CN218947711U - Six-axis mechanical arm - Google Patents

Abstract

The utility model discloses a six-axis mechanical arm, which comprises: six-axis mechanical arm body and paw; the hand claw set up in six robotic arm bodies, the hand claw includes: the device comprises a sucker, a sliding mechanism, a bracket and a rotary flange; the support is rotatably arranged at the tail end of the six-axis mechanical arm body through the rotary flange; the sliding mechanism is arranged on the lower surface of the bracket and comprises a telescopic cylinder, a sliding block and a guide rod, the guide rod is fixedly arranged in parallel with the bracket, the sliding block is slidably arranged on the guide rod, and the telescopic cylinder is used for driving the sliding block to slide along the guide rod; the sucking disc set up in the lower surface of slider is used for snatching article. According to the utility model, the sliding mechanism is arranged on the paw, so that the operation range of the six-axis mechanical arm can be increased, and the moving inertia of the six-axis mechanical arm can be reduced, thereby greatly improving the article transfer efficiency.

Description

Six-axis mechanical arm

Technical Field

The application relates to the technical field of intelligent manufacturing, in particular to a six-axis mechanical arm.

Background

In the field of intelligent manufacturing, multi-axis robotic arms are commonly used to replace manual work for article transfer and processing. When it is desired to transfer an article, a gripper gripping mechanism carried at the end of a six-axis robotic arm is typically required. The mechanical arm can improve the manufacturing efficiency and reduce the manpower input, but the multi-axis mechanical arm can only operate in a certain range, and the range of the multi-axis mechanical arm is smaller than the movable range of the multi-axis mechanical arm. In order to expand the working range of the multi-axis mechanical arm, it is common practice to increase the size of the multi-axis mechanical arm or to provide a traveling mechanism at the bottom of the mechanical arm. Then, not only the weight of the multi-axis mechanical arm is increased, the moving inertia of the multi-axis mechanical arm is increased, the moving speed of the multi-axis mechanical arm is influenced, but also the control difficulty of the multi-axis mechanical arm is increased by increasing the walking machinery, and particularly, the high-precision operation cannot be performed.

In addition, when the operation range of motion of multiaxis robotic arm gripper is great, snatch the more when the point, the pipeline of connecting on the gripper of multiaxis robotic arm terminal also can cause winding, pulling because of the action range is big to influence multiaxis robotic arm's job stabilization nature and pipeline's life-span. And when the pipelines connected on the claws are more, the pipelines are difficult to wire and fix, and the pipelines are difficult to distinguish during equipment maintenance.

Disclosure of Invention

In view of the above problems, the present application provides a six-axis mechanical arm, which is used for solving the technical problems of small working range and large moving inertia of the existing multi-axis mechanical arm.

To achieve the above object, the present inventors provide a six-axis robot arm including:

a six-axis mechanical arm body; and a gripper disposed at a distal end of the six-axis robot arm body, the gripper including: the device comprises a sucker, a sliding mechanism, a bracket and a rotary flange;

the support is rotatably arranged at the tail end of the six-axis mechanical arm body through the rotary flange; the sliding mechanism is arranged on the lower surface of the bracket and comprises a telescopic cylinder, a sliding block and a guide rod, the guide rod is fixedly arranged in parallel with the bracket, the sliding block is slidably arranged on the guide rod, and the telescopic cylinder is used for driving the sliding block to slide along the guide rod; the sucking disc set up in the lower surface of slider is used for snatching article.

Further, the paw further comprises a lifting cylinder, and the sucker is arranged at the tail end of a push rod of the lifting cylinder, and the lifting cylinder is used for driving the sucker to lift along the vertical direction.

Further, the paw further comprises an air pipe adapter plate, the air pipe adapter plate is mounted on the support and is coaxially arranged with the rotary flange, the air pipe adapter plate comprises a plurality of input interfaces and a plurality of output interfaces, the input interfaces are connected with an air source, and the output interfaces are connected with the sliding mechanism and the sucker through air pipes.

Further, the input interface is located on the upper surface of the tracheal patch board, and the output interface is located on the lower surface of the tracheal patch board.

Further, the paw further comprises a camera, wherein the camera is arranged on the lower surface of the sliding mechanism and is used for acquiring images of the objects.

Further, the rotary flange is connected with a rotary motor, and the rotary motor is in transmission connection with the rotary flange through a speed reducer.

Further, the rotary flange is arranged on one side of the middle of the bracket, and is distributed in a delta shape with two ends of the bracket.

Further, the middle part of support is provided with the lightening hole of fretwork.

Compared with the prior art, above-mentioned technical scheme six robotic arms includes: six-axis mechanical arm body and paw; the hand claw set up in six robotic arm bodies, the hand claw includes: the device comprises a sucker, a sliding mechanism, a bracket and a rotary flange; the support is rotatably arranged at the tail end of the six-axis mechanical arm body through the rotary flange; the sliding mechanism is arranged on the lower surface of the bracket and comprises a telescopic cylinder, a sliding block and a guide rod, the guide rod is fixedly arranged in parallel with the bracket, the sliding block is slidably arranged on the guide rod, and the telescopic cylinder is used for driving the sliding block to slide along the guide rod; the sucking disc set up in the lower surface of slider is used for snatching article. According to the utility model, the sliding mechanism is arranged on the paw, so that the operation range of the six-axis mechanical arm can be increased, and the moving inertia of the six-axis mechanical arm can be reduced, thereby greatly improving the article transfer efficiency.

In some embodiments, the article transfer device further comprises an air pipe adapter plate, and an air pipe connected to the paw is connected and fixed through the air pipe adapter plate, so that air pipe wiring is facilitated, bending and pulling of the air pipe are reduced, and the service life of the air pipe can be effectively prolonged.

The foregoing summary is merely an overview of the present application, and is provided to enable one of ordinary skill in the art to make more clear the present application and to be practiced according to the teachings of the present application and to make more readily understood the above-described and other objects, features and advantages of the present application, as well as by reference to the following detailed description and accompanying drawings.

Drawings

The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of the present application and are not to be construed as limiting the application.

In the drawings of the specification:

FIG. 1 is a schematic structural diagram of a six-axis mechanical arm according to an embodiment;

FIG. 2 is a schematic view of the structure of the paw according to the embodiment;

FIG. 3 is a schematic view of a structure of a paw according to another embodiment;

reference numerals referred to in the above drawings are explained as follows:

100. a six-axis mechanical arm body;

200. a paw;

1. a bracket; 11. a swivel flange; 12. a lightening hole;

2. a sliding mechanism; 21. A guide rod; 22. A telescopic cylinder;

3. a suction cup; 31. A lifting cylinder;

4. a camera;

5. an air tube adapter plate; 51. a first air tube; 52. a second air pipe;

Detailed Description

In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples and are not intended to limit the scope of protection of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in the embodiments may be combined in any manner to form a corresponding implementable technical solution.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the description of specific embodiments only and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that there may be three relationships, e.g., a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.

In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.

Without further limitation, the use of the terms "comprising," "including," "having," or other like terms in this application is intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.

As in the understanding of the "examination guideline," the expressions "greater than", "less than", "exceeding", and the like are understood to exclude the present number in this application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of groups", "a plurality of" and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as terms of orientation or positional relationship based on the specific embodiments or figures, and are merely for convenience of description of the specific embodiments of the present application or ease of understanding of the reader, and do not indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation, and therefore are not to be construed as limiting of the embodiments of the present application.

Unless specifically stated or limited otherwise, in the description of the embodiments of the present application, the terms "mounted," "connected," "affixed," "disposed," and the like are to be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to the specific circumstances.

Referring to fig. 1 to 3, the present embodiment provides a six-axis mechanical arm. As shown in fig. 1, the six-axis mechanical arm includes: six-axis robot body 100 and gripper 200.

The hand 200 is disposed at the end of the six-axis robot body 100. As shown in fig. 2 and the stamp, the gripper includes: the device comprises a sucker 3, a sliding mechanism 2, a bracket 1 and a rotary flange 11. The bracket 1 is rotatably arranged at the tail end of the six-axis mechanical arm body 100 through the rotary flange 11; the sliding mechanism 2 is arranged on the lower surface of the bracket 1, the sliding mechanism 2 comprises a telescopic cylinder 22, a sliding block and a guide rod 21, the guide rod 21 is fixedly installed in parallel with the bracket, the sliding block is slidably arranged on the guide rod 21, and the telescopic cylinder 22 is used for driving the sliding block to slide along the guide rod 21; the sucking disc set up in the lower surface of slider is used for snatching article.

The six-axis mechanical arm body 100 is also called a six-axis joint mechanical arm, and drives six joint axes to rotate through six servo motors directly through a speed reducer, a synchronous pulley and the like. Six-axis industrial robots generally have six degrees of freedom, and common six-axis industrial robots include a rotation (S-axis), a wrist rotation (R-axis) of a lower arm (L-axis) upper arm (U-axis), a wrist swing (B-axis) and a wrist swing (T-axis). Six joints are synthesized to realize six-degree-of-freedom motion of the tail end. The six-axis robot body 100 has numerous advantages such as high flexibility, ultra-large load, high positioning accuracy, and the like.

The support 1 can be made of steel or metal such as aluminum alloy, the support 1 can be driven by a six-axis mechanical arm to move in a space range, the support 1 can be of a strip-shaped structure, and the sliding mechanism is arranged on the lower surface of the support 1. When the distance from the start position to the end position of the article transfer is smaller than or equal to the maximum sliding distance of the claws, that is, smaller than the maximum sliding distance of the sliding mechanism on the bracket 1. At the moment, the multi-axis mechanical arm is not required to move, and the article is driven to be transferred only through the sliding mechanism on the support. Even if the claws are located between the start position and the end position of the gripping of the articles, the slide mechanism is then driven to slide reciprocally in the rack 1, whereby the plurality of articles are repeatedly transferred from the start position to the end position. When the distance from the starting point position to the final point position of the article transfer is larger than the maximum sliding distance of the gripper, the gripper and the multi-axis mechanical arm are controlled to move simultaneously to realize the article transfer, and in the process, the gripper is used for transferring articles as much as possible, so that the movement amplitude of the multi-axis mechanical arm is reduced as much as possible.

The sucker 3 can be a pneumatic sucker, and an air pipe is connected to the middle of the sucker 3, and can be vacuumized, so that the middle of the sucker 3 forms negative pressure to firmly suck articles. The sliding mechanism may be provided with a plurality of suction cups 3 to hold articles at a plurality of positions simultaneously.

According to the technical scheme, the rotary flange and the sliding mechanism are arranged on the paw at the tail end of the multi-axis mechanical arm, so that the paw can rotate around the rotary flange and slide along the support, and therefore when an article is grabbed, the article can be transferred only through the paw according to the moving distance of the article, or the article is grabbed by the paw firstly to move with the maximum sliding distance, and then the remaining distance is transferred by the multi-axis mechanical arm. Therefore, the object can be transferred by the gripper to the greatest extent, the object transferring operation range can be improved, the moving distance of the multi-axis mechanical arm can be reduced, the object transferring efficiency is improved, and the moving inertia of the multi-axis mechanical arm is reduced.

In some embodiments, a rotary motor is connected to the rotary flange 11, and the rotary motor is in driving connection with the rotary flange through a speed reducer. Wherein the rotary motor may be a pneumatic motor, in other embodiments the rotary motor may be replaced with a hydraulic motor or a servo motor.

As shown in fig. 2, in an embodiment, the bracket is a rectangular plate-shaped bracket, and the rotary flange 11 is disposed on one side of the middle of the bracket 1, and forms a delta-shaped distribution with two ends of the bracket. And, the middle part of support 1 is provided with the lightening hole 12 of fretwork. The lightening holes 12 may be individual elongated through holes distributed along the length of the bracket 1. In some embodiments, the number of the lightening holes can be multiple, and the lightening holes can be round holes, square holes and the like.

Wherein, one side in the middle part of the bracket 1 is provided with a connecting part for installing a rotary flange, and the connecting part and the bracket 1 are integrally formed. The weight-reducing holes 12 can greatly reduce the weight of the bracket 1, thereby reducing the motion inertia of the bracket 1, facilitating the control of the paw and realizing the motion at a higher speed.

In some embodiments, the gripper 200 further includes a lifting cylinder 31, and the suction cup 3 is disposed at an end of a push rod of the lifting cylinder 31, and the lifting cylinder is used for driving the suction cup to lift in a vertical direction. Each sucking disc 3 is provided with a lifting cylinder 31, the sucking disc 3 is arranged at the tail end of the lifting cylinder 31, and the sucking disc 3 is driven to lift by the lifting cylinder. When the object is required to be grabbed, the lifting cylinder 31 drives the sucker 3 to descend and suck the object, then the lifting cylinder 31 drives the object to ascend, the claw and the multi-shaft mechanical arm drive the object to be transferred to the end position, and finally the lifting cylinder 31 drives the sucker and the object to descend, so that the object is placed at the end position.

In some embodiments, the paw 200 further includes an air pipe adapter plate 5, where the air pipe adapter plate 5 is mounted on the support 1 and is coaxially disposed with the rotary flange 11, and the air pipe adapter plate 5 includes a plurality of input interfaces and a plurality of output interfaces, where the input interfaces are connected to an air source, and the output interfaces are connected to the sliding mechanism and the suction cup through an air pipe. The air pipe adapter plate 5 comprises a plurality of input interfaces and a plurality of output interfaces, the input interfaces are connected with an air source through a first air pipe 51, and the output interfaces are connected with the sliding mechanism 2 and the sucker 3 through a second air pipe 52. The input interface is located the upper surface of trachea keysets, the output interface is located the lower surface of trachea keysets.

In this embodiment, the trachea that the paw is connected with external air supply through trachea keysets 5, and the trachea is switched and fixed by trachea keysets 5, and the trachea wiring of being convenient for to can reduce the bending and the pulling of trachea in the article transfer process, can effectively prolong trachea life.

In some embodiments, the gripper further comprises a camera disposed on a lower surface of the slide mechanism for capturing an image of the item. Wherein, the camera 4 is arranged on the sliding mechanism 2, so that the camera 4 can slide along with the sucker. The control system of the multi-axis mechanical arm comprises a picture recognition technology, and can analyze the object to be grasped and the position of the object according to the picture shot by the camera 4, and further calculate the distance from the initial position to the final position of the object.

In summary, the six-axis mechanical arm in the above embodiment includes: six-axis mechanical arm body and paw; the hand claw set up in six robotic arm bodies, the hand claw includes: the device comprises a sucker, a sliding mechanism, a bracket and a rotary flange; the support is rotatably arranged at the tail end of the six-axis mechanical arm body through the rotary flange; the sliding mechanism is arranged on the lower surface of the bracket and comprises a telescopic cylinder, a sliding block and a guide rod, the guide rod is fixedly arranged in parallel with the bracket, the sliding block is slidably arranged on the guide rod, and the telescopic cylinder is used for driving the sliding block to slide along the guide rod; the sucking disc set up in the lower surface of slider is used for snatching article. According to the utility model, the sliding mechanism is arranged on the paw, so that the operation range of the six-axis mechanical arm can be increased, and the moving inertia of the six-axis mechanical arm can be reduced, thereby greatly improving the article transfer efficiency.

Finally, it should be noted that, although the foregoing embodiments have been described in the text and the accompanying drawings of the present application, the scope of the patent protection of the present application is not limited thereby. All technical schemes generated by replacing or modifying equivalent structures or equivalent flows based on the essential idea of the application and by utilizing the contents recorded in the text and the drawings of the application, and the technical schemes of the embodiments are directly or indirectly implemented in other related technical fields, and the like, are included in the patent protection scope of the application.

Claims (8)

1. A six-axis mechanical arm, comprising:

a six-axis mechanical arm body; and

the hand claw, the hand claw set up in six mechanical arm body's end, the hand claw includes: the device comprises a sucker, a sliding mechanism, a bracket and a rotary flange;

the support is rotatably arranged at the tail end of the six-axis mechanical arm body through the rotary flange; the sliding mechanism is arranged on the lower surface of the bracket and comprises a telescopic cylinder, a sliding block and a guide rod, the guide rod is fixedly arranged in parallel with the bracket, the sliding block is slidably arranged on the guide rod, and the telescopic cylinder is used for driving the sliding block to slide along the guide rod; the sucking disc set up in the lower surface of slider is used for snatching article.

2. The six-axis mechanical arm according to claim 1, wherein the paw further comprises a lifting cylinder, the sucker is arranged at the tail end of a push rod of the lifting cylinder, and the lifting cylinder is used for driving the sucker to lift in the vertical direction.

3. The six-axis mechanical arm according to claim 1 or 2, wherein the gripper further comprises an air pipe adapter plate, the air pipe adapter plate is mounted on the support and is coaxially arranged with the rotary flange, the air pipe adapter plate comprises a plurality of input interfaces and a plurality of output interfaces, the input interfaces are connected with an air source, and the output interfaces are connected with the sliding mechanism and the sucker through air pipes.

4. A six axis robot as claimed in claim 3, wherein the input interface is located on an upper surface of the tracheal patch and the output interface is located on a lower surface of the tracheal patch.

5. The six axis robot arm of claim 1, wherein the gripper further comprises a camera disposed on a lower surface of the slide mechanism for capturing an image of the object.

6. The six axis mechanical arm of claim 1 wherein the swivel flange is connected with a swivel motor, the swivel motor being drivingly connected with the swivel flange through a decelerator.

7. The six-axis mechanical arm according to claim 1, wherein the rotary flange is arranged on one side of the middle part of the bracket and forms a delta-shaped distribution with two ends of the bracket.

8. The six-axis mechanical arm according to claim 1, wherein a hollowed-out lightening hole is formed in the middle of the support.

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