A control device of a six-axis robot arm

Abstract

This invention belongs to the field of control device technology, specifically a control device for a six-axis robotic arm. Addressing the problems of cumbersome disassembly and assembly and the ease with which existing control devices can be damaged, the following solution is proposed: It includes a housing fixed to the six-axis robotic arm, a motor housed within the housing, and a lifting mechanism housed within the housing. The lifting mechanism includes a lifting screw fixedly connected to the output shaft of the motor. A lifting plate is threaded onto the lifting screw, and a support plate is fixedly mounted on the lifting plate. Multiple push rods are slidably mounted on the support plate, and the same mounting plate is fixedly mounted on each of the push rods. Each push rod is fitted with a support spring. A first rack is fixedly mounted on the lifting plate, and a rotating rod is rotatably mounted within the housing. This invention allows for quick disassembly and assembly of the control device body, provides shock absorption for the control device body, offers high safety, and is simple and convenient to use.

Description

Technical Field

[0001] This invention relates to the field of control device technology, and in particular to a control device for a six-axis robotic arm. Background Technology

[0002] The robotic arm is a high-precision, high-speed dispensing robot. It is suitable for small-batch production, improving production efficiency. In addition to dispensing, it can handle various tasks such as UV irradiation, part placement, screw locking, and circuit board cutting. The six-axis robotic arm offers more refined performance and greater precision. However, the operation of a six-axis robotic arm requires a control device. In existing technologies, the vibrations during operation can easily damage the control device, resulting in inadequate protection and cumbersome disassembly and assembly. Therefore, we have proposed a control device for a six-axis robotic arm. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies, such as cumbersome disassembly and assembly and easy damage to the control device, and to propose a control device for a six-axis robotic arm.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A control device for a six-axis robotic arm includes a housing fixed to the six-axis robotic arm. A motor is housed within the housing. A lifting mechanism is also housed within the housing. The lifting mechanism includes a lifting screw fixedly connected to the output shaft of the motor. A lifting plate is threaded onto the lifting screw. A support plate is fixedly mounted on the lifting plate. Multiple push rods are slidably mounted on the support plate, and a common mounting plate is fixedly mounted on each of the push rods. Each push rod is fitted with a support spring. A first rack is fixedly mounted on the lifting plate. A rotating rod is rotatably mounted within the housing. A first gear is fixedly mounted on the rotating rod, meshing with the first rack. A locking mechanism is provided within the housing, comprising two first... The box contains pulleys, with two first pulleys fixedly connected to a rotating rod. Two locking screws are rotatably mounted inside the box, each with a second pulley fixedly mounted on it. Two first belts are rotatably mounted on the two first and two second pulleys. Locking plates are threaded onto the two locking screws. The box cover has two perforated plates, each with a locking hole. The locking plates and locking holes cooperate with each other. Two locking grooves are provided inside the box, with the perforated plates and locking grooves cooperating with each other. A box cover is rotatably mounted on the box body, and multiple inner tubes are fixedly mounted on the cover. Each inner tube contains a buffer spring, and a common buffer plate is slidably mounted on each inner tube. A top-opening mechanism is provided on the support plate, comprising two vertical tubes. Each box is equipped with a vertical spring. Two vertical rods are fixedly installed at one end of each of the two springs. Slides are rotatably mounted on each of the two vertical rods. The box cover has two sliding grooves. The two slides are slidably connected to the inner walls of the two sliding grooves. A second rack is provided on the inner wall of the box. A clamping mechanism is provided on the mounting plate. The clamping mechanism includes a second gear, which meshes with the second rack and is rotatably connected to the mounting plate. A third pulley is fixedly mounted on the second gear. The mounting plate has a mounting groove in which a double-ended screw is rotatably mounted. A fourth pulley is fixedly mounted on the double-ended screw. The third and fourth pulleys are driven by the same second belt. Two threaded plates are slidably mounted on the mounting plate, and both threaded plates are threaded to the double-ended screw. The assembly consists of two threaded plates, each with a clamping plate fixedly mounted on it. These clamping plates cooperate with each other. Each clamping plate has two auxiliary plates. Four auxiliary slots are formed on the mounting plate, and the four auxiliary plates are slidably connected to the inner walls of these slots. A control device body is mounted on the mounting plate. A vertical rail is installed inside the housing, slidably connected to a lifting plate. A seat rail is installed in the slide groove, slidably connected to a slide block. Multiple slide rails are installed on the buffer plate, slidably connected to multiple inner tubes. Multiple grooved rails are installed on the support plate, slidably connected to multiple top rods. Two bearings are installed inside the housing, their inner rings fixedly connected to two locking screws. Two horizontal rails are installed on the inner wall of the housing, slidably connected to two locking plates.All rotating parts described above are constrained by bearings, shafts, or a combination of both, ensuring stable rotation of all parts in a fixed position. The threads of the two locking screws run in opposite directions.

[0006] The beneficial effects of the control device for a six-axis robotic arm described in this invention are as follows:

[0007] The lifting mechanism automatically ejects the control unit body, facilitating the disassembly and assembly of the controller. It also acts as a buffer during the use of the six-axis robotic arm, providing better protection for the control unit body. The locking mechanism locks the cover, protecting the control unit body. The opening mechanism automatically opens the cover, allowing the control unit body to be ejected easily for easy disassembly and assembly. The clamping mechanism stably clamps the control unit body, ensuring stable operation and better performance.

[0008] This invention enables quick assembly and disassembly of the control device body, provides shock absorption for the control device body, ensures high safety, and is simple and easy to use. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0010] Figure 1 This is a three-dimensional structural diagram of a control device for a six-axis robotic arm proposed in this invention;

[0011] Figure 2 This is a cross-sectional view of the control device for a six-axis robotic arm proposed in this invention.

[0012] Figure 3 This is a side view of the control device for a six-axis robotic arm proposed in this invention.

[0013] Figure 4 This invention proposes a control device for a six-axis robotic arm. Figure 3 A magnified structural diagram of part A in the middle;

[0014] Figure 5 This invention proposes a control device for a six-axis robotic arm. Figure 3 A magnified structural diagram of part B in the middle section;

[0015] Figure 6This is a schematic diagram of the unlocked connection structure of the hole plate, locking groove, locking plate and locking hole of the control device for a six-axis robotic arm proposed in this invention.

[0016] Figure 7 This is a partial three-dimensional structural diagram of the clamping mechanism of the control device for a six-axis robotic arm proposed in this invention.

[0017] Reference numerals: 1. Housing; 2. Motor; 3. Lifting screw; 4. Lifting plate; 5. Support plate; 6. Top rod; 7. Mounting plate; 8. Support spring; 9. First rack; 10. First gear; 11. Rotating rod; 12. First pulley; 13. Second pulley; 14. First belt; 15. Locking screw; 16. Locking plate; 17. Hole plate; 18. Lock hole; 19. Lock groove; 20. Housing cover; 21. Inner tube; 22. 23. Buffer spring; 24. Buffer plate; 25. Vertical tube; 26. Vertical spring; 27. Vertical rod; 28. Slide block; 29. ​​Slide groove; 20. Second rack; 31. Second gear; 32. Third pulley; 33. Fourth pulley; 34. Second belt; 35. Double-acting screw; 36. Threaded plate; 37. Clamping plate; 38. Auxiliary plate; 39. Auxiliary groove; 40. Control device body; 41. Mounting groove; 42. Vertical rail; 43. Horizontal rail. Detailed Implementation

[0018] To facilitate a better understanding of the purpose, structure, features, and effects of this invention, the invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that the features shown in the figures are not necessarily drawn to scale. Furthermore, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0019] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," "right," "front," and "rear" are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] Example 1

[0021] Reference Figure 1-4 A control device for a six-axis robotic arm includes a housing 1 fixed to the six-axis robotic arm, a motor 2 housed inside the housing 1, and a lifting mechanism housed inside the housing 1. The lifting mechanism includes a lifting screw 3, which is fixedly connected to the output shaft of the motor 2. A lifting plate 4 is threaded onto the lifting screw 3, a support plate 5 is fixedly mounted on the lifting plate 4, and multiple push rods 6 are slidably mounted on the support plate 5. A common mounting plate 7 is fixedly mounted on the multiple push rods 6, and a support spring 8 is sleeved on each of the multiple push rods 6. A first rack 9 is fixedly mounted on the lifting plate 4. A rotating rod 11 is rotatably mounted inside the housing 1, and a first gear 10 is fixedly mounted on the rotating rod 11. The first gear 10 meshes with the first rack 9. The housing 1 contains... The control device 39 is equipped with a locking mechanism. A cover 20 is rotatably mounted on the housing 1. Multiple inner tubes 21 are fixedly mounted on the cover 20. Each inner tube 21 contains a buffer spring 22. A buffer plate 23 is slidably mounted on the inner tubes 21. A push-opening mechanism is provided on the support plate 5. A second rack 29 is provided on the inner wall of the housing 1. A clamping mechanism is provided on the mounting plate 7. When the control device body 39 is vibrated and rises, the control device body 39 will squeeze the buffer plate 23. The buffer plate 23 will slide upward on the multiple inner tubes 21 and will not slide in other directions. At this time, the buffer plate 23 will squeeze the multiple buffer springs 22. Under the elastic force of the buffer springs 22, the control device body 39 will be buffered.

[0022] Reference Figure 2-4 The locking mechanism includes two first pulleys 12, both of which are fixedly connected to the rotating rod 11. Two locking screws 15 are rotatably installed inside the housing 1. A second pulley 13 is fixedly installed on each of the two locking screws 15. Two first belts 14 are rotatably installed on the two first pulleys 12 and the two second pulleys 13. Locking plates 16 are threadedly connected to the two locking screws 15. Two perforated plates 17 are provided on the housing cover 20. Locking holes 18 are opened on the two perforated plates 17. The two locking plates 16 and the two locking holes 18 cooperate with each other. Two locking grooves 19 are opened inside the housing 1. The two perforated plates 17 and the two locking grooves 19 cooperate with each other.

[0023] Reference Figure 2-3 The opening mechanism includes two vertical tubes 24, each with a vertical spring 25 inside. Two vertical rods 26 are fixedly installed at one end of each vertical spring 25. Slide seats 27 are rotatably installed on each of the two vertical rods 26. The cover 20 has two sliding grooves 28, and the two slide seats 27 are slidably connected to the inner walls of the two sliding grooves 28.

[0024] Reference Figure 3-7The clamping mechanism includes a second gear 30, which meshes with a second rack 29 and is rotatably connected to a mounting plate 7. A third pulley 31 is fixedly mounted on the second gear 30. A mounting groove 40 is provided on the mounting plate 7, and a bidirectional screw 34 is rotatably mounted in the mounting groove 40. A fourth pulley 32 is fixedly mounted on the bidirectional screw 34. The same second belt 33 is driven onto the third pulley 31 and the fourth pulley 32. Two threaded plates 35 are slidably mounted on the mounting plate 7, and both threaded plates 35 are threadedly connected to the bidirectional screw 34. Clamping plates 36 are fixedly mounted on both threaded plates 35, and the two clamping plates 36 cooperate with each other. Each plate 36 is provided with two auxiliary plates 37, and the mounting plate 7 is provided with four auxiliary slots 38. The four auxiliary plates 37 are slidably connected to the inner walls of the four auxiliary slots 38. The mounting plate 7 is provided with a control device body 39. When the second gear 30 is about to rise to the top of the box 1 with the mounting plate 7, the second gear 30 begins to contact the second rack 29. Because the second magnet 9 is fixed and the mounting plate 7 slides upward steadily, the second gear 30 moves vertically upward. Therefore, when the second gear 30 begins to contact the second rack, it can mesh with it. Therefore, as the mounting plate 7 continues to rise, the second gear 30 will roll on the second rack 29.

[0025] Reference Figure 2 The housing 1 is equipped with a vertical rail 41, which is slidably connected to the lifting plate 4. The vertical rail allows the lifting plate 4 to slide in a fixed position.

[0026] Reference Figure 2-3 The support plate 5 is provided with multiple grooves, which are slidably connected to multiple push rods 6, allowing the multiple push rods 6 to slide in a fixed position.

[0027] Reference Figure 4 Two horizontal rails 42 are provided on the inner wall of the housing 1. The two horizontal rails 42 are slidably connected to two locking plates 16. The two horizontal rails 42 allow the two locking plates 16 to slide in a fixed position without rotating. Two square slots are opened on the inner wall of the housing 1, and horizontal rails are set in both square slots. The two locking plates 16 are provided with grooves that match the horizontal rails. The two grooves slide on the two horizontal rails, so that the locking plates 16 can slide stably. This is mainly due to the relationship between action and reaction forces. At this time, the locking plate 16 is equivalent to a nut. When the locking screw 15 rotates, the locking plate 16 will move backward under the action of the reaction force, and thus insert into the lock hole 18 to complete the locking.

[0028] Reference Figure 2The buffer plate 23 is provided with multiple slide rails, which are slidably connected to multiple inner tubes 21. The multiple slide rails enable the buffer plate 23 to slide on the multiple inner tubes 21 without disengaging. When the control device body 39 is vibrated and moves upward, it will squeeze the buffer plate 23 to slide upward. The function of the inner tubes 21 is to ensure that the buffer plate 23 does not shift when moving up and down.

[0029] Reference Figure 3 The housing 1 contains two bearings, the inner rings of which are fixedly connected to two locking screws 15. The two bearings enable the two locking screws 15 to rotate in a fixed position.

[0030] Reference Figure 2 The slide 28 is provided with a seat rail, which is slidably connected to the slide 27. The seat rail allows the slide 27 to slide on the cover 20 without detaching.

[0031] In this embodiment, when the control device body 39 needs to be disassembled, the motor 2 is started, which drives the lifting screw 3 to rotate. The rotation of the lifting screw 3 drives the lifting plate 4 and the support plate 5 to rise. The rise of the support plate 5 allows the control device body 39 to rise. The rise of the lifting plate 4 drives the first rack 9 to rise. The rise of the first rack 9 drives the first gear 10 to rotate. The rotation of the first gear 10 drives the rotating rod 11 to rotate. The rotation of the rotating rod 11 drives the two first pulleys 12 to rotate. With the cooperation of the two first belts 14, the two first pulleys 12 rotate, which in turn drives the two second pulleys 13 to rotate. The rotation of the two second pulleys 13 drives the two locking screws 15 to rotate. The rotation of the two locking screws 15 drives the two locking plates 16 to slide, causing the two locking plates 16 to disengage from the locking holes 18 of the two hole plates 17, releasing the restriction on the box cover 20. At this time, the support plate 5 rises, which drives the two vertical tubes 24 to rise. With the cooperation of the vertical spring 25, the vertical rod 26 rises. With the cooperation of 7, the box cover 20 is opened. When the mounting plate 7 rises to a certain position, the second gear 30 begins to mesh with the second rack 29. Since the rack 29 is fixed, the second gear 30 will roll on the rack 29, thereby driving the third pulley 31 to rotate. With the cooperation of the second belt 34, the third pulley 31 rotates, thereby driving the fourth pulley 32 to rotate. The fourth pulley 32 rotates, thereby driving the double-acting screw 34 to rotate. The double-acting screw 34 rotates, thereby driving the two threaded plates 35 to slide and move away from each other, thereby causing the two clamping plates 36 to move away from each other, releasing the clamping of the control device body 39. At this time, the control device body 39 can be removed for maintenance. After maintenance, the control device body 39 is placed in the middle of the mounting plate 7, the motor 2 is reversed, and the box cover 20 is closed. When using the six-axis robotic arm, the elastic force of multiple support springs 8 and multiple buffer springs 22 can buffer the control device body 39, reduce the damage of vibration to the control device body 39, and improve safety.

[0032] Example 2

[0033] The difference between this embodiment and embodiment one is that: a fan, a controller, and a temperature sensor are installed inside the housing 1. The fan and the temperature sensor are electrically connected to the controller. When using the control device body 39 of the six-axis robotic arm, when the temperature sensor detects a high temperature, the controller controls the fan to start to cool down the control device body 39, preventing the parts inside the control device body 39 from being damaged due to excessive temperature, and improving the efficiency of use.

[0034] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control device of a six-axis robot arm, comprising a box (1) fixed on the six-axis robot arm, characterized in that, The housing (1) contains a motor (2) and a lifting mechanism. The lifting mechanism includes a lifting screw (3), which is fixedly connected to the output shaft of the motor (2). A lifting plate (4) is threaded onto the lifting screw (3). A support plate (5) is fixedly installed on the lifting plate (4). Multiple push rods (6) are slidably installed on the support plate (5). The same mounting plate (7) is fixedly installed on the multiple push rods (6). Each of the multiple push rods (6) is fitted with a support spring (8). A first rack (9) is fixedly installed on the lifting plate (4). The housing (1) contains a rotating... There is a rotating rod (11), on which a first gear (10) is fixedly installed. The first gear (10) meshes with a first rack (9). A locking mechanism is provided inside the box (1). A box cover (20) is rotatably installed on the box (1). Multiple inner tubes (21) are fixedly installed on the box cover (20). A buffer spring (22) is provided inside each of the multiple inner tubes (21). The same buffer plate (23) is slidably installed on the multiple inner tubes (21). A top-opening mechanism is provided on the support plate (5). A second rack (29) is provided on the inner wall of the box (1). A clamping mechanism is provided on the mounting plate (7). The locking mechanism includes two first pulleys (12), both of which are fixedly connected to the rotating rod (11). Two locking screws (15) are rotatably installed inside the housing (1). Two second pulleys (13) are fixedly installed on each of the two locking screws (15). Two first belts (14) are rotatably installed on the two first pulleys (12) and the two second pulleys (13). Locking plates (16) are threadedly connected to the two locking screws (15). Two perforated plates (17) are provided on the housing cover (20). Locking holes (18) are opened on the two perforated plates (17). The two locking plates (16) cooperate with the two locking holes (18). Two locking grooves (19) are opened inside the housing (1). The two perforated plates (17) cooperate with the two locking grooves (19). The opening mechanism includes two vertical tubes (24), each of which is equipped with a vertical spring (25). Two vertical rods (26) are fixedly installed at one end of each of the two vertical springs (25). Slide seats (27) are rotatably installed on each of the two vertical rods (26). Two sliding grooves (28) are provided on the box cover (20). The two slide seats (27) are slidably connected to the inner walls of the two sliding grooves (28). The clamping mechanism includes a second gear (30), which meshes with a second rack (29). The second gear (30) is rotatably connected to the mounting plate (7). A third pulley (31) is fixedly mounted on the second gear (30). A mounting groove (40) is provided on the mounting plate (7). A bidirectional screw (34) is rotatably mounted in the mounting groove (40). A fourth pulley (32) is fixedly mounted on the bidirectional screw (34). The same second belt is driven on the third pulley (31) and the fourth pulley (32). 33) Two threaded plates (35) are slidably installed on the mounting plate (7). Both threaded plates (35) are threadedly connected to the bidirectional screw (34). Both threaded plates (35) are fixedly installed with clamping plates (36). The two clamping plates (36) cooperate with each other. Both clamping plates (36) are provided with two auxiliary plates (37). Four auxiliary grooves (38) are opened on the mounting plate (7). The four auxiliary plates (37) are slidably connected to the inner walls of the four auxiliary grooves (38). The mounting plate (7) is provided with the control device body (39).

2. The control device of a six-axis robot arm according to claim 1, characterized in that, The box (1) is equipped with a vertical rail (41), which is slidably connected to the lifting plate (4).

3. The control device of a six-axis robot arm according to claim 1, wherein, The support plate (5) is provided with multiple grooves, which are slidably connected to multiple top rods (6).

4. The control device of a six-axis robot arm according to claim 1, wherein, The inner wall of the box (1) is provided with two horizontal rails, which are slidably connected to two locking plates (16).

5. The control device of a six-axis robot arm according to claim 1, wherein, The buffer plate (23) is provided with multiple slide rails, which are slidably connected to multiple inner tubes (21).

6. The control device of a six-axis robot arm according to claim 1, wherein, The housing (1) is equipped with two bearings, and the inner rings of the bearings are fixedly connected to two locking screws (15).

7. The control device for a six-axis robotic arm according to claim 1, characterized in that, The slide groove (28) is provided with a seat rail, which is slidably connected to the slide block (27).

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