Industrial work type six-degree-of-freedom robot

Abstract

The utility model discloses an industrial operation type six -freedom degree robot, including six -axis robot body, the bottom fixedly connected with base of six -axis robot body, the six -axis robot body end -of -arm axle is fixedly connected with the fifth axle through end -of -arm flange, end -of -arm flange is fixedly connected with the grab seat through bolt. The utility model discloses, through setting up material receiving box, rotating rod, worm and servo motor etc., worm drives worm gear rotation, worm gear drives the rotation of the pivot, the pivot drives the rotation of the connecting rod, and the connecting rod drives the rotation of the material receiving box through the inner sleeve rod, makes the material receiving box rotate to the just below workpiece, then again through the piston end of cylinder drives dustproof box to move upwards, makes workpiece and the inner bottom of material receiving box be in conformity, avoids the change of workpiece surface curvature or the higher smoothness, leads to rubber block and workpiece's friction coefficient to be not enough to resist the inertial force or centrifugal force in movement to workpiece drop to the ground and cause damage.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to an industrial six-degree-of-freedom robot. Background Technology

[0002] Six-degree-of-freedom (6DOF) robots, also known as six-axis robots, have six axes, each driven by a motor and reducer. Each axis moves in a different way and direction, simulating the movements of the joints in a human hand. However, existing 6DOF robots often fail to grip curved objects stably when demonstrating grasping them to students, causing the objects to easily fall. Furthermore, current commercially available 6DOF robots generally only have simple grasping functions. For multi-directional teaching, such as welding, cutting, and drilling, additional 6DOF robots need to be selected, increasing teaching costs. Therefore, this article is published on [public account name missing]. CN212859464U discloses "an industrial operation type six-degree-of-freedom serial robot". This solution connects an air supply branch pipe to an air pump. Compressed air, controlled by a two-position three-way solenoid valve, passes through a straight supply pipe, an upper connecting pipe, a filter sealing box, a lower connecting pipe, and a spring supply pipe, then through the gripper seat and into the interior of the air supply steel pipe. A pneumatic telescopic reset rod drives the movable claws to grasp curved products. By setting multiple movable claws that cooperate with each other, the pneumatic method enables the multiple movable claws to grasp and release synchronously. Rubber blocks are also set to increase friction, thereby achieving stable grasping and facilitating teaching demonstrations.

[0003] However, in this solution, if the curvature of the workpiece surface changes or the smoothness is high, the coefficient of friction between the rubber block and the workpiece may not be sufficient to resist the inertial force or centrifugal force during movement, causing the workpiece to fall to the ground and thus be damaged. Therefore, an industrial operation type six-degree-of-freedom robot is proposed. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an industrial six-degree-of-freedom robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an industrial six-degree-of-freedom robot, comprising a six-axis robot body, a base fixedly connected to the bottom of the six-axis robot body, the end axis of the six-axis robot body being fixedly connected to the fifth axis via an end axis flange, a gripping seat being fixedly connected to the end axis flange via bolts, the gripping seat being provided with multiple movable claws, a fixing plate being fixedly connected to one side of the fifth axis, the fixing plate being provided with an anti-fall structure, and a quick-release assembly being provided below the fixing plate;

[0006] The anti-fall structure includes a cylinder fixedly connected to the upper surface of the fixed plate. A dustproof box is fixedly connected to the piston end of the cylinder. When the movable claw grabs the workpiece, the controller controls the cylinder, and the piston end of the cylinder drives the dustproof box to move downward, causing the receiving box below the dustproof box to move downward.

[0007] As a further description of the above technical solution:

[0008] The dustproof box is rotatably connected to a rotating rod, and a worm gear is fixedly connected to the rotating rod. When the rotating rod rotates, it drives the worm gear to rotate.

[0009] As a further description of the above technical solution:

[0010] A servo motor is fixedly connected to the outer side of the dustproof box. The output shaft of the servo motor is fixedly connected to one end of the rotating rod. The controller controls the servo motor to drive the rotating rod to rotate.

[0011] As a further description of the above technical solution:

[0012] The bottom of the dustproof box is rotatably connected to a rotating shaft, and a worm gear is fixedly connected to the rotating shaft. The worm gear meshes with a worm, the worm drives the worm gear to rotate, and the worm gear drives the rotating shaft to rotate.

[0013] As a further description of the above technical solution:

[0014] A rotating disk is fixedly connected to the bottom of the rotating shaft, and a connecting rod is fixedly connected to one side of the rotating disk. A snap-fit ​​groove is opened on one side of the connecting rod, and an inner sleeve rod is snapped into the snap-fit ​​groove. A snap-fit ​​hole is opened at the bottom of the inner sleeve rod, and a receiving box is fixedly connected to one end of the inner sleeve rod. The rotating shaft drives the connecting rod to rotate, and the connecting rod drives the receiving box to rotate through the inner sleeve rod, so that the receiving box rotates to be directly below the workpiece.

[0015] As a further description of the above technical solution:

[0016] The quick-release assembly includes a fixed frame fixedly connected to the bottom of the connecting rod. A sliding rod is slidably connected through the bottom of the fixed frame. A snap-fit ​​post is fixedly connected to one end of the sliding rod. The snap-fit ​​post is slidably connected through the bottom of the connecting rod and is adapted to the snap-fit ​​hole. Pulling the sliding rod causes the snap-fit ​​post to move, disengaging it from the snap-fit ​​hole and compressing the return spring, making it easy to pull out the receiving box.

[0017] As a further description of the above technical solution:

[0018] A return spring is fitted on the sliding rod. One end of the return spring is fixedly connected to the bottom of the inner frame, and the other end is fixedly connected to the bottom of the snap-fit ​​post. Under the elastic reset of the return spring, the snap-fit ​​post is pushed into the snap-fit ​​hole, which facilitates the snap-fit ​​and fixation of the inner rod.

[0019] This utility model has the following beneficial effects:

[0020] 1. Compared with existing technologies, this industrial six-degree-of-freedom robot, through the configuration of cylinders, dust boxes, rotating shafts, worm gears, rotary disks, connecting rods, inner sleeve rods, receiving boxes, rotating rods, worm gears, and servo motors, uses cylinders to drive the dust box downwards, causing the receiving box below it to move downwards. Then, the controller controls the servo motor, which drives the rotating rod to rotate, which in turn drives the worm gear to rotate, which in turn drives the rotating shaft to rotate. The rotating shaft then drives the connecting rod, which, through the inner sleeve rod, drives the receiving box to rotate, positioning it directly below the workpiece. The piston of the cylinder then again drives the dust box upwards, bringing the workpiece into contact with the inner bottom of the receiving box. This prevents the workpiece from falling to the ground and being damaged due to insufficient friction coefficient between the rubber block and the workpiece caused by variations in workpiece surface curvature or high smoothness, which could result in insufficient resistance to inertial or centrifugal forces during movement.

[0021] 2. Compared with existing technologies, this industrial six-degree-of-freedom robot, by setting up a fixed frame, sliding rod, locking pin, and return spring, pulls the sliding rod, which drives the locking pin to move, causing the locking pin to disengage from the locking hole and compressing the return spring, and then pulls out the receiving box, making it convenient for workers to change the matching receiving box according to the size of the workpiece. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of an industrial six-degree-of-freedom robot proposed in this utility model;

[0023] Figure 2 This utility model proposes an industrial six-degree-of-freedom robot. Figure 1 - Enlarged view of section A;

[0024] Figure 3 This is a plan view of a six-degree-of-freedom industrial robot proposed in this utility model;

[0025] Figure 4 This is a schematic diagram of an anti-fall structure for an industrial six-degree-of-freedom robot proposed in this utility model;

[0026] Figure 5 This is a cross-sectional view of the dustproof box of an industrial six-degree-of-freedom robot proposed in this utility model;

[0027] Figure 6 This is an exploded view of the anti-fall structure of an industrial six-degree-of-freedom robot proposed in this utility model;

[0028] Figure 7 This is a schematic diagram of a quick-release assembly for an industrial six-degree-of-freedom robot proposed in this utility model.

[0029] Legend:

[0030] 1. Six-axis robot body; 2. Base; 3. Fifth axis; 4. End axis flange; 5. Movable claw; 6. Fixing plate; 7. Anti-fall structure; 701. Cylinder; 702. Dustproof box; 703. Rotary shaft; 704. Worm gear; 705. Rotary disk; 706. Connecting rod; 707. Inner sleeve rod; 708. Receiving box; 709. Rotating rod; 710. Worm gear; 711. Servo motor; 8. Quick release assembly; 801. Fixing frame; 802. Sliding rod; 803. Snap-fit ​​post; 804. Return spring. Detailed Implementation

[0031] 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.

[0032] Reference Figures 1 to 7 This utility model provides an industrial six-degree-of-freedom robot: including a six-axis robot body 1, a base 2 fixedly connected to the bottom of the six-axis robot body 1, the end axis of the six-axis robot body 1 fixedly connected to the fifth axis 3 through the end axis flange 4, the end axis flange 4 fixedly connected to the gripper seat by bolts, the gripper seat is provided with multiple movable claws 5, a fixing plate 6 fixedly connected to one side of the fifth axis 3, the fixing plate 6 is provided with an anti-fall structure 7, and a quick release assembly 8 is provided below the fixing plate 6. The multiple movable claws 5 grip the workpiece to improve the gripping stability.

[0033] To prevent workpieces from falling, the anti-fall structure 7 includes a cylinder 701 fixedly connected to the upper surface of the fixed plate 6. A dustproof box 702 is fixedly connected to the piston end of the cylinder 701. A rotating rod 709 is rotatably connected inside the dustproof box 702. A servo motor 711 is fixedly connected to one side of the dustproof box 702. The output shaft of the servo motor 711 is fixedly connected to one end of the rotating rod 709. A worm gear 710 is fixedly connected to the rotating rod 709. A rotating shaft 703 is rotatably connected to the bottom of the shaft, and a worm gear 704 is fixedly connected to the rotating shaft 703. The worm gear 704 meshes with a worm 710. A rotating disk 705 is fixedly connected to the bottom of the rotating shaft 703. A connecting rod 706 is fixedly connected to one side of the rotating disk 705. A snap-fit ​​groove is opened on one side of the connecting rod 706, and an inner sleeve rod 707 is snap-fitted into the snap-fit ​​groove. A snap-fit ​​hole is opened at the bottom of the inner sleeve rod 707, and a receiving box 708 is fixedly connected to one end of the inner sleeve rod 707. When After the movable claw 5 grabs the workpiece, the controller controls the cylinder 701. The piston end of the cylinder 701 drives the dust box 702 to move downward, causing the receiving box 708 below the dust box 702 to move downward. Then, the controller controls the servo motor 711, which drives the rotating rod 709 to rotate. The rotating rod 709 drives the worm gear 710 to rotate, the worm gear 710 drives the worm wheel 704 to rotate, the worm wheel 704 drives the rotating shaft 703 to rotate, and the rotating shaft 703 drives the connecting rod 706 to rotate. The connecting rod 706 drives the receiving box 708 to rotate through the inner sleeve rod 707, so that the receiving box 708 rotates to be directly below the workpiece. Then, the piston end of the cylinder 701 drives the dust box 702 to move upward again, so that the workpiece is in contact with the inner bottom of the receiving box 708. This prevents the workpiece from falling to the ground and being damaged due to insufficient friction coefficient between the rubber block and the workpiece because of changes in the curvature or high smoothness of the workpiece surface, which would otherwise be insufficient to resist the inertial force or centrifugal force during movement.

[0034] To facilitate disassembly and assembly, the quick-release assembly 8 includes a fixed frame 801 fixedly connected to the bottom of the connecting rod 706. A sliding rod 802 is slidably connected through the bottom of the fixed frame 801. A locking post 803 is fixedly connected to one end of the sliding rod 802. A return spring 804 is sleeved on the sliding rod 802. One end of the return spring 804 is fixedly connected to the inner bottom of the fixed frame 801, and the other end is fixedly connected to the bottom of the locking post 803. The locking post 803 is slidably connected through the bottom of the connecting rod 706 and is adapted to the locking hole. Pulling the sliding rod 802 causes the locking post 803 to move, disengaging the locking post 803 from the locking hole and compressing the return spring 804. Then, the receiving box 708 can be pulled out, making it convenient for workers to replace the receiving box 708 with a matching one according to the size of the workpiece.

[0035] Working principle: After the movable claw 5 grabs the workpiece, the controller controls the cylinder 701. The piston end of the cylinder 701 drives the dust box 702 to move downward, causing the receiving box 708 below the dust box 702 to move downward. Then, the controller controls the servo motor 711, which drives the rotating rod 709 to rotate. The rotating rod 709 drives the worm gear 710 to rotate, the worm gear 710 drives the worm wheel 704 to rotate, the worm wheel 704 drives the rotating shaft 703 to rotate, the rotating shaft 703 drives the connecting rod 706 to rotate, and the connecting rod 706 drives the receiving box 708 to rotate through the inner sleeve rod 707. The cylinder moves to directly beneath the workpiece, and then the piston end of cylinder 701 drives the dust box 702 upward again, so that the workpiece is in contact with the inner bottom of the receiving box 708. This prevents the workpiece from falling to the ground and being damaged due to insufficient friction coefficient between the rubber block and the workpiece caused by changes in the curvature or high smoothness of the workpiece surface, which may result in the workpiece falling to the ground and being damaged. Pulling the sliding rod 802 causes the locking pin 803 to move, disengaging the locking pin 803 from the locking hole and compressing the return spring 804. Then the receiving box 708 is pulled out, making it convenient for the staff to replace the receiving box 708 with a matching one according to the size of the workpiece.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An industrial six-degree-of-freedom robot, comprising a six-axis robot body (1), characterized in that: The bottom of the six-axis robot body (1) is fixedly connected to a base (2). The end axis of the six-axis robot body (1) is fixedly connected to the fifth axis (3) through the end axis flange (4). The end axis flange (4) is fixedly connected to a gripper seat by bolts. The gripper seat is provided with multiple movable claws (5). A fixing plate (6) is fixedly connected to one side of the fifth axis (3). The fixing plate (6) is provided with an anti-fall structure (7). A quick-release assembly (8) is provided below the fixing plate (6). The anti-fall structure (7) includes a cylinder (701) fixedly connected to the upper surface of the fixed plate (6), and a dustproof box (702) is fixedly connected to the piston end of the cylinder (701).

2. The industrial six-degree-of-freedom robot according to claim 1, characterized in that: The dustproof box (702) is rotatably connected to a rotating rod (709), and a worm gear (710) is fixedly connected to the rotating rod (709).

3. The industrial six-degree-of-freedom robot according to claim 2, characterized in that: A servo motor (711) is fixedly connected to the outer side of the dust box (702), and the output shaft of the servo motor (711) is fixedly connected to one end of the rotating rod (709).

4. The industrial six-degree-of-freedom robot according to claim 2, characterized in that: The bottom of the dust box (702) is rotatably connected to a rotating shaft (703), and a worm gear (704) is fixedly connected to the rotating shaft (703). The worm gear (704) meshes with the worm (710).

5. The industrial six-degree-of-freedom robot according to claim 4, characterized in that: A rotating disk (705) is fixedly connected to the bottom of the rotating shaft (703). A connecting rod (706) is fixedly connected to one side of the rotating disk (705). A snap-fit ​​groove is provided on one side of the connecting rod (706). An inner sleeve rod (707) is snapped into the snap-fit ​​groove. A snap-fit ​​hole is provided at the bottom of the inner sleeve rod (707). A receiving box (708) is fixedly connected to one end of the inner sleeve rod (707).

6. The industrial six-degree-of-freedom robot according to claim 5, characterized in that: The quick-release assembly (8) includes a fixed frame (801) fixedly connected to the bottom of the connecting rod (706). A sliding rod (802) is slidably connected through the bottom of the fixed frame (801). A snap-fit ​​post (803) is fixedly connected to one end of the sliding rod (802). The snap-fit ​​post (803) is slidably connected through the bottom of the connecting rod (706) and is adapted to the snap-fit ​​hole.

7. The industrial six-degree-of-freedom robot according to claim 6, characterized in that: A return spring (804) is sleeved on the sliding rod (802). One end of the return spring (804) is fixedly connected to the inner bottom of the fixed frame (801), and the other end is fixedly connected to the bottom of the snap-fit ​​post (803).

Images