Multifunctional six-axis robot

Abstract

The utility model discloses a multifunctional six-shaft robot, which belongs to the technical field of robots and comprises a sixth shaft, side connecting plates are fixedly mounted on the upper side and the lower side of the surface of the sixth shaft, hydraulic push rods are fixedly mounted on the surfaces of the side connecting plates, and pull connecting plates are movably mounted at the top ends of the hydraulic push rods; according to the structure, the clamping piece is additionally arranged on the surface of the sixth shaft, so that the whole robot has better grabbing capacity, objects can be overturned and moved conveniently, the pull connecting plate connected to the top end of the hydraulic push rod is divided into two sections, the middle positions of the two sections are movably connected, and when the hydraulic push rod pushes and pulls the upper portion of the pull connecting plate, the upper portion of the pull connecting plate is clamped. The two pulling and connecting plates can be controlled to form a certain angle, when the upper pulling and connecting plate continues to be pulled, the other side of the triangular shape is shortened, the distance between the clamping plates is increased, and therefore the grabbing force is reduced, and by reversing the operation, the distance between the clamping plates can be shortened, and the internal grabbing force of the clamping plates is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field more specifically, relate to a multifunctional six axis robot. BACKGROUND

[0002] Six axis robots are widely used in the production field because they can provide higher production motion flexibility. The control of six axis robots generally includes PLC programming control and manual power switch or wireless control, among which programming control is the most widely used. In actual situations, whether it is programming control or manual control, when the six axis robot forearm carries goods, it is affected differently by the size of the goods (the size of the carried goods varies).

[0003] The prior art patent document with publication number CN214560895U provides a multifunctional six axis robot, which includes a six axis robot body, a battery, a charging socket, a power switch, a multi-directional probe, a control circuit, and a sounder. The multi-directional probe includes a hollow shell, a hollow magnet, and a photoelectric switch. The hollow magnet is installed on the inside of the hollow shell. Multiple photoelectric switches are installed inside the hollow shell, and the magnet is attracted to the outside of the six axis robot body arm. The battery, charging socket, power switch, control circuit, and sounder are installed in the element box and are electrically connected between the photoelectric switch and the six axis robot body. When the new model clamps and carries goods, the probe of the multiple photoelectric switches can monitor the distance between the unloading or stacking stations in real time. In actual situations, when the six axis robot body forearm is too close to the unloading or stacking stations, the work power of the six axis robot body can be disconnected in time to remind the workers to perform targeted operations, effectively preventing damage to the six axis robot body and the goods.

[0004] Although the above device can prevent damage to a certain extent, it lacks effective clamping capability in actual use, which causes certain inconvenience during use. Therefore, we propose a multifunctional six axis robot. UTILITY MODEL CONTENTS

[0005] 1. TECHNICAL PROBLEM TO BE SOLVED

[0006] The utility model aims to provide a multifunctional six axis robot to solve the problems raised in the background technology.

[0007] 2. TECHNICAL SCHEME

[0008] The utility model provides a multifunctional six -axis robot, including the sixth axis, both sides of the sixth axis surface are fixedly installed with side connecting plate, the surface of side connecting plate is fixedly installed with hydraulic push rod, the top of hydraulic push rod is movably installed with pull connecting plate, the other end of pull connecting plate is movably connected with clamping plate, the middle part of sixth axis surface is fixedly installed with groove type block, clamping plate is movably installed on the surface of groove type block, the back of sixth axis is movably connected with the fifth axis.

[0009] Preferably, the back of the fifth axis is movably connected with a fourth axis, and the fifth axis is driven by a fourth motor.

[0010] Preferably, the fourth axis includes a frame plate, the fifth axis is movably installed on the inner side of the frame plate, the fourth motor is fixedly installed on the outer side of the frame plate, and the back side of the frame plate is fixedly connected with a connecting rod.

[0011] Preferably, the other side of the connecting rod is fixedly installed with a connecting block, the fourth axis is driven by a third motor, and the third motor is fixedly installed on the surface of the connecting block.

[0012] Preferably, the back of the fourth axis is movably connected with a third axis, the third axis includes a ring plate, the ring plate is movably connected with the connecting block, one side of the ring plate is fixedly installed with an axle plate, and the third axis is driven by a second motor.

[0013] Preferably, the back of the third axis is movably connected with a second axis, the axle plate is movably installed on the inner side of the second axis, the second motor is fixedly installed on the outer side of the second axis, and a connecting rod is movably installed between the axle plate and the second axis.

[0014] Preferably, the bottom of the second axis is movably connected with a first axis, the second axis is driven by a first motor, the first motor is fixedly installed on the surface of the first axis, and the bottom of the first axis is fixedly installed with a bottom plate.

[0015] 3. Beneficial effects

[0016] Compared with the prior art, the utility model has the advantages that;

[0017] The device has better grabbing capacity by adding a clamping piece on the surface of the sixth shaft, so as to facilitate the overturning and moving of the object, the pull connecting plate connected with the top of the hydraulic push rod is divided into two sections, and the middle position is movably connected, when the hydraulic push rod pushes and pulls the upper part of the pull connecting plate, the two pull connecting plates can form a certain angle, when the upper pull connecting plate is continuously pulled, the other side of the triangular shape is shortened, the distance between the clamping plates is increased, so that the grabbing force is reduced, and the above operation in the opposite direction can make the distance between the clamping plates decrease, so that the internal grabbing force is enhanced, on the other hand, the fifth shaft can control the lifting angle of the clamped object, the fourth shaft can control the rotating angle of the clamped object, the second shaft and the third shaft can control the lifting height of the clamped object, and the first shaft can adjust the placement site of the clamped object, and the multi-axis linkage can achieve the purpose of controlling the overturning angle, placement height and position of the clamped object. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the right side schematic view of the overall structure of the utility model;

[0019] Figure 2 It is the left side schematic view of the overall structure of the utility model;

[0020] Figure 3 It is the overall structure cross section schematic view of the utility model;

[0021] Figure 4 It is the partial structure bottom view split schematic view of the utility model;

[0022] Figure 5 It is the partial structure top view split schematic view of the utility model;

[0023] Mark number explanation in the drawing: 1, sixth shaft; 2, side connecting plate; 3, hydraulic push rod; 4, pull connecting plate; 5, clamping plate; 6, groove block; 7, fifth shaft; 8, fourth shaft; 9, fourth motor; 10, frame plate; 11, bottom plate; 12, connecting rod; 13, connecting block; 14, third motor; 15, third shaft; 16, ring plate; 17, shaft plate; 18, second motor; 19, second shaft; 20, connecting rod; 21, first shaft; 22, first motor. DETAILED DESCRIPTION

[0024] In the description of the utility model, it is necessary to understand that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is the orientation or positional relationship shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model.

[0025] In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly specified and limited.

[0026] In the description of the utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be connected inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0027] Please refer to Figures 1-5 , the utility model provides a technical scheme:

[0028] A multifunctional six-axis robot, including the sixth axis 1, the upper and lower sides of the surface of the sixth axis 1 are fixedly installed with side connecting plate 2, the surface of side connecting plate 2 is fixedly installed with hydraulic push rod 3, the top end of hydraulic push rod 3 is movably installed with pull connecting plate 4, the other end of pull connecting plate 4 is movably connected with clamping plate 5, the middle part of the surface of sixth axis 1 is fixedly installed with groove block 6, clamping plate 5 is movably installed on the surface of groove block 6, the back of sixth axis 1 is movably connected with fifth axis 7.

[0029] Specifically, the back of fifth axis 7 is movably connected with fourth axis 8, and fifth axis 7 is driven by fourth motor 9; the fourth axis 8 is convenient for controlling the turning angle of the clamping piece.

[0030] Further, the fourth axis 8 includes a frame plate 10, the fifth axis 7 is movably installed on the inner side of the frame plate 10, the fourth motor 9 is fixedly installed on the outer side of the frame plate 10, and the back side of the frame plate 10 is fixedly connected with connecting rod 12; the connecting rod 12 is convenient for enhancing the stability of the overall structure of the fourth axis 8.

[0031] It is worth noting that the other side of the connecting rod 12 is fixedly installed with a connecting block 13, the fourth shaft 8 is driven by a third motor 14, and the third motor 14 is fixedly installed on the surface of the connecting block 13; through the third motor 14, power is provided for the movement of the fourth shaft 8.

[0032] It is worth noting that the back of the fourth shaft 8 is movably connected with a third shaft 15, the third shaft 15 comprises a ring plate 16, the ring plate 16 is movably connected with the connecting block 13, one side of the ring plate 16 is fixedly installed with a shaft plate 17, and the third shaft 15 is driven by a second motor 18; through the ring plate 16 and the connecting block 13, the stability between the third shaft 15 and the fourth shaft 8 is enhanced.

[0033] In addition, the back of the third shaft 15 is movably connected with a second shaft 19, the shaft plate 17 is movably installed on the inner side of the second shaft 19, the second motor 18 is fixedly installed on the outer side of the second shaft 19, and a connecting rod 20 is movably installed between the shaft plate 17 and the second shaft 19; through the connecting rod 20, the connection strength between the second shaft 19 and the third shaft 15 is enhanced.

[0034] It has to be said that the bottom of the second shaft 19 is movably connected with a first shaft 21, the second shaft 19 is driven by a first motor 22, the first motor 22 is fixedly installed on the surface of the first shaft 21, and the bottom of the first shaft 21 is fixedly installed with a bottom plate 11; through the bottom plate 11, the stability of the whole device is enhanced.

[0035] Working principle: when the device is used, the top end of the hydraulic push rod 3 is movably installed with a pull connecting plate 4, as the hydraulic push rod 3 extends or shrinks, the pull connecting plate 4 also moves, the other end of the pull connecting plate 4 is movably connected with a clamping plate 5, when the pull connecting plate 4 moves, it will drive the clamping plate 5 to open and close relative to the groove block 6, the middle part of the surface of the sixth shaft 1 is fixedly installed with a groove block 6, the clamping plate 5 is movably installed on the surface of the groove block 6, this design makes the clamping plate 5 can smoothly open and close along the guide of the groove block 6, ensuring the stability and accuracy in the clamping process, when performing specific clamping tasks, according to the position and size of the target object, the control system adjusts the posture of the sixth shaft 1, so that the clamping plate 5 is aligned with the target object, then by controlling the action of the hydraulic push rod 3, the pull connecting plate 4 pulls or pushes the clamping plate 5 to complete the closing or opening action, so as to realize the effective grabbing or releasing of the target object. During the whole process, the back of the sixth shaft 1 is movably connected with the fifth shaft 7, which makes the whole clamping device can flexibly adjust the angle and position to adapt to the working requirements in different environments, greatly improving the flexibility and working efficiency of the robot.

[0036] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A multifunctional six-axis robot comprising a sixth axis (1), characterized in that: The sixth shaft (1) surface of both sides is fixedly installed with side connecting plate (2), the surface of side connecting plate (2) is fixedly installed with hydraulic push rod (3), the top of hydraulic push rod (3) is movably installed with pull connecting plate (4), the other end of pull connecting plate (4) is movably connected with clamping plate (5), the middle part of sixth shaft (1) surface is fixedly installed with groove block (6), the surface of groove block (6) is movably installed with clamping plate (5), the back of sixth shaft (1) is movably connected with fifth shaft (7).

2. The multi-functional six-axis robot according to claim 1, characterized by: The back of fifth shaft (7) is movably connected with fourth shaft (8), and fifth shaft (7) is driven by fourth motor (9).

3. The multi-functional six-axis robot according to claim 2, characterized by: The fourth shaft (8) comprises frame plate (10), the inner side of frame plate (10) is movably installed with fifth shaft (7), the outer side of frame plate (10) is fixedly installed with fourth motor (9), and the back of frame plate (10) is fixedly connected with connecting rod (12).

4. The multi-functional six-axis robot according to claim 3, characterized by: The other side of connecting rod (12) is fixedly installed with connecting block (13), the fourth shaft (8) is driven by third motor (14), and the surface of connecting block (13) is fixedly installed with third motor (14).

5. The multi-functional six-axis robot of claim 2, wherein: The back of fourth shaft (8) is movably connected with third shaft (15), the third shaft (15) comprises ring plate (16), the ring plate (16) is movably connected with connecting block (13), one side of ring plate (16) is fixedly installed with shaft plate (17), and the third shaft (15) is driven by second motor (18).

6. The multi-functional six-axis robot of claim 5, wherein: The back of third shaft (15) is movably connected with second shaft (19), the inner side of second shaft (19) is movably installed with shaft plate (17), the outer side of second shaft (19) is fixedly installed with second motor (18), and the movable installation of shaft plate (17) and second shaft (19) is connected with connecting rod (20).

7. The multi-functional six-axis robot of claim 6, wherein: The bottom of second shaft (19) is movably connected with first shaft (21), the second shaft (19) is driven by first motor (22), the surface of first shaft (21) is fixedly installed with first motor (22), and the bottom of first shaft (21) is fixedly installed with bottom plate (11).

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