Novel six-axis mechanical arm structure

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a novel six-axis mechanical arm structure which comprises a longitudinal mechanical arm, a transverse mechanical arm is movably installed on the outer surface of the longitudinal mechanical arm, and a vertical mechanical arm is movably installed on the outer surface of the transverse mechanical arm. By arranging the clamping groove, the clamping block, the movable block and the first spring, when the handle is pressed, the movable block drives the rectangular block to move along the inner surface of the mounting base and compresses the first spring, so that the clamping block moves along with the rectangular block until the clamping block is separated from the clamping groove, and rapid disassembly of the longitudinal mechanical arm is achieved; and during mounting, due to the fact that the top end of the clamping block is an inclined face, when the outer surface of the longitudinal mechanical arm makes contact with the outer surface of the clamping block, the clamping block can be squeezed, the clamping block is embedded into the clamping groove under the action of the first spring, and therefore the mechanical arm can be quickly dismounted and mounted.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and more specifically, to a novel six-axis mechanical arm structure. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. There are uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, there is uncertainty in the modeling model of the robotic arm. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade the terminal posture. It has been widely used in industrial assembly, safety and explosion protection and other fields.

[0003] In the process of manufacturing braided strips, in order to grasp the flexible braided strips, a six-axis robotic arm is needed to provide flexible spatial movement capabilities for the grasping operation. However, there are still some shortcomings in its actual use. The robotic arm is generally fixed by bolts and a mounting base. During the subsequent inspection and maintenance of the robotic arm, the operator needs to repeatedly turn the bolts during the disassembly and installation of the robotic arm. This fixing method is not only cumbersome to operate, but also reduces the efficiency of the operator's inspection and maintenance, so it needs to be improved. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a novel six-axis mechanical arm structure, which has the advantages of being easy to disassemble and install.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a novel six-axis robot arm structure, comprising a longitudinal robot arm, a transverse robot arm is movably mounted on the outer surface of the longitudinal robot arm, a vertical robot arm is movably mounted on the outer surface of the transverse robot arm, a manipulator is movably mounted on the outer surface of the vertical robot arm, and a card slot is respectively provided inside the left and right ends and the upper and lower sides of the longitudinal robot arm, and the number of the card slots is four, and the left and right ends of the four card slots are respectively movably sleeved with card blocks, and the outer surface of the card block is fixedly sleeved with a rectangular block, and the outer surface of the rectangular block is movably connected to the outer surface of the longitudinal robot arm. A mounting base is movably installed at the bottom end of the rectangular block, and there are four mounting bases. The top ends of the four mounting bases are movably connected to the bottom end of the longitudinal robotic arm, and movable blocks are movably sleeved on the left and right sides inside the four mounting bases respectively. The top ends of the movable blocks are fixedly connected to the bottom ends of the rectangular blocks, and a first spring located inside the mounting base is fixedly installed between the movable blocks. Short grooves are respectively provided on the left and right sides of the top end of the mounting base, and handles are movably sleeved inside the short grooves. The outer surface of the handles is fixedly connected to the outer surface of the movable block, and mounting holes are respectively provided inside the left and right ends of the mounting base.

[0006] As a preferred technical solution of the utility model, fixing frames are fixedly installed on the front and rear sides of the top of the right end of the vertical robotic arm, and there are two fixing frames. The top ends of the two fixing frames are movably sleeved with mounting rods.

[0007] As a preferred technical solution of the utility model, the right ends of the two fixing frames are respectively provided with sliding grooves, the top ends of the sliding grooves are movably sleeved with sliders, and the left ends of the sliders are fixedly connected to the right ends of the mounting rods.

[0008] As a preferred technical solution of the utility model, the left and right ends of the mounting rod are respectively movably sleeved with limit rods, the top of the limit rod is fixedly mounted with a cleaning brush, the bottom end of the cleaning brush is movably connected to the top of the mounting rod, and the top of the cleaning brush is movably connected to the outer surface of the vertical robotic arm.

[0009] As a preferred technical solution of the utility model, a round rod is movably sleeved inside the middle end of the mounting rod, the top of the round rod is fixedly connected to the bottom end of the cleaning brush, a round plate is fixedly sleeved at the bottom end of the round rod, a second spring is fixedly installed at the top end of the round plate, and the other end of the second spring is fixedly connected to the bottom end of the mounting rod.

[0010] As a preferred technical solution of the utility model, a driving motor is fixedly installed on the front part of the left end of the vertical mechanical arm, and a rotating shaft is fixedly sleeved on the other end of the output shaft of the driving motor.

[0011] As a preferred technical solution of the utility model, a long rod is fixedly sleeved on the outer surface of the rotating shaft, the right end of the long rod is movably connected to the left end of the vertical robotic arm, a short rod is movably sleeved on the bottom end inside the long rod, and the right end of the short rod is fixedly connected to the left end of the mounting rod.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] 1. The utility model provides a card slot, a card block, a movable block, a first spring and a handle. When the handle is pressed, the movable block will move along the inner surface of the mounting base with the rectangular block and compress the first spring, so that the card block moves with the rectangular block until the card block and the card slot are separated, thereby realizing the rapid disassembly of the longitudinal mechanical arm. During installation, since the top of the card block is an inclined surface, when the outer surface of the longitudinal mechanical arm contacts the outer surface of the card block, the card block will be squeezed, so that the card block is embedded in the card slot under the action of the first spring, thereby realizing the rapid disassembly and installation of the mechanical arm.

[0014] 2. The utility model is provided with a mounting rod, a cleaning brush, a driving motor, a long rod and a short rod. When the driving motor is started, the rotating shaft will drive the long rod to rotate. Since the inner surface of the long rod and the outer surface of the short rod are movably connected, as the long rod rotates, the inner surface of the long rod will generate a thrust on the outer surface of the short rod, pushing the short rod to move along the inner surface of the fixed frame with the mounting rod and the cleaning brush, so that the heat dissipation holes at the top of the vertical robotic arm can be cleaned with the help of the cleaning brush to prevent the heat dissipation holes from being blocked and affecting the heat dissipation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic cross-sectional view of the cleaning brush of the utility model;

[0017] Figure 3 This is a schematic cross-sectional view of the mounting base of the utility model;

[0018] Figure 4 This is a schematic cross-sectional structural diagram of the card block of the utility model;

[0019] Figure 5 for Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0020] Figure 6 for Figure 2 A schematic diagram of the local enlarged structure at B in the middle;

[0021] Figure 7 for Figure 3 Schematic diagram of the local enlarged structure at point C in the middle.

[0022] In the figure: 1. longitudinal robotic arm; 2. transverse robotic arm; 3. vertical robotic arm; 4. slot; 5. block; 6. rectangular block; 7. movable block; 8. first spring; 9. mounting base; 10. short slot; 11. handle; 12. mounting hole; 13. fixing frame; 14. mounting rod; 15. slide groove; 16. slider; 17. limit rod; 18. cleaning brush; 19. round rod; 20. round plate; 21. second spring; 22. drive motor; 23. rotating shaft; 24. long rod; 25. short rod; 26. robotic arm. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figures 1 to 7 As shown, the utility model provides a novel six-axis robot arm structure, including a longitudinal robot arm 1, a transverse robot arm 2 is movably mounted on the outer surface of the longitudinal robot arm 1, a vertical robot arm 3 is movably mounted on the outer surface of the transverse robot arm 2, a robot hand 26 is movably mounted on the outer surface of the vertical robot arm 3, and a card slot 4 is respectively opened inside the left and right ends and the upper and lower sides of the longitudinal robot arm 1, and the number of the card slots 4 is four, and the left and right ends of the four card slots 4 are respectively movably sleeved with card blocks 5, and the outer surface of the card block 5 is fixedly sleeved with a rectangular block 6, and the outer surface of the rectangular block 6 is movably connected to the outer surface of the longitudinal robot arm 1, and the bottom end of the rectangular block 6 is movably connected. A mounting base 9 is movably installed, and there are four mounting bases 9. The tops of the four mounting bases 9 are movably connected to the bottom of the longitudinal robotic arm 1, and the left and right sides inside the four mounting bases 9 are respectively movably sleeved with movable blocks 7, the top of the movable block 7 is fixedly connected to the bottom of the rectangular block 6, and a first spring 8 located inside the mounting base 9 is fixedly installed between the movable blocks 7. Short grooves 10 are respectively provided on the left and right sides of the top of the mounting base 9, and a handle 11 is movably sleeved inside the short groove 10. The outer surface of the handle 11 is fixedly connected to the outer surface of the movable block 7, and mounting holes 12 are respectively provided inside the left and right ends of the mounting base 9.

[0025] When the handle 11 is pressed, the movable blocks 7 located on the left and right sides of the mounting base 9 will move with the rectangular block 6 along the inner surface of the mounting base 9 in opposite directions and stretch the first spring 8, so that the clamping block 5 fixedly sleeved with the rectangular block 6 will move along the inner surface of the clamping slot 4. When the clamping block 5 is separated from the clamping slot 4, the connection and fixation of the clamping block 5 to the longitudinal robotic arm 1 and the mounting base 9 can be released, thereby realizing the rapid disassembly of the longitudinal robotic arm 1, so that the operator does not need to use bolts, thereby improving the convenience of the six-axis robotic arm during inspection and maintenance.

[0026] Among them, the front and rear sides of the right end of the vertical robot arm 3 are fixedly installed with fixing frames 13 respectively, and the number of the fixing frames 13 is two, and the top ends of the two fixing frames 13 are movably sleeved with mounting rods 14.

[0027] The inner surface of the fixing frame 13 and the outer surface of the mounting rod 14 are both smooth, ensuring that the mounting rod 14 will not get stuck when moving along the inside of the fixing frame 13 .

[0028] The right ends of the two fixing frames 13 are respectively provided with a slide groove 15 , the top of the slide groove 15 is movably sleeved with a slider 16 , and the left end of the slider 16 is fixedly connected to the right end of the mounting rod 14 .

[0029] The existence of the slide groove 15 and the slider 16 will limit the movement of the installation rod 14, thereby ensuring the stability of the movement of the installation rod 14.

[0030] Among them, the left and right ends of the mounting rod 14 are respectively movably connected to the limiting rod 17, and the top of the limiting rod 17 is fixedly installed with a cleaning brush 18. The bottom end of the cleaning brush 18 is movably connected to the top of the mounting rod 14, and the top of the cleaning brush 18 is movably connected to the outer surface of the vertical robotic arm 3.

[0031] When the cleaning brush 18 moves, the heat dissipation holes at the top of the vertical robot arm 3 will be cleaned.

[0032] Among them, a round rod 19 is movably sleeved inside the middle end of the mounting rod 14, the top of the round rod 19 is fixedly connected to the bottom end of the cleaning brush 18, a round plate 20 is fixedly sleeved at the bottom end of the round rod 19, a second spring 21 is fixedly installed at the top end of the round plate 20, and the other end of the second spring 21 is fixedly connected to the bottom end of the mounting rod 14.

[0033] Since the second spring 21 is in a stretched state, the cleaning brush 18 and the outer surface of the vertical robot arm 3 will fit tightly together under the restoring action of the second spring 21 .

[0034] A driving motor 22 is fixedly mounted on the front portion of the left end of the vertical robotic arm 3 , and a rotating shaft 23 is fixedly sleeved on the other end of the output shaft of the driving motor 22 .

[0035] When the driving motor 22 is started, the rotating shaft 23 will rotate.

[0036] Among them, a long rod 24 is fixedly sleeved on the outer surface of the rotating shaft 23, and the right end of the long rod 24 is movably connected to the left end of the vertical robotic arm 3. A short rod 25 is movably sleeved on the bottom end inside the long rod 24, and the right end of the short rod 25 is fixedly connected to the left end of the mounting rod 14.

[0037] When the rotating shaft 23 rotates with the long rod 24 , the inner surface of the long rod 24 will generate a thrust on the outer surface of the short rod 25 , pushing the short rod 25 to move with the mounting rod 14 .

[0038] The working principle and use process of this utility model:

[0039] First, the operator fixes the mounting base 9 through the bolts and the mounting holes 12, and then places the longitudinal mechanical arm 1 on the top of the mounting base 9. When the outer surface of the longitudinal mechanical arm 1 contacts the top of the block 5, since the top of the block 5 is an inclined surface, as the longitudinal mechanical arm 1 moves, the block 5 will be squeezed and drive the rectangular block 6 and the movable block 7 to move along the inner surface of the mounting base 9 and stretch the first spring 8 until the slot 4 and the block 5 are aligned. Under the recovery action of the first spring 8, the block 5 will be embedded in the slot 4, thereby completing the fixation of the longitudinal mechanical arm 1 and the mounting base 9. During subsequent inspection and maintenance, the operator only needs to press the handle 11 so that the handle 11 drives the block 5 to move through the movable block 7 and the rectangular block 6 until the block 5 and the slot 4 are separated. The longitudinal mechanical arm 1 and the mounting base 9 can be separated. With the mutual cooperation of various mechanisms, the mechanical arm can be quickly disassembled and installed without the help of bolts, thereby improving the convenience of inspection and maintenance of the mechanical arm.

[0040] During the operation of the six-axis robot arm, the existence of the longitudinal robot arm 1 can make the transverse robot arm 2 move longitudinally along the outer surface of the longitudinal robot arm 1, the existence of the transverse robot arm 2 can make the vertical robot arm 3 move laterally along the outer surface of the transverse robot arm 2, and the existence of the vertical robot arm 3 can make the robot 26 move in the vertical direction. With the mutual cooperation of the longitudinal robot arm 1, the transverse robot arm 2 and the vertical robot arm 3, the movement of the robot 26 in three different directions is realized. At the same time, the hollow motor platform on the top of the robot 26 can realize the vertical rotation movement, the needle suction cup cylinder outside the robot 26 can realize the extension and retraction of the suction cup thereon, and the hook cylinder and the three-link structure inside the robot 26 can realize the rotation movement of the bottom hook of the robot 26. Cooperating with each other, the six-axis robot arm has flexible spatial movement ability, so that it has good grasping ability for flexible woven strips. While the six-axis robot arm is moving, in order to ensure that the heat dissipation holes at the top of the vertical robot arm 3 will not be blocked, the operator starts the drive motor 22, so that the rotating shaft 23 drives the long rod 24 to rotate, so that the inner surface of the long rod 24 generates a thrust on the outer surface of the short rod 25, pushing the short rod 25 to move along the outer surface of the vertical robot arm 3 through the mounting rod 14 with the cleaning brush 18, and the second spring 21 is in a stretched state, so under the restoring action of the second spring 21, the cleaning brush 18 and the outer surface of the vertical robot arm 3 will fit tightly, and the cleaning holes can be cleaned as the cleaning brush 18 moves, thereby preventing them from being blocked and affecting the heat dissipation effect.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A novel six-axis robotic arm structure, comprising a longitudinal robotic arm (1), characterized in that: The outer surface of the longitudinal mechanical arm (1) is movably mounted with a transverse mechanical arm (2), the outer surface of the transverse mechanical arm (2) is movably mounted with a vertical mechanical arm (3), the outer surface of the vertical mechanical arm (3) is movably mounted with a manipulator (26), the inner surfaces of the left and right ends and the upper and lower sides of the longitudinal mechanical arm (1) are respectively provided with card slots (4), the number of the card slots (4) is four, the left and right ends of the four card slots (4) are respectively movably sleeved with card blocks (5), the outer surface of the card block (5) is fixedly sleeved with a rectangular block (6), the outer surface of the rectangular block (6) is movably connected to the outer surface of the longitudinal mechanical arm (1), the bottom end of the rectangular block (6) is movably mounted with a mounting base (9), the mounting base ( 9) is four in number, the top ends of the four mounting bases (9) are movably connected to the bottom end of the longitudinal mechanical arm (1), the left and right sides of the inside of the four mounting bases (9) are movably sleeved with movable blocks (7), the top ends of the movable blocks (7) are fixedly connected to the bottom end of the rectangular block (6), a first spring (8) located inside the mounting base (9) is fixedly installed between the movable blocks (7), short grooves (10) are respectively provided on the left and right sides of the top end of the mounting base (9), a handle (11) is movably sleeved inside the short groove (10), the outer surface of the handle (11) is fixedly connected to the outer surface of the movable block (7), and mounting holes (12) are respectively provided inside the left and right ends of the mounting base (9).

2. A novel six-axis robotic arm structure according to claim 1, characterized in that: A fixing frame (13) is fixedly installed on the front and rear sides of the top of the right end of the vertical mechanical arm (3), and the number of the fixing frames (13) is two. The top ends of the two fixing frames (13) are movably sleeved with a mounting rod (14).

3. A novel six-axis robotic arm structure according to claim 2, characterized in that: The right ends of the two fixing frames (13) are respectively provided with a slide groove (15), the top end of the slide groove (15) is movably sleeved with a slider (16), and the left end of the slider (16) is fixedly connected to the right end of the mounting rod (14).

4. The novel six-axis robotic arm structure according to claim 2 is characterized in that: The left and right ends of the mounting rod (14) are respectively movably sleeved with limit rods (17), the top of the limit rod (17) is fixedly mounted with a cleaning brush (18), the bottom end of the cleaning brush (18) is movably connected to the top of the mounting rod (14), and the top of the cleaning brush (18) is movably connected to the outer surface of the vertical robotic arm (3).

5. The novel six-axis robotic arm structure according to claim 2 is characterized in that: A round rod (19) is movably sleeved inside the middle end of the mounting rod (14); the top end of the round rod (19) is fixedly connected to the bottom end of the cleaning brush (18); a round plate (20) is fixedly sleeved on the bottom end of the round rod (19); a second spring (21) is fixedly mounted on the top end of the round plate (20); the other end of the second spring (21) is fixedly connected to the bottom end of the mounting rod (14).

6. The novel six-axis robotic arm structure according to claim 1 is characterized in that: A driving motor (22) is fixedly mounted on the front portion of the left end of the vertical mechanical arm (3), and a rotating shaft (23) is fixedly sleeved on the other end of the output shaft of the driving motor (22).

7. The novel six-axis robotic arm structure according to claim 6 is characterized in that: A long rod (24) is fixedly sleeved on the outer surface of the rotating shaft (23), the right end of the long rod (24) is movably connected to the left end of the vertical mechanical arm (3), a short rod (25) is movably sleeved on the bottom end inside the long rod (24), and the right end of the short rod (25) is fixedly connected to the left end of the mounting rod (14).

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