Six-axis mechanical arm for teaching

Abstract

The utility model provides a six-axis mechanical arm for teaching. The six-axis mechanical arm comprises a base, a first servo motor, a second servo motor, a first connecting plate, a third servo motor, a second connecting plate, a fourth servo motor, a fifth servo motor, a sixth servo motor, a clamping jaw, a first controller, a second controller and a power source. The first servo motor is arranged in the base, an output shaft of the first servo motor penetrates through the base and is fixedly connected with the second servo motor, the two ends of the first connecting plate are fixedly connected with an output shaft of the second servo motor and the third servo motor respectively, and the two ends of the second connecting plate are fixedly connected with an output shaft of the third servo motor and the fourth servo motor respectively. The fifth servo motor is fixedly connected with an output shaft of the fourth servo motor, the sixth servo motor is fixedly connected with an output shaft of the fifth servo motor, the clamping jaw is fixedly connected with an output shaft of the sixth servo motor, and the first controller is in communication connection with all the servo motors. The second controller is in communication connection with the control end of the clamping jaw, and the power source is electrically connected with all the servo motors.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a six-axis mechanical arm for teaching. Background Art

[0002] Industrial production, especially the continuous improvement of industrial automation, has promoted the rapid development of robotics technology. Among them, robotic arms are the key to the development of robots. They can imitate the movements of human hands and arms to grab, move objects or operate tools. They are widely used in industrial places such as handling, assembly, welding, and spraying to replace operators to complete work with high risk factors. However, the robotic arms used in industrial production are large in size and occupy a large space, which is not suitable for guiding students to learn in a teaching environment. Utility Model Content

[0003] In view of this, the utility model provides a six-axis mechanical arm for teaching, for use in teaching practice.

[0004] The six-axis mechanical arm for teaching provided by the utility model comprises:

[0005] A base, wherein a receiving cavity is provided in the base, and a communicating hole is provided through the top of the base;

[0006] a first servo motor, wherein the first servo motor is disposed in the accommodating cavity, and an output shaft of the first servo motor passes through the communicating hole;

[0007] a second servo motor, the second servo motor being fixedly connected to an output shaft of the first servo motor;

[0008] a first connecting plate, wherein a first end of the first connecting plate is fixedly connected to an output shaft of the second servo motor;

[0009] a third servo motor, wherein the third servo motor is fixedly connected to the second end of the first connecting plate;

[0010] a second connecting plate, a first end of the second connecting plate being fixedly connected to an output shaft of the third servo motor;

[0011] a fourth servo motor, wherein the fourth servo motor is fixedly connected to the second end of the second connecting plate;

[0012] a fifth servo motor, wherein the fifth servo motor is fixedly connected to an output shaft of the fourth servo motor;

[0013] a sixth servo motor, wherein the sixth servo motor is fixedly connected to an output shaft of the fifth servo motor;

[0014] A clamping jaw, wherein the clamping jaw is fixedly connected to an output shaft of the sixth servo motor;

[0015] a first controller, wherein an output end of the first controller is communicatively connected to control ends of the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, and the sixth servo motor;

[0016] a second controller, wherein an output end of the second controller is communicatively connected to a control end of the gripper;

[0017] A power supply, the power supply is electrically connected to the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, the sixth servo motor and the clamp, and a switch of the power supply is embedded on a side wall of the base;

[0018] The first controller, the second controller and the power supply are all arranged in the accommodating cavity.

[0019] Optionally, the six-axis robot arm for teaching further includes: a camera, wherein the camera is fixedly connected to the sixth servo motor, and an output end of the camera is communicatively connected to an input end of the first controller.

[0020] Optionally, the teaching six-axis robotic arm further includes:

[0021] A first slip ring, the first slip ring comprising a first inner ring and a first outer ring sleeved with the first inner ring, the first outer ring and the first inner ring being rotatably connected;

[0022] A first connecting member, wherein the first connecting member passes through the first inner ring and is fixedly connected to the first inner ring, and opposite ends of the first connecting member exposed from the first inner ring are respectively fixedly connected to the output shaft of the fourth servo motor and the fifth servo motor.

[0023] Optionally, the teaching six-axis robotic arm further includes:

[0024] A second slip ring, the second slip ring comprising a second inner ring and a second outer ring sleeved with the second inner ring, the second outer ring and the second inner ring being rotatably connected;

[0025] The second connecting member passes through the second inner ring and is fixedly connected to the second inner ring. The opposite ends of the second connecting member exposed from the second inner ring are respectively fixedly connected to the output shaft of the fifth servo motor and the sixth servo motor.

[0026] Optionally, the teaching six-axis robotic arm further includes:

[0027] a third connecting member, the third connecting member connecting the output shaft of the first servo motor and the second servo motor;

[0028] A first scale plate, which is fixed to the top of the base and is coaxially arranged with the communicating hole;

[0029] A first pointer is fixed on the third connecting member.

[0030] Optionally, the teaching six-axis robotic arm further includes:

[0031] a second scale plate, the second scale plate being fixed on the second servo motor and being coaxially arranged with an output shaft of the second servo motor;

[0032] A second pointer is fixed on the first connecting plate.

[0033] Optionally, the teaching six-axis robotic arm further includes:

[0034] A third scale plate, the third scale plate is fixed on the third servo motor and is coaxially arranged with the output shaft of the third servo motor;

[0035] A third pointer is fixed on the second connecting plate.

[0036] Optionally, grooves are respectively formed on the first connecting plate and the second connecting plate.

[0037] Optionally, the teaching six-axis robotic arm further includes: a display screen, which is embedded in the side wall of the base, and the input end of the display screen is communicatively connected to the output end of the first controller and is electrically connected to the power supply.

[0038] Optionally, heat dissipation holes and avoidance holes are provided on the side walls of the base.

[0039] Compared with the prior art, the above technical solution provided by the utility model has at least the following beneficial effects:

[0040] With the utility model of the six-axis teaching robot, the first servo motor, the power supply, the first controller and the second controller are all integrated into the base, and the structure is compact, which further reduces the volume and saves space. At the same time, the weight of the base is increased, so that the six-axis teaching robot can be directly placed on the desktop for experiments, which is suitable for teaching work. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A three-dimensional structural diagram of a six-axis robot arm for teaching according to an embodiment of the utility model;

[0042] Figure 2 for Figure 1 A side view of the six-axis robot arm used for teaching is shown;

[0043] Figure 3 for Figure 1 An exploded view of the base of the six-axis robot arm for teaching purposes is shown;

[0044] Figure 4 for Figure 1 A partial exploded view of the six-axis robotic arm used for teaching.

[0045] Reference numerals:

[0046] 1: base; 101: connecting hole; 102: embedding hole; 103: heat dissipation hole; 104: avoidance hole; 105: embedding hole; 2: first servo motor; 3: second servo motor; 4: first connecting plate; 5: third servo motor; 6: second connecting plate; 7: fourth servo motor; 8: fifth servo motor; 9: sixth servo motor; 10: clamping claw; 11: first controller; 12: second controller; 13: power supply; 1301: switch; 14: first slip ring; 15: first connecting member; 16: second slip ring; 17: camera; 18: third connecting member; 19: first dial; 20: display screen; 21: mounting member; 22: second connecting member; 23: groove. DETAILED DESCRIPTION

[0047] The embodiments of the utility model will be further described below in conjunction with the accompanying drawings. In the description of the utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only a simplified description for the convenience of describing the utility model, and does not indicate or imply that the device or component 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 utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0048] Figure 1 A three-dimensional structural diagram of a six-axis robot arm for teaching according to an embodiment of the utility model; Figure 2 for Figure 1 A side view of the six-axis robot arm used for teaching is shown; Figure 3 for Figure 1 An exploded view of the base of the six-axis robotic arm used for teaching purposes is shown.

[0049] like Figure 1-Figure 3 As shown, the six-axis robotic arm for teaching includes a base 1, a first servo motor 2, a second servo motor 3, a first connecting plate 4, a third servo motor 5, a second connecting plate 6, a fourth servo motor 7, a fifth servo motor 8, a sixth servo motor 9, a gripper 10, a first controller 11, a second controller 12 and a power supply 13.

[0050] A accommodating cavity is provided in the base 1, and a connecting hole 101 is opened through the top of the base 1; the first servo motor 2 is provided in the accommodating cavity, and the output shaft of the first servo motor 2 passes through the connecting hole 101; the second servo motor 3 is fixedly connected to the output shaft of the first servo motor 2; the first end of the first connecting plate 4 is fixedly connected to the output shaft of the second servo motor 3; the third servo motor 5 is fixedly connected to the second end of the first connecting plate 4; the first end of the second connecting plate 6 is fixedly connected to the output shaft of the third servo motor 5; the fourth servo motor 7 is fixedly connected to the second end of the second connecting plate 6; the fifth servo motor 8 is fixedly connected to the output shaft of the fourth servo motor 7; the sixth servo motor 9 is fixedly connected to the output shaft of the fifth servo motor 8 The axis is fixedly connected; the clamping jaw 10 is fixedly connected to the output shaft of the sixth servo motor 9; the output end of the first controller 11 is communicatively connected to the control ends of the first servo motor 2, the second servo motor 3, the third servo motor 5, the fourth servo motor 7, the fifth servo motor 8 and the sixth servo motor 9; the output end of the second controller 12 is communicatively connected to the control end of the clamping jaw 10; the power supply 13 is electrically connected to the first servo motor 2, the second servo motor 3, the third servo motor 5, the fourth servo motor 7, the fifth servo motor 8, the sixth servo motor 9 and the clamping jaw 10, and the switch 1301 of the power supply 13 is embedded in the side wall of the base 1; the first controller 11, the second controller 12 and the power supply 13 are all arranged in the accommodating cavity.

[0051] During assembly, the first servo motor 2, the first controller 11, the second controller 12 and the power supply 13 are all placed in the base 1, the output shafts of the first servo motor 2 and the fifth servo motor 8 are arranged vertically, the output shafts of the second servo motor 3, the third servo motor 5, the fourth servo motor 7 and the sixth servo motor 9 are arranged horizontally, the output shaft of the first servo motor 2 is exposed from the connecting hole 101 at the top of the base 1, and is connected to the second servo motor 3, the first connecting plate 4 is arranged vertically, and the opposite ends of the extension direction are respectively connected to the output shaft of the second servo motor 3 and the third servo motor 5, the second connecting plate 6 is arranged vertically, and the opposite ends of the extension direction are respectively connected to the output shaft of the third servo motor 5 and the fourth servo motor 7. The first controller 11 controls the first servo motor 2, the second servo motor 3, the third servo motor 5, the fourth servo motor 7, the fifth servo motor 8 and the sixth servo motor 9 to make corresponding actions, thereby controlling the position adjustment of the clamping jaw 10 in six degrees of freedom, and the second controller 12 controls the clamping jaw 10 to grasp or open, thereby controlling the clamping or release of the object.

[0052] With the utility model of the six-axis teaching robot, the first servo motor 2, the power supply 13, the first controller 11 and the second controller 12 are all integrated into the base 1, which has a compact structure, further reduces the volume, saves space, and increases the weight of the base 1, so that the six-axis teaching robot can be directly placed on the desktop for experiments, which is suitable for teaching work.

[0053] like Figure 1-Figure 3 As shown, in this embodiment, the base 1 is a rectangular solid as a whole, which is composed of six rectangular plates, and the interior encloses a receiving cavity. The first servo motor 2, the power supply 13, the first controller 11 and the second controller 12 are dispersed in the receiving cavity. A connecting hole 101 is provided near the center of the top of the base 1, and an embedding hole 102 is provided on the side wall of the base 1 corresponding to the switch 1301 of the power supply 13. The switch 1301 of the power supply 13 is embedded in the embedding hole 102. By pressing the switch 1301, the power supply 13 can be turned on and off, thereby controlling whether the robot arm is enabled. The first servo motor 2, the second servo motor 3, the third servo motor 5, the fourth servo motor 7, the fifth servo motor 8 and the sixth servo motor 9 are all AC servo motors. When the first servo motor 2 is working, it drives its output shaft to rotate, thereby driving the second servo motor 3, the first connecting plate 4, the third servo motor 5, the second connecting plate 6, the fourth servo motor 7, the fifth servo motor 8, the sixth servo motor 9 and the clamping jaw 10 directly or indirectly connected thereto to rotate in the horizontal direction; when the second servo motor 3 is working, it drives its output shaft to rotate, thereby driving the first connecting plate 4, the third servo motor 5, the second connecting plate 6, the fourth servo motor 7, the fifth servo motor 8, the sixth servo motor 9 and the clamping jaw 10 directly or indirectly connected thereto to rotate in the vertical direction; when the third servo motor 5 is working, it drives its output shaft to rotate, thereby driving The second connecting plate 6, the fourth servo motor 7, the fifth servo motor 8, the sixth servo motor 9 and the clamping jaw 10 connected directly or indirectly thereto are driven to rotate in the vertical direction; when the fourth servo motor 7 is working, it drives its output shaft to rotate, thereby driving the fifth servo motor 8, the sixth servo motor 9 and the clamping jaw 10 connected directly or indirectly thereto to rotate in the vertical direction; when the fifth servo motor 8 is working, it drives its output shaft to rotate, thereby driving the sixth servo motor 9 and the clamping jaw 10 connected directly or indirectly thereto to rotate in the horizontal direction; when the sixth servo motor 9 is working, it drives its output shaft to rotate, thereby driving the clamping jaw 10 connected thereto to rotate in the vertical direction. The six servo motors respectively produce corresponding actions in six degrees of freedom, which have a comprehensive influence on the final position adjustment of the clamping jaw 10. According to the actual application, each servo motor can select any commercially available specifications and models, as long as it can meet the teaching requirements.

[0054] Optionally, the six-axis robot arm for teaching further includes a camera 17. The camera 17 is fixedly connected to the sixth servo motor 9, and the output end of the camera 17 is communicatively connected to the input end of the first controller 11. In this arrangement, the image data acquired by the camera 17 is transmitted to the first controller 11, so that not only can the working state of the six servo motors be controlled according to the preset program in the first controller 11, so that the gripper 10 can complete the programmed action, but also the object can be intelligently identified through the acquired image data, and then the six servo motors can be controlled to act accordingly through the first controller 11, so that the gripper 10 can perform selective grasping, and the robot arm can also automatically avoid obstacles.

[0055] like Figure 1 and Figure 2 As shown, the camera 17 is fixed on the sixth servo motor 9 by means of a bracket and is arranged toward the clamping jaw 10 so as to obtain an image in front of the clamping jaw 10. In this embodiment, the camera 17 is a depth camera, and other specifications and models may also be selected according to actual application conditions.

[0056] Figure 4 for Figure 1 The exploded view of the six-axis robot arm used for teaching is shown in the figure. Figure 1 , Figure 2 and Figure 4 As shown, optionally, the six-axis robot arm for teaching further includes a first slip ring 14 and a first connecting member 15. The first slip ring 14 includes a first inner ring and a first outer ring sleeved with the first inner ring, and the first outer ring and the first inner ring are rotatably connected; the first connecting member 15 penetrates the first inner ring and is fixedly connected to the first inner ring, and the two opposite ends of the first connecting member 15 exposed from the first inner ring are respectively fixedly connected to the output shaft of the fourth servo motor 7 and the fifth servo motor 8. In this arrangement, the cable connection is performed with the help of the slip ring, so that when the fourth servo motor 7 drives the fifth servo motor 8 to rotate, the phenomenon of the wire being entangled in the motor will not occur, so that the fourth servo motor 7 and the fifth servo motor 8 can rotate infinitely, increasing the movement angle of the motor, and all operations that need to be completed by rotation can be completed efficiently and accurately, such as the operation of the robot arm twisting the bottle cap, the operation of the arm end camera 17 to take a picture without a blind spot, etc.

[0057] like Figure 4As shown, in this embodiment, the left end of the first connecting member 15 is inserted into the first inner ring of the first slip ring 14 and is clamped with the first inner ring. The left and right ends of the first connecting member 15 are exposed from the first slip ring 14. The right end is fixedly connected to the output shaft of the fourth servo motor 7, and the left end is connected to the fifth servo motor 8 through the mounting member 21. Specifically, the mounting member 21 includes a platform portion and an arc portion fixedly connected to the platform portion. The platform portion is a flat plane, which is convenient for fixed connection with the left end of the first connecting member 15. The inner wall of the arc portion is an arc and matches the arc outer wall of the fifth servo motor 8, which is convenient for realizing the fixed connection between the mounting member 21 and the fifth servo motor 8. The cable is connected to the first outer ring. The output shaft of the fourth servo motor 7 rotates to drive the first connecting member 15 to rotate, and then drives the first inner ring, the mounting member 21 and the fifth servo motor 8 to rotate. During the rotation of the first inner ring, the first outer ring does not rotate synchronously with the first inner ring under the tension of the cable, but remains stationary, thereby avoiding cable entanglement. The slip ring is a mature existing technology, and its specific structure and working principle are not described here.

[0058] Optionally, the six-axis robot arm for teaching further includes a second slip ring 16 and a second connecting member 22. The second slip ring 16 includes a second inner ring and a second outer ring sleeved with the second inner ring, and the second outer ring and the second inner ring are rotatably connected; the second connecting member 22 passes through the second inner ring and is fixedly connected to the second inner ring, and the opposite ends of the second connecting member 22 exposed from the second inner ring are respectively fixedly connected to the output shaft of the fifth servo motor 8 and the sixth servo motor 9. In this arrangement, the cable connection is performed with the help of the slip ring, so that when the fifth servo motor 8 drives the sixth servo motor 9 to rotate, the phenomenon of the wires being entangled in the motor will not occur, so that the fifth servo motor 8 and the sixth servo motor 9 can rotate infinitely, increasing the movement angle of the motor, and all operations that need to be completed by rotation can be completed efficiently and accurately.

[0059] In this embodiment, the structure of the second slip ring 16 is the same as that of the first slip ring 14, the structure of the second connecting member 22 is the same as that of the first connecting member 15, and the second connecting member 22 is also fixedly connected to the sixth servo motor 9 by means of a mounting member, and the specific structure is not repeated here.

[0060] Optionally, the teaching six-axis robot arm further includes a third connecting member 18, a first dial 19 and a first pointer (not shown). The third connecting member 18 connects the output shaft of the first servo motor 2 and the second servo motor 3; the first dial 19 is fixed to the top of the base 1 and is coaxially arranged with the connecting hole 101; the first pointer is fixed to the third connecting member 18. With this arrangement, the rotation angle of the output shaft of the first servo motor 2 can be intuitively known by means of the angle change on the first dial 19 indicated by the first pointer, that is, Figure 1The overall horizontal rotation angle of all components above the first servo motor 2 that are directly or indirectly connected to the first servo motor 2 under the driving action of the first servo motor 2.

[0061] like Figure 1 As shown, in this embodiment, in order to facilitate the connection between the output shaft of the first servo motor 2 and the second servo motor 3, a third connecting member 18 is arranged between the two. The end of the third connecting member 18 facing the first servo motor 2 is matched and connected with its output shaft, and the end facing the second servo motor 3 is matched with its outer wall shape and fixedly connected, so as to ensure the stability of the connection between the two. The output shaft of the first servo motor 2 passes through the connecting hole 101, and the first scale plate 19 is fixed to the circumference of the connecting hole 101. The output shaft of the first servo motor 2, the first scale plate 19 and the connecting hole 101 are coaxially arranged. The first scale plate 19 is evenly divided with scales in the circumference, indicating different rotation angles. The first pointer is fixed on the third connecting member 18, and the initial state points to the zero scale of the first scale plate 19. When the first servo motor 2 is working, the output shaft thereof rotates to drive the third connecting member 18 fixedly connected thereto to rotate, thereby driving the first pointer to rotate. The rotation end position, the scale pointed to by the first pointer, is the angle of rotation of the output shaft of the first servo motor 2.

[0062] Optionally, the teaching six-axis robot arm further includes a second scale plate (not shown) and a second pointer (not shown). The second scale plate is fixed on the second servo motor 3 and is coaxially arranged with the output shaft of the second servo motor 3; the second pointer is fixed on the first connecting plate 4. With this arrangement, the rotation angle of the output shaft of the second servo motor 3 can be intuitively known by means of the angle change on the second scale plate indicated by the second pointer, that is, Figure 1 The overall vertical rotation angle of all components above the second servo motor 3 that are directly or indirectly connected to the second servo motor 3 under the driving action of the second servo motor 3.

[0063] In this embodiment, the second dial is sleeved on the circumference of the output shaft of the second servo motor 3, the two are coaxially arranged, and are fixedly connected to the second servo motor 3. In the initial state, the second pointer points to the zero scale of the second dial. When the second servo motor 3 is working, its output shaft rotates to drive the first connecting plate 4 fixedly connected to it to rotate, and then drives the second pointer fixedly connected to the first connecting plate 4 to rotate. The rotation end position, the scale pointed to by the second pointer, is the angle of rotation of the output shaft of the second servo motor 3.

[0064] Optionally, the teaching six-axis robot arm further includes a third scale plate (not shown) and a third pointer (not shown). The third scale plate is fixed on the third servo motor 5 and is coaxially arranged with the output shaft of the third servo motor 5; the third pointer is fixed on the second connecting plate 6. With this arrangement, the rotation angle of the output shaft of the third servo motor 5 can be intuitively known by means of the angle change on the third scale plate indicated by the third pointer, that is, Figure 1 The overall vertical rotation angle of all components above the third servo motor 5 that are directly or indirectly connected to the third servo motor 5 under the driving action of the third servo motor 5.

[0065] In this embodiment, the third scale plate is sleeved on the circumference of the output shaft of the third servo motor 5, the two are coaxially arranged, and are fixedly connected to the third servo motor 5. In the initial state, the third pointer points to the zero scale of the third scale plate. When the third servo motor 5 is working, its output shaft rotates to drive the second connecting plate 6 fixedly connected to it to rotate, and then drives the third pointer fixedly connected to the second connecting plate 6 to rotate. The rotation end position, the scale pointed to by the third pointer, is the angle of rotation of the output shaft of the third servo motor 5.

[0066] Optionally, a groove 23 is respectively provided on the first connecting plate 4 and the second connecting plate 6. Providing the groove 23 is conducive to further reducing the overall weight of the robot arm, making it more convenient for teaching and use, and the exposed wire harness can also be placed in the groove 23 to avoid entanglement.

[0067] like Figure 1 As shown, in this embodiment, the first connecting plate 4 and the second connecting plate 6 are provided with a long strip groove 23 on one side of the surface facing away from the clamping jaw 10. According to the actual application, the specific shape and size of the groove 23 and the specific opening position on the first connecting plate 4 and the second connecting plate 6 can be adjusted.

[0068] Optionally, the teaching six-axis robot arm further includes a display screen 20, which is embedded in the side wall of the base 1, and the input end of the display screen 20 is communicatively connected to the output end of the first controller 11, and is electrically connected to the power supply 13. The display screen 20 is provided, and the specific working state of each servo motor can be displayed on the display screen 20, and the voltage and current information in each servo motor can be read through the program of each servo motor and displayed on the display screen 20, and the image information obtained by the camera 17 can also be displayed on the display screen 20, so that the operator can understand the working condition of the robot arm.

[0069] like Figure 1-Figure 3 As shown, in this embodiment, an embedding hole 105 is opened on the side wall of the base 1 , and the display screen 20 is disposed in the base 1 and embedded in the embedding hole 105 .

[0070] Optionally, a heat dissipation hole 103 and a avoidance hole 104 are provided on the side wall of the base 1. The heat dissipation hole 103 is provided to facilitate air circulation inside the base 1, accelerate heat dissipation, and prevent overheating inside the base 1. The avoidance hole 104 is provided to facilitate the insertion of a power socket, a power cord, a computer terminal cable, etc.

[0071] like Figure 1 and Figure 3 As shown, in this embodiment, heat dissipation holes 103 are respectively opened on the two side walls of the base 1 that are arranged opposite to each other, so as to facilitate the rapid discharge of heat, and a plurality of avoidance holes 104 of different sizes are opened on one of the side walls for the power socket, power cord or other cables to pass through. According to actual application conditions, the specific opening positions and opening numbers of the heat dissipation holes 103 and the avoidance holes 104 on the base 1 can be adjusted.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A six-axis robotic arm for teaching, characterized in that: include: A base, wherein a receiving cavity is provided in the base, and a communicating hole is provided through the top of the base; a first servo motor, wherein the first servo motor is disposed in the accommodating cavity, and an output shaft of the first servo motor passes through the communicating hole; a second servo motor, the second servo motor being fixedly connected to an output shaft of the first servo motor; a first connecting plate, wherein a first end of the first connecting plate is fixedly connected to an output shaft of the second servo motor; a third servo motor, wherein the third servo motor is fixedly connected to the second end of the first connecting plate; a second connecting plate, a first end of the second connecting plate being fixedly connected to an output shaft of the third servo motor; a fourth servo motor, wherein the fourth servo motor is fixedly connected to the second end of the second connecting plate; a fifth servo motor, wherein the fifth servo motor is fixedly connected to an output shaft of the fourth servo motor; a sixth servo motor, wherein the sixth servo motor is fixedly connected to an output shaft of the fifth servo motor; A clamping jaw, wherein the clamping jaw is fixedly connected to an output shaft of the sixth servo motor; a first controller, wherein an output end of the first controller is communicatively connected to control ends of the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, and the sixth servo motor; a second controller, wherein an output end of the second controller is communicatively connected to a control end of the gripper; A power supply, the power supply is electrically connected to the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, the sixth servo motor and the clamp, and a switch of the power supply is embedded on a side wall of the base; The first controller, the second controller and the power supply are all arranged in the accommodating cavity.

2. The six-axis robot arm for teaching according to claim 1, characterized in that: Also includes: A camera is fixedly connected to the sixth servo motor, and an output end of the camera is communicatively connected to an input end of the first controller.

3. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: A first slip ring, the first slip ring comprising a first inner ring and a first outer ring sleeved with the first inner ring, the first outer ring and the first inner ring being rotatably connected; A first connecting member, wherein the first connecting member passes through the first inner ring and is fixedly connected to the first inner ring, and opposite ends of the first connecting member exposed from the first inner ring are respectively fixedly connected to the output shaft of the fourth servo motor and the fifth servo motor.

4. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: A second slip ring, the second slip ring comprising a second inner ring and a second outer ring sleeved with the second inner ring, the second outer ring and the second inner ring being rotatably connected; The second connecting member passes through the second inner ring and is fixedly connected to the second inner ring. The opposite ends of the second connecting member exposed from the second inner ring are respectively fixedly connected to the output shaft of the fifth servo motor and the sixth servo motor.

5. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: a third connecting member, the third connecting member connecting the output shaft of the first servo motor and the second servo motor; A first scale plate, which is fixed to the top of the base and is coaxially arranged with the communicating hole; A first pointer is fixed on the third connecting member.

6. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: a second scale plate, the second scale plate being fixed on the second servo motor and being coaxially arranged with an output shaft of the second servo motor; A second pointer is fixed on the first connecting plate.

7. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: A third scale plate, the third scale plate is fixed on the third servo motor and is coaxially arranged with the output shaft of the third servo motor; A third pointer is fixed on the second connecting plate.

8. The six-axis teaching robot according to claim 1 or 2, characterized in that: The first connecting plate and the second connecting plate are respectively provided with grooves.

9. The six-axis teaching robot according to claim 1 or 2, characterized in that: Also includes: A display screen is embedded in the side wall of the base, and an input end of the display screen is communicatively connected to an output end of the first controller and is electrically connected to the power supply.

10. The six-axis teaching robot according to claim 1 or 2, characterized in that: The side wall of the base is provided with heat dissipation holes and avoidance holes.

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