Six-axis adsorption type mechanical arm and mobile carrying robot
By using a high-resolution encoder and a closed-loop feedback system to drive the joint motors in a six-axis robotic arm, combined with an adsorption design, the problems of traditional motor drives are solved, achieving efficient and precise movement of the robotic arm and applicability to multiple scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU MARITIME INST
- Filing Date
- 2025-09-08
- Publication Date
- 2026-07-24
AI Technical Summary
Existing six-axis robotic arms generally use traditional motor drives, which have problems such as poor starting characteristics, poor speed regulation performance and high maintenance costs, resulting in unsmooth movement, difficulty in adapting to high-precision control scenarios, and low work efficiency.
The joint motor drive uses a high-resolution encoder and a closed-loop feedback system. Each arm joint is equipped with a joint motor. Combined with an adsorption design, including a suction cup, a pressure valve and a vacuum pump, it achieves precise control of speed and torque. Adsorption components replace the gripper design.
It enables smooth movement of each joint of the robotic arm, improves the accuracy and efficiency of operations, is applicable to more work scenarios, and significantly improves work efficiency.
Smart Images
Figure CN224544573U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of logistics handling equipment technology, and in particular to a six-axis adsorption robotic arm and a mobile handling robot. Background Technology
[0002] With the rapid development of my country's logistics and express delivery industry, the number of unmanned logistics intelligent vehicles has increased accordingly. However, after the unmanned intelligent vehicles arrive at the logistics station, a large number of logistics packages still need to be transferred by manpower. The six-axis robotic arm has strong continuous operation capability and can accurately and quickly perform a large number of repetitive tasks such as handling, sorting and data entry. Therefore, the application of the six-axis robotic arm in logistics handling can effectively improve handling efficiency.
[0003] However, most robotic arms currently use traditional motors to drive their joints. Traditional motors have high starting current and low torque, often resulting in poor starting characteristics, poor speed regulation performance, and high maintenance costs. This leads to less smooth movement of the robotic arm's multiple joints, making it difficult to adapt to high-precision control scenarios and resulting in low work efficiency. Summary of the Invention
[0004] To address the shortcomings of existing technologies, this application provides a six-axis adsorption-type robotic arm and a mobile handling robot to solve the problems existing in related technologies. The technical solution is as follows:
[0005] In a first aspect, embodiments of this application provide a six-axis adsorption-type robotic arm, comprising: a base, a first arm segment, a second arm segment, a third arm segment, a fourth arm segment, an adsorption assembly, and a first transmission assembly, a second transmission assembly, a first joint motor, a second joint motor, and a third joint motor; the first transmission assembly is disposed on the base, and its output end is connected to the first arm segment; the second transmission assembly is disposed on the first arm segment, and its output end is connected to the second arm segment; the second joint motor is disposed on the second arm segment, and its output end is connected to the third arm segment; the third joint motor is disposed on the third arm segment, and its output end is connected to the fourth arm segment; the first joint motor is disposed on the drive end of the second transmission assembly; and the adsorption assembly is disposed on the movable end of the fourth arm segment.
[0006] In one embodiment, the first transmission assembly includes: a bottom bearing housing, a first drive motor, and a first synchronous pulley set; a crossed roller bearing is disposed on the bottom bearing housing; the bottom bearing housing is disposed on the base; the input end of the first synchronous pulley set is connected to the first drive motor, and the output end of the first synchronous pulley set is respectively connected to the crossed roller bearing and the first arm section.
[0007] In one embodiment, the second transmission assembly includes: a second synchronous pulley group; the second synchronous pulley group is disposed on the first boom segment; the input end of the second synchronous pulley group is connected to the first joint motor, and the output end of the second synchronous pulley group is connected to the second boom segment.
[0008] In one embodiment, a diamond-shaped bearing seat is provided on the first boom segment; a connecting shaft is rotatably provided on the diamond-shaped bearing seat; a first coupling and a second coupling are provided on the connecting shaft; the first coupling is connected to the output end of the second synchronous pulley set; and the second coupling is connected to the second boom segment.
[0009] In one embodiment, a mounting platform is rotatably disposed on the fourth arm section; a first bevel gear is rotatably disposed on the mounting platform; electric drive components adapted to the first bevel gear are disposed on both sides of the fourth arm section; and the adsorption component is disposed on the first bevel gear.
[0010] In one embodiment, the electric drive assembly includes: a second drive motor, a second bevel gear, and a third synchronous pulley set; the second drive motor is mounted on the fourth arm section; the second bevel gear is rotatably mounted on the mounting platform and meshes with the first bevel gear; the input end of the third synchronous pulley set is connected to the second drive motor, and the output end of the third synchronous pulley set is connected to the second bevel gear.
[0011] In one embodiment, the adsorption assembly includes: a suction cup, a pressure valve, and a vacuum pump; the suction cup is disposed on the first bevel gear; the vacuum pump is disposed on the base; an air pipe is disposed on the output end of the vacuum pump; the air pipe is connected to the suction cup; and the pressure valve is disposed on the air pipe.
[0012] In one embodiment, the device further includes a visual sensor that can assist the adsorption assembly in identifying materials; a support frame is provided on the third arm section; and the visual sensor is disposed on the support frame.
[0013] Secondly, embodiments of this application provide a mobile handling robot, including an engineering chassis and a six-axis adsorption robotic arm.
[0014] In one embodiment, a lifting and extending mechanism is provided on the engineering chassis to coordinate with a six-axis adsorption robotic arm to transport or grip materials.
[0015] The advantages or beneficial effects of the above technical solutions include at least the following:
[0016] The six-axis adsorption-type robotic arm of this application is equipped with a joint motor at the connection of each arm segment. The joint motor can achieve the stability of rotation speed and the accuracy of torque control through a high-resolution encoder and a closed-loop feedback system. By driving each arm segment through the joint motor, the joints of the robotic arm can smoothly complete multi-angle movements, and complete the work more accurately and efficiently. The adsorption design at the end of the robotic arm replaces the existing gripper design, making the robotic arm applicable to more different working scenarios and significantly improving work efficiency.
[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description
[0018] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.
[0019] Figure 1 This is a first structural schematic diagram of the present invention;
[0020] Figure 2 This is a schematic diagram of the second structure of this utility model;
[0021] Figure 3 yes Figure 2 A magnified view of a portion of the image;
[0022] Figure 4 This is a cross-sectional schematic diagram of the first transmission component in this utility model;
[0023] Figure 5 This is a schematic diagram of the structure of the fourth arm segment in this utility model;
[0024] Figure 6 This is a structural schematic diagram of the mobile handling robot in this utility model.
[0025] In the diagram: 101, First boom section; 102, Second boom section; 103, Third boom section; 104, Fourth boom section; 105, Adsorption assembly; 201, First transmission assembly; 202, Second transmission assembly; 301, First joint motor; 302, Second joint motor; 303, Third joint motor; 401, Bottom bearing housing; 402, First drive motor; 403, First synchronous pulley set; 404, Crossed roller bearing; 501, Diamond bearing housing; 502, Connecting shaft; 503, First coupling; 504, Second coupling; 601, Mounting platform; 602, First bevel gear; 603, Electric drive assembly; 701, Second drive motor; 702, Second bevel gear; 703, Third synchronous pulley set; 801, Vision sensor; 802, Support frame; 901, Lifting and extending mechanism. Detailed Implementation
[0026] In the following description, only certain exemplary embodiments are briefly described to make the objectives, features, and advantages of this invention more apparent. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered exemplary in nature and not restrictive.
[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0028] Example 1
[0029] like Figures 1 to 3 As shown, this embodiment provides a six-axis adsorption-type robotic arm, including: a base, a first arm segment 101, a second arm segment 102, a third arm segment 103, a fourth arm segment 104, an adsorption assembly 105, a first transmission assembly 201, a second transmission assembly 202, a first joint motor 301, a second joint motor 302, and a third joint motor 303; the first transmission assembly 201 is disposed on the base, and the output end of the first transmission assembly 201 is connected to the first arm segment 101; the second transmission assembly 202 is disposed on the first arm segment 101. The second transmission component 202 is connected to the second arm section 102; the second joint motor 302 is disposed on the second arm section 102, and the output end of the second joint motor 302 is connected to the third arm section 103; the third joint motor 303 is disposed on the third arm section 103, and the output end of the third joint motor 303 is connected to the fourth arm section 104; the first joint motor 301 is disposed on the driving end of the second transmission component 202; and the adsorption component 105 is disposed on the movable end of the fourth arm section 104.
[0030] In this embodiment, the first joint motor 301, the second joint motor 302, and the third joint motor 303 are the drive sources at each joint of the robotic arm. Specifically, the first joint motor 301 and the second joint motor 302 are Damiao 8009P model joint motors, and the third joint motor 303 is an M6020 model brushless motor. The joint motors can achieve a speed stability of ±0.1% and a torque control accuracy of ±0.2 N·m through a high-resolution encoder and a closed-loop feedback system, thus completing the work more accurately and efficiently. They also feature high torque output and high modular integration.
[0031] The base is not shown in the figure. The first arm section 101, the second arm section 102, the third arm section 103 and the fourth arm section 104 are all composed of several carbon fiber plates, several CNC machined parts, several connecting shafts 502 and several bolts and nuts connected and installed, which can achieve lightweight design.
[0032] The first transmission component 201 is mounted on the base, and its output end is connected to the first arm section 101, so that the first transmission component 201 can drive the first arm section 101 to rotate on the base.
[0033] The first joint motor 301 is fixed on the first arm section 101 as a drive source. The output shaft of the first joint motor 301 is connected to the drive end (i.e., input end) of the second transmission component 202. The second transmission component 202 is disposed on the first arm section 101, and its output end is connected to the second arm section 102. When the first joint motor 301 is working, it can transmit torque to the second arm section 102 through the second transmission component 202, so that the second transmission component 202 can drive the second arm section 102 to achieve a limited angle of pitch movement on the first arm section 101.
[0034] The second joint motor 302 is fixed on the second arm section 102 as a drive source. The output shaft of the second joint motor 302 is connected to the third arm section 103. The third arm section 103 is directly driven by the second joint motor 302 to realize the pitch movement of the third arm section 103 on the second arm section 102 at a limited angle.
[0035] The third joint motor 303 is fixed on the third arm section 103 as a drive source. The output shaft of the third joint motor 303 is connected to the fourth arm section 104. The fourth arm section 104 is directly driven by the third joint motor 303 to realize the rotational movement of the fourth arm section 104 on the third arm section 103.
[0036] The adsorption component 105 is the end effector of the robotic arm. It is located on the movable end of the fourth arm section 104. Through the connection between the different arm sections, the robotic arm can drive the adsorption component 105 to achieve multiple pitch and rotation movements at different angles when working, so as to complete the work more accurately and efficiently. In addition, the adsorption design at the end of the robotic arm replaces the existing gripper design, making the robotic arm applicable to more different working scenarios and significantly improving work efficiency.
[0037] Furthermore, such as Figure 4 As shown, the first transmission assembly 201 includes: a bottom bearing housing 401, a first drive motor 402, and a first synchronous pulley set 403; a crossed roller bearing 404 is provided on the bottom bearing housing 401; the bottom bearing housing 401 is disposed on the base; the input end of the first synchronous pulley set 403 is connected to the first drive motor 402, and the output end of the first synchronous pulley set 403 is respectively connected to the crossed roller bearing 404 and the first arm section 101.
[0038] In this embodiment, the first drive motor 402 is specifically a Damiao 4310 model motor; the cross roller bearing 404 is built into the bottom bearing housing 401, and a retaining ring is provided on the bottom bearing housing 401. The retaining ring surrounds the outside of the cross roller bearing 404 and can protect the cross roller bearing 404.
[0039] The first synchronous pulley set 403 consists of a first driving pulley, a first driven pulley, and a first synchronous belt. The first driving pulley is mounted on the output shaft of the first drive motor 402. The first driven pulley is rotatably mounted on the bottom bearing seat 401, and its lower end face is connected to a crossed roller bearing 404. The crossed roller bearing 404 can effectively reduce the working loss generated when the first driven pulley rotates. The upper end face of the first driven pulley is connected to the first arm section 101. When the first drive motor 402 is working, the torque can be transmitted to the first arm section 101 through the transmission effect of the first synchronous pulley set 403, so that the first arm section 101 can rotate on the bottom bearing seat 401.
[0040] Furthermore, such as Figure 2 and Figure 3 As shown, the second transmission assembly 202 includes: a second synchronous pulley group; the second synchronous pulley group is disposed on the first arm section 101; the input end of the second synchronous pulley group is connected to the first joint motor 301, and the output end of the second synchronous pulley group is connected to the second arm section 102.
[0041] In this embodiment, the second synchronous pulley group consists of a second driving pulley, a second driven pulley, and a second synchronous belt. A through hole is provided on the first arm section 101. The output shaft of the first joint motor 301 passes through the through hole and connects to the second driving pulley. The second driven pulley is installed on the second arm section 102. When the first joint motor 301 is working, the torque can be transmitted to the second arm section 102 through the transmission effect of the second synchronous pulley group, so that the second arm section 102 can achieve a limited angle of pitch movement on the first arm section 101.
[0042] Furthermore, a rhomboid bearing seat 501 is provided on the first boom section 101; a connecting shaft 502 is rotatably provided on the rhomboid bearing seat 501; a first coupling 503 and a second coupling 504 are provided on the connecting shaft 502; the first coupling 503 is connected to the output end of the second synchronous pulley group; the second coupling 504 is connected to the second boom section 102.
[0043] In this embodiment, rhomboid bearing seats 501 are provided on both outer sides of the connection position between the first arm section 101 and the second arm section 102. A connecting shaft 502 is rotatably arranged between the two rhomboid bearing seats 501. The connecting shaft 502 is specifically a D-shaped shaft, which is clamped by a thrust ring on the rhomboid bearing seat 501. A first coupling 503 is installed on one side of the connecting shaft 502 and connected to the second driven pulley. A second coupling 504 is installed on one side of the connecting shaft 502 and connected to the second arm section 102. Through the connection relationship between the rhomboid bearing seat 501, the connecting shaft 502, the first coupling 503, and the second coupling 504, the rotatable connection between the second arm section 102 and the first arm section 101 can be made more stable.
[0044] Furthermore, such as Figure 5 As shown, a mounting platform 601 is rotatably mounted on the fourth arm section 104; a first bevel gear 602 is rotatably mounted on the mounting platform 601; electric drive components 603 adapted to the first bevel gear 602 are provided on both sides of the fourth arm section 104; and the adsorption component 105 is mounted on the first bevel gear 602.
[0045] In this embodiment, the mounting platform 601 has no driving source (equivalent to a free joint). The mounting platform 601 is movably mounted on the fourth arm section 104. Limiting blocks (not shown in the figure) are provided on both sides of the lower end of the mounting platform 601. When the mounting platform 601 rotates freely at a certain angle, the limiting block abuts against the fourth arm section 104, and the mounting platform 601 cannot continue to rotate, thereby achieving the effect of limiting the movement of the mounting platform 601.
[0046] A first bevel gear 602 is provided on the mounting platform 601. A bearing is provided at the connection between the first bevel gear 602 and the mounting platform 601, which allows the first bevel gear 602 to rotate more smoothly on the mounting platform 601. Electric drive components 603 that can drive the first bevel gear 602 are provided on both sides of the fourth arm section 104. The adsorption component 105 is installed on the first bevel gear 602. When the electric drive components 603 on both sides are working, they can work together to drive the first bevel gear 602 to rotate, thereby realizing the rotational movement of the adsorption component 105 on the fourth arm section 104.
[0047] Further, the electric drive assembly 603 includes: a second drive motor 701, a second bevel gear 702, and a third synchronous pulley set 703; the second drive motor 701 is mounted on the fourth arm section 104; the second bevel gear 702 is rotatably mounted on the mounting platform 601, and the second bevel gear 702 meshes with the first bevel gear 602; the input end of the third synchronous pulley set 703 is connected to the second drive motor 701, and the output end of the third synchronous pulley set 703 is connected to the second bevel gear 702.
[0048] In this embodiment, the third synchronous pulley group 703 consists of a third driving pulley, a third driven pulley, and a third synchronous belt. The second drive motor 701 is specifically an M2006 brushless motor. The second drive motor 701 is mounted on the fourth arm section 104. The second bevel gear 702 is rotatably mounted on the fourth arm section 104 and meshes with the first bevel gear 602. A bearing is also provided at the connection between the second bevel gear 702 and the fourth arm section 104 to make the rotation of the second bevel gear 702 smoother.
[0049] The output shaft of the second drive motor 701 is connected to the third driving pulley, and the third driven pulley is connected to the second bevel gear 702. When the second drive motor 701 is working, the torque can be transmitted to the first bevel gear 602 through the transmission effect of the third synchronous pulley group 703, thereby realizing the rotational movement of the first bevel gear 602 on the fourth arm section 104.
[0050] Furthermore, the adsorption assembly 105 includes: a suction cup, a pressure valve, and a vacuum pump; the suction cup is disposed on the first bevel gear 602; the vacuum pump is disposed on the base; an air pipe is disposed on the output end of the vacuum pump; the air pipe is connected to the suction cup; and the pressure valve is disposed on the air pipe.
[0051] In this embodiment, the suction cup is an elastic structure and is mounted on the first bevel gear 602. The first bevel gear 602 can drive the suction cup to rotate on the fourth arm section 104. Through the air circuit design of the vacuum pump, air pipe and air pressure valve and other structures (the air circuit design is a common technical means for pneumatic technicians and will not be described in detail here), the suction cup can generate suction force when it is working. As the end effector of the robotic arm, the suction design is more flexible and convenient than the existing gripper design, and can be applied to more different working scenarios, thereby significantly improving work efficiency.
[0052] Furthermore, it also includes a vision sensor 801 that can assist the adsorption component 105 in identifying materials; a support frame 802 is provided on the third arm section 103; the vision sensor 801 is provided on the support frame 802.
[0053] In this embodiment, a support frame 802 is provided on the third arm section 103, and a vision sensor 801 is detachably mounted on the support frame 802 and faces the adsorption component 105. The vision sensor 801 can assist the adsorption component 105 in material identification. The vision sensor 801 is a commonly used technical means by those skilled in the art, and will not be described in detail here.
[0054] Example 2
[0055] like Figure 6 As shown, this embodiment provides a mobile handling robot, including an engineering chassis and a six-axis adsorption robotic arm.
[0056] In this embodiment, the six-axis adsorption robotic arm can be applied to different mobile handling robots. The six-axis adsorption robotic arm has all the technical effects of Embodiment 1, which will not be repeated here.
[0057] Furthermore, a lifting and extending mechanism 901 is provided on the engineering chassis, which can work in conjunction with a six-axis adsorption robotic arm to transport or grip materials.
[0058] In this embodiment, the base of the six-axis adsorption robotic arm is mounted on the engineering chassis, and two lifting and extending mechanisms 901 are respectively set on both sides of the six-axis adsorption robotic arm, which can work together to transport or grip materials, thereby enabling the mobile handling robot to meet more different work scenarios.
[0059] This invention relates to a six-axis adsorption-type robotic arm and a mobile handling robot. The functions of each module in each device of the embodiment can be found in the corresponding description in the above method. It has the advantage of significantly improving the working efficiency of the robotic arm through joint motor drive and end-effector adsorption design.
[0060] In this specification, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.
[0061] In this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting the invention.
[0062] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A six-axis adsorption-type robotic arm, characterized in that, include: The base, the first arm section (101), the second arm section (102), the third arm section (103), the fourth arm section (104), the adsorption assembly (105), and the first transmission assembly (201), the second transmission assembly (202), the first joint motor (301), the second joint motor (302), and the third joint motor (303); The first transmission assembly (201) is disposed on the base, and the output end of the first transmission assembly (201) is connected to the first arm section (101); The second transmission assembly (202) is disposed on the first arm section (101), and the output end of the second transmission assembly (202) is connected to the second arm section (102); The second joint motor (302) is mounted on the second arm segment (102), and the output end of the second joint motor (302) is connected to the third arm segment (103); The third joint motor (303) is mounted on the third arm section (103), and the output end of the third joint motor (303) is connected to the fourth arm section (104); The first joint motor (301) is located on the drive end of the second transmission assembly (202); the adsorption assembly (105) is located on the movable end of the fourth arm section (104).
2. The six-axis adsorption robotic arm according to claim 1, characterized in that, The first transmission assembly (201) includes: a bottom bearing housing (401), a first drive motor (402), and a first synchronous pulley set (403); a crossed roller bearing (404) is provided on the bottom bearing housing (401); The bottom bearing housing (401) is disposed on the base; the input end of the first synchronous pulley group (403) is connected to the first drive motor (402), and the output end of the first synchronous pulley group (403) is connected to the crossed roller bearing (404) and the first arm section (101) respectively.
3. The six-axis adsorption robotic arm according to claim 1, characterized in that, The second transmission assembly (202) includes: a second synchronous pulley set; the second synchronous pulley set is disposed on the first boom section (101); the input end of the second synchronous pulley set is connected to the first joint motor (301), and the output end of the second synchronous pulley set is connected to the second boom section (102).
4. The six-axis adsorption robotic arm according to claim 3, characterized in that, A rhomboid bearing seat (501) is provided on the first boom section (101); a connecting shaft (502) is rotatably provided on the rhomboid bearing seat (501); a first coupling (503) and a second coupling (504) are provided on the connecting shaft (502); the first coupling (503) is connected to the output end of the second synchronous pulley group; the second coupling (504) is connected to the second boom section (102).
5. The six-axis adsorption robotic arm according to claim 1, characterized in that, A mounting platform (601) is rotatably mounted on the fourth arm section (104); a first bevel gear (602) is rotatably mounted on the mounting platform (601); electric drive assemblies (603) adapted to the first bevel gear (602) are provided on both sides of the fourth arm section (104); and the adsorption assembly (105) is mounted on the first bevel gear (602).
6. The six-axis adsorption robotic arm according to claim 5, characterized in that, The electric drive assembly (603) includes: a second drive motor (701), a second bevel gear (702), and a third synchronous pulley set (703); The second drive motor (701) is mounted on the fourth arm section (104); the second bevel gear (702) is rotatably mounted on the mounting platform (601), and the second bevel gear (702) meshes with the first bevel gear (602); the input end of the third synchronous pulley group (703) is connected to the second drive motor (701), and the output end of the third synchronous pulley group (703) is connected to the second bevel gear (702).
7. The six-axis adsorption robotic arm according to claim 5, characterized in that, The adsorption assembly (105) includes: a suction cup, a pressure valve, and a vacuum pump; the suction cup is disposed on the first bevel gear (602); the vacuum pump is disposed on the base; an air pipe is disposed on the output end of the vacuum pump; the air pipe is connected to the suction cup; and the pressure valve is disposed on the air pipe.
8. The six-axis adsorption robotic arm according to claim 1, characterized in that, It also includes a vision sensor (801) that can assist the adsorption assembly (105) in identifying materials; a support frame (802) is provided on the third arm section (103); the vision sensor (801) is provided on the support frame (802).
9. A mobile transport robot, characterized in that, It includes an engineering chassis and a six-axis adsorption robotic arm as described in any one of claims 1-8.
10. The mobile handling robot according to claim 9, characterized in that, A lifting and extending mechanism (901) is installed on the engineering chassis to coordinate with a six-axis adsorption robotic arm to transport or grip materials.