Six-axis industrial robot path planning system

Abstract

The six-axis industrial robot path planning system comprises a telescopic arm cylinder body and a rectangular guide rail, the telescopic arm cylinder body is assembled on the top of the rectangular guide rail, a sliding table sliding on the top of the rectangular guide rail is assembled above the telescopic arm cylinder body, and a stop assembly is arranged at the contact position of the top of the rectangular guide rail and the bottom of the sliding table; a piston is movably assembled in the telescopic arm cylinder body, and a piston rod which extends out of the end of the telescopic arm cylinder body and drives the sliding table to move is arranged at one end of the piston. According to the invention, the locking assembly is arranged to carry out anti-wear protection when the sliding table moves, so that the service life of the device is longer, and the sliding table is locked after moving to a specified position, so that the joint speed of the sliding table is controllable, and the stability of the movement track of the sliding table is ensured. The robot is short in response time, rapid in action and high in accuracy, the efficiency is improved, the labor cost is reduced, and waste is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of six-axis industrial robots, and particularly to a path planning system for a six-axis industrial robot. Background Art

[0002] Six-degree-of-freedom robots have a high degree of motion flexibility and a wide working space range, and can flexibly bypass obstacles. Such robots are usually relatively compact in structure, occupy a small floor area, and the relative moving parts on the joints are easy to be sealed against dust. These characteristics make six-degree-of-freedom robots perform excellently in various industrial applications, especially in occasions that require high precision and complex motions. In the process, as a carrier for driving the laser to move, the six-degree-of-freedom robot needs to achieve precise trajectory path planning and operation sequence control, and the obstacle avoidance motion path planning plays a crucial role in this process.

[0003] In modern mechanical industry, the application of robots widely involves precise mechanical control and transmission systems. The mechanical arm structure and its main body of the robot mainly consist of multiple key components connected to each other, such as the terminal for controlling the arm and the actuator, the wrist assembly, the arm part, the waist structure, and a stable base. Regarding the end control of the mechanical arm, it is generally considered to have six degrees of freedom, among which three degrees of freedom are specifically used for precisely positioning the spatial position of the end effector, while the other three degrees of freedom focus on regulating the specific posture of the end effector. This design makes the end effector of the mechanical arm extremely flexible and can be easily replaced with various complex tools such as a welding torch, a vacuum chuck, or a laser head according to different operation requirements. This replaceability greatly enhances the versatility and adaptability of the robot, enabling it to perform excellently in various manufacturing and production tasks.

[0004] Aiming at the above technical problems, the present invention discloses a path planning system for a six-axis industrial robot, and the present invention has the advantages that the joint speed is controllable, ensuring the continuity and stability of the trajectory curve that can be planned. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a path planning system for a six-axis industrial robot to solve the technical problems proposed in the prior art. The present invention has the advantages that the joint speed is controllable, ensuring the continuity and stability of the trajectory curve that can be planned.

[0006] The present invention is realized through the following technical solutions: The present invention discloses a path planning system for a six-axis industrial robot, including a telescopic arm cylinder block and a rectangular guide rail. The telescopic arm cylinder block is assembled on the top of the rectangular guide rail. A slide table that slides on the top of the rectangular guide rail is assembled above the telescopic arm cylinder block. A stop assembly is provided at the contact position between the top of the rectangular guide rail and the bottom of the slide table. A piston is movably assembled inside the telescopic arm cylinder block. One end of the piston is provided with a piston rod that extends outside the end of the telescopic arm cylinder block and drives the slide table to move. A first connecting piece is connected to the end of the slide table away from the telescopic arm cylinder block by a flange, and a gripper hydraulic cylinder is provided at the end of the first connecting piece; The outer wall of the gripper hydraulic cylinder is sleeved with a wrist rotary cylinder block. On one side of the wrist rotary cylinder block, a left cylinder head fixed to the end face of the first connecting piece is assembled on the outer wall of the gripper hydraulic cylinder. On the other side of the wrist rotary cylinder block, a right cylinder head is assembled on the outer wall of the gripper hydraulic cylinder. A stationary plate is fixedly installed on the inner wall of the wrist rotary cylinder block with screws. A moving plate fixed to the outside of the gripper hydraulic cylinder is provided opposite to the stationary plate. The output end of the gripper hydraulic cylinder is assembled with a wedge block. A second connecting piece that fixes the curved outer wall of the gripper hydraulic cylinder is assembled below the wedge block. Clamping fingers for clamping objects are assembled on both sides of the wedge block at the top of the second connecting piece. One end of each group of clamping fingers is assembled with a V-shaped finger.

[0007] Further, one end of the telescopic arm cylinder block away from the slide table is connected to a cylinder bottom, and the cylinder bottom is rotatably arranged on the top of the rectangular guide rail.

[0008] Further, pipe joints are reserved at both ends of the top of the telescopic arm cylinder block. The outer wall of the piston rod is sleeved with a cylinder head fixed to the end face of the telescopic arm cylinder block, and an oil seal ring is assembled at the contact position between the inner wall of the cylinder head and the piston rod.

[0009] Further, both ends of the piston rod penetrate through the slide table and the piston respectively. Both ends of the piston rod are fixed to the slide table and the piston by threads. A piston rod guide sleeve is assembled on the outer wall of the piston rod inside the telescopic arm cylinder block, and multiple groups of O-rings are sleeved on the curved outer wall of the piston rod.

[0010] Further, flange-type bearing end covers are fixed to the ends of the left cylinder head and the right cylinder head away from each other by bolts, and deep groove ball bearings are assembled at the contact positions between the inside of the left cylinder head and the right cylinder head and the gripper hydraulic cylinder.

[0011] Further, a pressing plate is assembled at the edge position of the top of the slide table, and the pressing plate is fixed to the edge position of the top of the rectangular guide rail by threads.

[0012] Further, the clamping fingers are rotatably arranged on the top of the second connecting piece by a rotating shaft, and rollers that contact the curved outer wall of the wedge block are provided at the other end of the clamping fingers.

[0013] Further, the stop assembly includes a plurality of groups of operation slots opened at the top of the rectangular guide rail. A spline shaft is horizontally rotatably arranged on the inner wall of each group of operation slots. Two spline sleeves are sleeved on the outer wall of the spline shaft near the middle position. The outer curved surface of each spline sleeve is equidistantly provided with stop strips. The top and bottom of the sliding table are fixed and extend between the two groups of stop strips as a driven plate strip. Bearing rings that contact the bottom of the sliding table are fixed to the end faces of the two spline sleeves away from each other. The bearing rings are movably sleeved on the outer wall of the spline shaft. A U-shaped strip is slidably arranged on the inner end face of each spline shaft. An electric push rod for driving the two bearing rings away from each other is assembled inside the operation slot.

[0014] Further, both ends of the spline shaft are connected to the inner wall of the operation slot by ratchets. A strip seat is fixed to the telescopic end of the electric push rod. A pair of driving arms that are rotationally connected to each U-shaped strip are arranged on the top of the strip seat. A T-shaped column is fixed to the outer end face of the U-shaped strip. A T-shaped ring groove for the T-shaped column to slide is opened on the end face of the bearing ring. The present invention has the following advantages: (1) By providing a stop assembly to protect against wear during the movement of the sliding table, the device has a long service life, and locks the sliding table after it moves to a specified position, making its joint speed controllable and ensuring the stability of its movement trajectory.

[0015] (2) By reducing the response time of the robot, it has quick actions, high precision, improves efficiency, reduces labor costs, and reduces waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front view sectional structure diagram of the present invention; Figure 2 is a top view structure diagram of the present invention; Figure 3 is a sectional view of the end face of the wrist rotary cylinder block of the present invention; Figure 4 is a front view sectional structure schematic diagram of the wrist rotary cylinder block of the present invention; Figure 5 is a sectional structure diagram of the sliding table and the rectangular guide rail end face of the present invention; Figure 6 is of the present invention Figure 5 magnified structure schematic diagram at A in; Figure 7 is a three-dimensional structure schematic diagram of the spline shaft and the spline sleeve of the present invention; Figure 8 is a line graph of the hand rotary joint speed of 20 in the present invention; Figure 9 is a line graph of the hand rotary joint speed of 50 in the present invention.

[0017] In the figure: 1. Telescopic arm cylinder block; 2. Cylinder bottom; 3. Piston; 4. Piston rod; 5. O-ring; 6. Pipe joint; 7. Piston rod guide sleeve; 8. Cylinder head; 9. Slide table; 10. First connecting piece; 11. Left cylinder head; 12. Right cylinder head; 13. Wrist rotation cylinder block; 14. Flange type bearing end cover; 15. Gripper hydraulic cylinder; 16. Second connecting piece; 17. Roller; 18. Wedge block; 19. Gripping finger; 20. V-shaped finger; 21. Movable piece; 22. Static piece; 23. Pressure plate; 24. Rectangular guide rail; 25. Electric push rod; 26. Strip seat; 27. Spline shaft; 28. Ratchet; 29. Operation groove; 30. Driven plate strip; 31. Stop strip; 32. Active arm; 33. Load-bearing ring; 34. U-shaped strip; 35. Spline sleeve. Specific embodiments

[0018] The embodiments of the present invention will be described in detail below. These embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments. In the description of the present invention, words indicating orientation or position relationship such as "front", "rear", "left", "right", etc. are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. Embodiment 1

[0019] A six-axis industrial robot path planning system is disclosed. As Figures 1 to 7 shown, it includes a telescopic arm cylinder block 1 and a rectangular guide rail 24. The telescopic arm cylinder block 1 is assembled on the top of the rectangular guide rail 24. Above the telescopic arm cylinder block 1, a slide table 9 that slides on the top of the rectangular guide rail 24 is assembled. A stop component is provided at the contact position between the top of the rectangular guide rail 24 and the bottom of the slide table 9. A piston 3 is movably assembled inside the telescopic arm cylinder block 1. One end of the piston 3 is provided with a piston rod 4 that extends outside the end of the telescopic arm cylinder block 1 and drives the slide table 9 to move. One end of the slide table 9 away from the telescopic arm cylinder block 1 is flange-connected with a first connecting piece 10, and a gripper hydraulic cylinder 15 is at the end of the first connecting piece 10; The outer wall of the gripper hydraulic cylinder 15 is sleeved with the wrist rotary cylinder block 13. On one side of the wrist rotary cylinder block 13 located on the outer wall of the gripper hydraulic cylinder 15, a left cylinder head 11 fixed to the end face of the first connecting piece 10 is assembled. On the other side of the wrist rotary cylinder block 13 located on the outer wall of the gripper hydraulic cylinder 15, a right cylinder head 12 is assembled. The inner wall of the wrist rotary cylinder block 13 is fixedly provided with a stationary plate 22 by screws. Opposite to the stationary plate 22, a moving plate 21 fixed to the outside of the gripper hydraulic cylinder 15 is provided. The output end of the gripper hydraulic cylinder 15 is assembled with a wedge block 18. Below the wedge block 18, a second connecting piece 16 for fixing the curved outer wall of the gripper hydraulic cylinder 15 is assembled. At the top of the second connecting piece 16 and on both sides of the wedge block 18, gripper fingers 19 for gripping an object are assembled. One end of each group of gripper fingers 19 is assembled with a V-shaped finger 20; One end of the telescopic arm cylinder block 1 away from the sliding table 9 is connected with a cylinder bottom 2, and the cylinder bottom 2 is rotatably arranged on the top of the rectangular guide rail 24; The stop assembly includes a plurality of groups of operation grooves 29 opened on the top of the rectangular guide rail 24. A spline shaft 27 is horizontally rotatably arranged on the inner wall of each group of operation grooves 29. Two spline sleeves 35 are sleeved on the outer wall of the spline shaft 27 near the middle position. Equal-spacing stop bars 31 are arranged on the curved outer walls of each group of spline sleeves 35. A driven plate bar 30 fixed to the top and bottom of the sliding table 9 and extending between the two stop bars 31 is provided. Load-bearing rings 33 in contact with the bottom of the sliding table 9 are fixed to the end faces of the two spline sleeves 35 away from each other. The load-bearing rings 33 are movably sleeved on the outer wall of the spline shaft 27. A U-shaped bar 34 is slidably arranged on the inner end face of each group of spline shafts 27. An electric push rod 25 for driving the two load-bearing rings 33 to move away from each other is assembled inside the operation groove 29; Both ends of the spline shaft 27 are connected with the inner wall of the operation groove 29 by ratchets 28. The end of the telescopic end of the electric push rod 25 is fixed with a strip seat 26. A pair of active arms 32 rotatably connected with each group of U-shaped bars 34 are arranged on the top of the strip seat 26. A T column is fixed to the outer end face of the U-shaped bar 34. A T-ring groove for the T column to slide is opened on the end face of the load-bearing ring 33.

[0020] External hydraulic fluid enters the telescopic arm cylinder block 1, and the pressure generated inside the telescopic arm cylinder block 1 drives the piston 3 to move horizontally. At this time, through the transmission of the piston rod 4, the sliding table 9 is pushed and moves on the top of the rectangular guide rail 24. The gripper hydraulic cylinder 15 also moves together with the sliding table 9. The wrist rotary cylinder block 13 can change the horizontal angle of the gripper hydraulic cylinder 15 according to requirements. At this time, the telescopic end of the gripper hydraulic cylinder 15 pushes the wedge block 18 to extend out. One end of the two groups of gripper fingers 19 is pushed outward by the wedge block 18, and the V-shaped fingers 20 at the other end will move relatively closer and can contact the outer wall of the tool to complete the purpose of clamping; When the sliding table 9 slides on the top of the rectangular guide rail 24, its bottom contacts the load-bearing ring 33 in each operation groove 29, and the two are in a state of sliding friction. In this way, the wear between the bottom of the sliding table 9 and the rectangular guide rail 24 can be reduced, the oil pressure required for the movement of the sliding table 9 is relatively small, and the tension generated by the oil fluid on the inner wall of the telescopic arm cylinder block 1 is reduced, which in turn makes the service life of the telescopic arm cylinder block 1 long. The driven strip 30 at the bottom of the sliding table 9 will generate a lateral thrust on the stop bar 31, causing the spline sleeve 35 and the spline shaft 27 to rotate around the connection point with the inner wall of the operation groove 29, so that the oil pressure required for the movement of the sliding table 9 is relatively small. Due to the action of the ratchet 28, the spline sleeve 35 and the spline shaft 27 can only rotate in one direction. Therefore, after the sliding table 9 moves a specified distance, the stop bar 31 will block the driven strip 30, achieving a one-way movement effect on the sliding table 9 to prevent the situation where the sliding table 9 moves in the reverse direction due to the reduction of the internal oil pressure of the telescopic arm cylinder block 1 or the leakage of the pipeline connected to the pipe joint 6. Conversely, only by controlling the electric push rod 25 to work, its output end pushes the strip seat 26 to rise, making the two pairs of active arms 32 gradually tend to be horizontal, the two spline sleeves 35 can be gradually separated from the outer wall of the spline shaft 27, and the distance between the stop bars 31 on the outer wall of the spline sleeve 35 is greater than the length of the driven strip 30, so that the sliding table 9 can move in the reverse direction and return to its original position on the top of the rectangular guide rail 24 after passing through the distance between the stop bars 31.

[0021] Please refer particularly to Figure 1 and Figure 2 At both ends of the top of the telescopic arm cylinder block 1 near the ends, pipe joints 6 are reserved. The outer wall of the piston rod 4 is sleeved with a cylinder head 8 fixed to the end face of the telescopic arm cylinder block 1, and an oil seal ring is assembled at the contact position between the inner wall of the cylinder head 8 and the piston rod 4.

[0022] The external oil fluid enters and exits the telescopic arm cylinder block 1 through the pipe joint 6, generating a lateral left or right thrust on the piston 3, ultimately achieving the purpose of making the piston rod 4 move horizontally. With the assistance of the oil seal ring, it is possible to prevent the oil fluid from leaking through the gap between the piston rod 4 and the cylinder head 8.

[0023] Both ends of the piston rod 4 penetrate through the sliding table 9 and the piston 3 respectively. Both ends of the piston rod 4 are fixed to the sliding table 9 and the piston 3 by threads. A piston rod guide sleeve 7 is assembled on the outer wall of the piston rod 4 inside the telescopic arm cylinder block 1, and multiple groups of O-rings 5 are sleeved on the curved outer wall of the piston rod 4.

[0024] The added piston rod guide sleeve 7 provides a protective effect between the piston rod 4 and the telescopic arm cylinder block 1, preventing damage to the service cost caused by wear between the piston rod 4 and the telescopic arm cylinder block 1. The O-ring 5 increases the sealing performance between the piston rod 4 and the telescopic arm cylinder block 1, and cooperates with the externally introduced oil fluid to enable the piston 3 to move horizontally back and forth normally.

[0025] Please refer particularly toFigure 1 At one end where the left cylinder head 11 and the right cylinder head 12 are far away from each other, a flange-type bearing end cover 14 is fixed by bolts, and deep groove ball bearings are assembled at the contact positions between the interiors of the left cylinder head 11 and the right cylinder head 12 and the gripper hydraulic cylinder 15.

[0026] The deep groove ball bearings enable the gripper hydraulic cylinder 15 to rotate at the central axis positions of the left cylinder head 11 and the right cylinder head 12, assisting the gripper hydraulic cylinder 15 to achieve the final gripping purpose.

[0027] Please refer particularly to Figure 5 At the top edge position of the slide table 9, a pressing plate 23 is assembled, and the pressing plate 23 is fixed to the top edge position of the rectangular guide rail 24 by threads.

[0028] The pressing plate 23 has a constraining effect on the slide table 9, enabling the slide table 9 to move horizontally back and forth along a preset trajectory at the top of the rectangular guide rail 24 when an external force is applied by the piston rod 4.

[0029] Please refer particularly to Figure 1 and Figure 2 The clamping fingers 19 are rotatably arranged on the top of the second connecting member 16 by a rotating shaft, and a torsion spring for resetting is assembled at the contact position between the outer wall of the rotating shaft and the second connecting member 16. At the other end of the clamping fingers 19, a roller 17 is provided which contacts the curved outer wall of the wedge block 18.

[0030] The roller 17 makes the contact position between the end of the clamping fingers 19 and the wedge block 18 in a state of rolling friction, which can reduce the wear caused by the extrusion force generated between the end of the clamping fingers 19 and the wedge block 18, and extend the service life of both; The torsion spring can generate a reverse torsion force on the rotated clamping fingers 19. When the wedge block 18 no longer exerts an extrusion effect on it, the clamping fingers 19 automatically rotate reversely and restore around the rotating shaft.

[0031] Working principle: The external hydraulic fluid enters the telescopic arm cylinder block 1, and the pressure generated inside the telescopic arm cylinder block 1 drives the piston 3 to move horizontally. At this time, through the transmission of the piston rod 4, the slide table 9 is pushed and moves on the top of the rectangular guide rail 24. The gripper hydraulic cylinder 15 also moves together with the slide table 9. The wrist rotary cylinder block 13 can change the horizontal angle of the gripper hydraulic cylinder 15 according to requirements. At this time, the telescopic end of the gripper hydraulic cylinder 15 pushes the wedge block 18 to extend. One end of the two groups of clamping fingers 19 is pushed outward by the wedge block 18, and the V-shaped fingers 20 at the other end will move relatively closer and can contact the outer wall of the tool to complete the clamping purpose; When the sliding table 9 slides on the top of the rectangular guide rail 24, its bottom contacts the load-bearing ring 33 in each operation groove 29, and the two are in a state of sliding friction. In this way, the wear between the bottom of the sliding table 9 and the rectangular guide rail 24 can be reduced, the oil pressure required for the movement of the sliding table 9 is relatively small, and the tension generated by the oil fluid on the inner wall of the telescopic arm cylinder block 1 is reduced, which indirectly makes the service life of the telescopic arm cylinder block 1 long. The driven strip 30 at the bottom of the sliding table 9 will generate a thrust on the stop strip 31 to one side, causing the spline sleeve 35 and the spline shaft 27 to rotate around the connection point with the inner wall of the operation groove 29, so that the oil pressure required for the movement of the sliding table 9 is relatively small. Due to the action of the ratchet 28, the spline sleeve 35 and the spline shaft 27 can only rotate in one direction. Therefore, after the sliding table 9 moves a specified distance, the stop strip 31 will block the driven strip 30, achieving the effect of one-way movement of the sliding table 9 to cope with the situation where the oil pressure inside the telescopic arm cylinder block 1 decreases or the pipeline connected to the pipe joint 6 leaks, resulting in the reverse movement of the sliding table 9. Conversely, only need to control the electric push rod 25 to work, its output end pushes the strip seat 26 to rise, making the two pairs of active arms 32 gradually tend to be horizontal, which can make the two spline sleeves 35 gradually move away from the outer wall of the spline shaft 27, making the distance between the stop strips 31 on the outer wall of the spline sleeve 35 greater than the length of the driven strip 30, so that the distance between the stop strips 31 can make the sliding table 9 move reversely and recover on the top of the rectangular guide rail 24. Embodiment 2

[0032] This embodiment discloses a path planning method for a six-axis industrial robot. Different waist movements, rotation trajectories of the robot hand, and wrist movement speeds of the robot hand can directly lead to obvious changes in the dynamic parameters of the rotation speeds of each mechanical component. In this article, the dynamic analysis of the rotation speed is carried out for the robot arm under the condition that the rotation speed parameter of its waist is 30, the rotation speed of the hand is 20, and the rotation speed of the waist and the hand is 50 (see the attached Figure 8 and Figure 9 ). 1) The numerical value of the speed shown by the hand and the rising and falling trends of its graph do not change significantly enough; 2) The rising and falling trend of the motion acceleration of the hand changes greatly, and its numerical change trend also increases; 3) The rotation angle of the hand may gradually become worse in terms of speed and motion smoothness; 4) The rising and falling trend of the angular acceleration curve of the hand changes greatly in shape, and its graphical qualitative change is very large.

[0033] Automatic control functions for design and measurement are added to each of the main control components of the six-axis industrial robot (including the hand, wrist, forearm, upper arm, and waist of the prototype), measuring its speed, acceleration, angular velocity, and angular motion acceleration. In the prototype simulation, advanced virtual computer software is used to control and simulate the design and technology of the prototype. Prototype simulations of control and dynamics are carried out on the physical models of the five-degree-of-freedom model robots, which can significantly improve and enhance the design and automatic control performance of the robots, reduce the complexity and cost of robot design, shorten the development cycle and time of robot products, and lay a solid foundation for the research and practical application development of the relevant theories and technologies for the design and automatic control of five-degree-of-freedom model robots.

[0034] By comparison, it can be concluded that the robot has a short response time, moves quickly, and has a high speed. Thus, it can be concluded that this type of robot can improve the efficiency of automated production. The robot has high precision and is less affected by quality, thus ensuring the quality of the products. The robot can reduce labor costs and waste of raw materials, and is more obvious in reducing costs.

[0035] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A six-axis industrial robot path planning system, comprising a telescopic arm cylinder (1) and a rectangular guide rail (24), characterized in that: The telescopic arm cylinder (1) is mounted on the top of a rectangular guide rail (24); a slide (9) is mounted above the telescopic arm cylinder (1) and slides on the top of the rectangular guide rail (24); a stop assembly is provided at the contact position between the top of the rectangular guide rail (24) and the bottom of the slide (9); a piston (3) is movably mounted inside the telescopic arm cylinder (1); one end of the piston (3) is provided with a piston rod (4) extending to the outside of the end of the telescopic arm cylinder (1) and driving the slide (9) to move; one end of the slide (9) away from the telescopic arm cylinder (1) is flange-connected to a first connecting piece (10); a clamping hydraulic cylinder (15) is provided at the end of the first connecting piece (10); The outer wall of the clamp hydraulic cylinder (15) is sleeved with a wrist rotary cylinder body (13); one side of the wrist rotary cylinder body (13) is located on the outer wall of the clamp hydraulic cylinder (15) and is equipped with a left cylinder head (11) fixed to the end face of the first connecting member (10); the other side of the wrist rotary cylinder body (13) is located on the outer wall of the clamp hydraulic cylinder (15) and is equipped with a right cylinder head (12); the inner wall of the wrist rotary cylinder body (13) is provided with a screw-in fixed plate (22); the fixed plate (22) ) is provided on the opposite side thereof with a moving plate (21) fixed to the outside of the clamper hydraulic cylinder (15); the output end of the clamper hydraulic cylinder (15) is equipped with a wedge block (18); a second connecting member (16) for fixing the curved outer wall of the clamper hydraulic cylinder (15) is installed below the wedge block (18); the top of the second connecting member (16) is located on both sides of the wedge block (18) and is equipped with clamping fingers (19) for clamping an object; and one end of each group of the clamping fingers (19) is equipped with a V-shaped finger (20).

2. The six-axis industrial robot path planning system according to claim 1, characterized in that: One end of the telescopic arm cylinder body (1) away from the slide (9) is connected to a cylinder bottom (2), and the cylinder bottom (2) is rotatably arranged on the top of the rectangular guide rail (24).

3. The six-axis industrial robot path planning system according to claim 1, characterized in that: Pipe joints (6) are reserved at the top of the telescopic arm cylinder body (1) near both ends, the outer wall of the piston rod (4) is sleeved with a cylinder cover (8) fixed to the end surface of the telescopic arm cylinder body (1), and an oil seal ring is installed at the contact position between the inner wall of the cylinder cover (8) and the piston rod (4).

4. The six-axis industrial robot path planning system according to claim 1, characterized in that: The two ends of the piston rod (4) respectively penetrate the slide (9) and the piston (3), and the two ends of the piston rod (4) are fixed to the slide (9) and the piston (3) by means of threads. The outer wall of the piston rod (4) is located inside the telescopic arm cylinder body (1) and is equipped with a piston rod guide sleeve (7). The curved outer wall of the piston rod (4) is sleeved with a plurality of groups of O-rings (5).

5. The six-axis industrial robot path planning system according to claim 1, characterized in that: A flanged bearing end cover (14) is fixed by bolts at the ends of the left cylinder head (11) and the right cylinder head (12) that are away from each other, and deep groove ball bearings are installed at the positions where the insides of the left cylinder head (11) and the right cylinder head (12) contact the clamper hydraulic cylinder (15).

6. The six-axis industrial robot path planning system according to claim 1, characterized in that: A pressing plate (23) is mounted on the top edge of the slide table (9), and the pressing plate (23) is fixed to the top edge of the rectangular guide rail (24) by means of threads.

7. The six-axis industrial robot path planning system according to claim 1, characterized in that: The clamping finger (19) is rotatably arranged on the top of the second connecting member (16) by means of a rotating shaft, and the other end of the clamping finger (19) is provided with a roller (17) which contacts the curved outer wall of the wedge block (18).

8. The six-axis industrial robot path planning system according to claim 1, characterized in that: The stop assembly comprises a plurality of groups of operating grooves (29) opened at the top of the rectangular guide rail (24), the inner wall of each group of the operating grooves (29) being laterally rotatably provided with a spline shaft (27), the outer wall of the spline shaft (27) being sleeved with two groups of spline sleeves (35) near the middle position, the curved outer wall of each group of the spline sleeves (35) being provided with stop strips (31) at equal intervals, the top and bottom of the slide table (9) being fixed and extending to a driven strip (30) between the two groups of stop strips (31), the end surfaces of the two groups of the spline sleeves (35) being away from each other being fixed with a bearing ring (33) in contact with the bottom of the slide table (9), the bearing ring (33) being movably sleeved on the outer wall of the spline shaft (27), the inner end surface of each group of the spline shaft (27) being slidably provided with a U strip (34), and the inside of the operating groove (29) being equipped with an electric push rod (25) for driving the two groups of bearing rings (33) to move away from each other.

9. The six-axis industrial robot path planning system according to claim 8, characterized in that: Both ends of the spline shaft (27) are connected to the inner wall of the operating groove (29) by means of ratchets (28); a bar seat (26) is fixed to the telescopic end of the electric push rod (25); a pair of active arms (32) rotatably connected to each group of the U bars (34) are provided on the top of the bar seat (26); a T-column is fixed to the outer end surface of the U bar (34); and a T-ring groove for sliding of the T-column is provided on the end surface of the load-bearing ring (33).

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