WO2024120063A1 - 一种六轴机械臂的控制装置 - Google Patents

一种六轴机械臂的控制装置 Download PDF

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Publication number
WO2024120063A1
WO2024120063A1 PCT/CN2023/128101 CN2023128101W WO2024120063A1 WO 2024120063 A1 WO2024120063 A1 WO 2024120063A1 CN 2023128101 W CN2023128101 W CN 2023128101W WO 2024120063 A1 WO2024120063 A1 WO 2024120063A1
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WO
WIPO (PCT)
Prior art keywords
control device
lifting
plate
plates
locking
Prior art date
Application number
PCT/CN2023/128101
Other languages
English (en)
French (fr)
Inventor
曲烽瑞
王毅
罗泽超
徐雨
王喜军
李梦阳
Original Assignee
广东电网有限责任公司广州供电局
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 广东电网有限责任公司广州供电局 filed Critical 广东电网有限责任公司广州供电局
Publication of WO2024120063A1 publication Critical patent/WO2024120063A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to the technical field of control devices, and in particular to a control device for a six-axis robotic arm.
  • the robot arm is a high-precision, high-speed dispensing robot. It corresponds to small-batch production methods and improves production efficiency. In addition to dispensing operations, it can correspond to various tasks such as UV irradiation, part placement, screw locking, circuit board cutting, etc.
  • the performance of the six-axis robot arm is more perfect and can achieve more precise operation.
  • the control device is required when the six-axis robot arm is running. In the existing technology, the vibration of the six-axis robot arm during operation is easy to damage the control device, resulting in poor protection of the control device, and the disassembly and assembly of the control device is relatively cumbersome. For this reason, we propose a control device for the six-axis robot arm.
  • the purpose of the present invention is to solve the shortcomings of the prior art that the disassembly and assembly are complicated and the control device is easily damaged, and a control device for a six-axis robot arm is proposed.
  • said linking rod has a round shank to contact with said linking rod.
  • the box cover is provided with two orifice plates, both of which are provided with lock holes, and the two lock plates cooperate with the two lock holes.
  • Two lock grooves are provided in the box body, and the two orifice plates cooperate with the two lock grooves.
  • the box body is rotatably mounted with a box cover, and a plurality of inner tubes are fixedly mounted on the box cover, and buffer springs are provided in the plurality of inner tubes.
  • the same buffer plate is slidably mounted on the plurality of inner tubes, and a top opening mechanism is provided on the support plate, and the top opening mechanism includes two vertical tubes, and vertical springs are provided in the two vertical tubes.
  • Two vertical rods are fixedly mounted on one end of the two vertical springs, and slide seats are rotatably mounted on the two vertical rods.
  • Two slide slots are provided on the box cover, and the two slide seats are slidably connected to the inner walls of the two slide slots.
  • a second rack is provided on the mounting plate, and a clamping mechanism is provided on the mounting plate, and the clamping mechanism includes a second gear, the second gear is meshed with the second rack, and the second gear is rotatably connected to the mounting plate, and a third pulley is fixedly mounted on the second gear, and a mounting groove is provided on the mounting plate, and a bidirectional screw is rotatably mounted in the mounting groove, and a fourth pulley is fixedly mounted on the bidirectional screw, and the third pulley and the fourth pulley
  • the upper transmission is equipped with a same second belt, and the upper transmission is equipped with two threaded plates in a sliding manner, and the two threaded plates are both threadedly connected to the two-way screw, and the two threaded plates are fixedly equipped with clamps, and the two clamps cooperate with each other, and two auxiliary plates are provided on the two clamps, and four auxiliary grooves are opened on the mounting plate, and the four auxiliary plates are slidably connected to the inner walls
  • a vertical rail is provided in the box body, and the vertical rail is slidably connected to the lifting plate.
  • a seat rail is provided in the slide groove, and the seat rail is slidably connected to the slide seat.
  • a plurality of slide rails are provided on the buffer plate, and the plurality of slide rails are slidably connected to the plurality of inner tubes.
  • a plurality of groove rails are provided on the support plate, and the plurality of groove rails are slidably connected to the plurality of push rods.
  • Two bearings are provided in the box body, and the inner ring of the bearing is fixedly connected to the two locking screws.
  • Two cross rails are provided on the inner wall of the box body, and the two cross rails are slidably connected to the two lock plates. All the rotating parts described above are restricted by the matching setting of the bearing, the rotating shaft or the bearing and the rotating shaft to ensure that all parts can rotate stably in a fixed position, and the threads of the two locking screws have opposite directions.
  • the beneficial effects of the control device of the six-axis robotic arm are:
  • the setting of the lifting mechanism can automatically eject the control device body, which is convenient for disassembly and assembly of the controller, and can play a buffering role when the six-axis robot arm is in use, so as to better protect the control device body.
  • the setting of the locking mechanism can lock the box cover, which is convenient for protecting the control device body.
  • the setting of the opening mechanism can automatically open the box cover, which is convenient for ejecting the control device body and disassembly and assembly.
  • the setting of the clamping mechanism can stably clamp the control device body, so that the control device body can be used stably and the use effect is better.
  • the present invention can quickly disassemble and assemble the control device body, can reduce shock for the control device body, has high safety, is simple to use, and is convenient to operate.
  • FIG1 is a schematic diagram of the three-dimensional structure of a control device for a six-axis robot arm proposed by the present invention
  • FIG2 is a cross-sectional structural diagram of a control device for a six-axis robot arm proposed by the present invention
  • FIG3 is a side view of a structure diagram of a control device for a six-axis robot arm proposed by the present invention.
  • FIG4 is an enlarged structural schematic diagram of part A in FIG3 of a control device for a six-axis robot arm proposed by the present invention
  • FIG5 is an enlarged structural schematic diagram of part B in FIG3 of a control device for a six-axis robot arm proposed by the present invention
  • FIG. 6 is a schematic diagram of an unlocked connection structure of a hole plate, a lock slot, a lock plate and a lock hole of a control device for a six-axis robot arm proposed by the present invention
  • FIG7 is a partial three-dimensional structural schematic diagram of a clamping mechanism of a control device for a six-axis robot arm proposed by the present invention.
  • a control device for a six-axis robot arm includes a box body 1 fixed on the six-axis robot arm, a motor 2 is arranged in the box body 1, a lifting mechanism is arranged in the box body 1, the lifting mechanism includes a lifting screw 3, the lifting screw 3 is fixedly connected to the output shaft of the motor 2, a lifting plate 4 is threadedly connected to the lifting screw 3, a support plate 5 is fixedly installed on the lifting plate 4, a plurality of push rods 6 are slidably installed on the support plate 5, a same mounting plate 7 is fixedly installed on the plurality of push rods 6, a support spring 8 is sleeved on the plurality of push rods 6, a first rack 9 is fixedly installed on the lifting plate 4, and a first rack 9 is rotatably installed in the box body 1.
  • a rotating rod 11 on which a first gear 10 is fixedly mounted, the first gear 10 is meshed with a first rack 9, a locking mechanism is arranged in the box body 1, a box cover 20 is rotatably mounted on the box body 1, a plurality of inner tubes 21 are fixedly mounted on the box cover 20, a buffer spring 22 is arranged in each of the plurality of inner tubes 21, a same buffer plate 23 is slidably mounted on the plurality of inner tubes 21, a top opening mechanism is arranged on the support plate 5, a second rack 29 is arranged on the inner wall of the box body 1, a clamping mechanism is arranged on the mounting plate 7, and when the control device body 39 is vibrated and raised, the control device body 39 will squeeze the buffer plate 23, the buffer plate 23 will slide upward on the multiple inner tubes 21 and will not slide in other directions. At this time, the buffer plate 23 will squeeze the multiple buffer springs 22, and under the elastic force of the buffer springs 22, it will play a buffering role on the control device body 39.
  • the locking mechanism includes two first pulleys 12, the two first pulleys 12 are fixedly connected to the rotating rod 11, two locking screws 15 are rotatably installed in the box body 1, and the second pulleys 13 are fixedly installed on the two locking screws 15.
  • Two first belts 14 are rotatably installed on the two first pulleys 12 and the two second pulleys 13, and the two locking screws 15 are threadedly connected with locking plates 16, two orifice plates 17 are provided on the box cover 20, and locking holes 18 are opened on the two orifice plates 17, and the two locking plates 16 cooperate with the two locking holes 18, and two locking grooves 19 are opened in the box body 1, and the two orifice plates 17 cooperate with the two locking grooves 19.
  • the top opening mechanism includes two vertical tubes 24 , each of which is provided with a vertical spring 25 , and one end of the two vertical springs 25 is fixedly mounted with two vertical rods 26 , and a slide 27 is rotatably mounted on the two vertical rods 26 , and two slide grooves 28 are provided on the box cover 20 , and the two slide seats 27 are slidably connected to the inner walls of the two slide grooves 28 .
  • the clamping mechanism includes a second gear 30, the second gear 30 is meshed with the second rack 29, the second gear 30 is rotatably connected to the mounting plate 7, a third pulley 31 is fixedly mounted on the second gear 30, a mounting groove 40 is provided on the mounting plate 7, a bidirectional screw 34 is rotatably mounted in the mounting groove 40, a fourth pulley 32 is fixedly mounted on the bidirectional screw 34, the third pulley 31 and the fourth pulley 32 are transmission-mounted with the same second belt 33, two threaded plates 35 are slidably mounted on the mounting plate 7, the two threaded plates 35 are both threadedly connected to the bidirectional screw 34, the two threaded plates 35 are fixedly mounted with clamping plates 36, and the two clamping plates 36 cooperate with each other.
  • Two auxiliary plates 37 are provided on each of the two clamping plates 36, and four auxiliary grooves 38 are opened on the mounting plate 7.
  • the four auxiliary plates 37 are slidably connected to the inner walls of the four auxiliary grooves 38.
  • a control device body 39 is provided on the mounting plate 7.
  • a vertical rail 41 is provided in the box body 1, and the vertical rail 41 is slidably connected to the lifting plate 4. It is possible to make the lifting plate 4 slide in a fixed position.
  • a plurality of groove rails are provided on the support plate 5 , and the plurality of groove rails are slidably connected to the plurality of push rods 6 , and the plurality of groove rails can enable the plurality of push rods 6 to slide at fixed positions.
  • two cross rails 42 are provided on the inner wall of the box body 1, and the two cross rails 42 are slidably connected to the two lock plates 16.
  • the two cross rails 42 can enable the two lock plates 16 to slide in a fixed position without rotating.
  • Two square grooves are opened on the inner wall of the box body 1, and cross rails are set in the two square grooves. Grooves matching the cross rails are opened on the two lock plates 16.
  • the two grooves slide on the two cross rails, so that the lock plates 16 can slide stably, mainly by utilizing the relationship between the action force and the reaction force.
  • the lock plate 16 is equivalent to a nut.
  • a plurality of slide rails are provided on the buffer plate 23, and the plurality of slide rails are slidably connected with the plurality of inner tubes 21.
  • the plurality of slide rails enable the buffer plate 23 to slide on the plurality of inner tubes 21 without detaching.
  • the buffer plate 23 will be squeezed to slide upward.
  • the function of the inner tube 21 is to ensure that the buffer plate 23 will not deviate when moving up and down.
  • two bearings are disposed in the housing 1 , and the inner rings of the bearings are fixedly connected to the two locking screws 15 .
  • the two bearings enable the two locking screws 15 to rotate at fixed positions.
  • a seat rail is provided in the slide groove 28 , and the seat rail is slidably connected to the slide seat 27 , so that the seat rail enables the slide seat 27 to slide on the box cover 20 without falling off.
  • the motor 2 when it is necessary to disassemble and assemble the control device body 39, the motor 2 is started, which in turn drives the lifting screw 3 to rotate, the lifting screw 3 rotates, and then drives the lifting plate 4 and the support plate 5 to rise, the support plate 5 rises, so that the control device body 39 can rise, the lifting plate 4 rises, and then drives the first rack 9 to rise, the first rack 9 rises, and then drives the first gear 10 to rotate, the first gear 10 rotates, and then drives the rotating rod 11 to rotate, the rotating rod 11 rotates, and then drives the two first pulleys 12 to rotate.
  • the two first pulleys 12 rotate, and then drives the two second pulleys 13 to rotate, the two second pulleys 13 rotate, and then drives the two locking screws 15 to rotate, the two locking screws 15 rotate, and then drives the two locking plates 16 to slide, so that the two locking plates 16 are disengaged from the locking holes 18 of the two orifice plates 17, releasing the restriction on the box cover 20.
  • the support plate 5 rises, and then drives the two vertical pipes 24 to rise.
  • the vertical rod 26 is driven to rise, and with the cooperation of the slide seat 27, the box cover 20 is opened.
  • the second gear 30 begins to mesh with the second rack 29.
  • the second gear 30 will roll on the second rack 29, thereby driving the third pulley 31 to rotate.
  • the third pulley 31 rotates, thereby driving the fourth pulley 32 to rotate.
  • the fourth pulley 32 rotates, thereby driving the bidirectional screw 34 to rotate.
  • the bidirectional screw 34 rotates. , thereby driving the two threaded plates 35 to slide and move away from each other, thereby making the two clamping plates 36 move away from each other, releasing the clamping of the control device body 39.
  • the control device body 39 can be removed for inspection. After the inspection is completed, the control device body 39 is placed in the middle of the mounting plate 7, the motor 2 is reversed, and the box cover 20 is closed.
  • the elastic force of multiple support springs 8 and multiple buffer springs 22 can buffer the control device body 39, reduce the damage to the control device body 39 caused by vibration, and improve safety.
  • the difference between this embodiment and the first embodiment is that a fan, a controller and a temperature sensor are provided in the box body 1, and the fan and the temperature sensor are electrically connected to the controller.
  • the controller controls the fan to start to cool down the control device body 39, thereby avoiding damage to parts in the control device body 39 due to excessive temperature and improving the use efficiency.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明属于控制装置技术领域，尤其是一种六轴机械臂的控制装置，针对现有的拆装较为繁琐，且容易损坏控制装置的问题，现提出如下方案，其包括固定在六轴机械臂上的箱体，所述箱体内设置有电机，所述箱体内设置有升降机构，所述升降机构包括升降螺杆，所述升降螺杆与电机的输出轴固定连接，所述升降螺杆上螺纹连接有升降板，所述升降板上固定安装有支撑板，所述支撑板上滑动安装有多个顶杆，多个顶杆上固定安装有同一个安装板，多个顶杆上均套设有支撑弹簧，所述升降板上固定安装有第一齿条，所述箱体内转动安装有转杆，本发明能够快速拆装控制装置本体，能够为控制装置本体减震，安全性高，使用简单，操作方便。

Description

一种六轴机械臂的控制装置 技术领域
本发明涉及控制装置技术领域，尤其涉及一种六轴机械臂的控制装置。
背景技术
机械臂是高精度，高速点胶机器手。对应小批量生产方式，提高生产效率。除点胶作业之外，可对应uv照射，零件放置，螺丝锁定，电路板切割等各种工作，六轴机械臂的性能更加完善，能够做到更加的精准操作，六轴机械臂运行时需要用到控制装置，现有技术中六轴机械臂运行时的震动容易损坏控制装置，导致不能很好的保护控制装置，且拆装控制装置较为繁琐,为此我们提出了一种六轴机械臂的控制装置。
发明内容
本发明的目的是为了解决现有技术中存在拆装较为繁琐，且容易损坏控制装置的缺点，而提出的一种六轴机械臂的控制装置。
为了实现上述目的，本发明采用了如下技术方案：
一种六轴机械臂的控制装置，包括固定在六轴机械臂上的箱体，所述箱体内设置有电机，所述箱体内设置有升降机构，所述升降机构包括升降螺杆，所述升降螺杆与电机的输出轴固定连接，所述升降螺杆上螺纹连接有升降板，所述升降板上固定安装有支撑板，所述支撑板上滑动安装有多个顶杆，多个顶杆上固定安装有同一个安装板，多个顶杆上均套设有支撑弹簧，所述升降板上固定安装有第一齿条，所述箱体内转动安装有转杆，所述转杆上固定安装有第一齿轮，所述第一齿轮与第一齿条相啮合，所述箱体内设置有锁定机构，所述锁定机构包括两个第一带轮，两个第一带轮均与转杆固定连接，箱体内转动安装有两个锁定螺杆，两个锁定螺杆上均固定安装有第二带轮，两个第一带轮和两个第二带轮上转动安装有两个第一皮带，两个锁定螺杆上均螺纹连接有锁板， 箱盖上设置有两个孔板，两个孔板上均开设有锁孔，两个锁板与两个锁孔相互配合，箱体内开设有两个锁槽，两个孔板与两个锁槽相互配合，所述箱体上转动安装有箱盖，所述箱盖上固定安装有多个内管，多个内管内均设置有缓冲弹簧，多个内管上滑动安装有同一个缓冲板，所述支撑板上设置有顶开机构，所述顶开机构包括两个竖管，两个竖管内均设置有竖弹簧，两个竖弹簧的一端固定安装有两个竖杆，两个竖杆上均转动安装有滑座，箱盖上设置有两个滑槽，两个滑座与两个滑槽的内壁滑动连接，所述箱体的内壁上设置有第二齿条，所述安装板上设置有夹持机构，所述夹持机构包括第二齿轮，第二齿轮与第二齿条相啮合，第二齿轮与安装板转动连接，第二齿轮上固定安装有第三带轮，安装板上开设有安装槽，安装槽内转动安装有双向螺杆，双向螺杆上固定安装有第四带轮，第三带轮和第四带轮上传动安装有同一个第二皮带，安装板上滑动安装有两个螺纹板，两个螺纹板均与双向螺杆螺纹连接，两个螺纹板均固定安装有夹板，两个夹板相互配合，两个夹板上均设置有两个辅助板，安装板上开设有四个辅助槽，四个辅助板与四个辅助槽的内壁滑动连接，安装板上设置有控制装置本体，所述箱体内设置有竖轨，竖轨与升降板滑动连接，所述滑槽内设置有座轨，座轨与滑座滑动连接，所述缓冲板上设置有多个滑轨，多个滑轨与多个内管滑动连接，所述支撑板上设置有多个槽轨，多个槽轨与多个顶杆滑动连接，所述箱体内设置有两个轴承，轴承的内圈与两个锁定螺杆固定连接，所述箱体的内壁上设置有两个横轨，两个横轨与两个锁板滑动连接，上述所述的所有转动零件均通过轴承、转轴或轴承与转轴的配合设置进行限制，保证所有零件能够在固定位置稳定转动，两个锁定螺杆的螺纹走向相反。
本发明中，所述一种六轴机械臂的控制装置的有益效果：
升降机构的设置能够自动顶出控制装置本体，方便拆装控制器，且能够在六轴机械臂使用时，起到缓冲作用，更好的保护控制装置本体，锁定机构的设置能够锁定箱盖，方便保护控制装置本体，顶开机构的设置能够自动打开箱盖，方便顶出控制装置本体，便于拆装，夹持机构的设置能够稳定夹持控制装置本体，使得控制装置本体能够稳定使用，使用效果更好。
本发明能够快速拆装控制装置本体，能够为控制装置本体减震，安全性高，使用简单，操作方便。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明提出的一种六轴机械臂的控制装置的立体结构示意图；
图2为本发明提出的一种六轴机械臂的控制装置的剖视结构示意图；
图3为本发明提出的一种六轴机械臂的控制装置的侧视结构示意图；
图4为本发明提出的一种六轴机械臂的控制装置的图3中A部分的放大结构示意图；
图5为本发明提出的一种六轴机械臂的控制装置的图3中B部分的放大结构示意图；
图6为本发明提出的一种六轴机械臂的控制装置的孔板、锁槽、锁板和锁孔未锁定的连接结构示意图；
图7为本发明提出的一种六轴机械臂的控制装置的夹持机构的部分立体结构示意图；
附图标号说明：1、箱体；2、电机；3、升降螺杆；4、升降板；5、支撑板；6、顶杆；7、安装板；8、支撑弹簧；9、第一齿条；10、第一齿轮；11、转杆；12、第一带轮；13、第二带轮；14、第一皮带；15、锁定螺杆；16、锁板；17、孔板；18、锁孔；19、锁槽；20、箱盖；21、内管；22、缓冲弹簧；23、缓冲板；24、竖管；25、竖弹簧；26、竖杆；27、滑座；28、滑槽；29、第二齿条；30、第二齿轮；31、第三带轮；32、第四带轮；33、第二皮带；34、双向螺杆；35、螺纹板；36、夹板；37、辅助板；38、辅助槽；39、控制装置本体；40、安装槽；41、竖轨；42、横轨。
具体实施方式
为便于更好地理解本发明的目的、结构、特征以及功效等，现结合附图和具体实施方式对本发明作进一步说明。应注意的是，图中示出的特征不是必须按照比例绘制。此外，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”、“前”、“后”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
实施例一
参照图1-4，一种六轴机械臂的控制装置，包括固定在六轴机械臂上的箱体1，箱体1内设置有电机2，箱体1内设置有升降机构，升降机构包括升降螺杆3，升降螺杆3与电机2的输出轴固定连接，升降螺杆3上螺纹连接有升降板4，升降板4上固定安装有支撑板5，支撑板5上滑动安装有多个顶杆6，多个顶杆6上固定安装有同一个安装板7，多个顶杆6上均套设有支撑弹簧8，升降板4上固定安装有第一齿条9，箱体1内转动安装有转杆11，转杆11上固定安装有第一齿轮10，第一齿轮10与第一齿条9相啮合，箱体1内设置有锁定机构，箱体1上转动安装有箱盖20，箱盖20上固定安装有多个内管21，多个内管21内均设置有缓冲弹簧22，多个内管21上滑动安装有同一个缓冲板23，支撑板5上设置有顶开机构，箱体1的内壁上设置有第二齿条29，安装板7上设置有夹持机构，在控制装置本体39受到震动上升时，控制装置本体39会挤压缓冲板 23，缓冲板23会在多个内管21上向上滑动，不会向其他方向上滑动，此时缓冲板23会挤压多个缓冲弹簧22，在缓冲弹簧22的弹力作用下，起到对控制装置本体39的缓冲作用。
参照图2-4，锁定机构包括两个第一带轮12，两个第一带轮12均与转杆11固定连接，箱体1内转动安装有两个锁定螺杆15，两个锁定螺杆15上均固定安装有第二带轮13，两个第一带轮12和两个第二带轮13上转动安装有两个第一皮带14，两个锁定螺杆15上均螺纹连接有锁板16，箱盖20上设置有两个孔板17，两个孔板17上均开设有锁孔18，两个锁板16与两个锁孔18相互配合，箱体1内开设有两个锁槽19，两个孔板17与两个锁槽19相互配合。
参照图2-3，顶开机构包括两个竖管24，两个竖管24内均设置有竖弹簧25，两个竖弹簧25的一端固定安装有两个竖杆26，两个竖杆26上均转动安装有滑座27，箱盖20上设置有两个滑槽28，两个滑座27与两个滑槽28的内壁滑动连接。
参照图3-7，夹持机构包括第二齿轮30，第二齿轮30与第二齿条29相啮合，第二齿轮30与安装板7转动连接，第二齿轮30上固定安装有第三带轮31，安装板7上开设有安装槽40，安装槽40内转动安装有双向螺杆34，双向螺杆34上固定安装有第四带轮32，第三带轮31和第四带轮32上传动安装有同一个第二皮带33，安装板7上滑动安装有两个螺纹板35，两个螺纹板35均与双向螺杆34螺纹连接，两个螺纹板35均固定安装有夹板36，两个夹板36相互配合，两个夹板36上均设置有两个辅助板37，安装板7上开设有四个辅助槽38，四个辅助板37与四个辅助槽38的内壁滑动连接，安装板7上设置有控制装置本体39，当第二齿轮30跟随安装板7将要上升到箱体1的顶部时，第二齿轮30开始与第二齿条29接触，因为第二磁铁9是固定不动的，安装板7是稳定向上滑动的，因此第二齿轮30是竖直向上移动的，因此第二齿轮30与第二齿条开始接触时，能够与之啮合，因此在安装板7继续上升时，第二齿轮30会在第二齿条29上滚动。
参照图2，箱体1内设置有竖轨41，竖轨41与升降板4滑动连接，竖轨能 够使得升降板4在固定位置滑动。
参照图2-3，支撑板5上设置有多个槽轨，多个槽轨与多个顶杆6滑动连接，多个槽轨能够使得多个顶杆6在固定位置滑动。
参照图4，箱体1的内壁上设置有两个横轨42，两个横轨42与两个锁板16滑动连接，两个横轨42能够使得两个锁板16在固定位置滑动而不转动，在箱体1的内壁上开两个方槽，两个方槽内均设置横轨，两个锁板16上均开设有与横轨相匹配的凹槽，两个凹槽在两个横轨上滑动，使得锁板16能够稳定滑动，主要是利用作用力与反作用力的关系，此时的锁板16相当于一个螺母，在锁定螺杆15转动时，在反作用力的作用下，锁板16会向后移动，因此会插入锁孔18内，完成锁定。
参照图2，缓冲板23上设置有多个滑轨，多个滑轨与多个内管21滑动连接，多个滑轨能够使得缓冲板23在多个内管21上滑动且不会脱离，当控制装置本体39受到震动向上移动时，会挤压缓冲板23向上滑动，内管21的作用就是保证缓冲板23上下移动不会发生偏移。
参照图3，箱体1内设置有两个轴承，轴承的内圈与两个锁定螺杆15固定连接，两个轴承能够使得两个锁定螺杆15在固定位置转动。
参照图2，滑槽28内设置有座轨，座轨与滑座27滑动连接，座轨能够使得滑座27在箱盖20上滑动而不会脱离。
本实施例中，当需要拆装控制装置本体39时，启动电机2，进而带动升降螺杆3转动，升降螺杆3转动，进而带动升降板4和支撑板5上升，支撑板5上升，使得控制装置本体39能够上升，升降板4上升，进而带动第一齿条9上升，第一齿条9上升，进而带动第一齿轮10转动，第一齿轮10转动，进而带动转杆11转动，转杆11转动，进而带动两个第一带轮12转动，在两个第一皮带14的配合下，两个第一带轮12转动，进而带动两个第二带轮13转动，两个第二带轮13转动，进而带动两个锁定螺杆15转动，两个锁定螺杆15转动，进而带动两个锁板16滑动，使得两个锁板16与两个孔板17的锁孔18脱离，放开对箱盖20的限制，此时支撑板5上升，进而带动两个竖管24上升，在竖弹 簧25的配合下，带动竖杆26上升，在滑座27的配合下，顶开箱盖20，当安装板7上升到一定位置时，此时第二齿轮30开始与第二齿条29相啮合，此时由于齿条29固定不动，因此第二齿轮30会在第二齿条29上滚动，进而带动第三带轮31转动，在第二皮带34的配合下，第三带轮31转动，进而带动第四带轮32转动，第四带轮32转动，进而带动双向螺杆34转动，双向螺杆34转动，进而带动两个螺纹板35滑动，且相互远离，进而使得两个夹板36相互远离，放开对控制装置本体39的夹持，此时可以取下控制装置本体39进行检修，检修完成后，将控制装置本体39放在安装板7的中间，反转电机2，关闭箱盖20即可，在使用六轴机械臂时，在多个支撑弹簧8和多个缓冲弹簧22的弹力作用下能够为控制装置本体39缓冲，减小震动对控制装置本体39的损害，提高安全性。
实施例二
本实施例与实施例一的区别在于：箱体1内设置有风扇、控制器和温度感应器，风扇和温度感应器均与控制器电性连接，在使用六轴机械臂的控制装置本体39时，当温度感应器感应到温度较高时，控制器控制风扇启动，为控制装置本体39降温，避免温度过高使得控制装置本体39内的零件损坏，提高使用效率。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种六轴机械臂的控制装置，包括固定在六轴机械臂上的箱体(1)，其特征在于，所述箱体(1)内设置有电机(2)，所述箱体(1)内设置有升降机构，所述升降机构包括升降螺杆(3)，所述升降螺杆(3)与电机(2)的输出轴固定连接，所述升降螺杆(3)上螺纹连接有升降板(4)，所述升降板(4)上固定安装有支撑板(5)，所述支撑板(5)上滑动安装有多个顶杆(6)，多个顶杆(6)上固定安装有同一个安装板(7)，多个顶杆(6)上均套设有支撑弹簧(8)，所述升降板(4)上固定安装有第一齿条(9)，所述箱体(1)内转动安装有转杆(11)，所述转杆(11)上固定安装有第一齿轮(10)，所述第一齿轮(10)与第一齿条(9)相啮合，所述箱体(1)内设置有锁定机构，所述箱体(1)上转动安装有箱盖(20)，所述箱盖(20)上固定安装有多个内管(21)，多个内管(21)内均设置有缓冲弹簧(22)，多个内管(21)上滑动安装有同一个缓冲板(23)，所述支撑板(5)上设置有顶开机构，所述箱体(1)的内壁上设置有第二齿条(29)，所述安装板(7)上设置有夹持机构。
  2. 根据权利要求1所述的一种六轴机械臂的控制装置，其特征在于，所述锁定机构包括两个第一带轮(12)，两个第一带轮(12)均与转杆(11)固定连接，箱体(1)内转动安装有两个锁定螺杆(15)，两个锁定螺杆(15)上均固定安装有第二带轮(13)，两个第一带轮(12)和两个第二带轮(13)上转动安装有两个第一皮带(14)，两个锁定螺杆(15)上均螺纹连接有锁板(16)，箱盖(20)上设置有两个孔板(17)，两个孔板(17)上均开设有锁孔(18)，两个锁板(16)与两个锁孔(18)相互配合，箱体(1)内开设有两个锁槽(19)，两个孔板(17)与两个锁槽(19)相互配合。
  3. 根据权利要求1所述的一种六轴机械臂的控制装置，其特征在于，所述顶开机构包括两个竖管(24)，两个竖管(24)内均设置有竖弹簧(25)，两个竖弹簧(25)的一端固定安装有两个竖杆(26)，两个竖杆(26)上均转动安装有滑座(27)，箱盖(20)上设置有两个滑槽(28)，两个滑座(27)与两个滑槽(28)的内壁滑动连接。
  4. 根据权利要求1所述的一种六轴机械臂的控制装置，其特征在于，所述 夹持机构包括第二齿轮(30)，第二齿轮(30)与第二齿条(29)相啮合，第二齿轮(30)与安装板(7)转动连接，第二齿轮(30)上固定安装有第三带轮(31)，安装板(7)上开设有安装槽(40)，安装槽(40)内转动安装有双向螺杆(34)，双向螺杆(34)上固定安装有第四带轮(32)，第三带轮(31)和第四带轮(32)上传动安装有同一个第二皮带(33)，安装板(7)上滑动安装有两个螺纹板(35)，两个螺纹板(35)均与双向螺杆(34)螺纹连接，两个螺纹板(35)均固定安装有夹板(36)，两个夹板(36)相互配合，两个夹板(36)上均设置有两个辅助板(37)，安装板(7)上开设有四个辅助槽(38)，四个辅助板(37)与四个辅助槽(38)的内壁滑动连接，安装板(7)上设置有控制装置本体(39)。
  5. 根据权利要求1所述的一种六轴机械臂的控制装置，其特征在于，所述箱体(1)内设置有竖轨(41)，竖轨(41)与升降板(4)滑动连接。
  6. 根据权利要求1所述的一种六轴机械臂的控制装置，其特征在于，所述支撑板(5)上设置有多个槽轨，多个槽轨与多个顶杆(6)滑动连接。
  7. 根据权利要求2所述的一种六轴机械臂的控制装置，其特征在于，所述箱体(1)的内壁上设置有两个横轨，两个横轨与两个锁板(16)滑动连接。
  8. 根据权利要求2所述的一种六轴机械臂的控制装置，其特征在于，所述缓冲板(23)上设置有多个滑轨，多个滑轨与多个内管(21)滑动连接。
  9. 根据权利要求2所述的一种六轴机械臂的控制装置，其特征在于，所述箱体(1)内设置有两个轴承，轴承的内圈与两个锁定螺杆(15)固定连接。
  10. 根据权利要求3所述的一种六轴机械臂的控制装置，其特征在于，所述滑槽(28)内设置有座轨，座轨与滑座(27)滑动连接。
PCT/CN2023/128101 2022-12-08 2023-10-31 一种六轴机械臂的控制装置 WO2024120063A1 (zh)

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