Six-axis joint robot convenient to disassemble and assemble

Abstract

The utility model relates to the technical field of joint robots, and discloses a six-axis joint robot convenient to disassemble and assemble, which comprises a rotating disc, the top of the rotating disc is movably connected with a machine disc, the top of the machine disc is movably connected with a six-axis machine arm, and the bottom of the rotating disc is fixedly provided with a butt joint device. According to the six-axis joint robot convenient to disassemble and assemble, through mutual cooperative use of the rotating disc, the six-axis robot arm, the butt joint device and the clamping head on the device, when the six-axis robot arm on the device moves on the top of the rotating disc, the butt joint device can conduct butt joint on the six-axis robot arm, and the clamping groove is formed in the outer wall of the butt joint device, and the mounting disc is arranged at the bottom of the rotating disc. When the six-axis robot arm is disassembled, the clamping effect of the butt joint device and the clamping head is utilized firstly, the six-axis robot arm operates under the stable condition, and therefore when the six-axis robot arm and a rotating disc on the device need to be disassembled, a hand rotating rod is manually pulled out to enable the clamping head to be separated from an inner cavity of a clamping groove, and the effect of facilitating disassembly is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of articulated robots, in particular to a six-axis articulated robot which is convenient for disassembly and assembly. Background Technique

[0002] An articulated robot, also known as an articulated robotic arm or multi-joint robot, has rotational movements at each joint, similar to a human arm. An articulated robot is one of the most common forms of industrial robots in today's industrial field and is suitable for mechanical automation operations in many industrial fields.

[0003] For the existing six-axis articulated robot that is convenient for disassembly and assembly, reference can be made to the Chinese utility model patent with the authorization announcement number CN216180690U, which discloses a six-axis articulated robot that is convenient for disassembly and assembly, "including a robot, a base, and a welding head. At the left and right ends of the lower inner side of the robot, positioning rods are slidably connected. A first spring is slidably connected to the outer side of the positioning rod, and the first spring is slidably connected to the robot. One end of the positioning rod close to the center of the robot is rotatably connected to a push rod, and the push rod is slidably connected to the robot. The other end of the push rod is rotatably connected to a push block, and the push block is slidably connected to the robot. The front end of the push block is rotatably connected to a threaded rod, and the threaded rod is screwed to the robot. The top of the base is fixedly connected with a washer, and the washer is slidably connected to the robot."

[0004] When the above device is in use, the existing device reversely rotates the first threaded rod and makes the push block squeeze the second spring, so that the positioning rod slides into the groove on the base to fix the robot, which is convenient for disassembly and installation and reduces the installation difficulty. However, there can be a better way for the installation and disassembly of the robot. The installation can be completed by a simple docking method, and the installation state can be released by manual pulling. Moreover, when the multi-joint robot is running, the chassis of the robot needs to be stabilized to avoid the occurrence of tilting of the robot. Therefore, a six-axis articulated robot that solves the above problems and is convenient for disassembly and assembly is needed. Summary of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides a six-axis articulated robot that is convenient for disassembly and assembly, with the advantages of strong practicability, simple installation and disassembly, and stable chassis, and solves the problems raised in the above background technique.

[0006] The utility model provides the following technical solution: a six-axis articulated robot that is easy to disassemble and assemble, comprising a rotating disk, a machine disk movably connected to the top of the rotating disk, a six-axis machine arm movably connected to the top of the machine disk, a docking device fixedly installed at the bottom of the rotating disk, a clamping groove is provided on the outer wall of the docking device, a mounting disk is provided at the bottom of the rotating disk, an inner groove is provided on the outer wall of the mounting disk, a fixing plate is fixedly installed on the inner wall of the inner groove, a reset spring is connected to the outer wall of the reset spring, a propulsion plate is connected to the outer wall of the propulsion plate, a clamping joint is connected to the outer wall of the propulsion plate, a connecting tube is fixedly connected to the inner wall of the rotating disk, a hand-turning rod is movably sleeved on the inner wall of the rotating disk, a sleeve rod is fixedly connected to the top of the rotating disk, and a weighting block is sleeved on the outer wall of the sleeve rod.

[0007] As a preferred technical solution of the utility model, the rotating disk is connected to the machine disk, and the machine disk performs a planar rotation on the top of the rotating disk.

[0008] As a preferred technical solution of the present utility model, the six-axis robot arm is provided with six joints and rotation axes, and the more joints the six-axis robot arm has, the higher the degree of freedom is.

[0009] As a preferred technical solution of the utility model, the outer walls of the docking device and the clamping joint are provided with arc-shaped walls, and the docking device touches the outer walls of the clamping joint.

[0010] As a preferred technical solution of the utility model, a threaded head is arranged at one end of the hand-turned rod facing the connecting tube, and threaded teeth are arranged on the inner wall of the connecting tube.

[0011] As a preferred technical solution of the utility model, the sleeve rod is arranged at the top four corner edges of the mounting plate, and the number of the weight blocks is several.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] 1. The six-axis articulated robot which is easy to disassemble and assemble, through the mutual cooperation of the rotating disk, the six-axis robot arm, the docking device and the card joint on the device, makes the six-axis robot arm on the device move on the top of the rotating disk, firstly utilizes the card connection effect of the docking device and the card joint, and makes the six-axis robot arm operate in a stable state, so that when the six-axis robot arm and the rotating disk on the device need to be disassembled, the hand-turned rod is manually pulled out to cause the card joint to be separated from the inner cavity of the card groove, so as to achieve the effect of convenient disassembly.

[0014] 2. The six-axis articulated robot that is convenient for disassembly and assembly, through the coordinated use of the six-axis robotic arm, rotating disk, mounting disk, weight blocks, and sleeve rods on the device, enables the six-axis robotic arm on the device to be stably mounted on the top of the mounting disk by using the rotating disk when performing multi-angle movements. Moreover, the weight blocks around are sleeved on the outer wall of the sleeve rods, so as to increase the stability of the mounting disk by the weight of the weight blocks, and further make the chassis of the six-axis robotic arm more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0016] Figure 2 is a three-dimensional sectional structural schematic diagram of the present utility model;

[0017] Figure 3 for the present utility model Figure 2 is an enlarged schematic diagram of the structure at A in;

[0018] Figure 4 is a three-dimensional structural schematic diagram of the top view of the present utility model;

[0019] Figure 5 is a three-dimensional structural schematic diagram of another perspective of the present utility model.

[0020] In the figure: 1, rotating disk; 2, machine disk; 3, six-axis robotic arm; 4, docking device; 5, clamping groove; 6, mounting disk; 7, inner groove; 8, fixing piece; 9, return spring; 10, pushing plate; 11, clamping head; 12, connecting cylinder; 13, hand-rotating rod; 14, sleeve rod; 15, weight block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0022] Please refer to Figure 1 - Figure 5A six-axis joint robot that is easy to disassemble and assemble comprises a rotating disk 1, a machine disk 2 is movably connected to the top of the rotating disk 1, a six-axis robot arm 3 is movably connected to the top of the machine disk 2, a docking device 4 is fixedly installed at the bottom of the rotating disk 1, a clamping groove 5 is provided on the outer wall of the docking device 4, a mounting disk 6 is provided at the bottom of the rotating disk 1, an inner groove 7 is provided on the outer wall of the mounting disk 6, a fixing plate 8 is fixedly installed on the inner wall of the inner groove 7, a reset spring 9 is connected to the outer wall of the reset spring 9, a propulsion plate 10 is connected to the outer wall of the propulsion plate 10, a clamping joint 11 is connected to the outer wall of the propulsion plate 10, a connecting tube 12 is fixedly connected to the outer wall of the rotating disk 1 A hand-turned rod 13 is movably sleeved on the wall, a sleeve rod 14 is fixedly connected to the top of the rotating disk 1, and a weight block 15 is sleeved on the outer wall of the sleeve rod 14. Through the coordinated use of the rotating disk 1, the six-axis robot arm 3 and the docking device 4 and the clamping joint 11 on the device, when the six-axis robot arm 3 on the device moves on the top of the rotating disk 1, the clamping effect of the docking device 4 and the clamping joint 11 is first utilized, and the six-axis robot arm 3 is operated in a stable state, so that when the six-axis robot arm 3 and the rotating disk 1 on the device need to be disassembled, the hand-turned rod 13 is manually pulled out to cause the clamping joint 11 to be separated from the inner cavity of the clamping groove 5, so as to achieve the effect of facilitating disassembly.

[0023] In a preferred embodiment, the rotating disk 1 is connected to the machine disk 2, and the machine disk 2 rotates in a plane on the top of the rotating disk 1. By connecting the rotating disk 1 and the machine disk 2 on the device, the machine disk 2 on the device will not be disconnected from the rotating disk 1 when rotating on the top of the rotating disk 1, so that the machine disk 2 on the device can rotate freely on the top of the rotating disk 1.

[0024] In a preferred embodiment, the six-axis robot arm 3 is provided with six joints and rotation axes, and the more joints the six-axis robot arm 3 has, the higher the degree of freedom. By providing the six-axis robot arm 3 on the device with six joints and rotation axes, the rotation axes and joints on the device allow the robot to perform complex movements in three-dimensional space, thereby enabling the device to move in a manner similar to that of a human arm.

[0025] In a preferred embodiment, the outer walls of the docking device 4 and the card joint 11 are provided with arc-shaped walls, and the docking device 4 and the outer walls of the card joint 11 are in contact with each other. By providing the outer walls of the docking device 4 and the card joint 11 on the device with arc-shaped walls, when the docking device 4 and the card joint 11 on the device are in contact with each other, the arc-shaped outer walls are used for contact, so that the docking device 4 on the device forms an extrusion force on the card joint 11, thereby causing the card joint 11 to passively compress the reset spring 9.

[0026] In a preferred embodiment, a threaded head is provided at one end of the hand-turned rod 13 facing the connecting tube 12, and threaded teeth are provided on the inner wall of the connecting tube 12. By providing a threaded head at one end of the hand-turned rod 13 facing the connecting tube 12 on the device, the hand-turned rod 13 on the device extends into the inner cavity of the inner groove 7, and is connected to the threaded teeth on the inner wall of the connecting tube 12 by utilizing the threaded head, thereby connecting the hand-turned rod 13 on the device to the connecting tube 12.

[0027] In a preferred embodiment, the sleeve rod 14 is arranged at the four corner edges of the top of the mounting plate 6, and the number of the weight blocks 15 is several. By setting the sleeve rod 14 on the device at the four corner edges of the top of the mounting plate 6, the sleeve rod 14 on the device cooperates with the weight blocks 15 at the top of the mounting plate 6 near the edge to increase the weight, so that the several weight blocks 15 on the device can stabilize the mounting plate 6 and the six-axis robot arm 3.

[0028] The working principle is as follows: first, through the mutual cooperation of the rotating disk 1, the six-axis robot arm 3, the docking device 4 and the clamping joint 11 on the device, when the six-axis robot arm 3 on the device moves on the top of the rotating disk 1, the clamping effect of the docking device 4 and the clamping joint 11 is first utilized, and the six-axis robot arm 3 is operated in a stable state, so that when the six-axis robot arm 3 and the rotating disk 1 on the device need to be disassembled, the hand-turned rod 13 is manually pulled out to cause the clamping joint 11 to be separated from the inner cavity of the clamping groove 5, so as to achieve the effect of convenient disassembly, and then through the mutual cooperation of the six-axis robot arm 3, the rotating disk 1, the mounting disk 6 and the weighting block 15 and the sleeve rod 14 on the device, when the six-axis robot arm 3 on the device performs multi-angle movement, it is necessary to first use the rotating disk 1 to firmly install it on the top of the mounting disk 6, and use the weighting blocks 15 around it to be sleeved on the outer wall of the sleeve rod 14, so that the weight of the weighting block 15 increases the stability of the mounting disk 6, thereby making the chassis of the six-axis robot arm 3 more stable.

[0029] Although 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 six-axis articulated robot that is convenient for disassembly and assembly, including a rotating disk (1), characterized in that: A machine disk (2) is movably connected to the top of the rotating disk (1), a six-axis robotic arm (3) is movably connected to the top of the machine disk (2), a docking device (4) is fixedly installed at the bottom of the rotating disk (1), a clamping groove (5) is formed in the outer wall of the docking device (4), an installation disk (6) is arranged at the bottom of the rotating disk (1), an inner groove (7) is formed in the outer wall of the installation disk (6), a fixing piece (8) is fixedly installed on the inner wall of the inner groove (7), a return spring (9) is connected to the outer wall of the fixing piece (8), a pushing plate (10) is connected to the outer wall of the return spring (9), a clamping head (11) is connected to the outer wall of the pushing plate (10), a connecting cylinder (12) is fixedly connected to the outer wall of the pushing plate (10), a hand-rotating rod (13) is movably sleeved on the inner wall of the rotating disk (1), a sleeve rod (14) is fixedly connected to the top of the rotating disk (1), and a weight (15) is sleeved on the outer wall of the sleeve rod (14).

2. The six-axis articulated robot according to claim 1, wherein: The rotating disk (1) is connected to the machine disk (2), and the machine disk (2) rotates horizontally on the top of the rotating disk (1).

3. The six-axis articulated robot that is convenient for disassembly and assembly according to claim 1, wherein: The six-axis robotic arm (3) is provided with six joints and rotating shafts, and the more joints there are, the higher the degree of freedom of the six-axis robotic arm (3).

4. A six-axis articulated robot that is easy to disassemble and assemble according to claim 1, wherein: The outer walls of the docking device (4) and the clamping head (11) are provided with arc-shaped walls, and the outer walls of the docking device (4) and the clamping head (11) are in contact with each other.

5. A six-axis articulated robot that is easy to disassemble and assemble according to claim 1, wherein: One end of the hand-rotating rod (13) facing the connecting cylinder (12) is provided with a threaded head, and the inner wall of the connecting cylinder (12) is provided with threaded teeth.

6. The six-axis articulated robot according to claim 1, wherein: The sleeve rod (14) is arranged at the four corner edges of the top of the installation disk (6), and the number of weights (15) is several.

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