CN214560895U - Multifunctional six-axis robot - Google Patents
Multifunctional six-axis robot Download PDFInfo
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- CN214560895U CN214560895U CN202120728172.6U CN202120728172U CN214560895U CN 214560895 U CN214560895 U CN 214560895U CN 202120728172 U CN202120728172 U CN 202120728172U CN 214560895 U CN214560895 U CN 214560895U
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- 239000000523 sample Substances 0.000 claims abstract description 23
- 238000003860 storage Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 8
- 210000000245 forearm Anatomy 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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Abstract
A multifunctional six-axis robot comprises a six-axis robot body, a storage battery, a charging socket and a power switch; also has a multi-directional probe, a control circuit and a buzzer; the multi-directional probe comprises a hollow shell, a hollow magnet and a photoelectric switch, wherein the outer side of the hollow magnet is arranged on the inner side of the hollow shell; a plurality of photoelectric switches are arranged in the hollow shell, and magnets are arranged on the outer sides of the arms of the six-axis robot body in an attracting mode; the storage battery, the charging socket, the power switch, the control circuit and the buzzer are arranged in the element box; and is electrically connected with the photoelectric switch and the six-axis robot body. This novel clamp is got and when carrying the goods, spacing between the detecting head ability real-time supervision of many photoelectric switch and discharge or sign indicating number goods station, under the actual conditions, six robot body forearms are close discharge, sign indicating number goods station distance when being too close, can in time break off six robot body's working power supply, remind the staff to carry out the pertinence operation, have effectively prevented the damage of six robot body and goods.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, especially a six multi-functional robots.
Background
The six-axis robot can provide higher production motion flexibility, so that the six-axis robot is widely applied to the production field. The control of the six-axis robot generally comprises PLC programming control, manual power switch or wireless control and the like, wherein the programming control is most widely applied. In actual conditions, no matter programming control or manual control, when the front arm of the six-axis robot carries goods, the goods and the like are affected by the size of the goods (the sizes of the carried goods are different), or when the programming control of the internal control panel goes wrong and the manual operation fails, the goods and the like at the front end of the robot arm collide with other objects, for example, the robot arm moves rightwards or leftwards and upwards or downwards to an excessively large extent, so that the goods collide with a carriage bearing the goods and a goods stacking station, the production progress is further affected, and even the six-axis robot is damaged due to the excessively large collision resistance. Based on the above, it is particularly necessary to provide a six-axis robot which can automatically detect the front end position of the robot arm during production and prevent the robot arm and the clamped goods from colliding with other articles.
SUMMERY OF THE UTILITY MODEL
In order to overcome current six robots because of the structure limits, there can not effectively survey mechanical arm front position and other article, probably lead to the arm and press from both sides the drawback of the goods damage of getting under extreme condition, the utility model provides a can convenient installation in any position of six robot arm, have multidirectional probe, among the practical application, can effectively survey other article of six robot body forearm each direction, and can close the power of six robot bodies the very first time when the distance is too near, and generate alarm signal suggestion staff and deal with, reached intellectuality from this, and can effectively prevent six robot bodies and press from both sides a multi-functional six robot of getting the goods damage of transport.
The utility model provides a technical scheme that its technical problem adopted is:
a multifunctional six-axis robot comprises a six-axis robot body, a storage battery, a charging socket and a power switch; it is characterized in that the device also comprises a multi-directional probe, a control circuit and a buzzer; the multi-directional probe comprises a hollow shell, a hollow magnet and a photoelectric switch, wherein the outer side of the hollow magnet is arranged on the inner side of the hollow shell; the device comprises a plurality of photoelectric switches, a plurality of sensors and a magnet, wherein the photoelectric switches are annularly arranged in a hollow shell at intervals, detection heads of the photoelectric switches are positioned on the outer side of the hollow shell, and the magnet is installed on the outer side of an arm of a six-axis robot body in an attracting mode; the storage battery, the charging socket, the power switch, the control circuit and the buzzer are arranged in the element box; the two poles of the storage battery are respectively and electrically connected with the photoelectric switch of the multi-directional probe and the power input end of the control circuit, and the multi-path signal output end of the multi-directional probe is respectively and electrically connected with the multi-path signal input end of the control circuit; the trigger signal output end of the control circuit, the cathode of the storage battery and the two ends of the power supply input end of the annunciator are respectively and electrically connected; the signal input end of the control circuit is electrically connected with the main power switch of the six-axis robot body, and the control signal output end of the control circuit is electrically connected with the main power input end of the six-axis robot body.
Furthermore, among a plurality of photoelectric switches of the multi-directional probe, the positive power supply input ends of the photoelectric switches are connected, the negative power supply input ends of the photoelectric switches are connected, and the photoelectric switches are PNP type reflecting photoelectric switch sensors.
Furthermore, the control circuit comprises a plurality of relays, wherein in the plurality of relays, the control power supply input ends of the plurality of relays are connected, and the cathode power supply input ends of the plurality of relays are connected.
Further, the inner diameter of the inner ring of the hollow magnet is larger than the outer diameter of the arm of the six-axis robot body.
The utility model has the advantages that: this is novel through the magnet actuation in six robot body robotic arm front end suitable positions, and the installation and dismantlement are all very convenient to can also conveniently adjust the detection position that is located a plurality of photoelectric switch detecting heads in the casing. In using, when six robot body clamps were got and are carried the goods, spacing between the detecting head ability real-time supervision of many photoelectric switch and unloading or sign indicating number goods station, under the actual conditions, no matter be six robot body forearm left end, right-hand member or upper end, the lower extreme is close the unloading, sign indicating number goods station distance is too near, bee calling organ all can be electrified the sound production, and can in time break off the working power supply of six robot bodies, remind the staff to carry out the pertinence operation, just so can prevent effectively that six robot body and clamp from getting the goods of transport and damaging. Based on the above, so the utility model discloses good application prospect has.
Drawings
The invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic view of the overall structure and a local enlarged structure of the present invention.
Fig. 2 is a circuit diagram of the present invention.
Detailed Description
As shown in fig. 1, a multifunctional six-axis robot comprises a six-axis robot body 1 (in fig. 1, no fixture is mounted in front of a forearm of the six-axis robot body), a storage battery 2, a charging socket 3 and a power switch 4; also has a multi-directional probe, a control circuit 5 and a buzzer 6; the multi-directional probe comprises an annular hollow shell 71, an annular hollow magnet 72 and a photoelectric switch 73, wherein the outer side of the annular magnet 72 is bonded to the inner side of the hollow part of the shell 71 by glue; the number of the photoelectric switches 73 is multiple (six photoelectric switches are provided in this embodiment, in an actual situation, the more the photoelectric switches are, the better the number is, the more the detection surfaces are, the more the number is), the six photoelectric switches 73 are annularly distributed, are equidistantly installed in the shell 71, the detection heads of the photoelectric switches 71 are located on the outer side of the shell 71, and the magnet 72 is attracted and sleeved on the outer side of the arm 101 of the six-axis robot body and is located at the rear end of the forearm 102; the storage battery 2, the charging socket 3, the power switch 4, the control circuit 5 and the buzzer 6 are arranged on a circuit board in an element box 8, and the element box 8 is arranged on the outer side of the robot arm 101.
As shown in fig. 1 and 2, in the present invention, the working principles and working processes between the plurality of photoelectric switches, the control circuit and the buzzer of the multi-directional probe are completely the same, and the following contents are described representatively with respect to the working principles and working processes between the three photoelectric switches and the four relays and the four buzzer of the control circuit.
As shown in fig. 1 and 2, the storage battery G is a lithium storage battery of type 12V/10Ah, the charging socket CZ is a coaxial power socket, the power switch S1 is a coaxial power switch, and the jack of the charging socket CZ and the operating handle of the power switch S1 are located outside the two openings at the front end of the element box 8. Among a plurality of photoelectric switches of the multi-directional probe, a plurality of photoelectric switches A, A1 are connected with the positive power supply input end 1 of the AN, a plurality of photoelectric switches A, A1 are connected with the negative power supply input end 2 of the AN, the photoelectric switches A, A1 and the AN are PNP type reflective photoelectric switch sensor finished products with the model E3F-DS30C4, the photoelectric switches A, A1 and the AN are provided with two power supply input ends 1 and 2 and a high level output end 3, infrared light beams emitted by a transmitting head of a detecting head at the front end of the photoelectric switches are blocked by AN article when the photoelectric switches work, the high level or no high level is output when a receiving head at the front end of the detecting head receives rear high level output end 3, and the high level or no high level is output when no article blocks; the photoelectric switch A, A1 and AN have a maximum detection distance of 50cm (35 cm in this embodiment), and AN adjusting knob is provided in the housing, wherein the detection distance of the adjusting knob is closer when the adjusting knob is adjusted to the left and farther when the adjusting knob is adjusted to the right. The inner diameter of the inner ring of the ring magnet 72 is larger than the outer diameter of the six-axis robot arm 101. The control circuit comprises a plurality of relays K, K1, KN and K2 (seven relays in the embodiment), a plurality of relays K, K1, KN and K2, wherein the relays K, K1 and the KN control power supply input ends are connected, the relays K, K1, KN and K2 are connected with the negative power supply input ends, and the normally open contact ends of the relays K, K1 and KN are connected with the positive power supply input end of the last relay K2.
As shown in fig. 1 and 2, two poles of the storage battery G and two ends of the charging socket CZ are respectively connected through leads (when the storage battery G is out of power, an external 12V power charger plug can be inserted into the charging socket CZ to charge the storage battery G). The positive electrode of the storage battery G is connected with one end of a power switch S1 through a lead. The other end of the power switch S1, the cathode of the storage battery G, and power input ends 1 and 2 pins of the photoelectric switches A, A1 and A2 of the multi-directional probe, and the control power input ends of the power input end relays K, K1 and KN and the cathode power input end of the control circuit are connected through leads. Pins 3 of the photoelectric switches A1, A2 and AN at the multi-path signal output end of the multi-direction probe and the positive power supply input ends of the relays K, K1 and KN at the multi-path signal input end of the control circuit are respectively connected through leads. The trigger signal output end relay K, K1 and the KN normally open contact end of the control circuit are respectively connected with the cathode of the storage battery and the power input end of the annunciator B through leads. Two control power input ends of a signal input end relay K2 of the control circuit are connected with a main power switch (220V input power) of the six-axis robot body through leads, and a control signal output end relay K2 of the control circuit is connected with a main power input end of the six-axis robot body M through leads. The main power input end of the six-axis robot body M is connected with the main power input end through a main power switch SK through a lead, and the power switch SK is in an open circuit state during normal work at ordinary times.
As shown in fig. 1 and 2, other using methods and processes of the novel six-axis robot body are completely consistent with those of the existing six-axis robot, and the six-axis robot body clamps, carries or stacks goods through forearms by self functions under the action of internal programming or manual and wireless control modes. Before the robot is used, technicians adjust the positions of the multi-directional probes on the robot arm to enable the forearms of the six-axis robot body to move, and when the probes collide with a discharge station or a stacking station at risk, the probes of one or more photoelectric switches can detect the probes. During actual work, when the six-axis robot body works, the distance between the goods which are clamped and carried by the front-end forearms of the six-axis robot body and a carriage or a stacking station exceeds a certain time (for example, exceeds 35cm), and due to the fact that no obstacle exists in front of the detection heads of the photoelectric switches (A, A1 and AN) and 3 pins of the photoelectric switches cannot be blocked by the obstacle, the high level cannot be output, the relays K, K1 and KN cannot be electrified to attract the control power supply input end and the normally open contact end of the control power supply to be open, and the buzzer B and the relay K2 cannot be electrified to work.
As shown in fig. 1 and 2, in AN actual situation, when the six-axis robot body grips and carries goods, no matter the six-axis robot body approaches other articles leftwards, rightwards, upwards or downwards or is too close to a goods loading and unloading station, the distance is less than a certain time (for example, less than 35cm), after the 3 feet of the corresponding photoelectric switch a or a1 or AN output high level, one or more of the relays K or K1 or KN are powered and closed. Because the normally open contact ends of the relays K or K1 and KN are connected with the positive power input end of the annunciator B and the relay K2, under the actual condition, as long as any position of the forearm of the six-axis robot is close to an object, the buzzer B and the relay K2 are powered. After the relay K2 is electrified and closed, the two control power supply input ends and the two normally closed contact ends are opened, and the buzzer B is electrified to work and then gives out a loud prompt sound. Because, two normally closed contact ends of relay K2 are connected with six axis robot body M's total power input end, so, six axis robot body press from both sides and get the certain distance before the transport goods is close to object or the loading and unloading station, and six axis robot body M all can lose the electricity and no longer work, has prevented that the goods of pressing from both sides or getting or transport from being close to and then leading to the collision near other objects, causes the damage of the goods of pressing from both sides and getting the transport or six axis robot body. After the sounder B sounds, a worker can intuitively know that the forearms of the six-axis robot body and the clamped goods are close to other objects at the first time by hearing the sound, and then subsequently perform targeted operation to reduce the probability of damage of the goods or the six-axis robot body (if the worker manually controls the working mode of the six-axis robot body, the worker can control the operation in the opposite direction to prevent the six-axis robot body or the goods from being damaged), if the six-axis robot body is in programming control, a technician can temporarily turn on a main power switch SK connected with a main power input end of the six-axis robot body M, then perform targeted operation to enable the forearms or the goods of the six-axis robot body to be separated from other objects to a safe distance, and finally turn off the power switch SK). This novel technical personnel carry on need close switch S1 when to the operation, adjust six robot body forearms and goods or loading and unloading station position after, open switch S just before next use. In fig. 2, the buzzer B is an active continuous audible alarm finished product of a model SF-12, and the relays K, K1, K2 and KN are DC12V relays.
The basic principles and essential features of the invention and the advantages of the invention have been shown and described above, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but rather can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, the embodiments do not include only one independent technical solution, and such description is only for clarity, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims (4)
1. A multifunctional six-axis robot comprises a six-axis robot body, a storage battery, a charging socket and a power switch; it is characterized in that the device also comprises a multi-directional probe, a control circuit and a buzzer; the multi-directional probe comprises a hollow shell, a hollow magnet and a photoelectric switch, wherein the outer side of the hollow magnet is arranged on the inner side of the hollow shell; the device comprises a plurality of photoelectric switches, a plurality of sensors and a magnet, wherein the photoelectric switches are annularly arranged in a hollow shell at intervals, detection heads of the photoelectric switches are positioned on the outer side of the hollow shell, and the magnet is installed on the outer side of an arm of a six-axis robot body in an attracting mode; the storage battery, the charging socket, the power switch, the control circuit and the buzzer are arranged in the element box; the two poles of the storage battery are respectively and electrically connected with the photoelectric switch of the multi-directional probe and the power input end of the control circuit, and the multi-path signal output end of the multi-directional probe is respectively and electrically connected with the multi-path signal input end of the control circuit; the trigger signal output end of the control circuit, the cathode of the storage battery and the two ends of the power supply input end of the annunciator are respectively and electrically connected; the signal input end of the control circuit is electrically connected with the main power switch of the six-axis robot body, and the control signal output end of the control circuit is electrically connected with the main power input end of the six-axis robot body.
2. The six multi-functional axis robot of claim 1, wherein, among the plurality of photoelectric switches of the multi-directional probe, the positive power input terminals of the plurality of photoelectric switches are connected, and the negative power input terminals of the plurality of photoelectric switches are connected, and the photoelectric switches are PNP-type reflective photoelectric switch sensors.
3. The six multi-functional axis robot of claim 1, wherein the control circuit comprises a plurality of relays, and of the plurality of relays, the plurality of relays control the power input to be connected and the plurality of relays negative power input to be connected.
4. The multifunctional six-axis robot as claimed in claim 1, wherein the inner diameter of the inner ring of the hollow magnet is larger than the outer diameter of the six-axis robot body arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120728172.6U CN214560895U (en) | 2021-04-12 | 2021-04-12 | Multifunctional six-axis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120728172.6U CN214560895U (en) | 2021-04-12 | 2021-04-12 | Multifunctional six-axis robot |
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| CN214560895U true CN214560895U (en) | 2021-11-02 |
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| CN202120728172.6U Active CN214560895U (en) | 2021-04-12 | 2021-04-12 | Multifunctional six-axis robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114873253A (en) * | 2022-06-07 | 2022-08-09 | 中迪机器人(盐城)有限公司 | Battery case washs uses unloading equipment |
| CN114919819A (en) * | 2022-06-01 | 2022-08-19 | 中迪机器人(盐城)有限公司 | Steel belt film pasting automatic control method and system |
-
2021
- 2021-04-12 CN CN202120728172.6U patent/CN214560895U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919819A (en) * | 2022-06-01 | 2022-08-19 | 中迪机器人(盐城)有限公司 | Steel belt film pasting automatic control method and system |
| CN114919819B (en) * | 2022-06-01 | 2023-06-06 | 中迪机器人(盐城)有限公司 | Automatic control method and system for steel belt film sticking |
| CN114873253A (en) * | 2022-06-07 | 2022-08-09 | 中迪机器人(盐城)有限公司 | Battery case washs uses unloading equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A multifunctional six axis robot Effective date of registration: 20231202 Granted publication date: 20211102 Pledgee: Bank of Nanjing Co.,Ltd. Yancheng branch Pledgor: Zhongdi robot (Yancheng) Co.,Ltd. Registration number: Y2023980068919 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20211102 Pledgee: Bank of Nanjing Co.,Ltd. Yancheng branch Pledgor: Zhongdi robot (Yancheng) Co.,Ltd. Registration number: Y2023980068919 |