CN212287632U - Six-shaft mechanical arm with high-precision positioning function - Google Patents

Abstract

The utility model discloses a six-axis manipulator with high-precision positioning, in particular to the technical field of manipulators, which comprises a manipulator main body, wherein the top of the manipulator main body is fixedly connected with a case, and a dust removal mechanism is arranged inside the case; the dust removal mechanism comprises a motor, the motor is fixedly connected to one side of a case, a first cavity is formed in one side of the case, a second cavity is formed in the top of the case, a third cavity is formed in the bottom of the case, and a base is embedded in the case; the utility model discloses a set up dust removal mechanism, the camera stretches out before the quick-witted case and withdrawal quick-witted incasement portion back, and the brush head all can clean the camera lens to the etching ensures the camera at the during operation, and the camera lens is clean, thereby shoots high quality image, and the more accurate control manipulator main part of the treater of being convenient for carries out work, has improved the precision of manipulator work.

Description

Six-shaft mechanical arm with high-precision positioning function

Technical Field

The utility model relates to a manipulator technical field, concretely relates to six manipulators of high accuracy location.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial knowledge manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and the like. Although the shapes of the robot arms are different, the robot arms have the common characteristic that the robot arms can receive instructions and can be accurately positioned to a certain point on a three-dimensional (or two-dimensional) space for operation, the six-axis robot arms are robot arms with 6 servo motors and are operated by utilizing rotation and movement of x, y and z axes, but a camera arranged on the existing robot arm is often directly exposed outside, dust and other garbage are easily polluted during long-time work, shooting of the camera is influenced, and accurate judgment of a processor on the surrounding environment of the robot arm is further influenced, so that the working accuracy of the robot arm is low.

Therefore, it is necessary to invent a six-axis robot with high precision positioning to solve the above problems.

SUMMERY OF THE UTILITY MODEL

Therefore, the embodiment of the utility model provides a six manipulators of high accuracy location, through setting up dust removal mechanism, the camera stretches out before the quick-witted case and withdrawal machine incasement portion back, the brush head all can be cleaned the camera lens, thereby the etching ensures the camera at the during operation, the camera lens is clean, thereby shoot high-quality image, the more accurate control manipulator main part of treater of being convenient for carries out work, the precision of manipulator work has been improved, with solve among the prior art manipulator camera often directly expose in the outside on the manipulator, long-time work is infected with rubbish such as dust easily, influence the camera shooting, and then influence the treater and lead to the not high problem of manipulator work precision to the accurate judgement of manipulator all ring edge borders.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: a six-axis manipulator with high-precision positioning comprises a manipulator main body, wherein the top of the manipulator main body is fixedly connected with a case, and a dust removal mechanism is arranged inside the case;

the dust removing mechanism comprises a motor, the motor is fixedly connected to one side of a case, a first cavity is formed in one side of the case, a second cavity is formed in the top of the case, a third cavity is formed in the bottom of the case, a base is embedded in the case, first sliding blocks are arranged at the top and the bottom of the base, first sliding grooves are formed in the inner wall of the top and the inner wall of the bottom of the case, a camera is fixedly installed in the base, limiting blocks are fixedly connected to the top and the bottom of the base, the two limiting blocks are respectively positioned in the two first sliding grooves, two limiting blocks are respectively positioned on one side of the two first sliding blocks, threaded rods are embedded in the two first sliding grooves and are in threaded connection with the first sliding blocks, chain wheels are fixedly sleeved on the outer sides of the two threaded rods, and the two chain wheels are both, the outer sides of the two chain wheels are respectively sleeved with a chain, the two chain wheels are connected through the chains, the motor output shaft extends into the case and is fixedly connected with one end of one threaded rod, the inner walls of the two first chutes are respectively and fixedly embedded with a baffle plate, the two baffle plates are respectively positioned on one side of two limiting blocks, one side of the two first sliding blocks is respectively and fixedly connected with a clamping block, one side of the two limiting blocks is respectively provided with a clamping groove, the clamping block is matched with the clamping groove, the two clamping blocks are respectively positioned on the inner sides of the two threaded rods, the inner parts of the second cavity and the third cavity are respectively and fixedly embedded with a supporting ring, the other end of the two threaded rods is respectively and fixedly connected with a first bevel gear, the two first bevel gears are respectively positioned in the second cavity and the third cavity, the outer sides of, the camera comprises two supporting rings, wherein a first screw and a second screw are sleeved inside the supporting rings respectively, the first screw and the second screw are in threaded connection with the supporting rings, the bottom end of the first screw extends to the inside of a case and is fixedly connected with a brush head, the brush head is tightly attached to one side of a camera, a through groove is formed in the surface of the other side of the case, a case door is embedded in the through groove, and the top end of the second screw extends to the inside of the through groove and is fixedly connected with the bottom end of the case door.

Preferably, the two first sliding grooves are respectively located on one side of the second cavity and one side of the third cavity, the two first sliding blocks are respectively located inside the two first sliding grooves, and the first sliding blocks are matched with the first sliding grooves.

Preferably, two threaded rod one end all runs through stopper and first slider and extends to inside the first cavity, two the threaded rod other end extends to inside second cavity and the third cavity respectively, two threaded rod and quick-witted case junction all are through first bearing swing joint.

Preferably, the top and bottom ends of the two support rings are movably connected with the chassis through second bearings.

Preferably, the front side and the rear side of the brush head are fixedly connected with second sliding blocks, the inner walls of the front side and the rear side of the case are provided with second sliding grooves, the second sliding blocks are located inside the two second sliding grooves respectively, and the second sliding blocks are matched with the second sliding grooves.

Preferably, the front side and the rear side of the box door are fixedly connected with third sliding blocks, third sliding grooves are formed in the inner walls of the front side and the rear side of the penetrating groove, the two third sliding blocks are located inside the two third sliding grooves respectively, and the third sliding blocks are matched with the third sliding grooves.

Preferably, a central processing unit is fixedly embedded on one side of the case, the input end of the central processing unit is electrically connected with the camera through an A \ D converter, and the output end of the central processing unit is electrically connected with the manipulator main body and the motor through a D \ A converter.

The embodiment of the utility model provides a have following advantage:

the utility model discloses a set up the dust removal mechanism that comprises parts such as quick-witted case, a pedestal, the stopper, first slider, the fixture block, the baffle, the support ring, brush head and chamber door, motor work can make the chamber door open, brush head slides upward simultaneously and cleans the camera lens, and finally the slider moves and drives the base and camera to move after contacting the stopper, make the camera lens position stretch out of quick-witted case, and when the motor reverses, will stimulate the stopper, drive base and camera to return to the normal position, make the chamber door close once more simultaneously, and the brush head will descend to the normal position and clean the camera lens once more simultaneously, compare with the prior art, before the camera stretches out quick-witted case and after retracting the quick-witted case inside, the brush head can clean the camera lens, thereby guarantee the camera is in operation constantly, the camera lens is clean, thereby shoot high, the manipulator main body is controlled to work more accurately by the central processing unit, and the working accuracy of the manipulator main body is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic diagram of the overall structure provided by the present invention;

fig. 2 is a partial cross-sectional view provided by the present invention;

FIG. 3 is an enlarged view of the part A of FIG. 2 according to the present invention;

FIG. 4 is a schematic view of a brush head structure provided by the present invention;

fig. 5 is a schematic view of the structure of the box door provided by the present invention;

fig. 6 is a schematic structural diagram of the control system provided by the present invention.

In the figure: the robot comprises a manipulator main body 1, a case 2, a motor 3, a base 4, a first sliding block 5, a camera 6, a limiting block 7, a threaded rod 8, a chain wheel 9, a chain 10, a baffle 11, a clamping block 12, a supporting ring 13, a first bevel gear 14, a second bevel gear 15, a first screw 16, a second screw 17, a brush head 18, a box door 19, a second sliding block 20, a third sliding block 21 and a central processing unit 22.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to the attached drawings 1-6 in the specification, the high-precision positioning six-axis manipulator comprises a manipulator main body 1, wherein the top of the manipulator main body 1 is fixedly connected with a case 2, and a dust removal mechanism is arranged inside the case 2;

the dust removing mechanism comprises a motor 3, the motor 3 is fixedly connected to one side of a case 2, a first cavity is formed in one side of the case 2, a second cavity is formed in the top of the case 2, a third cavity is formed in the bottom of the case 2, a base 4 is embedded in the case 2, first sliding blocks 5 are arranged at the top and the bottom of the base 4, first sliding grooves are formed in the inner wall of the top and the inner wall of the bottom of the case 2, a camera 6 is fixedly installed in the base 4, limiting blocks 7 are fixedly connected to the top and the bottom of the base 4, the two limiting blocks 7 are respectively positioned in the two first sliding grooves, two limiting blocks 7 are respectively positioned at one side of the two first sliding blocks 5, threaded rods 8 are embedded in the two first sliding grooves, the threaded rods 8 are in threaded connection with the first sliding blocks 5, and chain wheels 9 are fixedly sleeved on the outer sides, the two chain wheels 9 are positioned in the first cavity, the outer sides of the two chain wheels 9 are sleeved with chains 10, the two chain wheels 9 are connected through the chains 10, the output shaft of the motor 3 extends into the case 2 and is fixedly connected with one end of one threaded rod 8, the inner walls of the two first sliding chutes are fixedly embedded with baffle plates 11, the two baffle plates 11 are respectively positioned at one sides of two limiting blocks 7, one sides of the two first sliding blocks 5 are fixedly connected with clamping blocks 12, one sides of the two limiting blocks 7 are respectively provided with clamping grooves, the clamping blocks 12 are matched with the clamping grooves, the two clamping blocks 12 are respectively positioned at the inner sides of the two threaded rods 8, the inner parts of the second cavity and the third cavity are respectively embedded with supporting rings 13, the other ends of the two threaded rods 8 are respectively fixedly connected with first bevel gears 14, and the two first bevel gears 14 are respectively positioned in, the outer sides of the two support rings 13 are fixedly sleeved with second bevel gears 15, the second bevel gears 15 are meshed with the first bevel gears 14, first screw rods 16 and second screw rods 17 are sleeved inside the two support rings 13 respectively, the first screw rods 16 and the second screw rods 17 are in threaded connection with the support rings 13, the bottom ends of the first screw rods 16 extend into the case 2 and are fixedly connected with brush heads 18, the brush heads 18 are tightly attached to one side of the camera 6, through grooves are formed in the other side surface of the case 2, a case door 19 is embedded in the through grooves, and the top ends of the second screw rods 17 extend into the through grooves and are fixedly connected with the bottom ends of the case doors 19;

further, two first spout is located second cavity and third cavity one side respectively, two first slider 5 is located two first spouts respectively inside, first slider 5 and first spout phase-match are favorable to two first sliders 5 to slide more stably in first spout.

Further, two 8 one ends of threaded rods all run through stopper 7 and first slider 5 and extend to inside the first cavity, two 8 other ends of threaded rods extend to inside second cavity and the third cavity respectively, two threaded rods 8 all pass through first bearing swing joint with quick-witted case 2 junction, are of value to two threaded rods 8 and rotate more steadily.

Furthermore, the top and bottom ends of the two support rings 13 are movably connected with the case 2 through second bearings.

Further, the equal fixedly connected with second slider 20 in both sides around brush head 18, the second spout has all been seted up to both sides inner wall around quick-witted case 2, two second slider 20 is located inside two second spouts respectively, second slider 20 and second spout phase-match are of value to brush head 18 and smooth movement in quick-witted case 2 inside to it is clean to conveniently clean 6 camera lenses of camera.

Further, the front side and the rear side of the box door 19 are fixedly connected with third sliding blocks 21, third sliding grooves are formed in the inner walls of the front side and the rear side of the through groove, the two third sliding blocks 21 are respectively located inside the two third sliding grooves, and the third sliding blocks 21 are matched with the third sliding grooves, so that the box door 19 can stably move in the through groove on one side of the case 2.

Further, a central processing unit 22 is fixedly embedded in one side of the case 2, the model of the central processing unit 22 is AMD A6-7470K, the input end of the central processing unit 22 is electrically connected with the camera 6 through an A \ D converter, and the output end of the central processing unit 22 is electrically connected with the manipulator main body 1 and the motor 3 through a D \ A converter.

The implementation scenario is specifically as follows: when the utility model is used, after the CPU 22 receives a working instruction, the motor 3 is controlled to start through the D/A converter, the motor 3 works to drive the threaded rod 8 fixedly connected with the output shaft thereof to rotate, so that the sprocket 9 outside the transmission shaft rotates, then the chain 10 drives the other sprocket 9 to rotate, so that the two threaded rods 8 rotate simultaneously, so that the two sliders slide towards the direction of the limit block 7 in the two chutes respectively, simultaneously the two first bevel gears 14 are driven to rotate by the threaded rod 8, and the two support rings 13 are driven to rotate through the two second bevel gears 15, so that the first screw 16 pushes the box door 16 to push the brush head 18 to move upwards to wipe the lens of the camera 6, simultaneously the second screw 17 pushes the box door 19 to move downwards, the case 2 is opened, when the sliders move in the chutes to contact with the limit block 7, the clamping block 12 is clamped into the clamping groove and clamped together, the motor 3 continues to work, the sliding block pushes the limiting block 7 and the base 4 to drive the camera 6 to move towards the direction of the through groove of the case 2, finally, a lens of the camera 6 extends out of the outer side of the case 2 through the through groove, then the central processor 22 controls the motor 3 to be closed through the D/A converter, the camera 6 shoots the working environment and the working information of the manipulator main body 1 during work and transmits the working environment and the working information to the central processor 22 through the A/D converter, the central processor 22 further controls the manipulator to perform corresponding actions through the D/A converter to complete the grabbing operation, after the work is finished, the central processor 22 controls the motor 3 to rotate reversely through the D/A converter, the sliding block drives the limiting block 7, the base 4 and the camera 6 to move to the original position, and when the limiting block 7 moves to be in contact, the base 4 and camera 6 are no longer moving while the brush head 18 continues to move down to the home position and again wipes the camera 6 lens and the door 19 moves up to the home position and causes the cabinet 2 to close.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (7)

1. The utility model provides a six-axis manipulator of high accuracy location, includes manipulator main part (1), its characterized in that: the top of the manipulator main body (1) is fixedly connected with a case (2), and a dust removal mechanism is arranged in the case (2);

the dust removal mechanism comprises a motor (3), the motor (3) is fixedly connected to one side of a case (2), a first cavity is formed in one side of the case (2), a second cavity is formed in the top of the case (2), a third cavity is formed in the bottom of the case (2), a base (4) is embedded in the case (2), first sliding blocks (5) are arranged at the top and the bottom of the base (4), first sliding grooves are formed in the inner wall of the top and the inner wall of the bottom of the case (2), a camera (6) is fixedly installed in the base (4), limiting blocks (7) are fixedly connected to the top and the bottom of the base (4), the two limiting blocks (7) are respectively located in the two first sliding grooves, the two limiting blocks (7) are respectively located on one side of the two first sliding blocks (5), threaded rods (8) are embedded in the two first sliding grooves, the threaded rod (8) is in threaded connection with the first sliding block (5), the outer sides of the two threaded rods (8) are fixedly sleeved with the chain wheels (9), the two chain wheels (9) are located in the first cavity, the outer sides of the two chain wheels (9) are sleeved with the chains (10), the two chain wheels (9) are connected through the chains (10), the output shaft of the motor (3) extends into the case (2) and is fixedly connected with one end of one threaded rod (8), the inner walls of the two first sliding chutes are fixedly embedded with the baffles (11), the two baffles (11) are respectively located on one sides of the two limiting blocks (7), one sides of the two first sliding blocks (5) are fixedly connected with the clamping blocks (12), one sides of the two limiting blocks (7) are respectively provided with the clamping grooves, the clamping blocks (12) are matched with the clamping grooves, and the two clamping blocks (12) are located on the inner sides of the two threaded, support rings (13) are embedded in the second cavity and the third cavity, first bevel gears (14) are fixedly connected to the other ends of the two threaded rods (8), the two first bevel gears (14) are respectively located in the second cavity and the third cavity, second bevel gears (15) are fixedly sleeved on the outer sides of the two support rings (13), the second bevel gears (15) are meshed with the first bevel gears (14), first screw rods (16) and second screw rods (17) are respectively sleeved in the two support rings (13), the first screw rods (16) and the second screw rods (17) are in threaded connection with the support rings (13), the bottom ends of the first screw rods (16) extend into the case (2) and are fixedly connected with brush heads (18), the brush heads (18) are tightly attached to one side of the camera (6), through grooves are formed in the other side surface of the case (2), a box door (19) is embedded in the through groove, and the top end of the second screw (17) extends into the through groove and is fixedly connected with the bottom end of the box door (19).

2. A six-axis robot with high precision positioning as claimed in claim 1, wherein: the two first sliding grooves are respectively located on one side of the second cavity and one side of the third cavity, the two first sliding blocks (5) are respectively located inside the two first sliding grooves, and the first sliding blocks (5) are matched with the first sliding grooves.

3. A six-axis robot with high precision positioning as claimed in claim 1, wherein: two threaded rod (8) one end all runs through stopper (7) and first slider (5) and extends to inside the first cavity, two threaded rod (8) other end extends to inside second cavity and the third cavity respectively, two threaded rod (8) and quick-witted case (2) junction all are through first bearing swing joint.

4. A six-axis robot with high precision positioning as claimed in claim 1, wherein: the top and bottom ends of the two support rings (13) are movably connected with the case (2) through second bearings.

5. A six-axis robot with high precision positioning as claimed in claim 1, wherein: the brush head is characterized in that second sliding blocks (20) are fixedly connected to the front side and the rear side of the brush head (18), second sliding grooves are formed in the inner walls of the front side and the rear side of the case (2), the second sliding blocks (20) are located inside the two second sliding grooves respectively, and the second sliding blocks (20) are matched with the second sliding grooves.

6. A six-axis robot with high precision positioning as claimed in claim 1, wherein: the door is characterized in that third sliding blocks (21) are fixedly connected to the front side and the rear side of the door (19), third sliding grooves are formed in the inner walls of the front side and the rear side of the through groove, the third sliding blocks (21) are located inside the two third sliding grooves respectively, and the third sliding blocks (21) are matched with the third sliding grooves.

7. A six-axis robot with high precision positioning as claimed in claim 1, wherein: the manipulator is characterized in that a central processing unit (22) is fixedly embedded on one side of the case (2), the input end of the central processing unit (22) is electrically connected with the camera (6) through an A/D converter, and the output end of the central processing unit (22) is electrically connected with the manipulator main body (1) and the motor (3) through a D/A converter.

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