A six-axis industrial robot

Abstract

The invention provides a six-axis industrial robot, comprising an S-axis, an L-axis, a U-arm, an R-axis, a T-axis and a B-axis which are connected to each other in sequence, wherein the S-axis is rotatably connected to a base via a driving motor, and a travel switch is arranged on the S-axis, and further comprising a mechanical limit device arranged to match the travel switch, for controlling the driving motor to stop working, wherein the mechanical limit device comprises a first support assembly and a second support assembly which can move towards or away from each other, and a buffer assembly which is arranged between the first support assembly and the second support assembly and is used to connect the first support assembly and the second support assembly; the invention improves the existing mechanical limit structure, and an impact force buffer structure is arranged in the improved mechanical limit device, and the buffer structure can buffer and reduce the impact force when the travel switch collides with the mechanical limit device, thereby avoiding damage to the travel switch caused by the impact force.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a six-axis industrial robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. As an irreplaceable important equipment and means in advanced manufacturing, industrial robots have become an important symbol to measure a country's manufacturing and technological levels. Nowadays, with the rapid development and progress of social science and technology, industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. Commonly used industrial robots can usually be divided into four-axis industrial robots, five-axis industrial robots and six-axis industrial robots. Among them, six-axis industrial robots are multi-joint, multi-degree-of-freedom robots with many movements, flexible changes, and more degrees of freedom of action. They are industrial robots with higher flexible technology, and six-axis industrial robots are also widely used.

[0003] In the prior art, when a commonly used six-axis industrial robot is used, the S axis of the six-axis industrial robot is usually first installed on a base through a driving motor, and then the base is fixed on a horizontal working platform. At the same time, a travel switch is provided on the S axis, and a mechanical limit structure is provided on the base. When the travel switch hits the mechanical limit structure during operation, the control device controls the driving motor connected to the S axis to stop rotating, wherein the mechanical limit structure includes a positioning block, and the positioning block is connected to the base through screws. However, since the mechanical limit structure has a simple structure and does not have a buffering effect, when the travel switch hits the positioning block, due to the impact force, the travel switch is easily damaged by the impact. In order to solve the above problems, a six-axis industrial robot is proposed in the present invention. Summary of the invention

[0004] To achieve the above-mentioned purpose, the present invention provides a six-axis industrial robot, comprising an S-axis, an L-axis, a U-arm, an R-axis, a T-axis and a B-axis connected to each other in sequence, wherein the S-axis is rotatably connected to a base through a driving motor, and a travel switch is arranged on the S-axis, and further comprising a mechanical limit device arranged to match the travel switch, and controlling the driving motor to stop working when the mechanical limit device collides with the mechanical limit device, wherein the mechanical limit device comprises a first support assembly and a second support assembly that can move toward or away from each other, and a buffer assembly arranged between the first support assembly and the second support assembly and used to connect the first support assembly and the second support assembly, and when working, when the travel switch collides with the first support assembly to make the first support assembly move toward the second support assembly, the buffer distance and buffer force squeezed by the buffer assembly can reduce the impact force received by the travel switch.

[0005] Optionally, the first support assembly includes a support plate and a first movable rod fixedly connected to each other, one end of the first movable rod away from the support plate is fixedly connected to the first support tube, the opening of the first support tube is arranged away from the first movable rod, and a buffer rubber pad is fixedly arranged on the inner side wall of the first support tube. When working, the travel switch moves inside or outside the tube cavity of the first support tube.

[0006] Optionally, the second support assembly includes a fixed seat fixedly connected to the base, the free end of the fixed seat is fixedly connected to a second support tube, the opening of the second support tube is arranged away from the fixed seat, and a buffer cavity for the movement of the support plate and the first moving rod is arranged in the second support tube, and the buffer cavity is connected to the opening of the second support tube.

[0007] Optionally, the buffer assembly is arranged in the buffer cavity, and the two ends of the buffer assembly are respectively fixedly connected to the side wall of the buffer cavity and the side wall of the support plate, and the number of the buffer assemblies is N, where N is a positive integer greater than or equal to 1, wherein the buffer assembly includes a second moving rod, a buffer tube and a buffer spring, the second moving rod is movably inserted in the buffer tube, the buffer spring is wound and arranged outside the second moving rod, and the two ends of the buffer spring are respectively fixedly connected to the side wall of the second moving rod and the outer wall of the buffer tube.

[0008] Optionally, the mechanical limiting device also includes a sealing component, which is sleeved outside the circumference of the support plate, so that when the support plate moves in the buffer cavity, the sealing component and the buffer cavity are tightly squeezed through the elastic deformation of the sealing component when being squeezed, so as to separate the vertical sides of the support plate into two unconnected spaces, and the sealing component includes a sealing rubber ring fixedly sleeved on the circumference of the support plate, and an air storage groove is opened on the sealing rubber ring.

[0009] Optionally, it also includes a complementary locking mechanism for locking the first support tube and the travel switch, the complementary locking mechanism includes a driving cylinder fixedly arranged on the outer wall of the first support tube, the driving end of the driving cylinder is connected to a locking rod, and the travel switch is provided with a locking groove matching the locking rod, the driving cylinder drives the locking rod into the locking groove to complete the locking of the travel switch and the first support tube, wherein the number of the complementary locking mechanisms is set to M, and M is a positive integer greater than or equal to 1.

[0010] Optionally, it also includes an intelligent control mechanism, which includes a movable piston, which is movably arranged in a movable chamber, and the movable chamber is opened on a supporting plate and a first movable rod. The side wall of the movable piston is fixedly connected with a push plate, and a connecting spring is wound around the outside of the push plate. The two ends of the connecting spring are respectively fixedly connected to an elastic rod, and the free end of the elastic rod is fixedly connected with a first electrode contact piece. The first electrode contact piece and the elastic rod are both movably arranged on the first movable rod, and a second electrode contact piece matching the first electrode contact piece is arranged on the second support cylinder.

[0011] Optionally, it also includes a zero-position positioning mechanism arranged on the S-axis to enable the S-axis to always reset to the zero-position initial position, the zero-position positioning mechanism includes a first fixed ring fixedly sleeved outside the S-axis, and a second fixed ring surrounded and arranged outside the first fixed ring, the second fixed ring has a support groove on the inner side of the curve, a support slide bar is fixedly connected to the length direction of the support groove, a support slip ring is movable sleeved outside the support slide bar, a connecting plate is fixedly connected to the side wall of the support slip ring, and the free end of the connecting plate is fixedly connected to the first fixed ring, and the zero-position positioning mechanism also includes a locking assembly to lock the S-axis at the zero-position initial position when resetting.

[0012] Optionally, the locking assembly includes a locking groove provided on the supporting slip ring, a first arc groove in the shape of a trumpet is provided on the opening edge of the locking groove, a locking rod is movably arranged in the locking groove, a second arc groove and a third arc groove are arranged on the locking rod, one end of the locking rod located outside the locking groove is fixedly connected to an elastic telescopic rod, the free end of the elastic telescopic rod is fixedly connected to the side wall of the anti-stuck cavity, the anti-stuck cavity is provided on the second fixed ring, and the locking rod is movably arranged in the anti-stuck cavity.

[0013] Optionally, the zero-position positioning mechanism also includes two magnet rings respectively connected to the opposite ends of the support slip ring, and the two magnet rings are movably mounted outside the support slide rod. Electromagnets are fixedly connected to the two side walls of the support groove in the length direction, and the electromagnets are matched with the magnet rings.

[0014] The beneficial effects of the present invention are as follows:

[0015] The present invention improves the existing mechanical limit structure, and an impact force buffer structure is arranged in the improved mechanical limit device. The arrangement of the buffer structure can buffer and reduce the impact force when the travel switch collides with the mechanical limit device, thereby avoiding damage to the travel switch caused by the impact force; and the improved mechanical limit device has a reasonable structural design, and the buffer force is in both positive and opposite directions to the impact force, so that the impact force can be more effectively offset by the buffer force, thereby ensuring the effectiveness of reducing the impact force, and further achieving effective protection for the travel switch. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of a six-axis industrial robot of the present invention;

[0017] Figure 2 It is a left-side structural schematic diagram of an embodiment of a six-axis industrial robot of the present invention;

[0018] Figure 3 It is a schematic structural diagram of a mechanical limit device in a six-axis industrial robot of the present invention;

[0019] Figure 4 It is a structural schematic diagram of a sealing component in a six-axis industrial robot of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the complementary locking mechanism in the six-axis industrial robot of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the intelligent control mechanism in the six-axis industrial robot of the present invention;

[0022] Figure 7 It is a front view structural schematic diagram of the zero-position positioning mechanism in the six-axis industrial robot of the present invention;

[0023] Figure 8 It is a three-dimensional structural schematic diagram of the zero-position positioning mechanism in the six-axis industrial robot of the present invention;

[0024] Fig. 9 The six-axis industrial robot of the present invention Figure 8 A schematic diagram of a top view structure;

[0025] Fig.10 The six-axis industrial robot of the present invention Fig. 9 A magnified schematic diagram of the structure A;

[0026] Fig.11 The six-axis industrial robot of the present invention Fig.10 Schematic diagram of the enlarged structure B.

[0027] Reference numerals

[0028] Base 1, S axis 2, mechanical limit device 3, first support assembly 31, support plate 311, first moving rod 312, first support cylinder 313, buffer rubber pad 314, second support assembly 32, fixed seat 321, second support cylinder 322, buffer cavity 323, buffer assembly 33, second moving rod 331, buffer cylinder 332, buffer spring 333, sealing assembly 34, sealing rubber ring 341, air storage tank 342, B axis 4, T axis 5, R axis 6, U arm 7, L axis 8, travel switch 9,

[0029] The complementary locking mechanism 10, the driving cylinder 101, the driving end 102, the locking rod 103, the locking groove 104, the intelligent control mechanism 11, the moving piston 111, the moving cavity 112, the pushing plate 113, the connecting spring 114, the elastic rod 115, the first electrode contact sheet 116, the second electrode contact sheet 117,

[0030] Zero-position positioning mechanism 12, first fixing ring 121, second fixing ring 122, mounting rod 123, connecting plate 124, supporting sliding ring 125, supporting sliding rod 126, supporting groove 127, locking assembly 128, locking groove 1281, first arc groove 12811, locking rod 1282, second arc groove 12821, third arc groove 12823, anti-stuck cavity 1283, elastic telescopic rod 1284, magnet ring 129, electromagnet 1210. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field of the present invention. The words "including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0032] The existing mechanical limit structure includes a positioning block, which is connected to the base by screws. In this way, when the travel switch collides with the positioning block, the impact force will not be offset due to the rigid collision. In this way, under the action of the impact force, the travel switch will be directly damaged, or the travel switch will be damaged every time it collides, and after multiple collisions, the travel switch will eventually be damaged, which will greatly shorten the service life of the travel switch.

[0033] In view of the problems existing in the prior art, an embodiment of the present invention provides a six-axis industrial robot, such as Figure 1 , Figure 2 and Figure 3 As shown, the six-axis industrial robot includes an S-axis 2, an L-axis 8, a U arm 7, an R-axis 6, a T-axis 5 and a B-axis 4 which are sequentially connected to each other, the S-axis 2 is rotatably connected to the base 1 through a driving motor, and a travel switch 9 is provided on the S-axis 2. The robot also includes a mechanical limit device 3 which is matched with the travel switch 9, and when the drive motor collides with the mechanical limit device 3, the drive motor is controlled to stop working.

[0034] In one embodiment, if Figure 3 As shown, the mechanical limit device 3 includes a first support component 31 and a second support component 32 that can move toward or away from each other, and a buffer component 33 arranged between the first support component 31 and the second support component 32 and used to connect the first support component 31 and the second support component 32. When working, when the impact of the travel switch 9 on the first support component 31 causes the first support component 31 to move toward the second support component 32, the buffer component 33 is squeezed to provide a buffer distance and a buffer force to reduce the impact force on the travel switch 9.

[0035] In this embodiment, the buffer component 33 plays a buffering role through its own mechanical structure, thereby achieving the effect of buffering the impact force.

[0036] In one embodiment, if Figure 3 As shown, the first support assembly 31 includes a supporting plate 311 and a first moving rod 312 fixedly connected to each other, and one end of the first moving rod 312 away from the supporting plate 311 is fixedly connected to the first support tube 313, and the opening of the first support tube 313 is arranged away from the first moving rod 312. This embodiment adopts the first support tube 313 as a structure that directly receives the impact with the limit switch 9, which has the following advantages: First, the tube wall of the first support tube 313 has a protective function, so that the limit switch 9 will not be impacted by other external forces after entering the tube cavity of the first support tube 313; Second, the structure of the first support tube 313 can be compatible with the structure of the limit switch 9, which is more convenient for processing.

[0037] In another example, if Figure 3 As shown, a buffer rubber pad 314 is fixedly arranged on the inner side wall of the first support tube 313. When working, the travel switch 9 moves into or out of the cylinder cavity of the first support tube 313. The buffer rubber pad 314 is in direct contact with the travel switch 9. Since the buffer rubber pad 314 itself is made of elastic material, it can not only buffer the impact force, but also prevent the contact part of the travel switch 9 from being worn.

[0038] In one embodiment, if Figure 3 As shown, the second support assembly 32 includes a fixed seat 321 fixedly connected to the base 1, and the free end of the fixed seat 321 is fixedly connected to the second support tube 322, the opening of the second support tube 322 is set away from the fixed seat 321, and a buffer cavity 323 for the movement of the support plate 311 and the first moving rod 312 is set in the second support tube 322, and the buffer cavity 323 is connected to the opening of the second support tube 322.

[0039] In one embodiment, if Figure 3 As shown, the buffer component 33 is arranged in the buffer cavity 323, and the two ends of the buffer component 33 are respectively fixedly connected to the side wall of the buffer cavity 323 and the side wall of the supporting plate 311, and the number of the buffer components 33 is N, where N is a positive integer greater than or equal to 1, wherein the buffer component 33 includes a second moving rod 331, a buffer tube 332 and a buffer spring 333, the second moving rod 331 is movably inserted in the buffer tube 332, the buffer spring 333 is wound around the outside of the second moving rod 331, and the two ends of the buffer spring 333 are respectively fixedly connected to the side wall of the second moving rod 331 and the outer wall of the buffer tube 332.

[0040] It should be understood that the buffer component 33 can be replaced by any structure that can buffer the impact force. Therefore, it should be understood that the buffer component in this embodiment is not limited to the buffer component 33.

[0041] During operation, after the travel switch 9 enters the first support cylinder 313, it will collide with the buffer rubber pad 314, and the buffer rubber pad 314 can play a role in buffering the impact force; under the action of the impact force, the travel switch 9 will move to the left with the first support cylinder 313, the first moving rod 312 and the supporting plate 311 through the buffer rubber pad 314, and the leftward movement of the supporting plate 311 will cause the second moving rod 331 to move into the buffer cylinder 332, thereby squeezing the buffer spring 333. During the squeezing process of the buffer spring 333, the buffer spring 333's own elasticity plays a role in buffering the impact force.

[0042] In another embodiment, if Figure 4As shown, the mechanical limit device 3 also includes a sealing component 34, and the sealing component 34 is sleeved outside the circumference of the supporting plate 311, so that when the supporting plate 311 moves in the buffer cavity 323, the sealing component 34 and the buffer cavity 323 are tightly squeezed through the elastic deformation of the sealing component 34 when being squeezed, so as to separate the vertical sides of the supporting plate 311 into two unconnected spaces, and the sealing component 34 includes a sealing rubber ring 341 fixedly sleeved on the circumference of the supporting plate 311, and an air storage groove 342 is opened on the sealing rubber ring 341.

[0043] The setting of the sealing component 34 can achieve complete sealing of the left and right sides of the support plate 311, so that when the support plate 311 moves to the left, the air in the buffer chamber 323 on the left side of the support plate 311 can be squeezed, so that as the air is squeezed, it can play a role in buffering the impact force. It should be understood that the setting of this embodiment is a process of buffering the impact force by compressing the gas. And the buffering force of the sealing component 34 is multi-directional and can be perpendicular or inclined to the direction of the impact force.

[0044] It is worth noting that the buffering process of the sealing component 34 and the buffering process of the buffering component 33 can be carried out separately or in coordination. When carried out separately, the buffering structure is simple in design and easy to prepare. When carried out in coordination, on the one hand, a better buffering effect can be achieved, and on the other hand, the sealing component 34 can complement the buffering component 33. Specifically, the buffering force direction of the buffering component 33 is only a single horizontal direction, while the buffering force direction of the sealing component 34 is multi-angle. In this way, the problem of the single buffering force direction of the buffering component 33 can be compensated by the sealing component 34.

[0045] In this embodiment, the structure of the sealing assembly 34 is reasonably designed, wherein an air storage groove 342 is provided on the sealing rubber ring 341, and the cross-section of the air storage groove 342 is an arc-shaped structure. Specifically, due to the presence of the air storage groove 342, the contact area between the sealing rubber ring 341 and the cavity wall of the buffer cavity 323 is reduced. Figure 4 As shown, such a design can relieve pressure when the pressure on the left side of the support plate 311 is much greater than the pressure on the right side, thereby avoiding the occurrence of a sonic boom.

[0046] After the travel switch 9 hits the mechanical limit device 3, the drive motor that drives the S-axis 2 to move will stop working. At this time, the S-axis 2 is fixed in the current position by the self-locking force of the drive motor. However, in actual use, the power control system of the drive motor may be damaged. At this time, the drive motor loses the locking function of the S-axis 2, resulting in the inability to fix the position of the S-axis 2. When the machine vibrates or other components come into contact, the S-axis 2 will rotate slightly, so that precise control cannot be achieved when the six-axis industrial robot is used for operation.

[0047] In order to solve the above problems, in one implementation, Figure 5 As shown, the six-axis industrial robot also includes a complementary locking mechanism 10 for locking the first support cylinder 313 and the travel switch 9, and the complementary locking mechanism 10 includes a driving cylinder 101 fixedly arranged on the outer wall of the first support cylinder 313, and the driving end 102 of the driving cylinder 101 is connected to a locking rod 103, and the travel switch 9 is provided with a locking groove 104 matching the locking rod 103, and the driving cylinder 101 drives the locking rod 103 to enter the locking groove 104 to complete the locking of the travel switch 9 and the first support cylinder 313, wherein the number of the complementary locking mechanisms 10 is set to M, and M is a positive integer greater than or equal to 1.

[0048] During operation, the start of the driving cylinder 101 will carry the locking rod 103 into the locking groove 104 through the driving end 102, thereby locking the travel switch 9 and the first support cylinder 313; the setting of the complementary locking mechanism 10 can complement the locking process of the driving motor, and can lock the S axis 2 when the driving motor loses the locking function, thereby preventing the S axis 2 from rotating during operation.

[0049] In one example, the number of the complementary locking mechanism 10 can be set to one, and one complementary locking mechanism 10 can be set at any position of the first support tube 313; in another example, the number of the complementary locking mechanism 10 can be set to two, and the two complementary locking mechanisms 10 are symmetrically arranged about the horizontal center axis of the first support tube 313; in other examples, the number of the locking mechanism 10 can be set to three or more, and in this case, several locking mechanisms 10 are arranged in an equidistant ring on the first support tube 313. When the number of the complementary locking mechanisms 10 is two, three or more, a better locking effect can be achieved.

[0050] It is worth noting that the structure of the complementary locking mechanism 10 is not limited to being used for locking the first support cylinder 313 and the travel switch 9, but can also be used for locking the second support cylinder 322 and the first moving rod 312, and when the second support cylinder 322 and the first moving rod 312 are locked, the structure adopted by the complementary locking mechanism 10 is consistent with that when locking the first support cylinder 313 and the travel switch 9, which will not be repeated here.

[0051] In order to make the locking of the complementary locking mechanism 10 more intelligent; in one embodiment, as Figure 6As shown, the six-axis industrial robot also includes an intelligent control mechanism 11, which includes a mobile piston 111, and the mobile piston 111 is movably arranged in a mobile chamber 112, and the mobile chamber 112 is opened on a supporting plate 311 and a first mobile rod 312. The side wall of the mobile piston 111 is fixedly connected with a push plate 113, and a connecting spring 114 is wound around the push plate 113. The two ends of the connecting spring 114 are respectively fixedly connected to an elastic rod 115, and the free end of the elastic rod 115 is fixedly connected with a first electrode contact piece 116. The first electrode contact piece 116 and the elastic rod 115 are both movably arranged on the first mobile rod 312, and the second support cylinder 322 is provided with a second electrode contact piece 117 matching the first electrode contact piece 116.

[0052] Through the setting of the intelligent control mechanism 11, the function of the intelligent control filling locking mechanism 10 can be achieved, and the intelligent control mechanism 11 adopts a mechanical control method, so as to avoid the problem of failure when the power system is controlled. In addition, the structural design of the intelligent control mechanism 11 is reasonable, and the driving force of the control process does not require external devices, and can be carried out synchronously during the air pressure buffering process. During operation, as the support plate 311 moves to the left, the gas will push the moving piston 111 to move to the right in the moving chamber 112. The movement of the moving piston 111 will push the first electrode contact 116 to the direction of the second electrode contact 117 through the push plate 113 and the elastic rod 115. When the second electrode contact 117 contacts the first electrode contact 116, the series circuit is connected, and the drive cylinder 101 starts to work.

[0053] In the existing six-axis industrial robot, there is no zero-position adjustment structure between the axes. Therefore, when the six-axis industrial robot completes the operation, the system needs to control the reset of each axis. However, the accuracy of this reset process is not high, and it is impossible to achieve the zero position of each axis stopping at the initial position.

[0054] In order to solve the above problems, in one implementation, Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown, the six-axis industrial robot also includes a zero-position positioning mechanism 12 arranged on the S-axis 2, so that the S-axis 2 can always be reset to the zero initial position, the zero-position positioning mechanism 12 includes a first fixed ring 121 fixedly sleeved outside the S-axis 2, and a second fixed ring 122 surrounded and arranged outside the first fixed ring 121, the curved inner side of the second fixed ring 122 is provided with a support groove 127, the length direction of the support groove 127 is fixedly connected with a support slide bar 126, the support slide bar 126 is movably sleeved with a support slip ring 125, the side wall of the support slip ring 125 is fixedly connected with a connecting plate 124, the free end of the connecting plate 124 is fixedly connected to the first fixed ring 121, and the zero-position positioning mechanism 12 also includes a locking assembly 128, so as to lock the S-axis 2 in the zero initial position when resetting.

[0055] It is worth noting that the zero position positioning mechanism 12 is not limited to the zero position adjustment of the S axis 2, but can also be used for the zero position adjustment of each axis such as the B axis 4, T axis 5, R axis 6, U arm 7 and L axis 8. Of course, it is not limited to the zero position adjustment of the above-mentioned axes.

[0056] In one embodiment, if Fig.10 As shown, the locking assembly 128 includes a locking groove 1281 opened on the supporting slip ring 125, the opening edge of the locking groove 1281 is provided with a first arc groove 12811 in a trumpet shape, a locking rod 1282 is movably arranged in the locking groove 1281, and a second arc groove 12821 and a third arc groove 12823 are arranged on the locking rod 1282, and one end of the locking rod 1282 located outside the locking groove 1281 is fixedly connected with an elastic telescopic rod 1284, and the free end of the elastic telescopic rod 1284 is fixedly connected to the side wall of the anti-stuck cavity 1283, the anti-stuck cavity 1283 is opened on the second fixed ring 122, and the locking rod 1282 is movably arranged in the anti-stuck cavity 1283.

[0057] In this embodiment, the arrangement of the combined structure of the first arc groove 12811, the second arc groove 12821 and the third arc groove 12823 is as follows: Fig.11 As shown, both can play an anti-stuck role. Through the above-mentioned combined structure, the locking rod 1282 can smoothly enter the locking groove 1281 and can smoothly move out of the locking groove 1281.

[0058] During operation, when each axis driving motor drives each axis to reset, for example, when driving S axis 2 to reset, when it is close to the zero position of the initial position, the driving motor is turned off, and each axis will still move forward under the action of inertia. During this movement, the locking rod 1282 will enter the locking groove 1281, thereby locking the S axis 2. At this time, the position is the zero position of the set initial position.

[0059] In one embodiment, if Fig. 9 As shown, the zero-position positioning mechanism 12 also includes two magnet rings 129 respectively connected to the opposite ends of the support slip ring 125, and the two magnet rings 129 are both movably sleeved outside the support slide bar 126. The two side walls of the support groove 127 in the length direction are fixedly connected with electromagnets 1210, and the electromagnets 1210 are matched with the magnet rings 129. The cooperation between the electromagnet 1210 and the magnet ring 129 can provide a power source for the reset force of each axis, so that better control can be achieved, making the control process more accurate. When working, the electromagnet 1210 is started, and the electromagnet 1210 generates magnetism after being energized. Under the action of the magnetic force, the magnet ring 129 will be attracted to carry the support slip ring 125, the connecting plate 124 and the first fixed ring 121 to perform reset movement.

[0060] The beneficial effects of the present invention are as follows:

[0061] The present invention improves the existing mechanical limit structure, and an impact force buffer structure is arranged in the improved mechanical limit device 3. The arrangement of the buffer structure can buffer and reduce the impact force when the travel switch 9 collides with the mechanical limit device 3, thereby avoiding damage to the travel switch 9 caused by the impact force; and the improved mechanical limit device 3 has a reasonable structural design, and the buffer force is in the positive and opposite directions of the impact force, so that the impact force can be more effectively offset by the buffer force, thereby ensuring the effectiveness of reducing the impact force, and then being able to effectively protect the travel switch 9.

[0062] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. A six-axis industrial robot, characterized in that: The invention comprises an S axis (2), an L axis (8), a U arm (7), an R axis (6), a T axis (5) and a B axis (4) which are connected to each other in sequence, wherein the S axis (2) is rotatably connected to a base (1) via a driving motor, and a travel switch (9) is provided on the S axis (2), and further comprises a mechanical limit device (3) which is matched with the travel switch (9), and when the mechanical limit device (3) collides with the mechanical limit device (3), the driving motor is controlled to stop working, wherein the mechanical limit device (3) comprises a first support component which can move towards or away from each other (31) and a second supporting assembly (32), and a buffer assembly (33) arranged between the first supporting assembly (31) and the second supporting assembly (32) and used to connect the first supporting assembly (31) and the second supporting assembly (32), wherein when the travel switch (9) hits the first supporting assembly (31) so that the first supporting assembly (31) moves closer to the second supporting assembly (32), the buffer assembly (33) is squeezed to reduce the impact force on the travel switch (9); The first support assembly (31) comprises a support plate (311) and a first moving rod (312) which are fixedly connected to each other, one end of the first moving rod (312) away from the support plate (311) is fixedly connected to a first support tube (313), an opening of the first support tube (313) is arranged away from the first moving rod (312), and a buffer rubber pad (314) is fixedly arranged on the inner side wall of the first support tube (313), and when in operation, the travel switch (9) moves into or out of the tube cavity of the first support tube (313); The second support assembly (32) comprises a fixing seat (321) fixedly connected to the base (1); a second support tube (322) is fixedly connected to the free end of the fixing seat (321); an opening of the second support tube (322) is arranged away from the fixing seat (321); a buffer chamber (323) for movement of the support plate (311) and the first moving rod (312) is arranged in the second support tube (322); and the buffer chamber (323) is communicated with the opening of the second support tube (322); It also includes a complementary locking mechanism (10) for locking the first support tube (313) and the travel switch (9), wherein the complementary locking mechanism (10) includes a driving cylinder (101) fixedly arranged on the outer wall of the first support tube (313), the driving end (102) of the driving cylinder (101) is connected to a locking rod (103), and the travel switch (9) is provided with a locking groove (104) matching the locking rod (103), and the driving cylinder (101) drives the locking rod (103) into the locking groove (104) to complete the locking of the travel switch (9) and the first support tube (313), wherein the number of the complementary locking mechanisms (10) is M, and M is a positive integer greater than or equal to 1.

2. The six-axis industrial robot according to claim 1, characterized in that: The buffer component (33) is arranged in the buffer cavity (323), and the two ends of the buffer component (33) are respectively fixedly connected to the side wall of the buffer cavity (323) and the side wall of the support plate (311). The number of the buffer components (33) is N, and N is a positive integer greater than or equal to 1. The buffer component (33) includes a second moving rod (331), a buffer tube (332) and a buffer spring (333). The second moving rod (331) is movably inserted in the buffer tube (332), and the buffer spring (333) is wound around the outside of the second moving rod (331). The two ends of the buffer spring (333) are respectively fixedly connected to the side wall of the second moving rod (331) and the outer wall of the buffer tube (332).

3. The six-axis industrial robot according to claim 1, characterized in that: The mechanical limit device (3) further comprises a sealing component (34), wherein the sealing component (34) is sleeved outside the circumference of the supporting plate (311), so that when the supporting plate (311) moves in the buffer cavity (323), the sealing component (34) is elastically deformed when being squeezed, so that the sealing component (34) and the buffer cavity (323) are tightly squeezed, so as to separate the two vertical sides of the supporting plate (311) into two non-connected spaces, and the sealing component (34) comprises a sealing rubber ring (341) fixedly sleeved on the circumference of the supporting plate (311), and an air storage groove (342) is provided on the sealing rubber ring (341).

4. The six-axis industrial robot according to claim 1, characterized in that: The device also comprises an intelligent control mechanism (11), the intelligent control mechanism (11) comprising a movable piston (111), the movable piston (111) being movably arranged in a movable cavity (112), the movable cavity (112) being provided on a supporting plate (311) and a first movable rod (312), a push plate (113) being fixedly connected to a side wall of the movable piston (111), a connecting spring (114) being wound around the outside of the push plate (113), two ends of the connecting spring (114) being respectively fixedly connected to an elastic rod (115), a first electrode contact piece (116) being fixedly connected to a free end of the elastic rod (115), the first electrode contact piece (116) and the elastic rod (115) being both movably arranged on the first movable rod (312), and a second electrode contact piece (117) matching the first electrode contact piece (116) being arranged on the second supporting cylinder (322).

5. The six-axis industrial robot according to claim 1, characterized in that: The invention also comprises a zero-position positioning mechanism (12) arranged on the S-axis (2) so as to enable the S-axis (2) to always be reset to a zero initial position. The zero-position positioning mechanism (12) comprises a first fixing ring (121) fixedly sleeved outside the S-axis (2), and a second fixing ring (122) arranged outside the first fixing ring (121). A support groove (127) is provided on the curved inner side of the second fixing ring (122). A support slide bar (126) is fixedly connected to the support groove (127) in the length direction. A support slide ring (125) is movably sleeved outside the support slide bar (126). A connecting plate (124) is fixedly connected to the side wall of the support slide ring (125). The free end of the connecting plate (124) is fixedly connected to the first fixing ring (121). The zero-position positioning mechanism (12) also comprises a locking assembly (128) so as to lock the S-axis (2) in the zero initial position when resetting.

6. The six-axis industrial robot according to claim 5, characterized in that: The locking assembly (128) comprises a locking groove (1281) provided on the supporting slip ring (125); a trumpet-shaped first arc groove (12811) is provided on the opening edge of the locking groove (1281); a locking rod (1282) is movably arranged in the locking groove (1281); a second arc groove (12821) and a third arc groove (12823) are provided on the locking rod (1282); an end of the locking rod (1282) located outside the locking groove (1281) is fixedly connected to an elastic telescopic rod (1284); a free end of the elastic telescopic rod (1284) is fixedly connected to a side wall of an anti-stuck cavity (1283); the anti-stuck cavity (1283) is provided on the second fixing ring (122); and the locking rod (1282) is movably arranged in the anti-stuck cavity (1283).

7. The six-axis industrial robot according to claim 6, characterized in that: The zero-position positioning mechanism (12) further comprises two magnet rings (129) respectively connected to opposite ends of the support sliding ring (125), the two magnet rings (129) being movably sleeved outside the support sliding rod (126), and electromagnets (1210) being fixedly connected to two side walls of the support groove (127) in the length direction, the electromagnets (1210) being matched with the magnet rings (129).

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