A desktop six-axis robot with convenient replacement of processing head and processing method thereof

Abstract

The present invention discloses a desktop six-axis robot and a processing method thereof for convenient replacement of a processing head, which relates to the technical field of six-axis robots and comprises a horizontal motor unit 1, a horizontal rotating block and a control unit. The output end of the processing motor unit is installed with a clamping frame, and the outer side of the clamping frame is symmetrically penetrated by a threaded rod, one end of the threaded rod is installed with a limiting circular plate, and the front of the limiting circular plate is installed with a square. The top of the height adjustment plate 1 is symmetrically installed with a hydraulic telescopic unit 2, and the output end of the hydraulic telescopic unit 2 is provided with a fastening and disassembly mechanism. The present invention sets a fastening and disassembly mechanism, and by moving the plate ring 2 downward, the telescopic motor unit drives the fastening frame to move to the outside of the square, and then the torsion motor unit drives the fastening frame and the square to rotate, so that the threaded rod and the clamping plate move inward to clamp the processing head body, thereby facilitating the disassembly and replacement of the processing head body.

Description

Technical Field

[0001] The present invention relates to the technical field of six-axis robots, and in particular to a desktop six-axis robot with a convenient replacement processing head and a processing method thereof. Background Art

[0002] Six-axis industrial robots are a common type of industrial equipment in workshops. A grinding structure is set on the six-axis industrial robot, which can grind products from different directions. Traditionally, the processing head on the robot is replaced by manually disassembling the processing head and then placing the processing head in the installation position for installation, which has low disassembly and installation efficiency.

[0003] The defects of existing robots are:

[0004] 1. The prior art KR1019890000719B1 discloses a laser beam processing robot. This technology does not have a structure that can automatically disassemble and replace the processing head. The processing head needs to be replaced manually, which has low replacement efficiency. Therefore, a desktop six-axis robot with automatic disassembly and replacement of the processing head is needed to solve this problem.

[0005] 2. The prior art JP2009078288A discloses a laser processing robot. This technology does not have a structure for automatically sending the processing head that needs to be replaced to the location where it needs to be installed. Workers need to manually send the processing head to the location where it needs to be installed, which is relatively troublesome when replacing the processing head. Therefore, a desktop six-axis robot that can automatically send the processing head to the installation location and facilitate the replacement of the processing head is needed to solve this problem.

[0006] 3. Prior art JP2009184055A discloses a robotic machining device and a machining system. This technology does not have a structure to prevent the bolts fastening the machining head from loosening. The bolts fastening the machining head are prone to loosening and rotating when vibrated. Therefore, a desktop six-axis robot that can prevent the bolts fastening the machining head from loosening and rotating and facilitates replacement of the machining head is needed to solve this problem.

[0007] 4. The prior art CN108312134B discloses a six-axis robot. This technology does not have a structure to prevent foreign matter from falling on the outside of the bolt of the fastening processing head. When hard foreign matter falls on the outside of the bolt, forcibly rotating the bolt can easily cause damage to the outer teeth of the bolt. Therefore, a desktop six-axis robot that can prevent foreign matter from falling on the outside of the screw of the fastening processing head and facilitate the replacement of the processing head is needed to solve this problem. Summary of the Invention

[0008] One purpose of the present application is to provide a desktop six-axis robot and a processing method thereof that are convenient for replacing a processing head, which can solve the technical problems raised in the prior art.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a desktop six-axis robot with convenient replacement of processing heads, comprising a horizontal motor unit 1, a horizontal rotating block and a control unit, wherein the output end of the horizontal motor unit 1 is equipped with a horizontal rotating block, and the horizontal motor unit 1 is electrically connected to the control unit by signals, a vertical rotating rod 1 is movably installed on the inner side of the horizontal rotating block through a round rod, a vertical rotating rod 2 is movably installed on the inner side of the vertical rotating rod 1 through a round rod, a swing motor unit 1 is installed on the back side of the vertical rotating rod 2, and the swing motor unit 1 is electrically connected to the control unit by signals, a swing shaft is installed on the output end of the swing motor unit 1, and a right-angle plate 1 is installed at one end of the swing shaft, and the right-angle plate A swing motor unit 2 is installed on one side, and the swing motor unit 2 is electrically connected to the control unit by signal. A swing plate is installed on the output end of the swing motor unit 2. A hydraulic telescopic unit 1 is installed on one side of the swing plate, and the hydraulic telescopic unit 1 is electrically connected to the control unit by signal. A height adjustment plate 1 is installed on the output end of the hydraulic telescopic unit 1. The control unit is installed on the top of the height adjustment plate 1. A processing motor unit is installed on the bottom of the height adjustment plate 1, and the processing motor unit is electrically connected to the control unit by signal. A clamping frame is installed on the output end of the processing motor unit, and a threaded rod is symmetrically installed on the outer side of the clamping frame. A limiting circular plate is installed on one end of the threaded rod, and a block is installed on the front of the limiting circular plate.

[0010] A hydraulic telescopic unit 2 is symmetrically installed on the top of the height adjustment plate 1, and the hydraulic telescopic unit 2 is electrically connected to the control unit. The output end of the hydraulic telescopic unit 2 is provided with a fastening and disassembly mechanism.

[0011] Preferably, a vertical motor unit 1 is installed on one side of the horizontal rotating block, and the vertical motor unit 1 is electrically connected to the control unit, and the output end of the vertical motor unit 1 is connected to a round rod arranged on one side of the vertical rotating rod 1 and passing through the inner wall of one side of the horizontal rotating block, a vertical motor unit 2 is installed on one side of the vertical rotating rod 1, and the vertical motor unit 2 is electrically connected to the control unit, and the output end of the vertical motor unit 2 is connected to a round rod arranged on one side of the vertical rotating rod 2 and passing through the inner wall of one side of the vertical rotating rod 1.

[0012] Preferably, grooves are symmetrically formed on the outer side of the limiting circular plate.

[0013] Preferably, a top block is installed at one end of the threaded rod, a spring is installed on one side of the top block, a movable ring is movably installed on the outer side of the top block, a clamping plate is installed on one side of the movable ring, and multiple frames are symmetrically installed on the inner wall of the clamping frame, and the frames are located on the outer side of the clamping plate, and the processing head body is installed on the inner side of the clamping plate.

[0014] Preferably, the fastening and disassembly mechanism includes a plate ring 2, a telescopic motor unit, a movable plate, a torsion motor unit and a fastening frame, the output end of the hydraulic telescopic unit 2 is installed with a plate ring 2, a plurality of telescopic motor units are symmetrically installed on the outer side of the plate ring 2, the telescopic motor unit is electrically connected to the control unit by signal, the output end of the telescopic motor unit is installed with a movable plate, a torsion motor unit is installed on one side of the movable plate, the torsion motor unit is electrically connected to the control unit by signal, and the output end of the torsion motor unit is installed with a fastening frame.

[0015] Preferably, blocks are symmetrically installed on the front and back of the clamp frame, a pull rod is movably installed through the top of the block, a bolt is installed through one side of the block, a plate ring 1 is installed at one end of the pull rod, and a plurality of limit rods are symmetrically installed at the bottom of the plate ring 1.

[0016] Preferably, dustproof ring bodies 1 are symmetrically installed on both sides of the limiting plug rod, and multiple dustproof ring bodies 2 are symmetrically installed on the outer side of the clamping frame, and the dustproof ring bodies 2 are located below the dustproof ring body 1.

[0017] Preferably, a right-angle plate 2 is installed on the top of the height adjustment plate 1, a hydraulic telescopic unit 3 is installed on the top of the right-angle plate 2, the hydraulic telescopic unit 3 is electrically connected to the control unit by signals, the output end of the hydraulic telescopic unit 3 is installed with the height adjustment plate 2, a hydraulic telescopic unit 4 is installed on the front of the height adjustment plate 2, the hydraulic telescopic unit 4 is electrically connected to the control unit by signals, and a box body is installed at the output end of the hydraulic telescopic unit 4.

[0018] Preferably, the processing method of the desktop six-axis robot with convenient replacement of the processing head is as follows:

[0019] S1. Place the processing head body inside the box body, then the box body drives the processing head body to move to the bottom of the clamping frame, and then the box body moves upward to drive the processing head body into the inside of the clamping frame;

[0020] S2, the plate ring 2 moves downward, the telescopic motor unit drives the fastening frame to move to the outside of the block, and then the torsion motor unit drives the fastening frame and the block to rotate, so that the threaded rod and the clamping plate move inward to clamp the processing head body;

[0021] S3. Then the plate ring 2 moves up, and then the plate ring moves down to insert the limiting rod into the groove outside the limiting circular plate.

[0022] Preferably, the step S3 further includes the following steps:

[0023] S31. When the plate ring moves downward, the dustproof ring body moves downward to surround the upper part of the threaded rod.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention sets up a fastening and disassembly mechanism. By moving the plate ring 2 downward, the telescopic motor unit drives the fastening frame to move to the outside of the block, and then the torsion motor unit drives the fastening frame and the block to rotate, so that the threaded rod and the clamping plate move inward to clamp the processing head body, thereby facilitating the disassembly and replacement of the processing head body.

[0026] 2. The present invention places the processing head body inside the box body, and then the box body drives the processing head body to move to the bottom of the clamping frame. Then the box body moves up to drive the processing head body into the inside of the clamping frame. There is no need to manually place the processing head body into the clamping frame, which saves physical strength, improves installation efficiency, and reduces the risk during installation.

[0027] 3. The present invention fixes the limiting circular plate by moving the plate ring downward, thereby inserting the limiting rod into the groove on the outside of the limiting circular plate, preventing the limiting circular plate from rotating, and further preventing the threaded rod from rotating, thereby increasing the stability of the clamping plate fastening to the processing head body.

[0028] 4. The present invention enables the plate ring to move downward, and then enables the dustproof ring body to move downward to surround the upper part of the threaded rod, while the dustproof ring body surrounds the lower part of the threaded rod, thereby preventing product debris or external impurities from falling on the outside of the threaded rod when the processing head body processes the workpiece, and thereby preventing the presence of hard impurities on the outside of the threaded rod from causing damage to the threaded rod when it rotates. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A perspective view of the present invention;

[0030] Figure 2 This is a structural schematic diagram of a height adjustment plate according to the present invention;

[0031] Figure 3 This is a schematic diagram of the second structure of the right-angle plate of the present invention;

[0032] Figure 4 This is a schematic diagram of the clamping frame structure of the present invention;

[0033] Figure 5 This is a schematic structural diagram of location A of the present invention;

[0034] Figure 6 It is a schematic structural diagram of the compression plate of the present invention;

[0035] Figure 7 This is a schematic diagram of the plate ring structure of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the movable plate of the present invention;

[0037] Figure 9 The figure is a flow chart of the method of using the present invention.

[0038] In the figure: 1, horizontal motor unit 1; 2, horizontal rotating block; 3, vertical rotating rod 1; 4, vertical motor unit 1; 5, vertical rotating rod 2; 6, vertical motor unit 2; 7, swing motor unit 1; 8, swing shaft; 9, right angle plate 1; 10, swing motor unit 2; 11, swing plate; 12, hydraulic telescopic unit 1; 13, height adjustment plate 1; 14, control unit; 15, processing motor unit; 16, clamping frame; 17, threaded rod; 18, limiting circular plate; 19, groove; 20, block; 21, top block; 22, Spring; 23. Movable ring; 24. Pressing plate; 25. Frame; 26. Processing head body; 27. Block; 28. Pull rod; 29. ​​Bolt; 30. Plate ring 1; 31. Limiting rod; 32. Dustproof ring body 1; 33. Dustproof ring body 2; 34. Hydraulic telescopic unit 2; 35. Plate ring 2; 36. Telescopic motor unit; 37. Moving plate; 38. Torsion motor unit; 39. Fastening frame; 40. Right-angle plate 2; 41. Hydraulic telescopic unit 3; 42. Height adjustment plate 2; 43. Hydraulic telescopic unit 4; 44. Box body. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , an embodiment provided by the present invention: a desktop six-axis robot with convenient replacement of processing heads;

[0043] The invention comprises a horizontal motor unit 1, a horizontal rotating block 2 and a control unit 14. The output end of the horizontal motor unit 1 is installed with the horizontal rotating block 2, and the horizontal motor unit 1 is electrically connected to the control unit 14. The inner side of the horizontal rotating block 2 is movably installed with a vertical rotating rod 3 through a round rod, and the inner side of the vertical rotating rod 3 is movably installed with a vertical rotating rod 2 5 through a round rod. The back of the vertical rotating rod 2 5 is installed with a swing motor unit 17, and the swing motor unit 7 is electrically connected to the control unit 14. The output end of the swing motor unit 7 is installed with a swing shaft 8, one end of the swing shaft 8 is installed with a right angle plate 19, and one side of the right angle plate 9 is installed with a swing motor unit 2 10, and the swing motor unit 2 10 is electrically connected to the control unit 14. The output end of the swing motor unit 2 10 is installed with a swing plate 11, and a hydraulic telescopic unit 12 is installed on one side of the swing plate 11, and the hydraulic telescopic unit 12 is connected with the control unit 14 by electrical signals. The output end of the hydraulic telescopic unit 12 is installed with a height adjustment plate 13, and the control unit 14 is installed on the top of the height adjustment plate 13. The horizontal motor unit 1 is a motor that can convert electrical energy into kinetic energy, thereby driving the horizontal rotating block 2 to rotate. The horizontal rotating block 2 can drive the vertical rotating rod 13 to rotate horizontally through horizontal rotation. The vertical rotating rod 3 can drive the vertical rotating rod 2 5, the vertical motor unit 2 6, the height adjustment plate 13 and the clamping frame 16 to rotate horizontally through horizontal rotation. At the same time, the vertical rotating rod 3 By rotating up and down, the vertical rotating rod 25, the vertical motor unit 26, the height adjustment plate 13 and the clamping frame 16 can be driven to rotate up and down. The vertical rotating rod 25 can drive the right-angle plate 9, the height adjustment plate 13 and the clamping frame 16 to rotate up and down by rotating up and down. The swing motor unit 17 is a motor that can convert electrical energy into kinetic energy, thereby driving the swing shaft 8 to rotate. The swing shaft 8 can drive the right-angle plate 9, the height adjustment plate 13 and the clamping frame 16 to rotate on the vertical plane by rotating. The right-angle plate 9 can provide an installation position for the swing motor unit 210. The swing motor unit 210 is a motor that can convert electrical energy into kinetic energy, thereby driving the swing plate 11 to rotate. The swing plate 11 can drive the liquid by rotating. The hydraulic expansion unit 12, the height adjustment plate 13 and the clamping frame 16 rotate on the horizontal plane. The hydraulic expansion unit 12 is a hydraulic cylinder that can convert hydraulic energy into kinetic energy, thereby driving the height adjustment plate 13 and the clamping frame 16 to move up and down. The height adjustment plate 13 can drive the clamping frame 16 and the box body 44 to move up and down by moving up and down. The control unit 14 is a controller that can control the horizontal motor unit 1, the vertical motor unit 14, the vertical motor unit 26, the swing motor unit 17, the swing motor unit 210, the hydraulic expansion unit 12, the processing motor unit 15, the hydraulic expansion unit 234, the telescopic motor unit 36, the torsion motor unit 38, the hydraulic expansion unit 341 and the hydraulic expansion unit 43.A processing motor unit 15 is installed at the bottom of the height adjustment plate 13, and the processing motor unit 15 is electrically connected to the control unit 14. A clamping frame 16 is installed at the output end of the processing motor unit 15. A threaded rod 17 is symmetrically installed on the outside of the clamping frame 16. A limiting circular plate 18 is installed at one end of the threaded rod 17. A block 20 is installed on the front of the limiting circular plate 18. A vertical motor unit 4 is installed on one side of the horizontal rotating block 2, and the vertical motor unit 4 is electrically connected to the control unit 14. The output end of the vertical motor unit 4 is connected to a circular rod that passes through the inner wall of one side of the horizontal rotating block 2 and is arranged on one side of the vertical rotating rod 3. A vertical motor unit 26 is installed on one side of the vertical rotating rod 3, and the vertical motor unit 26 is electrically connected to the control unit 14. The output end of the vertical motor unit 26 is connected to a circular rod that passes through the vertical rotating rod 25 and is arranged on one side of the vertical rotating rod 5. The round rods on the inner wall of one side of the rod 13 are connected, and the outer side of the limiting circular plate 18 is symmetrically penetrated with a groove 19. The processing motor unit 15 is a motor that can convert electrical energy into kinetic energy, thereby driving the clamping frame 16 to rotate. The clamping frame 16 can provide an installation position for the threaded rod 17. The threaded rod 17 can drive the movable ring 23 and the clamping plate 24 to move by rotation. The limiting circular plate 18 can provide an opening position for the groove 19. The block 20 can enter the interior of the fastening frame 39 and can rotate under the rotation of the fastening frame 39, thereby driving the threaded rod 17 to rotate. The vertical motor unit 14 is a motor that can convert electrical energy into kinetic energy, thereby driving the vertical rotating rod 13 to rotate up and down. The vertical motor unit 26 is a motor that can convert electrical energy into kinetic energy, thereby driving the vertical rotating rod 25 to rotate. The groove 19 can provide an insertion position for the limiting plug 31.

[0044] See also Figure 1 、 Figure 2 and Figure 6 , an embodiment provided by the present invention: a desktop six-axis robot with convenient replacement of processing heads;

[0045] It includes a top block 21 and a clamping plate 24. The top block 21 is installed at one end of the threaded rod 17, and a spring 22 is installed on one side of the top block 21. A movable ring 23 is movably installed on the outside of the top block 21, and a clamping plate 24 is installed on one side of the movable ring 23. A plurality of frames 25 are symmetrically installed on the inner wall of the clamping frame 16, and the frames 25 are located on the outside of the clamping plate 24. A processing head body 26 is installed on the inside of the clamping plate 24. The top block 21 can drive the movable ring 23 and the clamping plate 24 to move by moving. The spring 22 can transfer the pressure of the top block 21 to the clamping plate 24, and the movable ring 23 plays the role of connecting the top block 21 and the clamping plate 24. The clamping plate 24 can apply pressure to the processing head body 26 by moving inward, thereby fixing the processing head body 26. The processing head body 26 can be a processing tool to process the workpiece.

[0046] See also Figure 1 、 Figure 2 、 Figure 7 and Figure 8 , an embodiment provided by the present invention: a desktop six-axis robot with convenient replacement of processing heads;

[0047] It includes a hydraulic telescopic unit 2 34 and a torsion motor unit 38. The hydraulic telescopic unit 2 34 is symmetrically installed on the top of the height adjustment plate 13, and the hydraulic telescopic unit 2 34 is electrically connected to the control unit 14. The output end of the hydraulic telescopic unit 2 34 is provided with a fastening and disassembly mechanism. The fastening and disassembly mechanism includes a hydraulic telescopic unit 2 34, a plate ring 2 35, a telescopic motor unit 36, a moving plate 37, a torsion motor unit 38 and a fastening frame 39. The output end of the hydraulic telescopic unit 2 34 is installed with a plate ring 2 35, and a plurality of telescopic motor units 36 are symmetrically installed on the outside of the plate ring 2 35. The telescopic motor unit 36 ​​is electrically connected to the control unit 14. The output end of the telescopic motor unit 36 ​​is installed with a moving plate 37, and a torsion motor unit 38 is installed on one side of the moving plate 37. 38 is connected to the control unit 14 by electrical signals. A fastening frame 39 is installed at the output end of the torsion motor unit 38. The hydraulic telescopic unit 2 34 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the plate ring 2 35 to move up and down. The plate ring 2 35 can drive the telescopic motor unit 36 ​​and the fastening frame 39 to move up and down by moving up and down. The telescopic motor unit 36 ​​is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the movable plate 37 to move. The movable plate 37 can drive the torsion motor unit 38 and the fastening frame 39 to move by moving. The fastening frame 39 can be sleeved on the outside of the block 20 by moving inward, thereby driving the block 20 to rotate. The torsion motor unit 38 is a motor, which can convert electrical energy into kinetic energy, thereby driving the fastening frame 39 to rotate.

[0048] See also Figure 1 、 Figure 2 、 Figure 4 and Figure 5 , an embodiment provided by the present invention: a desktop six-axis robot with convenient replacement of processing heads;

[0049] The clamping frame 16 includes a block 27 and a second dustproof ring 33. The block 27 is symmetrically installed on the front and back of the clamping frame 16. A pull rod 28 is installed movably through the top of the block 27. A bolt 29 is installed through one side of the block 27. A plate ring 30 is installed at one end of the pull rod 28. A plurality of limiting rods 31 are symmetrically installed at the bottom of the plate ring 30. Dustproof rings 32 are symmetrically installed on both sides of the limiting rods 31. A plurality of dustproof rings 33 are symmetrically installed on the outside of the clamping frame 16. The dustproof rings 33 are located below the dustproof rings 32. The block 27 can provide an installation position for the pull rod 28. The pull rod 28 is installed through the The plate ring 1 30 can be driven to move up and down by moving up and down. The plate ring 1 30 can drive the limiting rod 31 to move up and down by moving up and down. The limiting rod 31 can be inserted into the groove 19 by moving downward, thereby limiting the limiting circular plate 18 to prevent the limiting circular plate 18 from rotating, and then preventing the threaded rod 17 from rotating, thereby ensuring the stability of the clamping plate 24 fixing the processing head body 26. The dustproof ring body 1 32 plays a role in preventing dust and impurities, preventing external impurities from falling to the outside of the threaded rod 17. The dustproof ring body 2 33 plays a role in preventing dust, preventing external impurities from falling to the outside of the threaded rod 17.

[0050] See also Figure 1 、 Figure 2 and Figure 3 , an embodiment provided by the present invention: a desktop six-axis robot with convenient replacement of processing heads;

[0051] The second right-angle plate 40 and the second height-adjusting plate 42 are installed on the top of the first height-adjusting plate 13. The third hydraulic telescopic unit 41 is installed on the top of the second right-angle plate 40. The third hydraulic telescopic unit 41 is connected to the control unit 14 by electrical signals. The output end of the third hydraulic telescopic unit 41 is installed with the second height-adjusting plate 42. The front of the second height-adjusting plate 42 is installed with the fourth hydraulic telescopic unit 43. The fourth hydraulic telescopic unit 43 is connected to the control unit 14 by electrical signals. The output end of the fourth hydraulic telescopic unit 43 is installed with a box body 44. The second right-angle plate 40 can provide an installation position for the third hydraulic telescopic unit 41 so that the hydraulic The hydraulic telescopic unit three 41 has a position for installation. The hydraulic telescopic unit three 41 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the height adjustment plate two 42 to move up and down. The height adjustment plate two 42 can drive the hydraulic telescopic unit four 43 and the box body 44 to move up and down by moving up and down. The hydraulic telescopic unit four 43 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the box body 44 to move back and forth. The box body 44 can provide a placement position for the processing head body 26, thereby avoiding the staff manually holding the processing head body 26, reducing the risk when replacing the processing head, and improving the replacement efficiency.

[0052] The processing method of a desktop six-axis robot that is easy to replace the processing head is as follows:

[0053] S1. Place the processing head body 26 inside the box body 44. Then the box body 44 drives the processing head body 26 to move to the bottom of the clamping frame 16. Then the box body 44 moves upward to drive the processing head body 26 into the inner side of the clamping frame 16.

[0054] S2, the plate ring 35 moves downward, the telescopic motor unit 36 ​​drives the fastening frame 39 to move to the outside of the block 20, and then the torsion motor unit 38 drives the fastening frame 39 and the block 20 to rotate, so that the threaded rod 17 and the clamping plate 24 move inward to clamp the processing head body 26;

[0055] S3, then the plate ring 2 35 moves upward, and then the plate ring 1 30 moves downward so that the limiting rod 31 is inserted into the groove 19 outside the limiting circular plate 18.

[0056] S3 also includes the following steps:

[0057] S31. When the plate ring 30 moves downward, the dustproof ring body 32 moves downward to surround the upper part of the threaded rod 17.

[0058] Working principle: Before using the desktop six-axis robot with easy replacement of processing heads, you should first check whether there are any problems that affect the use of the desktop six-axis robot with easy replacement of processing heads, place the processing head body 26 inside the box body 44, and then the box body 44 drives the processing head body 26 to move to the bottom of the clamping frame 16, then the box body 44 moves up to drive the processing head body 26 into the inside of the clamping frame 16, the plate ring 2 35 moves down, the telescopic motor unit 36 ​​drives the fastening frame 39 to move to the outside of the block 20, and then the torsion motor unit 38 drives the fastening frame 39 and the block 20 to rotate, so that the threaded rod 17 and the clamping plate 24 move inward to clamp the processing head body 26, then the plate ring 2 35 moves up, and then the plate ring 1 30 moves down to insert the limit rod 31 into the groove 19 on the outside of the limit circular plate 18, and when the plate ring 1 30 moves down, the dustproof ring body 1 32 moves down to surround the top of the threaded rod 17.

[0059] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description. It is intended that all variations within the meaning and range of equivalents of the claims be embraced herein, and any reference signs in the claims should not be construed as limiting the rights involved.

Claims

1. A desktop six-axis robot with convenient replacement of processing heads, characterized by: The invention comprises a horizontal motor unit (1), a horizontal rotating block (2) and a control unit (14), wherein the output end of the horizontal motor unit (1) is installed with the horizontal rotating block (2), and the horizontal motor unit (1) is electrically connected to the control unit (14), the inner side of the horizontal rotating block (2) is movably installed with a vertical rotating rod (3) through a round rod, the inner side of the vertical rotating rod (3) is movably installed with a vertical rotating rod (5) through a round rod, the back side of the vertical rotating rod (5) is installed with a swing motor unit (7), and the swing motor unit (7) is electrically connected to the control unit (14), the output end of the swing motor unit (7) is installed with a swing shaft (8), one end of the swing shaft (8) is installed with a right angle plate (9), one side of the right angle plate (9) is installed with a swing motor unit (10), and the swing motor unit (10) is electrically connected to the control unit (1 4) electrical signal connection, the output end of the swing motor unit 2 (10) is installed with a swing plate (11), one side of the swing plate (11) is installed with a hydraulic telescopic unit 1 (12), and the hydraulic telescopic unit 1 (12) is electrically connected to the control unit (14), the output end of the hydraulic telescopic unit 1 (12) is installed with a height adjustment plate 1 (13), the control unit (14) is installed on the top of the height adjustment plate 1 (13), the bottom of the height adjustment plate 1 (13) is installed with a processing motor unit (15), and the processing motor unit (15) is electrically connected to the control unit (14), the output end of the processing motor unit (15) is installed with a clamping frame (16), the outer side of the clamping frame (16) is symmetrically penetrated by a threaded rod (17), one end of the threaded rod (17) is installed with a limiting circular plate (18), and the front of the limiting circular plate (18) is installed with a block (20); A hydraulic telescopic unit 2 (34) is symmetrically mounted on the top of the height adjustment plate 1 (13), and the hydraulic telescopic unit 2 (34) is electrically connected to the control unit (14), and a fastening and disassembly mechanism is provided at the output end of the hydraulic telescopic unit 2 (34); A top block (21) is installed at the other end of the threaded rod (17), a spring (22) is installed on one side of the top block (21), a movable ring (23) is movably installed on the outer side of the top block (21), a pressing plate (24) is installed on one side of the movable ring (23), a plurality of frames (25) are symmetrically installed on the inner wall of the clamping frame (16), and the frames (25) are located on the outer side of the pressing plate (24), and a processing head body (26) is installed on the inner side of the pressing plate (24); The fastening and disassembling mechanism comprises a plate ring 2 (35), a telescopic motor unit (36), a movable plate (37), a torsion motor unit (38) and a fastening frame (39); the output end of the hydraulic telescopic unit 2 (34) is mounted with the plate ring 2 (35); a plurality of telescopic motor units (36) are symmetrically mounted on the outer side of the plate ring 2 (35); the telescopic motor units (36) are electrically connected to the control unit (14); the output end of the telescopic motor unit (36) is mounted with the movable plate (37); a torsion motor unit (38) is electrically connected to the control unit (14); the output end of the torsion motor unit (38) is mounted with the fastening frame (39); the hydraulic telescopic unit 2 (34) drives the plate ring 2 (35) to move up and down; the fastening frame (39) can be sleeved on the outer side of the block (20) by moving inward, thereby driving the block (20) to rotate.

2. The desktop six-axis robot with convenient replacement of processing heads according to claim 1, characterized in that: A vertical motor unit 1 (4) is installed on one side of the horizontal rotating block (2), and the vertical motor unit 1 (4) is electrically connected to the control unit (14), and the output end of the vertical motor unit 1 (4) is connected to a round rod arranged on one side of the vertical rotating rod 1 (3) and passing through the inner wall of one side of the horizontal rotating block (2), a vertical motor unit 2 (6) is installed on one side of the vertical rotating rod 1 (3), and the vertical motor unit 2 (6) is electrically connected to the control unit (14), and the output end of the vertical motor unit 2 (6) is connected to a round rod arranged on one side of the vertical rotating rod 2 (5) and passing through the inner wall of one side of the vertical rotating rod 1 (3).

3. The desktop six-axis robot with convenient replacement of processing heads according to claim 1, characterized in that: Grooves (19) are symmetrically formed on the outer side of the limiting circular plate (18).

4. The desktop six-axis robot with convenient replacement of processing heads according to claim 1, characterized in that: The front and back sides of the clamping frame (16) are symmetrically mounted with blocks (27), the top of the block (27) is movably mounted with a pull rod (28), one side of the block (27) is mounted with a bolt (29), one end of the pull rod (28) is mounted with a plate ring (30), and the bottom of the plate ring (30) is symmetrically mounted with a plurality of limit rods (31).

5. The desktop six-axis robot with convenient replacement of processing heads according to claim 4, characterized in that: Dustproof ring bodies (32) are symmetrically installed on both sides of the limiting plug rod (31), and multiple dustproof ring bodies (33) are symmetrically installed on the outer side of the clamping frame (16), and the dustproof ring bodies (33) are located below the dustproof ring body (32).

6. The desktop six-axis robot with convenient replacement of processing heads according to claim 5, characterized in that: The top of the height adjustment plate 1 (13) is installed with a right-angle plate 2 (40), the top of the right-angle plate 2 (40) is installed with a hydraulic telescopic unit 3 (41), the hydraulic telescopic unit 3 (41) is electrically connected to the control unit (14), the output end of the hydraulic telescopic unit 3 (41) is installed with a height adjustment plate 2 (42), the front of the height adjustment plate 2 (42) is installed with a hydraulic telescopic unit 4 (43), the hydraulic telescopic unit 4 (43) is electrically connected to the control unit (14), the output end of the hydraulic telescopic unit 4 (43) is installed with a box body (44), and the box body (44) provides a placement position for the processing head body (26).

7. The processing method of a desktop six-axis robot with convenient replacement of a processing head according to claim 6, characterized in that: The processing method of the desktop six-axis robot with convenient replacement of the processing head is as follows: S1. Place the processing head body (26) inside the box body (44), then the box body (44) drives the processing head body (26) to move to the bottom of the clamping frame (16), and then the box body (44) moves upward to drive the processing head body (26) into the inner side of the clamping frame (16); S2, the plate ring 2 (35) moves downward, the telescopic motor unit (36) drives the fastening frame (39) to move to the outside of the block (20), and then the torsion motor unit (38) drives the fastening frame (39) and the block (20) to rotate, thereby causing the threaded rod (17) and the clamping plate (24) to move inward to clamp the processing head body (26); S3. Then the plate ring 2 (35) moves upward, and then the plate ring 1 (30) moves downward so that the limiting rod (31) is inserted into the groove (19) on the outer side of the limiting circular plate (18).

8. The processing method of a desktop six-axis robot with convenient replacement of a processing head according to claim 7, characterized in that: The S3 also includes the following steps: S31. When the plate ring 1 (30) moves downward, the dustproof ring body 1 (32) moves downward to surround the upper part of the threaded rod (17).

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