Longitudinal walking type six-axis manipulator

Abstract

The longitudinal walking type six-axis mechanical arm comprises a mechanical arm body and a base, the mechanical arm body is arranged at the top of the base, rotating frames are rotationally connected to the two sides of the base respectively, connecting rods are rotationally connected into the rotating frames respectively, two fixing blocks are fixedly connected to the two sides of the base respectively, and the fixing blocks are fixedly connected to the two sides of the base respectively. A rotating block is rotationally connected between every two adjacent fixed blocks, and one side of each rotating block is fixedly connected with a hydraulic cylinder. The mechanical arm can be pushed to move on the base through the rolling wheels to be transferred, so that a vehicle is not needed, the mechanical arm does not need to be hoisted, the transferring safety of the mechanical arm is improved, the stability of the rotating frame can be guaranteed, the acting force borne by the hydraulic cylinder can be reduced, and the working efficiency is improved. And the service life of the hydraulic cylinder is prolonged, the connecting frame and the rotating frame cannot rotate easily, and therefore the stability of the rolling wheels is guaranteed when the mechanical arm moves.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a vertical six-axis manipulator. Background Art

[0002] A manipulator is a robot. There are many types of manipulators, including six-axis manipulators. A vertical six-axis manipulator is also a type of six-axis manipulator, which is mainly used for vertical movement.

[0003] After searching, the six-axis robot device disclosed with the announcement number CN211220696U has an L-shaped clamping protrusion, which increases the contact area between the clamping claw and the PCB board, and can complete the clamping and fixing of the PCB board with a smaller clamping force, preventing the PCB board from deformation and damage. However, when the robot needs to be transported, it often requires the help of other transport vehicles for transportation. Since the robot is heavy, when it is lifted with a lifting tool, the robot is suspended in the air. If it is not firmly fixed, the robot is easy to fall and cause damage to the robot. Summary of the Invention

[0004] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a vertical six-axis manipulator.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A vertical six-axis manipulator comprises a manipulator body and a base, the manipulator body is arranged on the top of the base, both sides of the base are rotatably connected to a rotating frame, a connecting rod is rotatably connected inside the rotating frame, two fixed blocks are fixedly connected on both sides of the base, a rotating block is rotatably connected between two adjacent fixed blocks, one side of the rotating block is fixedly connected to a hydraulic cylinder, one end of the telescopic part of the hydraulic cylinder is fixed to the connecting rod, both ends of the rotating frame are rotatably connected to the connecting frame, both sides of the connecting frame are rotatably connected to rollers, and locking components are provided on both sides of the base for fixing the rotating frame after rotation.

[0007] As a further solution of the present invention, the locking assembly includes multiple fixing plates, and the multiple fixing plates are fixedly connected to both sides of the base. One side of the multiple fixing plates is provided with a threaded hole, and the threaded hole is threaded with a fixing screw. Both sides of the rotating frame are provided with a socket, and a protective cover is fixedly connected to the socket.

[0008] As a further solution of the present invention, two mounting grooves are provided at both ends of the rotating frame, and elastic balls are fixedly connected in a plurality of the mounting grooves.

[0009] As a further solution of the present invention, a plurality of arc-shaped grooves are provided on a side of the connecting frame close to the rotating frame, and the elastic balls are engaged with the arc-shaped grooves.

[0010] As a further solution of the present invention, the top and bottom of the rotating frame are fixedly connected to reinforcement blocks at positions above and below the insertion hole.

[0011] As a further solution of the present invention, a plurality of fixing ears for fixing the base are fixedly connected to the outer side of the base at the bottom.

[0012] As a further solution of the present invention, a plurality of fixing ears are evenly and symmetrically distributed on the outer side of the base.

[0013] The beneficial effects of the utility model are:

[0014] 1. The utility model is provided with a rotating frame and rollers. The hydraulic cylinder extends to push the rotating frame to rotate downward, and the rotating frame drives the connecting frame to move downward, and the connecting frame drives the rollers to move downward, so that the rollers contact the ground and support the base. At this time, the manipulator can be pushed on the base to move through the rollers to transport the manipulator, thereby eliminating the need to use a vehicle and the need to lift the manipulator, thereby improving the safety of the manipulator transportation.

[0015] 2. The utility model is provided with a locking assembly. When the roller props up the base, the socket on the rotating frame will be aligned with the fixing screw. At this time, the fixing screw is threadedly connected to the protective sleeve on the socket, thereby locking the rotation angle of the rotating frame, ensuring the stability of the rotating frame, reducing the force acting on the hydraulic cylinder, and improving the service life of the hydraulic cylinder.

[0016] 3. The utility model is provided with an elastic ball and an arc-shaped groove. Through the engagement between the elastic ball and the arc-shaped groove, the connecting frame and the rotating frame will not rotate easily, thereby ensuring the stability of the roller when the manipulator moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of a vertical six-axis manipulator proposed in the present invention;

[0018] Figure 2 This is a partially enlarged structural diagram of a vertical six-axis manipulator proposed in the present invention;

[0019] Figure 3 This is a partial cross-sectional structural diagram of a vertical six-axis manipulator proposed in the present invention.

[0020] In the figure: 1. Robot body; 2. Base; 3. Fixing ear; 4. Rotating frame; 5. Connecting rod; 6. Thread hole; 7. Fixing screw; 8. Fixing plate; 9. Hydraulic cylinder; 10. Fixing block; 11. Rotating block; 12. Connecting frame; 13. Reinforcement block; 14. Socket; 15. Protective cover; 16. Roller; 17. Arc groove; 18. Elastic ball; 19. Mounting slot. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. The embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1-Figure 3 A vertical six-axis manipulator includes a manipulator body 1 and a base 2. The manipulator body 1 is arranged on the top of the base 2. Both sides of the base 2 are rotatably connected to a rotating frame 4. The rotating frame 4 is rotatably connected to a connecting rod 5. Two fixed blocks 10 are welded on both sides of the base 2. A rotating block 11 is rotatably connected between two adjacent fixed blocks 10. A hydraulic cylinder 9 is fixed to one side of the rotating block 11 by a bolt. One end of the telescopic part of the hydraulic cylinder 9 is fixed to the connecting rod 5. Both ends of the rotating frame 4 are rotatably connected to a connecting frame 12. Both sides of the connecting frame 12 are rotatably connected to rollers 16. Both sides of the base 2 are provided with locking components for fixing the rotating frame 4 after rotation. , start the hydraulic cylinder 9 to extend, the hydraulic cylinder 9 will push the connecting rod 5 to move, and at the same time the hydraulic cylinder 9 will rotate between the rotating block 11 and the fixed block 10, and the connecting rod 5 will rotate with the rotating frame 4, and at the same time the connecting rod 5 will drive the rotating frame 4 to rotate downward, and the rotating frame 4 will drive the connecting frame 12 to move downward, so that the rollers 16 on the connecting frame 12 will contact the ground, thereby lifting the base 2 through the rollers 16 and separating the base 2 from the ground. At this time, the manipulator can be pushed to move on the base 2 through the rollers 16 to transport the manipulator, thereby eliminating the need to use a vehicle and the need to lift the manipulator, thereby improving the safety of the manipulator transportation.

[0023] In the present invention, the locking assembly includes a plurality of fixing plates 8, and the plurality of fixing plates 8 are welded to both sides of the base 2. A thread hole 6 is provided on one side of the plurality of fixing plates 8, and a fixing screw 7 is connected with a thread in the thread hole 6. A socket 14 is provided on both sides of the rotating frame 4, and a protective sleeve 15 is bonded in the socket 14, and the fixing screw 7 and the protective sleeve 15 can be threadedly connected. When the rotating frame 4 is rotated until the socket 14 is aligned with the fixing screw 7, the fixing screw 7 is rotated, and the fixing screw 7 is moved by the thread engagement between the fixing screw 7 and the thread hole 6, so that the fixing screw 7 enters the socket 14 and is threadedly connected with the protective sleeve 15, thereby locking and fixing the rotating frame 4, ensuring the stability of the rotating frame 4, and can reduce the force applied to the hydraulic cylinder 9, thereby improving the service life of the hydraulic cylinder 9;

[0024] In particular, two mounting grooves 19 are provided at both ends of the rotating frame 4, and elastic balls 18 are bonded in multiple mounting grooves 19. Multiple arc-shaped grooves 17 are provided on the side of the connecting frame 12 close to the rotating frame 4, and the elastic balls 18 are engaged with the arc-shaped grooves 17. Through the engagement between the elastic balls 18 and the arc-shaped grooves 17, the connecting frame 12 will not rotate easily, thereby ensuring the stability of the roller 16 when the manipulator moves. Reinforcement blocks 13 are welded to the top and bottom of the rotating frame 4 above and below the socket 14. The reinforcement blocks 13 can reinforce the socket 14 on the rotating frame 4, thereby ensuring the overall strength of the rotating frame 4. Multiple fixing ears 3 for fixing the base 2 are welded at the bottom position of the outer side of the base 2, and the multiple fixing ears 3 are evenly and symmetrically distributed on the outer side of the base 2.

[0025] Working principle: When transportation is required, the hydraulic cylinder 9 is started to extend, and the hydraulic cylinder 9 will push the connecting rod 5 to move. At the same time, the hydraulic cylinder 9 will rotate between the rotating block 11 and the fixed block 10, and the connecting rod 5 will rotate between the rotating frame 4. At the same time, the connecting rod 5 will drive the rotating frame 4 to rotate downward, and the rotating frame 4 will drive the connecting frame 12 to move downward, so that the roller 16 on the connecting frame 12 will contact the ground, thereby lifting the base 2 through the roller 16, so that the base 2 is separated from the ground. At this time, the manipulator can be pushed on the base 2 through the roller 16 to move The manipulator is transported by moving, so there is no need to use a vehicle or lift the manipulator, which improves the safety of the manipulator transportation. When the rotating frame 4 is rotated until the socket 14 is aligned with the fixing screw 7, the fixing screw 7 is rotated. The fixing screw 7 is engaged with the threaded hole 6 to move the fixing screw 7, so that the fixing screw 7 enters the socket 14 and is threadedly connected to the protective sleeve 15, thereby locking and fixing the rotating frame 4, ensuring the stability of the rotating frame 4, and can reduce the force on the hydraulic cylinder 9, thereby increasing the service life of the hydraulic cylinder 9.

[0026] Finally, it should be noted that those skilled in the art may modify the technical solutions described in the aforementioned embodiments or replace some of the technical features with equivalents. Any modifications, equivalent replacements, and improvements made within the spirit and principles of this utility model shall be included within the scope of protection of this utility model.

Claims

1. A vertical six-axis manipulator, comprising a manipulator body (1) and a base (2), characterized in that: The manipulator body (1) is arranged on the top of the base (2), and both sides of the base (2) are rotatably connected to a rotating frame (4), and a connecting rod (5) is rotatably connected inside the rotating frame (4). Two fixed blocks (10) are fixedly connected to both sides of the base (2), and a rotating block (11) is rotatably connected between two adjacent fixed blocks (10). One side of the rotating block (11) is fixedly connected to a hydraulic cylinder (9), and one end of the telescopic part of the hydraulic cylinder (9) is fixed to the connecting rod (5). Both ends of the rotating frame (4) are rotatably connected to a connecting frame (12), and both sides of the connecting frame (12) are rotatably connected to rollers (16). Both sides of the base (2) are provided with locking components for fixing the rotating frame (4) after rotation.

2. A vertical six-axis manipulator according to claim 1, characterized in that: The locking assembly comprises a plurality of fixing plates (8), each of which is fixedly connected to both sides of the base (2), a thread hole (6) is provided on one side of each of the fixing plates (8), a fixing screw (7) is connected to the inner thread of the thread hole (6), and a socket (14) is provided on both sides of the rotating frame (4), and a protective sleeve (15) is fixedly connected to the inner side of the socket (14).

3. The vertical six-axis manipulator according to claim 1, characterized in that: Two mounting grooves (19) are provided at both ends of the rotating frame (4), and elastic balls (18) are fixedly connected in the plurality of mounting grooves (19).

4. A vertical six-axis manipulator according to claim 3, characterized in that: A plurality of arc-shaped grooves (17) are provided on one side of the connecting frame (12) close to the rotating frame (4), and the elastic balls (18) are engaged with the arc-shaped grooves (17).

5. The vertical six-axis manipulator according to claim 2, characterized in that: The top and bottom of the rotating frame (4) are fixedly connected to reinforcement blocks (13) at positions above and below the insertion hole (14).

6. The vertical six-axis manipulator according to claim 1, characterized in that: A plurality of fixing ears (3) for fixing the base (2) are fixedly connected to the outer side of the base (2) at the bottom.

7. The vertical six-axis manipulator according to claim 6, characterized in that: The plurality of fixing ears (3) are evenly and symmetrically distributed on the outside of the base (2).

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