Six-axis robot

Abstract

The invention relates to the technical field of manipulators, in particular to a six-axis robot which comprises a moving part and a base, a mounting part is arranged between the moving part and the base, the moving part is connected with the base through the mounting part, a first rotating part is arranged in the base, and a first rotating shell is arranged on the surface of the first rotating part. The surface of the first rotating shell is rotationally connected with an extension piece. The electric telescopic rod rotates on the rotating shaft through the connecting shell, then the second telescopic arm is driven to drive the telescopic rod to move outwards, meanwhile, the telescopic rod slides in the limiting sliding groove through the limiting sliding block, so that the moving position of the telescopic rod is controlled, and the length of the first telescopic arm and the length of the second telescopic arm are conveniently adjusted. Besides, the motor drives the lead screw to rotate, the sliding block on the lead screw moves on the sliding rod due to stress, the base is driven to move correspondingly through the connecting block and the mounting piece, and then the problem that the factory operation cost is high due to the fact that an existing six-axis robot needs multiple robots to work cooperatively is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a six-axis robot. Background Art

[0002] In the modern industrial field, the role of robots is becoming increasingly important. With the continuous advancement of industrial automation, intelligence and modernization, high-performance robots are gradually penetrating into the core areas of advanced manufacturing, especially in the automotive manufacturing industry, where the reliance on robots has increased significantly. In industrial applications, robots are required to be extremely flexible, which is mainly reflected in the dimensions in which they can be freely manipulated. The so-called dimension of a robot refers to the number of axis directions in which it can rotate freely or the number of directions in which it can move in a straight line. The higher the dimension, the wider the range of motion of the robot.

[0003] Known Chinese Public Authorized Invention: (Publication No.: CN108312134B) discloses a six-axis robot, including a first joint structure, a second joint structure, a third joint structure, a fourth joint structure, a fifth joint structure and a sixth joint structure. When the six-axis robot is running, each joint structure can rotate around an axis direction, and the six joint structures can rotate independently in the six axis directions, so that the robot control terminal can reach any angle and position, and realize the dead angle-free operation in industrial applications. At the same time, six servo motors are used as the driving source, and multiple reducers are introduced to make the robot's operating action more stable and controllable, and the robot can be precisely controlled by setting the reduction ratio of each reducer and setting the working program of each servo motor. At the same time, the present invention sets multiple bearing seats and their corresponding bearing structures, realizes the damping-free transmission and stable power transmission of each joint of the robot, so that the robot has good operation stability and working continuity.

[0004] However, in actual applications, we found that the existing six-axis robots have limitations in position movement, and often require multiple robots to work together, which leads to high factory operating costs. Summary of the invention

[0005] The present invention proposes a six-axis robot. Existing six-axis robots have limitations in position movement and often require multiple robots to work together, which leads to high factory operating costs.

[0006] The technical solution of the present invention is as follows: A six-axis robot comprises: a moving component and a base, a mounting piece is provided between the moving component and the base, and the moving component is connected to the base through the mounting piece; A rotating member 1 is provided inside the base, a rotating shell 1 is provided on the surface of the rotating member 1, an extension member is rotatably connected to the surface of the rotating shell 1, a servo motor 2 is provided on the surface of the rotating shell 1, a reducer 2 is provided on the inner wall of the rotating shell 1, an output end of the servo motor 2 is connected to the reducer 2, and the reducer 2 is connected to the extension member; The surface of the extension piece is provided with a rotating shell 2, the surface of the rotating shell 2 is provided with a reducer 3, the surface of the reducer 3 is provided with a servo motor 3, the surface of the rotating shell 2 is fixedly connected with a reducer 4, the surface of the reducer 4 is provided with a servo motor 4, and the surface of the rotating shell 2 is rotatably connected with an extension arm; The end of the extension arm is rotatably connected to a U-shaped frame, a flange one is fixedly connected to the surface of the U-shaped frame, a servo motor five is arranged on the surface of the U-shaped frame, and a reducer five is arranged on the outer surface of the U-shaped frame.

[0007] Optionally, the moving component includes a housing, a screw rotatably connected to the inner wall of the housing, a sliding rod fixedly connected to the inner wall of the housing, a slider threadedly connected to the surface of the screw, a motor fixedly connected to the inside of the housing, and a connecting block fixedly connected to the surface of the slider; The slider is slidably connected to the slide rod, the output end of the motor is connected to the screw rod, and the surface of the shell is provided with an opening for matching the connection block.

[0008] Optionally, the mounting member includes a linkage plate fixedly connected to one side of the connection block, a mounting plate arranged on the surface of the linkage plate, a mounting opening opened on the surface of the mounting plate, a cross clamping block fixedly connected to the surface of the mounting plate, a connection plate and a clamping groove opened on the surface of the connection plate; A plurality of thread grooves are provided on the surface of the linkage plate, and bolt two matching the connecting port is fixedly connected to the inner wall of the thread groove. A screw hole is provided on the end face of the connecting plate, and a fixing plate is provided on the end face of the connecting plate. Bolt three matching the fixing plate is threadedly connected to the inner wall of the screw hole.

[0009] Optionally, the rotating member 1 includes a reducer 1 fixedly connected to the inner wall of the base, a servo motor 1 fixedly connected to the surface of a rotating shell 1, and a bearing fixedly connected to the inner wall of the base; The rotating shell 1 is installed on the inner ring of the bearing, the output end of the reducer 1 is fixedly connected to one side of the rotating shell 1, and the output end of the servo motor 1 is connected to the reducer 1.

[0010] Optionally, the extension member includes a telescopic arm 1 rotatably connected to a surface of a rotating shell 1, a telescopic opening provided inside the telescopic arm 1, a telescopic rod fixedly connected to an inner wall of the telescopic opening, a limiting slide groove provided on the inner wall of the telescopic opening, a limiting slider fixedly connected to an inner wall of the limiting slide groove, and a telescopic arm 2 fixedly connected to one end of the telescopic rod; The rotating shell 2 is rotatably mounted on the surface of the telescopic arm 2, the output end of the reducer 3 is connected to the telescopic arm 2, the surfaces of the telescopic arm 1 and the telescopic arm 2 are both provided with heat conduction ports, and the inner walls of the heat conduction ports are fixedly connected with heat dissipation copper sheets.

[0011] Optionally, a rotating member is provided on the surface of the telescopic arm 1 and the telescopic arm 2, and the rotating member includes a rotating shaft and a connecting shell rotatably connected to the surface of the rotating shaft, and the surface of the connecting shell is fixedly connected to the electric telescopic rod.

[0012] Optionally, the surface of the telescopic arm 2 is fixedly connected to the side plate 1, the surface of the side plate 1 is fixedly connected to the clamp, the surface of the rotating shell 2 is fixedly connected to the side plate 2, the surface of the side plate 2 is fixedly connected to the sleeve, and the surface of the rotating shell 1 is provided with a protective tube.

[0013] Optionally, a heat dissipation port is provided on the surface of the base, a sealing plate is provided on the inner wall of the heat dissipation port, an air inlet is provided on the surface of the base, and a dustproof net is fixedly connected to the inner wall of the air inlet.

[0014] Optionally, a threaded hole is provided on the surface of the base, and a bolt matching a sealing plate is threadedly connected to the inner wall of the threaded hole, and a heat dissipation fan is fixedly connected to the surface of the sealing plate.

[0015] Optionally, surfaces of the servo motor 1, servo motor 2, servo motor 3 and servo motor 4 are all fixedly connected with a heat sink; The heat dissipation element includes a heat dissipation shell, heat dissipation fins fixedly connected to the inner surface of the heat dissipation shell, an air inlet opened on the surface of the heat dissipation shell, a frame fixedly connected to the inner wall of the heat dissipation shell, a heat dissipation fan 2 fixedly connected to the inner wall of the frame, and a filter fixedly connected to the end of the heat dissipation shell.

[0016] Optionally, a flange 1 is fixedly connected to the surface of the U-shaped frame, a clamping shell is fixedly connected to the surface of the flange 1, a clamping column is provided inside the clamping shell, a flange 2 is fixedly connected to the end surface of the clamping column, a connecting piece 2 is provided at the edge of the flange 1, a connecting piece 1 is provided at the edge of the flange 2, the connecting piece 1 includes a nut and a bolt, and the structures of the connecting piece 1 and the connecting piece 2 are consistent; The outer surface of the clamping column is provided with a groove, the inner wall of the groove is provided with a slide groove, the inner wall of the slide groove is slidably connected with a slider, one side of the slider is fixedly connected with a protrusion, the inner wall of the clamping shell is provided with a connecting groove that matches the protrusion, the inner wall of the connecting groove is provided with a piston, the inner wall of the clamping shell is provided with a pipeline, the interior of the clamping shell is provided with a limit shell, the inner wall of the limit shell is provided with a button, the inner wall of the pipeline is provided with hydraulic oil, the pipeline is respectively connected with the connecting groove and the limit shell, and the inner wall of the groove is fixedly connected with a plurality of springs that match the protrusions.

[0017] Optionally, a gripper is provided on the surface of the flange 2, the gripper includes a clamping frame, an air pump is provided inside the clamping frame, an adjusting slot is provided on the inner wall of the clamping frame, the inner wall of the adjusting slot is slidably connected to an adjusting slider, a connecting protrusion is fixedly connected to the surface of the adjusting slider, a clamping block is fixedly connected to the end surface of the connecting protrusion, and an adjusting spring is provided on the inner wall of the adjusting slot; An air bag is provided inside the clamping frame, an air supply pipe is provided at the output end of the air pump, the surface of the air supply pipe is connected to an exhaust pipe, the surface of the exhaust pipe is provided with an electromagnetic valve, the air supply pipe is connected to the air bag, the exhaust pipe is connected to the air supply pipe, and the surface of the clamping frame is fixedly connected to an exhaust port.

[0018] The working principle and beneficial effects of the present invention are: First, the structure of the present application is reasonable. The electric telescopic rod rotates on the rotating shaft through the connecting shell, thereby driving the telescopic arm 2 to drive the telescopic rod to move outward. At the same time, the telescopic rod uses the limit slider to slide inside the limit slide groove, so as to control the moving position of the telescopic rod, which is convenient for adjusting the length of the telescopic arm 1 and the telescopic arm 2. In addition, the motor drives the screw rod to rotate, and the slider on the screw rod moves on the slide rod due to the force, and drives the base to move accordingly through the connecting block and the mounting piece.

[0019] 2. The present application has a reasonable structure. When adjusting the state, the reducer 1 is driven to move by the servo motor 1, and the rotating shell 1 is rotated on the inner ring of the bearing by the reducer 1, so that the equipment on the upper part of the rotating shell 1 is rotated, and the telescopic arm 1 in the extension part is rotated by the servo motor 2 through the reducer 2, and then the rotating shell 2 is rotated by the servo motor 3 through the reducer 4, the extension arm is rotated by the servo motor 4 through the reducer 4, and the servo motor 5 rotates the U-shaped frame at the end of the extension arm through the reducer 5, so as to facilitate the adjustment of the overall state of the device.

[0020] 3. The structure of the present application is reasonable. The heat generated by the electrical components inside the base is discharged through the heat dissipation fan 1. At this time, the external gas enters the base through the air inlet, so as to achieve the effect of circulating and cooling the base. The sealing plate and the heat dissipation fan 1 are separated by regularly removing the bolt 1, so as to facilitate the maintenance of the heat dissipation fan 1. When the temperature sensor detects that the servo motor 1, the servo motor 2, the servo motor 3 and the servo motor 4 are overheated, the heat dissipation fan 2 is started, and the hot gas inside the heat dissipation shell is discharged through the heat dissipation fan 2, and the heat is conducted to the inside of the heat dissipation shell through the heat dissipation fins. After that, the air inlet allows the outside gas to enter, so as to achieve the purpose of circulating cooling of the inner wall of the heat dissipation shell.

[0021] 4. The structure of the present application is reasonable. The clamping column is inserted into the clamping shell, and the protrusion is clamped into the connecting groove by the spring, and the piston inside the connecting groove is pushed upward, so that the hydraulic oil inside the connecting groove enters the limit shell through the pipeline, and the button inside the limit shell is pushed. In addition, by pressing the button, the hydraulic oil inside the limit shell flows back to the connecting groove through the pipeline, and the piston inside the connecting groove is pressed downward to achieve the purpose of resetting the protrusion. Finally, the clamping column is pulled out to complete the quick disassembly of the gripper.

[0022] 5. The structure of the present application is reasonable. When it is necessary to grab fragile items, start the air pump to allow external gas to be filled into the airbag through the air pipe. The airbag will then expand and squeeze the connecting block. The connecting block pushes the adjusting slider to move in the adjusting slot and compresses the adjusting spring at the same time, prompting the clamping block to move, allowing the airbag to cling to the surface of the item, thereby clamping the item. If it is necessary to clamp items with higher hardness, open the solenoid valve to allow the gas in the airbag to be discharged through the air pipe and the exhaust pipe. At this time, the adjusting spring restores its deformation, driving the adjusting slider to slide in the limiting slot, driving the clamping block to reset, so as to firmly clamp the item. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ; Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 3 ; Figure 4 It is a schematic diagram of the local structure of the present invention Figure 1 ; Figure 5 for Figure 1 The enlarged structural diagram at A in the middle; Figure 6 for Figure 3 The enlarged structural diagram at B in the middle; Figure 7 for Figure 4 The enlarged structural diagram at C in the middle; Figure 8 It is a schematic diagram of a partial cross-sectional structure of a moving component in the present invention; Fig. 9 It is a schematic diagram of a partial cross-sectional structure of a heat sink in the present invention; Fig.10 The local structure of the present invention is shown in FIG. Figure 2 ; Fig.11It is a schematic diagram of a partial cross-sectional structure of a clamping shell and a clamping column in the present invention; Fig.12 It is a schematic diagram of the three-dimensional structure of the gripper in the present invention; Fig.13 It is a schematic diagram of a partial cross-sectional structure of the clamping frame in the present invention; In the figure: 1, moving part; 101, housing; 102, slider; 103, screw rod; 104, slide rod; 105, connecting block; 106, motor; 2. Base; 3. Rotating shell 1; 4. Telescopic arm 1; 5. Telescopic arm 2; 6. Rotating shell 2; 7. Extension arm; 8. U-shaped frame; 9. Servo motor 1; 10. Servo motor 2; 11. Servo motor 3; 12. Servo motor 4; 13. Servo motor 5; 14. Side panel 1; 15. Sealing plate; 16. Bolt 1; 17. Cooling fan 1; 18. heat sink; 1801. heat sink shell; 1802. heat sink fins; 1803. air inlet; 1804. frame; 1805. heat sink fan 2; 1806. filter; 19. Side panel 2; 20. Heat dissipation copper sheet; 21. Protective tube; 22. Flange 1; 23. Connecting plate; 24. Cross clamping block; 25. Screw hole; 26. Mounting plate; 27. Bolt 2; 28. Connecting port; 29. ​​Linkage plate; 30. Fixing plate; 31. Bolt 3; 32. Connecting shell; 33. Rotating shaft; 34. Electric telescopic rod; 35. Clamping shell; 36. Clamping column; 37. Flange 2; 38. Connecting piece 1; 39. Connecting piece 2; 40. Button; 41. Groove; 42. Bump; 43. Piston; 44. Pipeline; 45. Limiting shell; 46. Grip; 47. Clamping frame; 48. Clamping block; 49. Air pump; 50. Exhaust port; 51. Connecting bump; 52. Adjusting slide; 53. Adjusting spring; 54. Air bag; 55. Air pipe; 56. Solenoid valve; 57. Exhaust pipe. DETAILED DESCRIPTION

[0025] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example See also Figures 1 to 13 The present invention provides a six-axis robot, comprising: a moving part 1 and a base 2, a mounting piece is provided between the moving part 1 and the base 2, and the moving part 1 is connected to the base 2 through the mounting piece; A rotating part 1 is provided inside the base 2, a rotating shell 1 3 is provided on the surface of the rotating part 1, an extension part is rotatably connected to the surface of the rotating shell 1 3, a servo motor 2 10 is provided on the surface of the rotating shell 1 3, a reducer 2 is provided on the inner wall of the rotating shell 1 3, an output end of the servo motor 2 10 is connected to the reducer 2, and the reducer 2 is connected to the extension part; The surface of the extension piece is provided with a rotating shell 2 6, the surface of the rotating shell 2 6 is provided with a reducer 3, the surface of the reducer 3 is provided with a servo motor 3 11, the surface of the rotating shell 2 6 is fixedly connected with a reducer 4, the surface of the reducer 4 is provided with a servo motor 4 12, and the surface of the rotating shell 2 6 is rotatably connected with an extension arm 7; The end of the extension arm 7 is rotatably connected to a U-shaped frame 8, a flange 22 is fixedly connected to the surface of the U-shaped frame 8, a servo motor 5 13 is arranged on the surface of the U-shaped frame 8, and a reducer 5 is arranged on the outer surface of the U-shaped frame 8.

[0027] The telescopic arm 1 4 in the extension piece is rotated by the servo motor 2 10 through the reducer 2, and then the rotating shell 2 6 is rotated by the servo motor 3 11 through the reducer 4, the extension arm 7 is rotated by the servo motor 4 12 through the reducer 4, and the U-shaped frame 8 is rotated at the end of the extension arm 7 by the servo motor 5 13 through the reducer 5.

[0028] Further, the moving component 1 includes a housing 101, a screw rod 103 rotatably connected to the inner wall of the housing 101, a slide rod 104 fixedly connected to the inner wall of the housing 101, a slider 102 threadedly connected to the surface of the screw rod 103, a motor 106 fixedly connected to the inside of the housing 101, and a connecting block 105 fixedly connected to the surface of the slider 102; The slider 102 is slidably connected to the slide bar 104, the output end of the motor 106 is connected to the screw rod 103, the surface of the housing 101 is provided with an opening for matching the connecting block 105, and the mounting parts include a linkage plate 29 fixedly connected to one side of the connecting block 105, a mounting plate 26 arranged on the surface of the linkage plate 29, a mounting opening opened on the surface of the mounting plate 26, a cross clamping block 24 fixedly connected to the surface of the mounting plate 26, a connecting plate 23 and a clamping groove opened on the surface of the connecting plate 23; A plurality of thread grooves are provided on the surface of the linkage plate 29, and a bolt 27 matching the connecting port 28 is fixedly connected to the inner wall of the thread groove. A screw hole 25 is provided on the end face of the connecting plate 23, and a fixing plate 30 is provided on the end face of the connecting plate 23. A bolt 31 matching the fixing plate 30 is threadedly connected to the inner wall of the screw hole 25.

[0029] When in use, the motor 106 drives the screw rod 103 to rotate, and the slider 102 on the surface of the screw rod 103 is forced to move on the surface of the slide rod 104, and the base 2 moves through the connecting block 105 and the mounting member; By removing the second bolt 27, the fixing plate 30 is separated from the connecting plate 23, and then the cross clamping block 24 is pulled out from the clamping groove inside the connecting plate 23 to separate the moving component 1 from the base 2, so as to facilitate regular maintenance of the parts on the base 2.

[0030] Furthermore, the rotating member 1 includes a reducer 1 fixedly connected to the inner wall of the base 2, a servo motor 1 9 fixedly connected to the surface of the rotating shell 1 3, and a bearing fixedly connected to the inner wall of the base 2; The rotating shell 3 is installed on the inner ring of the bearing, the output end of the reducer 1 is fixedly connected to one side of the rotating shell 3, and the output end of the servo motor 9 is connected to the reducer 1.

[0031] Specifically, the servo motor 9 drives the reducer 1 to move, and the reducer 1 causes the rotating shell 1 3 to rotate on the inner ring of the bearing, thereby achieving the purpose of rotating the equipment on the upper part of the rotating shell 1 3.

[0032] Further, the extension member includes a telescopic arm 14 rotatably connected to the surface of the rotating shell 13, a telescopic opening provided inside the telescopic arm 14, a telescopic rod fixedly connected to the inner wall of the telescopic opening, a limiting slide groove provided on the inner wall of the telescopic opening, a limiting slider fixedly connected to the inner wall of the limiting slide groove, and a telescopic arm 25 fixedly connected to one end of the telescopic rod; The rotating shell 26 is rotatably installed on the surface of the telescopic arm 25, the output end of the reducer 3 is connected to the telescopic arm 25, the surfaces of the telescopic arm 14 and the telescopic arm 25 are provided with heat conduction ports, the inner walls of the heat conduction ports are fixedly connected with heat dissipation copper sheets 20, the surfaces of the telescopic arm 14 and the telescopic arm 25 are provided with rotating parts, the rotating parts include a rotating shaft 33 and a connecting shell 32 rotatably connected to the surface of the rotating shaft 33, the surface of the connecting shell 32 is fixedly connected with an electric telescopic rod 34, the surface of the telescopic arm 25 is fixedly connected with a side plate 14, the surface of the side plate 14 is fixedly connected with a clamp, the surface of the rotating shell 26 is fixedly connected with a side plate 219, the surface of the side plate 219 is fixedly connected with a sleeve, and the surface of the rotating shell 3 is provided with a protective tube 21.

[0033] Specifically, the electric telescopic rod 34 rotates on the surface of the rotating shaft 33 through the connecting shell 32, so that the telescopic arm 2 5 drives the telescopic rod to move outward, and at the same time, the telescopic rod slides on the inner wall of the limiting slide groove through the limiting slider, so as to achieve the purpose of limiting the moving position of the telescopic rod, and also achieve the purpose of adjusting the length of the telescopic arm 1 4 and the telescopic arm 2 5. The protective tube 21 is used to protect the wires and lines. In addition, the clamp and the sleeve cooperate with each other to achieve the effect of limiting the protective tube 21.

[0034] Furthermore, a heat dissipation port is provided on the surface of the base 2, a sealing plate 15 is provided on the inner wall of the heat dissipation port, an air inlet is provided on the surface of the base 2, a dust screen is fixedly connected to the inner wall of the air inlet, a threaded hole is provided on the surface of the base 2, a bolt 16 matching the sealing plate 15 is threadedly connected to the inner wall of the threaded hole, and a heat dissipation fan 17 is fixedly connected to the surface of the sealing plate 15.

[0035] Specifically, the heat generated by the electrical components inside the base 2 is discharged through the heat dissipation fan 17. At this time, the external gas enters the base 2 through the air inlet, achieving the effect of circulating cooling of the base 2. The bolt 16 is removed to disassemble the sealing plate 15 and the heat dissipation fan 17, which is convenient for maintenance of the heat dissipation fan 17.

[0036] Furthermore, the surfaces of the servo motor 1 9 , the servo motor 2 10 , the servo motor 3 11 and the servo motor 4 12 are all fixedly connected with a heat sink 18 , and the servo motor 1 9 , the servo motor 2 10 , the servo motor 3 11 and the servo motor 4 12 are all provided with a temperature sensor; The heat sink 18 includes a heat sink 1801, heat sink fins 1802 fixedly connected to the inner surface of the heat sink 1801, an air inlet 1803 opened on the surface of the heat sink 1801, a frame 1804 fixedly connected to the inner wall of the heat sink 1801, a heat sink fan 1805 fixedly connected to the inner wall of the frame 1804, and a filter 1806 fixedly connected to the end of the heat sink 1801.

[0037] Specifically, the heat generated by the servo motor 19 is conducted to the inside of the heat dissipation shell 1801 through the heat dissipation fins 1802, and the hot gas inside the heat dissipation shell 1801 is discharged through the heat dissipation fan 1805. After that, the outside gas enters through the air inlet 1803, so as to facilitate the cooling of the inner wall of the heat dissipation shell 1801.

[0038] Further, a flange 1 22 is fixedly connected to the surface of the U-shaped frame 8, a clamping shell 35 is fixedly connected to the surface of the flange 1 22, a clamping column 36 is provided inside the clamping shell 35, a flange 2 37 is fixedly connected to the end surface of the clamping column 36, a connecting piece 2 39 is provided at the edge of the flange 1 22, a connecting piece 1 38 is provided at the edge of the flange 2 37, the connecting piece 1 38 includes a nut and a bolt, and the structure of the connecting piece 1 38 is consistent with that of the connecting piece 2 39; The outer surface of the clamping column 36 is provided with a groove 41, the inner wall of the groove 41 is provided with a slide groove, the inner wall of the slide groove is slidably connected with a slider, one side of the slider is fixedly connected with a protrusion 42, the inner wall of the clamping shell 35 is provided with a connecting groove matching the protrusion 42, the inner wall of the connecting groove is provided with a piston 43, the inner wall of the clamping shell 35 is provided with a pipe 44, the inside of the clamping shell 35 is provided with a limit shell 45, the inner wall of the limit shell 45 is provided with a button 40, the inner wall of the pipe 44 is provided with hydraulic oil, and the pipe 44 is respectively connected to the connecting groove and the limit The shell 45 is connected, the inner wall of the groove 41 is fixedly connected with a plurality of springs matching the protrusion 42, the surface of the flange 37 is provided with a gripper 46, the gripper 46 includes a clamping frame 47, the interior of the clamping frame 47 is provided with an air pump 49, the inner wall of the clamping frame 47 is provided with an adjustment slot 52, the inner wall of the adjustment slot 52 is slidably connected with an adjustment slider, the surface of the adjustment slider is fixedly connected with a connection protrusion 51, the end surface of the connection protrusion 51 is fixedly connected with a clamping block 48, and the inner wall of the adjustment slot 52 is provided with an adjustment spring 53; An air bag 54 is provided inside the clamping frame 47, an air supply pipe 55 is provided at the output end of the air pump 49, the surface of the air supply pipe 55 is connected to an exhaust pipe 57, the surface of the exhaust pipe 57 is provided with a solenoid valve 56, the air supply pipe 55 is connected to the air bag 54, the exhaust pipe 57 is connected to the air supply pipe 55, and an exhaust port 50 is fixedly connected to the surface of the clamping frame 47.

[0039] Specifically, the flange 1 22 is connected to the surface of the U-shaped frame 8 through the connecting piece 2 39, matched with the gripper 46 of the robot, and connected to the clamping column 36 through the connecting piece 1 38 and the flange 2 37. After that, the clamping column 36 is inserted into the inside of the clamping shell 35, and the protrusion 42 is clamped into the inside of the connecting groove by the spring, and the piston 43 inside the connecting groove is pushed up, so that the hydraulic oil inside the connecting groove enters the limiting shell 45 through the pipeline 44, so as to achieve the purpose of pushing the button 40 inside the limiting shell 45. When the gripper 46 needs to be quickly disassembled, the button 40 is pressed down to make the hydraulic oil inside the limiting shell 45 flow back to the connecting groove through the pipeline 44, and the piston 43 inside the connecting groove is pressed down to reset the protrusion 42, and finally the clamping column 36 is pulled out to complete the disassembly of the gripper 46; When it is necessary to grab easily damaged items, the air pump 49 allows external air to enter the airbag 54 through the air pipe 55, causing the airbag 54 to expand, and the airbag 54 squeezes the connecting protrusion 51. The connecting protrusion 51 moves in the adjusting slot through the adjusting slider, and compresses the adjusting spring 53 to move the clamping block 48, and then the airbag 54 leaks out, making it convenient to clamp the items through the airbag 54. When it is necessary to clamp items with high hardness, the solenoid valve 56 is opened, and the gas inside the airbag 54 is discharged through the air pipe 55 and the exhaust pipe 57. At this time, the adjusting slider is made to slide on the inner wall of the limiting slot through the adjusting spring 53, so as to achieve the purpose of resetting the clamping block 48, which is convenient for the clamping block 48 to clamp the items.

[0040] This application workflow: The flange 1 22 is connected to the surface of the U-shaped frame 8 through the connecting piece 2 39, matched with the gripper 46 of the robot, and connected to the clamping column 36 through the connecting piece 1 38 and the flange 2 37. After that, the clamping column 36 is inserted into the inside of the clamping shell 35, and the protrusion 42 is clamped into the inside of the connecting groove through the spring, and the piston 43 inside the connecting groove is pushed upward, so that the hydraulic oil inside the connecting groove enters the limit shell 45 through the pipeline 44, so as to achieve the purpose of pushing the button 40 inside the limit shell 45; The motor 106 drives the screw rod 103 to rotate, and the slider 102 on the surface of the screw rod 103 is forced to move on the surface of the slide rod 104, and the base 2 moves through the connecting block 105 and the mounting member; When the state is adjusted, the reducer 1 is driven to move by the servo motor 1 9, and the rotating shell 1 3 is rotated on the inner ring of the bearing by the reducer 1, driving the equipment on the upper part of the rotating shell 3 to rotate, and the telescopic arm 1 4 in the extension part is rotated by the servo motor 2 10 through the reducer 2, and then the servo motor 3 11 rotates the rotating shell 2 6 through the reducer 4, the servo motor 4 12 rotates the extension arm 7 through the reducer 4, and the servo motor 5 13 rotates the U-shaped frame 8 at the end of the extension arm 7 through the reducer 5, so as to achieve the purpose of adjusting the posture; In addition, the electric telescopic rod 34 rotates on the surface of the rotating shaft 33 through the connecting shell 32, so that the telescopic arm 2 5 drives the telescopic rod to move outward, and at the same time, the telescopic rod slides on the inner wall of the limiting slide groove through the limiting slider, so as to limit the moving position of the telescopic rod, and also to adjust the length of the telescopic arm 1 4 and the telescopic arm 2 5; When it is necessary to grab easily damaged items, the air pump 49 allows external air to enter the airbag 54 through the air pipe 55, so that the airbag 54 expands, and the airbag 54 squeezes the connecting protrusion 51. The connecting protrusion 51 moves in the adjusting slot through the adjusting slider, and compresses the adjusting spring 53 to move the clamping block 48, and then the airbag 54 leaks out, which is convenient for clamping the items through the airbag 54. When it is necessary to clamp items with high hardness, the solenoid valve 56 is opened, and the gas inside the airbag 54 is discharged through the air pipe 55 and the exhaust pipe 57. At this time, the adjusting spring 53 is used to make the adjusting slider slide on the inner wall of the limiting slot, so as to achieve the purpose of resetting the clamping block 48, which is convenient for the clamping block 48 to clamp the items. The heat generated by the electrical components inside the base 2 is discharged through the heat dissipation fan 17. At this time, the external air enters the base 2 through the air inlet, achieving the effect of circulating cooling of the base 2. The bolt 16 is removed to disassemble the sealing plate 15 and the heat dissipation fan 17, which is convenient for maintenance of the heat dissipation fan 17. When the temperature sensor detects that the servo motor 1 9, the servo motor 2 10, the servo motor 3 11 and the servo motor 4 12 are overheated, the heat is conducted to the inside of the heat dissipation shell 1801 through the heat dissipation fins 1802, and the hot gas inside the heat dissipation shell 1801 is discharged through the heat dissipation fan 2 1805. After that, the air inlet 1803 allows the outside air to enter, which is convenient for cooling the inner wall of the heat dissipation shell 1801. During regular maintenance, the fixing plate 30 is separated from the connecting plate 23 by removing the second bolt 27, and then the cross clamping block 24 is pulled out from the clamping groove inside the connecting plate 23 to separate the movable component 1 from the base 2, so as to facilitate regular maintenance of the parts on the upper part of the base 2, and the sealing plate 15 is separated from the cooling fan 17 by removing the first bolt 16 to facilitate maintenance of the cooling fan 17. When the gripper needs to be quickly disassembled, the button 40 is pressed down to allow the hydraulic oil inside the limit shell 45 to flow back to the connecting groove through the pipeline 44, and the piston 43 inside the connecting groove is pressed downward to achieve the purpose of resetting the protrusion 42, and finally the clamping column 36 is pulled out to complete the quick disassembly of the gripper.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-axis robot, characterized in that: include: A moving component (1) and a base (2), wherein a mounting member is provided between the moving component (1) and the base (2), and the moving component (1) is connected to the base (2) via the mounting member; A rotating member 1 is provided inside the base (2), a rotating shell 1 (3) is provided on the surface of the rotating member 1, an extension member is rotatably connected to the surface of the rotating shell 1 (3), a servo motor 2 (10) is provided on the surface of the rotating shell 1 (3), a reducer 2 is provided on the inner wall of the rotating shell 1 (3), an output end of the servo motor 2 (10) is connected to the reducer 2, and the reducer 2 is connected to the extension member; The surface of the extension piece is provided with a rotating shell 2 (6), the surface of the rotating shell 2 (6) is provided with a reducer 3, the surface of the reducer 3 is provided with a servo motor 3 (11), the surface of the rotating shell 2 (6) is fixedly connected with a reducer 4, the surface of the reducer 4 is provided with a servo motor 4 (12), and the surface of the rotating shell 2 (6) is rotatably connected with an extension arm (7); The end of the extension arm (7) is rotatably connected to a U-shaped frame (8), a servo motor five (13) is provided on the surface of the U-shaped frame (8), and a reducer five is provided on the outer surface of the U-shaped frame (8).

2. A six-axis robot according to claim 1, characterized in that: The moving component (1) comprises a housing (101), a screw rod (103) rotatably connected to the inner wall of the housing (101), a slide rod (104) fixedly connected to the inner wall of the housing (101), a slider (102) threadedly connected to the surface of the screw rod (103), a motor (106) fixedly connected to the inside of the housing (101), and a connecting block (105) fixedly connected to the surface of the slider (102); The slider (102) is slidably connected to the slide rod (104), the output end of the motor (106) is connected to the screw rod (103), and the surface of the housing (101) is provided with an opening that matches the connection block (105); The surfaces of the servo motor 1 (9), the servo motor 2 (10), the servo motor 3 (11) and the servo motor 4 (12) are all fixedly connected with a heat sink (18); The heat sink (18) comprises a heat sink shell (1801), heat sink fins (1802) fixedly connected to the inner surface of the heat sink shell (1801), an air inlet (1803) opened on the surface of the heat sink shell (1801), a frame (1804) fixedly connected to the inner wall of the heat sink shell (1801), a second heat sink fan (1805) fixedly connected to the inner wall of the frame (1804), and a filter (1806) fixedly connected to the end of the heat sink shell (1801).

3. A six-axis robot according to claim 2, characterized in that: The mounting member comprises a linkage plate (29) fixedly connected to one side of the connection block (105), a mounting plate (26) provided on the surface of the linkage plate (29), a mounting opening provided on the surface of the mounting plate (26), a cross clamping block (24) fixedly connected to the surface of the mounting plate (26), a connection plate (23) and a clamping groove provided on the surface of the connection plate (23); The surface of the linkage plate (29) is provided with a plurality of thread grooves, the inner wall of the thread groove is fixedly connected with a second bolt (27) matching the connection port (28), the end surface of the connection plate (23) is provided with a screw hole (25), the end surface of the connection plate (23) is provided with a fixing plate (30), and the inner wall of the screw hole (25) is threadedly connected with a third bolt (31) matching the fixing plate (30).

4. A six-axis robot according to claim 1, characterized in that: The rotating member 1 comprises a reducer 1 fixedly connected to the inner wall of the base (2), a servo motor 1 (9) fixedly connected to the surface of a rotating shell 1 (3), and a bearing fixedly connected to the inner wall of the base (2); The rotating shell one (3) is installed on the inner ring of the bearing, the output end of the reducer one is fixedly connected to one side of the rotating shell one (3), and the output end of the servo motor one (9) is connected to the reducer one.

5. A six-axis robot according to claim 1, characterized in that: The extension member comprises a telescopic arm 1 (4) rotatably connected to the surface of the rotating shell 1 (3), a telescopic opening provided inside the telescopic arm 1 (4), a telescopic rod fixedly connected to the inner wall of the telescopic opening, a limit slide groove provided on the inner wall of the telescopic opening, a limit slide block fixedly connected to the inner wall of the limit slide groove, and a telescopic arm 2 (5) fixedly connected to one end of the telescopic rod; The rotating shell 2 (6) is rotatably mounted on the surface of the telescopic arm 2 (5), the output end of the reducer 3 is connected to the telescopic arm 2 (5), and the surfaces of the telescopic arm 1 (4) and the telescopic arm 2 (5) are both provided with heat conduction ports, and the inner walls of the heat conduction ports are fixedly connected with heat dissipation copper sheets (20).

6. A six-axis robot according to claim 5, characterized in that: The surfaces of the telescopic arm 1 (4) and the telescopic arm 2 (5) are both provided with rotating parts, the rotating parts comprising a rotating shaft (33) and a connecting shell (32) rotatably connected to the surface of the rotating shaft (33), and the surface of the connecting shell (32) is fixedly connected to an electric telescopic rod (34).

7. A six-axis robot according to claim 5, characterized in that: The surface of the telescopic arm 2 (5) is fixedly connected to the side plate 1 (14), the surface of the side plate 1 (14) is fixedly connected to the clamp, the surface of the rotating shell 2 (6) is fixedly connected to the side plate 2 (19), the surface of the side plate 2 (19) is fixedly connected to the sleeve, and the surface of the rotating shell 1 (3) is provided with a protective tube (21).

8. The six-axis robot according to claim 1, characterized in that: The surface of the base (2) is provided with a heat dissipation port, the inner wall of the heat dissipation port is provided with a sealing plate (15), the surface of the base (2) is provided with an air inlet, the inner wall of the air inlet is fixedly connected to a dust screen, the surface of the base (2) is provided with a threaded hole, the inner wall of the threaded hole is threadedly connected to a bolt (16) that matches the sealing plate (15), and the surface of the sealing plate (15) is fixedly connected to a heat dissipation fan (17).

9. The six-axis robot according to claim 1, characterized in that: The surface of the U-shaped frame (8) is fixedly connected to a flange 1 (22), the surface of the flange 1 (22) is fixedly connected to a snap-on shell (35), a snap-on column (36) is provided inside the snap-on shell (35), the end surface of the snap-on column (36) is fixedly connected to a flange 2 (37), the edge of the flange 1 (22) is provided with a connecting piece 2 (39), the edge of the flange 2 (37) is provided with a connecting piece 1 (38), the connecting piece 1 (38) comprises a nut and a bolt, and the structures of the connecting piece 1 (38) and the connecting piece 2 (39) are consistent; The outer surface of the clamping column (36) is provided with a groove (41), the inner wall of the groove (41) is provided with a slide groove, the inner wall of the slide groove is slidably connected to a slider, one side of the slider is fixedly connected to a protrusion (42), the inner wall of the clamping shell (35) is provided with a connecting groove matching the protrusion (42), the inner wall of the connecting groove is provided with a piston (43), the inner wall of the clamping shell (35) is provided with a pipe (44), the inside of the clamping shell (35) is provided with a limit shell (45), the inner wall of the limit shell (45) is provided with a button (40), the inner wall of the pipe (44) is provided with hydraulic oil, the pipe (44) is respectively connected to the connecting groove and the limit shell (45), and the inner wall of the groove (41) is fixedly connected to a plurality of springs matching the protrusion (42).

10. A six-axis robot according to claim 9, characterized in that: The surface of the second flange (37) is provided with a gripper (46), the gripper (46) comprises a clamping frame (47), an air pump (49) is provided inside the clamping frame (47), an adjusting slot (52) is provided on the inner wall of the clamping frame (47), an adjusting slider is slidably connected to the inner wall of the adjusting slot (52), a connecting protrusion (51) is fixedly connected to the surface of the adjusting slider, a clamping block (48) is fixedly connected to the end face of the connecting protrusion (51), and an adjusting spring (53) is provided on the inner wall of the adjusting slot (52); An air bag (54) is provided inside the clamping frame (47); an air supply pipe (55) is provided at the output end of the air pump (49); a surface of the air supply pipe (55) is connected to an exhaust pipe (57); a surface of the exhaust pipe (57) is provided with an electromagnetic valve (56); the air supply pipe (55) is connected to the air bag (54); the exhaust pipe (57) is connected to the air supply pipe (55); and an exhaust port (50) is fixedly connected to the surface of the clamping frame (47).

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