Remote attitude control device for six-axis mechanical arm and use method of remote attitude control device

Abstract

The invention discloses a six-axis mechanical arm remote posture control device and a using method thereof, and relates to the technical field of mechanical arm control, the six-axis mechanical arm remote posture control device comprises a fixing frame and a bottom plate, a display screen body is arranged in an inner cavity of the fixing frame, supports are fixedly connected to the two sides of the fixing frame, and a dustproof mechanism is arranged at the top of the fixing frame; and the dustproof mechanism comprises a fixed box. The display screen body is arranged and used for displaying the camera shooting content of the camera body, so that workers can know the working state of the mechanical arm conveniently and provide important reference for next action decision, and the dustproof mechanism is arranged and used for protecting the front face of the display screen body, so that the safety of the mechanical arm is improved. And dust is prevented from being attached to the surface of the display screen body, the camera body is arranged for shooting the working state of the mechanical arm, and the adjusting mechanism is arranged for adjusting the angle of the fixing plate, so that the shooting angle of the camera body is adjusted, and the shooting range of the camera body is further expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm control, and in particular to a device for remote posture control of a six-axis robot arm and a method for using the device. Background Art

[0002] The six-axis robot arm is a mechanical device widely used in industrial automation, with high flexibility and precise control capabilities. When the six-axis robot arm is remotely operated, it is necessary to use a 3D camera to collect images to reconstruct the scene in three dimensions, divide the scene into objects, and use the robot arm neural network model of the dynamic back propagation network to adaptively control the robot arm to operate the panel buttons. Therefore, in the remote control of the robot arm, camera and display are very critical steps, which provide a very important reference for the staff to understand the working status of the robot arm and make the next action decision; In order to capture a more comprehensive video of the robotic arm, the camera usually has a rotation function, which can enable the camera to capture a wider range of images. However, since the position of the robotic arm can move continuously and the position of the camera is fixed, even if it can rotate, the camera image is still incomplete due to the influence of the position of the robotic arm and the camera. At the same time, the surface of the display screen is easily charged due to the electrostatic field in the environment. This charged state will cause the display screen to absorb some light dust or small particles, affecting the cleanliness of the display screen. Summary of the invention

[0003] The purpose of the present invention is to provide a device for remote posture control of a six-axis robotic arm and a method for using the device, which has the advantages of comprehensive video recording and dust prevention, and solves the problem that the position of the robotic arm can be moved continuously while the position of the camera is fixed. Even if it can be rotated, the camera image is still incomplete due to the influence of the position of the robotic arm and the camera. At the same time, the surface of the display screen is easily charged due to the electrostatic field in the environment. This charged state will cause the display screen to absorb some light dust or small particles, affecting the cleanliness of the display screen.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a device for remote posture control of a six-axis robot arm, comprising a fixed frame and a bottom plate, the inner cavity of the fixed frame is provided with a display screen body, both sides of the fixed frame are fixedly connected with brackets, the top of the fixed frame is provided with a dustproof mechanism, the dustproof mechanism comprises a fixed box, the fixed box is located at the top of the fixed frame and is fixedly connected to the fixed frame, the front of the fixed box is fixedly connected to a limit frame, the inner cavity of the limit frame is movably connected with a dustproof cloth, the bottom of the dustproof cloth is fixedly connected with a traction column, the back of the traction column is provided with a dust removal unit, and the top of the bottom plate A second motor is fixedly connected, and the output shaft of the second motor is drivingly connected to a rotating disk. A camera body is arranged on the top of the rotating disk, and an adjustment mechanism is arranged on the surface of the camera body. A fixing rod is fixedly connected to the rear end of the top of the rotating disk, and a support frame is fixedly connected to the back of the fixing rod, and the inner cavity of the support frame is movably connected to a fixing plate through a movable pin. The camera body is located in the inner cavity of the fixing plate and fixedly connected to the inner cavity of the fixing plate. The adjustment mechanism includes a traction rope, and the traction rope is located at the top of the fixing plate and fixedly connected to the top of the fixing plate. A tensioning unit is arranged on the back of the fixing rod.

[0005] Preferably, the dust removal unit includes a connecting plate, a fixing plate and a cleaning pad, the connecting plate is located on the back side of the traction column and fixedly connected to the traction column, the fixing plate is located on the back side of the connecting plate and fixedly connected to the connecting plate, the cleaning pad is located on the back side of the fixing plate and fixedly connected to the fixing plate, and the back side of the cleaning pad contacts the front side of the display screen body.

[0006] Preferably, the tensioning unit includes a hollow column, a movable column and a spring, the bottom of the hollow column is movably connected to the back side of the fixed rod via a rotating shaft, the top of the movable column is movably connected to the bottom of the fixed plate via a rotating shaft, the upper end of the spring is fixedly connected to the bottom of the movable column, and the lower end of the spring is fixedly connected to the bottom of the inner cavity of the hollow column.

[0007] Preferably, the inner cavity of the fixed box is movably connected to a transmission column via a bearing, the surface of the transmission column is fixedly connected to a winding roller, and one end of the dustproof cloth extends to the inner cavity of the fixed box and is fixedly connected to the surface of the winding roller.

[0008] Preferably, a first motor is fixedly connected to the left side of the fixed frame, and the output shaft of the first motor passes through the inner cavity of the fixed box and is fixedly connected to the left end of the transmission column. The inner cavity of the limit frame is movably connected to a guide roller through a bearing, and the dustproof cloth is movably connected to the surface of the guide roller. Both sides of the front side of the fixed frame are fixedly connected to the limit frames, and both ends of the traction column extend to the inner cavities of the two limit frames respectively and are slidably connected to their inner cavities.

[0009] Preferably, a third motor is fixedly connected to the front end of the top of the rotating disk, and the output shaft of the third motor is drivingly connected to the winding wheel. The end of the traction rope away from the fixed plate is fixedly connected to the surface of the winding wheel, and a protective cover is fixedly connected to the top of the base plate and located on the surface of the second motor, and the output shaft of the second motor is movably connected to the inner wall of the protective cover through a bearing.

[0010] The steps for using it are as follows: A. The movable column is located in the inner cavity of the hollow column and is slidably connected with the inner cavity of the hollow column. The spring is used to connect the hollow column and the movable column. At the same time, the reset elastic force of the spring can pull the movable column. During the operation of the six-axis robot, the camera body is used to record its working status so that the staff can understand the working status of the robot and provide an important reference for the next action decision. When the camera direction of the camera body needs to be adjusted, the second motor is started. When the second motor is running, its output shaft can drive the rotating disk to rotate, and the rotating disk can drive all the components on the top to rotate, thereby adjusting the camera direction of the camera body. When the camera angle of the camera body needs to be adjusted, the third motor is started first. The output shaft of the third motor can drive the winding wheel to rotate. When the winding wheel rotates, the traction rope can be wound up and the extension length of the traction rope can be adjusted. When the extension length of the traction rope changes, the camera angle of the camera body can be adjusted in cooperation with the tensioning unit, the rotating shaft and the movable pin. At this time, the reset elastic force of the spring can pull the movable column and cooperate with the movable column and the traction rope to position the fixed plate to prevent the angle of the fixed plate from shaking, so as to adjust the camera orientation of the camera body so that it can perform multi-directional photography of the robotic arm. B. When it is necessary to shield and protect the front of the display screen body, first start the first motor, the first motor drives the transmission column to rotate, and the transmission column drives the winding roller to rotate. When the winding roller rotates, it can release the dust-proof cloth rolled up on the surface, so that its extended length increases. Under the action of the gravity of the traction column, the dust-proof cloth gradually shields the front of the bottom plate. In the process of the traction column moving downward, it can drive the dust removal unit to move. When the cleaning pad of the dust removal unit moves on the surface of the display screen body, it can wipe and clean the dust attached to the surface of the display screen body. When the traction column drops to the lowest end, the unfolded dust-proof cloth can protect the front of the display screen body to prevent dust from adhering to the surface of the display screen body.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a fixed frame for supporting the display screen body and the dustproof mechanism, thereby improving the stability of the display screen body and the dustproof mechanism when in use. The display screen body is provided to display the camera content of the camera body, so that the staff can understand the working state of the mechanical arm and provide an important reference for the next action decision. The dustproof mechanism is provided to protect the front of the display screen body to prevent dust from adhering to the surface of the display screen body, thereby preventing the attached dust from affecting the display clarity of the display screen body. At the same time, in the process of the dustproof mechanism protecting the display screen body and retracting the protection state, the dust attached to the surface of the display screen body can be wiped and cleaned, thereby further reducing the dust content attached to the surface of the display screen body. The bracket is provided to support the fixed frame; 2. The present invention sets a bottom plate to support and fix the components on the top, and is also used to be installed in the working environment of the robot arm so as to fix the progress of the camera body. The second motor is used to drive the rotating disk to rotate, and the rotating disk can drive all the components on the top to rotate, so as to adjust the shooting direction of the camera body. The camera body is set to shoot the working status of the robot arm so that the staff can understand the working status of the robot arm in real time. The fixing rod, the support frame and the fixing plate are set to support the camera body. The adjustment mechanism is set to adjust the angle of the fixing plate, so as to adjust the shooting angle of the camera body, thereby further expanding the shooting range of the camera body. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the main structure of the fixing frame of the present invention; Figure 2 This is a schematic diagram of the main structure of the base plate of the present invention; Figure 3 It is a schematic diagram of the connection structure of the fixing rod, the supporting frame and the fixing plate of the present invention; Figure 4 It is a schematic diagram of the side cross-sectional structure of the fixing box and the limiting frame of the present invention; Figure 5 It is a schematic structural diagram of the explosion state of the reel of the present invention.

[0013] In the figure: 1. fixed frame; 2. bottom plate; 3. display screen body; 4. bracket; 5. dustproof mechanism; 501. fixed box; 502. limit frame; 503. dustproof cloth; 504. traction column; 505. dust removal unit; 506. transmission column; 507. winding roller; 508. first motor; 5009. guide roller; 510. limit frame; 6. second motor; 7. rotating disk; 8. camera body; 9. adjustment mechanism; 901. traction rope; 902. tensioning unit; 903. third motor; 904. winding wheel; 905. protective cover; 10. fixed rod; 11. support frame; 12. fixed plate. DETAILED DESCRIPTION

[0014] 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. 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 creative work are within the scope of protection of the present invention.

[0015] The present invention comprises a fixed frame 1, a bottom plate 2, a display screen body 3, a bracket 4, a dustproof mechanism 5, a fixed box 501, a limit frame 502, a dustproof cloth 503, a traction column 504, a dust removal unit 505, a transmission column 506, a winding roller 507, a first motor 508, a guide roller 509, a limit frame 510, a second motor 6, a rotating disk 7, a camera body 8, an adjustment mechanism 9, a traction rope 901, a tensioning unit 902, a third motor 903, a winding wheel 904, a protective cover 905, a fixed rod 10, a support frame 11, and a fixed plate 12. ... The fixed box 501, the limiting frame 502, the dustproof cloth 503, the traction column 504, the dust removal unit 505, the transmission column 506, the winding roller 507, the first motor 508, the guide roller 509, the limiting frame 510, the second motor 6, the rotating disk 7, the camera body 8, the adjustment mechanism 9, the traction rope 901, the tensioning unit 902, the third motor 903, the winding wheel 904, the protective cover 905, the fixing rod 10, the supporting frame 11, and the fixing plate 12 are all universal standard parts or parts known to technical personnel in this field, and their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods.

[0016] Example 1

[0017] like Figure 1-5As shown, it is the first embodiment of the present invention, which provides a six-axis robot arm remote posture control device, including a fixed frame 1 and a bottom plate 2, the inner cavity of the fixed frame 1 is provided with a display screen body 3, both sides of the fixed frame 1 are fixedly connected with brackets 4, the top of the fixed frame 1 is provided with a dustproof mechanism 5, the dustproof mechanism 5 includes a fixed box 501, the fixed box 501 is located at the top of the fixed frame 1 and is fixedly connected to the fixed frame 1, the front of the fixed box 501 is fixedly connected to a limited position frame 502, the inner cavity of the limited position frame 502 is movably connected with a dustproof cloth 503, the bottom of the dustproof cloth 503 is fixedly connected with a traction column 504, the back of the traction column 504 is provided with a dust removal unit 505, and the bottom of the bottom plate 2 is provided with a traction column 504. A second motor 6 is fixedly connected to the top, and the output shaft of the second motor 6 is drivingly connected to a rotating disk 7. A camera body 8 is arranged on the top of the rotating disk 7, and an adjusting mechanism 9 is arranged on the surface of the camera body 8. A fixing rod 10 is fixedly connected to the rear end of the top of the rotating disk 7, and a supporting frame 11 is fixedly connected to the back of the fixing rod 10. The inner cavity of the supporting frame 11 is movably connected to a fixing plate 12 through a movable pin. The camera body 8 is located in the inner cavity of the fixing plate 12 and is fixedly connected to the inner cavity of the fixing plate 12. The adjusting mechanism 9 includes a traction rope 901, and the traction rope 901 is located at the top of the fixing plate 12 and is fixedly connected to the top of the fixing plate 12. A tensioning unit 902 is arranged on the back of the fixing rod 10.

[0018] like Figure 1-5 As shown, the fixed frame 1 is used to support the display screen body 3 and the dustproof mechanism 5. The display screen body 3 is used to display the camera content of the camera body 8, so that the staff can understand the working status of the robot arm and provide an important reference for the next action decision. The dustproof mechanism 5 is used to protect the front of the display screen body 3 to prevent dust from adhering to the surface of the display screen body 3, thereby preventing the attached dust from affecting the display clarity of the display screen body 3. At the same time, in the process of the dustproof mechanism 5 protecting the display screen body 3 and retracting the protection state, the dust attached to the surface of the display screen body 3 can be wiped and cleaned, thereby further reducing the dust content attached to the surface of the display screen body 3. The bracket 4 is used to fix the frame 1 is used for support, the bottom plate 2 is used for supporting and fixing the components on the top, and is also used for being installed in the working environment of the robot arm so as to fix the progress of the camera body 8, the second motor 6 is used for driving the rotating disk 7 to rotate, and the rotating disk 7 can drive all the components on the top to rotate, so as to adjust the shooting direction of the camera body 8, and the camera body 8 is used for shooting the working state of the robot arm so that the staff can understand the working state of the robot arm in real time, the fixing rod 10, the supporting frame 11 and the fixing plate 12 are used for supporting the camera body 8, and the adjusting mechanism 9 is used for adjusting the angle of the fixing plate 12, so as to adjust the shooting angle of the camera body 8, and further expand the shooting range of the camera body 8.

[0019] Example 2

[0020] Reference Figure 1 and 4 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0021] In this embodiment, the dust removal unit 505 includes a connecting plate, a fixing plate and a cleaning pad. The connecting plate is located on the back side of the traction column 504 and is fixedly connected to the traction column 504. The fixing plate is located on the back side of the connecting plate and is fixedly connected to the connecting plate. The cleaning pad is located on the back side of the fixing plate and is fixedly connected to the fixing plate. The back side of the cleaning pad contacts the front side of the display screen body 3.

[0022] The inner cavity of the fixed box 501 is movably connected to a transmission column 506 through a bearing, and a winding roller 507 is fixedly connected to the surface of the transmission column 506. One end of the dustproof cloth 503 extends to the inner cavity of the fixed box 501 and is fixedly connected to the surface of the winding roller 507.

[0023] A first motor 508 is fixedly connected to the left side of the fixed frame 1, and the output shaft of the first motor 508 passes through the inner cavity of the fixed box 501 and is fixedly connected to the left end of the transmission column 506. The inner cavity of the limit frame 502 is movably connected to a guide roller 509 through a bearing, and the dustproof cloth 503 is movably connected to the surface of the guide roller 509. Both sides of the front of the fixed frame 1 are fixedly connected to the limit frames 510, and both ends of the traction column 504 extend to the inner cavities of the two limit frames 510 respectively and are slidably connected to their inner cavities.

[0024] like Figure 1 and 4 As shown, when it is necessary to shield and protect the front of the display screen body 3, first start the first motor 508, the first motor 508 drives the transmission column 506 to rotate, and the transmission column 506 drives the winding roller 507 to rotate. When the winding roller 507 rotates, it can release the dustproof cloth 503 rolled up on the surface, so that its extended length increases. Under the action of the gravity of the traction column 504, the dustproof cloth 503 gradually blocks the front of the bottom plate 2. In the process of the traction column 504 moving downward, it can drive the dust removal unit 505 to move. When the cleaning pad of the dust removal unit 505 moves on the surface of the display screen body 3, it can wipe and clean the dust attached to the surface of the display screen body 3. When the traction column 504 drops to the lowest end, the unfolded dustproof cloth 503 can protect the front of the display screen body 3 to prevent dust from adhering to the surface of the display screen body 3.

[0025] Example 3

[0026] Reference Figure 2 , 3 and 5, which are the third embodiment of the present invention, and this embodiment is based on the first two embodiments.

[0027] In this embodiment, the tensioning unit 902 includes a hollow column, a movable column and a spring. The bottom of the hollow column is movably connected to the back side of the fixed rod 10 via a rotating shaft, the top of the movable column is movably connected to the bottom of the fixed plate 12 via a rotating shaft, the upper end of the spring is fixedly connected to the bottom of the movable column, and the lower end of the spring is fixedly connected to the bottom of the inner cavity of the hollow column.

[0028] The front end of the top of the rotating disk 7 is fixedly connected to the third motor 903, the output shaft of the third motor 903 is transmission-connected to the winding wheel 904, the end of the traction rope 901 away from the fixed plate 12 is fixedly connected to the surface of the winding wheel 904, the top of the bottom plate 2 and the surface of the second motor 6 is fixedly connected to a protective cover 905, and the output shaft of the second motor 6 is movably connected to the inner wall of the protective cover 905 through a bearing.

[0029] like Figure 2 , 3 As shown in 5, the movable column is located in the inner cavity of the hollow column and is slidably connected with the inner cavity of the hollow column. The spring is used to connect the hollow column and the movable column. At the same time, the restoring elastic force of the spring can pull the movable column. During the operation of the six-axis robot arm, the camera body 8 is used to photograph its working state so that the staff can understand the working state of the robot arm and provide an important reference for the next action decision. When the shooting direction of the camera body 8 needs to be adjusted, the second motor 6 is started. When the second motor 6 is running, its output shaft can drive the rotating disk 7 to rotate, and the rotating disk 7 can drive all the components on the top to rotate, so as to adjust the shooting direction of the camera body 8. If the camera needs to be adjusted, When adjusting the camera angle of the main body 8, first start the third motor 903. The output shaft of the third motor 903 can drive the winding wheel 904 to rotate. When the winding wheel 904 rotates, it can wind up the traction rope 901 and adjust the extended length of the traction rope 901. When the extended length of the traction rope 901 changes, the camera angle of the camera main body 8 can be adjusted in cooperation with the tensioning unit 902, the rotating shaft and the movable pin. At this time, the restoring elastic force of the spring can pull the movable column, and cooperate with the movable column and the traction rope 901 to position the fixed plate 12 to prevent the angle of the fixed plate 12 from shaking, so as to adjust the camera orientation of the camera main body 8 so that it can perform multi-directional camera shooting of the robotic arm.

[0030] A method for using a device for remote posture control of a six-axis robotic arm, the method comprising the following steps: When it is necessary to shield and protect the front of the display screen body 3, first start the first motor 508, the first motor 508 drives the transmission column 506 to rotate, and the transmission column 506 drives the winding roller 507 to rotate. When the winding roller 507 rotates, it can release the dustproof cloth 503 rolled up on the surface, so that its extended length increases. Under the action of the gravity of the traction column 504, the dustproof cloth 503 gradually shields the front of the bottom plate 2. In the process of the traction column 504 moving downward, it can drive the dust removal unit 505 to move, and the cleaning pad of the dust removal unit 505 is on the display screen. When the surface of the display screen body 3 moves, the dust attached to the surface of the display screen body 3 can be wiped and cleaned. When the traction column 504 drops to the lowest end, the unfolded dustproof cloth 503 can protect the front of the display screen body 3 to prevent dust from adhering to the surface of the display screen body 3. The movable column is located in the inner cavity of the hollow column and is slidably connected with the inner cavity of the hollow column. The spring is used to connect the hollow column and the movable column. At the same time, the reset elastic force of the spring can pull the movable column. During the operation of the six-axis robot arm, the camera body 8 is used to photograph its working state so that the staff can understand the working state of the robot arm and provide an important reference for the next action decision. When the shooting direction of the camera body 8 needs to be adjusted, the second motor 6 is started. When the second motor 6 is running, its output shaft can drive the rotating disk 7 to rotate, and the rotating disk 7 can drive all the components on the top to rotate, thereby adjusting the shooting direction of the camera body 8. When the shooting angle of the camera body 8 needs to be adjusted, the third motor 903 is started first. The output shaft of the third motor 903 can drive the winding wheel 904 to rotate. When the reel 904 rotates, it can reel in the traction rope 901 and adjust the extended length of the traction rope 901. When the extended length of the traction rope 901 changes, the shooting angle of the camera body 8 can be adjusted in cooperation with the tensioning unit 902, the rotating shaft and the movable pin. At this time, the restoring elastic force of the spring can pull the movable column, and cooperate with the movable column and the traction rope 901 to position the fixed plate 12 to prevent the angle of the fixed plate 12 from shaking, thereby adjusting the shooting direction of the camera body 8 so that it can perform multi-directional shooting of the robotic arm.

[0031] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] 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. A six-axis robot arm remote posture control device, comprising a fixed frame (1) and a base plate (2), characterized in that: The inner cavity of the fixed frame (1) is provided with a display screen body (3), both sides of the fixed frame (1) are fixedly connected to brackets (4), the top of the fixed frame (1) is provided with a dustproof mechanism (5), the dustproof mechanism (5) comprises a fixed box (501), the fixed box (501) is located at the top of the fixed frame (1) and is fixedly connected to the fixed frame (1), the front of the fixed box (501) is fixedly connected to a limit frame (502), the inner cavity of the limit frame (502) is movably connected to a dustproof cloth (503), the bottom of the dustproof cloth (503) is fixedly connected to a traction column (504), the back of the traction column (504) is provided with a dust removal unit (505), the top of the bottom plate (2) is fixedly connected to a second motor (6), the output of the second motor (6) A rotating disk (7) is connected to the shaft transmission, a camera body (8) is arranged on the top of the rotating disk (7), an adjusting mechanism (9) is arranged on the surface of the camera body (8), a fixing rod (10) is fixedly connected to the rear end of the top of the rotating disk (7), a support frame (11) is fixedly connected to the back of the fixing rod (10), an inner cavity of the support frame (11) is movably connected to a fixing plate (12) via a movable pin, the camera body (8) is located in the inner cavity of the fixing plate (12) and is fixedly connected to the inner cavity of the fixing plate (12), the adjusting mechanism (9) comprises a traction rope (901), the traction rope (901) is located at the top of the fixing plate (12) and is fixedly connected to the top of the fixing plate (12), and a tensioning unit (902) is arranged on the back of the fixing rod (10).

2. The device for remote posture control of a six-axis robot arm according to claim 1, characterized in that: The dust removal unit (505) comprises a connecting plate, a fixing sheet and a cleaning pad, wherein the connecting plate is located on the back of the traction column (504) and is fixedly connected to the traction column (504), the fixing sheet is located on the back of the connecting plate and is fixedly connected to the connecting plate, the cleaning pad is located on the back of the fixing sheet and is fixedly connected to the fixing sheet, and the back of the cleaning pad contacts the front of the display screen body (3).

3. The device for remote posture control of a six-axis robotic arm according to claim 1, characterized in that: The tensioning unit (902) comprises a hollow column, a movable column and a spring, wherein the bottom of the hollow column is movably connected to the back of the fixed rod (10) via a rotating shaft, the top of the movable column is movably connected to the bottom of the fixed plate (12) via a rotating shaft, the upper end of the spring is fixedly connected to the bottom of the movable column, and the lower end of the spring is fixedly connected to the bottom of the inner cavity of the hollow column.

4. The device for remote posture control of a six-axis robot arm according to claim 1, characterized in that: The inner cavity of the fixed box (501) is movably connected to a transmission column (506) via a bearing, the surface of the transmission column (506) is fixedly connected to a winding roller (507), and one end of the dustproof cloth (503) extends to the inner cavity of the fixed box (501) and is fixedly connected to the surface of the winding roller (507).

5. The device for remote posture control of a six-axis robot arm according to claim 1, characterized in that: A first motor (508) is fixedly connected to the left side of the fixed frame (1); an output shaft of the first motor (508) passes through the inner cavity of the fixed box (501) and is fixedly connected to the left end of the transmission column (506); a guide roller (509) is movably connected to the inner cavity of the limit frame (502) via a bearing; the dustproof cloth (503) is movably connected to the surface of the guide roller (509); both sides of the front side of the fixed frame (1) are fixedly connected to the limit frames (510); and both ends of the traction column (504) extend to the inner cavities of the two limit frames (510) and are slidably connected to the inner cavities thereof.

6. The device for remote posture control of a six-axis robot arm according to claim 1, characterized in that: The front end of the top of the rotating disk (7) is fixedly connected to a third motor (903), the output shaft of the third motor (903) is drivingly connected to a winding wheel (904), one end of the traction rope (901) away from the fixed plate (12) is fixedly connected to the surface of the winding wheel (904), the top of the bottom plate (2) and located on the surface of the second motor (6) is fixedly connected to a protective cover (905), and the output shaft of the second motor (6) is movably connected to the inner wall of the protective cover (905) via a bearing.

7. A method for using a six-axis robot arm remote posture control device according to any one of claims 1 to 6, characterized in that: The steps for using it are as follows: A. The movable column is located in the inner cavity of the hollow column and is slidably connected to the inner cavity of the hollow column. The spring is used to connect the hollow column and the movable column. At the same time, the restoring elastic force of the spring can pull the movable column. During the operation of the six-axis robot arm, the camera body (8) is used to record its working state so that the staff can understand the working state of the robot arm and provide an important reference for making the next action decision. When the camera direction of the camera body (8) needs to be adjusted, the second motor (6) is started. When the second motor (6) is running, its output shaft can drive the rotating disk (7) to rotate, and the rotating disk (7) can drive all the components on the top to rotate, so as to adjust the camera direction of the camera body (8). When the camera angle of the camera body (8) needs to be adjusted, the second motor (6) is started. When the second motor (6) is running, its output shaft can drive the rotating disk (7) to rotate, and the rotating disk (7) can drive all the components on the top to rotate, so as to adjust the camera direction of the camera body (8). When the third motor (903) is moved to a certain degree, the output shaft of the third motor (903) can drive the winding wheel (904) to rotate. When the winding wheel (904) rotates, the traction rope (901) can be wound up and the extension length of the traction rope (901) can be adjusted. When the extension length of the traction rope (901) changes, the camera angle of the camera body (8) can be adjusted in cooperation with the tensioning unit (902), the rotating shaft and the movable pin. At this time, the restoring elastic force of the spring can pull the movable column and cooperate with the movable column and the traction rope (901) to position the fixed plate (12) to prevent the angle of the fixed plate (12) from shaking, thereby adjusting the camera orientation of the camera body (8) so that the robot arm can be photographed in all directions. B. When it is necessary to shield and protect the front side of the display screen body (3), the first motor (508) is first started, and the first motor (508) drives the transmission column (506) to rotate, and the transmission column (506) then drives the winding roller (507) to rotate. When the winding roller (507) rotates, it can release the dustproof cloth (503) rolled up on the surface, so that the extended length of the dustproof cloth (503) increases. Under the action of the gravity of the traction column (504), the dustproof cloth (503) gradually shields the front side of the bottom plate (2). When the traction column (504) moves downward, it can drive the dust removal unit (505) to move. When the cleaning pad of the dust removal unit (505) moves on the surface of the display screen body (3), it can wipe and clean the dust attached to the surface of the display screen body (3). When the traction column (504) descends to the lowest end, the unfolded dustproof cloth (503) can protect the front side of the display screen body (3) to prevent dust from adhering to the surface of the display screen body (3).

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