A six-degree-of-freedom robotic arm

Abstract

The present application relates to the technical field of mechanical arm, and specifically proposes a six-degree-of-freedom mechanical arm, which comprises a mechanical arm body and a fixing frame, and a clamping and breaking mechanism and a suction supporting mechanism are installed on the fixing frame. The clamping and breaking mechanism and the suction supporting mechanism cooperate to realize the integrated function of grabbing and breaking the bag, without the need for breaking the bag at a specified position, greatly improving the flexibility and efficiency of the bag breaking process. The clamping and breaking mechanism breaks the bag on both sides at the same time, increasing the discharge port of the bag. When the clamping and breaking mechanism releases the bag for discharge, the bag directly forms an inverted V shape on the supporting cylinder under the action of the gravity of the material in the bag and simultaneously discharges from the two broken ports, so that the material in the bag is discharged under the action of the double gravity of its own gravity and the bending gravity of the bag, greatly improving the discharge efficiency of the material in the bag.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and specifically proposes a six-degree-of-freedom robotic arm. Background Technology

[0002] Six-degree-of-freedom robotic arms are widely used in many fields due to their flexible movement capabilities, such as material handling, bag breaking and dumping in agriculture, chemical industry, and aquaculture, as well as industrial manufacturing. Through the flexible and intelligent design of six-degree-of-freedom robotic arms, breakthroughs have been achieved in the efficiency, accuracy and safety of bag breaking and dumping operations, and automated unpacking and feeding of materials into the mixing production line has also been realized.

[0003] When the existing six-degree-of-freedom robotic arm grasps and breaks open bags to discharge material, the execution unit of the six-degree-of-freedom robotic arm grasps or fixes the bag and moves it to the discharge position. The discharge position is equipped with a cutting blade. Then the robotic arm moves the bag to cut the bottom of the bag by slicing it on the cutting blade. The material inside the bag is then discharged directly, and the bag is shaken to discharge all the material inside the bag.

[0004] When gripping and breaking bags, whether mechanical gripping or suction is used to move the bag to the discharge position, the same problem exists: the bag needs to be brought to a fixed cutting position for moving and cutting. The gripping and cutting of the bag are carried out separately, and the bag can only be broken at a designated position. The flexibility of the robotic arm in breaking the bag after gripping it is poor. At the same time, it also leads to complex robotic arm movements, which require gripping → moving → cutting → discharging. The long process reduces the efficiency of breaking the bag. In addition, the opening of the bag is only in the middle of its lower end face, and the discharge of the material inside the bag depends on the material's own gravity, resulting in a slow discharge speed. Summary of the Invention

[0005] In view of the above problems, the present invention provides a six-degree-of-freedom robotic arm to solve the technical problems in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a six-degree-of-freedom robotic arm, comprising: a robotic arm body; and a fixing frame disposed at the execution end of the robotic arm body.

[0007] The clamping and tearing mechanism is mounted on a fixed frame and is used to clamp the material bag and simultaneously tear and discharge material from both sides of the material bag. It includes two clamping plates and a clamping drive unit that drives the two clamping plates to clamp the material bag. The clamping drive unit is mounted on the fixed frame. The clamping plates are equipped with cutting blades through elastic connecting parts. After the clamping drive unit drives the clamping plates to press against the material bag, it squeezes the cutting blades to insert into the material bag.

[0008] The adsorption support mechanism, mounted on a fixed frame, includes two support cylinders and a rotary drive unit mounted on the fixed frame that drives the support cylinders to rotate. The support cylinders are L-shaped. Under the connection of the rotary drive unit, the support cylinders can rotate circumferentially around the vertical section of the support cylinder and slide up and down along the axial direction of the vertical section of the support cylinder. The horizontal section of the support cylinder has evenly distributed adsorption holes. The two support cylinders are located between two clamping plates. An elastic reset member is provided between the vertical section of the support cylinder and the fixed frame. The opposite ends of the horizontal sections of the two support cylinders are provided with insertion parts.

[0009] When the clamping plate clamps the bag, the horizontal section of the support cylinder is located on the side of one of the clamping plates away from the bag; after the clamping plate clamps the bag and moves it upward, the support cylinder rotates its horizontal section to the middle of the lower end face of the bag and adsorbs the bag.

[0010] In one possible implementation, the elastic connection includes a mounting groove on the clamping plate, the cutting blade is slidably connected to the mounting groove via a connecting seat, multiple compression springs are installed between the connecting seat and the mounting groove, and rectangular grooves are symmetrically arranged on the side of the clamping plate away from the material bag, with the connecting seat sliding through two rectangular grooves.

[0011] In one possible implementation, the clamping drive unit includes a bidirectional hydraulic cylinder mounted on a fixed frame. Both telescopic ends of the bidirectional hydraulic cylinder are equipped with V-shaped brackets. The two ends of the V-shaped brackets are respectively connected to the two ends of the rectangular groove through which the connecting seat slides. A push plate is installed in the middle of the V-shaped bracket. The top of the clamping plate is slidably connected to the fixed frame through two mounting blocks fixedly mounted on its top. The fixed frame is provided with guide grooves that are slidably connected to the mounting blocks.

[0012] In one possible implementation, the rotary drive unit includes two rotating cylinders rotatably connected to a fixed frame. The vertical section of the support cylinder is slidably inserted into the rotating cylinder via a spline engagement. A drive assembly that drives the two rotating cylinders to rotate in opposite directions is connected between the two rotating cylinders. An adsorption connection tube communicating with the top of the support cylinder is installed therewith.

[0013] In one possible implementation, the insertion part includes a fixed seat mounted on the horizontal end of one of the support cylinders and an insertion block mounted on the horizontal end of the other support cylinder, wherein the fixed seat has a slot for insertion and engagement with the insertion block.

[0014] In one possible implementation, the drive assembly includes a drive shaft rotatably connected to a fixed frame, gears fixedly mounted on both the drive shaft and one of the rotating cylinders, and a drive shaft connected to the other rotating cylinder via a sprocket and chain drive. The two gears mesh and drive each other. A protective cover is also installed on the fixed frame, with the two gears and the sprocket and chain located inside the protective cover, and the drive shaft rotating through the protective cover.

[0015] In one possible implementation, a friction-reducing component is installed on one side of the horizontal section of the support cylinder. The friction-reducing component includes a fixing strip installed on the side wall of the support cylinder, a storage groove on the fixing strip, a mounting seat that slides up and down connected to the storage groove, a return spring installed between the mounting seat and the storage groove, and a friction-reducing roller rotatably connected to the mounting seat.

[0016] In one possible implementation, the elastic reset member includes a fixed cylinder fixedly mounted on the lower end face of the fixed frame, a rotating disk located inside the fixed cylinder is rotatably connected to the vertical section of the supporting cylinder, and a reset member is installed between the rotating disk and the fixed frame.

[0017] In one possible implementation, the lower end face of the clamping plate is fitted with a plurality of evenly arranged arc-shaped serrations.

[0018] The above-mentioned one or more technical solutions in the embodiments of the present invention have at least one of the following beneficial effects: 1. The six-degree-of-freedom robotic arm designed in the present invention realizes the integrated function of gripping and breaking the bag by cooperating with the clamping and breaking mechanism and the adsorption and support mechanism. It eliminates the need for breaking the bag at a designated location, greatly improving the flexibility and efficiency of bag breaking. Moreover, the clamping and breaking mechanism breaks the bag on both sides at the same time, increasing the discharge port of the bag. At the same time, when the clamping and breaking mechanism releases the bag for discharge, the bag directly rests on the support cylinder in an inverted V shape under the gravity of the material inside and discharges material from the breaks on both sides at the same time. This allows the material inside the bag to be discharged under the dual forces of its own gravity and the bending weightlessness of the bag, greatly improving the discharge efficiency of the material inside the bag.

[0019] 2. When gripping a bag, the clamping plate first contacts the bag, and then the clamping drive unit continues to drive, causing the cutting blade to squeeze the elastic connecting part, extend out of the clamping plate, and insert into the bag. This realizes the function of directly breaking the bag on both sides when gripping the bag, thereby improving the bag breaking efficiency and realizing the integration of bag clamping and cutting. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0022] Figure 2This is a first three-dimensional structural diagram of the fixing frame, clamping tearing mechanism, adsorption and support mechanism and material bag of the present invention.

[0023] Figure 3 This is a second three-dimensional structural diagram of the fixing frame, clamping tearing mechanism, adsorption support mechanism and material bag of the present invention.

[0024] Figure 4 yes Figure 2 Right sectional view.

[0025] Figure 5 yes Figure 2 Main sectional view.

[0026] Figure 6 This is a schematic diagram of the friction-reducing component of the present invention.

[0027] Reference numerals: 1. Robotic arm body; 2. Fixing frame; 3. Clamping and breaking mechanism; 30. Clamping drive unit; 301. Bidirectional hydraulic cylinder; 302. V-shaped bracket; 303. Push plate; 304. Guide groove; 305. Mounting block; 31. Clamping plate; 310. Arc-shaped tooth; 32. Elastic connection part; 320. Mounting groove; 321. Compression spring; 322. Connecting seat; 33. Cutting blade; 4. Adsorption and support mechanism; 40. Support 401. Cylinder; 402. Fixing strip; 403. Storage groove; 404. Mounting base; 405. Anti-friction roller; 41. Adsorption hole; 42. Elastic reset component; 420. Fixing cylinder; 421. Rotating disk; 43. Rotation drive unit; 430. Rotating cylinder; 431. Adsorption connecting pipe; 450. Drive shaft; 451. Gear; 452. Protective cover; 44. Insertion part; 440. Fixing base; 441. Slot; 442. Insert block; 5. Material bag. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] See Figure 1 A six-degree-of-freedom robotic arm includes: a robotic arm body 1 and a fixed frame 2. The fixed frame 2 is fixedly connected to the execution end of the robotic arm body 1. A clamping breaking mechanism 3 and an adsorption support mechanism 4 are installed on the fixed frame 2. The fixed frame 2, the clamping breaking mechanism 3 and the adsorption support mechanism 4 constitute the robotic arm execution unit.

[0031] See Figure 1 , Figure 2 , Figure 3 and Figure 5 The clamping and breaking mechanism 3 includes two clamping plates 31 slidably mounted on the fixed frame 2. The fixed frame 2 is also equipped with a clamping drive unit 30 for driving the two clamping plates 31 to clamp the material bag 5. The clamping plates 31 are provided with cutting blades 33 through elastic connecting parts 32. After the clamping drive unit 30 drives the clamping plates 31 to press against the material bag 5, it squeezes the cutting blades 33 into the material bag 5.

[0032] The material bag 5 is conveyed by a belt conveyor or placed directly on the ground. When the material bag 5 is clamped and moved to the corresponding position for breaking and discharging, the robotic arm body 1 (existing technology) drives the fixed frame 2 and the clamping plate 31 to move. The clamping drive unit 30 drives the two clamping plates 31 to clamp the material bag 5.

[0033] During the movement of the clamping plate 31, the clamping plate 31 first contacts the bag 5, and then the clamping drive unit 30 continues to drive, so that the cutting blade 33 squeezes the elastic connecting part 32, extends out of the clamping plate 31 and inserts into the bag 5, thereby cutting both sides of the bag 5 at the same time. At this time, the opening of the bag 5 will not leak or discharge material due to the sealing of the cutting blade 33 and the clamping plate 31. This realizes the integrated function of clamping and cutting the bag 5, reduces the workflow, improves the efficiency of the robotic arm to grab the bag 5 and cut the material, and avoids the problem of reducing the flexibility of the opening operation of the bag 5 by setting a separate cutting blade 33 to cut the bag 5.

[0034] See Figure 1 , Figure 2 , Figure 3 and Figure 4 The adsorption support mechanism 4 includes two support cylinders 40 and a rotary drive unit 43 mounted on the fixed frame 2 for driving the support cylinders 40 to rotate. The support cylinders 40 are L-shaped. Under the connection of the rotary drive unit 43, the support cylinders 40 can rotate around the vertical section of the support cylinder 40 and slide up and down along the axial direction of the vertical section. The horizontal section of the support cylinder 40 is provided with evenly arranged adsorption holes 41. The two support cylinders 40 are located between the two clamping plates 31. An elastic reset member 42 is provided between the vertical section of the support cylinder 40 and the fixed frame 2. The opposite ends of the horizontal sections of the two support cylinders 40 are provided with insertion parts 44.

[0035] In the initial state, the horizontal sections of the two support cylinders 40 are located on the sides of the two clamping plates 31 respectively. As the two clamping plates 31 move to both sides of the width direction of the bag 5 and move downward, when the support cylinders 40 come into contact with the support surfaces (such as conveyor belts or the ground) at the bottom of both sides of the bag 5 in the length direction, the support cylinders 40 stop moving downward and the clamping plates 31 clamp the bag 5.

[0036] When the robotic arm body 1 drives the robotic arm execution unit to lift the material bag 5, the support cylinder 40 is reset under the elastic force of the elastic reset member 42. The rotation drive unit 43 drives the support cylinder 40 to rotate, so that the horizontal sections of the two support cylinders 40 rotate to the bottom of the material bag 5, and the horizontal sections of the two support cylinders 40 are concentric and are inserted through the insertion part 44. Then, the adsorption device installed on the fixed frame 2 works with the support cylinder 40 to adsorb the material bag 5 through the adsorption hole 41.

[0037] When the material bag 5 moves to the corresponding discharge position, the clamping drive unit 30 drives the clamping plate 31 and the cutting blade 33 away from the material bag 5. At this time, the material in the material bag 5 is discharged downward from the openings on both sides. The support cylinder 40 supports the lower middle part of the material bag 5, which greatly improves the discharge efficiency of the material in the material bag 5 and avoids the material in the material bag 5 from accumulating in the corners.

[0038] See Figure 2 , Figure 3 and Figure 4 The elastic reset member 42 includes a fixed cylinder 420 fixedly installed on the lower end face of the fixed frame 2. The vertical section of the support cylinder 40 is rotatably connected to a rotating disk 421 located inside the fixed cylinder 420. A reset member (such as a spring) is installed between the rotating disk 421 and the fixed frame 2. The fixed cylinder 420 is used to prevent the material in the bag 5 from splashing and getting stuck on the reset member. When the support cylinder 40 comes into contact with the support surface (such as a conveyor belt or the ground), the support cylinder 40 drives the rotating disk 421 to squeeze the reset member.

[0039] See Figure 2 and Figure 3 The lower end face of the clamping plate 31 is equipped with a plurality of evenly arranged arc-shaped teeth 310, which enables the clamping plate 31 to support the bottom sides of the bag 5 when clamping the bag 5, thereby improving the stability of the clamping plate 31 in clamping and supporting the bag 5.

[0040] See Figure 2 , Figure 3 and Figure 5The elastic connection part 32 includes an installation groove 320 on the clamping plate 31. The cutting blade 33 is slidably connected in the installation groove 320 through the connecting seat 322. Multiple compression springs 321 are installed between the connecting seat 322 and the installation groove 320. The clamping plate 31 has rectangular grooves arranged symmetrically on the side away from the material bag 5. The connecting seat 322 slides through the two rectangular grooves.

[0041] See Figure 2 and Figure 5 The clamping drive unit 30 includes a bidirectional hydraulic cylinder 301 mounted on the fixed frame 2. V-shaped brackets 302 are mounted on both telescopic ends of the bidirectional hydraulic cylinder 301. The two ends of the V-shaped brackets 302 are respectively connected to the two ends of the rectangular groove through which the connecting seat 322 slides. A push plate 303 is mounted in the middle of the V-shaped brackets 302. The top of the clamping plate 31 is slidably connected to the fixed frame 2 through two mounting blocks 305 fixedly mounted on its top. A guide groove 304 is provided on the fixed frame 2 that is slidably connected to the mounting blocks 305.

[0042] When clamping the bag 5, the bidirectional hydraulic cylinder 301 drives the connecting seat 322 to move toward the bag 5 via the V-shaped bracket 302. The connecting seat 322 drives the cutting blade 33 and the clamping plate 31 to move toward the bag 5 via the compression spring 321. At this time, the cutting blade 33 is located in the mounting groove 320. After the clamping plate 31 contacts the side wall of the bag 5, the bidirectional hydraulic cylinder 301 continues to drive the connecting seat 322. The connecting seat 322 squeezes the compression spring 321. While the compression spring 321 contracts, it drives the cutting blade 33 to insert into the bag 5. At the same time, the push plate 303 on the V-shaped bracket 302 abuts against the clamping plate 31 to press and lock the clamping plate 31. This realizes the integrated function of clamping and cutting the bag 5, reduces the workflow, and improves the efficiency of the robotic arm in grabbing the bag 5 for breaking and discharging.

[0043] See Figure 2 and Figure 4 The rotary drive unit 43 includes two rotating cylinders 430 rotatably connected to the fixed frame 2. The vertical section of the support cylinder 40 is slidably inserted into the rotating cylinder 430 through a spline engagement. A drive assembly that drives the two rotating cylinders 430 to rotate in opposite directions is connected between them. An adsorption connection tube 431 communicating with the top of the support cylinder 40 is installed thereon.

[0044] See Figure 1 , Figure 2 , Figure 4 and Figure 5The drive assembly includes a drive shaft 450 rotatably connected to the fixed frame 2. Gears 451 are fixedly sleeved on both the drive shaft 450 and one of the rotating cylinders 430. The drive shaft 450 and the other rotating cylinder 430 are connected by a sprocket and chain drive. The two gears 451 mesh and drive each other. A protective cover 452 is also installed on the fixed frame 2. The two gears 451 and the sprocket and chain are all located inside the protective cover 452. The drive shaft 450 rotates through the protective cover 452.

[0045] The adsorption connecting pipe 431 is connected to the adsorption device (using existing technology, not shown in the figure) installed on the top of the fixed frame 2. The top of the fixed frame 2 is also equipped with a motor (not shown in the figure) connected to the drive shaft 450. When the clamping plate 31 cooperates with the robotic arm body 1 to clamp the bag 5, the support cylinder 40 is reset and moves downward under the elastic force of the elastic reset member 42. The vertical section of the support cylinder 40 slides downward along the axis of the rotating cylinder 430. At this time, the top of the horizontal section of the support cylinder 40 is flush with the bottom of the bag 5.

[0046] The motor is started, and the motor drives the drive shaft 450 to rotate. During the rotation of the drive shaft 450, the two rotating cylinders 430 are driven to rotate in opposite directions through the meshing transmission of two gears 451 and the transmission of sprockets and chains. The rotating cylinders 430 drive the support cylinders 40 to rotate by spline engagement with the support cylinders 40, so that the horizontal section of the support cylinders 40 rotates and moves to the middle of the lower surface of the material bag 5. At the same time, the insertion parts 44 on the opposite sides of the two support cylinders 40 are inserted into the two support cylinders 40, so that the horizontal sections of the two support cylinders 40 are connected. This prevents the end of the horizontal section of the support cylinder 40 from being suspended in the air when the clamping plate 31 releases the material bag 5, which would affect its supporting effect on the material bag 5.

[0047] Then, the adsorption equipment is started. The adsorption equipment adsorbs the material bag 5 through the adsorption holes 41 on the support cylinder 40. This prevents the material bag 5 from falling directly with the material during the discharge process when the clamping plate 31 releases the material bag 5, thus affecting the smoothness of the pouring. Furthermore, by adsorbing and supporting the lower side of the material bag 5, the material bag 5 is fixed in place. This avoids the problem that when the material bag 5 is fixed in the pouring process by simply adsorbing from the top of the material bag 5, the material bag 5 is prone to falling directly with the material due to the weight of the material.

[0048] See Figure 3 , Figure 4 and Figure 5The insertion part 44 includes a fixed base 440 installed at the horizontal end of one of the support cylinders 40 and an insertion block 442 installed at the horizontal end of the other support cylinder 40. The fixed base 440 has a slot 441 that engages with the insertion block 442, thereby enabling insertion of the ends of the two support cylinders 40 during rotation and improving the supporting force of the support cylinders 40 on the material bag 5. It should be noted that the end face of the slot 441 that contacts the insertion block 442 is chamfered to allow the insertion block 442 to be quickly inserted into the slot 441.

[0049] See Figure 5 and Figure 6 A friction-reducing component is installed on one side of the horizontal section of the support cylinder 40. The friction-reducing component includes a fixing strip 401 installed on the side wall of the support cylinder 40. A storage groove 402 is provided on the fixing strip 401. A mounting seat 403 that slides up and down is connected to the storage groove 402. A return spring is installed between the mounting seat 403 and the storage groove 402. A friction-reducing roller 404 is rotatably connected to the mounting seat 403.

[0050] When the support cylinder 40 rotates, the friction-reducing roller 404 first contacts the lower side wall of the bag 5 and rolls along the side wall of the bag 5 to reduce the friction between the support cylinder 40 and the bag 5. When the adsorption hole 41 on the support cylinder 40 adsorbs the bag 5, the top of the horizontal section of the support cylinder 40 is in close contact with the bag 5. At this time, the friction-reducing roller 404 squeezes the reset spring under the squeezing action of the bag 5 and drives the mounting base 403 to move into the receiving groove 402.

[0051] See Figures 1-6 In specific operation, the material bag 5 is conveyed by a belt conveyor or placed directly on the ground. When the material bag 5 is clamped and moved to the corresponding position for breaking and discharging, the robotic arm body 1 (existing technology) drives the fixed frame 2 and the clamping plate 31 to move. The horizontal sections of the two support cylinders 40 are located on the sides of the two clamping plates 31 respectively. After the two clamping plates 31 move to both sides of the width direction of the material bag 5 and move downward, when the support cylinders 40 come into contact with the support surfaces (such as the conveyor belt or the ground) at the bottom of both sides of the length direction of the material bag 5, the support cylinders 40 no longer move downward, and the clamping drive unit 30 drives the two clamping plates 31 to clamp the material bag 5.

[0052] During the movement of the clamping plate 31, the clamping plate 31 first contacts the bag 5, and then the clamping drive unit 30 continues to drive, so that the cutting blade 33 squeezes the elastic connecting part 32, extends out of the clamping plate 31 and inserts into the bag 5, thereby cutting both sides of the bag 5 at the same time. At this time, the opening of the bag 5 will not leak or discharge material due to the sealing of the cutting blade 33 and the clamping plate 31. This realizes the integrated function of clamping and cutting the bag 5, reduces the workflow, improves the efficiency of the robotic arm to grab the bag 5 and cut the material, and avoids the problem of reducing the flexibility of the opening operation of the bag 5 by setting a separate cutting blade 33 to cut the bag 5.

[0053] When the robotic arm body 1 drives the robotic arm execution unit to lift the material bag 5, the support cylinder 40 is reset under the elastic force of the elastic reset member 42. The rotation drive unit 43 drives the support cylinder 40 to rotate, so that the horizontal sections of the two support cylinders 40 rotate to the bottom of the material bag 5, and the horizontal sections of the two support cylinders 40 are concentric and are inserted through the insertion part 44. Then, the adsorption device installed on the fixed frame 2 works with the support cylinder 40 to adsorb the material bag 5 through the adsorption hole 41.

[0054] When the material bag 5 moves to the corresponding discharge position, the clamping drive drives the clamping plate 31 and the cutting blade 33 away from the material bag 5. At this time, the material in the material bag 5 is discharged downward from the openings on both sides. The support cylinder 40 supports the lower middle part of the material bag 5. Then the robotic arm body 1 drives the material bag 5 to shake, thereby quickly discharging the material in the material bag 5.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "setting," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom robotic arm, characterized in that, include: Robotic arm body; A fixed frame is located at the end of the robotic arm's execution end. The clamping and tearing mechanism is mounted on a fixed frame and is used to clamp the bag and simultaneously tear and discharge material from both sides of the bag. It includes two clamping plates and a clamping drive unit that drives the two clamping plates to clamp the bag. The clamping drive unit is mounted on the fixed frame. The clamping plates are equipped with cutting blades through elastic connecting parts. After the clamping drive unit drives the clamping plates to press against the bag, it squeezes the cutting blades to insert into the bag. The adsorption support mechanism is mounted on a fixed frame and includes two support cylinders and a rotary drive unit mounted on the fixed frame that drives the support cylinders to rotate. The support cylinders are L-shaped. Under the connection of the rotary drive unit, the support cylinders can rotate circumferentially around the vertical section of the support cylinder and slide up and down along the axial direction of the vertical section of the support cylinder. The horizontal section of the support cylinder has evenly distributed adsorption holes. The two support cylinders are located between two clamping plates. An elastic reset member is provided between the vertical section of the support cylinder and the fixed frame. The opposite ends of the horizontal sections of the two support cylinders are provided with insertion parts. When the clamping plate clamps the bag, the horizontal section of the support cylinder is located on the side of one of the clamping plates away from the bag; after the clamping plate clamps the bag and moves it upward, the support cylinder rotates its horizontal section to the middle of the lower end face of the bag and adsorbs the bag. The elastic connection includes an installation groove on the clamping plate, the cutting blade is slidably connected in the installation groove through the connecting seat, multiple compression springs are installed between the connecting seat and the installation groove, and rectangular grooves are symmetrically arranged on the side of the clamping plate away from the material bag, and the connecting seat slides through the two rectangular grooves. The clamping drive unit includes a bidirectional hydraulic cylinder mounted on a fixed frame. Both telescopic ends of the bidirectional hydraulic cylinder are equipped with V-shaped brackets. The two ends of the V-shaped brackets are respectively connected to the two ends of the rectangular groove through which the connecting seat slides. A push plate is installed in the middle of the V-shaped bracket. The top of the clamping plate is slidably connected to the fixed frame through two mounting blocks symmetrically arranged along its length. A guide groove is provided on the fixed frame that is slidably connected to the mounting blocks. The rotary drive unit includes two rotating cylinders rotatably connected to the fixed frame. The vertical section of the support cylinder is slidably inserted into the rotating cylinder through a spline engagement. A drive assembly that drives the two rotating cylinders to rotate in opposite directions is connected between the two rotating cylinders. An adsorption connection tube communicating with the top of the support cylinder is installed thereon. The drive assembly includes a drive shaft rotatably connected to a fixed frame. Gears are fixedly fitted on both the drive shaft and one of the rotating cylinders. The drive shaft is connected to the other rotating cylinder via a sprocket and chain drive. The two gears mesh and drive each other. A protective cover is also installed on the fixed frame. The two gears and the sprocket and chain are all located inside the protective cover. The drive shaft rotates through the protective cover.

2. The six-degree-of-freedom robotic arm according to claim 1, characterized in that: The insertion part includes a fixed seat installed at the end of the horizontal section of one of the support cylinders and an insertion block installed at the end of the horizontal section of the other support cylinder. The fixed seat has a slot for insertion and mating with the insertion block.

3. The six-degree-of-freedom robotic arm according to claim 1, characterized in that: A friction-reducing component is installed on one side of the horizontal section of the support cylinder.

4. A six-degree-of-freedom robotic arm according to claim 3, characterized in that: The friction-reducing component includes a fixing strip installed on the side wall of the support cylinder, a storage groove on the fixing strip, a mounting seat that slides up and down connected to the storage groove, a return spring installed between the mounting seat and the storage groove, and a friction-reducing roller rotatably connected to the mounting seat.

5. A six-degree-of-freedom robotic arm according to claim 1, characterized in that: The elastic reset component includes a fixed cylinder fixedly installed on the lower end face of the fixed frame, and a rotating disk located inside the fixed cylinder is rotatably connected to the vertical section of the supporting cylinder. A reset component is installed between the rotating disk and the fixed frame.

6. The six-degree-of-freedom robotic arm according to claim 1, characterized in that: The lower end face of the clamping plate is equipped with a plurality of evenly arranged arc-shaped teeth.

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