Joint structure of six-axis robot

Abstract

The joint structure of the six-axis robot relates to the technical field of six-axis robots and comprises a bottom box with an opening in the upper side, a bottom plate is arranged on the upper side of the bottom box, a moving mechanism for controlling the bottom plate to move left and right is installed on the bottom box, and a control box is fixedly installed on the upper side of the bottom plate. A rotating disc is arranged on the upper side of the control box; through mutual cooperation of the positioning rods, the fixing plates, the extrusion plates, the rotating discs, the fixing columns, the fixing discs and the like, disassembly and assembly of the joint connecting position of the main arm part and the auxiliary arm part in the whole device can be rapidly completed, efficiency is high, operation is convenient, meanwhile, the two rotating discs and the two positioning rods are arranged, the bearing capacity of the auxiliary arm is enhanced, the auxiliary arm is more stable during rotation, and the service life of the auxiliary arm is prolonged. And the moving mechanism is additionally arranged and can drive the upper component to move and adjust in the left-right direction, so that the moving range of the movable clamping jaw is enlarged, the workable area is expanded, and work is more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of six-axis robots, in particular to a joint structure of a six-axis robot. Background Art

[0002] Articulated robots, also known as articulated arm robots or articulated robotic arms, are one of the most common forms of industrial robots in today's industrial field. They are suitable for mechanical automation operations in many industrial fields and can cooperate to complete many tasks such as automatic assembly, painting, handling, welding, etc. Commonly used ones include six-axis robots.

[0003] The overall structure of a six-axis robot generally includes six degrees of freedom, namely rotation (s-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis) and wrist rotation (T-axis). Each degree of freedom is generally driven by a servo motor, so that the operating head at the head end has high flexibility and can adjust the operation.

[0004] However, the existing six-axis robots still have some shortcomings. The main arm and the auxiliary arm are often controlled to rotate through a single axis, their carrying capacity is extremely limited, and they are more troublesome to install and disassemble, which affects the maintenance progress of the mechanical equipment and then affects the rate at which they are put into use. Utility Model Content

[0005] The purpose of the utility model is to provide a joint structure of a six-axis robot, which can solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a joint structure of a six-axis robot, comprising a bottom box with an upper opening, a bottom plate provided on the upper side of the bottom box, a moving mechanism for controlling the left and right movement of the bottom plate installed on the bottom box, a control box fixedly installed on the upper side of the bottom plate, a rotating disk provided on the upper side of the control box, an N-shaped frame fixedly installed on the upper side of the rotating disk, a rotating shaft rotatably installed on the inner side of the N-shaped frame, a front main arm and a rear main arm 1 are respectively fixedly installed on the front and rear ends of the outer side of the rotating shaft, a rear main arm 2 is fixedly installed on the upper end of the rear main arm 1, a secondary arm is provided between the upper ends of the front main arm and the rear main arm 2, a control disk is movably installed on the left end of the secondary arm, a movable clamp is installed on the left end of the control disk, two through holes are provided on the right end of the secondary arm, positioning rods are respectively penetrated in the two through holes, a fixed plate is fixedly sleeved on the outer sides of the front ends of the two positioning rods, and an extrusion plate with the same structure as the fixed plate is movably sleeved on the outer sides of the rear ends of the two positioning rods.

[0007] Preferably, an elastic extrusion block is fixedly mounted on the front end of the extrusion plate, threads are arranged on the outer sides of the rear ends of the two positioning rods, and threaded rings are threadedly connected to the outer sides of the two threads.

[0008] Preferably, a groove 2 is provided between the upper ends of the front main arm and the rear main arm 2, a rotating disk is rotatably installed in the groove 2, a motor 3 is fixedly installed at the front end of the front main arm, and the output shaft of the motor 3 is fixedly connected to the front rotating disk.

[0009] Preferably, two fixing columns are fixedly installed at the rear end of the rotating disk on the front side, and the two fixing columns are provided with a concave hole one for the positioning rod to be inserted into, and the two positioning rods are fixedly connected to the fixing columns by fixing bolts two.

[0010] Preferably, a fixed disk is fixedly installed at the front end of the rotating disk on the rear side, and the front end of the fixed disk is provided with two concave holes corresponding to the insertion of the positioning rods, and the two positioning rods are fixedly connected to the fixed disk by bolts and nuts.

[0011] Preferably, the moving mechanism includes a threaded rod, a motor and a moving plate, the threaded rod is rotatably installed on the inner side of the bottom box, the motor is fixedly installed on the right end of the bottom box, and the output shaft of the motor is fixedly connected to the threaded rod, the outer side of the threaded rod is threadedly connected to the moving plate, and the upper end of the moving plate is fixedly installed on the bottom of the bottom plate.

[0012] Preferably, a second motor is provided at the upper end of the control box, and an output shaft of the second motor is fixedly mounted on the bottom of the rotating disk.

[0013] Preferably, a fitting seam is provided between the rear main arm 1 and the rear main arm 2, and the rear main arm 1 and the rear main arm 2 are fixedly connected by a fixing bolt 1.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model can quickly complete the disassembly and assembly of the joint connection between the main arm part and the auxiliary arm part in the whole device through the cooperation of the front main arm, the rear main arm one, the rear main arm two, the auxiliary arm, the positioning rod, the fixing plate, the extrusion plate, the rotating disk, the elastic extrusion block, the threaded ring, the fixing column, the fixing bolt two, the fixing disk, the bolts and nuts, etc., with high efficiency and convenient operation. At the same time, the design of the two rotating disks and the positioning rod enhances the bearing capacity of the auxiliary arm, making it more stable when rotating and more resistant.

[0016] 2. The utility model has a moving mechanism, in addition to the degrees of freedom on the six axes of the device, and can also start the motor to drive the threaded rod to rotate, and the moving plate drives the upper component to move and adjust in the left and right directions, thereby increasing the range of motion of the movable clamp, expanding the workable area, and making work more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the overall cross-sectional structure of the utility model;

[0019] Figure 3 It is a schematic diagram of a partial cross-sectional structure of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the fixing plate of the utility model.

[0021] In the figure: 1, bottom box; 2, bottom plate; 3, control box; 4, rotating disk; 5, moving mechanism; 501, threaded rod; 502, motor one; 503, moving plate; 6, N-shaped frame; 7, rotating shaft; 8, front main arm; 9, rear main arm one; 10, rear main arm two; 11, auxiliary arm; 12, control plate; 13, movable clamp; 14, groove one; 15, motor two; 16, positioning rod; 17, perforation; 18, fixed plate; 19, extrusion plate; 20, groove two; 21, rotating disk; 22, fitting seam; 23, fixing bolt one; 24, motor three; 25, elastic extrusion block; 26, threaded ring; 27, fixing column; 28, recessed hole one; 29, fixing bolt two; 30, fixing plate; 31, recessed hole two; 32, bolts and nuts. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Example 1

[0024] See also Figure 1-3The joint structure of a six-axis robot shown in the figure includes a bottom box 1 with an upper opening, a bottom plate 2 is arranged on the upper side of the bottom box 1, a moving mechanism 5 for controlling the left and right movement of the bottom plate 2 is installed on the bottom box 1, a control box 3 is fixedly installed on the upper side of the bottom plate 2, a rotating disk 4 is arranged on the upper side of the control box 3, an N-shaped frame 6 is fixedly installed on the upper side of the rotating disk 4, a rotating shaft 7 is rotatably installed on the inner side of the N-shaped frame 6, a front main arm 8 and a rear main arm 9 are fixedly installed on the front and rear ends of the outer side of the rotating shaft 7, and the upper end of the rear main arm 9 A rear main arm 10 is fixedly installed, a sub-arm 11 is arranged between the upper ends of the front main arm 8 and the rear main arm 10, a control panel 12 is movably installed on the left end of the sub-arm 11, a movable clamp 13 is installed on the left end of the control panel 12, and two through holes 17 are provided at the right end of the sub-arm 11, and positioning rods 16 are respectively penetrated in the two through holes 17, and a fixing plate 18 is fixedly sleeved on the outer side of the front end of the two positioning rods 16, and an extrusion plate 19 with the same structure as the fixing plate 18 is movably sleeved on the outer side of the rear end of the two positioning rods 16.

[0025] See also Figure 3 and Figure 4 In the figure, an elastic extrusion block 25 is fixedly installed at the front end of the extrusion plate 19, and threads are arranged on the outer sides of the rear ends of the two positioning rods 16, and threaded rings 26 are threadedly connected to the outer sides of the two threads.

[0026] In this embodiment, the two threaded rings 26 are screwed into the positioning rod 16 , the squeezing plate 19 is squeezed, and the elastic squeezing block 25 is pushed to be squeezed and fixed on the auxiliary arm 11 .

[0027] See also Figure 3 In the figure, a groove 20 is opened between the upper ends of the front main arm 8 and the rear main arm 10, and a rotating disk 21 is rotatably installed in the groove 20. A motor 3 24 is fixedly installed at the front end of the front main arm 8, and the output shaft of the motor 3 24 is fixedly connected to the front rotating disk 21.

[0028] In this embodiment: the starting motor 3 24 drives the front rotating disk 21 to rotate, and the auxiliary arm 11 can be used to rotate in coordination with the rear rotating disk 21.

[0029] See also Figure 3 In the figure, two fixing columns 27 are fixedly installed at the rear end of the front rotating disk 21, and the two fixing columns 27 are provided with a concave hole 28 corresponding to the insertion of the positioning rod 16, and the two positioning rods 16 are fixedly connected to the fixing columns 27 by fixing bolts 29.

[0030] In this embodiment, the two positioning rods 16 are fixed to the fixing column 27 , that is, the front rotating disk 21 , by using the second fixing bolt 29 , so that the auxiliary arm 11 is fixed to the front rotating disk 21 .

[0031] See also Figure 3In the figure, a fixed plate 30 is fixedly installed at the front end of the rear rotating plate 21, and a second concave hole 31 is opened at the front end of the fixed plate 30 for corresponding insertion of the positioning rod 16, and the two positioning rods 16 are fixedly connected to the fixed plate 30 by bolts and nuts 32.

[0032] In this embodiment, the two positioning rods 16 are fixed to the fixed plate 30 , that is, the rear rotating plate 21 , by using bolts and nuts 32 , so that the auxiliary arm 11 is fixed to the rear rotating plate 21 .

[0033] Working principle: During installation, the front ends of the two positioning rods 16 can be fixed to the fixing columns 27, i.e., the front rotating disk 21, by using the fixing bolts 29 to complete the fixing of the auxiliary arm 11 to the front rotating disk 21. Then, the auxiliary arm 11 can be inserted into the two positioning rods 16, and the extrusion plate 19 can be further sleeved on the two positioning rods 16. The two threaded rings 26 can be screwed into the two positioning rods 16, and the extrusion plate 19 and the elastic extrusion block 25 can be pushed to cooperate with the fixing plate 18 to squeeze and fix the auxiliary arm 11. Then, the rear ends of the two positioning rods 16 can be fixed by using the bolts and nuts 32. The end is fixed on the fixed plate 30, that is, the rear rotating plate 21, to complete the fixation of the auxiliary arm 11 on the rear rotating plate 21, and finally the rear main arm 1 9 and the rear main arm 2 10 are fixed with the fixing bolt 1 23 to complete the installation; in specific use, the starting motor 3 24 can drive the auxiliary arm 11 to rotate stably through the two rotating plates 21 and the positioning rod 16, and a moving mechanism 5 is also added to this device, and the starting motor 1 502 can drive the threaded rod 501 to rotate, and the moving plate 503 drives the upper component to move and adjust in the left and right directions.

[0034] Example 2

[0035] See also Figure 2 The present embodiment further explains Example 1. In the figure, the moving mechanism 5 includes a threaded rod 501, a motor 502 and a moving plate 503. The threaded rod 501 is rotatably installed on the inner side of the bottom box 1, and the motor 502 is fixedly installed on the right end of the bottom box 1, and the output shaft of the motor 502 is fixedly connected to the threaded rod 501. The outer side of the threaded rod 501 is threadedly connected to the moving plate 503, and the upper end of the moving plate 503 is fixedly installed on the bottom of the bottom plate 2.

[0036] In this embodiment: the starting motor 502 drives the threaded rod 501 to rotate, and the moving plate 503 drives the upper component to move and adjust in the left and right directions.

[0037] See also Figure 2 In the figure, a second motor 15 is provided at the upper end of the control box 3 , and the output shaft of the second motor 15 is fixedly mounted at the bottom of the rotating disk 4 .

[0038] In this embodiment: the second starting motor 15 drives the rotating disk 4 to rotate, thereby driving the upper component to rotate, which is convenient for work.

[0039] See also Figure 1 In the figure, a fitting seam 22 is provided between the rear main arm 1 9 and the rear main arm 2 10 , and the rear main arm 1 9 and the rear main arm 2 10 are fixedly connected by a fixing bolt 1 23 .

[0040] In this embodiment, the rear main arm 1 9 and the rear main arm 2 10 are convenient to disassemble and install, and then the auxiliary arm 11 and the like are convenient to disassemble and connect and install.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include"-"comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process-method-article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process-method-article or device.

[0042] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A joint structure of a six-axis robot, comprising a bottom box (1) with an upper opening, characterized in that: A bottom plate (2) is arranged on the upper side of the bottom box (1), a moving mechanism (5) for controlling the bottom plate (2) to move left and right is installed on the bottom box (1), a control box (3) is fixedly installed on the upper side of the bottom plate (2), a rotating disk (4) is arranged on the upper side of the control box (3), an N-shaped frame (6) is fixedly installed on the upper side of the rotating disk (4), a rotating shaft (7) is rotatably installed on the inner side of the N-shaped frame (6), a front main arm (8) and a rear main arm 1 (9) are respectively fixedly installed on the front and rear ends of the outer side of the rotating shaft (7), and a rear main arm 2 (10) is fixedly installed on the upper end of the rear main arm 1 (9) A secondary arm (11) is arranged between the upper ends of the front main arm (8) and the rear main arm (10), a control panel (12) is movably mounted on the left end of the secondary arm (11), a movable clamp (13) is mounted on the left end of the control panel (12), two through holes (17) are provided on the right end of the secondary arm (11), positioning rods (16) are respectively penetrated in the two through holes (17), a fixing plate (18) is fixedly sleeved on the outer sides of the front ends of the two positioning rods (16), and an extrusion plate (19) having the same structure as the fixing plate (18) is movably sleeved on the outer sides of the rear ends of the two positioning rods (16).

2. The joint structure of a six-axis robot according to claim 1, characterized in that: An elastic extrusion block (25) is fixedly mounted on the front end of the extrusion plate (19), and threads are arranged on the outer sides of the rear ends of the two positioning rods (16), and threaded rings (26) are threadedly connected to the outer sides of the two threads.

3. The joint structure of a six-axis robot according to claim 1, characterized in that: A groove 2 (20) is provided between the upper ends of the front main arm (8) and the rear main arm 2 (10), a rotating disk (21) is rotatably installed in the groove 2 (20), a motor 3 (24) is fixedly installed at the front end of the front main arm (8), and the output shaft of the motor 3 (24) is fixedly connected to the front rotating disk (21).

4. The joint structure of a six-axis robot according to claim 3, characterized in that: Two fixing columns (27) are fixedly mounted on the rear end of the rotating disk (21) on the front side, and the two fixing columns (27) are provided with concave holes (28) corresponding to the insertion of the positioning rods (16), and the two positioning rods (16) and the fixing columns (27) are fixedly connected by fixing bolts (29).

5. The joint structure of a six-axis robot according to claim 4, characterized in that: A fixed disk (30) is fixedly mounted on the front end of the rotating disk (21) at the rear side, and a second concave hole (31) is provided at the front end of the fixed disk (30) for correspondingly inserting the positioning rod (16), and the two positioning rods (16) and the fixed disk (30) are fixedly connected by bolts and nuts (32).

6. The joint structure of a six-axis robot according to claim 1, characterized in that: The moving mechanism (5) comprises a threaded rod (501), a motor (502) and a moving plate (503); the threaded rod (501) is rotatably mounted on the inner side of the bottom box (1); the motor (502) is fixedly mounted on the right end of the bottom box (1); the output shaft of the motor (502) is fixedly connected to the threaded rod (501); the outer side of the threaded rod (501) is threadedly connected to the moving plate (503); and the upper end of the moving plate (503) is fixedly mounted on the bottom of the bottom plate (2).

7. The joint structure of a six-axis robot according to claim 1, characterized in that: A second motor (15) is provided at the upper end of the control box (3), and an output shaft of the second motor (15) is fixedly mounted on the bottom of the rotating disk (4).

8. The joint structure of a six-axis robot according to claim 1, characterized in that: A fitting joint (22) is provided between the rear main arm 1 (9) and the rear main arm 2 (10), and the rear main arm 1 (9) and the rear main arm 2 (10) are fixedly connected by a fixing bolt 1 (23).

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