper layer of the transverse moving layer and is adjacent to the first movable rod assembly.

Optionally, the first movable rod assembly comprises: an movable rod and a spring;

The spring is sleeved on the movable rod, and the movable rod moves laterally relative to the lateral moving layer in a horizontal plane.

Optionally, the longitudinal moving layer comprises: a longitudinal slide rail, a second slider, a second movable rod assembly, a second displacement sensor and an upper layer of the longitudinal moving layer;

The top of the second sliding block is fixedly connected to the lower layer of the transverse moving layer, and the bottom of the second sliding block is slidably connected to the surface of the longitudinal sliding rail;

The longitudinal slide rail is fixedly installed on the upper layer of the longitudinal moving layer;

The second movable rod assembly is movably mounted on the upper layer of the longitudinal movable layer, and the axial direction of the second movable rod assembly is parallel to the longitudinal slide rail;

The second displacement sensor is fixedly installed on the upper layer of the longitudinal moving layer and is adjacent to the second movable rod assembly.

Optionally, the longitudinal slide rail is perpendicular to the direction of the transverse slide rail;

The transverse slide rail drives the transverse moving layer to move transversely on a horizontal plane;

The longitudinal slide rail drives the longitudinal moving layer to move longitudinally on a horizontal plane.

Optionally, the alignment platform further includes a controller, and the controller is connected to the first displacement sensor and the second displacement sensor respectively.

Optionally, a gripping structure at the end of the robot arm is fixedly mounted on the lower layer of the longitudinal moving layer.

Optionally, the alignment platform further includes a flange and a connecting rod;

The upper layer of the fixed layer is fixedly mounted on the connecting rod, and the connecting rod is connected to the end of the mechanical arm through the flange.

Optionally, the upper layer of the fixing layer is connected to the connecting rod by bolts.

In addition, to achieve the above-mentioned purpose, the utility model provides a robotic arm, which includes an alignment platform as described in any one of the above-mentioned items.

The utility model provides an alignment platform and a robotic arm, wherein the alignment platform is connected to the end of the robotic arm, and the alignment platform comprises: a fixed layer, a transverse moving layer and a longitudinal moving layer; the upper layer of the fixed layer is fixedly installed at the end of the robotic arm; the transverse moving layer is movably installed at the lower layer of the fixed layer, and moves transversely in a horizontal plane relative to the fixed layer; the longitudinal moving layer is movably installed at the lower layer of the transverse moving layer, and moves longitudinally in a horizontal plane relative to the fixed layer; wherein the alignment platform is used to adjust the force control parameters of the end of the robotic arm according to the moving distances of the transverse moving layer and the longitudinal moving layer.

In the present application, a positioning platform including a fixed layer, a lateral moving layer and a longitudinal moving layer is proposed to adjust the force control parameters of the end of the robot arm. When the robot arm moves, the force actually applied to the workpiece by the robot arm is determined according to the moving distances of the lateral moving layer and the longitudinal moving layer relative to the fixed layer on the horizontal plane, and the force control parameters of the end of the robot arm are dynamically adjusted according to the determined actual applied force, so that the robot arm can achieve precise positioning when picking up and placing the workpiece. Compared with traditional force control algorithms, the positioning platform in the present application can adapt to different robot arm structures and working scenarios during use, and the debugging and calibration efficiency is higher. The workpiece picking and placing positioning operations at the end of the robot arm are more convenient and faster.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of the alignment platform of the utility model;

FIG2 is a schematic diagram of a platform structure block diagram of the alignment platform of the present utility model;

FIG3 is a schematic diagram of a first scenario involved in the alignment platform of the utility model;

FIG4 is a schematic diagram of a structural block diagram of a lateral moving layer involved in the alignment platform of the present utility model;

FIG. 5 is a schematic diagram of a second scenario involved in the alignment platform of the present invention.

Description of Figure Numbers:

The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

DETAILED DESCRIPTION

It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

In the embodiment of the present application, the collaborative robot arm is a device widely used in the field of industrial automation, and is used to complete various complex operating tasks.

In order to ensure that the grasping structure at the end of the robot arm can accurately pick up and place the workpiece, and ensure the alignment accuracy of the workpiece during picking and placing, force control algorithms such as torque sensor feedback control, impedance control or force limit control are usually used to control the movement of the robot arm. However, this type of force control algorithm usually needs to fully consider the characteristics of the workpiece and the robot arm, and undergoes careful debugging and optimization, and requires regular maintenance and calibration to ensure the stability and reliability of the alignment accuracy, which consumes a lot of time and effort.

In summary, how to make the workpiece picking and placement operations at the end of the robot arm more convenient and quick has become a technical problem that needs to be solved urgently in the relevant technical field.

In response to the above problems, an embodiment of the present application provides an alignment platform and a robotic arm, wherein the alignment platform is connected to the end of the robotic arm, and the alignment platform includes: a fixed layer, a lateral moving layer and a longitudinal moving layer; the upper layer of the fixed layer is fixedly installed at the end of the robotic arm; the lateral moving layer is movably installed at the lower layer of the fixed layer, and moves laterally in a horizontal plane relative to the fixed layer; the longitudinal moving layer is movably installed at the lower layer of the lateral moving layer, and moves longitudinally in a horizontal plane relative to the fixed layer; wherein the alignment platform is used to adjust the force control parameters of the end of the robotic arm according to the moving distances of the lateral moving layer and the longitudinal moving layer.

In the present application, a positioning platform including a fixed layer, a lateral moving layer and a longitudinal moving layer is proposed to adjust the force control parameters of the end of the robot arm. When the robot arm moves, the force control parameters of the end of the robot arm are adjusted according to the moving distances of the lateral moving layer and the longitudinal moving layer on the horizontal plane, so that the robot arm can achieve precise positioning when picking up and placing workpieces. Compared with traditional force control algorithms, the positioning platform in the present application can adapt to different robot arm structures and working scenarios during use, and the debugging and calibration efficiency is higher. The workpiece picking and placing positioning operations at the end of the robot arm are more convenient and faster.

The utility model provides a positioning platform.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an embodiment of an alignment platform of the utility model. The alignment platform provided by the utility model is connected to the end 400 of the robot arm, and the alignment platform includes: a fixed layer 100, a transverse moving layer 200 and a longitudinal moving layer 300;

The upper layer of the fixed layer 100 is fixedly mounted on the end 400 of the robot arm;

The transverse moving layer 200 is movably installed on the lower layer of the fixed layer 100, and moves transversely in a horizontal plane relative to the fixed layer 100;

The longitudinal moving layer 300 is movably installed on the lower layer of the transverse moving layer 200, and moves longitudinally in a horizontal plane relative to the fixed layer 100;

In this embodiment, the alignment platform is connected to the end 400 of the robot arm, and the alignment platform includes a fixed layer 100, a transverse moving layer 200 and a longitudinal moving layer 300; the upper layer of the fixed layer 100 is fixedly installed on the end 400 of the robot arm; the transverse moving layer 200 is movably installed on the lower layer of the fixed layer 100, and the transverse moving layer 200 can move transversely in a horizontal plane relative to the fixed layer 100; the longitudinal moving layer 300 is movably installed on the lower layer of the transverse moving layer 200, and the longitudinal moving layer 300 can move longitudinally in a horizontal plane relative to the fixed layer 100.

The alignment platform is used to adjust the force control parameters of the robot arm end 400 according to the moving distances of the transverse moving layer 200 and the longitudinal moving layer 300 .

In this embodiment, the alignment platform can adjust the force control parameters of the robot end 400 according to the moving distances of its own lateral moving layer 200 and longitudinal moving layer 300. Specifically, during the movement of the robot end 400, when the lateral moving layer 200 and/or the longitudinal moving layer 300 moves and meets the actual pick-up/placement requirements of the project, the respective moving distances of the lateral moving layer 200 and the longitudinal moving layer 300 are recorded as standard force control parameters. Then, when the robot arm needs to control the contact force between its own grasping structure and the workpiece, The contact force is orthogonally decomposed to facilitate the adjustment of its own force control in one direction, and the alignment platform can determine the force actually applied by the robot to the workpiece through the moving distances of the lateral moving layer 200 and the longitudinal moving layer 300, that is, the moving distances of the lateral moving layer 200 and the longitudinal moving layer 300 in the alignment platform are respectively converted into force control parameters actually applied by the robot to the workpiece, and then the force control parameters are adjusted to be consistent with the standard force control parameters, that is, the force applied by the end 400 of the robot to the workpiece is adjusted so that the applied force can meet the pick-up/placement requirements of the workpiece.

For ease of understanding, Figure 2 is a structural block diagram of the alignment platform in this embodiment, wherein the fixed layer 100 of the alignment platform is fixedly connected to the end of the robotic arm 400 via a flange and a connecting rod, the fixed layer 100 is movably connected to the transverse moving layer 200, and the transverse moving layer 200 is movably connected to the longitudinal moving layer 300.

Further, in some feasible embodiments, the lateral moving layer 200 includes: a lateral slide rail 201, a first slider 202, a first movable rod assembly 203, a first displacement sensor 204 and an upper layer of the lateral moving layer;

The top of the first sliding block 202 is fixedly connected to the lower layer of the fixed layer 100, and the bottom of the first sliding block 202 is slidably connected to the surface of the transverse sliding rail 201;

The transverse slide rail 201 is fixedly installed on the upper layer of the transverse moving layer 200;

The first movable rod assembly 203 is movably installed on the upper layer of the transverse moving layer 200, and the axial direction of the first movable rod assembly 203 is parallel to the transverse slide rail 201;

The first displacement sensor 204 is fixedly installed on the upper layer of the transverse movement layer 200 and is adjacent to the first movable rod assembly 203 .

In this embodiment, the transverse moving layer 200 of the alignment platform includes: a transverse slide rail 201, a first slider 202, a first movable rod assembly 203 and a first displacement sensor 204, wherein the top of the first slider 202 is fixedly connected to the lower layer of the fixed layer 100, and the bottom of the first slider 202 is slidably connected to the surface of the transverse slide rail 201; the transverse slide rail 201 is fixedly installed on the upper layer of the transverse moving layer 200; the first movable rod assembly 203 is movably installed on the upper layer of the transverse moving layer 200, and the axial direction of the first movable rod assembly 203 is parallel to the transverse slide rail 201; the first displacement sensor 204 is fixedly installed on the upper layer of the transverse moving layer 200, and is adjacent to the first movable rod assembly 203, wherein the movably installed components can be in a stationary state or a moving state when in use, and the slidingly connected components can be in a stationary state or a sliding state when in use.

It should be noted that, in this embodiment, the transverse slide rails 201 are preferably two groups of transverse slide rails 201, which are respectively fixed to the upper layer of the transverse moving layer, and the two groups of transverse slide rails 201 are parallel and spaced a certain distance apart to ensure that the moving layer maintains better balance when moving on the horizontal plane.

Further, in some feasible embodiments, the first movable rod assembly 203 includes: an movable rod and a spring;

The spring is sleeved on the movable rod, and the movable rod moves laterally relative to the lateral moving layer 200 in a horizontal plane.

In this embodiment, the first movable rod assembly 203 on the transverse moving layer 200 includes: a movable rod and a spring, wherein the spring is sleeved on the movable rod, and the movable rod moves transversely on a horizontal plane relative to the transverse moving layer 200 .

In addition, in another feasible embodiment, the first movable rod composed of a movable rod and a spring can also be fixedly installed on the lower layer of the fixed layer 100 and adjacent to the first displacement sensor 204 of the lateral moving layer 200.

Exemplarily, in this embodiment, as shown in FIG3 , the transverse moving layer 200 includes a transverse slide rail 201, a first slider 202, a first movable rod assembly 203 and a first displacement sensor 204. The first slider 202 is fixed to the lower layer of the fixed layer 100 and is movably connected to the slide rail. The slide rail is fixed to the upper layer of the transverse moving layer 200. The longitudinal axis directions of the transverse slide rail 201, the first movable rod assembly 203 and the first displacement sensor 204 are parallel. The moving direction of the transverse moving layer 200 on the horizontal plane is the Y-axis direction indicated in the figure.

For ease of understanding, FIG4 is a structural block diagram of the lateral moving layer 200 in this embodiment, wherein the lateral moving layer 200 includes two lateral slide rails 201, each of which is movably connected to two first sliders 202, and the lateral slide rails 201, the first movable rod assembly 203 and the first displacement sensor are parallel.

Further, in some feasible embodiments, the longitudinal moving layer 300 includes: a longitudinal slide rail, a second slider, a second movable rod assembly, a second displacement sensor and an upper layer of the longitudinal moving layer;

The top of the second sliding block is fixedly connected to the lower layer of the transverse moving layer 200, and the bottom of the second sliding block is slidably connected to the surface of the longitudinal sliding rail;

The longitudinal slide rail is fixedly installed on the upper layer of the longitudinal moving layer 300;

The second movable rod assembly is movably installed on the upper layer of the longitudinal movable layer 300, and the axial direction of the second movable rod assembly is parallel to the longitudinal slide rail;

The second displacement sensor is fixedly installed on the upper layer of the longitudinal moving layer 300 and is adjacent to the second movable rod assembly.

In this embodiment, the longitudinal moving layer 300 includes: a longitudinal slide rail, a second slider, a second movable rod assembly and a second displacement sensor, wherein the top of the second slider is fixedly connected to the lower layer of the transverse moving layer 200, and the bottom of the second slider is slidably connected to the surface of the longitudinal slide rail; the longitudinal slide rail is fixedly installed on the upper layer of the longitudinal moving layer 300; the second movable rod assembly is movably installed on the upper layer of the longitudinal moving layer 300, and the axial direction of the second movable rod assembly is parallel to the longitudinal slide rail; the second displacement sensor is fixedly installed on the upper layer of the longitudinal moving layer 300, and is adjacent to the second movable rod assembly.

The second movable rod assembly includes: a movable rod and a spring, the spring is sleeved on the movable rod, and the movable rod moves longitudinally on a horizontal plane relative to the longitudinal movable layer 300 .

It should be noted that in a feasible embodiment, the types of the transverse slide rail 201 and the longitudinal slide rail in the alignment platform can be different slide rail types, such as steel ball type, gear type, roller type, damping slide rail, etc. The slide rail type is not limited in this embodiment.

Exemplarily, in this embodiment, as shown in FIG5 , the longitudinal moving layer 300 and the transverse moving layer 200 are movably connected via a second slider, the second slider moves on the longitudinal slide rail, and the moving direction of the longitudinal moving layer 300 on the horizontal plane is the X-axis direction indicated in the figure.

Further, in some feasible embodiments, the longitudinal slide rail is perpendicular to the direction of the transverse slide rail 201;

The transverse slide rail 201 drives the transverse moving layer 200 to move transversely on a horizontal plane;

The longitudinal slide rail drives the longitudinal moving layer 300 to move longitudinally on a horizontal plane.

In this embodiment, the transverse slide rail 201 is fixedly installed on the upper layer of the transverse moving layer 200, and the longitudinal slide rail is fixedly installed on the upper layer of the longitudinal moving layer 300, and the transverse slide rail 201 is perpendicular to the direction of the longitudinal slide rail. When the end 400 of the robotic arm moves, since the fixed layer 100 and the transverse moving layer 200 are connected by the first slider 202, the first slider 202 and the transverse slide rail 201 generate relative movement, driving the transverse moving layer 200 to generate horizontal movement relative to the fixed layer 100 in the horizontal plane; the transverse moving layer 200 and the longitudinal moving layer 300 are connected by the second slider, and the second slider and the longitudinal slide rail generate relative movement, driving the longitudinal moving layer 300 to generate longitudinal movement relative to the fixed layer 100 in the horizontal plane.

Furthermore, in some feasible embodiments, the alignment platform further includes a controller, and the controller is connected to the first displacement sensor 204 and the second displacement sensor respectively.

In this embodiment, the alignment platform also includes a controller, which is connected to the first displacement sensor 204 and the second displacement sensor respectively, and is used to obtain the moving distance of the lateral moving layer 200 and the longitudinal moving layer 300, thereby converting the moving distance into a force control parameter actually applied to the workpiece by the robot arm.

Furthermore, in some feasible embodiments, the lower layer of the longitudinal moving layer 300 is fixedly mounted with a grasping structure of the robot arm end 400 .

In this embodiment, a gripping structure of the robot arm end 400 is fixedly installed on the lower layer of the longitudinal moving layer 300 , and the gripping structure may specifically be a suction cup tool or other tool that can perform pick-up/placement operations on the workpiece.

Furthermore, in some feasible embodiments, the alignment platform further includes a flange and a connecting rod;

The upper layer of the fixing layer 100 is fixedly mounted on the connecting rod, and the connecting rod is connected to the robot arm end 400 through the flange.

In this embodiment, the alignment platform also includes a flange and a connecting rod. The robot arm end 400 is connected to the connecting rod through the flange, and the fixing layer 100 of the alignment platform is fixedly installed on the connecting rod. Specifically, the connecting rod and the robot arm end 400 are each fixed on a flange, and a flange gasket is added between the two flanges. Then, the connection between the connecting rod and the mechanical end can be achieved by tightening with bolts. Based on the different flange connection methods, the connection can be divided into plate flat welding, neck flat welding, neck butt welding, socket welding, thread, flange cover, neck butt welding ring loose sleeve, flat welding ring loose sleeve, ring groove flange and flange cover, large diameter flat plate, large diameter high neck, eight-shaped blind plate, butt welding ring loose sleeve, etc., which is not specifically limited in this embodiment.

Furthermore, in some feasible embodiments, the upper layer of the fixing layer 100 is connected to the connecting rod via bolts.

In this embodiment, the upper layer of the alignment platform and the connecting rod are connected by bolts.

In summary, the alignment platform of the utility model is connected to the end 400 of the robot arm, and the alignment platform includes: a fixed layer 100, a lateral moving layer 200 and a longitudinal moving layer 300; the upper layer of the fixed layer 100 is fixedly installed on the end 400 of the robot arm; the lateral moving layer 200 is movably installed on the lower layer of the fixed layer 100, and moves laterally in the horizontal plane relative to the fixed layer 100; the longitudinal moving layer 300 is movably installed on the lower layer of the lateral moving layer 200, and moves longitudinally in the horizontal plane relative to the fixed layer 100; wherein the alignment platform is used to adjust the force control parameters of the end 400 of the robot arm according to the moving distance of the lateral moving layer 200 and the longitudinal moving layer 300.

In the embodiment of the present application, a positioning platform including a fixed layer 100, a lateral moving layer 200 and a longitudinal moving layer 300 is proposed to adjust the force control parameters of the robot arm end 400. When the robot arm moves, the force actually applied to the workpiece by the robot arm is determined according to the moving distances of the lateral moving layer 200 and the longitudinal moving layer 300 relative to the fixed layer on the horizontal plane, and the force control parameters of the robot arm end 400 are dynamically adjusted according to the determined actual applied force, so that the robot arm can achieve precise positioning when picking up and placing the workpiece. Compared with the traditional force control algorithm, the positioning platform in the present application can adapt to different robot arm structures and working scenarios during use, and the debugging and calibration efficiency is higher. The workpiece picking and placing positioning operation of the robot arm end 400 is more convenient and faster.

In addition, the present application also provides a robotic arm. The robotic arm in the embodiment of the present application may include any alignment platform as described above.

The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the utility model concept of the present application, or directly/indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims (10)

1. The utility model provides a counterpoint platform, its characterized in that, counterpoint platform and arm end-to-end connection, counterpoint platform includes: a fixed layer, a lateral moving layer and a longitudinal moving layer;

The upper layer of the fixed layer is fixedly arranged at the tail end of the mechanical arm;

The transverse moving layer is movably arranged on the lower layer of the fixed layer and transversely moves relative to the fixed layer in a horizontal plane;

The longitudinal moving layer is movably arranged on the lower layer of the transverse moving layer and longitudinally moves in a horizontal plane relative to the fixed layer;

The alignment platform is used for adjusting force control parameters of the tail end of the mechanical arm according to the moving distance of the transverse moving layer and the longitudinal moving layer.

2. The alignment stage of claim 1, wherein the laterally moving layer comprises: the upper layer of the transverse sliding rail, the first sliding block, the first movable rod assembly, the first displacement sensor and the transverse moving layer;

The top of the first sliding block is fixedly connected with the lower layer of the fixed layer, and the bottom of the first sliding block is in sliding connection with the surface of the transverse sliding rail;

the transverse sliding rail is fixedly arranged on the upper layer of the transverse moving layer;

The first movable rod assembly is movably arranged on the upper layer of the transverse moving layer, and the axial direction of the first movable rod assembly is parallel to the transverse sliding rail;

The first displacement sensor is fixedly arranged on the upper layer of the transverse moving layer and is adjacent to the first movable rod assembly.

3. The alignment platform of claim 2, wherein the first movable bar assembly comprises: a movable rod and a spring;

the spring is sleeved on the movable rod, and the movable rod transversely moves relative to the transverse moving layer in a horizontal plane.

4. The alignment stage of claim 3, wherein the longitudinally moving layer comprises: the upper layer of the longitudinal sliding rail, the second sliding block, the second movable rod assembly, the second displacement sensor and the longitudinal displacement layer;

The top of the second sliding block is fixedly connected with the lower layer of the transverse moving layer, and the bottom of the second sliding block is in sliding connection with the surface of the longitudinal sliding rail;

the longitudinal sliding rail is fixedly arranged on the upper layer of the longitudinal moving layer;

The second movable rod assembly is movably arranged on the upper layer of the longitudinal moving layer, and the axial direction of the second movable rod assembly is parallel to the longitudinal sliding rail;

The second displacement sensor is fixedly arranged on the upper layer of the longitudinal movement layer and is adjacent to the second movable rod assembly.

5. The alignment platform of claim 4, wherein the longitudinal rail is perpendicular to the direction of the transverse rail;

the transverse sliding rail drives the transverse moving layer to transversely move on a horizontal plane;

the longitudinal sliding rail drives the longitudinal moving layer to longitudinally move on a horizontal plane.

6. The alignment stage of claim 5, further comprising a controller coupled to the first displacement sensor and the second displacement sensor, respectively.

7. The alignment stage of claim 6, wherein a lower layer of the longitudinally moving layer is fixedly mounted with a gripping structure at the end of the robotic arm.

8. The alignment platform of claim 7, further comprising a flange and a link;

The upper layer of the fixed layer is fixedly arranged on the connecting rod, and the connecting rod is connected with the tail end of the mechanical arm through the flange plate.

9. The alignment platform of claim 8, wherein an upper layer of the fixed layer is bolted to the link.

10. A robotic arm comprising an alignment platform according to any one of claims 1-9.