Six-axis manipulator

Abstract

The utility model relates to the technical field of light guide column injection molding, in particular to a six-axis manipulator which mainly comprises a base, supporting legs, a mechanical arm arranged at the bottom of the base, an adjusting mechanism arranged at the top of the base, a clamping mechanism arranged below the base and used for adjusting the position and height of a device, and a clamping mechanism arranged at one end of the mechanical arm and used for clamping the mechanical arm. The clamping device is used for clamping and fixing a machined part. According to the six-axis manipulator, a handle is rotated to drive a worm to rotate, the worm drives a worm gear to rotate, the worm gear drives a threaded rod to rotate, the threaded rod rotates and drives a moving plate to move at the same time, and the moving plate drives a connecting block and a moving leg to move on the inner wall of a moving groove; the height of the base can be adjusted by adjusting the moving legs, then the height of the mechanical arm can be conveniently and rapidly adjusted, the position of the mechanical arm can be conveniently and rapidly adjusted through the arranged universal wheels, and convenience, rapidness and flexibility are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of light guide column injection molding, in particular to a six-axis manipulator. Background Art

[0002] Manipulators are a widely used automation product in modern industry. There are three-axis manipulators, six-axis manipulators, etc. Manipulators are generally articulated and fixed on the ground or mounting table through a base. Once the manipulator is installed and fixed, its working range is determined, and the farthest distance that its end parts can move to is also determined. When processing and producing light guides, manipulators are needed to clamp and fix them for transportation.

[0003] When installing and fixing the existing robot base, it is necessary to manually lift and move the base, and when adjusting the height, it is necessary to use external supporting objects to support it so as to adjust the height, which is more troublesome and less flexible.

[0004] Therefore, a six-axis manipulator is proposed. Utility Model Content

[0005] The purpose of the utility model is to provide a six-axis manipulator to solve the problems raised by the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A six-axis manipulator comprises: a base;

[0008] Support legs, arranged at the bottom of the base;

[0009] A mechanical arm, arranged on the top of the base;

[0010] An adjustment mechanism, disposed below the base, for adjusting the position and height of the device;

[0011] The clamping mechanism is arranged at one end of the mechanical arm and is used to clamp and fix the workpiece.

[0012] Preferably, the adjustment mechanism comprises a fixing bar fixedly mounted on the side of the supporting leg, a fixing plate is fixedly mounted on the side of the fixing bar, and a threaded rod is rotatably connected to the top surface of the fixing plate and the bottom surface of the base via a first bearing seat.

[0013] Preferably, a worm wheel is fixedly sleeved on the outer wall of the threaded rod, a worm is meshingly connected to the outer wall of the worm wheel, one end of the worm rotates through the second bearing seat to pass through the side of the fixing bar and extends to one side of the fixing bar, and a handle is fixedly installed on one end of the worm.

[0014] Preferably, the outer wall of the threaded rod is meshingly connected with a movable plate, a movable groove is opened on the side of the supporting leg, the inner wall of the movable groove is slidably connected with a movable leg, and a universal wheel is fixedly installed on the bottom surface of the movable leg.

[0015] Preferably, a connecting block is fixedly installed on the side of the movable leg, the side of the connecting block is fixedly connected to the side of the movable plate, and the side of the connecting block is slidably connected to the inner wall of the movable groove.

[0016] Preferably, the clamping mechanism includes an L-shaped plate fixedly mounted on one end of the robotic arm, a motor is fixedly mounted on the side of the L-shaped plate, the motor output rod rotates through the side of the L-shaped plate and extends to the other side of the L-shaped plate, a connecting flange is fixedly mounted on the output end of the motor, and a connecting plate is fixedly mounted on the side of the connecting flange.

[0017] Preferably, a mounting plate is fixedly mounted on the bottom surface of the connecting plate, two insert-and-remove clips are fixedly mounted on the bottom surface of the mounting plate, and insert-and-remove clips are connected to two side surfaces of the insert-and-remove clips via bolts.

[0018] Preferably, a positioning boss is fixedly installed on the side of the insert buried in the clamp on one side, and a through hole is opened on the side of the insert buried in the clamp on the other side, and a fiber optic sensor is installed on the inner wall of the through hole.

[0019] Compared with the prior art, the beneficial effects of the utility model are:

[0020] The utility model drives the worm to rotate by turning the handle, the worm drives the worm wheel to rotate, the worm wheel drives the threaded rod to rotate, the threaded rod rotates and the moving plate moves at the same time, the moving plate drives the connecting block and the moving legs to move on the inner wall of the moving groove, the moving legs can be adjusted to adjust the height of the base, and then the height of the manipulator can be adjusted conveniently and quickly, and the position of the manipulator can be adjusted conveniently and quickly by setting the universal wheel, which is convenient, fast and flexible.

[0021] The motor can drive the manipulator to rotate, and through the provision of the insert removal clamp, insert embedding clamp, positioning boss, through hole and fiber optic sensor, when the fiber optic sensor senses an object, the insert removal clamp drives the insert embedding clamp to clamp and fix the object, and then the object is transported. The positioning boss can clamp and fix the object tightly, and during transportation, it is not easy for the object to slip, thereby reducing losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0023] Figure 2 It is a cross-sectional schematic diagram of the adjustment mechanism of the utility model;

[0024] Figure 3 It is a partial three-dimensional structural schematic diagram of the utility model;

[0025] Figure 4 It is a schematic diagram of the bottom surface of a partial three-dimensional structure of the utility model;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the inserting and removing clip of the utility model.

[0027] In the figure: 1. base; 101. supporting leg; 102. mechanical arm; 2. adjusting mechanism; 201. fixing bar; 202. fixing plate; 203. threaded rod; 204. worm gear; 205. worm; 206. handle; 207. moving plate; 208. moving groove; 209. connecting block; 210. moving leg; 211. universal wheel; 3. clamping mechanism; 301. L-shaped plate; 302. motor; 303. connecting flange; 304. connecting plate; 305. mounting plate; 306. insert to remove the clamp; 307. insert to embed the clamp; 308. positioning boss; 309. through hole; 310. optical fiber sensor. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application. Example

[0030] See also Figure 1-5 , the utility model provides a technical solution: a six-axis manipulator, comprising: a base 1, a support leg 101, arranged at the bottom of the base 1, and a mechanical arm 102, arranged at the top of the base 1;

[0031] The adjusting mechanism 2 is arranged below the base 1 and is used to adjust the position and height of the device. The adjusting mechanism 2 includes a fixing bar 201 fixedly installed on the side of the supporting leg 101. A fixing plate 202 is fixedly installed on the side of the fixing bar 201. A threaded rod 203 is rotatably connected to the top surface of the fixing plate 202 and the bottom surface of the base 1 through a first bearing seat. A worm gear 204 is fixedly sleeved on the outer wall of the threaded rod 203. A worm 205 is meshedly connected to the outer wall of the worm gear 204. One end of the worm 205 rotates through the second bearing seat and penetrates the side of the fixing bar 201. Extending to one side of the fixed bar 201, a handle 206 is fixedly installed at one end of the worm 205, a movable plate 207 is meshedly connected to the outer wall of the threaded rod 203, a movable groove 208 is opened on the side of the support leg 101, and a movable leg 210 is slidably connected to the inner wall of the movable groove 208, a universal wheel 211 is fixedly installed on the bottom surface of the movable leg 210, and a connecting block 209 is fixedly installed on the side of the movable leg 210, and the side of the connecting block 209 is fixedly connected to the side of the movable plate 207, and the side of the connecting block 209 is slidably connected to the inner wall of the movable groove 208;

[0032] By rotating the handle 206, the worm 205 is driven to rotate, the worm 205 drives the worm wheel 204 to rotate, the worm wheel 204 drives the threaded rod 203 to rotate, and the threaded rod 203 rotates and drives the movable plate 207 to move at the same time, and the movable plate 207 drives the connecting block 209 and the movable leg 210 to move on the inner wall of the movable groove 208. The movable leg 210 can be adjusted to adjust the height of the base 1, and then the height of the manipulator can be adjusted quickly and conveniently. By setting the universal wheel 211, the position of the manipulator can be adjusted quickly and conveniently, which is fast and flexible. Example

[0033] like Figure 1-5 As shown, a six-axis manipulator disclosed in the second embodiment of the present invention has a structure that is basically the same as that in the first embodiment, except that a clamping mechanism 3 is arranged at one end of a mechanical arm 102 and is used to clamp and fix a workpiece. The clamping mechanism 3 includes an L-shaped plate 301 fixedly mounted at one end of the mechanical arm 102, a motor 302 is fixedly mounted on the side of the L-shaped plate 301, an output rod of the motor 302 rotates through the side of the L-shaped plate 301 and extends to the other side of the L-shaped plate 301, and a A connecting flange 303 is provided, a connecting plate 304 is fixedly installed on the side of the connecting flange 303, a mounting plate 305 is fixedly installed on the bottom of the connecting plate 304, two insert-removal clips 306 are fixedly installed on the bottom of the mounting plate 305, and insert-embedded clips 307 are connected to the two sides of the insert-embedded clip 306 by bolts, a positioning boss 308 is fixedly installed on the side of the insert-embedded clip 307 on one side, and a through hole 309 is opened on the side of the insert-embedded clip 307 on the other side, and a fiber optic sensor 310 is installed on the inner wall of the through hole 309;

[0034] The motor 302 can drive the manipulator to rotate, and through the provision of the insert removal clamp 306, the insert embedding clamp 307, the positioning boss 308, the through hole 309 and the optical fiber sensor 310, when the optical fiber sensor 310 senses an object, the insert removal clamp 306 drives the insert embedding clamp 307 to clamp and fix the object, and then the object is transported. Through the positioning boss 308, the object can be clamped and fixed tightly, and it is not easy to cause the object to slip during transportation, thereby reducing losses.

[0035] The specific solution is as follows: the handle 206 is turned to drive the worm 205 to rotate, the worm 205 drives the worm wheel 204 to rotate, the worm wheel 204 drives the threaded rod 203 to rotate, the threaded rod 203 rotates and drives the moving plate 207 to move, the moving plate 207 drives the connecting block 209 and the moving leg 210 to move on the inner wall of the moving groove 208, the moving leg 210 can be adjusted to adjust the height of the base 1, and then the height of the manipulator can be adjusted conveniently and quickly, and the universal wheel 211 can be set to conveniently and quickly adjust the height of the machine. The position of the manipulator is convenient, fast and flexible. The motor 302 can drive the manipulator to rotate. Through the provision of the insert taking out clamp 306, the insert embedding clamp 307, the positioning boss 308, the through hole 309 and the optical fiber sensor 310, when the optical fiber sensor 310 senses the object, the insert taking out clamp 306 drives the insert embedding clamp 307 to clamp and fix the object, and then transport it. Through the positioning boss 308, the object can be clamped and fixed tightly, so that it is not easy to cause the object to slip during transportation, thereby reducing losses.

[0036] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0037] The utility model is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the scope of protection of the utility model.

Claims

1. A six-axis manipulator, characterized in that: include: Base (1); Support legs (101), arranged at the bottom of the base (1); A mechanical arm (102) arranged on the top of the base (1); An adjustment mechanism (2), arranged below the base (1), and used for adjusting the position and height of the device; A clamping mechanism (3) is arranged at one end of the mechanical arm (102) and is used to clamp and fix the workpiece.

2. A six-axis manipulator according to claim 1, characterized in that: The adjustment mechanism (2) comprises a fixing bar (201) fixedly mounted on the side of the support leg (101), a fixing plate (202) fixedly mounted on the side of the fixing bar (201), and a threaded rod (203) rotatably connected between the top surface of the fixing plate (202) and the bottom surface of the base (1) via a first bearing seat.

3. A six-axis manipulator according to claim 2, characterized in that: A worm wheel (204) is fixedly sleeved on the outer wall of the threaded rod (203), and a worm (205) is meshingly connected to the outer wall of the worm wheel (204). One end of the worm (205) rotates through the second bearing seat to penetrate the side of the fixing bar (201) and extends to one side of the fixing bar (201). A handle (206) is fixedly mounted on one end of the worm (205).

4. A six-axis manipulator according to claim 3, characterized in that: The outer wall of the threaded rod (203) is meshingly connected with a movable plate (207), a movable groove (208) is provided on the side of the support leg (101), a movable leg (210) is slidably connected to the inner wall of the movable groove (208), and a universal wheel (211) is fixedly mounted on the bottom surface of the movable leg (210).

5. A six-axis manipulator according to claim 4, characterized in that: A connecting block (209) is fixedly mounted on the side of the movable leg (210), the side of the connecting block (209) is fixedly connected to the side of the movable plate (207), and the side of the connecting block (209) is slidably connected to the inner wall of the movable groove (208).

6. The six-axis manipulator according to claim 1, characterized in that: The clamping mechanism (3) comprises an L-shaped plate (301) fixedly mounted on one end of the mechanical arm (102); a motor (302) is fixedly mounted on the side of the L-shaped plate (301); an output rod of the motor (302) rotates through the side of the L-shaped plate (301) and extends to the other side of the L-shaped plate (301); a connecting flange (303) is fixedly mounted on the output end of the motor (302); and a connecting plate (304) is fixedly mounted on the side of the connecting flange (303).

7. A six-axis manipulator according to claim 6, characterized in that: A mounting plate (305) is fixedly mounted on the bottom surface of the connection plate (304), two entry and extraction clips (306) are fixedly mounted on the bottom surface of the mounting plate (305), and entry embedding clips (307) are connected to two side surfaces of the entry and extraction clips (306) via bolts.

8. A six-axis manipulator according to claim 7, characterized in that: A positioning boss (308) is fixedly mounted on the side of the insert embedded in the clamp (307) on one side, and a through hole (309) is opened on the side of the insert embedded in the clamp (307) on the other side, and an optical fiber sensor (310) is mounted on the inner wall of the through hole (309).

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