Six-axis mechanical arm

Abstract

The utility model relates to a six-axis mechanical arm, which belongs to the technical field of mechanical arms and comprises a six-axis mechanical arm mounted on a frame and used for adjusting the working range of a gun head. The six-axis mechanical arm comprises a base, a connecting frame arranged above the base, a first connecting arm rotationally installed on the connecting frame, a second connecting arm rotationally installed at the other end of the first connecting arm, a third connecting arm rotationally installed at the other end of the second connecting arm and a fourth connecting arm arranged at the other end of the third connecting arm. The fifth connecting arm is fixedly mounted at the right end of the fourth connecting arm; a rotating shaft connected with the bottom end of the connecting frame is fixedly installed on the upper surface of the base, and a first driving shaft used for driving the connecting frame to rotate is installed on the rotating shaft. According to the six-axis mechanical arm, through the arrangement of six axes, the gun head can rotate by different angles, better cleaning is facilitated, the beneficial effects that the working range is wide and the like are achieved, and the problem that the working angle range of the gun head is limited is solved.

Description

Technical Field

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

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. It can simulate the movements of a human arm. The robotic arm itself consists of multiple joints and connectors, each capable of performing different movements, such as rotation, lifting, and retraction. These joints are typically driven by electric motors, which transmit rotational torque to the various parts of the robotic arm through transmission mechanisms. The control system is the core of the robotic arm, responsible for receiving commands, processing information, and controlling the movement of the robotic arm. This control system is typically based on a computer or embedded system, capable of responding in real time to changing environments and task requirements.

[0003] Due to their unique operational flexibility, robotic arms have been widely used in various fields: Industrial production: used in processing, assembly, and testing processes to improve production efficiency and quality. Healthcare: used for delicate operations such as surgery to improve surgical accuracy and safety. Domestic services: used for household chores such as cleaning, laundry, and cooking to reduce the burden on families. Agriculture: used for operations such as planting and harvesting to improve agricultural production efficiency. Space exploration: used for tasks such as mobile maintenance of space stations to support space exploration activities.

[0004] A robotic arm is required during the use of the vulcanizer. However, the existing robotic arm used in the vulcanizer cannot rotate the gun head to different angles, which makes it inconvenient to clean it and increases the rotation burden of the robot, seriously affecting the use of the vulcanizer and failing to meet the use requirements. Therefore, a six-axis robotic arm is proposed to solve the above problems. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the utility model provides a six-axis robotic arm with advantages such as a wide working range, which solves the problem of limited working angle range of the gun head.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a six-axis robotic arm, comprising a six-axis robotic arm mounted on a frame for adjusting the working range of a gun head, the six-axis robotic arm comprising a base, a connecting frame arranged above the base, a first connecting arm rotatably mounted on the connecting frame, a second connecting arm rotatably mounted at the other end of the first connecting arm, a third connecting arm rotatably mounted at the other end of the second connecting arm, a fourth connecting arm arranged at the other end of the third connecting arm, and a fifth connecting arm fixedly mounted at the right end of the fourth connecting arm;

[0007] A rotating shaft connected to the bottom end of the connecting frame is fixedly installed on the upper surface of the base, and a first driving shaft for driving the connecting frame to rotate is installed on the rotating shaft, a second driving shaft connected to the first connecting arm is installed on the connecting frame, a third driving shaft is installed at the connection between the first connecting arm and the second connecting arm, a fourth driving shaft for rotating the third connecting arm is installed on the outer wall of the second connecting arm, a fifth driving shaft connected to the fourth connecting arm is installed at the right end of the third connecting arm, and a sixth driving shaft is installed at the right end of the fifth connecting arm.

[0008] Furthermore, a connecting piece for use with the sixth drive shaft is installed between the fifth connecting arm and the gun head, and the connecting piece is composed of a first connecting plate, a second connecting plate and a connecting rod.

[0009] Furthermore, the second connecting plate is hinged to the first connecting plate, and the first connecting plate is fixedly mounted on the outer wall of the fifth connecting arm by bolts, and the gun head is detachably mounted on the second connecting plate.

[0010] Furthermore, a swing arm hinged to one end of a connecting rod is fixedly mounted on the output shaft of the sixth drive shaft, and the other end of the connecting rod is rotatably connected to the outer wall of the second connecting plate.

[0011] Furthermore, a box body is provided above the fifth connecting arm, and a concave-shaped mounting bracket is fixedly mounted on the lower surface of the box body, with the concave surface of the mounting bracket facing the fifth connecting arm.

[0012] Furthermore, a walking mechanism is provided on the mounting frame and the fifth connecting arm, and the walking mechanism includes a servo motor fixedly mounted on the inner side of the mounting frame, a walking gear fixedly mounted on the output shaft of the servo motor, and a rack provided in the fifth connecting arm and meshing with the walking gear on the output shaft.

[0013] Furthermore, a sliding groove is provided on the side wall of the fifth connecting arm, the rack is fixedly mounted on the inner bottom wall of the sliding groove, and the traveling gear extends into the sliding groove.

[0014] Compared with the existing technology, the present invention provides a six-axis robotic arm with the following advantages:

[0015] 1. The six-axis robotic arm can realize the rotation of the gun head at different angles through the six-axis setting to facilitate better cleaning, thereby achieving the advantages of a wide working range and solving the problem of limited working angle range of the gun head.

[0016] 2. The six-axis robotic arm is driven by a servo motor and a traveling gear. The traveling gear engages with the rack to drive the box body to move back and forth, thereby realizing the position adjustment of the box body, so as to better cooperate with the six-axis robotic arm for cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional diagram of the structure of the utility model;

[0018] Figure 2 This is a bottom view of the structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the gun head of the utility model;

[0020] Figure 4 This is another perspective view of the gun head structure of the utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the meshing of the travel gear and the rack in the utility model.

[0022] In the figure: 1. Frame; 2. Base; 3. Rotating axis; 4. Connecting frame; 5. First connecting arm; 6. Second connecting arm; 7. Third connecting arm; 8. Fourth connecting arm; 9. Fifth connecting arm; 91. Slide; 10. Gun head; 11. Box body; 12. First drive shaft; 13. Second drive shaft; 14. Third drive shaft; 15. Fourth drive shaft; 16. Fifth drive shaft; 17. Sixth drive shaft; 18. First connecting plate; 19. Second connecting plate; 20. Connecting rod; 21. Mounting frame; 22. Servo motor; 23. Travel gear; 24. Rack. DETAILED DESCRIPTION

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

[0024] Example 1:

[0025] See also Figures 1 to 4A six-axis robot arm includes a six-axis robot arm installed on a frame 1 for adjusting the working range of a gun head 10. The six-axis robot arm includes a base 2, a connecting frame 4 arranged above the base 2, a first connecting arm 5 rotatably mounted on the connecting frame 4, a second connecting arm 6 rotatably mounted on the other end of the first connecting arm 5, a third connecting arm 7 rotatably mounted on the other end of the second connecting arm 6, a fourth connecting arm 8 arranged at the other end of the third connecting arm 7, and a fifth connecting arm 9 fixedly mounted on the right end of the fourth connecting arm 8; the upper surface of the base 2 is fixedly mounted with A rotating shaft 3 is connected to the bottom end of the connecting frame 4, and a first driving shaft 12 for driving the connecting frame 4 to rotate is installed on the rotating shaft 3, a second driving shaft 13 connected to the first connecting arm 5 is installed on the connecting frame 4, a third driving shaft 14 is installed at the connection between the first connecting arm 5 and the second connecting arm 6, a fourth driving shaft 15 for rotating the third connecting arm 7 is installed on the outer wall of the second connecting arm 6, a fifth driving shaft 16 connected to the fourth connecting arm 8 is installed at the right end of the third connecting arm 7, and a sixth driving shaft 17 is installed at the right end of the fifth connecting arm 9.

[0026] Specifically, a connector is installed between the fifth connecting arm 9 and the gun head 10 to cooperate with the sixth drive shaft 17. The connector consists of a first connecting plate 18, a second connecting plate 19, and a connecting rod 20. The second connecting plate 19 is hinged to the first connecting plate 18, and the first connecting plate 18 is fixedly mounted on the outer wall of the fifth connecting arm 9 by bolts. The gun head 10 is detachably mounted on the second connecting plate 19.

[0027] A swing arm hingedly connected to one end of a connecting rod 20 is fixedly mounted on the output shaft of the sixth drive shaft 17. The other end of the connecting rod 20 is pivotally connected to the outer wall of the second connecting plate 19. A box body 11 is disposed above the fifth connecting arm 9. A concave mounting bracket 21 is fixedly mounted on the lower surface of the box body 11, with the concave surface of the mounting bracket 21 facing the fifth connecting arm 9.

[0028] When this embodiment is in use, the gun head 10 realizes the movement of the gun head 10 through the transmission cooperation of the sixth drive shaft 17, the first connecting plate 18, the second connecting plate 19 and the connecting rod 20, and can realize the rotation of the gun head 10 to different angles. The six-axis setting is then used to facilitate better cleaning and reduce the rotation burden of the robot, thereby increasing the working range of the gun head 10.

[0029] Example 2:

[0030] See also Figure 5 On the basis of the first embodiment, a traveling mechanism is provided on the mounting frame 21 and the fifth connecting arm 9, and the traveling mechanism includes a servo motor 22 fixedly mounted on the inner side of the mounting frame 21, a traveling gear 23 fixedly mounted on the output shaft of the servo motor 22, and a rack 24 provided in the fifth connecting arm 9 and meshing with the traveling gear 23 on the output shaft.

[0031] A sliding groove 91 is defined on the side wall of the fifth connecting arm 9 . The rack 24 is fixedly mounted on the inner bottom wall of the sliding groove 91 . The traveling gear 23 extends into the sliding groove 91 .

[0032] By adopting the above technical solution, the servo motor 22 and the traveling gear 23 are driven, and the traveling gear 23 engages with the rack 24 to drive the box body 11 to move back and forth, thereby realizing the position adjustment of the box body 11, so as to better cooperate with the six-axis robot arm to perform cleaning work.

[0033] The working principle of the above embodiment is:

[0034] When in use, the gun head 10 is movable through the transmission cooperation of the sixth drive shaft 17, the first connecting plate 18, the second connecting plate 19 and the connecting rod 20, and the gun head 10 can be rotated to different angles. Through the six-axis setting, it is convenient for better cleaning and reduces the rotation burden of the robot, thereby increasing the working range of the gun head 10.

[0035] The electrical components mentioned in this article are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device that controls a computer, etc., and the existing public power connection technology is not described in detail in this article.

[0036] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0037] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-axis robotic arm, characterized by: The invention comprises a six-axis robot arm mounted on a frame (1) for adjusting the working range of a gun head (10), wherein the six-axis robot arm comprises a base (2), a connecting frame (4) arranged above the base (2), a first connecting arm (5) rotatably mounted on the connecting frame (4), a second connecting arm (6) rotatably mounted on the other end of the first connecting arm (5), a third connecting arm (7) rotatably mounted on the other end of the second connecting arm (6), a fourth connecting arm (8) arranged at the other end of the third connecting arm (7), and a fifth connecting arm (9) fixedly mounted on the right end of the fourth connecting arm (8); A rotating shaft (3) connected to the bottom end of the connecting frame (4) is fixedly mounted on the upper surface of the base (2), and a first driving shaft (12) for driving the connecting frame (4) to rotate is mounted on the rotating shaft (3), a second driving shaft (13) connected to the first connecting arm (5) is mounted on the connecting frame (4), a third driving shaft (14) is mounted at the connection between the first connecting arm (5) and the second connecting arm (6), a fourth driving shaft (15) for rotating the third connecting arm (7) is mounted on the outer wall of the second connecting arm (6), a fifth driving shaft (16) connected to the fourth connecting arm (8) is mounted on the right end of the third connecting arm (7), and a sixth driving shaft (17) is mounted on the right end of the fifth connecting arm (9).

2. The six-axis robotic arm according to claim 1, characterized in that: A connecting piece for use with the sixth drive shaft (17) is installed between the fifth connecting arm (9) and the gun head (10), and the connecting piece is composed of a first connecting plate (18), a second connecting plate (19) and a connecting rod (20).

3. The six-axis robotic arm according to claim 2, characterized in that: The second connecting plate (19) is hinged to the first connecting plate (18), and the first connecting plate (18) is fixedly mounted on the outer wall of the fifth connecting arm (9) by means of bolts. The gun head (10) is detachably mounted on the second connecting plate (19).

4. The six-axis robotic arm according to claim 2, characterized in that: A swing arm hinged to one end of a connecting rod (20) is fixedly mounted on the output shaft of the sixth drive shaft (17), and the other end of the connecting rod (20) is rotatably connected to the outer wall of the second connecting plate (19).

5. The six-axis robotic arm according to claim 1, characterized in that: A box body (11) is provided above the fifth connecting arm (9), and a concave-shaped mounting frame (21) is fixedly mounted on the lower surface of the box body (11), with the concave surface of the mounting frame (21) facing the fifth connecting arm (9).

6. The six-axis robotic arm according to claim 5, characterized in that: A walking mechanism is provided on the mounting frame (21) and the fifth connecting arm (9), the walking mechanism comprising a servo motor (22) fixedly mounted on the inner side of the mounting frame (21), a walking gear (23) fixedly mounted on the output shaft of the servo motor (22), and a rack (24) provided in the fifth connecting arm (9) and meshing with the walking gear (23) on the output shaft.

7. The six-axis robotic arm according to claim 6, characterized in that: A sliding groove (91) is provided on the side wall of the fifth connecting arm (9), the rack (24) is fixedly mounted on the inner bottom wall of the sliding groove (91), and the traveling gear (23) extends into the sliding groove (91).

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