Six-axis robot arm suitable for carrying explosives

Abstract

The utility model provides a six-axis robot arm suitable for carrying explosives. The scheme comprises a base; the robot arm structure is located on the base, the robot arm structure can carry explosives in a rotating mode, and the explosives are one or more of explosives, detonators, gunpowder, fireworks and flour; and the sensing unit is located on the robot arm structure, and the sensing unit is at least used for detecting one or more of the angle, the position and the torque of the robot arm structure during working. According to the scheme, the problem that in the prior art, when a six-axis robot arm carries explosive objects, the six-axis robot arm only carries the objects simply, and the sensing capacity is poor is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot arms, in particular to a six-axis robot arm suitable for carrying explosive goods. BACKGROUND

[0002] A six-axis robot arm is a robot arm with six degrees of freedom, commonly used in industrial production for automation and robotic applications. Each degree of freedom represents an independent movement dimension of the robot arm in space, allowing it to move and rotate in six directions.

[0003] Six-axis robot arms have a wide range of applications in the field of handling robots, and their main advantages include flexibility, precision and programmability, making them suitable for a variety of different types of handling tasks. In the basic application of handling robots, a six-axis robot arm can be used to carry materials from one location to another, such as moving parts from one workstation to another or taking finished products from the production line and placing them in the packaging area. It can also be programmed to perform repetitive handling tasks, which can improve production efficiency and reduce labor costs.

[0004] However, the current six-axis robot arm is only simple to carry goods when carrying explosive goods, and has poor perception ability. CONTENT OF THE INVENTION

[0005] The main purpose of the present application is to provide a six-axis robot arm suitable for carrying explosive goods, which at least solves the problem that the current six-axis robot arm has poor perception ability when carrying explosive goods.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a six-axis robot arm suitable for carrying explosive goods is provided, comprising: a base; a robot arm structure located on the base, the robot arm structure being rotatable to carry explosive goods, wherein the explosive goods are one or more of explosives, detonators, gunpowder, fireworks and flour; a sensing unit located on the robot arm structure, the sensing unit being used to detect at least one or more of the angle, position and torque of the robot arm structure when working.

[0007] Optionally, the robot arm structure comprises: a robot arm for moving and rotating in multiple directions; an end effector located at the end of the robot arm, the end effector being used to grasp, secure and release the explosive goods.

[0008] Optionally, the end effector is a gripper and / or a suction cup.

[0009] Optionally, the sensing unit comprises a position sensor located on the robot arm, the position sensor being configured to detect the angle and position of the robot arm.

[0010] Optionally, the sensing unit comprises a first force sensor located on the robot arm, the first force sensor being configured to detect the torque of the robot arm.

[0011] Optionally, the sensing unit comprises a second force sensor located on the end effector, the second force sensor being configured to detect the torque of the end effector.

[0012] Optionally, the sensing unit further comprises a tactile sensor located on the robot structure, the tactile sensor being configured to detect the contact force and contact position between the robot structure and an external device, the external device comprising an external robot and / or an external workpiece.

[0013] Optionally, the sensing unit further comprises an inertial measurement unit located on the robot structure, the inertial measurement unit being configured to detect the acceleration and angular velocity of the robot structure.

[0014] Optionally, the sensing unit further comprises a temperature sensor located on the robot structure, the temperature sensor being configured to detect the temperature of the robot structure.

[0015] Optionally, the six-axis robot suitable for explosive article handling further comprises an image acquisition unit configured to detect the image of the robot structure and / or the image of the explosive article.

[0016] By applying the technical solution of the present application, the six-axis robot suitable for explosive article handling of the present application, on the basis of the existing six-axis robot, adds a sensing unit, which can be used to detect the angle, position and torque of the six-axis robot in real time during work, and provides the six-axis robot with a "sensing ability". BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings constituting a part of the specification of the present application are used to provide a further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A structural schematic diagram of a six-axis robot suitable for explosive article handling according to an embodiment of the present application is shown;

[0019] Figure 2 Another structural schematic diagram of a six-axis robot suitable for explosive article handling according to an embodiment of the present application is shown;

[0020] Figure 3 A first direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0021] Figure 4 A second direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0022] Figure 5 A third direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0023] Figure 6 A fourth direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0024] Figure 7 A fifth direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0025] Figure 8 A sixth direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0026] Figure 9 A seventh direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0027] Figure 10 An eighth direction of a six-axis robot suitable for explosive article handling is shown in schematic view;

[0028] Figure 11 A ninth direction of a six-axis robot suitable for explosive article handling is shown in schematic view.

[0029] Wherein, the above-mentioned drawings include the following reference signs:

[0030] 10, base; 11, sensing unit; 12, end effector; 13, control box; 14, first rotary gear box; 15, cable; 16, rotary platform; 17, horizontal rotary motor; 18, first swing motor; 19, fixed seat; 20, first robot arm; 21, second robot arm; 22, second swing motor; 23, end connecting seat; 24, rotary connecting piece; 25, rotary motor; 26, second rotary gear box; 27, first pneumatic chuck; 28, second pneumatic chuck. DETAILED DESCRIPTION

[0031] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] In order to make the person skilled in the art better understand the scheme of the present application, the technical scheme 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 a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] As introduced in the background, when handling explosive goods, the six-axis robot in the prior art simply handles the goods, and the sensing ability is poor. To solve the above problems, the embodiments of the present application provide a six-axis robot suitable for handling explosive goods.

[0035] The technical scheme 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.

[0036] The present application provides a six-axis robot suitable for handling explosive goods, as shown in the figure, comprising: Figure 1

[0037] Base 10;

[0038] Robot structure on the above base, the above robot structure can rotate to handle explosive goods, wherein the explosive goods are one or more of explosives, detonators, gunpowder, fireworks and flour;

[0039] Sensing unit 11 on the above robot structure, the sensing unit is used for detecting at least one or more of the angle, position and torque of the robot structure when working.

[0040] In the above scheme, on the basis of the existing six-axis robot, the sensing unit is added, which can be used to detect the angle, position and torque of the six-axis robot when working in real time, and provides the six-axis robot with "sensing ability". ​

[0041] In a specific implementation process, as shown in Figure 1 The robot structure includes a robot arm and an end effector 12. The robot arm is used to move and rotate in multiple directions. The end effector is located at the end of the robot arm and is used to grasp, hold, and release the explosive item.

[0042] In this scheme, the robot arm is the main component of a six-axis robot, composed of six rotary joints, each joint allowing the robot arm to rotate along an axis, thus providing six degrees of freedom in three-dimensional space. This design makes the robot flexible in positioning and moving in space, adapting to complex working environments and task requirements. The end effector is a tool at the end of the robot arm, used to directly contact the explosive item, achieving the functions of grasping, holding, and releasing.

[0043] Specifically, the robot arm is the actuator of a six-axis robot, which can be composed of six joints, each joint can rotate around an axis, and the end of the robot arm is provided with an end effector. The end effector is a terminal component of a six-axis robot, which can be customized according to different explosive item requirements. A typical six-axis robot includes 6 joints, or six rotary axes, such as body rotation axis, main arm swing axis, end rotation axis, etc. At each rotary axis, an inertial measurement unit, a joint position sensor, and a joint force sensor are provided, wherein the inertial measurement unit is used to detect the instantaneous acceleration and instantaneous angular velocity of the joint, and the joint position sensor is used to measure the angle or position of the joint as action and attitude data.

[0044] In addition, more advanced transmission systems (such as harmonic reducers) can be used to improve motion accuracy; high-strength lightweight materials (such as carbon fiber) can be used to reduce weight and improve overall performance.

[0045] Specifically, as shown in Figure 1 The six-axis robot also includes a control box 13, a first rotary gear box 14, a cable 15, a rotary platform 16, a horizontal rotation motor 17, a first swing motor 18, a fixed seat 19, a first robot arm 20, a second robot arm 21, and a second swing motor 22.

[0046] The control box is the core control component of the six-axis robot, responsible for receiving data from sensors, processing signals, calculating control instructions, and sending instructions to the drive assembly.

[0047] Through the first rotary gear box transmission, the rotation speed of the robot joint can be adjusted.

[0048] Cables are used to connect the control box with each drive unit and sensor, ensuring the transmission of power and signals. The design of the cable needs to consider its flexibility, durability and safety to adapt to the movement needs of the robot hand and prevent short circuits or damage in high-risk environments.

[0049] The rotating platform is part of the robot hand base, usually used to achieve the overall rotation of the robot hand on the horizontal plane. It is driven by a horizontal rotating motor, which can improve the working range and flexibility of the robot hand.

[0050] The horizontal rotating motor is a motor used to drive the rotation of the rotating platform, which provides stable and precise rotating power to ensure that the robot hand can be freely positioned on the horizontal plane.

[0051] The first swing motor is used to drive the first robot arm to swing, especially when vertical movement is needed. These motors can provide the necessary power to make the robot arm flexibly adjust its position and posture in space.

[0052] The fixed base is used to fix the six-axis robot hand to the ground or other support structure, ensuring its stability when performing tasks. The design of the fixed base needs to consider its load-bearing capacity and the friction between the fixed base and the ground to prevent displacement when handling heavy objects or working on uneven ground.

[0053] The first robot arm and the second robot arm are components of the six-axis robot hand, which can achieve movement in different directions. The first robot arm and the second robot arm may be driven by a combination of rotating gearboxes and swing motors to achieve complex motion trajectories and task execution.

[0054] The second swing motor is used to drive the second robot arm to swing, especially when vertical movement is needed. These motors can provide the necessary power to make the robot arm flexibly adjust its position and posture in space.

[0055] Specifically, as shown in Figure 2 The six-axis robot hand also includes an end connection seat 23, a rotating connection 24, a rotating motor 25 and a second rotating gearbox 26.

[0056] The end connection seat is a key component of the end of the six-axis robot hand, used to connect the last joint of the robot arm and the end effector. Its design needs to fully consider the structural strength and weight balance to ensure that the end effector can work stably when handling heavy objects or performing delicate actions. The end connection seat may also integrate a sensor interface to facilitate the connection of force sensors, position sensors, etc. to improve control accuracy and safety.

[0057] The rotary joint is used to connect each joint of the six-axis robot hand, allowing rotational movement between joints along specific axes. The design of the rotary joint needs to consider factors such as load-bearing capacity, rotation accuracy, and friction to ensure the stability and flexibility of the robot arm during movement. When handling high-risk items such as explosives, the accuracy and reliability of the rotary joint are crucial to prevent accidental collisions and ensure safe operation.

[0058] The rotary motor is the power source that drives the joints of the six-axis robot hand to rotate. It is usually used in conjunction with a rotary gearbox to provide sufficient torque and adjustable speed, enabling the robot arm to perform various complex handling tasks. When handling explosives, the response speed and control accuracy of the rotary motor play a decisive role in avoiding collisions and ensuring safe operation.

[0059] The second rotary gearbox is connected to the rotary motor and is used to convert the high-speed low-torque output of the motor into low-speed high-torque to drive the rotation of the end joint or end effector. It can amplify the output torque of the motor, reduce the rotation speed, and improve the stability and positioning accuracy of the movement. In scenarios requiring high-precision control, such as handling explosives, the performance of the second rotary gearbox directly affects the safety and efficiency of the handling process.

[0060] In some embodiments, the above-mentioned end effector is a gripper and / or suction cup. Of course, it can also be any other feasible end effector.

[0061] Specifically, the end effector can be customized according to the shape, size, and material of the explosive item, such as using soft contact materials to reduce impact, designing a multi-point gripping system to improve stability, or integrating sensors to achieve intelligent control. It can integrate a variety of gripping tools (such as grippers, suction cups, magnetic adsorption, etc.).

[0062] The gripper is a kind of end effector that grasps and fixes items by mechanical force. It is usually composed of multiple movable fingers that can be driven linearly or rotationally to achieve clamping or releasing actions. For regular-shaped, hard-material explosives, the gripper can provide stable gripping force to ensure that the items do not fall off during handling. In addition, the design of the gripper can be multi-point contact, further improving the stability and safety of handling. When handling explosives, the clamping force of the gripper needs to be very precise to avoid damaging the items due to excessive force or causing the items to fall off due to insufficient force.

[0063] Suction cups are end effectors that use vacuum or atmospheric pressure difference to adsorb and fix objects. They are suitable for handling explosives with smooth and non-porous surfaces. Suction cups can provide uniform adsorption force, avoiding scratches or deformation of the object surface during handling. For some irregularly shaped or delicate explosives, suction cups can provide a more gentle fixing method, reducing impact and vibration during handling.

[0064] Specifically, as shown in Figure 1 , the end effector includes two pneumatic chucks, namely a first pneumatic chuck 27 and a second pneumatic chuck 28.

[0065] Specifically, the present application Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 show the schematic diagram of six-axis robot with different angles.

[0066] In the implementation process, the above-mentioned sensing unit includes a position sensor, which is located on the above-mentioned robot arm, and the above-mentioned position sensor is used to detect the angle and position of the above-mentioned robot arm.

[0067] In this scheme, by setting a position sensor in the robot arm, the position and angle of the robot can be obtained, and the position "perception ability" of the six-axis robot is provided.

[0068] Specifically, each robot joint is usually equipped with a position sensor to measure the angle or position of the joint as motion and pose data. These sensors can be encoders, photoelectric encoders, or rotary transformers, etc.

[0069] The position sensor is a key component of the six-axis robot, mainly used for real-time detection of the position and rotation angle of the robot arm in space. This includes joint angle sensors for measuring the rotation angle of each rotary joint, and overall position sensors, which may use inertial measurement units (IMU) to obtain the overall position information of the robot.

[0070] The position sensor can be an optical encoder, a magnetic encoder, a potentiometer, a linear encoder, etc., each with its own characteristics and application scenarios. In the high-risk operation of handling explosives, it is particularly important to choose sensors with high stability, fast response speed, and strong anti-interference ability to ensure the accuracy and safety of real-time monitoring.

[0071] In some embodiments, the sensing unit includes a first force sensor, which is located on the robot arm and is configured to detect the torque of the robot arm.

[0072] In this scheme, by setting the first force sensor, the torque of the robot arm can be obtained, and thus the six-axis robot hand is provided with the "perception ability" of force.

[0073] Specifically, the first force sensor is a joint force sensor, which is configured to measure the force or torque exerted by the joint of the robot hand. These sensors can help the robot hand achieve functions such as force control, torque control, and collision detection.

[0074] The first force sensor can be a strain gauge torque sensor, a magnetic torque sensor, or a capacitive torque sensor. These sensors indirectly measure torque by monitoring the deformation, magnetic field, or capacitance changes at the joints of the robot arm. In the high-risk scenario of handling explosives, it is crucial to choose a force sensor with high precision, high response speed, and good stability to ensure the accuracy and timeliness of real-time monitoring.

[0075] In the specific implementation process, the sensing unit includes a second force sensor, which is located on the end effector and is configured to detect the torque of the end effector.

[0076] In this scheme, by setting the second force sensor, the torque of the end effector can be obtained, and thus the six-axis robot hand is provided with the "perception ability" of force.

[0077] Specifically, the second force sensor can be an end effector force sensor, which is installed on the end effector of the robot hand and is configured to measure the force or torque exerted by the end effector on the workpiece or the environment. These sensors are often used to achieve precise force control and force feedback.

[0078] In the high-risk operation of handling explosives, the second force sensor is located on the end effector and is configured to detect the torque generated when it comes into contact with the explosive.

[0079] In some embodiments, the sensing unit further includes a tactile sensor, which is located on the robot hand structure and is configured to detect the contact force and contact position between the robot hand structure and external devices, including external robot hands and / or external workpieces.

[0080] In this scheme, by setting the tactile sensor, the contact force and contact position between the robot hand structure and external devices can be obtained, and thus the six-axis robot hand is provided with the "perception ability" of touch.

[0081] Specifically, the tactile sensor can be a force tactile sensor, which is used to measure the contact force and contact position between the robot hand and the workpiece or the environment.

[0082] The tactile sensor is a sensor that can sense the contact force and contact position between the robot hand and the environment or object. In the process of handling explosives, the use of tactile sensors can significantly improve the perception and precision of the robot hand in handling explosives.

[0083] The tactile sensor can monitor the contact force between the robot hand and external devices (including other robot hands or workpieces) in real time. This function is particularly important when multiple robot hands work together or operate in narrow spaces. It can help the robot hand to perceive the contact with external devices in time, avoid collisions caused by excessive force, or cause unnecessary pressure on explosives.

[0084] The tactile sensor can also detect the specific position of the robot hand in contact with explosives or other objects. This information is crucial for the precise operation of the robot hand, especially in scenarios where explosives need to be handled gently at specific points. It can help the robot hand to confirm the accuracy of the contact point and ensure the stability and safety of the handling process.

[0085] In the implementation process, the above-mentioned sensing unit further includes an inertial measurement unit, which is located on the above-mentioned robot hand structure, and the above-mentioned inertial measurement unit is used to detect the acceleration and angular velocity of the above-mentioned robot hand structure.

[0086] In this scheme, by setting the inertial measurement unit, the acceleration and angular velocity of the robot hand structure can be obtained, and the speed "perception ability" of the six-axis robot hand is provided.

[0087] Specifically, the inertial measurement unit is a sensor that can measure the acceleration and angular velocity of the robot hand, which includes an accelerometer and a gyroscope. In the high-risk operation of handling explosives, the IMU can monitor the dynamic state of the robot hand in real time, including its acceleration change and rotational motion state in three-dimensional space.

[0088] In some embodiments, the above-mentioned sensing unit further includes a temperature sensor, which is located on the above-mentioned robot hand structure, and the above-mentioned temperature sensor is used to detect the temperature of the above-mentioned robot hand structure.

[0089] In this scheme, by setting the temperature sensor, the temperature of the robot hand structure can be obtained, and the temperature "perception ability" of the six-axis robot hand is provided.

[0090] Specifically, the temperature sensor is used to measure the temperature of the key components of the robot hand to ensure that it operates within a safe temperature range.

[0091] Specifically, in the special environment of transporting explosives, temperature is a non-negligible safety factor. Explosives can be sensitive to temperature, and both excessively high or low temperatures can affect their stability and safety. In addition, the robot hand may also overheat during high-intensity work or in harsh environments, affecting its performance and lifespan. Therefore, the use of temperature sensors is crucial for monitoring the temperature status of the robot hand, preventing potential safety risks, and maintaining the normal operating status of the robot hand.

[0092] The temperature sensor can be a thermocouple, a thermistor, an infrared temperature sensor, etc. The thermocouple can provide high-speed and high-precision temperature measurement, and the thermistor changes its resistance value when the temperature changes, thereby indirectly measuring the temperature; the infrared temperature sensor can non-contact measure the surface temperature of an object, and is suitable for parts that cannot be directly contacted and measured, such as the joints or end effector of the robot hand.

[0093] The temperature sensor is located at key positions of the six-axis robot hand, such as inside the joint, near the motor, and the end effector, for real-time monitoring of temperature changes at these positions. By continuously monitoring the temperature, overheating can be detected in a timely manner, preventing performance degradation, reduced gripping force, or even structural damage of the robot hand caused by high temperature, thereby ensuring the stability and safety of the transportation operation.

[0094] In order to provide real-time visual information, the six-axis robot hand suitable for transporting explosives of the present application further comprises an image acquisition unit, which is used to detect the image of the robot hand structure and / or the image of the explosive.

[0095] In this scheme, the image acquisition unit in the six-axis robot hand suitable for transporting explosives provides real-time visual information, enhancing the "perception ability" of the robot hand to the environment.

[0096] Specifically, the image acquisition unit is one to two high-definition cameras (or multiple cameras) for obtaining image information of the environment around the robot hand to realize target detection, object recognition, pose estimation, etc.

[0097] The image acquisition unit is usually composed of one or more high-definition cameras, installed at key positions of the six-axis robot hand, such as near the base, joints or end effector of the robot hand. Its main task is to capture the image of the robot hand structure and the image of the transported object (explosive), providing visual information for the control system.

[0098] In addition, the six-axis robot hand can also include a host computer, which is a human-computer interaction interface responsible for receiving user instructions and sending them to the control unit of the six-axis robot hand.

[0099] In addition, the six-axis robot hand can further include an inertial measurement unit (IMU), which generally includes an accelerometer and a gyroscope, for measuring the acceleration and angular velocity of the robot hand, so as to perform pose estimation and dynamic control.

[0100] In addition, the six-axis robot hand can further include safety devices such as a stop button, a safety sensor, a protective cover, etc., to ensure that the movement of the six-axis robot hand does not pose a danger to personnel and equipment.

[0101] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0102] The six-axis robot hand for carrying explosive articles of the present application, on the basis of the existing six-axis robot hand, increases the sensing unit, which can be used to detect the key information such as the angle, position and torque of the six-axis robot hand in real time, and provides the six-axis robot hand with the "perception ability".

[0103] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A six-axis robot suitable for use in the handling of explosive articles, characterised in that, The application relates to a six-axis robot suitable for carrying explosive articles, which comprises: a base; a robot structure on the base, which can rotate to carry explosive articles, wherein the explosive articles are one or more of explosives, detonators, gunpowder, fireworks and flour; a sensing unit on the robot structure, which is used to detect one or more of the angle, position and torque of the robot structure when the robot structure is working.

2. The six-axis robot suitable for handling explosive articles according to claim 1, wherein, The robot structure comprises: a robot arm for moving and rotating in multiple directions; an end effector at the end of the robot arm, which is used to grasp, fix and release the explosive articles.

3. The six-axis robot suitable for handling explosive articles according to claim 2, wherein, The end effector is a gripper and / or a suction cup.

4. The six-axis robot suitable for handling explosive articles according to claim 2, wherein The sensing unit comprises: a position sensor on the robot arm, which is used to detect the angle and position of the robot arm.

5. The six-axis robot suitable for handling explosive articles according to claim 2, wherein The sensing unit comprises: a first force sensor on the robot arm, which is used to detect the torque of the robot arm.

6. The six-axis robot suitable for handling explosive articles according to claim 2, wherein The sensing unit comprises: a second force sensor on the end effector, which is used to detect the torque of the end effector.

7. The six-axis robot suitable for handling explosive articles according to claim 1, wherein The sensing unit further comprises: a tactile sensor on the robot structure, which is used to detect the contact force and contact position between the robot structure and external equipment, wherein the external equipment comprises an external robot and / or an external workpiece.

8. The six-axis robot suitable for handling explosive articles according to claim 1, wherein The sensing unit further comprises: an inertial measurement unit on the robot structure, which is used to detect the acceleration and angular velocity of the robot structure.

9. The six-axis robot suitable for handling explosive articles according to claim 1, wherein, The sensing unit further comprises: a temperature sensor on the robot structure, which is used to detect the temperature of the robot structure.

10. The six-axis robot suitable for handling explosive articles according to any one of claims 1 to 9, characterized in that, The six-axis robot suitable for carrying explosive articles further comprises: an image acquisition unit for detecting the image of the robot structure and / or the image of the explosive articles.

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