CN216127258U

CN216127258U - Programmable six-shaft mechanical arm

Info

Publication number: CN216127258U
Application number: CN202121377024.0U
Authority: CN
Inventors: 赵磊; 贺湘苑
Original assignee: Shenzhen Bochuang Robot Technology Co ltd
Current assignee: Shenzhen Bochuang Robot Technology Co ltd
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-03-25
Anticipated expiration: 2031-06-21

Abstract

The utility model discloses a programmable six-axis mechanical arm, which comprises a base, wherein a displacement assembly is arranged at the top of the base, a mechanical arm is connected at the top of the displacement assembly, the mechanical arm comprises a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a fifth rotating arm and a sixth rotating arm which are sequentially and mutually rotatably connected, and a control box is arranged on one side of the first rotating arm.

Description

Programmable six-shaft mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a programmable six-axis mechanical arm.

Background

With the wide application of industrial automation, industrial robots are widely used with great versatility and flexible installation. The six-axis mechanical arm is one of serial mechanical arms, can freely move in a three-dimensional space, and can accurately and quickly carry out a large amount of repetitive work such as carrying, welding, spraying and the like. In a traditional factory, such work is basically completed manually, and the problems of high labor intensity, more time consumption, dryness, insipidity, severe working environment, easy pollution and the like are caused, and the cost of an enterprise is increased. In these fields, therefore, the robot arm is required to accurately and rapidly carry, weld, and spray the article.

However, the bottom of the existing mechanical arm is fixed at a specific position, the working space of the mechanical arm is limited within a specific range, if the arm part of the mechanical arm is too long, the bearing capacity of the mechanical arm is reduced, internal motor elements are easily damaged, and therefore a plurality of mechanical arms are needed within a certain distance.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a programmable six-axis mechanical arm.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a six arms able to programme, includes the base, the top of base is equipped with the displacement subassembly, the top of displacement subassembly is connected with the arm, the arm is including the first rotor arm, second rotor arm, third rotor arm, fourth rotor arm, fifth rotor arm and the sixth rotor arm that rotate the connection each other in proper order, one side of first rotor arm is equipped with the control box.

Preferably, the first rotating arm, the second rotating arm, the third rotating arm, the fourth rotating arm, the fifth rotating arm and the sixth rotating arm are controlled to rotate by servo motors.

Preferably, the displacement subassembly is including establishing the pole groove at the base top, the inside of base is equipped with the round wheel groove, and the round wheel groove is located the below in pole groove, round wheel groove outer wall sliding connection has first soft rack, the inner wall sliding connection in round wheel groove has the soft rack of second, and the soft rack of second and first soft rack are crisscross design, the soft rack of second is located first soft rack below, first soft rack meshing has first gear, and is connected with first step motor bottom the first gear, the soft rack meshing of second has the second gear, and the bottom of second gear is connected with the second and advances the motor.

Preferably, the bottom fixedly connected with connecting rod of first rotation arm, the fixed cover in bottom of connecting rod is equipped with first round wheel and second round wheel, first round wheel is located the top of second round wheel, the outer wall of first round wheel is equipped with the sawtooth, and is located round wheel inslot portion and with the meshing of first soft rack, the outer wall of second round wheel is equipped with the sawtooth, and is located round wheel inslot portion and with the meshing of the soft rack of second.

Preferably, the inside of control box is equipped with the singlechip, one side that first rotation arm was kept away from to the control box is equipped with singlechip interface and power source, the servo motor electric connection on singlechip and the arm, singlechip interface and power source all with singlechip electric connection, first step motor and second step motor all with singlechip electric connection.

Preferably, four corners of the bottom of the base are provided with fixing holes.

Compared with the prior art, the utility model has the beneficial effects that:

1. in the utility model, the singlechip is connected with the singlechip interface to program the singlechip, and the servo motor and the stepping motor can be supplied with power through the power interface;

2. according to the utility model, the servo motor rotates to enable the mechanical arm to move freely in a three-dimensional space;

3. according to the utility model, the first stepping motor and the second stepping motor can drive the first soft rack and the second soft rack to rotate in the same direction, so that the first round wheel and the second round wheel are driven to move in the round wheel groove, the connecting rod is enabled to displace along the rod groove, the connecting rod can drive the first rotating arm to displace, the movement space of the mechanical arm can be increased, and the space in which one mechanical arm can operate is increased.

The utility model has simple structure and convenient use, increases the three-dimensional space of the mechanical arm which can move by adding the base for the mechanical arm to move, and increases the working space of the mechanical arm, so that relatively fewer mechanical arms can be arranged in the same working space, thereby reducing the production investment cost.

Drawings

Fig. 1 is a schematic front view of a programmable six-axis robot arm according to the present invention;

FIG. 2 is a schematic diagram of a side view of a base of a programmable six-axis robot according to the present invention;

FIG. 3 is a schematic top view of a first rotating arm of a programmable six-axis robotic arm according to the present invention;

FIG. 4 is a schematic side view of a first rotating arm of a programmable six-axis robotic arm according to the present invention;

FIG. 5 is a schematic top view of a base of a programmable six-axis robot according to the present invention;

FIG. 6 is a schematic top view of a base of a programmable six-axis robot according to the present invention;

fig. 7 is a schematic front sectional view of a base of a programmable six-axis robot arm according to the present invention.

In the figure: 1. a base; 2. a first rotation arm; 3. a control box; 4. a second rotating arm; 5. a third rotating arm; 6. a fourth rotating arm; 7. a fifth rotating arm; 8. a sixth rotating arm; 9. a single chip microcomputer interface; 10. a power interface; 11. a connecting rod; 12. a first round wheel; 13. a second round wheel; 14. a fixing hole; 15. a rod groove; 16. a first gear; 17. a second gear; 18. a first soft rack; 19. a second flexible rack; 20. a circular wheel groove; 21. a first stepper motor; 22. a second stepper motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1-7, the programmable six-axis mechanical arm of the embodiment includes a base 1, a displacement assembly is disposed on the top of the base 1, a mechanical arm is connected to the top of the displacement assembly, the mechanical arm includes a first rotating arm 2, a second rotating arm 4, a third rotating arm 5, a fourth rotating arm 6, a fifth rotating arm 7 and a sixth rotating arm 8, which are rotatably connected to each other in sequence, and a control box 3 is disposed on one side of the first rotating arm 2.

Example two

The embodiment is improved on the basis of the first embodiment:

in the embodiment, the first rotating arm 2, the second rotating arm 4, the third rotating arm 5, the fourth rotating arm 6, the fifth rotating arm 7 and the sixth rotating arm 8 are controlled to rotate by servo motors.

In this embodiment, the displacement assembly includes the rod groove 15 that is established at the top of base 1, the inside of base 1 is equipped with round wheel groove 20, and round wheel groove 20 is located the below of rod groove 15, round wheel groove 20 outer wall sliding connection has first soft rack 18, the inner wall sliding connection of round wheel groove 20 has second soft rack 19, and second soft rack 19 and first soft rack 18 are the staggered design, second soft rack 19 is located first soft rack 18 below, first soft rack 18 meshes has first gear 16, and first gear 16 bottom is connected with first step motor 21, second soft rack 19 meshes has second gear 17, and the bottom of second gear 17 is connected with second step motor 22.

In this embodiment, a connecting rod 11 is fixedly connected to the bottom of the first rotating arm 2, a first round wheel 12 and a second round wheel 13 are fixedly sleeved on the bottom of the connecting rod 11, the first round wheel 12 is located above the second round wheel 13, the outer wall of the first round wheel 12 is provided with saw teeth and is located inside a round wheel groove 20 and meshed with the first soft rack 18, and the outer wall of the second round wheel 13 is provided with saw teeth and is located inside the round wheel groove 20 and meshed with the second soft rack 19.

EXAMPLE III

The embodiment is improved on the basis of the first embodiment:

in this embodiment, a single chip microcomputer is arranged inside the control box 3, a single chip microcomputer interface 9 and a power interface 10 are arranged on one side of the control box 3, which is far away from the first rotating arm 2, the single chip microcomputer is electrically connected with a servo motor on the mechanical arm, the single chip microcomputer interface 9 and the power interface 10 are both electrically connected with the single chip microcomputer, and the first stepping motor 21 and the second stepping motor 22 are both electrically connected with the single chip microcomputer.

In this embodiment, four corners of the bottom of the base 1 are provided with fixing holes 14.

The working principle is as follows: the singlechip is connected through the singlechip interface 9 and can be programmed, the servo motor and the stepping motor can be supplied with power through the power interface 10, the mechanical arm can move freely in a three-dimensional space by the rotation of the servo motor, the first stepping motor 21 and the second stepping motor 22 can drive the first soft rack 18 and the second soft rack 19 to rotate in the same direction, so that the first round wheel 12 and the second round wheel 13 are driven to move in the round wheel groove 20, the connecting rod 11 is driven to move along the rod groove 15, the connecting rod 11 can drive the first rotating arm 2 to move, the movement space of the mechanical arm can be increased, the space in which one mechanical arm can operate is increased, and the use number of the mechanical arms can be reduced for the same working space to reduce the cost.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides a six arms able to programme, includes base (1), its characterized in that, the top of base (1) is equipped with the displacement subassembly, the top of displacement subassembly is connected with the arm, the arm is including first rotor arm (2), second rotor arm (4), third rotor arm (5), fourth rotor arm (6), fifth rotor arm (7) and sixth rotor arm (8) that rotate the connection each other in proper order, one side of first rotor arm (2) is equipped with control box (3).

2. A programmable six-axis mechanical arm according to claim 1, wherein the first rotating arm (2), the second rotating arm (4), the third rotating arm (5), the fourth rotating arm (6), the fifth rotating arm (7) and the sixth rotating arm (8) are controlled to rotate by servo motors.

3. A programmable six-axis robot arm according to claim 1, characterized in that the displacement assembly comprises a rod groove (15) arranged at the top of the base (1), the base (1) is internally provided with a wheel groove (20), and the circular wheel groove (20) is positioned below the rod groove (15), the outer wall of the circular wheel groove (20) is connected with a first soft rack (18) in a sliding way, the inner wall of the circular wheel groove (20) is connected with a second soft rack (19) in a sliding way, the second soft rack (19) and the first soft rack (18) are designed in a staggered way, the second soft rack (19) is positioned below the first soft rack (18), the first gear (16) is meshed with the first soft rack (18), the bottom of the first gear (16) is connected with a first stepping motor (21), the second soft rack (19) is engaged with a second gear (17), and the bottom of the second gear (17) is connected with a second stepping motor (22).

4. The programmable six-axis mechanical arm as claimed in claim 1, wherein a connecting rod (11) is fixedly connected to the bottom of the first rotating arm (2), a first round wheel (12) and a second round wheel (13) are fixedly sleeved on the bottom of the connecting rod (11), the first round wheel (12) is located above the second round wheel (13), sawteeth are arranged on the outer wall of the first round wheel (12), the first round wheel is located inside a round wheel groove (20) and meshed with a first soft rack (18), sawteeth are arranged on the outer wall of the second round wheel (13), and the second round wheel is located inside the round wheel groove (20) and meshed with a second soft rack (19).

5. The programmable six-axis mechanical arm according to claim 3, wherein a single chip microcomputer is arranged inside the control box (3), a single chip microcomputer interface (9) and a power interface (10) are arranged on one side, away from the first rotating arm (2), of the control box (3), the single chip microcomputer is electrically connected with a servo motor on the mechanical arm, the single chip microcomputer interface (9) and the power interface (10) are both electrically connected with the single chip microcomputer, and the first stepping motor (21) and the second stepping motor (22) are both electrically connected with the single chip microcomputer.

6. A programmable six-axis robot arm according to claim 1, characterized in that the four corners of the bottom of the base (1) are provided with fixing holes (14).