Six-axis manipulator

Abstract

The utility model relates to the field of manipulators, and discloses a six-axis manipulator, which comprises a small arm, the metacarpophalangeal joint is mounted at one end of the forearm; the interphalangeal joints are mounted on the metacarpophalangeal joints, and the metacarpophalangeal joints are used for driving the interphalangeal joints to rotate; the two auxiliary belts are symmetrically arranged on the two sides of the metacarpophalangeal joint, one ends of the two auxiliary belts are connected with the forearm, the other ends of the two auxiliary belts are connected with the interphalangeal joint, and the auxiliary belts are used for supporting the interphalangeal joint. According to the mechanical arm, due to the design that the auxiliary belt is introduced, extra support and stability are provided between the metacarpophalangeal joints and the interphalangeal joints, the rigidity of the mechanical arm in the key area is effectively enhanced, and the mechanical arm can keep higher structural stability and bearing capacity when clamping heavy objects or moving at a high speed.

Description

Technical Field

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

[0002] A six-axis robot arm is a robotic arm capable of six axes of motion, each controlled by a motor. This allows for three-dimensional motion: translation along the X, Y, and Z axes, as well as rotation around them. It typically consists of a base, shoulder, elbow, wrist, palm, and fingers, each with an additional degree of freedom to accurately control the end effector, enabling high-precision, high-speed, and high-reliability industrial automation.

[0003] Existing six-axis manipulators have obvious limitations in terms of structural rigidity. When the metacarpophalangeal joints and interphalangeal joints of the six-axis manipulator are fully stretched to form a straight line and attempt to clamp a heavy object, the connection stability of the interphalangeal joints on the metacarpophalangeal joints will significantly decrease. This structural fragility causes the manipulator to vibrate or deform easily when bearing heavy loads or performing high-speed movements. Vibration will not only reduce the positioning accuracy and repeatability of the manipulator, but may also interfere with other equipment in the working environment and even threaten the safety of the operator. Utility Model Content

[0004] In order to solve the above-mentioned problems, the present invention is implemented through the following technical solutions.

[0005] A six-axis manipulator comprises: a forearm; a metacarpophalangeal joint mounted at one end of the forearm; an interphalangeal joint mounted on the metacarpophalangeal joint, the metacarpophalangeal joint being used to drive the interphalangeal joint to rotate; two auxiliary belts symmetrically arranged on either side of the metacarpophalangeal joint, one end of the two auxiliary belts being connected to the forearm and the other end being connected to the interphalangeal joint, the auxiliary belts being used to support the interphalangeal joint.

[0006] It also includes: a control seat installed on the forearm; a control wheel installed on the control seat, one end of the auxiliary belt is connected to the control wheel, and the control wheel is configured to rotate on the control seat for retracting and extending the auxiliary belt.

[0007] It also includes: a power source installed on one side of the control seat, a power shaft of the power source is connected to the control wheel, and the power source is used to provide power for the control wheel.

[0008] It also includes: a connecting seat installed on the interphalangeal joint; a connecting rod connected to the connecting seat, and one end of the auxiliary belt away from the control wheel is connected to the connecting rod.

[0009] It also includes: a support seat, which is installed on the metacarpophalangeal joint; a connecting wheel, which is installed on the support seat, and the auxiliary belt is connected to the connecting wheel.

[0010] It also includes: an elbow joint, which is arranged at one end of the forearm; a wrist joint, which is installed on the elbow joint, and the forearm is connected to the wrist joint.

[0011] It also includes: a base; a waist joint installed on the base; a shoulder joint installed on the waist joint; and an upper arm, one end of which is installed on the shoulder joint and the other end is connected to the elbow joint.

[0012] The utility model provides a six-axis manipulator. Compared with the existing technology, it has the following advantages:

[0013] 1. By introducing the auxiliary belt design, additional support and stability are provided between the metacarpophalangeal joint and the interphalangeal joint, effectively enhancing the rigidity of the manipulator in this critical area, enabling the manipulator to maintain higher structural stability and load-bearing capacity when clamping heavier objects or performing high-speed movements.

[0014] 2. One end of the auxiliary belt is connected to the forearm, and the other end is connected to the interphalangeal joint through a connecting seat and a connecting rod, forming a stable triangular support structure. This not only prevents the interphalangeal joint from accidentally shifting or loosening during operation, but also significantly improves the connection stability between the metacarpophalangeal joint and the interphalangeal joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure proposed by the utility model.

[0016] Figure 2 This is a schematic diagram of the forearm, metacarpophalangeal joint, interphalangeal joint and auxiliary belt structure proposed by the utility model.

[0017] Figure 3 This is a structural schematic diagram of the auxiliary belt, connecting seat, supporting seat and control seat proposed in the utility model.

[0018] Figure 4 This is a structural schematic diagram of the auxiliary belt, connecting rod, connecting wheel, control wheel and power source proposed in the utility model.

[0019] The reference numerals in the figures are:

[0020] 1. Base; 101. Waist joint;

[0021] 2. Upper arm; 201. Shoulder joint;

[0022] 3. Elbow joint;

[0023] 4. Forearm; 401. Wrist joint;

[0024] 5. Metacarpophalangeal joint;

[0025] 6. Interphalangeal joints;

[0026] 7. Auxiliary belt; 701. Connecting seat; 702. Connecting rod; 703. Support seat; 704. Connecting wheel; 705. Control seat; 706. Control wheel; 707. Power source. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of protection of the present invention.

[0028] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0029] Reference Figure 1-Figure 4, a six-axis manipulator includes: a small arm 4, which is one of the main supporting structures of the six-axis manipulator and is connected to multiple joints and components, providing stability and flexibility for the whole, which enables the manipulator to perform precise operations in various complex environments; a metacarpophalangeal joint 5, which is installed at one end of the small arm 4. The design of the metacarpophalangeal joint 5 allows the interphalangeal joint 6 to rotate, simulating the key part of the flexibility of the human hand. Through the rotation of the metacarpophalangeal joint 5, the manipulator can perform more diverse tasks, such as grasping, rotating, etc.; an interphalangeal joint 6, which is installed on the metacarpophalangeal joint 5. The metacarpophalangeal joint 5 is used to drive the interphalangeal joint 6 to rotate. The rotation function of the interphalangeal joint 6 further enhances the fine operation ability of the manipulator. It can make slight adjustments to ensure that the manipulator can grasp the object in a precise manner. Maintain a stable grip when picking up objects; two auxiliary belts 7 are arranged on both sides of the metacarpophalangeal joint 5 and are symmetrically arranged. One end of the two auxiliary belts 7 is connected to the forearm 4, and the other end is connected to the interphalangeal joint 6. The auxiliary belts 7 are used to support the interphalangeal joint 6. The auxiliary belts 7 provide additional support and stability between the metacarpophalangeal joint 5 and the interphalangeal joint 6. They can prevent the interphalangeal joint 6 from accidentally shifting or loosening during operation, thereby improving the overall accuracy and reliability of the manipulator, especially when the interphalangeal joint 6 rotates, the auxiliary belts 7 can provide support and assistance for it; the control seat 705 is installed on the forearm 4. The control seat 705 serves as a base 1 for installing the control wheel 706 and the power source 707, providing a centralized control point for the operation of the manipulator. It makes the movement of the manipulator more precise and controllable; the control wheel 706 is installed on the control seat 705, and one end of the auxiliary belt 7 is connected to the control wheel 706. The control wheel 706 is set to rotate on the control seat 705 for retracting and extending the auxiliary belt 7. The control wheel 706 retracts and extends the auxiliary belt 7 by rotating, thereby adjusting the position and angle of the interphalangeal joint 6. This design enables the manipulator to adjust its operating range as needed, thereby improving the flexibility and adaptability of the operation; the power source 707 is installed on one side of the control seat 705, and the power shaft of the power source 707 is connected to the control wheel 706. The power source 707 is used to provide power to the control wheel 706. The power source 707 provides power to the control wheel 706, ensuring the continuous and stable operation of the manipulator, which enables the manipulator to perform high-intensity operations for a long time without failing due to insufficient power. The power source 707 adopts a stepper motor, and can also adopt a servo motor.

[0030] The connecting seat 701 is installed on the interphalangeal joint 6; the connecting rod 702 is connected to the connecting seat 701, and the end of the auxiliary belt 7 away from the control wheel 706 is connected to the connecting rod 702. The combination of the connecting seat 701 and the connecting rod 702 provides a stable connection point for the auxiliary belt 7, which ensures that the auxiliary belt 7 will not fall off or loosen during operation, thereby ensuring the stability and reliability of the manipulator; the supporting seat 703 is installed on the metacarpophalangeal joint 5; the connecting wheel 704 is installed on the supporting seat 703, the auxiliary belt 7 is connected to the connecting wheel 704, and the supporting seat 703 and the connecting wheel 70 The design of 4 further enhances the supporting effect of the auxiliary belt 7, which can guide the movement path of the auxiliary belt 7 to ensure its smoothness and fluidity during operation; the elbow joint 3 is set at one end of the forearm 4, and the elbow joint 3 allows the forearm 4 to bend and stretch relative to the upper arm 2, thereby expanding the range of motion of the manipulator, allowing the manipulator to reach more working areas and improving its work efficiency; the wrist joint 401 is installed on the elbow joint 3, and the forearm 4 is connected to the wrist joint 401. The design of the wrist joint 401 makes the connection between the forearm 4 and the interphalangeal joint 6 more flexible, and it It can rotate and tilt at various angles, providing more operational possibilities for the manipulator; base 1; waist joint 101, installed on the base 1, base 1 serves as the supporting structure of the entire manipulator, ensuring its stability during operation. It provides a reliable installation point for each component of the manipulator, allowing the manipulator to stably perform various operations. The waist joint 101 allows the manipulator to tilt and rotate in the vertical direction, further expanding its range of motion, allowing the manipulator to adapt to more diverse working environments and task requirements; shoulder joint 201, installed at the waist On the joint 101, the shoulder joint 201 is a key component connecting the upper arm 2 and the waist joint 101, which provides the manipulator with a wide range of motion capabilities. It can rotate and tilt at various angles, allowing the manipulator to reach and operate target objects that are far away from the base 1; the upper arm 2, one end of which is installed on the shoulder joint 201 and the other end is connected to the elbow joint 3. The upper arm 2 is the main structure connecting the shoulder joint 201 and the elbow joint 3, providing strong support and stability for the manipulator, allowing the manipulator to perform precise operations in various complex environments without failing due to external interference.

[0031] During use, the manipulator is first initialized, and each joint returns to the preset starting position. The power source 707 is started to provide the necessary power for the operation of the manipulator. The manipulator identifies and locates the position, shape and size of the target object through sensors or visual systems. According to the position of the target object and the required operation, the manipulator performs path planning through the built-in control system. The shoulder joint 201 starts to rotate, driving the upper arm 2 to move near the target area. The waist joint 101 performs necessary tilting and rotation to further adjust the posture of the manipulator. The elbow joint 3 bends or extends to make the forearm 4 and wrist joint 401 close to the target object. The wrist joint 401 rotates and tilts to match the shape and angle of the target object. The metacarpophalangeal joint 5 starts to rotate, driving the interphalangeal joint 6 to gradually approach the target object. When the end of the interphalangeal joint 6 clamps the object and needs to rotate at the metacarpophalangeal joint 5, the power source 707 drives the control wheel 706 to rotate. The control wheel 706 rotates. The wheel 706 reels the auxiliary belt 7, which provides the necessary support and stability for the interphalangeal joint 6. The auxiliary belt 7 pulls the connecting seat 701 and the interphalangeal joint 6 to prevent it from shifting or loosening during the grasping process. When the interphalangeal joint 6 reaches the predetermined position, the control system instructs the interphalangeal joint 6 to make slight adjustments to ensure a stable grip, and the manipulator successfully grasps the target object. After the grasping is successful, the manipulator moves the target object to the designated position through the coordinated movement of the shoulder joint 201, waist joint 101, elbow joint 3 and wrist joint 401. After reaching the designated position, the interphalangeal joint 6 is released and the target object is released. After completing the carrying task, the manipulator returns to the starting position through the same path planning process and prepares for the next operation. During the entire operation, the control system continuously monitors the status and position of each joint to ensure the stable operation of the manipulator, and performs regular maintenance and inspection to ensure the long-term performance and reliability of the manipulator.

[0032] In summary, compared with the existing technology, it has the following beneficial effects:

[0033] By introducing the design of the auxiliary belt 7, additional support and stability are provided between the metacarpophalangeal joint 5 and the interphalangeal joint 6, effectively enhancing the rigidity of the manipulator in this critical area, enabling the manipulator to maintain higher structural stability and load-bearing capacity when clamping heavier objects or performing high-speed movements.

[0034] One end of the auxiliary belt 7 is connected to the forearm 4, and the other end is connected to the interphalangeal joint 6 through the connecting seat 701 and the connecting rod 702, forming a stable triangular support structure, which not only prevents the interphalangeal joint 6 from accidentally shifting or loosening during operation, but also significantly improves the connection stability between the metacarpophalangeal joint 5 and the interphalangeal joint 6.

[0035] Thus, although the present invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are within the foregoing disclosure, and it should be understood that in some cases, some features of the present invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt particular circumstances or materials to the true scope and spirit of the present invention. The present invention is not intended to be limited to the specific terminology used in the claims below and / or to the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the present invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the present invention will be determined solely by the appended claims.

Claims

1. A six-axis manipulator, characterized in that: include: forearm (4); A metacarpophalangeal joint (5) is mounted on one end of the forearm (4); An interphalangeal joint (6) is mounted on the metacarpophalangeal joint (5), and the metacarpophalangeal joint (5) is used to drive the interphalangeal joint (6) to rotate; Two auxiliary belts (7) are arranged on both sides of the metacarpophalangeal joint (5) in a symmetrical arrangement. One end of the two auxiliary belts (7) is connected to the forearm (4), and the other end is connected to the interphalangeal joint (6). The auxiliary belts (7) are used to support the interphalangeal joint (6).

2. A six-axis manipulator according to claim 1, characterized in that: Also includes: A control seat (705) is mounted on the small arm (4); A control wheel (706) is mounted on the control seat (705), one end of the auxiliary belt (7) is connected to the control wheel (706), and the control wheel (706) is configured to rotate on the control seat (705) for retracting and extending the auxiliary belt (7).

3. A six-axis manipulator according to claim 2, characterized in that: Also includes: The power source (707) is installed on one side of the control seat (705), and the power shaft of the power source (707) is connected to the control wheel (706). The power source (707) is used to provide power for the control wheel (706).

4. A six-axis manipulator according to claim 2, characterized in that: Also includes: A connecting seat (701) is mounted on the interphalangeal joint (6); A connecting rod (702) is connected to the connecting seat (701), and one end of the auxiliary belt (7) away from the control wheel (706) is connected to the connecting rod (702).

5. The six-axis manipulator according to claim 1, characterized in that: Also includes: A support seat (703) is mounted on the metacarpophalangeal joint (5); A connecting wheel (704) is mounted on the support seat (703), and the auxiliary belt (7) is connected to the connecting wheel (704).

6. The six-axis manipulator according to claim 1, characterized in that: Also includes: An elbow joint (3) is provided at one end of the forearm (4); The wrist joint (401) is mounted on the elbow joint (3), and the forearm (4) is connected to the wrist joint (401).

7. The six-axis manipulator according to claim 6, characterized in that: Also includes: Base (1); A waist joint (101) is mounted on the base (1); A shoulder joint (201) is mounted on the waist joint (101); The upper arm (2) has one end mounted on the shoulder joint (201) and the other end connected to the elbow joint (3).

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