CN211220696U

CN211220696U - Six-shaft manipulator device

Info

Publication number: CN211220696U
Application number: CN201922322679.7U
Authority: CN
Inventors: 王正平
Original assignee: Dongguan Zhengbo Electronic Equipment Co ltd
Current assignee: Dongguan Zhengbo Electronic Equipment Co ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-08-11
Anticipated expiration: 2029-12-23

Abstract

The utility model discloses a six-shaft mechanical arm device holds the external member through setting up six arms, centre gripping manipulator and top. The six mechanical arms drive the clamping mechanical arm to move to a preset position, the rodless cylinder drives the sliding block to move towards the direction close to the PCB, the PCB is clamped by the two clamping jaws, then the rodless cylinder drives the sliding block to move towards the direction far away from the PCB, the ejector rod driver drives the ejector rod to move towards the direction close to the PCB to jack the PCB, three-point fixing of the PCB is completed by the L-shaped clamping bulge arranged at the end part position and the ejector rod, the PCB is stably clamped, and the whole PCB is uniformly stressed and is not easily damaged; the six-axis mechanical arm can move in the six-axis direction, so that the six-axis mechanical arm device has a wider application range; the contact area of the clamping jaw and the PCB is increased due to the fact that the L-shaped clamping protrusions are arranged, clamping fixation of the PCB can be achieved through small clamping force, and deformation and damage of the PCB are prevented.

Description

Six-shaft manipulator device

Technical Field

The utility model relates to a manipulator technical field especially relates to a six-shaft manipulator device.

Background

At present, a robot is an automatic operation device which can imitate some motion functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.

A robot is used in various manufacturing fields as an important mechanical device instead of a human. In the production process of the PCB, the blanking and feeding processes of the PCB are involved. For the existing manipulator, when the PCB is clamped, especially when the PCB with larger size is clamped, because the whole size of the PCB is large, when the manipulator clamps the PCB, usually only one side of the PCB is clamped, the manipulator adopts the clamping mode, the whole stress of the PCB is very easy to be uneven, the manipulator cannot stably clamp the PCB, and the PCB is very easy to be damaged due to the uneven whole stress; in addition, the existing manipulator is usually only provided with three-directional movement, namely, movement in the X-axis direction, the Y-axis direction and the Z-axis direction in space, so that the existing manipulator can only clamp the PCB board with a relatively fixed position, that is, the application range of the existing manipulator is limited; furthermore, when the existing manipulator clamps the PCB, the contact area between the clamping jaw and the PCB is small, so that the clamping jaw needs to apply a large clamping force to the PCB to compensate the defect, but under the condition of increasing the clamping force, the PCB may be deformed due to the excessive clamping force, and further damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the weak point among the prior art, provide one kind can stabilize centre gripping PCB board, prevent that the PCB board is whole inhomogeneous and damaged, can also be at six epaxial removal, application scope is wider and be difficult to let the six-axis manipulator device that PCB plate-type becomes damaged when centre gripping PCB board.

The purpose of the utility model is realized through the following technical scheme:

a six-axis robot apparatus comprising:

a six-axis mechanical arm;

the clamping manipulator comprises a heavy weight block, a camera, a rodless cylinder, a guide rail, a guide block and a clamping suite, the weight is arranged on the six-axis mechanical arm, the camera is arranged on the weight, the rodless cylinder is arranged on the heavy weight block, a sliding block is arranged on the rodless cylinder, the guide rail is arranged on the heavy weight block, the guide block is connected with the sliding block, the guide block is arranged on the guide rail in a sliding manner, the clamping kit comprises a loading rod, a pneumatic claw driver and two clamping jaws, one end of the load bar is arranged on the sliding block, the pneumatic claw driver is arranged at the other end of the load bar, the two clamping jaws are connected with a driving shaft of the pneumatic claw driver, L-shaped clamping bulges are arranged at the end parts of the two clamping jaws, and the pneumatic claw driver is used for driving the two clamping jaws to approach to or depart from each other; and

the jacking and supporting kit comprises a jacking rod driver and a jacking rod, the jacking rod driver is arranged at the position where the heavy weight is close to the camera, the jacking rod is connected with a driving shaft of the jacking rod driver, and the jacking rod driver is used for driving the jacking rod to move towards the direction close to or far away from the heavy weight.

In one embodiment, the six-axis robot arm includes a base, a first motor disposed on the base, a second motor coupled to a drive shaft of the first motor, a third motor disposed on the first boom, a third boom coupled to a drive shaft of the second motor, a fourth boom coupled to a drive shaft of the fourth motor disposed on the third boom, a fifth motor disposed on the fourth boom, a sixth motor disposed on the sixth boom, and a sixth boom coupled to a drive shaft of the fifth motor, the sixth motor is arranged on the fifth rotating arm, the sixth rotating arm is connected with a driving shaft of the sixth motor, and the heavy weight is positioned on the sixth rotating arm.

In one embodiment, the clamping manipulator further comprises a protective shell, and the protective shell is arranged on the heavy weight.

In one embodiment, the clamping kit further comprises a cushion pad disposed on the L-shaped clamping protrusion.

In one embodiment, the camera is a CCD camera.

In one embodiment, the rodless cylinder includes a sliding shaft and a magnetic attraction piece, the sliding shaft is disposed on the weight, the slider is slidably disposed on the sliding shaft, the magnetic attraction piece is disposed in the sliding shaft, the magnetic attraction piece is used for attracting the slider, and the magnetic attraction piece can move relative to the sliding shaft.

In one embodiment, the jacking assembly further comprises a cushioning dome disposed on the ram.

In one embodiment, the stem lifter and the bumper dome are of unitary construction.

In one embodiment, the ram driver is a pneumatic cylinder.

The utility model discloses compare in prior art's advantage and beneficial effect as follows:

the utility model discloses a six-shaft mechanical arm device holds the external member through setting up six arms, centre gripping manipulator and top. In the practical application process, when a PCB needs to be clamped, the six mechanical arms drive the clamping manipulator to move to a preset position, the rodless cylinder drives the sliding block to move towards the direction close to the PCB, the PCB is clamped by the two clamping jaws, then the rodless cylinder drives the sliding block to move towards the direction far away from the PCB, at the moment, the ejector rod driver drives the ejector rod to move towards the direction close to the PCB and supports the PCB, three-point fixing of the PCB is completed by the L-shaped clamping bulge arranged at the end position and the ejector rod, the PCB is stably clamped, the whole PCB is uniformly stressed and is not easy to damage; in addition, due to the arrangement of the six-axis mechanical arm, the six-axis manipulator device can move in the six-axis direction, and the application range of the six-axis manipulator device is wider; moreover, the contact area between clamping jaw and the PCB can be increased by the aid of the L-shaped clamping protrusions, clamping of the PCB can be achieved with small clamping force, and the PCB is prevented from being deformed and damaged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a six-axis manipulator device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a clamping manipulator and a top holding kit according to an embodiment of the present invention;

fig. 3 is an enlarged schematic view at a of fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and 3, a six-axis robot apparatus 10 includes a six-axis robot 100, a clamping robot 200, and a jacking kit 300.

In this way, the six-axis robot 100 adjusts the positions of the movable clamping robot 200 and the jacking kit 300, so that the six-axis robot apparatus 10 moves in the six-axis direction; the clamping manipulator 200 is used for clamping the PCB; the jacking assembly 300 is used for jacking the PCB.

Referring to fig. 2 and 3 together, the clamping robot 200 includes a weight 210, a camera 220, a rodless cylinder 230, a guide rail 240, a guide block, and a clamping kit 250, the heavy block 210 is disposed on the six-axis robot arm 100, the camera 220 is disposed on the weight 210, the rodless cylinder 230 is disposed on the weight 230, the slide block is disposed on the rodless cylinder 230, the guide rail 240 is disposed on the weight 210, the guide block is connected to the slide block, the guide block is slidably disposed on the guide rail 240, the clamping assembly 250 includes a weight bar 251, a pneumatic claw driver 252 and two clamping jaws 253, one end of the weight bar 251 is disposed on the slider, the pneumatic claw driver 252 is disposed on the other end of the weight bar 251, the two clamping jaws 253 are both connected to a driving shaft of the pneumatic claw driver, L-shaped clamping protrusions 253a are disposed on end positions of the two clamping jaws 253, and the pneumatic claw driver 252 is configured to drive the two clamping jaws 253 to approach to or move away from each other.

Therefore, it should be noted that the camera 220 plays a role of photographing the PCB, and then transmits the PCB to the six-axis robot arm 100, so as to adjust the positions of the movable clamping manipulator 200 and the jacking sleeve member 300; the rodless cylinder 230 is used for driving the sliding block to move; the guide rail 240 and the guide block are arranged to play a role in guiding, so that the sliding block can slide more stably and rapidly; the clamping kit 250 is used for clamping the PCB, and when the pneumatic claw driver drives the two clamping jaws 253 to approach each other, the PCB is clamped; when the pneumatic gripper actuator drives the two jaws 253 away from each other, the PCB board is no longer gripped.

It should be further noted that the two clamping jaws 253 are provided with L-shaped clamping protrusions 253a at end positions, that is, the two clamping jaws 253 are of a symmetrical structure, and the two clamping jaws 253 are provided with two L-shaped clamping protrusions 253 a.

Referring to fig. 2, the jacking assembly 300 includes a jacking rod driver 310 and a jacking rod 320, the jacking rod driver 310 is disposed at a position of the counterweight block 210 close to the camera 220, the jacking rod 320 is connected to a driving shaft of the jacking rod driver 310, and the jacking rod driver 310 is used for driving the jacking rod 320 to move toward or away from the counterweight block 210.

In this way, the jacking member 300 jacks the PCB, and the jacking rod driver 310 drives the jacking rod 320 to move toward the PCB, so that the jacking rod 320 jacks the PCB. Specifically, the jack driver 310 is an air cylinder.

It should be further noted that, when a PCB needs to be clamped, the six-axis mechanical arm 100 drives the clamping manipulator 200 to move to a predetermined position, the rodless cylinder 230 drives the slider to move in a direction close to the PCB, the two clamping jaws 253 are used for clamping the PCB, then the rodless cylinder 230 drives the slider to move in a direction away from the PCB, at this time, the ejector rod driver 310 drives the ejector rod 320 to move in a direction close to the PCB and prop against the PCB, three-point fixation on the PCB is completed by the L-shaped clamping protrusion 253a on the end position and the ejector rod, the PCB is stably clamped, the whole PCB is uniformly stressed, and the PCB is not easily damaged; in addition, the arrangement of the six-axis robot arm 100 enables the six-axis manipulator device 10 to move in the six-axis direction, so that the application range of the six-axis manipulator device 10 is wider; furthermore, the contact area between the clamping jaw 253 and the PCB can be increased by the arrangement of the L-shaped clamping protrusion 253a, that is, the PCB can be clamped and fixed by a small clamping force, so that the PCB is prevented from being deformed and damaged.

Further, referring again to fig. 1, in one embodiment, the six-axis robot 100 includes a base, a first motor 110-1, a first arm 110-2, a second motor 120-1, a second arm 120-2, a third motor 130-1, a third arm 130-2, a fourth motor 140-1, a fourth arm 140-2, a fifth motor 150-1, a fifth arm 150-2, a sixth motor 160-1, and a sixth arm 160-2, the first motor 110-1 is disposed on the base, the first arm 110-2 is connected to a driving shaft of the first motor 110-1, the second motor 120-1 is disposed on the first arm 120-2, the second arm 120-2 is connected to a driving shaft of the second motor 120-1, the third motor 130-1 is disposed on the second arm 120-2, the third rotating arm 130-2 is connected to a driving shaft of the third motor 130-1, the fourth motor 140-1 is disposed on the third rotating arm 130-2, the fourth rotating arm 140-2 is connected to a driving shaft of the fourth motor 140-1, the fifth motor 150-1 is disposed on the fourth rotating arm 140-2, the fifth rotating arm 150-2 is connected to a driving shaft of the fifth motor 150-1, the sixth motor 160-1 is disposed on the fifth rotating arm 150-2, the sixth rotating arm 160-2 is connected to a driving shaft of the sixth motor 160-1, and the counter weight 210 is disposed on the sixth rotating arm 160-2.

Thus, it should be noted that when the six-axis robot arm 100 is in operation, the first motor 110-1 drives the first rotating arm 110-2 to rotate, and the second motor 120-1 drives the second rotating arm 120-2 to rotate; the third motor 130-1 drives the third rotating arm 130-2 to rotate; the fourth motor 140-1 drives the fourth rotating arm 140-2 to rotate; the fifth motor 150-1 drives the fifth rotating arm 150-2 to rotate; the sixth motor 160-1 drives the sixth rotating arm 160-2 to rotate. The positional adjustment of the gripping robot 200 and the knock-out sleeve 300 is completed.

Further, referring to fig. 1 again, in one embodiment, the clamping robot 200 further includes a protective shell 260, and the protective shell 260 is disposed on the counterweight block 210.

Thus, it should be noted that the protective shell 260 plays a role of protection.

Further, in an embodiment, the clamping kit 250 further includes a cushion pad disposed on the L-shaped clamping protrusion 253 a.

Therefore, the cushion pad plays a role in buffering, and the PCB is prevented from being damaged; the number of the buffer pads corresponds to the number of the L-shaped holding projections 253 a.

Further, in one embodiment, the camera is a CCD camera.

Thus, it should be noted that the camera is a CCD camera, and the specific working principle of the CCD camera is not described in detail and is well known to those skilled in the art.

Further, referring to fig. 2 again, in an embodiment, the rodless cylinder 230 includes a sliding shaft 231 and a magnetic attraction member, the sliding shaft 231 is disposed on the counterweight block, the sliding block is slidably disposed on the sliding shaft, the magnetic attraction member is disposed in the sliding shaft 231, the magnetic attraction member is configured to attract the sliding block, and the magnetic attraction member can move relative to the sliding shaft 231.

In this way, when the rodless cylinder 230 operates, air is introduced into the sliding shaft 231, and the position of the magnetic member is changed by air pressure, so as to change the position of the slider.

Further, referring to fig. 2 again, in one embodiment, the jacking assembly 300 further includes a buffering dome 330, and the buffering dome 330 is disposed on the jacking rod 320.

Thus, it should be noted that the buffer dome 330 plays a role of buffer to protect the PCB. Specifically, the stem 320 and the bumper dome 330 are an integrally formed structure. As such, it should be noted that the design of the stem 320 and the buffer dome 330 as an integral structure can enhance the overall mechanical strength of the stem 320.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A six-axis robot apparatus, comprising:

a six-axis mechanical arm;

2. The six-axis robot apparatus according to claim 1, wherein the six-axis robot arm comprises a base, a first motor provided on the base, a first boom connected to a drive shaft of the first motor, a second boom provided on the first boom, a third motor provided on the first boom, a third boom connected to a drive shaft of the second motor, a fourth boom provided on the third boom, a fifth motor provided on the fourth boom, a fifth boom provided on the fourth boom, a sixth motor and a sixth boom, the fifth rotating arm is connected with a driving shaft of a fifth motor, the sixth motor is arranged on the fifth rotating arm, the sixth rotating arm is connected with the driving shaft of the sixth motor, and the heavy block is positioned on the sixth rotating arm.

3. The six-axis robot apparatus of claim 1, wherein the gripping robot further comprises a protective housing disposed on the counterweight block.

4. The six-axis robot apparatus of claim 1, wherein the clamping kit further comprises a bumper pad disposed on the L-shaped clamping protrusion.

5. The six-axis robot apparatus of claim 1, wherein the camera is a CCD camera.

6. The six-axis manipulator device according to claim 1, wherein the rodless cylinder includes a sliding shaft and a magnetic attraction member, the sliding shaft is disposed on the counterweight block, the slider is slidably disposed on the sliding shaft, the magnetic attraction member is disposed in the sliding shaft, the magnetic attraction member is configured to attract the slider, and the magnetic attraction member is capable of moving relative to the sliding shaft.

7. The six-axis robot apparatus of claim 1, wherein the jacking assembly further comprises a buffer dome disposed on the ram.

8. The six-axis robot apparatus of claim 7, wherein the ram and the bumper dome are of an integrally formed structure.

9. The six-axis robot apparatus of claim 1, wherein the ram drive is a pneumatic cylinder.