Six-axis robot
By dividing the signal line of a six-axis robot into two parts and using a fault detection unit, the problem of low fault diagnosis efficiency in the existing technology is solved, enabling rapid location of faulty signal lines, improving detection efficiency and reducing the risk of signal line damage.
Patent Information
- Application Number
- CN202423096294.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2034-12-13
AI Technical Summary
Existing six-axis robots are inefficient in troubleshooting, requiring manual inspection of each signal line, which is time-consuming.
The signal line is divided into a first signal line and a second signal line, which are connected through a fault detection unit. The fault detection unit lights up when the current path is normal and turns off when there is a fault, thus quickly locating the faulty signal line.
It improves fault detection efficiency, reduces the risk of signal line damage, lowers the probability of signal lines being torn, and reduces downtime.
Smart Images
Figure CN223917973U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot fault detection, and particularly relates to a six-axis robot. BACKGROUND
[0002] In the prior art, a six-axis robot has a third mechanical arm, a fourth mechanical arm and a cable bundle, the cable bundle includes a plurality of signal lines, the cable bundle is arranged outside the third mechanical arm and the fourth mechanical arm, one end of the signal line is connected to an electrical control cabinet, and the other end is connected to an end effector. With the movement of the third mechanical arm and the fourth mechanical arm, the signal line is easily pulled off. In order to locate which specific signal line is pulled off, manual means is needed to check the plurality of signal lines one by one to detect and confirm the breakpoint, so that the efficiency of troubleshooting is low and the time is long. CONTENT OF THE UTILITY MODEL
[0003] The present application provides a six-axis robot to solve the problem of low efficiency of robot troubleshooting.
[0004] The present application provides a six-axis robot, which comprises a robot body and a fault detection device; the robot body comprises a first cable bundle, a second cable bundle and an end effector; the first cable bundle comprises a plurality of first signal lines, and the second cable bundle comprises a plurality of second signal lines; the fault detection device is arranged outside the robot body and comprises a plurality of fault detection units; the fault detection unit comprises an input end and an output end; one end of the first signal line is connected to the input end, and the other end is connected to an external electrical control cabinet; one end of the second signal line is connected to the output end, and the other end is connected to the end effector; the electrical control cabinet is used for sequentially supplying power to the end effector through the first cable bundle, the fault detection device and the second cable bundle; in the case that the first cable bundle does not have a fault and the second cable bundle does not have a fault, the fault detection unit is lit; in the case that the first cable bundle has a fault and / or the second cable bundle has a fault, the fault detection unit connected to the first signal line having a fault is extinguished, and / or the fault detection unit connected to the second signal line having a fault is extinguished.
[0005] The present application can quickly locate the signal line having a fault, improve the efficiency and speed of fault detection, and further, the present application divides one complete signal line in the prior art into a first signal line and a second signal line, the first signal line and the second signal line are connected through a fault detection unit, so that the torsion of the signal line caused by the movement of the third-axis mechanical arm is reduced, the damage risk of the signal line is reduced, and the probability of the signal line being pulled off is reduced. BRIEF DESCRIPTION OF DRAWINGS
[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.
[0007] Figure 1 A structural schematic diagram of a six-axis robot provided for an embodiment of the present application;
[0008] Figure 2 A structural schematic diagram of a six-axis robot provided for an embodiment of the present application;
[0009] Figure 3 A structural schematic diagram of a six-axis robot provided for an embodiment of the present application.
[0010] Reference signs:
[0011] 1-six-axis robot, 2-robot body, 21-first cable bundle, 211-first signal line, 22-second cable bundle, 221-second signal line, 23-end effector, 24-third axis mechanical arm, 25-fourth axis mechanical arm, 26-rotary shaft, 3-fault detection device, 31-fault detection unit, 311-input end, 312-output end, 4-electric control cabinet. DETAILED DESCRIPTION
[0012] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present application.
[0013] In the description of the present application, it should be noted that the orientation or position relationship indicated by the terms "vertical direction", "up", "down", "horizontal" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.
[0014] It should be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect", "connect" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0015] In the description of the present application, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such article or device. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of another identical element in the article or device including the element.
[0016] In the prior art, the six-axis robot has a third mechanical arm, a fourth mechanical arm, a cable bundle, the cable bundle includes a plurality of signal lines, the cable bundle is arranged outside the third mechanical arm and the fourth mechanical arm, one end of the signal line is connected to an electrical control cabinet, and the other end is connected to an end effector. With the movement of the third mechanical arm and the fourth mechanical arm, the signal line is easily pulled off. In order to locate which specific signal line is pulled off, manual means is needed to check the plurality of signal lines one by one to detect and confirm the breakpoint, so the efficiency of troubleshooting is low and the time is long.
[0017] In view of the low efficiency of the existing robot troubleshooting, the present application provides a six-axis robot to overcome the above problems.
[0018] The six-axis robot provided by the present application will be described below in conjunction with the drawings.
[0019] In some embodiments, please refer to Figure 1The application provides a six-axis robot 1, which comprises a robot body 2 and a fault detection device 3; the robot body 2 comprises a first cable bundle 21, a second cable bundle 22 and an end effector 23; the first cable bundle 21 comprises a plurality of first signal lines 211, and the second cable bundle 22 comprises a plurality of second signal lines 221; the fault detection device 3 is arranged outside the robot body 2 and comprises a plurality of fault detection units 31; each fault detection unit 31 comprises an input end 311 and an output end 312; one end of each first signal line 211 is connected to the input end 311, and the other end is connected to an external electrical control cabinet 4; one end of each second signal line 221 is connected to the output end 312, and the other end is connected to the end effector 23; the electrical control cabinet 4 is used for sequentially supplying power to the end effector 23 through the first cable bundle 21, the fault detection device 3 and the second cable bundle 22; in the case that the first cable bundle 21 is free of faults and the second cable bundle 22 is free of faults, the fault detection units 31 are lit; in the case that the first cable bundle 21 is faulty and / or the second cable bundle 22 is faulty, the fault detection unit 31 connected to the faulty first signal line 211 is extinguished, and / or the fault detection unit 31 connected to the faulty second signal line 221 is extinguished.
[0020] It should be noted that the application Figure 1 Taking the six-axis robot 1 comprising three first signal lines 211, three second signal lines 221 and three fault detection units 31 as an example, in actual application, the six-axis robot 1 can further comprise a plurality of first signal lines 211, second signal lines 221 and fault detection units 31.
[0021] In some embodiments, the first signal lines 211 and the input ends 311 are connected in one-to-one correspondence. The second signal lines 221 and the output ends 312 are connected in one-to-one correspondence.
[0022] In some embodiments, the end effector 23 is used for imitating human hand actions, can hold and operate objects, and can perform specific processing types and production processes.
[0023] In some embodiments, in the case that the first cable bundle 21 is free of faults and the second cable bundle 22 is free of faults, a current path is formed between the first cable bundle 21, the fault detection device 3, the second cable bundle 22, and the end effector 23, thus the fault detection unit 31 is lit. In the case that the first cable bundle 21 has faults and / or the second cable bundle 22 has faults, the above-mentioned current path does not exist, thus the fault detection unit 31 is extinguished. Further, the first signal line 211 and the second signal line 221 connected with the fault detection unit 31 that can be determined and extinguished are the signal lines with faults. It is possible that the first signal line 211 has faults, it is also possible that the second signal line 221 has faults, and it is also possible that both of them have faults.
[0024] Based on the above-mentioned embodiments, the signal line with faults can be quickly located, and the efficiency and speed of fault detection are improved; further, since the time of fault detection is reduced, the time of replacing the signal line of the six-axis robot is reduced.
[0025] In some embodiments, as shown in Figure 2 and Figure 3 , the robot body 2 further comprises a third-axis mechanical arm 24, a fourth-axis mechanical arm 25, and a rotating shaft 26; the third-axis mechanical arm 24 and the fourth-axis mechanical arm 25 are connected through the rotating shaft 26; the fault detection device 3 is arranged outside the rotating shaft 26.
[0026] In some embodiments, the third-axis mechanical arm 24 is an elbow joint shaft, and the rotation movement of the elbow joint shaft enables the six-axis robot 1 to bend in a vertical plane. The fourth-axis mechanical arm 25 is a wrist joint 1 shaft, and the rotation movement of the wrist joint 1 shaft enables the six-axis robot 1 to rotate in a horizontal plane.
[0027] In some embodiments, the six-axis robot 1 comprises a first-axis mechanical arm (base shaft), a second-axis mechanical arm (shoulder joint shaft), the third-axis mechanical arm 24, the fourth-axis mechanical arm 25, a fifth-axis mechanical arm (wrist joint 2 shaft), and a sixth-axis mechanical arm (wrist joint 3 shaft) connected in sequence. Through the combined movement of the 6 mechanical arms, it has the ability to move and operate flexibly in three-dimensional space.
[0028] In some embodiments, as shown in Figure 2 , the first cable bundle 21 extends along the direction of the third-axis mechanical arm 24.
[0029] In some embodiments, as shown in Figure 2 , the second cable bundle 22 extends along the direction of the fourth-axis mechanical arm 25.
[0030] Based on the above embodiment, the present application splits one complete signal line in the prior art into the first signal line 211 and the second signal line 221, and the first signal line 211 and the second signal line 221 are connected through the fault detection unit 31, so as to reduce the torsion on the signal line when the third-axis mechanical arm 24 moves, reduce the risk of damage to the signal line, and reduce the probability of the signal line being torn.
[0031] In some embodiments, the fault detection device 3 is arranged outside the rotating shaft 26 through a fastener; the fastener includes a screw.
[0032] In some embodiments, the number of the first signal lines 211 is equal to the number of the second signal lines 221.
[0033] In some embodiments, the number of the first signal lines 211 is equal to the number of the fault detection units 31.
[0034] In some embodiments, the fault detection unit 31 includes a light-emitting diode (LED). The anode of the light-emitting diode corresponds to the input end 311, and the cathode corresponds to the output end 312.
[0035] In some embodiments, the plurality of first signal lines 211 are wrapped with a pvc (Polyvinyl chloride) corrugated tube to form a first cable bundle 21; and the plurality of second signal lines 221 are wrapped with a pvc corrugated tube to form a second cable bundle 22. By forming the structure of the signal line into a cable bundle, the installation process can be simplified, the open circuit and the open circuit failure are not easy to occur in the use process, and the signal lines can be arranged compactly to avoid disorder and occupy too much space.
[0036] In summary, although the present application has been disclosed as the above preferred embodiments, the above preferred embodiments are not used to limit the present application, and those skilled in the art can make various changes and decorations without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application is subject to the scope defined by the claims.
Claims
1. A six-axis robot, characterized in that, The six-axis robot (1) comprises a robot body (2) and a fault detection device (3); The robot body (2) comprises a first cable bundle, a second cable bundle (22), an end effector (23); The first cable bundle (21) comprises a plurality of first signal lines (211), and the second cable bundle (22) comprises a plurality of second signal lines (221); The fault detection device (3) is arranged outside the robot body (2) and comprises a plurality of fault detection units (31); each fault detection unit (31) comprises an input end (311) and an output end (312); One end of each first signal line (211) is connected to the input end (311), and the other end is connected to an external electrical control cabinet (4); one end of each second signal line (221) is connected to the output end (312), and the other end is connected to the end effector (23); the electrical control cabinet (4) is used for sequentially supplying power to the end effector (23) through the first cable bundle (21), the fault detection device (3) and the second cable bundle (22); In the case that the first cable bundle (21) is free of faults and the second cable bundle (22) is free of faults, the fault detection units (31) are lit up; In the case that the first cable bundle (21) has faults and / or the second cable bundle (22) has faults, the fault detection units (31) connected to the first signal lines (211) having faults are extinguished, and / or the fault detection units (31) connected to the second signal lines (221) having faults are extinguished.
2. The six-axis robot of claim 1, wherein, The robot body (2) further comprises a third-axis mechanical arm (24), a fourth-axis mechanical arm (25) and a rotating shaft (26); the third-axis mechanical arm (24) and the fourth-axis mechanical arm (25) are connected through the rotating shaft (26); the fault detection device (3) is arranged outside the rotating shaft (26).
3. The six-axis robot of claim 2, wherein, The first cable bundle (21) extends along the direction of the third-axis mechanical arm (24).
4. The six-axis robot of claim 2, wherein, The second cable bundle (22) extends along the direction of the fourth-axis mechanical arm (25).
5. The six-axis robot of claim 2, wherein, The fault detection device (3) is arranged outside the rotating shaft (26) through a fastener; the fastener comprises a screw.
6. The six-axis robot of claim 1, wherein, The number of the first signal lines (211) is equal to the number of the second signal lines (221).
7. The six-axis robot of claim 6, wherein, The number of the first signal lines (211) is equal to the number of the fault detection units (31).
8. The six-axis robot of claim 1, wherein, The fault detection unit (31) comprises a light-emitting diode.
9. The six-axis robot of claim 1, wherein, The plurality of first signal lines (211) are wrapped with a pvc corrugated pipe to form the first cable bundle (21); and the plurality of second signal lines (221) are wrapped with a pvc corrugated pipe to form the second cable bundle (22).