Six-axis mechanical arm based on I-shaped sliding rail

Abstract

The utility model provides a six-axis mechanical arm based on an I-shaped sliding rail. The six-axis mechanical arm comprises the I-shaped sliding rail. The six-axis mechanical arm is arranged on a sliding block of the I-shaped sliding rail; wherein the I-shaped sliding rail comprises an X-axis motor, a Y-axis motor, a Y-axis sliding rail, a Y-axis sliding block, an X-axis sliding rail and an X-axis sliding block, the X-axis motor and the Y-axis motor are each provided with a coupler and a transmission wheel in a matched mode, the Y-axis sliding rail and the X-axis sliding rail are each provided with a first synchronous belt, the Y-axis sliding block is arranged on the first synchronous belt of the Y-axis sliding rail, and the X-axis sliding block is arranged on the first synchronous belt of the X-axis sliding rail. The X-axis sliding block is arranged on a first synchronous belt of the X-axis sliding rail, the X-axis motor and the Y-axis motor are sequentially in transmission connection with the corresponding coupler, the corresponding transmission wheel and the corresponding first synchronous belt so as to drive the X-axis sliding block and the Y-axis sliding block, the X-axis sliding rail is arranged on the Y-axis sliding block, and the six-axis mechanical arm is arranged on the X-axis sliding block. Functionality and adaptability of an existing mechanical arm can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a six-axis mechanical arm based on an I-shaped slide rail. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, the role of robotic arms as important actuators in production lines has become increasingly prominent. Multifunctional robotic arms have attracted widespread attention due to their high efficiency, and the demand for multifunctional robotic arms is growing.

[0003] Traditional six-axis robotic arm designs usually adopt a multi-joint serial structure. Although it can achieve a high degree of flexibility and precision, it also has problems such as complex structure, single function, and small working range. In addition, with the diversification of application scenarios, higher requirements are also placed on the functionality and adaptability of robotic arms. Utility Model Content

[0004] The utility model provides a six-axis mechanical arm based on an I-shaped slide rail to improve the functionality and adaptability of the existing mechanical arm.

[0005] The embodiment of this specification discloses a six-axis robot arm based on an I-shaped slide rail, comprising:

[0006] I-shaped slide rail;

[0007] A six-axis mechanical arm is arranged on the slider of the I-shaped slide rail;

[0008] Among them, the I-beam slide includes an X-axis motor, a Y-axis motor, a Y-axis slide, a Y-axis slider, an X-axis slide and an X-axis slider. The X-axis motor and the Y-axis motor are both equipped with a coupling and a transmission wheel. The Y-axis slide and the X-axis slide are both provided with a first synchronous belt. The Y-axis slider is arranged on the first synchronous belt of the Y-axis slide, and the X-axis slider is arranged on the first synchronous belt of the X-axis slide. The X-axis motor and the Y-axis motor are respectively connected to the corresponding coupling, the transmission wheel and the first synchronous belt in sequence to drive the X-axis slider and the Y-axis slider. The X-axis slide is arranged on the Y-axis slider, and the six-axis robot is arranged on the X-axis slider.

[0009] In some embodiments of the present specification, the six-axis robotic arm is connected to a multifunctional component through a quick-change joint, and the multifunctional component includes a pressure-sensitive pneumatic gripper, a vacuum flexible gripper, a vacuum suction cup and an electromagnet device. Pressure-sensitive pneumatic gripper: suitable for grasping and fixing objects of various shapes and sizes, and its pressure sensing function can ensure the stability and safety of the grasping process. Vacuum flexible gripper: can adapt to objects of different surfaces and shapes, and achieve gentle and firm grasping through vacuum adsorption, which is particularly suitable for the operation of fragile or sensitive objects. Vacuum suction cup: suitable for grasping objects on flat surfaces, with a large adsorption area and stable adsorption force, suitable for the handling and positioning of flat objects. Electromagnet device: can use magnetic force to adsorb iron objects, suitable for specific work tasks, such as the handling and assembly of steel parts.

[0010] In some embodiments of the present specification, the six-axis robotic arm includes a chassis base, a shoulder, an upper arm, an elbow and a wrist, the chassis base is disposed on the X-axis slider, the shoulder is rotatably disposed on the chassis base, the upper arm is rotatably disposed on the shoulder, the elbow is rotatably disposed on the upper arm, and the wrist is rotatably disposed on the elbow.

[0011] In some embodiments of the present specification, the shoulder includes a chassis rotating motor, a chassis rotating vortex, a chassis rotating turbine shaft, a chassis rotating turbine and a driving arm seat, the output end of the chassis rotating motor is connected to the chassis rotating vortex, the chassis rotating vortex is meshed with the chassis rotating turbine, the chassis rotating turbine shaft is connected to the chassis rotating turbine, the chassis rotating turbine shaft is connected to the driving arm seat, and the upper arm is arranged on the driving arm seat.

[0012] In some embodiments of the present specification, the upper arm includes a servo motor, an upper arm cycloid reducer mounting flange, a cycloid reducer, an upper arm cycloid reducer upper arm mounting flange and an upper arm seat, the output end of the servo motor is fixedly connected to the cycloid reducer input port through the upper arm cycloid reducer mounting flange, the upper arm cycloid reducer upper arm mounting flange is fixed to the upper arm seat, the cycloid reducer is connected to the upper arm seat, and the elbow is arranged on the upper arm seat.

[0013] In some embodiments of the present specification, the elbow includes a servo motor, a cycloid reducer, a motor output shaft, a first synchronous belt, a flange input shaft, a motor input shaft, a connecting flange end cover, a connecting flange, a harmonic reducer, an output connecting flange, an elbow joint shaft core and an elbow seat, the servo motor is connected to the cycloid reducer, the cycloid reducer is connected to the motor output shaft, the motor output shaft is connected to the motor input shaft through the first synchronous belt, the motor input shaft is connected to the flange input shaft, the connecting flange end cover and the connecting flange are connected to the flange input shaft, the connecting flange and the harmonic reducer are connected to the flange input shaft, the harmonic reducer is connected to the elbow joint shaft core on the elbow seat through the output connecting flange, and the wrist is arranged on the elbow seat.

[0014] In some embodiments of the present specification, the wrist includes a first rotating arm motor, a second wrist motor gear connecting shaft, a second wrist spur tooth, a wrist rotation rear flange, a first wrist center axis, a front paw fixing seat and a front paw flange, the first rotating arm motor is connected to the second wrist motor gear connecting shaft through a wrist planetary reducer, the second wrist motor gear connecting shaft is sleeved with a fourth wrist spur tooth, the fourth wrist spur tooth is meshed with the second wrist spur tooth, the second wrist spur tooth is connected to the wrist rotation rear flange, the wrist rotation rear flange is connected to the first wrist center axis, the first wrist center axis is connected to the front paw fixing seat, and the front paw flange is arranged on the front paw fixing seat.

[0015] In some embodiments of the present specification, the wrist also includes a second rotating arm motor, a first wrist motor gear connecting shaft, a first wrist spur teeth, a third wrist center axis, a third wrist large teeth, a front end locking cap of the wrist center axis, a front paw flange side sheet metal cover, a front paw flange side cover and a wrist front end rotating flange, the second rotating arm motor is connected to the first wrist motor gear connecting shaft through a wrist planetary reducer, the first wrist motor gear connecting shaft is sleeved with a fourth wrist spur teeth, the fourth wrist spur teeth are meshed with the first wrist spur teeth, the first wrist spur teeth are connected to the third wrist center axis, the third wrist center axis is connected to the second wrist large teeth through the front end locking cap of the wrist center axis, the second wrist large teeth are meshed with the third wrist large teeth, the third wrist large teeth are arranged on the front paw flange side sheet metal cover, and a wrist front end rotating flange is arranged between the front paw flange side sheet metal cover and the front paw flange side cover.

[0016] In some embodiments of the present specification, the wrist also includes a third rotating arm motor, a second wrist center axis, a first wrist small tooth, a second wrist small tooth, a first small wrist rotating gear, a second small wrist rotating gear, a small wrist bevel gear rotating center axis, a first front end bevel tooth, a second wrist front end bevel tooth, a second wrist front end bevel tooth and a wrist front end center axis, the third rotating arm motor is connected to the third wrist spur tooth through a wrist planetary reducer and a fourth wrist spur tooth, the third wrist spur tooth is arranged on the second wrist center axis, the second wrist center axis is connected to the first wrist small tooth, the first wrist small tooth is meshed with the second wrist small tooth, the second wrist small tooth is connected to the first small wrist rotating gear through the wrist axis, the first small wrist rotating gear is meshed with the second small wrist rotating gear, the second small wrist rotating gear is connected to the small wrist bevel gear rotating center axis, the first wrist front end bevel tooth is arranged on the small wrist bevel gear rotating center axis, the first front end bevel tooth is meshed with the second wrist front end bevel tooth, and the second wrist front end bevel tooth is arranged on the wrist front end center axis.

[0017] The embodiments of this specification can at least achieve the following beneficial effects:

[0018] The I-shaped slide rail of the utility model is driven by a DC motor, and its first synchronous belt drives a slider, and the slider is connected to the chassis base of the six-axis robotic arm, providing a large effective working area; the six-axis robotic arm is connected to the multi-functional component through a quick-change joint to achieve multi-functional rapid switching, which is suitable for various scenarios, especially catering, logistics, assembly, testing, etc.

[0019] The I-shaped slide rail has the advantages of simple structure, strong load-bearing capacity and good rigidity, making the system stable and reliable. The multifunctional six-axis robot arm has multiple joints and degrees of freedom, and can perform complex three-dimensional movements and posture adjustments. Through programming and control, the robot arm can easily adapt to different work tasks and environments to achieve various operating requirements. The quick-change joint makes the replacement of functional components simple and fast. This design not only improves work efficiency but also reduces maintenance costs. Operators can quickly replace one functional component with another to adapt to different work tasks, thereby greatly improving the versatility and adaptability of the robot arm. The versatility of the multifunctional six-axis robot arm means that companies do not need to purchase multiple dedicated robot arms for different tasks. As market demands change, production lines may need to be adjusted or reconfigured. The flexibility of the multifunctional six-axis robot arm enables it to easily adapt to these changes, helping companies to respond quickly to market demands. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic structural diagram of a six-axis robotic arm based on an I-shaped slide rail involved in some embodiments of the utility model.

[0022] Figure 2 It is a schematic diagram of the structure of the I-shaped slide rail involved in some embodiments of the utility model.

[0023] Figure 3 It is a schematic diagram of the structure of the six-axis robotic arm involved in some embodiments of the present utility model.

[0024] Figure 4 It is a schematic diagram of the structure of the first axis of the shoulder of the six-axis robot arm involved in some embodiments of the present utility model.

[0025] Figure 5 It is a schematic diagram of the structure of the second axis of the upper arm of the six-axis robotic arm involved in some embodiments of the present utility model.

[0026] Figure 6 It is a schematic diagram of the structure of the third axis of the elbow of the six-axis robot arm involved in some embodiments of the present invention.

[0027] Figure 7 It is a schematic diagram of the structure of the wrist shell of the six-axis robot arm involved in some embodiments of the present invention.

[0028] Figure 8 It is a schematic diagram of the structure of the fourth axis of the six-axis robot wrist involved in some embodiments of the present invention.

[0029] Fig. 9 It is a schematic structural diagram of the fifth axis of the six-axis robot wrist involved in some embodiments of the present invention.

[0030] Fig.10 It is a schematic structural diagram of the sixth axis of the six-axis robot wrist involved in some embodiments of the present invention.

[0031] Reference numerals:

[0032] 100. I-shaped slide rail, 200. Six-axis robotic arm, 301. Pressure-sensitive pneumatic gripper, 302. Electromagnet device, 303. Vacuum suction cup, 304. Vacuum flexible gripper.

[0033] 101. X-axis motor, 102. Y-axis motor, 103. motor support seat, 104. motor seat fixing, 105. transmission wheel, 106. first synchronous belt, 107. Y-axis slide rail, 108. Y-axis slider, 109. X-axis slide rail, 110. X-axis slider, 111. coupling, 112. common foot, 113. connecting rod.

[0034] 210, chassis base, 220, shoulder, 230, upper arm, 240, elbow, 250, wrist.

[0035] 220. Shoulder. 221. Chassis rotating motor. 222. Chassis rotating worm. 223. Chassis rotating worm bearing flange. 224. Chassis rotating turbine shaft. 225. Chassis rotating turbine. 226. Chassis rotating turbine shaft upper flange cover. 227. Chassis flange cover. 228. Chassis rotating turbine shaft upper flange oil seal. 229. Driving arm seat.

[0036] 230. Upper arm. 231. Servo motor. 232. Upper arm cycloid reducer mounting flange. 233. TVM-611 cycloid reducer. 234. Upper arm cycloid reducer upper arm mounting flange. 235. Upper arm seat.

[0037] 240. Elbow. 241. Servo motor. 242. Elbow cycloid reducer mounting flange. 245. 3TVM-611 cycloid reducer. 246. Motor output shaft. 247. Second synchronous belt. 248. Flange input shaft. 249. Motor input shaft. 2410. Connecting flange end cover. 2411. Connecting flange. 2412. LHS-17-XXX-C-1 harmonic reducer. 2413. Output connecting flange. 2414. Elbow joint shaft core. 2415. Elbow joint bearing. 2416. Elbow seat.

[0038] 250, wrist, 251, wrist motor gearbox, 252, wrist rotation flange, 253, wrist rotation bearing flange, 254, wrist planetary reducer, 255, first rotation arm motor, 256, second rotation arm motor, 257, third rotation arm motor, 258, first wrist motor gear connecting shaft, 259, fourth wrist spur teeth, 2510, third wrist spur teeth, 2511, second wrist spur teeth, 2512, first wrist spur teeth, 2513, second wrist motor gear connecting shaft, 2514, second wrist center axis, 2515, wrist 6002 bearing, 2516, third wrist center axis, 2517, wrist rotation rear flange, 2518, first wrist center axis, 2519, wrist 61908 bearing, 2524, front paw fixing seat, 2525, front paw flange, 2526, front paw flange side cover, 2527. Rotating flange at the front end of wrist; 2528. Sheet metal cover on the side of the flange of the front claw; 2529. Flange at the front end of small wrist; 2530. Bearing top sleeve at the front end of wrist; 2531. Locking cap at the front end of the center shaft of wrist; 2532. Large tooth of second wrist; 2534. Small tooth of first wrist; 2535. Wrist shaft; 2536. Large tooth of third wrist; 2537. Bearing 16011 of wrist; 2538. Rotating gear of small wrist; 2540. Rotating gear of second small wrist; 2541. Rotating center shaft of bevel gear of small wrist; 2542. Bearing 6007 of wrist; 2543. Bevel tooth at the front end of first wrist; 2544. Bearing 6204 of wrist; 2545. Bevel tooth at the front end of second wrist; 2546. Bearing 61907 of wrist; 2547. Skeleton oil seal of center shaft of wrist; 2548. Center shaft at the front end of wrist; 2549. Small tooth of second wrist. DETAILED DESCRIPTION

[0039] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0040] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of 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 cannot be understood as a limitation on the embodiments of the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0042] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0043] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0044] The disclosure below provides many different embodiments or examples for realizing different structures of the embodiments of the present utility model. In order to simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0045] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, this specification provides a six-axis robot arm based on an I-shaped slide, which may include an I-shaped slide 100, a six-axis robot arm 200, and replaceable functional components: a pressure-sensitive pneumatic clamp 301, an electromagnet device 302, a vacuum suction cup 303, and a vacuum flexible clamp 304.

[0047] like Figure 2 As shown, the I-beam slide 100 may include: an X-axis motor 101, a Y-axis motor 102, a motor support seat 103, a motor seat fixer 104, a transmission wheel 105, a first synchronous belt 106, a Y-axis slide 107, a Y-axis slider 108, an X-axis slide 109, an X-axis slider 110, a coupling 111, a common foot 112, and a connecting rod 113.

[0048] The Y-axis motor 102 is fixed by the motor seat 104, and the coupling 111 connects the output end of the Y-axis motor 102 and the transmission wheel 105. The transmission wheel 105 is in the motor support seat 103. The transmission wheel 105 drives the first synchronous belt 106, and the first synchronous belt 106 on the other side of the Y-axis is controlled by the connecting rod 113. The first synchronous belt 106 drives the Y-axis slider 108 to slide in the Y-axis slide rail 107. The X-axis slide rail 109 is installed on the Y-axis slider 108, and the six-axis robot 200 is installed on the X-axis slider 110.

[0049] When the six-axis robot arm needs to switch its working position, the XY-axis motors work together, and the first synchronous belt drives the six-axis robot arm fixed on the slider to move precisely. When the idle speed ratio of the motor is controlled, the position movement speed of the six-axis robot arm can be controlled, thereby changing the working rate.

[0050] like Figure 3 As shown, the six-axis robotic arm may include: a chassis base 210 , a shoulder 220 , an upper arm 230 , an elbow 240 , and a wrist 250 .

[0051] like Figure 4 As shown, the shoulder 220 may include: a chassis rotating motor 221, a chassis rotating vortex 222, a chassis rotating vortex bearing flange 223, a chassis rotating turbine shaft 224, a chassis rotating turbine 225, a chassis rotating turbine shaft upper flange cover 226, a chassis flange cover 227, a chassis rotating turbine shaft upper flange oil seal 228, and a drive arm seat 229.

[0052] The output end of the chassis rotating motor 221 is connected to the chassis rotating vortex rod 222, the chassis rotating vortex rod 222 engages with the chassis rotating turbine 225, the chassis rotating turbine shaft 224 is connected to the chassis rotating turbine 225, and the chassis rotating turbine shaft 224 is connected to the driving arm seat 229. The driving arm seat 229 is driven by the chassis rotating turbine shaft 224 to rotate horizontally, thereby controlling the direction position of the robotic arm. It is the first axis of the six-axis robotic arm.

[0053] like Figure 5 As shown, the upper arm 230 may include: a servo motor 231 , an upper arm cycloid reducer mounting flange 232 , a TVM-611 cycloid reducer 233 , an upper arm cycloid reducer upper arm mounting flange 234 , and an upper arm seat 235 .

[0054] The output end of the servo motor 231 is fixedly connected to the input port of the TVM-611 cycloid reducer 233 through the upper arm cycloid reducer mounting flange 232. The upper arm cycloid reducer upper arm mounting flange 234 is fixed to the upper arm seat 235. The output of the TVM-611 cycloid reducer 233 drives the upper arm seat 235 to rotate, which is the second axis of the six-axis robotic arm.

[0055] like Figure 6 As shown, the elbow 240 may include: a servo motor 241, an elbow cycloid reducer mounting flange 242, a 3TVM-611 cycloid reducer 245, a motor output shaft 246, a second synchronous belt 247, a flange input shaft 248, a motor input shaft 249, a connecting flange end cover 2410, a connecting flange 2411, a LHS-17-XXX-C-1 harmonic reducer 2412, an output connecting flange 2413, an elbow joint shaft core 2414, an elbow joint bearing 2415, and an elbow seat 2416.

[0056] The servo motor 241 is fixed by the elbow cycloid reducer mounting flange 242. The output of the servo motor 241 is connected to the 3TVM-611 cycloid reducer 245. The output of the 3TVM-611 cycloid reducer 245 is connected to the motor output shaft 246. The motor output shaft 246 drives the motor input shaft 249 through the second synchronous belt 247. The motor input shaft 249 is connected to the flange input shaft 248. The connecting flange end cover 2410 is connected to the connecting flange 2411 at the flange input On the shaft 248, the connecting flange 2411 and the LHS-17-XXX-C-1 harmonic reducer 2412 are connected to the flange input shaft 248. The LHS-17-XXX-C-1 harmonic reducer 2412 is connected to the elbow seat 2416 through the output connecting flange 2413 and the elbow joint shaft core 2414. The elbow seat 2416 is driven to rotate by the LHS-17-XXX-C-1 harmonic reducer 2412, which is the third axis of the six-axis robot arm. The elbow joint bearing 2415 supports the mechanical rotating body and reduces the friction coefficient during the movement of the machine.

[0057] like Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, the wrist 250 may include: a wrist motor gear box 251, a wrist rotating flange 252, a wrist rotating bearing flange 253, a wrist planetary reducer 254, a first rotating arm motor 255, a second rotating arm motor 256, a third rotating arm motor 257, a first wrist motor gear connecting shaft 258, a fourth wrist spur gear 259, a third wrist spur gear 2510, a second wrist spur gear 2511, a first wrist spur gear 2512, a second wrist motor gear connecting shaft 2513, a second wrist center axis 2514, a wrist 6002 bearing 2515, a third wrist center axis 2516, a wrist rotating rear flange 2517, a first wrist center axis 2518, a wrist 61908 bearing 2519, a bearing, a wrist rotating flange bearing spacer, a first bearing, a forearm skeleton oil seal, a front claw fixing seat 2524, a front claw flange 2525, a front claw method Lan side cover 2526, wrist front end rotating flange 2527, front paw flange side sheet metal cover 2528, small wrist front end flange 2529, wrist front end bearing top sleeve 2530, wrist center axis front end locking cap 2531, second wrist large tooth 2532, wrist 61902 bearing, first wrist small tooth 2534, wrist axis 2535, third wrist large tooth, wrist 16011 bearing 2537, first small wrist rotating gear 2538, wrist front paw connecting shaft, second small wrist rotating gear 2540, small wrist bevel gear rotating center axis 2541, wrist 6007 bearing 2542, first wrist front end bevel tooth 2543, wrist 6204 bearing 2544, second wrist front end bevel tooth 2545, wrist 61907 bearing 2546, wrist center axis skeleton oil seal 2547, wrist front end center axis 2548, second wrist small tooth 2549.

[0058] The first rotating arm motor 255 is connected to the wrist planetary reducer 254, the second wrist motor gear connecting shaft 2513 connects the output of the wrist planetary reducer 254 and the fourth wrist spur gear 259, the fourth wrist spur gear 259 is meshed with the second wrist spur gear 2511 for transmission, the second wrist spur gear 2511 is connected to the wrist rotation rear flange 2517, the wrist rotation rear flange 2517 is connected to the first wrist central axis 2518 to drive the first wrist central axis 2518 to rotate 360 ​​degrees, which is the fourth axis. The first wrist central axis 2518 is connected to the front claw fixing seat 2524, and the front claw flange 2525 is connected to the front claw fixing seat 2524.

[0059] The second rotating arm motor 256 is connected to the wrist planetary reducer 254, the first wrist motor gear connecting shaft 258 connects the output of the wrist planetary reducer 254 and the fourth wrist spur gear 259, the fourth wrist spur gear 259 is meshed with the first wrist spur gear 2512 for transmission, and the first wrist spur gear 2512 is connected to the third wrist center axis 2516 for 360° rotation, which is the fifth axis. The end of the third wrist center axis 2516 is equipped with a wrist 61908 bearing 2519 to support the mechanical rotating body, reduce the friction coefficient during the movement of the machine, and ensure accuracy. Through the front end locking cap 2531 of the wrist center axis, the third wrist center axis 2516 is connected and transmitted with the second wrist large tooth 2532. The second wrist large tooth 2532 is meshed with the third wrist large tooth 2536, and the front end rotating flange 2527 of the third wrist large tooth wrist is connected for transmission, and the wrist 16011 bearing 2537 is installed in the middle to support the mechanical rotating body. The front paw flange side sheet metal cover 2528 is connected to the front end rotating flange 2527 of the wrist, and the front paw flange side cover 2526 is connected to the front end rotating flange 2527 of the wrist.

[0060] The third rotating arm motor 257 is connected to the wrist planetary reducer 254, the output of the wrist planetary reducer 254 is connected to the fourth wrist spur teeth 259, the fourth wrist spur teeth 259 are meshed with the third wrist spur teeth 2510 for transmission, the third wrist spur teeth 2510 are connected to the second wrist center axis 2514, and the second wrist center axis 2514 is equipped with a wrist 6002 bearing 2515 to support the mechanical rotating body, reduce the friction coefficient during the movement of the machine, and ensure accuracy. The second wrist center axis 2514 is connected to the first wrist small tooth 2534 for transmission, the first wrist small tooth 2534 is meshed with the second wrist small tooth 2549 for transmission, the wrist axis 2535 connects the second wrist small tooth 2549 and the first small wrist rotating gear 2538, the first small wrist rotating gear 2538 is meshed with the second small wrist rotating gear 2540 for transmission, the second small wrist rotating gear 2540 is connected to the small wrist bevel gear rotating center axis 2541, and the wrist 6007 bearing 2542 and the wrist 6204 bearing 2544 are sleeved in the middle, the first wrist front end bevel tooth 2543 is installed on the small wrist bevel gear rotating center axis 2541 for transmission, the first front end bevel tooth 2543 is meshed with the second wrist front end bevel tooth 2545, the second wrist front end bevel tooth 2545 is connected to the wrist front end center axis 2548 for transmission, and can rotate 360°, which is the sixth axis. The front end flange 2529 of the small wrist is connected to the front end rotating flange 2527 of the wrist, and the front end bearing top sleeve 2530 of the wrist is connected to the front end flange 2529 of the small wrist. The front end center axis 2548 of the wrist is covered with the wrist 61907 bearing 2546 and the wrist center axis skeleton oil seal 2547 to support the rotating machinery and prevent dust and water vapor from invading the bearing.

[0061] The utility model is capable of being applied in more scenarios and can realize the following functions:

[0062] Intelligent remote control: The robotic arm experimental platform is equipped with a pressure-sensitive pneumatic gripper 301 and a vacuum flexible gripper 304, and also includes a computer. The embedded main control of the robotic arm experimental platform is connected to the computer to receive computer control instructions. In a hazardous chemical environment, the six-axis robotic arm remote control device can ensure the safety of operators and avoid direct contact with harmful substances. At the same time, the I-shaped slide 100 can effectively expand the working area. The linear motion characteristics of the I-shaped slide combined with the flexible operation of the robotic arm can achieve high-precision positioning and stable motion control to meet various complex and delicate operation requirements. The six-axis robotic arm with an intelligent remote control system can accurately position and operate at high speed, improve work efficiency, and reduce health risks to workers.

[0063] Intelligent grasping and sorting: In industrial automation production lines, workpieces of different sizes, shapes and weights need to be grasped and sorted. The pressure-sensitive pneumatic gripper 301 is driven by air pressure to achieve opening and closing, and the clamping force can be precisely controlled by air pressure regulation. The pressure sensor is integrated inside the gripper to monitor the clamping force in real time to avoid damage to the workpiece; in the grasping and sorting of metal parts, especially in the field of waste recycling or metal processing. The electromagnet device 302 uses the electromagnetic principle to generate magnetic force to adsorb metal workpieces by powering on. When the power is off, the magnetic force disappears and the workpiece can be released. This device is fast and convenient when grasping metal workpieces, while avoiding damage to the workpiece surface by traditional mechanical grippers; in the grasping and sorting of lightweight materials such as glass, plastic, paper, and application scenarios that require non-contact grasping. The vacuum suction cup 303 generates negative pressure to adsorb the workpiece surface to achieve non-contact grasping. This gripping method does not damage the surface of the workpiece and is suitable for lightweight materials of various shapes and sizes; when gripping fragile, easily deformed or irregularly shaped workpieces, such as food, medicine, glassware, precision parts, etc. The vacuum flexible gripper 304 combines the characteristics of flexible materials and can adapt to the shape changes of the workpiece surface during the gripping process, ensuring that the workpiece is not damaged during the gripping process.

[0064] The above embodiments describe multiple specific implementations of the present invention, but those skilled in the art should understand that various changes or modifications can be made to these implementations without departing from the principles and essence of the present invention, but these changes and modifications are all within the scope of protection of the present invention.

Claims

1. A six-axis robot arm based on an I-shaped slide rail, characterized in that: include: I-shaped slide rail; A six-axis mechanical arm is arranged on the slider of the I-shaped slide rail; Among them, the I-beam slide includes an X-axis motor, a Y-axis motor, a Y-axis slide, a Y-axis slider, an X-axis slide and an X-axis slider. The X-axis motor and the Y-axis motor are both equipped with a coupling and a transmission wheel. The Y-axis slide and the X-axis slide are both provided with a first synchronous belt. The Y-axis slider is arranged on the first synchronous belt of the Y-axis slide, and the X-axis slider is arranged on the first synchronous belt of the X-axis slide. The X-axis motor and the Y-axis motor are respectively connected to the corresponding coupling, the transmission wheel and the first synchronous belt in sequence to drive the X-axis slider and the Y-axis slider. The X-axis slide is arranged on the Y-axis slider, and the six-axis robot is arranged on the X-axis slider.

2. The six-axis robot arm based on an I-shaped slide rail according to claim 1, characterized in that: The six-axis robot arm is connected to a multifunctional component via a quick-change joint, and the multifunctional component includes a pressure-sensitive pneumatic clamp, a vacuum flexible clamp, a vacuum suction cup and an electromagnet device.

3. The six-axis robot arm based on an I-shaped slide rail according to claim 1, characterized in that: The six-axis robotic arm includes a chassis base, a shoulder, an upper arm, an elbow and a wrist. The chassis base is arranged on the X-axis slider, the shoulder is rotatably arranged on the chassis base, the upper arm is rotatably arranged on the shoulder, the elbow is rotatably arranged on the upper arm, and the wrist is rotatably arranged on the elbow.

4. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The shoulder includes a chassis rotating motor, a chassis rotating vortex, a chassis rotating turbine shaft, a chassis rotating turbine and a driving arm seat, the output end of the chassis rotating motor is connected to the chassis rotating vortex, the chassis rotating vortex is meshed with the chassis rotating turbine, the chassis rotating turbine shaft is connected to the chassis rotating turbine, the chassis rotating turbine shaft is connected to the driving arm seat, and the upper arm is arranged on the driving arm seat.

5. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The upper arm includes a servo motor, an upper arm cycloid reducer mounting flange, a cycloid reducer, an upper arm cycloid reducer upper arm mounting flange and an upper arm seat. The output end of the servo motor is fixedly connected to the cycloid reducer input port through the upper arm cycloid reducer mounting flange. The upper arm cycloid reducer upper arm mounting flange is fixed to the upper arm seat. The cycloid reducer is connected to the upper arm seat. The elbow is arranged on the upper arm seat.

6. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The elbow includes a servo motor, a cycloid reducer, a motor output shaft, a first synchronous belt, a flange input shaft, a motor input shaft, a connecting flange end cover, a connecting flange, a harmonic reducer, an output connecting flange, an elbow joint shaft core and an elbow seat, the servo motor is connected to the cycloid reducer, the cycloid reducer is connected to the motor output shaft, the motor output shaft is connected to the motor input shaft through the first synchronous belt, the motor input shaft is connected to the flange input shaft, the connecting flange end cover and the connecting flange are connected to the flange input shaft, the connecting flange and the harmonic reducer are connected to the flange input shaft, the harmonic reducer is connected to the elbow seat with the elbow joint shaft core through the output connecting flange, and the wrist is arranged on the elbow seat.

7. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The wrist includes a first rotating arm motor, a second wrist motor gear connecting shaft, a second wrist spur tooth, a wrist rotation rear flange, a first wrist center axis, a front paw fixing seat and a front paw flange. The first rotating arm motor is connected to the second wrist motor gear connecting shaft through a wrist planetary reducer. The second wrist motor gear connecting shaft is sleeved with a fourth wrist spur tooth, and the fourth wrist spur tooth is meshed with the second wrist spur tooth. The second wrist spur tooth is connected to the wrist rotation rear flange, and the wrist rotation rear flange is connected to the first wrist center axis. The first wrist center axis is connected to the front paw fixing seat, and the front paw flange is arranged on the front paw fixing seat.

8. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The wrist also includes a second wrist large tooth, a second rotating arm motor, a first wrist motor gear connecting shaft, a first wrist spur tooth, a third wrist center axis, a third wrist large tooth, a front end locking cap of the wrist center axis, a front paw flange side sheet metal cover, a front paw flange side cover and a wrist front end rotating flange. The second rotating arm motor is connected to the first wrist motor gear connecting shaft through a wrist planetary reducer. The first wrist motor gear connecting shaft is sleeved with a fourth wrist spur tooth, and the fourth wrist spur tooth is meshed with the first wrist spur tooth. The first wrist spur tooth is connected to the third wrist center axis. The third wrist center axis is connected to the second wrist large tooth through the front end locking cap of the wrist center axis. The second wrist large tooth is meshed with the third wrist large tooth. The third wrist large tooth is arranged on the front paw flange side sheet metal cover, and a wrist front end rotating flange is arranged between the front paw flange side sheet metal cover and the front paw flange side cover.

9. The six-axis robot arm based on an I-shaped slide rail according to claim 3, characterized in that: The wrist also includes a third wrist spur tooth, a first wrist front end bevel tooth, a third rotating arm motor, a second wrist center axis, a first wrist small tooth, a second wrist small tooth, a first small wrist rotating gear, a second small wrist rotating gear, a small wrist bevel gear rotating center axis, a first front end bevel tooth, a second wrist front end bevel tooth, a second wrist front end bevel tooth and a wrist front end center axis, the third rotating arm motor is connected to the third wrist spur tooth through a wrist planetary reducer and a fourth wrist spur tooth, the third wrist spur tooth is arranged on the second wrist center axis, the second wrist center axis is connected to the first wrist small tooth, the first wrist small tooth is meshed with the second wrist small tooth, the second wrist small tooth is connected to the first small wrist rotating gear through the wrist axis, the first small wrist rotating gear is meshed with the second small wrist rotating gear, the second small wrist rotating gear is connected to the small wrist bevel gear rotating center axis, the first wrist front end bevel tooth is arranged on the small wrist bevel gear rotating center axis, the first front end bevel tooth is meshed with the second wrist front end bevel tooth, and the second wrist front end bevel tooth is arranged on the wrist front end center axis.

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