Quickly-spliced six-axis collaborative robot

Abstract

The six-axis collaborative robot comprises a base, a connecting sleeve, a rotating motor, a first joint, a second joint, a joint set and a lifting assembly, the lifting assembly is located in the base and partially extends out of the base, and the lifting assembly comprises a turbine, a worm, a lead screw and a telescopic rod; the telescopic rod is fixed to a lead screw seat of the lead screw, the telescopic rod is inserted into the connecting sleeve and partially extends out of the connecting sleeve, the lower portion of the lead screw is fixed to the turbine, the turbine is meshed with the worm, and an output shaft of the rotating motor is connected with the center of the worm. The first joint is in threaded connection with the lifting assembly; the second joint is magnetically connected with the first joint, the joint set is hinged to the second joint, and the joint set can rotate at multiple angles. According to the invention, rapid splicing and dismounting are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a six-axis collaborative robot that can be quickly assembled. Background Art

[0002] The development of industrial robots is becoming more and more mature. Traditional single robots working independently can no longer meet the needs of various industries in the market, especially in the automated assembly lines of 3C, medicine, food, logistics and other industries that require human-machine cooperation. Therefore, it is necessary to launch a smarter and safer collaborative robot that can work with humans and machines to solve this problem.

[0003] For example, patent application No. 202010276949.X discloses a six-axis collaborative robot that can be quickly assembled, including: a base, located at the bottom; shoulder joint 1, mounted on the base; shoulder joint 2, connected to the left side of shoulder joint 1 and capable of rotating at a certain angle, and rotating back and forth with shoulder joint 1; shoulder-elbow connection straight tube, fixedly mounted on shoulder joint 2, and moving with shoulder joint 2; metal elbow joint, fixedly mounted on shoulder-elbow connection straight tube, and also moving with shoulder joint 2; wrist joint 1, fixedly mounted on elbow-wrist connection straight tube, and also moving with elbow-wrist connection curved tube; wrist joint 2, connected to the left side of wrist joint 1 and capable of rotating at a certain angle; wrist joint 3, connected above wrist joint 2 and capable of rotating at a certain angle; end mounting seat, connected to the left side of wrist joint 3 and capable of rotating at a certain angle. However, once the structure is assembled, it is relatively inconvenient to disassemble it later, so it needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide a six-axis collaborative robot that can be quickly assembled, so as to solve the problem that the existing six-axis collaborative robots mentioned in the above background technology are relatively inconvenient to disassemble after assembly.

[0005] To achieve the above object, the present invention provides the following technical solution: a six-axis collaborative robot that can be quickly assembled, comprising the following components: The base, located at the very bottom; A connecting sleeve, wherein the connecting sleeve is fixed above the base; A rotating motor, the rotating motor is located on the side of the base, and the output shaft of the rotating motor is inserted into the base; A lifting assembly, the lifting assembly is located in the base and partially extends out of the base, the lifting assembly includes a turbine, a worm, a lead screw and a telescopic rod, the telescopic rod is fixed to the lead screw seat of the lead screw, and the telescopic rod is inserted in the connecting sleeve and partially extends out of the connecting sleeve, the lower part of the lead screw is fixed to the turbine, the turbine is meshed with the worm, and the output shaft of the rotating motor is at the center of the worm; A first joint, wherein the first joint is threadedly connected to the lifting assembly; A second joint, the second joint is magnetically connected to the first joint; A joint group, the joint group is hinged to the second joint, and the joint group can rotate at multiple angles; Among them, the first joint includes a horizontally arranged wrist joint 1, one end of the wrist joint 1 is provided with an external threaded portion, the side of the telescopic rod extending out of the connecting sleeve is provided with an internal threaded portion screwed to the external threaded portion, the other end of the wrist joint 1 is ball-connected with a metal elbow joint, and the metal elbow joint is provided with a mounting through hole, the second joint includes a vertically arranged wrist joint 2, a magnetic column magnetically connected to the mounting through hole is provided below the wrist joint 2, an upper joint arm 1 is hinged above the wrist joint 2, an upper joint arm 2 is ball-connected above the upper joint arm 1, and the joint group is fixed on the side of the upper joint arm 2.

[0006] Preferably, the joint group includes a first ball joint rod, a first ball head seat, a first connecting arm, a first ball head, a second ball head, a second connecting arm, a second ball joint seat, a third connecting arm and an end mounting seat, one end of the first ball joint rod is connected to the side of the upper joint arm two, the ball head portion at the other end of the first ball joint rod is hinged to the first ball head seat, the first ball head seat is connected to one end of the first connecting arm at one end away from the first ball joint rod, the other end of the first connecting arm is fixed with the first ball head, one end of the second connecting arm is fixed with the second ball head, the other end of the second connecting arm is connected to the second ball joint seat, the end of the second ball joint seat away from the second connecting arm is ball-connected with one end of the third connecting arm, the other end of the third connecting arm is connected to one side of the end mounting seat, and a magnetic pneumatic manipulator is arranged on the other side of the end mounting seat away from the third connecting arm, a ball-jointed connecting rod is plugged into the first ball head and the second ball head, and a ball head locking knob is threadedly connected to the ball-jointed connecting rod.

[0007] Preferably, a magnetic suction cup is provided at the bottom of the base.

[0008] Preferably, the other end of the third connecting arm is spherically connected to the terminal mounting seat.

[0009] Preferably, the rotating motor outer casing has a manual knob.

[0010] Preferably, a first bearing is connected to the upper and lower parts of the turbine, the first bearing is sleeved outside the screw rod, and the outer wall of the first bearing is matched with the inner wall of the base.

[0011] Preferably, both ends of the worm are fixed to the base through end covers, and a second bearing sleeved outside the worm body is arranged inside each end cover.

[0012] Preferably, the lower part of the connecting sleeve is fixedly connected to the base via four positioning pins.

[0013] Preferably, the base, connecting sleeve, wrist joint one, wrist joint two, upper joint arm two, upper joint arm one, the first ball joint rod, the first ball head seat, the first connecting arm, the second connecting arm, the second ball joint seat, the third connecting arm and the end mounting seat are all made of high-strength aluminum alloy material.

[0014] Compared with the prior art, the beneficial effects of the present invention are: by driving the rotating motor to work, the worm is driven to rotate, the turbine is rotated, and finally the telescopic rod above is driven to move up and down to adjust the height of the entire robot. In addition, in the present structure, the first joint is threadedly connected to the lifting assembly, which is convenient for installation and disassembly. In addition, the second joint is magnetically connected to the first joint, which is convenient for disassembly and installation. Therefore, the present structural setting makes the installation and disassembly of the overall structure simpler, and quick splicing is achieved. In addition, the joint group can achieve multi-angle adjustment, making the angle diversified. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The six-axis collaborative robot disclosed in Example 1 can be quickly assembled at the first joint, Schematic diagram of the structure when the second joint is separated from the base; Figure 2 This is a schematic diagram of the structure when the base and the lifting assembly disclosed in Example 1 are separated; Figure 3 It is a structural schematic diagram of the joint assembly in Example 1 when the first ball connecting rod is not installed; Figure 4 This is a schematic diagram of the structure of the base and the lifting assembly disclosed in Example 2 when combined.

[0016] In the figure: base 1, connecting sleeve 2, rotating motor 3, turbine 4, worm 5, screw 6, telescopic rod 7, first joint 8, second joint 9, joint group 10, wrist joint 11, external threaded portion 12, internal threaded portion 13, metal elbow joint 14, mounting through hole 15, magnetic column 16, upper joint arm 17, wrist joint 2 18, upper joint arm 2 19, first ball joint rod 101, first ball head seat 102, first connecting arm 103, first ball head 104, second ball head 105, second connecting arm 106, second ball joint seat 107, third connecting arm 108, end mounting seat 109, ball joint connecting rod 110, ball head locking knob 111, first bearing 20, end cover 21, second bearing 22, locating pin 23, magnetic suction cup 24, manual knob 25. DETAILED DESCRIPTION

[0017] 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 making creative work are within the scope of protection of the present invention. Example

[0018] See also Figure 1-3 , a six-axis collaborative robot that can be quickly assembled is disclosed in this embodiment, comprising the following components: Base 1, located at the bottom; A connecting sleeve 2, wherein the connecting sleeve 2 is fixed on the top of the base 1; A rotating motor 3, wherein the rotating motor 3 is located at a side of the base 1, and an output shaft of the rotating motor 3 is inserted into the base 1; A lifting assembly, the lifting assembly is located in the base 1 and partially extends out of the base 1, the lifting assembly includes a turbine 4, a worm 5, a screw 6 and a telescopic rod 7, the telescopic rod 7 is fixed on the screw seat of the screw 6, and the telescopic rod 7 is inserted in the connecting sleeve 2 and partially extends out of the connecting sleeve 2, the lower part of the screw 6 is fixed on the turbine 4, the turbine 4 is meshed with the worm 5, and the output shaft of the rotating motor 3 is at the center of the worm 5; A first joint 8, wherein the first joint 8 is threadedly connected to the lifting assembly; A second joint 9, wherein the second joint 9 is magnetically connected to the first joint 8; A joint assembly 10, wherein the joint assembly 10 is hinged to the second joint 9, and the joint assembly 10 can rotate at multiple angles; Wherein, the first joint 8 comprises a horizontally arranged wrist joint 11, one end of which is provided with an external threaded portion 12, the side of the telescopic rod 7 extending out of the connecting sleeve 2 is provided with an internal threaded portion 13 screwed with the external threaded portion 12, the other end of the wrist joint 11 is ball-connected with a metal elbow joint 14, and the metal elbow joint 14 is provided with a mounting through hole 15, the second joint 9 comprises a vertically arranged wrist joint 2 18, a magnetic column 16 magnetically connected to the mounting through hole 15 is provided below the wrist joint 2 18, an upper joint arm 17 is hinged above the wrist joint 2 18, an upper joint arm 2 19 is ball-connected above the upper joint arm 17, and the joint assembly 10 is fixed on the side of the upper joint arm 2 19, Preferably, the joint assembly 10 includes a first ball joint rod 101, a first ball head seat 102, a first connecting arm 103, a first ball head 104, a second ball head 105, a second connecting arm 106, a second ball joint seat 107, a third connecting arm 108 and an end mounting seat 109, one end of the first ball joint rod 101 is connected to the side of the upper joint arm 19, the ball head of the other end of the first ball joint rod 101 is hinged to the first ball head seat 102, the end of the first ball head seat 102 away from the first ball joint rod 101 is connected to one end of the first connecting arm 103, and the other end of the first connecting arm 103 is fixed with a first ball Head 104, a second ball head 105 is fixed at one end of the second connecting arm 106, and the other end of the second connecting arm 106 is connected to a second ball joint seat 107, and the end of the second ball joint seat 107 away from the second connecting arm 106 is ball-connected with one end of the third connecting arm 108, and the other end of the third connecting arm 108 is connected to one side of the end mounting seat 109, and a magnetic pneumatic manipulator is arranged on the other side of the end mounting seat 109 away from the third connecting arm 108, and a ball joint connecting rod 110 is inserted into the first ball head 104 and the second ball head 105, and a ball head locking knob 111 is threadedly connected to the ball joint connecting rod 110.

[0019] Preferably, the other end of the third connecting arm 108 is spherically connected to the end mounting seat 109 .

[0020] Preferably, the rotary motor 3 is covered with a manual knob 25 . By providing the manual knob 25 , the entire rotary motor 3 can be manually adjusted to rotate and drive the worm 5 to rotate to adjust the telescopic rod 7 to move up and down.

[0021] Preferably, a first bearing 20 is connected to the upper and lower parts of the turbine 4 . The first bearing 20 is sleeved outside the screw rod 6 , and the outer wall of the first bearing 20 is matched with the inner wall of the base 1 .

[0022] In the above structure, in order to facilitate fixation, the two ends of the worm 5 are fixed to the base 1 through the end covers 21. At the same time, in order to ensure that the worm 5 can rotate smoothly, a second bearing 22 is provided inside each end cover 21 and is sleeved on the outside of the worm 5. By adding the second bearing 22, it is convenient to fix the worm 5, and it can also be ensured that the worm 5 will not affect the end cover 21 and start the supporting function when rotating. By adding the connecting sleeve 2, it is ensured that the telescopic rod 7 plays a guiding role when moving up and down. The telescopic rod 7 always moves up and down along the connecting sleeve 2 without deviation, and finally the stability of the up and down movement can be ensured; by setting the first bearing 20, it can support the screw 6 and the turbine 4, and at the same time ensure that the turbine avoids friction with the base 1 and damages the base 1 when rotating.

[0023] Preferably, the lower part of the connecting sleeve 2 is fixedly connected to the base 1 via four positioning pins 23, and the above structure facilitates later disassembly.

[0024] Preferably, the base 1, connecting sleeve 2, wrist joint 11, wrist joint 2 18, upper joint arm 2 19, upper joint arm 17, first ball joint rod 101, first ball head seat 102, first connecting arm 103, second connecting arm 106, second ball joint seat 107, third connecting arm 108 and end mounting seat 109 are all made of high-strength aluminum alloy material.

[0025] When working, the rotating motor 3 is driven to work, the worm 5 is driven to rotate, the turbine 4 is rotated, and finally the telescopic rod 7 above is driven to move up and down to adjust the height of the entire robot. In addition, in this structure, the first joint 8 is threadedly connected to the lifting component, which is convenient for installation and disassembly. In addition, the second joint 9 is magnetically connected to the first joint 8, which is convenient for disassembly and installation. Therefore, this structural setting makes the installation and disassembly of the overall structure simpler, and quick splicing is achieved. In addition, the joint group 10 can achieve multi-angle adjustment, making the angle diversified. Example

[0026] See also Figure 4 The present embodiment discloses a six-axis collaborative robot that can be quickly assembled. Preferably, a magnetic suction cup 24 is provided at the bottom of the base 1, and the entire base 1 is magnetically sucked to a corresponding position for fixation by providing the magnetic suction cup 24.

[0027] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. 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 collaborative robot that can be quickly assembled, characterized in that: Includes the following components: A base (1), located at the bottom; A connecting sleeve (2), wherein the connecting sleeve (2) is fixed above the base (1); A rotating motor (3), the rotating motor (3) being located on a side of the base (1), and an output shaft of the rotating motor (3) being inserted into the base (1); A lifting assembly, the lifting assembly is located in the base (1) and partially extends out of the base (1), the lifting assembly comprises a turbine (4), a worm (5), a lead screw (6) and a telescopic rod (7), the telescopic rod (7) is fixed to a lead screw (6) seat of the lead screw (6), and the telescopic rod (7) is inserted into a connecting sleeve (2) and partially extends out of the connecting sleeve (2), the lower part of the lead screw (6) is fixed to the turbine (4), the turbine (4) is meshed with the worm (5), and the output shaft of the rotating motor (3) is aligned with the center of the worm (5); A first joint (8), the first joint (8) being threadedly connected to the lifting assembly; A second joint (9), wherein the second joint (9) is magnetically connected to the first joint (8); A joint assembly (10), the joint assembly (10) being articulated with the second joint (9), and the joint assembly (10) being capable of rotating at multiple angles; The first joint (8) comprises a wrist joint (11) arranged horizontally, one end of the wrist joint (11) is provided with an external threaded portion (12), the side of the telescopic rod (7) extending out of the connecting sleeve (2) is provided with an internal threaded portion (13) screwed to the external threaded portion (12), the other end of the wrist joint (11) is ball-connected with a metal elbow joint (14), and the metal elbow joint (14) is provided with a mounting through hole (15), the second joint (9) comprises a wrist joint (18) arranged vertically, a magnetic column (16) magnetically connected to the mounting through hole (15) is provided below the wrist joint (18), an upper joint arm (17) is hinged above the wrist joint (18), an upper joint arm (19) is ball-connected above the upper joint arm (17), and the joint assembly (10) is fixed to the side of the upper joint arm (19).

2. A six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: The joint assembly (10) comprises a first ball joint rod (101), a first ball head seat (102), a first connecting arm (103), a first ball head (104), a second ball head (105), a second connecting arm (106), a second ball joint seat (107), a third connecting arm (108) and an end mounting seat (109), wherein one end of the first ball joint rod (101) is connected to the side of the second upper joint arm (19), a ball head portion at the other end of the first ball joint rod (101) is hinged to the first ball head seat (102), an end of the first ball head seat (102) away from the first ball joint rod (101) is connected to one end of the first connecting arm (103), and the other end of the first connecting arm (103) is fixed with a first ball head (104), a second ball head (105) is fixed to one end of the second connecting arm (106), the other end of the second connecting arm (106) is connected to a second ball joint seat (107), the end of the second ball joint seat (107) away from the second connecting arm (106) is ball-jointed with one end of the third connecting arm (108), the other end of the third connecting arm (108) is connected to one side of the end mounting seat (109), the other side of the end mounting seat (109) away from the third connecting arm (108) is provided with a magnetic pneumatic manipulator, the first ball head (104) and the second ball head (105) are plugged with a ball joint connecting rod (110), and the ball joint connecting rod (110) is threadedly connected with a ball head locking knob (111).

3. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: A magnetic suction cup (24) is provided at the bottom of the base (1).

4. The six-axis collaborative robot capable of rapid assembly according to claim 2, characterized in that: The other end of the third connecting arm (108) is spherically connected to the end mounting seat (109).

5. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: The rotating motor (3) is provided with a manual knob (25) on its outer cover.

6. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: A first bearing (20) is connected to the upper and lower parts of the turbine (4); the first bearing (20) is sleeved outside the screw rod (6), and the outer wall of the first bearing (20) is matched with the inner wall of the base (1).

7. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: Both ends of the worm (5) are fixed to the base (1) via end covers (21), and a second bearing (22) sleeved outside the rod body of the worm (5) is provided inside each end cover (21).

8. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: The lower part of the connecting sleeve (2) is fixedly connected to the base (1) via four positioning pins (23).

9. The six-axis collaborative robot capable of rapid assembly according to claim 1, characterized in that: The base (1), the connecting sleeve (2), the wrist joint 1 (11), the wrist joint 2 (18), the upper joint arm 2 (19), the upper joint arm 1 (17), the first ball joint rod (101), the first ball head seat (102), the first connecting arm (103), the second connecting arm (106), the second ball joint seat (107), the third connecting arm (108) and the end mounting seat (109) are all made of high-strength aluminum alloy material.

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