A six-axis robot with a pipeline wrap kit

Abstract

The application relates to a pipeline package kit for a six-axis robot and belongs to the technical field of robots. The pipeline package kit for the six-axis robot comprises a plurality of pipelines arranged around the periphery of a six-axis robot body and a fixing piece for fixing the pipelines. The pipelines comprise: a first pipeline, one end of which is arranged on one side of an A2 shaft of the six-axis robot; a second pipeline, which is arranged in the direction in which a mechanical arm of the six-axis robot extends and the other end of which is arranged on one side of an A6 shaft of the six-axis robot; and two third pipelines, which are formed into pipe-shaped pieces, one end of each of the third pipelines is arranged on the same side as the first pipeline, and the other end of each of the third pipelines is arranged on one side of the A2 shaft of the six-axis robot. The application solves the problem that the flexibility of a traditional pipeline package fixing kit for a six-axis robot is poor due to the complex structure of the pipeline package fixing kit by designing three pipelines with different lengths, structures and installation directions, and the problem that interference and hindering of use occur in the use process of the six-axis robot is effectively prevented by the matched arrangement of the pipelines.

Description

Technical Field

[0001] This invention relates to a tubing kit for a six-axis robot, belonging to the field of robotics technology. Background Technology

[0002] With the rapid expansion of the application of industrial robots, the technical requirements for the robots themselves are also becoming increasingly stringent. Due to the complexity of industrial robot movements, the special nature of their use, and the increasingly demanding environmental requirements, higher demands are being placed on cables and hoses. Industrial robot cable harnesses are complete wiring harness solutions and products designed and manufactured to protect cables, hoses, etc. They can significantly reduce wear and aging of cables and hoses, extend their service life, and will not hinder or limit the robot's movement trajectory and range. They can also reduce the bending and torsional forces that cables and hoses are subjected to.

[0003] With the continuous development of robotics technology, six-axis robots have gradually become one of the mainstream devices in the field of industrial automation. Six-axis robots possess high flexibility and freedom, enabling them to complete various complex tasks, such as assembly, welding, and material handling. Therefore, the optimization and design of the six-axis robot's pipeline package directly affects its production efficiency and quality during subsequent use.

[0004] Regarding the aforementioned technologies, the inventors discovered that existing six-axis robot tubing packages have complex structures, and in order to effectively fix the tubing packages, a repetitive fixing method is used, resulting in a lack of flexibility in the movement of the six-axis robot during actual use, which limits its adaptability in different application scenarios. Summary of the Invention

[0005] To address the problem that the existing six-axis robot tubing kit has a complex fixing structure that affects the actual flexibility of the six-axis robot, this application provides a six-axis robot tubing kit.

[0006] This application provides a tubing kit for a six-axis robot, employing the following technical solution: A tubing kit for a six-axis robot includes a plurality of tubing wound around the periphery of the six-axis robot body and a fastener for securing the tubing, wherein the tubing includes: The first pipeline is formed as a tubular component and one end is located on one side of the A2 axis end of the six-axis robot; The second pipeline is formed as a tubular component and extends along the direction of the six-axis robot arm. One end of the second pipeline is spaced apart from the other end of the first pipeline on the same plane, and the other end of the second pipeline is located on one side of the A6 axis of the six-axis robot. Two third pipelines are formed as tubular components, with one end of the third pipeline and one end of the first pipeline spaced apart on the same side, and the other end of the third pipeline and the other end of the second pipeline spaced apart on one side of the A2 axis of the six-axis robot.

[0007] Through the above technical solution, this application optimizes the structure of the pipeline package. By designing three pipelines with different lengths, structures and installation directions, it solves the problem of poor flexibility caused by the complex structure of the traditional six-axis robot pipeline package fixing kit. The matching arrangement of the first pipeline, the second pipeline and the third pipeline effectively prevents interference and obstruction during the use of the six-axis robot.

[0008] Furthermore, the fastener includes: An A1-axis tilting support frame is provided, with one end of the A1-axis tilting support frame fixedly connected to one side of the A1-axis of the six-axis robot and the other end of the A1-axis tilting support frame tilted towards the other end of the A1-axis tilting support frame. The tilting direction of the A1-axis tilting support frame is opposite to the direction in which the six-axis robot arm extends, so that at least a portion of the first pipeline and the second pipeline are tilted along the tilting direction of the A1-axis tilting support frame. The A2 axis mounting bracket is fixed along the length of the A2 axis to the side of the A2 axis near the inclined support bracket of the A1 axis. One end of the A2 axis mounting bracket is fixed with a first pipeline and a second pipeline, and the other end of the A2 axis mounting bracket is fixedly connected to two third pipelines. The A6-axis tool side bracket is located on one side of the end of the six-axis robot arm in the extension direction to fix the second pipeline and the third pipeline.

[0009] Through the above technical solution, this application has an application for a three-section pipeline design scheme. The design structure of the fixing component is adjusted. First, the A1 axis inclined support frame can form a good and stable fixation for the initial ends of the first pipeline and the second pipeline. At the same time, through the inclined structure setting, the cables and pipes in the pipeline package maintain a good orientation during initial use. Secondly, this application sets up an A2 axis mounting bracket to form a stable fixing structure for the end of the first pipeline and the middle section of the second pipeline, while simultaneously forming a stable connection to the end of the third pipeline through the other end. This allows the A2 axis mounting bracket to effectively connect and provide good support for the first pipeline, the second pipeline, and the two third pipelines. At the same time, since the A2 axis mounting bracket is fixed in the length direction of the A2 axis, it effectively fixes the three pipeline sections while adjusting the direction of the second pipeline. This ensures that the six-axis robot can work flexibly while stabilizing the fixing structure of the first, second, and third pipelines. Finally, by placing the A6-axis tool side bracket at the end of the six-axis robot arm in the extension direction, this application ensures that the pipelines inside the pipeline package are well fixed, while allowing the cables and pipelines inside the pipeline package to provide good power support for the stable performance of the six-axis robot.

[0010] Furthermore, the A1 axis tilting support frame includes: The corner base plate includes a first plate and a second plate that are abutted together. The first plate is fixedly disposed on one side of the A1 axis in a horizontal direction, and the second plate is inclined to the first plate and the included angle is an obtuse angle. A support column is provided along the length of the second plate away from the first plate, and one end of the support column is fixedly connected to the second plate. The first clamp bracket has two annular clamps, which are symmetrically arranged at the other end of the support column along the axial direction of the support column to fix the other end of the first pipeline and one end of the second pipeline, respectively.

[0011] Furthermore, the A1-axis tilt support frame also includes a transition plate, which includes a first transition plate body and a second transition plate body arranged horizontally. The first transition plate body and the second transition plate body are tilted and fixed so that the tilt direction of the A1-axis tilt support frame is opposite to the direction in which the six-axis robot arm extends.

[0012] Through the above technical solution, this application optimizes the structure of the A1 axis tilt support frame and adjusts the setting angle of its corner floor, effectively fixing the first and second pipelines while optimizing the routing direction of the first and second pipelines, thus ensuring that the six-axis robot has good flexibility.

[0013] Furthermore, the A2 axis mounting bracket includes: Mounting plate, which is formed as a metal plate and is fixedly disposed on the outer periphery of the robotic arm between the A2 and A3 axes of the six-axis robot; Two second pipeline clamp brackets are provided, which are spaced apart along the length of the mounting plate on the side of the mounting plate away from the six-axis robot. Each second pipeline clamp bracket is provided with an annular clamp to fix the second pipeline. The first pipeline clamp bracket is provided with a connecting bracket and is arranged along the thickness direction of the mounting plate on the side of the mounting plate away from the six-axis robot. The end of the connecting bracket is provided with an annular clamp to fix one end of the first pipeline. The third pipeline clamp bracket is provided with two annular clamps fixed to the upper end of the mounting plate to fix the ends of the two third pipelines.

[0014] Furthermore, the angle between the extension line of the third pipeline clamp bracket toward the second pipeline clamp bracket and the axis of A1 in the orthogonal projection direction of the third pipeline clamp bracket is 0-60°.

[0015] Through the above technical solution, this application adjusts the installation position of the A2 axis mounting bracket and sets it on the outer periphery of the robot arm near the A1 axis inclined support bracket. This setting ensures that the first pipeline, the second pipeline and the third pipeline do not pass in front of the A2 axis arm of the six-axis robot, thereby improving the problem of interference between the pipeline package and the movement trajectory of the six-axis robot. Based on this, this application further fixes the middle section of the second pipeline and adjusts its direction by using two second pipeline clamp brackets, thereby stabilizing the fixing structure of the second pipeline and adjusting the motion trajectory of the second pipeline and the six-axis robot. Finally, the technical solution of this application adjusts the tilt angle of the third pipeline clamp bracket used to fix the third pipeline. Since laser cables are usually installed inside the pipeline package, this angle optimization can facilitate the cable to enter the corrugated pipe more smoothly, thereby ensuring that the third pipeline maintains a good direction during the movement of the six-axis robot and preventing bending and other phenomena that could cause abnormalities in cable signal transmission.

[0016] Furthermore, the A6 axis tool side support includes: An end fixing component is provided, wherein an annular fixing component is provided and sleeved on one end of the six-axis robot arm, and a support column is fixed on the side of the annular fixing component away from the A1 axis inclined support frame; An end clamp bracket is fixedly connected to the support column. The end clamp bracket has three end ring clamps to fix the other end of the second pipeline and the other end of the two third pipelines respectively. The three end ring clamps are equally spaced along the A5 axis of the six-axis robot toward the A6 axis.

[0017] Through the above technical solution, this application optimizes the structure of the A6-axis tool side bracket. Through the effective cooperation of the end fixing component and the end clamp bracket, the second and third pipelines form a stable connection structure with the end of the six-axis robot. At the same time, the interval setting of the end clamp bracket makes the end arrangement of the second and third pipelines more in line with the motion trajectory of the six-axis robot, ensuring a stable connection effect while improving the flexibility and stability of the six-axis robot's movement.

[0018] Furthermore, the fixing component also includes a telescopic mechanism side-mounted fixing bracket, which is fixedly disposed between the A3 axis and the A4 axis of the six-axis robot to fix the second pipeline and the two third pipelines, so that at least a portion of the second pipeline and the two third pipelines are fixed to the side of the six-axis robot near the A1 axis inclined support frame.

[0019] Furthermore, the side-mounted fixing bracket of the telescopic mechanism includes: The telescopic mechanism has a side-mounted base plate, which is provided with a mounting part and a bending part. The mounting part is located between the A3 and A4 axes of the six-axis robot arm. The mounting part is horizontally arranged along the extension direction of the six-axis robot arm. The bending part is located at one end of the mounting part along the direction towards the A1 axis. Two triangular clamp brackets are spaced apart at both ends of the bending section along the extension direction of the six-axis robot arm. Each triangular clamp bracket has three annular clamps to respectively pass through and fix the second pipeline and the two third pipelines.

[0020] Furthermore, the included angle between the bent portion and the mounting portion is 0-60°.

[0021] Through the above technical solution, this application further supplements the fixing components by using a telescopic mechanism side-mounted fixing bracket. Since the telescopic mechanism side-mounted base plate set on the telescopic mechanism side-mounted fixing bracket is combined and matched by the bending part and the installation part, the routing direction of the second pipeline and the third pipeline is optimized, and the phenomenon of motion interference between the second pipeline and the third pipeline during the movement of the robotic arm is prevented. Meanwhile, this application uses two triangular clamp brackets to fix and support the two third pipelines and the second pipeline. Due to the better stability of the triangular structure, while effectively ensuring the fixation and stability of the two third pipelines and the second pipeline, the overall length of the second pipeline is optimized to meet actual production needs and improve the motion efficiency of the six-axis robot.

[0022] Furthermore, the included angle between the bent portion and the mounting portion is 0-60°.

[0023] Through the above technical solution, this application optimizes the included angle between the bending part and the mounting part, further adjusts the routing of the second and third pipelines, and at the same time, the setting of this angle can reduce the contact frequency between the second and third pipelines and the six-axis robot arm, thereby further reducing the phenomenon of motion interference between the pipeline package and the six-axis robot.

[0024] In summary, this application has the following beneficial effects: First, this application optimizes the structure of the pipeline package. By designing three pipelines with different lengths, structures, and installation directions, it solves the problem of poor flexibility caused by the complex structure of the traditional six-axis robot pipeline package fixing kit. Through the matching of the first, second, and third pipelines, it effectively prevents interference and obstruction of use during the use of the six-axis robot.

[0025] Second, the solution for the three-section pipeline design in this application adjusts the design structure of the fixing component. First, the inclined support frame of the A1 axis can form a good and stable fixation for the initial ends of the first and second pipelines. At the same time, through the inclined structure setting, the cables and pipes in the pipeline package maintain a good orientation during initial use. Secondly, this application sets up an A2 axis mounting bracket to form a stable fixing structure for the end of the first pipeline and the middle section of the second pipeline, while simultaneously forming a stable connection to the end of the third pipeline through the other end. This allows the A2 axis mounting bracket to effectively connect and provide good support for the first pipeline, the second pipeline, and the two third pipelines. At the same time, since the A2 axis mounting bracket is fixed in the length direction of the A2 axis, it effectively fixes the three pipeline sections while adjusting the direction of the second pipeline. This ensures that the six-axis robot can work flexibly while stabilizing the fixing structure of the first, second, and third pipelines. Finally, by placing the A6-axis tool side bracket at the end of the six-axis robot arm in the extension direction, this application ensures that the pipelines inside the pipeline package are well fixed, while allowing the cables and pipelines inside the pipeline package to provide good power support for the stable performance of the six-axis robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a six-axis robot pipeline kit according to an embodiment of this application.

[0027] Figure 2 This is a structural schematic diagram from another perspective of a six-axis robot pipeline kit according to an embodiment of this application.

[0028] Figure 3 This is a schematic diagram of the A1 axis tilting support frame in a six-axis robot pipeline kit according to an embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the A2 axis mounting bracket in a six-axis robot pipeline kit according to an embodiment of this application.

[0030] Figure 5 This is a schematic diagram of the structure of the A6-axis tool side bracket in a six-axis robot pipeline kit according to an embodiment of this application.

[0031] Figure 6This is a schematic diagram of the structure of the telescopic mechanism side-mounted fixing bracket in a six-axis robot pipeline kit according to an embodiment of this application.

[0032] Figure 7 This is a schematic diagram of the routing of the first pipeline in a pipeline package kit for a six-axis robot according to an embodiment of this application.

[0033] Figure 8 This is a schematic diagram of the routing of the second pipeline in a pipeline package kit for a six-axis robot according to an embodiment of this application.

[0034] Figure 9 This is a schematic diagram showing the routing of two third pipelines in a pipeline package kit for a six-axis robot according to an embodiment of this application.

[0035] Explanation of reference numerals in the attached drawings: 1. Six-axis industrial robot; 11. A1 axis; 12. A2 axis; 13. A3 axis; 14. A4 axis; 15. A5 axis; 16. A6 axis; 2. Pipeline; 21. First pipeline; 22. Second pipeline; 23. Third pipeline; 3. Fixture; 31. A1 axis inclined support frame; 311. Corner base plate; 3111. First plate; 3112. Second plate; 312. Support column; 313. First clamp bracket; 314. Adapter plate; 3141. First adapter plate; 3142. Second adapter plate; 3 2. A2 axis mounting bracket; 321. Mounting plate; 322. Second pipeline clamp bracket; 323. First pipeline clamp bracket; 3231. Connecting bracket; 324. Third pipeline clamp bracket; 33. A6 axis tool side bracket; 331. End fixing component; 3311. Ring-shaped fixing component; 3312. Support column; 332. End clamp bracket; 3321. End ring-shaped clamp; 34. Telescopic mechanism side mounting bracket; 341. Telescopic mechanism side mounting base plate; 3411. Mounting part; 3412. Bending part; 342. Triangular clamp bracket. Detailed Implementation

[0036] The following is in conjunction with the appendix Figure 1-9 This application will be described in further detail.

[0037] This application discloses a tubing kit for a six-axis robot. (See also...) Figure 1-2 The six-axis robot 1 pipeline kit includes The six-axis robot 1 has multiple pipelines 2 arranged along its rear end toward the direction of its robotic arm extension and a fastener 3 for fixing the pipelines. The pipelines consist of three segments: a first pipeline 21 connected from the rear end of the six-axis robot 1 to one side of axes A2 12 and A3 13; a second pipeline 22 wound around the rear end of the six-axis robot 1 to the front end of the six-axis robot 1; and two third pipelines 23 wound around the front end of the six-axis robot 1 at the same side as the first pipeline 21 and located between axes A2 12 and A3 13. Combination Figure 7 It can be seen that the first pipeline 21 used in this application is generally S-shaped, with one end fixed to one side of axis A2 12 and the other end fixed to the rear end of the six-axis robot 1; Figure 8 As can be seen, one end of the second pipeline 22 used in this application is spaced apart from the other end of the first pipeline 21 at the rear end of the six-axis robot 1, and the overall direction of the second pipeline 22 is the same as the six-axis setting direction of the six-axis robot 1. The other end of the second pipeline 22 is fixedly connected to the front end of the six-axis robot 1. Combination Figure 1 and Figure 9 As can be seen, the third pipeline 23 used in this application consists of two lines. The two third pipelines 23 have the same overall direction, and one end of each third pipeline 23 is located on the side of the A2 axis 12 and the A3 axis 13 close to the end of the first pipeline 21. The other end is located at a distance from the other end of the second pipeline 22 on the front end of the six-axis robot 1 away from the first pipeline 21, so that the two third pipelines 23 are wound around each other along the A2-A6 axis 16 direction.

[0038] Combination Figure 1 and Figure 3 As seen in this application, an inclined support frame 31 for the A1 axis 11 of the six-axis robot 1 is inclined in the opposite direction to the extension direction of the robotic arm of the six-axis robot 1. The bottom of the inclined support frame 31 is provided with a transition plate 314. The transition plate 314 is formed by two sections of first transition plate body 3141 and second transition plate body 3142 that abut against each other and are fixedly connected. One end of the first transition plate body 3141 is fixedly connected to one side of the A1 axis 11, and the other end is abutted against the second transition plate body 3142. Since the second transition plate body 3142 is perpendicularly connected to one end of the first plate body 3111 of the corner base plate 311, and the other end of the first plate body 3111 is connected to the second plate body 3142... One end of 3112 is fixedly connected at an angle. By adjusting the tilt angle of the second transition plate 3142 relative to the first transition plate 3141, the tilt direction of the second plate 3112 of the corner base plate 311 is adjusted to be opposite to the extension direction of the six-axis robot 1's robotic arm. At the other end of the second plate 3112, a support column 312 is fixed in the same length direction as the second plate 3112. One end of the support column 312 is fixedly connected to the second plate 3112, and the other end is provided with a first clamp bracket 313. The first clamp bracket 313 is provided with two annular clamps symmetrically arranged along the axial direction of the support column 312, which are used to fix the other end of the first pipeline 21 and one end of the second pipeline 22 respectively. It should be noted that when setting the first clamp bracket 313 in this application, the right annular clamp of the first clamp bracket 313 is connected to one end of the second pipeline 22, and the left annular clamp is connected to the other end of the first pipeline 21. When fixing the first clamp bracket 313, the right annular clamp is tilted 30° toward the six-axis robot 1 so that the right side of the overall first clamp bracket 313 is close to the six-axis robot 1. The position setting of the first clamp bracket 313 can facilitate the smooth entry of cables and pipelines in the first pipeline 21 and the second pipeline 22 into the corrugated pipe, improve the pipeline routing, adjust the end stress strength of the first pipeline 21 and the second pipeline 22, and improve the fixing stability of the ends of the first pipeline 21 and the second pipeline 22.

[0039] Combination Figure 1 and Figure 4 In this application, an A2 axis mounting bracket 32 ​​is provided between axes A2 (12) and A3 (13) of the six-axis robot 1, along the direction of the robotic arm between axes A2 (12) and A3 (13). The A2 axis mounting bracket 32 ​​includes a metal plate mounting plate 321. A first pipeline clamp bracket 323 is provided on the lower right side of the mounting plate 321. The first pipeline clamp bracket 323 has a connecting bracket 3231 for fixing to the mounting plate 321. The connecting bracket 3231 protrudes outward along the thickness direction of the mounting plate 321 at the lower right end of the mounting plate 321. At the end of the bracket 3231, an annular clamp for fixing one end of the first pipeline 21 is fixedly provided; at the lower end of the left side of the mounting plate 321, two second pipeline clamp brackets 322 are arranged opposite each other. The two second pipeline clamp brackets 322 are arranged in the same direction and each is provided with an annular clamp structure for fixing the second pipeline 22; the second pipeline clamp brackets 322 can change the direction of the middle section of the second pipeline 22, so that the middle section of the second pipeline 22 is arranged upward along the direction of the robot arm between the A2 axis 12 and the A3 axis 13.

[0040] On the upper right side of the mounting plate 321, a third pipeline clamp bracket 324 is also provided. This third pipeline clamp bracket 324 has two abutting annular clamps on the mounting plate 321. It should be noted that the angle between the extension line of the third pipeline clamp bracket 324 towards the second pipeline clamp bracket 322 and the axis of axis A1 11 in the orthogonal projection direction of the third pipeline clamp bracket 324 is 30°. By adjusting the installation angle of the third pipeline clamp bracket 324, the cable can enter the corrugated pipe more smoothly, thus ensuring that the third pipeline 23 maintains a good trajectory during the movement of the six-axis robot 1, preventing bending and other phenomena that could cause abnormal cable signal transmission.

[0041] Combination Figure 1 and Figure 6In this application, a telescopic mechanism side-mounted fixing bracket 34 is fixed between the A3 axis 13 and the A4 axis 14 of the six-axis robot 1. The telescopic mechanism side-mounted fixing bracket 34 includes a telescopic mechanism side-mounted base plate 341, which includes a mounting part 3411 and a bending part 3412. The mounting part 3411 is provided with four connecting through holes for mounting screws. The mounting part 3411 is fixed to the upper end of the A3 axis 13 and the A4 axis 14 by screws. In the direction of the mounting part 3411 toward the A2 axis mounting bracket 32, there is a bending part 3412 fixedly connected to the mounting part 3411. The bending part 3412 bends obliquely downward along the thickness direction of the mounting part 3411, and the included angle between the bending part 3412 and the mounting part 3411 is 60°. A pair of triangular clamp brackets 342 are provided on the side of the bending section 3412 near the A2 axis mounting bracket 32. The triangular clamp brackets 342 are provided with three ring clamps. The line connecting the centers of the three ring clamps forms an equilateral triangle. Two of the ring clamps are fixedly connected to the bending section 3412. The upper pair of clamps of the two ring clamps connected to the bending section 3412 are used to fix the second pipeline 22 and adjust its pipeline direction so that it faces the direction in which the six-axis robot 1 arm extends. The lower two ring clamps of the three ring clamps are used to fix the two third pipelines respectively and adjust their pipeline direction so that they face the direction in which the six-axis robot 1 arm extends.

[0042] Combination Figure 1 and Figure 5 As can be seen, this application provides an A6 axis tool side bracket 33 on one side of the A6 axis 16 of the six-axis robot 1. The A6 axis tool side bracket 33 is located on the side away from the A2 axis mounting bracket 32, so that the second pipeline 22 and the two third pipelines 23 are routed to one side of the A6 axis 16 of the six-axis robot 1. The A6-axis tool side bracket 33 includes an end fixing member 331. One end of the end fixing member 331 is an annular fixing member 3311, which is used to fit onto the end of the A6 axis 16. The other end of the end fixing member 331 is provided with a rod-shaped support column 3312. The support column 3312 is set perpendicular to the direction of the extension of the six-axis robot 1's robotic arm. An end clamp bracket 332 is connected to one end of the support column 3312. The end clamp bracket 332 is perpendicularly connected to the support column 3312 and three end annular clamps 3321 are provided at equal intervals along the length direction of the end clamp bracket 332. From left to right, these clamps fix the ends of the two third pipelines 23 and the ends of the second pipeline 22, thereby ensuring the stable connection of the second pipeline 22 and the third pipeline 23 while adjusting the direction of the second pipeline 22 and the third pipeline 23. This allows the six-axis robot 1 to work stably while also providing a certain degree of flexibility.

[0043] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

Claims

1. A tubing kit for a six-axis robot, characterized in that, Includes several pipelines (2) surrounding the body of the six-axis robot (1) and fasteners (3) for fixing the pipelines, wherein the pipelines (2) include: The first pipeline (21) is formed as a tubular component and one end is located on one side of the end of the A2 axis (12) of the six-axis robot (1); The second pipeline (22) is formed as a tubular component and extends along the direction of the extension of the robotic arm of the six-axis robot (1). One end of the second pipeline (22) is spaced apart from the other end of the first pipeline (21) on the same plane, and the other end of the second pipeline (22) is located on one side of the A6 axis (16) of the six-axis robot (1). Two third pipelines (23), the third pipelines (23) are formed as tubular components and one end of the third pipelines (23) is spaced apart from one end of the first pipeline (21) and disposed on the same side. The other end of the third pipelines (23) is spaced apart from the other end of the second pipeline (22) and disposed on one side of the A2 axis (12) of the six-axis robot (1). A1 axis tilt support frame (31), one end of the A1 axis tilt support frame (31) is fixedly connected to one side of the A1 axis (11) of the six-axis robot (1) and one end of the A1 axis tilt support frame (31) is tilted toward the other end of the A1 axis tilt support frame (31). The tilting direction of the A1 axis tilt support frame (31) is opposite to the direction of the extension of the robotic arm of the six-axis robot (1) so that at least a portion of the first pipeline (21) and the second pipeline (22) are tilted along the tilting direction of the A1 axis tilt support frame (31). The A2 axis mounting bracket (32) is fixed along the length of the A2 axis (12) on the side of the A2 axis (12) near the A1 axis inclined support bracket (31). One end of the A2 axis mounting bracket (32) is fixed with a first pipeline (21) and a second pipeline (22), and the other end of the A2 axis mounting bracket (32) is fixedly connected to two third pipelines (23). A6-axis tool side bracket (33) is provided on one side of the end of the six-axis robot (1) in the extension direction of the robotic arm to fix the second pipeline (22) and the third pipeline (23); The fastener also includes a telescopic mechanism side-mounted fixing bracket (34), which is fixedly disposed between the A3 axis (13) and the A4 axis (14) of the six-axis robot (1) to fix the second pipeline (22) and the two third pipelines (23), so that at least a portion of the second pipeline (22) and the two third pipelines (23) are fixed to the side of the six-axis robot (1) near the A1 axis inclined support frame (31).

2. The six-axis robot cable package kit according to claim 1, characterized in that, The A1 axis inclined support frame (31) includes: The corner base plate (311) includes a first plate (3111) and a second plate (3112) that are abutted together. The first plate (3111) is fixedly disposed on one side of the A1 axis (11) in the horizontal direction. The second plate (3112) is inclined to the first plate (3111) and the included angle is an obtuse angle. A support column (312) is provided along the length direction of the second plate (3112) away from the first plate (3111), and one end of the support column (312) is fixedly connected to the second plate (3112). The first clamp bracket (313) is provided with two annular clamps. The two annular clamps are symmetrically arranged at the other end of the support column (312) along the axial direction of the support column (312) to fix the other end of the first pipeline (21) and the first end of the second pipeline (22) respectively.

3. A six-axis robot cable package kit according to claim 2, characterized in that, The A1-axis tilt support frame (31) also includes a transition plate (314), which includes a first transition plate body (3141) and a second transition plate body (3142) arranged horizontally. The first transition plate body (3141) and the second transition plate body (3142) are tilted and fixed so that the tilt direction of the A1-axis tilt support frame (31) is opposite to the direction of the extension of the six-axis robot (1) mechanical arm.

4. A six-axis robot cable package kit according to claim 1, characterized in that, The A2 axis mounting bracket (32) includes: Mounting plate (321), which is formed as a metal plate and is fixedly disposed on the outer periphery of the robotic arm between the A2 axis (12) and the A3 axis (13) of the six-axis robot (1); Two second pipeline clamp brackets (322) are provided at intervals along the length of the mounting plate (321) on the side of the mounting plate (321) away from the six-axis robot (1). Each second pipeline clamp bracket (322) is provided with an annular clamp to fix the second pipeline (22). The first pipeline clamp bracket (323) is provided with a connecting bracket (3231) and is arranged along the thickness direction of the mounting plate (321) on the side of the mounting plate (321) away from the six-axis robot (1). The end of the connecting bracket (3231) is provided with an annular clamp to fix one end of the first pipeline (21). The third pipeline clamp bracket (324) is provided with two annular clamps fixed to the upper end of the mounting plate (321) to fix the ends of the two third pipelines (23).

5. A six-axis robot cable package kit according to claim 4, characterized in that, The angle between the extension line of the third pipeline clamp bracket (324) toward the second pipeline clamp bracket (322) and the axis of the A1 axis (11) in the orthogonal projection direction of the third pipeline clamp bracket (324) is 0-60°.

6. A six-axis robot cable package kit according to claim 1, characterized in that, The A6 axis tool side support (33) includes: End fixing member (331), the end fixing member (331) is provided with an annular fixing member (3311) and sleeved on one end of the mechanical arm of the six-axis robot (1), and a support column (3312) is fixed on the side of the annular fixing member (3311) away from the A1 axis inclined support frame (31); An end clamp bracket (332) is fixedly connected to the support column (3312). The end clamp bracket (332) is provided with three end ring clamps (3321) to fix the other end of the second pipeline (22) and the other end of the two third pipelines (23) respectively. The three end ring clamps (3321) are equally spaced along the A5 axis (15) of the six-axis robot (1) toward the A6 axis (16).

7. A six-axis robot cable package kit according to claim 1, characterized in that, The telescopic mechanism side-mounted fixing bracket (34) includes: The telescopic mechanism has a side-mounted base plate (341), which is provided with a mounting part (3411) and a bending part (3412). The mounting part (3411) is located between the A3 axis (13) and the A4 axis (14) of the six-axis robot (1) arm. The mounting part (3411) is horizontally arranged along the extension direction of the six-axis robot (1) arm. The bending part (3412) is arranged at one end of the mounting part (3411) in the direction towards the A1 axis (11). Two triangular clamp brackets (342) are spaced apart at both ends of the bending part (3412) along the extension direction of the six-axis robot (1) arm. Each triangular clamp bracket (342) is provided with three annular clamps to respectively pass through and fix the second pipeline (22) and the two third pipelines (23).

8. A six-axis robot cable package kit according to claim 7, characterized in that, The included angle between the bending portion (3412) and the mounting portion (3411) is 0-60°.

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