A six-axis industrial robot

Abstract

The utility model relates to a kind of six-axis industrial robot, including extension mechanism, wrist joint one and wrist joint two, the left side of the extension mechanism is provided with wrist joint one, the right side of the extension mechanism is provided with wrist joint two, the extension mechanism includes one extension arm shell and two extension arms. The six-axis industrial robot, by setting extension mechanism, first the two output ends of bidirectional servo motor can synchronously drive the stable rotation of two sides screw rod, then screw rod is stable in rotation again with the cooperation of same side guiding limit steel strip to make the stable movement of same side extension arm, finally by setting sliding limit block on the outer wall of extension arm, the condition of disengaging when extension arm extends to outside can be effectively prevented, so that the mechanism not only can adapt to different scene requirements by changing its length, and stability is also stronger guarantee when stretching, and the practicality is stronger.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically a six-axis industrial robot. Background Technology

[0002] A six-axis industrial robot is a widely used automation device in manufacturing. It has six joints (axes), which allow the robot to move flexibly in three-dimensional space. Each axis represents a degree of freedom, allowing the robot to perform complex operations in various directions, thus achieving high-precision and high-efficiency automated production. Six-axis industrial robots are widely used in industrial production and can perform various tasks such as welding, handling, and assembly.

[0003] Currently, there are many types of six-axis industrial robots available. For example, Chinese patent number CN202323333348.6 describes an automatic flipping device for grinding graphite boats. This patent includes a gripping mechanism and a transfer mechanism. The gripping mechanism includes a six-axis industrial robot, a positive pressure dust blowing device and a negative pressure adsorption assembly located at the output end of the six-axis industrial robot. The flipping mechanism includes a lifting motor, a mounting frame located at the output end of the lifting motor, and a support grid located on the side wall of the mounting frame. In this invention, the six-axis industrial robot controls the positive pressure dust blowing device and the negative pressure adsorption assembly to adsorb the graphite boats on the process conveying rollers. At this time, the suction cup is adsorbed on the A-side of the graphite boat, and then the six-axis industrial robot... The robot flips the bottom of the suction cup upwards, turning the graphite boat so that its B-side faces upwards. It then transfers the graphite boat to the top of the support grid, controls the suction cup to adhere to the B-side of the graphite boat, and finally, the six-axis industrial robot transfers the graphite boat to the return conveyor roller, thus realizing the flipping operation of the graphite boat. The entire process does not require manual contact with the graphite boat, achieving automatic flipping. However, in actual use, this patent and existing technologies generally use industrial robots with relatively short arm spans (not exceeding 5 meters) for operations such as handling, palletizing, and loading / unloading, and the overall length cannot be changed. This results in an inflexible application when facing different operational needs. If more of this type of robot is purchased, the processing cost will increase significantly. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a six-axis industrial robot with the advantage of freely adjusting the length of its working arm, thus solving the problem of poor compatibility between this patent and the length of traditional robot arms.

[0005] To achieve the aforementioned goal of freely adjusting the length of its working arm, this utility model provides the following technical solution: a six-axis industrial robot, including an extension mechanism, a wrist joint one, and a wrist joint two, wherein the wrist joint one is provided on the left side of the extension mechanism, and the wrist joint two is provided on the right side of the extension mechanism;

[0006] The extension mechanism includes an extension arm housing and two extension arms. A bidirectional servo motor is fixedly installed inside the extension arm housing. Threaded rods are provided at the output ends on both sides of the bidirectional servo motor. The outer walls of the two threaded rods are threadedly connected to the inner walls of the two extension arms. Two guide and limiting steel bars extending into the corresponding extension arms are provided on the inner top and inner bottom walls of the extension arm housing. Two sliding limiting blocks extending into the inner wall of the extension arm housing are provided on the outside of each extension arm.

[0007] Furthermore, each of the extended arms has two guide holes inside that are adapted to the guide and limiting steel strips, and the two are in a sliding connection relationship.

[0008] Furthermore, the inner top wall and inner bottom wall of the extended arm housing are each provided with two limiting grooves that are adapted to the sliding limiting block, and the two are in a sliding connection relationship.

[0009] Furthermore, the extended arm on the left is fixedly connected to the right end of wrist joint one, and the extended arm on the right is fixedly connected to the left end of wrist joint two.

[0010] Furthermore, a drive module is fixedly connected to one end of the left side of the wrist joint, and a mechanical arm is hinged to the front side of the drive module. An L-shaped linkage hinge seat is hinged to the bottom of the mechanical arm.

[0011] Furthermore, the bottom of the L-shaped linkage hinge seat is provided with a waist rotation joint, and the bottom of the L-shaped linkage hinge seat is fixedly connected to a base through the waist rotation joint.

[0012] Furthermore, a drive wire is provided between the L-shaped linkage hinge seat and the drive module, and a wire combing rack connected to the drive wire is provided on the front side of the mechanical arm.

[0013] Furthermore, a control module is provided on the left side of the base, and a power supply plug is inserted into the control module.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] 1. This six-axis industrial robot, by setting up an extension mechanism, firstly, the two output ends of the bidirectional servo motor can synchronously drive the threaded rods on both sides to rotate stably. Then, while the threaded rods are rotating stably, they will cooperate with the guide limit steel strip on the same side to make the extension arm on the same side move stably. Finally, by setting a sliding limit block on the outer wall of the extension arm, it can effectively prevent the extension arm from detaching when it extends outward. Thus, this mechanism can not only adapt to different scenario requirements by changing its own length, but also has strong stability during extension, making it highly practical. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a front view of the structure of this utility model;

[0018] Figure 3 This is a partial front sectional view of the structure of this utility model.

[0019] In the diagram: 1. Base; 2. L-shaped linkage hinge seat; 3. Mechanical arm; 4. Drive module; 5. Extension mechanism; 501. Extension arm shell; 502. Bidirectional servo motor; 503. Threaded rod; 504. Extension support arm; 505. Guide limit steel bar; 506. Sliding limit block; 6. Waist rotation joint; 7. Wrist joint one; 8. Wrist joint two; 9. Drive wire; 10. Wire combing rack; 11. Control template; 12. Power supply plug. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-3 A six-axis industrial robot in this embodiment includes an extension mechanism 5, a wrist joint 7, and a wrist joint 8. The wrist joint 7 is provided on the left side of the extension mechanism 5, and the wrist joint 8 is provided on the right side of the extension mechanism 5.

[0022] The extension mechanism 5 includes an extension arm housing 501 and two extension arms 504. A bidirectional servo motor 502 is fixedly installed inside the extension arm housing 501. Threaded rods 503 are provided at the output ends on both sides of the bidirectional servo motor 502. The outer walls of the two threaded rods 503 are threadedly connected to the inner walls of the two extension arms 504, respectively. Two guide and limiting steel bars 505 extending into the corresponding extension arms 504 are provided on the inner top and bottom walls of the extension arm housing 501. Simultaneously, two guide holes adapted to the guide and limiting steel bars 505 are opened inside each extension arm 504, and the two are slidably connected. Two sliding limiting blocks extending into the inner wall of the extension arm housing 501 are provided on the outside of each extension arm 504. 506. Simultaneously, two limiting grooves adapted to the sliding limiting block 506 are opened on the inner top wall and inner bottom wall of the extension arm housing 501, and the two are slidably connected. First, the two output ends of the bidirectional servo motor 502 can synchronously drive the threaded rods 503 on both sides to rotate stably. Then, while the threaded rods 503 rotate stably, they will cooperate with the guide limiting steel strip 505 on the same side to make the extension arm 504 on the same side move stably. Finally, by setting the sliding limiting block 506 on the outer wall of the extension arm 504, the extension arm 504 can be effectively prevented from detaching when it extends outward. Thus, this mechanism can not only adapt to different scenario requirements by changing its own length, but also has strong stability when extending, making it highly practical.

[0023] In the case implementation, the left extended arm 504 is fixedly connected to the right end of the wrist joint 7, and the right extended arm 504 is fixedly connected to the left end of the wrist joint 8. Both the wrist joint 7 and the wrist joint 8 are used to adjust the end posture of the robot arm. At the same time, the right side of the wrist joint 8 can be rotatably connected to different end effectors (such as grippers and welding guns).

[0024] In the case implementation, a drive module 4 is fixedly connected to the left end of the wrist joint 7. The front side of the drive module 4 is hinged to the mechanical arm 3, and the bottom of the mechanical arm 3 is hinged to the L-shaped linkage hinge seat 2. The drive module 4 is used to drive the movement of all joints of the robot.

[0025] In the case implementation, the bottom of the L-shaped linkage hinge seat 2 is provided with a waist rotation joint 6. The bottom of the L-shaped linkage hinge seat 2 is fixedly connected to the base 1 through the waist rotation joint 6, wherein the waist rotation joint 6 is used to realize the horizontal rotation of the robot's waist.

[0026] In the case implementation, a drive wire 9 is provided between the L-shaped linkage hinge seat 2 and the drive module 4, and a wire combing frame 10 connected to the drive wire 9 is provided on the front side of the mechanical arm 3. The drive wire 9 is used to conduct electrical energy.

[0027] In the implementation of the case, a control module 11 is set on the left side of the base 1. The control module 11 is used to program and control all the action logic of the robot. A power supply plug 12 is plugged into the control module 11. The power supply plug 12 is used to provide external power to the robot for operation.

[0028] When implementing this procedure, please follow these steps:

[0029] 1) First, the two output ends of the bidirectional servo motor 502 can synchronously drive the threaded rods 503 on both sides to rotate stably;

[0030] 2) Then, while the threaded rod 503 rotates stably, it will cooperate with the guide limit steel strip 505 on the same side to make the extension arm 504 on the same side move stably.

[0031] 3) Finally, by setting a sliding limit block 506 on the outer wall of the extension arm 504, it is possible to effectively prevent the extension arm 504 from detaching when it extends outward.

[0032] In summary, this six-axis industrial robot, by setting up an extension mechanism 5, firstly, allows the two output ends of the bidirectional servo motor 502 to synchronously drive the threaded rods 503 on both sides to rotate stably. Then, while the threaded rods 503 are rotating stably, they cooperate with the guide limit steel strip 505 on the same side to make the extension arm 504 on the same side move stably. Finally, by setting a sliding limit block 506 on the outer wall of the extension arm 504, it can effectively prevent the extension arm 504 from detaching when extending outward. Thus, this mechanism can not only adapt to different scenario requirements by changing its own length, but also has strong stability when extending, making it highly practical. It solves the problem in this patent and existing technologies that the industrial robots used for handling, palletizing, loading and unloading operations generally have relatively short arm spans (not exceeding 5 meters) and cannot change their overall length. This results in an inflexible application when facing different operational requirements, and if more of this type of robot is purchased, the processing cost will increase significantly.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A six-axis industrial robot, comprising an extension mechanism (5), a wrist joint one (7), and a wrist joint two (8), characterized in that: A wrist joint (7) is provided on the left side of the extension mechanism (5), and a wrist joint (8) is provided on the right side of the extension mechanism (5). The extension mechanism (5) includes an extension arm housing (501) and two extension arms (504). A bidirectional servo motor (502) is fixedly installed inside the extension arm housing (501). Threaded rods (503) are provided at the output ends on both sides of the bidirectional servo motor (502). The outer walls of the two threaded rods (503) are threadedly connected to the inner walls of the two extension arms (504). Two guide and limiting steel bars (505) extending into the corresponding extension arms (504) are provided on the inner top wall and inner bottom wall of the extension arm housing (501). Two sliding limiting blocks (506) extending into the inner wall of the extension arm housing (501) are provided on the outside of each extension arm (504).

2. A six-axis industrial robot according to claim 1, characterized in that: Each of the extended arms (504) has two guide holes inside that are adapted to the guide limit steel strip (505), and the two are in a sliding connection relationship.

3. A six-axis industrial robot according to claim 1, characterized in that: The inner top wall and inner bottom wall of the extension arm housing (501) are provided with two limiting grooves that are adapted to the sliding limiting block (506), and the two are in a sliding connection relationship.

4. A six-axis industrial robot according to claim 1, characterized in that: The extended arm (504) on the left is fixedly connected to the right end of the wrist joint (7), and the extended arm (504) on the right is fixedly connected to the left end of the wrist joint (8).

5. A six-axis industrial robot according to claim 1, characterized in that: A drive module (4) is fixedly connected to the left end of the wrist joint (7). A mechanical arm (3) is hinged to the front side of the drive module (4). An L-shaped linkage hinge seat (2) is hinged to the bottom of the mechanical arm (3).

6. A six-axis industrial robot according to claim 5, characterized in that: The bottom of the L-shaped linkage hinge seat (2) is provided with a waist rotation joint (6), and the bottom of the L-shaped linkage hinge seat (2) is fixedly connected to the base (1) through the waist rotation joint (6).

7. A six-axis industrial robot according to claim 5, characterized in that: A drive wire (9) is provided between the L-shaped linkage hinge seat (2) and the drive module (4), and a wire combing frame (10) connected to the drive wire (9) is provided on the front side of the mechanical arm (3).

8. A six-axis industrial robot according to claim 6, characterized in that: A control module (11) is provided on the left side of the base (1), and a power supply plug (12) is plugged into the control module (11).

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