Industrial intelligent six-axis manipulator

The industrial intelligent six-axis manipulator addresses the issue of inertia-induced part displacement and arm damage by using a shock absorbing and compensation mechanism, ensuring efficient and accurate part handling.

CN119115995AInactive Publication Date: 2024-12-13吴良普
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Patent Information

Application Number
CN202411408245.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-10
Publication Date
2024-12-13
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

Industrial six-axis robots experience reduced processing accuracy and potential damage due to increased inertia when moving parts at higher speeds, leading to shifts in part position and bending of the robot arm, with existing solutions either compromising efficiency or causing damage to the manipulator.

Method used

An industrial intelligent six-axis manipulator with a shock absorbing mechanism and compensation mechanism that includes a counterweight, airbag, and locking mechanism to manage inertia, allowing for faster movement while preventing part displacement and arm damage.

Benefits of technology

The solution enables faster part movement with maintained accuracy by generating additional clamping force during high acceleration and transitioning to flexible connections, reducing bending forces through shock absorption, and ensuring the manipulator operates efficiently without damage.

✦ Generated by Eureka AI based on patent content.

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Patent Text Reader

Abstract

The invention relates to the technical field of robots, in particular to an industrial intelligent six-axis manipulator which comprises a base, an arm, a wrist, a front claw joint and a rear claw joint, the rear claw joint is connected to the front side of the wrist, a damping mechanism is connected into the rear claw joint, and the front claw joint is connected to the front side of the rear damping mechanism. And a connecting cavity and a mounting groove are formed in the front claw joint. The balancing weight impacts air in the air bag to drive the compensation mechanism to pull the clamping mechanism and generate extra clamping force on a part, so that part position deviation caused by large inertia force generated by large acceleration is avoided, the manipulator can drive the part to move at a high speed, the working efficiency is improved, and the labor intensity of workers is reduced. And then the locking mechanism is driven to release rigid connection between the front claw joint and the rear claw joint, and the rigid connection is converted into flexible connection between the front claw joint and the rear claw joint through the damping mechanism.
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Description

Technical Field

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

[0002] A six-axis robot is a tool that can imitate human hands and arms to grasp, move objects or operate according to a fixed procedure. The six-axis robot has multiple degrees of freedom and can move freely in three-dimensional space.

[0003] When the robot clamps a larger part for processing, in order to improve work efficiency, the robot moves the part at a faster speed. However, when the robot moves the part at a faster speed, the acceleration changes greatly, causing the inertia of the part to be greater, causing the position to shift, affecting the processing accuracy, and the inertial force causes the robot arm to tend to bend, thereby causing damage to the connection parts of the robot arm.

[0004] In the prior art, in order to reduce the impact of inertia, the clamping force on the parts is increased to avoid the displacement of the parts, but maintaining strong clamping for a long time will cause damage to the manipulator clamping parts and parts. Alternatively, the acceleration of the manipulator is reduced to reduce inertia to avoid the displacement of the parts and damage to the manipulator arm, but reducing the acceleration of the manipulator will reduce work efficiency.

[0005] Therefore, an industrial intelligent six-axis manipulator is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide an industrial intelligent six-axis robot. In order to prevent the position of the parts from being shifted due to the inertial force during the movement of the robot while clamping the parts, and to cause damage to the connecting parts of the robot arm, when the acceleration of the robot is greater than the set value, the clamping mechanism is driven by the compensation mechanism to further clamp the processed parts, and then the rigid connection between the front claw joint and the rear claw joint is released, and the front claw joint and the rear claw joint are changed into a flexible connection through a shock absorbing mechanism.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An industrial intelligent six-axis manipulator comprises a base, an arm, a wrist, a front claw joint and a rear claw joint, wherein the rear claw joint is connected to the front side of the wrist, a shock absorbing mechanism is connected inside the rear claw joint, the front claw joint is connected to the front side of the rear claw joint through the shock absorbing mechanism, a connecting cavity and a mounting groove are provided inside the front claw joint, rubber strips are connected to the front and rear sides of the inner wall of the connecting cavity, a counterweight block is connected between the corresponding ends of the two rubber strips, an airbag is connected to the outer wall of the counterweight block, the outer wall of the airbag is connected to the inner wall of the connecting cavity, two mounting grooves are located on the left and right sides of the connecting cavity, a compensation mechanism and a locking mechanism are installed inside the mounting groove, the compensation mechanism is communicated with the airbag, a clamping mechanism is connected to the front side of the compensation mechanism, the rear claw joint and the front claw joint are rigidly connected through the locking mechanism, the clamping mechanism clamps the parts, when the acceleration of the counterweight block is greater than the set value, it hits the airbag to squeeze the gas into the compensation mechanism, and the clamping mechanism is driven by the compensation mechanism to clamp the parts again, and then the locking mechanism is driven to release the rigid connection between the rear claw joint and the front claw joint.

[0009] In the above scheme, when the acceleration of the manipulator is greater than a certain level, the counterweight block hits the airbag under the action of inertia, thereby squeezing the gas inside the airbag to drive the compensation mechanism to pull the clamping mechanism, generating additional clamping force on the parts, thereby avoiding the displacement of the parts position caused by the large inertia force generated by the large acceleration when moving the processing parts. Then, the locking mechanism releases the fixation of the front claw joint, thereby transforming it into a flexible connection between the front claw joint and the rear claw joint through the shock absorbing mechanism. The front claw joint is buffered by the shock absorbing mechanism, avoiding damage to the manipulator due to the bending force generated by inertia.

[0010] Preferably, the compensation mechanism includes a circulation component, a transmission component, a pulling component, and a delay component. The circulation component is installed inside the mounting groove and is connected to the airbag. The delay component and the transmission component are both installed on the side of the circulation component away from the airbag. The pulling component is installed on the side of the transmission component away from the connecting cavity. The rear side of the pulling component is connected to the locking mechanism, and the front side of the pulling component is connected to the clamping mechanism. The circulation component includes a piston, a cylinder, a gas pressure spring, an air valve, and a position rod. The cylinder is connected to the mounting groove away from the airbag. On the airbag side, the piston is connected to the inside of the cylinder, and the piston is connected to the delay assembly and the transmission assembly on the side away from the airbag. The gas pressure spring is sleeved on the outer wall of the piston. The cylinder is provided with an air inlet and an air outlet on the side close to the airbag, and is connected to the airbag. The cross-sections of the air inlet and the air outlet are funnel-shaped, and the fine pore ends of the air inlet and the air outlet are facing opposite directions. The air valve is installed in the air inlet and the air outlet. The cross-section of the air valve is funnel-shaped, and fits with the inner walls of the air inlet and the air outlet. The isotropic rod is connected to the side of the air valve away from the airbag.

[0011] In the above scheme, when the counterweight hits the airbag under the action of inertia, the gas inside the airbag is squeezed, so that the gas pushes the air valves on both sides of the connecting cavity to move toward the mounting groove respectively, thereby opening the air inlet hole and keeping the air outlet hole closed. When the gas enters the cylinder, it pushes the delay component and the transmission component by pushing the piston. When the counterweight no longer hits the airbag, the gas pressure spring pushes the piston to reset. When the piston resets, the gas is squeezed to move toward the airbag side. When the gas flows, it pushes the air valve to move toward the airbag side, thereby opening the air outlet hole and closing the air outlet hole, so that the gas flows back into the airbag, so that the gas circulates between the cylinder and the airbag, avoiding the reduction of the exhaust pressure of the airbag gas affecting the transmission effect of the cylinder.

[0012] In order to increase the operating speed of the compensation component, a transmission component is provided.

[0013] Preferably, the transmission assembly includes a gear, a telescopic plate, a rotating shaft, a connecting plate, a ratchet, a pawl, and a rotating seat. The bottom of the telescopic plate is connected to the side of the mounting slot away from the airbag, the rotating shaft passes through and is connected to the middle of the telescopic plate, the gear is connected to the outer wall of the rotating shaft and is located below the telescopic plate, the connecting plate is connected to the front side of the telescopic plate, the ratchet is connected to the outer wall of the rotating shaft and is located above the telescopic plate, the rotating seat is connected to the bottom of the mounting slot through a coil spring and is located between the telescopic plate and the cylinder, and the two pawls are connected to the top of the rotating seat and are connected to the ratchet.

[0014] In the above scheme, when the cylinder pushes the rotating seat to rotate, and when the rotating seat rotates, it will drive the two pawls to push the ratchet wheel to rotate, thereby increasing the rotation speed of the gear and improving the operating speed of the compensation component.

[0015] Preferably, the pulling assembly includes a tooth plate, a return spring, and a pulling rod, the tooth plate being connected to the bottom of the mounting groove and meshing with the gear on the side away from the airbag, the return spring being connected to the front side of the tooth plate, and the front side being connected to the front side of the inner wall of the mounting groove, the rear side of the tooth plate being connected to a locking mechanism, the pulling rod being connected to the side of the tooth plate away from the airbag, the front end of the pulling rod being connected to a clamping mechanism, the clamping mechanism including a fixed plate, a moving block, a pneumatic rod, and a splint, the fixed plate being connected to the front side of the front paw joint, a moving groove being provided on the front side of the fixed plate, moving blocks being symmetrically installed inside the moving groove, the rear side of the moving block being connected to the pulling rod, the pneumatic rod being installed on the corresponding surface of the moving block, and the splint being connected to the telescopic end of the pneumatic rod.

[0016] In the above scheme, when the gear drives the tooth plate to move, the tooth plate drives the tooth plate to move when the gear rotates, and when the tooth plate moves, the moving blocks are pulled toward each other by the pulling rod, thereby increasing the clamping force on the parts;

[0017] In order to keep it fixed during movement, a locking mechanism is provided so that it can rotate when inertia is generated to cushion the front paw joint.

[0018] Preferably, the locking mechanism includes a locking block, a rotating rod, and a locking rod. The rotating rod is hinged at the rear end of the tooth plate, and the bottom is connected to the mounting groove. The locking rod is hinged to the bottom of the rotating rod close to the airbag side. The locking block is connected to the rear end of the locking rod, and the rear side of the locking block is arranged in an arc shape. An arc groove is provided on the front side of the rear claw joint, and the arc groove fits with the rear side of the locking block.

[0019] In the above scheme, when the tooth plate pushes the rotating rod to rotate, the rotating rod will pull the locking rod to retract into the installation groove, and the locking rod will pull the locking block to separate from the rear claw joint, thereby releasing the fixation between the rear claw joint and the front claw joint, so that the front claw joint is bent when subjected to inertia force, thereby squeezing the shock absorbing mechanism, thereby buffering the front claw joint; when the tooth plate is reset under the action of the reset spring, and the tooth plate pulls the rotating rod to rotate, the rotation of the rotating rod will push the locking rod to extend, thereby pushing the locking block to squeeze the rear claw joint; when the locking block squeezes the rear claw joint, it pushes the front claw joint to reset.

[0020] Furthermore, the distance between the tooth plate and the rotation position of the rotating rod is A, the distance between the locking rod and the rotation position of the rotating rod is B, and A is greater than B.

[0021] In the above solution, the distance between the tooth plate and the rotating position of the rotating rod is greater than the distance between the locking rod and the rotating position of the rotating rod, so that the tooth plate can more easily drive the locking rod to move through the rotating rod;

[0022] Because the movement of the robot arm is multi-angle, a shock absorbing mechanism is set up to enable it to be buffered at multiple angles.

[0023] Preferably, the shock absorbing mechanism comprises a middle hydraulic rod, a side hydraulic rod, a push rod and a connecting shaft, a shock absorbing chamber is provided inside the rear claw joint, the middle hydraulic rod is connected to the rear side of the inner wall of the shock absorbing chamber, the connecting shaft is connected to the inner wall of the shock absorbing chamber, the push rod is connected to the outer wall of the connecting shaft, a conical groove is provided on the front side of the middle hydraulic rod, the push rod is connected to the conical groove, the front side of the push rod is hinged to the rear side of the front claw joint, the side hydraulic rod is connected to the rear side of the inner wall of the shock absorbing chamber (403), and the two side hydraulic rods are respectively located above and below the middle hydraulic rod, and the front end of the side hydraulic rod is connected to the front claw joint.

[0024] In the above scheme, when the front claw joint swings up and down, the push rod will push the middle hydraulic rod to contract. When the front claw joint swings left and right, the front claw joint will push one of the side hydraulic rods to contract and pull the other side hydraulic rod to extend, thereby converting the bending force into straight thrust and straight pulling force, thereby reducing the damage to the manipulator due to bending force.

[0025] Preferably, the delay assembly includes a movable column, a telescopic rod, a sliding sleeve, and a limit plate. A movable groove is provided on the inner wall of the installation groove away from the airbag side, the movable column is connected to the movable groove, an oblique groove and a straight groove are provided on the outer wall of the movable column, the oblique groove is communicated with the straight groove, the telescopic rod is connected to the front side of the inner wall of the installation groove, one end of the telescopic rod is connected to the straight groove, the limit plate is connected to the outer wall of the movable column, the sliding sleeve is connected to the outer wall of the movable column and is located on the side of the limit plate away from the airbag, the bottom of the sliding sleeve is connected to the connecting plate, and a delay spring is connected to the inside of the movable groove.

[0026] In the above scheme, when the piston pushes the movable column to move, the straight groove of the movable column is connected to the telescopic rod, so that the piston can quickly push the movable column into the movable groove. When the piston no longer pushes the movable column, the movable column is reset under the thrust of the delay spring. At this time, the telescopic rod enters the inclined groove, causing the movable column to slowly reset, thereby avoiding the robot arm from releasing the additional clamping force on the part before stopping.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The counterweight hits the gas inside the airbag to drive the compensation mechanism to pull the clamping mechanism, generating additional clamping force on the parts, thereby avoiding the large inertial force generated by the large acceleration, which causes the part position to shift, so that the manipulator can move the parts at a faster speed, thereby improving work efficiency. After that, the locking mechanism is driven to release the rigid connection between the front claw joint and the rear claw joint, and transform it into a flexible connection between the front claw joint and the rear claw joint through the shock absorbing mechanism.

[0029] 2. By setting up a shock-absorbing mechanism, when the front claw joint swings left and right, the front claw joint pushes one of the side hydraulic rods to contract and pulls the other side hydraulic rod to extend, or when the front claw joint swings up and down, the push rod will push the middle hydraulic rod to contract, thereby converting the bending force of the parts on the manipulator into straight thrust and pull, and buffering the front claw joint, and avoiding damage to the manipulator due to the bending force generated by inertia.

[0030] 3. By setting a delay component, when the piston pushes the movable column to move, the telescopic rod moves along the straight groove to the oblique groove, so that the movable column moves quickly to release the restriction on the telescopic plate. When the piston no longer pushes the movable column, the delay spring pushes the movable column to reset, and the telescopic rod moves slowly along the oblique groove, increasing the meshing time of the tooth plate and the gear, thereby avoiding the release of the additional clamping force on the part before the manipulator stops. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 For the present invention Figure 1A schematic diagram of the enlarged structure of part A;

[0033] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure of part B;

[0034] Figure 4 It is a schematic diagram of the transmission assembly structure of the present invention;

[0035] Figure 5 It is a schematic diagram of the delay component structure of the present invention;

[0036] Figure 6 For the present invention Figure 2 A schematic diagram of the enlarged structure of the middle C part;

[0037] Figure 7 It is a schematic diagram of the air intake structure of the circulation component of the present invention;

[0038] Figure 8 It is a schematic diagram of the exhaust structure of the circulation component of the present invention.

[0039] In the figure: 1, base; 2, arm; 3, wrist; 4, rear claw joint; 401, shock absorbing mechanism; 4011, middle hydraulic rod; 4012, side hydraulic rod; 40121, conical groove; 4013, top rod; 4014, connecting shaft; 402, arc groove; 403, shock absorbing chamber; 5, front claw joint; 6, connecting chamber; 601, rubber strip; 602, counterweight; 603, air bag; 7, mounting groove; 701, movable groove; 8, compensation mechanism; 801, circulation assembly; 8011, piston; 8012, cylinder; 8013, gas spring; 8014, air valve; 8015, same position rod; 8016, air inlet; 8017, air outlet; 802, transmission assembly; 8021, gear; 8 022, telescopic plate; 8023, rotating shaft; 8024, connecting plate; 8025, ratchet; 8026, pawl; 8027, rotating seat; 803, pulling assembly; 8031, tooth plate; 8032, reset spring; 8033, pulling rod; 804, delay assembly; 8041, movable column; 80411, inclined groove; 80412, straight groove; 8042, telescopic rod; 8043, sliding sleeve; 8044, limit plate; 8045, delay spring; 9, locking mechanism; 901, locking block; 902, rotating rod; 903, locking rod; 10, clamping mechanism; 1001, fixed plate; 1002, moving block; 1003, pneumatic rod; 1004, clamping plate; 1005, moving groove. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention, and combine the working state to make its structural features more detailed. 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 work are within the scope of protection of the present invention.

[0041] See also Figures 1 to 8 The present invention provides an industrial intelligent six-axis manipulator, and the technical solution is as follows:

[0042] An industrial intelligent six-axis manipulator, referring to Figure 1 and Figure 2 , including a base 1, an arm 2, a wrist 3, a hind paw joint 4, and a front paw joint 5, wherein the hind paw joint 4 is connected to the front side of the wrist 3, the hind paw joint 4 is internally connected with a shock absorbing mechanism 401, the front paw joint 5 is connected to the front side of the rear shock absorbing mechanism 401, the hind paw joint 4 is internally connected with a shock absorbing mechanism 401, the front paw joint 5 is connected to the front side of the hind paw joint 4 through the shock absorbing mechanism 401, a connecting cavity 6 and a mounting groove 7 are provided inside the front paw joint 5, the front and rear sides of the inner wall of the connecting cavity 6 are connected with rubber strips 601, a counterweight block 602 is connected between the corresponding ends of the two rubber strips 601, the outer wall of the counterweight block 602 is connected with an airbag 603, and the outer wall of the counterweight block 602 is connected to the inner wall of the airbag 603 There is a certain distance between the walls, the outer wall of the airbag 603 is connected to the inner wall of the connecting cavity 6, the two installation grooves 7 are located on the left and right sides of the connecting cavity 6, and a compensation mechanism 8 and a locking mechanism 9 are installed inside the installation groove 7. The compensation mechanism 8 is connected to the airbag 603, and the front side of the compensation mechanism 8 is connected to a clamping mechanism 10. The rear claw joint 4 and the front claw joint 5 are rigidly connected through the locking mechanism 9, and the clamping mechanism 10 clamps the parts. When the acceleration of the counterweight block 602 is greater than the set value, it hits the airbag 603 to squeeze the gas into the compensation mechanism 8, and drives the clamping mechanism 10 through the compensation mechanism 8 to clamp the parts again, and then drives the locking mechanism 9 to release the rigid connection between the rear claw joint 4 and the front claw joint 5.

[0043] As an embodiment of the present invention, refer to Figure 3 , Figure 7 , Figure 8The compensation mechanism 8 includes a circulation component 801, a transmission component 802, a pulling component 803, and a delay component 804. The circulation component 801 is installed inside the installation groove 7 and is connected to the airbag 603. The delay component 804 and the transmission component 802 are both installed on the side of the circulation component 801 away from the airbag 603. The pulling component 803 is installed on the side of the transmission component 802 away from the connecting cavity 6. The rear side of the pulling component 803 is connected to the locking mechanism 9, and the front side of the pulling component 803 is connected to the clamping mechanism 10. The circulation component 801 includes The piston 8011, the cylinder 8012, the gas spring 8013, the air valve 8014, and the alignment rod 8015. The cylinder 8012 is connected to the side of the mounting slot 7 away from the airbag 603. The piston 8011 is connected to the inside of the cylinder 8012. The side of the piston 8011 away from the airbag 603 is connected to the delay component 804 and the transmission component 802. The gas spring 8013 is sleeved on the outer wall of the piston 8011. The counterweight 602 no longer hits the airbag 603. The gas spring 8013 pushes the piston 8011 to reset. The cylinder 8012 is close to the airbag 603. An air inlet 8016 and an air outlet 8017 are provided on the side of the connecting cavity 6, and are connected to the airbag 603. The cross sections of the air inlet 8016 and the air outlet 8017 are set to be funnel-shaped, and the fine hole ends of the air inlet 8016 and the air outlet 8017 are opposite to each other. The air valve 8014 is installed in the air inlet 8016 and the air outlet 8017. The cross section of the air valve 8014 is set to be funnel-shaped and fits with the inner walls of the air inlet 8016 and the air outlet 8017. The gas pushes the air valves 8014 on both sides of the connecting cavity 6 to move toward the mounting groove 7, thereby opening the air inlet 8016. When the gas enters the cylinder 8012, it pushes the piston 8011 to move outside the cylinder 8012. When the piston 8011 is reset, it squeezes the gas to move toward the airbag 603. When the gas flows, it pushes the valve 8014 to move toward the airbag 603, thereby opening the gas outlet 8017 and closing the gas inlet 8016, so that the gas flows back into the airbag 603. The isotropic rod 8015 is connected to the side of the valve 8014 away from the airbag 603. When the isotropic rod 8015 is used, the two valves 8014 keep synchronization when moving.

[0044] As an embodiment of the present invention, refer to Figure 4 and Figure 5The transmission assembly 802 includes a gear 8021, a telescopic plate 8022, a rotating shaft 8023, a connecting plate 8024, a ratchet 8025, a pawl 8026, and a rotating seat 8027. The bottom of the telescopic plate 8022 is connected to the side of the mounting slot 7 away from the airbag 603. The rotating shaft 8023 passes through and is connected to the middle of the telescopic plate 8022. The gear 8021 is connected to the outer wall of the rotating shaft 8023 and is located below the telescopic plate 8022. The connecting plate 8024 is connected to the front side of the telescopic plate 8022. The ratchet 8025 is connected to the outer wall of the rotating shaft 8023 and is located above the telescopic plate 8022. The rotating seat 8027 is connected to the bottom of the installation slot 7 through a coil spring and is located between the telescopic plate 8022 and the cylinder 8012. The two pawls 8026 are connected to the top of the rotating seat 8027 and are connected to the ratchet 8025. When the cylinder 8012 pushes the rotating seat 8027 to rotate and when the rotating seat 8027 rotates through the coil spring, the two pawls 8026 will be driven to push the ratchet 8025 to rotate, thereby accelerating the rotation speed of the ratchet 8025. When the ratchet 8025 rotates, it drives the rotation to rotate. When the rotating shaft 8023 rotates, it drives the gear 8021 to rotate, thereby increasing the rotation speed of the gear 8021 and improving the operating speed of the compensation component.

[0045] As an embodiment of the present invention, refer to Figure 5 The pulling assembly 803 includes a tooth plate 8031, a return spring 8032, and a pulling rod 8033. The tooth plate 8031 ​​is connected to the bottom of the installation groove 7 and meshes with the gear 8021 away from the airbag 603. The rotation of the gear 8021 drives the tooth plate 8031 ​​to move. The return spring 8032 is connected to the front side of the tooth plate 8031, and the front side is connected to the front side of the inner wall of the installation groove 7. The return spring 8032 pulls the tooth plate 8031 ​​to move. The plate 8031 ​​moves to reset, and the rear side of the tooth plate 8031 ​​is connected to the locking mechanism 9. When the tooth plate 8031 ​​moves toward the rear, the locking mechanism 9 releases the fixation of the front paw joint 5. The pulling rod 8033 is connected to the side of the tooth plate 8031 ​​away from the airbag 603. The front end of the pulling rod 8033 is connected to the clamping mechanism 10. When the tooth plate 8031 ​​moves toward the rear, the clamping mechanism 10 is pulled by the pulling rod 8033, thereby applying additional clamping force to the parts. The clamping mechanism 10 includes a fixed plate 1001, a moving block 1002, a pneumatic rod 1003, and a splint 1004. The fixed plate 1001 is connected to the front side of the front paw joint 5. A moving groove 1005 is opened on the front side of the fixed plate 1001. The moving block 1002 is symmetrically installed inside the moving groove 1005. The rear side of the moving block 1002 is connected to the pulling rod 8033. The pneumatic rod 1003 is installed on the corresponding surface of the moving block 1002. The splint 1004 is connected to the telescopic end of the pneumatic rod 1003.

[0046] As an embodiment of the present invention, refer to Figure 6 The locking mechanism 9 includes a locking block 901, a rotating rod 902, and a locking rod 903. The rotating rod 902 is hinged to the rear end of the tooth plate 8031, and the bottom is connected to the mounting groove 7. The locking rod 903 is hinged to the bottom of the rotating rod 902 near the airbag 603. The locking block 901 is connected to the rear end of the locking rod 903. When the rotating rod 902 is rotated by moving the tooth plate 8031 ​​backward, the locking rod is driven to move and pull the locking block 901 to separate from the rear claw joint 4. When the tooth plate 8031 ​​is reset under the action of the reset spring 8032, the tooth plate 8031 ​​pulls the rotating rod 902 to rotate, and the rotating rod 902 The rotation will push the locking rod to extend, thereby pushing the locking block 901 to squeeze the hind claw joint 4, and the front claw joint 5 will be pushed back to its original position under the reaction force of the locking rod. The rear side of the locking block 901 is set to an arc shape, and an arc groove 402 is provided on the front side of the hind claw joint 4. The arc groove 402 fits with the rear side of the locking block 901. When the locking rod pushes the locking block 901 to squeeze the hind claw joint 4 and generates a reaction force to reset the front claw joint 5, the locking block 901 rotates in the arc groove 402, reducing the wear between the locking block 901 and the hind claw joint 4, while utilizing the engagement of the arc groove 402 and the locking block 901 to make the front claw joint 5 more stably fixed.

[0047] As an embodiment of the present invention, refer to Figure 2 The shock absorbing mechanism 401 includes a middle hydraulic rod 4011, a side hydraulic rod 4012, a push rod 4013, and a connecting shaft 4014. A shock absorbing chamber 403 is provided inside the rear claw joint 4. The middle hydraulic rod 4011 is connected to the rear side of the inner wall of the shock absorbing chamber 403. The connecting shaft 4014 is connected to the inner wall of the shock absorbing chamber 403. The push rod 4013 is connected to the outer wall of the connecting shaft 4014. A conical groove 40121 is provided on the front side of the middle hydraulic rod 4011. The push rod 4013 is connected to the conical groove 40121. When the front claw joint 5 swings up and down, the push rod 4013 will push the middle hydraulic rod 4011 to contract, converting the bending force into a straight thrust. , thereby preventing the manipulator from being damaged by bending force. The front side of the push rod 4013 is hinged to the rear side of the front claw joint 5, and the side hydraulic rod 4012 is connected to the rear side of the inner wall of the shock absorbing chamber (403), and the two side hydraulic rods 4012 are respectively located above and below the middle hydraulic rod 4011. The front end of the side hydraulic rod 4012 is connected to the front claw joint 5. When the front claw joint 5 swings left and right, the front claw joint 5 pushes one of the side hydraulic rods 4012 to contract and pulls the other side hydraulic rod 4012 to extend, thereby converting the bending force into straight thrust and straight pulling force, thereby preventing the manipulator from being damaged by bending force, and at the same time buffering the front claw joint 5 to reduce the inertia of the parts.

[0048] As an embodiment of the present invention, refer to Figure 2The length of the toothed plate 8031 ​​from the rotating position of the rotating rod 902 is A, and the length of the locking rod 903 from the rotating position of the rotating rod 902 is B, and A is greater than B, so that the force arm formed by the rotating position of the toothed plate 8031 ​​and the rotating position of the rotating rod 902 is greater than the force arm formed by the locking rod 903 and the rotating position of the rotating rod 902, making it easier for the toothed plate 8031 ​​to drive the locking rod 903 to move through the rotating rod 902.

[0049] As an embodiment of the present invention, refer to Figure 5 The delay assembly 804 includes a movable column 8041, a telescopic rod 8042, a sliding sleeve 8043, and a limiting plate 8044. The inner wall of the mounting groove 7 is provided with a movable groove 701 away from the airbag 603. The movable column 8041 is connected to the movable groove 701. The outer wall of the movable column 8041 is provided with an oblique groove 80411 and a straight groove 80412. The oblique groove 80411 is connected to the straight groove 80412. The telescopic rod 8042 is connected to the front side of the inner wall of the mounting groove 7. One end of the telescopic rod 8042 is connected to the straight groove 80412. When the piston 8011 pushes the movable column 8041, the telescopic rod 8042 moves along the straight groove 80412 to the oblique groove 80411, so that The movable column 8041 moves quickly to release the restriction on the telescopic plate 8022. When the piston 8011 no longer pushes the movable column 8041, the delay spring 8045 pushes it back to its original position, and the telescopic rod 8042 moves slowly along the inclined groove 80411, increasing the meshing time between the tooth plate 8031 ​​and the gear 8021, thereby avoiding the additional clamping force on the part being released before the manipulator stops. The limit plate 8044 is connected to the outer wall of the movable column 8041, and the sliding sleeve 8043 is connected to the outer wall of the movable column 8041 and is located on the side of the limit plate 8044 away from the airbag 603. The bottom of the sliding sleeve 8043 is connected to the connecting plate 8024, and the delay spring 8045 is connected to the inside of the movable groove 701.

[0050] Working principle: During use, first start the pneumatic rod 1003 to push the clamping plate 1004 to move and clamp the parts. When the manipulator drives the parts to accelerate or stop, the counterweight block 602 hits the airbag 603 under the action of inertia, thereby squeezing the gas inside the airbag 603, so that the gas pushes the air valves 8014 on both sides of the connecting chamber 6 to move toward the cylinder 8012, thereby opening the air inlet 8016 and keeping the air outlet 8017 closed. When the gas enters the cylinder 8012, it pushes the piston 8011 to move outside the cylinder 8012, thereby pushing the movable column 8041 to move to the inside of the movable groove 701, and at the same time pushing the rotating seat 8027 to rotate;

[0051] When the movable column 8041 moves toward the movable groove 701, it drives the limit plate 8044 to move, so that the limit plate 8044 releases the restriction on the sliding sleeve 8043 and the telescopic plate 8022. At this time, the telescopic plate 8022 extends and drives the rotating shaft 8023 to move upward. The ratchet 8025 and the gear 8021 follow the rotating shaft 8023 to move toward the tooth plate 8031, so that the gear 8021 meshes with the tooth plate 8031. Because the rotating seat 8027 is elliptical, when the cylinder When 8012 pushes the rotating seat 8027 to rotate, and when the rotating seat 8027 rotates through the coil spring, it will drive the two ratchet pawls 8026 to push the ratchet wheel 8025 to rotate. When the ratchet wheel 8025 rotates, it drives the gear 8021 to rotate. When the gear 8021 rotates, it drives the tooth plate 8031 ​​to move. When the tooth plate 8031 ​​moves, it drives the pulling rod 8033 to move, thereby pulling the moving block 1002 to move in the direction of getting closer to each other, thereby increasing the clamping force on the parts;

[0052] When the tooth plate 8031 ​​moves, it will push the rotating rod 902 to rotate. When the rotating rod 902 rotates, it will pull the locking rod 903 into the installation groove 7 and drive the locking block 901 to move backward to separate the locking block 901 from the rear claw joint 4, thereby releasing the fixation between the rear claw joint 4 and the front claw joint 5. When the manipulator stops or accelerates, the inertial force generated by the parts will have a bending force on the manipulator. When the manipulator is subjected to the inertial force of the parts, the front claw joint 5 will rotate around the rear claw joint 4. When the front claw joint 5 swings up and down, the top rod 4013 will push the middle hydraulic rod 4011 to contract. When the front claw joint 5 swings left and right, the front claw joint 5 pushes one of the side hydraulic rods 4012 to contract and pulls the other side hydraulic rod 4012 to extend, thereby converting the bending force into straight thrust and straight pull, thereby avoiding damage to the manipulator due to the bending force, and at the same time buffering the front claw joint 5 to reduce the inertia of the parts.

[0053] When the robot stops, the counterweight 602 no longer hits the airbag 603, and the gas spring 8013 pushes the piston 8011 to reset. When the piston 8011 resets, the gas is squeezed to move toward the airbag 603. When the gas flows, the gas valve 8014 moves toward the airbag 603, so that the air outlet 8017 opens and the air inlet 8016 closes, so that the gas flows back into the airbag 603. At this time, the movable column 8041 resets under the push of the delay spring 8045, and the telescopic rod 8042 moves slowly along the inclined groove 80411, increasing the meshing time of the tooth plate 8031 ​​and the gear 8021, thereby avoiding the robot arm from releasing the engagement before the robot stops. The extra clamping force of the parts pushes the sliding sleeve 8043 to move toward the airbag 603 when resetting. When the sliding sleeve 8043 moves, the telescopic plate 8022 is pressed and retracted through the connecting plate 8024. The telescopic plate 8022 drives the gear 8021 to separate from the tooth plate 8031. At this time, the tooth plate 8031 ​​is reset under the action of the reset spring 8032, and the tooth plate 8031 ​​will pull the rotating rod 902 to rotate. The rotation of the rotating rod 902 will push the locking rod 903 to extend, thereby pushing the locking block 901 to squeeze the rear claw joint 4. When the locking block 901 squeezes the rear claw joint 4, the reaction force of the locking rod 903 pushes the front claw joint 5 to reset.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial intelligent six-axis manipulator, comprising a base (1), an arm (2), and a wrist (3), Features: The invention also comprises a rear paw joint (4) and a front paw joint (5), wherein the rear paw joint (4) is connected to the front side of the wrist (3), the rear paw joint (4) is internally connected with a shock absorbing mechanism (401), the front paw joint (5) is connected to the front side of the rear paw joint (4) through the shock absorbing mechanism (401), a connecting cavity (6) and a mounting groove (7) are provided inside the front paw joint (5), the front and rear sides of the inner wall of the connecting cavity (6) are both connected with rubber strips (601), a counterweight block (602) is connected between the corresponding ends of the two rubber strips (601), the outer wall of the counterweight block (602) is connected with an air bag (603), the outer wall of the air bag (603) is connected to the inner wall of the connecting cavity (6), and the two mounting grooves (7) are located at the inner wall of the connecting cavity (6). A compensation mechanism (8) and a locking mechanism (9) are installed inside the installation groove (7) on the left and right sides of the connecting cavity (6). The compensation mechanism (8) is connected to the airbag (603). The front side of the compensation mechanism (8) is connected to a clamping mechanism (10). The rear claw joint (4) and the front claw joint (5) are rigidly connected through the locking mechanism (9). The clamping mechanism (10) clamps the parts. When the acceleration of the counterweight block (602) is greater than the set value, it hits the airbag (603) to squeeze the gas into the compensation mechanism (8), and the clamping mechanism (10) is driven by the compensation mechanism (8) to clamp the parts again, and then the locking mechanism (9) is driven to release the rigid connection between the rear claw joint (4) and the front claw joint (5).

2. An industrial intelligent six-axis manipulator according to claim 1, Features: The compensation mechanism (8) comprises a circulation component (801), a transmission component (802), a pulling component (803), and a delay component (804); the circulation component (801) is installed inside the installation groove (7) and is connected to the airbag (603); the delay component (804) and the transmission component (802) are both installed on the side of the circulation component (801) away from the airbag (603); the pulling component (803) is installed on the side of the transmission component (802) away from the connecting cavity (6); the rear side of the pulling component (803) is connected to the locking mechanism (9), and the front side of the pulling component (803) is connected to the clamping mechanism (10).

3. An industrial intelligent six-axis manipulator according to claim 2, Features: The circulation assembly (801) comprises a piston (8011), a cylinder (8012), a gas pressure spring (8013), an air valve (8014), and a positioning rod (8015). The cylinder (8012) is connected to the side of the mounting groove (7) away from the airbag (603). The piston (8011) is connected to the inside of the cylinder (8012). The side of the piston (8011) away from the airbag (603) is connected to the delay assembly (804) and the transmission assembly (802). The gas pressure spring (8013) is sleeved on the outer wall of the piston (8011). The side of the cylinder (8012) close to the airbag (603) An air inlet (8016) and an air outlet (8017) are provided and are connected to the airbag (603). The cross-sections of the air inlet (8016) and the air outlet (8017) are funnel-shaped, and the fine hole ends of the air inlet (8016) and the air outlet (8017) face opposite directions. The air valve (8014) is installed in the air inlet (8016) and the air outlet (8017). The cross-section of the air valve (8014) is funnel-shaped and fits with the inner walls of the air inlet (8016) and the air outlet (8017). The isotropic rod (8015) is connected to the side of the air valve (8014) away from the airbag (603).

4. An industrial intelligent six-axis manipulator according to claim 3, Features: The transmission assembly (802) comprises a gear (8021), a telescopic plate (8022), a rotating shaft (8023), a connecting plate (8024), a ratchet (8025), a pawl (8026), and a rotating seat (8027). The bottom of the telescopic plate (8022) is connected to the side of the mounting groove (7) away from the airbag (603). The rotating shaft (8023) penetrates and is connected to the middle of the telescopic plate (8022). The gear (8021) is connected to the outer wall of the rotating shaft (8023) and is located at Below the telescopic plate (8022), the connecting plate (8024) is connected to the front side of the telescopic plate (8022), the ratchet (8025) is connected to the outer wall of the rotating shaft (8023) and is located above the telescopic plate (8022), the rotating seat (8027) is connected to the inner bottom of the mounting groove (7) and is located between the telescopic plate (8022) and the cylinder (8012), and the two ratchets (8026) are connected to the top of the rotating seat (8027) and are connected to the ratchet (8025).

5. An industrial intelligent six-axis manipulator according to claim 4, Features: The pulling assembly (803) includes a tooth plate (8031), a return spring (8032), and a pulling rod (8033); the tooth plate (8031) is connected to the bottom of the mounting groove (7) and meshes with the gear (8021) on the side away from the airbag (603); the return spring (8032) is connected to the front side of the tooth plate (8031), and the front side is connected to the front side of the inner wall of the mounting groove (7); the rear side of the tooth plate (8031) is connected to the locking mechanism (9); the pulling rod (8033) is connected to the tooth plate (8031) on the side away from the airbag (603); and the front end of the pulling rod (8033) is connected to the clamping mechanism (10).

6. An industrial intelligent six-axis manipulator according to claim 5, Features: The locking mechanism (9) comprises a locking block (901), a rotating rod (902), and a locking rod (903); the rotating rod (902) is hinged to the rear end of the tooth plate (8031), and the bottom is connected to the mounting groove (7); the locking rod (903) is hinged to the bottom of the rotating rod (902) close to the airbag (603); the locking block (901) is connected to the rear end of the locking rod (903), and the rear side of the locking block (901) is set to an arc shape; the front side of the rear claw joint (4) is provided with an arc groove (402), and the arc groove (402) is in contact with the rear side of the locking block (901).

7. The industrial intelligent six-axis manipulator according to claim 1, Features: The shock absorbing mechanism (401) comprises a middle hydraulic rod (4011), a side hydraulic rod (4012), a push rod (4013), and a connecting shaft (4014); a shock absorbing chamber (403) is provided inside the rear claw joint (4); the middle hydraulic rod (4011) is connected to the rear side of the inner wall of the shock absorbing chamber (403); the connecting shaft (4014) is connected to the inner wall of the shock absorbing chamber (403); the push rod (4013) is connected to the outer wall of the connecting shaft (4014); A conical groove (40121) is provided on the front side of the hydraulic rod (4011), the push rod (4013) is connected to the conical groove (40121), the front side of the push rod (4013) is hinged to the rear side of the front claw joint (5), the side hydraulic rod (4012) is connected to the rear side of the inner wall of the shock absorbing chamber (403), and the two side hydraulic rods (4012) are respectively located above and below the middle hydraulic rod (4011), and the front end of the side hydraulic rod (4012) is connected to the front claw joint (5).

8. The industrial intelligent six-axis manipulator according to claim 5, Features: The clamping mechanism (10) comprises a fixed plate (1001), a moving block (1002), a pneumatic rod (1003), and a splint (1004); the fixed plate (1001) is connected to the front side of the front paw joint (5); a moving groove (1005) is provided on the front side of the fixed plate (1001); a moving block (1002) is symmetrically installed inside the moving groove (1005); the rear side of the moving block (1002) is connected to the pulling rod (8033); the pneumatic rod (1003) is installed on the corresponding surface of the moving block (1002); and the splint (1004) is connected to the telescopic end of the pneumatic rod (1003).

9. The industrial intelligent six-axis manipulator according to claim 6, Features: The distance between the tooth plate (8031) and the rotating position of the rotating rod (902) is A, the distance between the locking rod (903) and the rotating position of the rotating rod (902) is B, and A is greater than B.

10. The industrial intelligent six-axis manipulator according to claim 3, Features: The delay assembly (804) includes a movable column (8041), a telescopic rod (8042), a sliding sleeve (8043), and a limit plate (8044). The inner wall of the installation groove (7) away from the airbag (603) is provided with a movable groove (701). The movable column (8041) is connected to the movable groove (701). The outer wall of the movable column (8041) is provided with an oblique groove (80411) and a straight groove (80412). The oblique groove (80411) is connected to the straight groove (80412). The rod (8042) is connected to the front side of the inner wall of the installation groove (7), one end of the telescopic rod (8042) is connected to the straight groove (80412), the limit plate (8044) is connected to the outer wall of the movable column (8041), the sliding sleeve (8043) is connected to the outer wall of the movable column (8041) and is located on the side of the limit plate (8044) away from the airbag (603), the bottom of the sliding sleeve (8043) is connected to the connecting plate (8024), and a delay spring (8045) is connected inside the movable groove (701).