Six-axis robot

Abstract

The six-axis robot comprises a three-axis turnover device, a rotation driving assembly and an execution device which are sequentially connected with one another, a turnover big arm of the three-axis turnover device is hinged to a connecting elbow, the turnover big arm and the connecting elbow can relatively rotate around a third axis of the six-axis robot, the rotation driving assembly is arranged on the connecting elbow, and the execution device is arranged on the rotation driving assembly. The six-axis robot is characterized in that the rotation driving assembly comprises a driving part and a transmission structure, the driving part can drive the execution device to rotate through the transmission structure, and the driving part and the large overturning arm are located on the two sides, in the extending direction of the third axis, of the connecting elbow correspondingly. In the six-axis robot provided by the utility model, the positions of the overturning large arm, the driving part and the related transmission structure are always kept staggered, so that the risk of collision with a third-axis related structure and a fourth-axis related structure does not exist, the movement range of the mechanical arm can be greatly expanded, and the action flexibility of the six-axis robot is ensured; and meanwhile, the operation safety of the six-axis robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot technical field, specifically, relate to a six axis robot. BACKGROUND

[0002] Industrial robot is a multipurpose, repeatable programming automatic control operation machine, generally has three or more programmable axes. Among them, the welding robot is the welding tongs or the welding gun is connected at the end of the industrial robot, so that it can carry out welding or thermal spraying, and the arc welding robot is a kind of welding robot, which can be applied in all arc welding process methods.

[0003] With the continuous development of science and technology, the increasingly fierce market competition, improving the productivity of welding production, ensuring product quality, realizing the automation and intelligentization of welding production are paid more and more attention by welding production enterprises. At present, in the welding production of factory enterprises, welding is mainly carried out by arc welding robot, which not only saves manpower, but also has the characteristics of high efficiency, stable quality and strong universality.

[0004] At present, six-axis industrial robot is one of the most commonly used arc welding robots, as shown in Figure 1 、 Figure 2 The fourth axis d is usually defined as the rotation movement of the small arm 1, and the third axis c is usually defined as the turning movement between the large arm 2 and the elbow joint 3. However, in order to drive the small arm 1 to rotate around the fourth axis d, the side surface of the elbow joint 3 needs to be provided with a rotating motor 4 and related transmission components, and when the elbow joint 3 and the large arm 2 are turned and folded, the rotating motor 4 often collides with the large arm 2. For example, as shown in Figure 2 When the elbow joint 3 rotates relative to the large arm 2 around the third axis c and drives the small arm 1 to complete the backward action, the rotating motor 4 on the side surface of the elbow joint 3 will contact and block the six-axis robot from backward bending. This interference problem not only affects the process quality of the six-axis robot in executing welding process and the like, but also may affect the safety of the equipment.

[0005] Therefore, how to provide a six-axis robot with flexible action and high safety has become a technical problem to be solved in the field. INVENTION CONTENTS

[0006] The utility model aims at solving one of the technical problems in the related art to some extent. Therefore, the utility model provides a six-axis robot, which has strong flexibility and high safety in action.

[0007] In order to achieve the above object, the utility model provides a six -axis robot, six -axis robot includes three -axis turnover device, rotation drive assembly and execution device who connects each other in turn, the turnover big arm of three -axis turnover device is hinged with the connecting elbow, and both can rotate relative around the third axis of six -axis robot, rotation drive assembly sets up on the connecting elbow, and is used for driving execution device rotates around the fourth axis of six -axis robot, its characterized in that, rotation drive assembly includes drive part and transmission structure, the drive part can drive execution device rotates through transmission structure, and the drive part with the turnover big arm is located the both sides of connecting elbow along the third axis extension direction respectively.

[0008] Optionally, the transmission structure includes a driving pulley, a driven pulley, a synchronous belt and a harmonic reducer, the synchronous belt is sleeved outside the driving pulley and the driven pulley, the driven pulley is fixedly connected with the wave generator of the harmonic reducer, the execution device is connected with the flexspline of the harmonic reducer, and the drive part is used to drive the driving pulley to rotate to drive the driven pulley to rotate around the fourth axis through the synchronous belt.

[0009] Optionally, the three-axis turnover device includes a base, a rotating shoulder, a turnover big arm and a connecting elbow connected in sequence, the rotating shoulder and the base can rotate relative around the first axis, the first end of the turnover big arm is hinged with the rotating shoulder and can rotate relative around the second axis, the connecting elbow is hinged with the second end of the turnover big arm, and the connecting elbow and the turnover big arm can rotate relative around the third axis.

[0010] Optionally, the execution device includes a rotating small arm, a fifth axis assembly and a welding gun assembly, one end of the rotating small arm is fixedly connected with the flexspline of the harmonic reducer, the fifth axis assembly is connected between the rotating small arm and the welding gun assembly, the fifth axis assembly can drive the welding gun assembly to rotate relative around the fifth axis with respect to the rotating small arm, the welding gun assembly has a welding head for welding workpieces, and the welding gun assembly can drive the welding head to rotate around the sixth axis.

[0011] Optionally, the connecting elbow includes a hinge part and an elbow base connected with each other, the hinge part is hinged with the turnover big arm, the elbow base includes a reducer housing and a pulley housing connected with each other, the harmonic reducer is arranged in the reducer housing, the reducer housing has a front end opening and a tail end opening at both ends along the fourth axis extension direction, both ends of the harmonic reducer bore communicate with the front end opening and the tail end opening respectively, and the driven pulley is located at the front end side of the harmonic reducer;

[0012] The belt wheel housing is located on one side of the front end of the speed reducer housing, and the belt wheel housing is in communication with the speed reducer housing, the driving belt wheel is arranged in the belt wheel housing, the driving part is arranged outside the speed reducer housing, and the driving shaft of the driving part is connected with the driving belt wheel through the belt wheel housing.

[0013] Optionally, the driving part is a rotary motor.

[0014] Optionally, there is a preset included angle between the axis of the rotary motor and the driving belt wheel and the axis of the driven belt wheel and the harmonic reducer.

[0015] Optionally, the preset included angle is 0-90°.

[0016] Optionally, the belt wheel housing and the turnover arm are respectively located on the two sides of the hinge part along the third axis direction of the six-axis robot.

[0017] Optionally, an adjusting plate is arranged between the driving part and the outer wall of the belt wheel housing, the driving part is fixedly connected with the adjusting plate, the adjusting plate is connected with the belt wheel housing, and the relative position of the adjusting plate and the belt wheel housing is adjustable in the direction towards and away from the speed reducer housing.

[0018] The side of the adjusting plate away from the speed reducer housing has an adjusting threaded hole extending in the direction towards and away from the speed reducer housing, the side of the belt wheel housing away from the speed reducer housing is provided with a tensioning structure, the tensioning structure has a limiting avoiding part penetrating in the direction towards and away from the speed reducer housing, the position of the limiting avoiding part corresponds to the position of the adjusting threaded hole, and the limiting avoiding part can allow one end of an adjusting screw to pass through the limiting avoiding part and be screwed into the adjusting threaded hole.

[0019] Optionally, at least one first threaded hole is formed on the outer wall of the belt wheel housing, at least one first mounting through hole is formed on the tensioning structure, and the tensioning structure is detachably connected with the belt wheel housing through a fastener penetrating through the first mounting through hole and being screwed into the corresponding first threaded hole.

[0020] Optionally, the side wall of the side of the belt wheel housing towards the driving part has a plurality of elongated adjusting holes penetrating the side wall in the thickness direction of the driving part side wall, and the cross section of the elongated adjusting hole extends in the direction towards and away from the speed reducer housing; the adjusting plate has a plurality of mounting holes, the positions of the plurality of mounting holes correspond to the positions of the plurality of elongated adjusting holes one by one, and the adjusting plate is fixedly connected with the belt wheel housing through a fastener penetrating through the plurality of elongated adjusting holes and the corresponding mounting holes one by one.

[0021] Optionally, the tensioning structure comprises a tensioning plate, and the position-limiting avoiding part penetrates through the tensioning plate in the thickness direction.

[0022] Optionally, the position-limiting avoiding part is a notch structure formed at the edge of the tensioning plate.

[0023] Optionally, the position-limiting avoiding part is a through hole penetrating through the tensioning plate in the thickness direction.

[0024] Optionally, the rotating drive assembly further comprises a wire winding inner shaft sleeve and an adapter flange, the adapter flange is arranged at the tail of the reducer housing, the first end of the wire winding inner shaft sleeve is fixedly connected with the flexspline of the harmonic reducer, the second end of the wire winding inner shaft sleeve is fixedly connected with the adapter flange, and the executing device is fixedly connected with the adapter flange.

[0025] Optionally, the inner wall of the reducer housing is provided with an annular fixing table extending around the fourth shaft, and the rigid wheel of the harmonic reducer is fixedly connected with the annular fixing table; the rotating drive assembly further comprises a front end limiting sleeve and a wire winding outer shaft sleeve, the outer edge of the front end limiting sleeve is fixedly connected with one side of the annular fixing table towards the front end, and the inner edge of the front end limiting sleeve is connected with the wave generator of the harmonic reducer through a bearing.

[0026] The wire winding inner shaft sleeve is provided with a matching stepped surface, the wire winding outer shaft sleeve is arranged outside the wire winding inner shaft sleeve and is fixedly connected with one side of the annular fixing table towards the rear end, and the end face of the wire winding outer shaft sleeve towards the front end is arranged opposite to the matching stepped surface and is used for limiting the matching stepped surface.

[0027] Optionally, the inner edge of the rear end of the reducer housing is provided with an oil seal, the inner side of the oil seal is in contact with the adapter flange, and the oil seal is used for dynamically sealing the gap between the adapter flange and the reducer housing.

[0028] Optionally, the end face of the rear end of the wire winding inner shaft sleeve is provided with a plurality of second threaded holes, the adapter flange is provided with a plurality of second mounting through holes, the positions of the plurality of second mounting through holes correspond one by one to the positions of the plurality of second threaded holes, and the adapter flange is fixedly connected with the wire winding inner shaft sleeve through threaded fasteners which pass through the second mounting through holes and the corresponding second threaded holes one by one in correspondence.

[0029] Optionally, the adapter flange is further provided with a plurality of third mounting through holes, and the rotating small arm is provided with a plurality of fourth mounting through holes, the positions of the plurality of third mounting through holes correspond one by one to the positions of the plurality of fourth mounting through holes, and the adapter flange is fixedly connected with the rotating small arm through fasteners which pass through the third mounting through holes and the corresponding fourth mounting through holes one by one in correspondence.

[0030] Optionally, the elbow base comprises an end cover and a threading pipe, the end cover is fixedly connected with the front end faces of the reducer housing and the pulley housing and closes the front end openings of the reducer housing and the pulley housing, the end cover is provided with a threading avoiding hole corresponding to the fourth shaft, and the first end of the threading pipe is fixedly connected with the end cover, and the second end of the threading pipe passes through the threading avoiding hole and enters the interior of the harmonic reducer.

[0031] Optionally, the first end of the threading pipe is provided with a connecting flange which is attached to the outer side of the end cover and is assembled with the end cover.

[0032] Optionally, the front end faces of the reducer housing and the pulley housing are each formed with a plurality of threaded holes extending along the direction of the fourth shaft, and the end cover is fixedly connected with the front end faces of the reducer housing and the pulley housing by threaded fasteners.

[0033] Optionally, the elbow base further comprises a wire arranging housing, the wire arranging housing is arranged on the side of the reducer housing away from the pulley housing, the wire arranging housing is in communication with the reducer housing, and the wire arranging housing is provided with at least one wire collecting hole penetrating through the side wall of the wire arranging housing.

[0034] Optionally, the side wall of the reducer housing is provided with a communication opening, and the wire arranging housing is in communication with the interior of the reducer housing through the communication opening.

[0035] Optionally, the elbow base further comprises a side cover, the side of the wire arranging housing away from the pulley housing is provided with a maintenance opening, and the side cover detachably closes the maintenance opening.

[0036] In the six-axis robot, the turning arm of the three-axis turning device is located on one side of the connecting elbow along the extending direction of the third axis, and the driving part and the related transmission structure for realizing the action of the fourth axis are offset to the other side of the connecting elbow along the extending direction of the third axis, so that when the connecting elbow drives the executing device to turn around the third axis relative to the turning arm, the position of the turning arm and the driving part and the related transmission structure is always staggered, and there is no risk of collision between the structure related to the third axis and the structure related to the fourth axis, which can greatly expand the activity range of the mechanical arm, ensure the flexibility of the action of the six-axis robot, and improve the safety of the operation of the six-axis robot.

[0037] Further, the rotation driving assembly of the fourth shaft adopts a driving mode combining a synchronous pulley and a harmonic reducer, the driving part is connected with a driving pulley, the driving part on one side of the fourth shaft drives the driven pulley to rotate through the rotation of the driving pulley, so that the power of the driving part on one side of the fourth shaft is transmitted to the flexspline of the harmonic reducer, the harmonic reducer further reduces the rotation speed and increases the torque, and the power is output to the executing device, so that the executing device rotates around the fourth shaft.

[0038] Wherein, the material required by the process such as solder can pass through the inner hole of the harmonic reducer and be delivered to the executing device, so as to execute the process required, reduce the space volume profile occupied by the six-axis robot arm structure; and the driving part is in transmission connection with the harmonic reducer through the synchronous pulley, compared with the gear meshing transmission mode, not only can the transmission ratio be modified by changing the diameters of the driving pulley and the driven pulley, the adjustment range of the transmission ratio is increased, but also the noise generated by the collision and friction when the gears are engaged can be avoided, the noise pollution is reduced, in addition, the synchronous pulley does not need grease lubrication, so as to avoid the problem of grease leakage, which is conducive to ensuring the cleanness of the machine. BRIEF DESCRIPTION OF DRAWINGS

[0039] The utility model will be further described in connection with the drawings:

[0040] Figure 1 It is the structure schematic diagram of six-axis robot in related art;

[0041] Figure 2 It is the structure schematic diagram of another posture of six-axis robot in related art;

[0042] Figure 3 It is the structure schematic diagram of six-axis robot provided by the utility model embodiment;

[0043] Figure 4 It is the structure schematic diagram of another posture of six-axis robot provided by the utility model embodiment;

[0044] Figure 5 It is the structure schematic diagram of the relevant structure of fourth axis of six-axis robot provided by the utility model embodiment;

[0045] Figure 6 It is the structure schematic diagram of the relevant structure of fourth axis of six-axis robot provided by the utility model embodiment;

[0046] Figure 7 It is the structure schematic diagram of another side of fourth axis of six-axis robot provided by the utility model embodiment;

[0047] Figure 8 It is the structure schematic diagram of another side of fourth axis of six-axis robot provided by the utility model embodiment;

[0048] Figure 9It is the cross section schematic view of the fourth axis related structure of the six-axis robot provided by the embodiment of the utility model.

[0049] Mark explanation:

[0050] Three-axis turnover device 10;Base 11;Rotary shoulder 12;Turnover large arm 13;Connecting elbow 14;Rotary drive assembly 20;Driving part 110;Driving pulley 120;Driven pulley 130;Synchronous belt 140;Adjusting plate 150;Adjusting threaded hole 151;Tensioning structure 160;Tensioning plate 161;Limiting avoiding part 162;First mounting through hole 163;Harmonic reducer 200;Winding inner shaft sleeve 310;Matching step surface 311;Adapter flange 320;Front end limiting sleeve 330;Winding outer shaft sleeve 340;Oil seal 350;Hinge part 400;Elbow base 500;Reducer housing 510;Annular fixing table 511;Communication opening 512;Pulley housing 520;Long-shaped adjusting hole 521;End cover 530;Threading pipe 540;Wire arranging housing 550;Wire collecting hole 551;Maintenance opening 552;Side cover 560;Execution device 30;Rotary small arm 31;Fifth axis assembly 32;Welding gun assembly 33;Welding head 43;First axis a;Second axis b;Third axis c;Fourth axis d;Fifth axis e;Sixth axis f. DETAILED DESCRIPTION

[0051] The embodiments of the utility model are described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the utility model, and cannot be understood as a limitation of the utility model.

[0052] In this specification, "one embodiment" or "an example" or "an example" means that the specific features, structures or characteristics described in connection with the embodiment itself can be included in at least one embodiment of the utility model disclosure. The appearance of the phrase "in one embodiment" at various positions in the specification does not necessarily refer to the same embodiment.

[0053] To solve the above technical problems, the utility model provides a kind of six-axis robot, as Figures 3-4 As shown in the figure, the six-axis robot includes three-axis turnover device 10, rotary drive assembly 20 and execution device 30 connected in sequence, the turnover large arm 13 of three-axis turnover device 10 is hinged with connecting elbow 14, and the two can rotate relative to the third axis c of six-axis robot, rotary drive assembly 20 is arranged on connecting elbow 14, and is used to drive execution device 30 to rotate around the fourth axis d of six-axis robot;

[0054] The rotary drive assembly 20 includes a drive unit 110 and a transmission structure (including a drive pulley 120, a driven pulley 130, a synchronous belt 140, etc.). The drive unit 110 can drive the actuator 30 to rotate through the transmission structure. The drive unit 110 and the tilting arm 13 are located on both sides of the connecting elbow 14 along the extension direction of the third axis c.

[0055] In the six-axis robot provided by this utility model, the flipping arm 13 of the three-axis flipping device 10 is located on one side of the connecting elbow 14 extending along the third axis c, while the drive unit 110 and related transmission structure for realizing the action of the fourth axis d are offset on the other side of the connecting elbow 14 extending along the third axis c, thereby achieving the desired effect. Figures 3-4 As shown, when the connecting elbow 14 drives the actuator 30 to rotate relative to the rotating arm 13 around the third axis c, the position of the rotating arm 13 and the drive unit 110 and related transmission structures are always staggered, so there is no risk of collision with the structure related to the third axis and the structure related to the fourth axis. This can greatly expand the range of motion of the robotic arm, ensure the flexibility of the six-axis robot's movements, and improve the safety of the six-axis robot's operation.

[0056] In this embodiment of the utility model, the three-axis flipping device 10 refers to the drive mechanism that includes the first three axes of the six-axis robot, that is, the first three movable axes from the base (or fixed machine) of the six-axis robot to the end-effector of the specific process execution component.

[0057] For example, a six-axis robot typically includes, in sequence, a shoulder structure that rotates about a vertical first axis, a shoulder joint structure that rotates about a horizontal second axis, an elbow joint structure that rotates about a horizontal third axis, a rotary forearm that rotates about a fourth axis around its own axis, a fifth axis assembly that rotates about a fifth axis perpendicular to the fourth axis, and an end effector assembly that rotates about a sixth axis relative to the fifth axis assembly. The three-axis flipping device 10 in this embodiment is a complete drive mechanism including the related structures of the first, second, and third axes.

[0058] As an optional embodiment of this utility model, such as Figures 3-4 As shown, the three-axis flipping device 10 includes a base 11, a rotating shoulder 12, a flipping arm 13, and a connecting elbow 14 connected in sequence. The rotating shoulder 12 and the base 11 can rotate relative to each other around the first axis a. The first end of the flipping arm 13 is hinged to the rotating shoulder 12 and can rotate relative to each other around the second axis b. The connecting elbow 14 is hinged to the second end of the flipping arm 13 and can rotate relative to each other around the third axis c.

[0059] In one optional embodiment of this invention, the actuator 30 is an arc welding device, and the six-axis robot is a six-axis arc welding robot. Alternatively, in other embodiments of this invention, the actuator 30 may be a device for performing other types of processes.

[0060] It can be understood that the execution device 30 in the embodiment of the utility model is the driving mechanism of the last two shafts (the fifth shaft and the sixth shaft) of the six-axis robot. Figures 3-4 As shown in the optional embodiment of the utility model, the execution device 30 comprises a rotary arm 31, a fifth shaft assembly 32 and a welding gun assembly 33, the rotary arm 31 is connected with the flexspline of the harmonic reducer 200, the fifth shaft assembly 32 is connected between the rotary arm 31 and the welding gun assembly 33, the fifth shaft assembly 32 can drive the welding gun assembly 33 to rotate around the fifth shaft e relative to the rotary arm 31, the welding gun assembly 33 has a welding head 43 for welding workpieces, and the welding gun assembly 33 can drive the welding head 43 to rotate around the sixth shaft f.

[0061] In the related art, the gear ring matching relationship and the harmonic reducer are adopted at the fourth shaft of the six-axis robot to realize the kinetic energy conduction between the motor and the fourth shaft, however, due to the collision and friction between the tooth structures, the machine will also generate a large noise in the running process, and grease needs to be used as a lubricant when the gear is engaged, so it is difficult to avoid the grease from flowing out from the inside after a long time of running, thereby affecting the neatness of the machine.

[0062] To solve the above technical problems, as shown in the preferred embodiment of the utility model, Figure 6 , Figure 9 The transmission structure comprises a driving pulley 120, a driven pulley 130, a synchronous belt 140 and a harmonic reducer 200, the synchronous belt 140 is sleeved outside the driving pulley 120 and the driven pulley 130, the driven pulley 130 is fixedly connected with the wave generator of the harmonic reducer 200, the execution device 30 is connected with the flexspline of the harmonic reducer 200, and the driving part 110 is used to drive the driving pulley 120 to rotate, so as to drive the driven pulley 130 to rotate around the fourth shaft d through the synchronous belt 140.

[0063] In the embodiment of the utility model, the synchronous pulley and the harmonic reducer 200 are combined in the rotary driving assembly 20 of the fourth shaft d, the driving part 110 is connected with the driving pulley 120, the synchronous belt 140 is driven to rotate by the driving pulley 120, thereby the power of the driving part 110 (for example, a rotary motor) on one side of the fourth shaft d is transmitted to the flexspline of the harmonic reducer 200, the harmonic reducer 200 further reduces the rotating speed, increases the torque, and outputs the power to the execution device 30, so that the execution device 30 rotates around the fourth shaft d.

[0064] The material required by the process such as solder can pass through the inner hole of the harmonic reducer 200 and be delivered to the executing device 30, so that the space volume profile occupied by the six-axis robot arm structure is reduced; and the driving part 110 is in transmission connection with the harmonic reducer 200 through synchronous pulleys, compared with the transmission mode of gear meshing, not only can the transmission ratio be modified by changing the diameters of the driving pulley 120 and the driven pulley 130, the adjustment range of the transmission ratio is increased, but also the noise generated by the collision and friction when the gears mesh can be avoided, the noise pollution is reduced, in addition, the synchronous pulley does not need grease lubrication, so that the problem of grease leakage is avoided, and the cleanness of the machine is ensured.

[0065] As an optional embodiment of the utility model, as shown in Figure 6 The connecting elbow 14 comprises a hinged part 400 and an elbow base 500 connected with each other, the hinged part 400 is hinged with the overturning arm 13, as shown in Figures 5-8 The elbow base 500 comprises a reducer housing 510 and a pulley housing 520 connected with each other, the harmonic reducer 200 is arranged in the reducer housing 510, the reducer housing 510 has a front end opening and a tail end opening at both ends along the fourth axis d extension direction, the both ends of the inner hole of the harmonic reducer 200 are communicated with the front end opening and the tail end opening respectively, and the driven pulley 130 is located at the front end side of the harmonic reducer 200.

[0066] The pulley housing 520 is located at the front end side of the reducer housing 510, and the pulley housing 520 is communicated with the reducer housing 510, the driving pulley 120 is arranged in the pulley housing 520, the driving part 110 is arranged outside the reducer housing 510, and the driving shaft of the driving part 110 is connected with the driving pulley 120 through the pulley housing 520.

[0067] As an optional embodiment of the utility model, the driving part 110 is a rotary motor.

[0068] As an optional embodiment of the utility model, there is a preset included angle between the axis of the rotary motor and the driving pulley 120 and the axis of the driven pulley 130 and the harmonic reducer 200.

[0069] As an optional embodiment of the utility model, the preset included angle is 0°-90°.

[0070] In order to ensure the control accuracy of the fourth axis, as a preferred embodiment of the utility model, as shown in Figure 7 The adjusting plate 150 is arranged between the driving part 110 and the outer wall of the pulley housing 520, the driving part 110 is fixedly connected with the adjusting plate 150, the adjusting plate 150 is connected with the pulley housing 520, and the relative position of the adjusting plate 150 and the pulley housing 520 can be adjusted along the direction towards and away from the reducer housing 510.

[0071] The side of the adjusting plate 150 away from the speed reducer housing 510 has an adjusting threaded hole 151 extending in the direction towards and away from the speed reducer housing 510, and the side of the pulley housing 520 away from the speed reducer housing 510 is provided with a tensioning structure 160, the tensioning structure 160 has a limiting avoiding portion 162 penetrating in the direction towards and away from the speed reducer housing 510, the position of the limiting avoiding portion 162 corresponds to the position of the adjusting threaded hole 151, and the limiting avoiding portion 162 can allow one end of the adjusting screw to pass through the limiting avoiding portion 162 and be screwed into the adjusting threaded hole 151.

[0072] In the embodiment of the utility model, the driving part 110 and the outer wall of the pulley housing 520 are provided with the adjusting plate 150, the driving part 110 is adjustably arranged on the pulley housing 520 through the adjusting plate 150, so that the position of the adjusting plate 150 and the driving part 110 can be adjusted through the set screw passing through the limiting avoiding portion 162, with the set screw being screwed into the adjusting threaded hole 151, the head of the set screw is clamped on the tensioning structure 160 because it cannot pass through the limiting avoiding portion 162, so that the driving plate 150 and the driving part 110 are driven to be close to the tensioning structure 160, further driving the driving pulley 120 to be away from the driven pulley 130, realizing the tensioning of the synchronous belt 140, the utility model embodiment can conveniently realize the tensioning of the synchronous belt 140 through the set screw, ensuring the control precision of the rotation amount of the corresponding mechanism of the fourth shaft, and further ensuring the process precision and maintenance efficiency of the six-axis robot.

[0073] As a preferred embodiment of the utility model, as shown in Figure 7 The outer wall of the pulley housing 520 is formed with at least one first threaded hole, the tensioning structure 160 is formed with at least one first mounting through hole 163, and the tensioning structure 160 is detachably connected with the pulley housing 520 through the fastener passing through the first mounting through hole 163 and being screwed into the corresponding first threaded hole, so that when the tensioning of the synchronous belt 140 is not needed to be adjusted, the tensioning structure 160 can be removed, further reducing the collision volume of the fourth shaft structure.

[0074] As an optional embodiment of the utility model, as shown in Figure 8 The side wall of the pulley housing 520 on the side towards the driving part 110 has a plurality of long-shaped adjusting holes 521, the long-shaped adjusting holes 521 penetrate the side wall in the thickness direction of the side wall of the driving part 110, and the cross section of the long-shaped adjusting holes 521 extends in the direction towards and away from the speed reducer housing 510; the adjusting plate 150 is provided with a plurality of mounting holes, the positions of the plurality of mounting holes correspond to the positions of the plurality of long-shaped adjusting holes 521 one by one, and the adjusting plate 150 is fixedly connected with the pulley housing 520 through the fastener passing through the plurality of long-shaped adjusting holes 521 and the corresponding mounting holes one by one.

[0075] As an optional embodiment of the utility model, as shown in Figure 7 The tensioning structure 160 includes a tensioning plate 161, and the limiting avoiding part 162 penetrates the tensioning plate 161 in the thickness direction.

[0076] As an optional embodiment of the utility model, as shown in Figure 7 The limiting avoiding part 162 can be a notch structure formed at the edge of the tensioning plate 161.

[0077] As another optional embodiment of the utility model, the limiting avoiding part 162 can also be a through hole penetrating the tensioning plate 161 in the thickness direction.

[0078] As an optional embodiment of the utility model, as shown in Figure 9 The rotating drive assembly 20 further includes a winding inner shaft sleeve 310 and an adapter flange 320, the adapter flange 320 is arranged at the tail of the speed reducer housing 510, the first end of the winding inner shaft sleeve 310 is fixedly connected with the flexspline of the harmonic reducer 200, the second end of the winding inner shaft sleeve 310 is fixedly connected with the adapter flange 320, and the execution device 30 (specifically one end of the rotating small arm 31) is fixedly connected with the adapter flange 320.

[0079] As an optional embodiment of the utility model, as shown in Figure 9 The inner wall of the speed reducer housing 510 has an annular fixing table 511 extending around the fourth axis d, and the rigid wheel of the harmonic reducer 200 is fixedly connected with the annular fixing table 511; the rotating drive assembly 20 further includes a front end limiting sleeve 330 and a winding outer shaft sleeve 340, the outer edge of the front end limiting sleeve 330 is fixedly connected with one side of the annular fixing table 511 towards the front end (i.e. Figure 9 towards the left side), and the inner edge of the front end limiting sleeve 330 is connected with the wave generator of the harmonic reducer 200 through a bearing;

[0080] The winding inner shaft sleeve 310 has a matching stepped surface 311, the winding outer shaft sleeve 340 is sleeved on the outer side of the winding inner shaft sleeve 310 and is fixedly connected with one side of the annular fixing table 511 towards the rear end (i.e. Figure 9 towards the right side), and the end face of the winding outer shaft sleeve 340 towards the front end is arranged opposite to the matching stepped surface 311 and is used for limiting the matching stepped surface 311.

[0081] As an optional embodiment of the utility model, as shown in Figure 9 The inner edge of the rear end of the speed reducer housing 510 is provided with an oil seal 350, the inner side of the oil seal 350 is in contact with the adapter flange 320, and the oil seal 350 is used for dynamically sealing the gap between the adapter flange 320 and the speed reducer housing 510.

[0082] As an optional embodiment of the utility model, as shown inFigure 9 As shown in the figure, the end face of the rear end of the winding inner sleeve 310 has a plurality of second threaded holes, the adapter flange 320 has a plurality of second mounting through holes, the positions of the plurality of second mounting through holes correspond one-to-one to the positions of the plurality of second threaded holes, and the adapter flange 320 is fixedly connected with the winding inner sleeve 310 through threaded fasteners that pass through the second mounting through holes and the corresponding second threaded holes one by one.

[0083] As an optional embodiment of the utility model, as shown in the figure, Figure 9 As shown in the figure, the adapter flange 320 also has a plurality of third mounting through holes, the rotating small arm 31 has a plurality of fourth mounting through holes, the positions of the plurality of third mounting through holes correspond one-to-one to the positions of the plurality of fourth mounting through holes, and the adapter flange 320 is fixedly connected with the rotating small arm 31 through fasteners that pass through the third mounting through holes and the corresponding fourth mounting through holes one by one.

[0084] As an optional embodiment of the utility model, as shown in the figure, Figure 9 As shown in the figure, the elbow base 500 further includes an end cover 530 and a threading pipe 540, the end cover 530 is fixedly connected with the front end faces of the reducer housing 510 and the pulley housing 520 and closes the front end openings of the reducer housing 510 and the pulley housing 520, the end cover 530 has a threading avoiding hole corresponding in position to the fourth axis d, the first end of the threading pipe 540 is fixedly connected with the end cover 530, and the second end of the threading pipe 540 passes through the threading avoiding hole and enters the interior of the harmonic reducer 200.

[0085] As an optional embodiment of the utility model, as shown in the figure, Figure 9 As shown in the figure, the first end of the threading pipe 540 has a connecting flange, the connecting flange is attached to the outer side of the end cover 530 and is assembled with the end cover 530.

[0086] As an optional embodiment of the utility model, as shown in the figure, Figures 5-8 As shown in the figure, the front end faces of the reducer housing 510 and the pulley housing 520 are each formed with a plurality of threaded holes extending along the fourth axis d, and the end cover 530 is fixedly connected with the front end faces of the reducer housing 510 and the pulley housing 520 through threaded fasteners.

[0087] As a preferred embodiment of the utility model, as shown in the figure, Figures 5-8 As shown in the figure, the elbow base 500 further includes a wire arranging housing 550, the wire arranging housing 550 is arranged on the side of the reducer housing 510 away from the pulley housing 520, the wire arranging housing 550 is in communication with the reducer housing 510, and the wire arranging housing 550 has at least one wire collecting hole 551 penetrating through the side wall of the wire arranging housing 550.

[0088] In the embodiment of the utility model, the side of the elbow base 500 is provided with a wire arrangement shell 550, so that the connecting cable of the motor and other components can be inserted into and accommodated in the wire arrangement shell 550 through the wire collecting hole 551, and the external surface of the machine table is further ensured to be neat.

[0089] As an optional embodiment of the utility model, as shown in Figures 5-8 The side wall of the speed reducer shell 510 has a communication opening 512, and the wire arrangement shell 550 communicates with the inside of the speed reducer shell 510 through the communication opening 512.

[0090] As an optional embodiment of the utility model, as shown in Figures 5-8 The elbow base 500 further includes a side cover 560, one side of the wire arrangement shell 550 away from the pulley shell 520 has a maintenance opening 552, and the side cover 560 detachably closes the maintenance opening 552, so that when the wire inside the wire arrangement shell 550 needs to be maintained, the side cover 560 can be conveniently opened to check the inside of the wire arrangement shell 550.

[0091] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and those skilled in the art should understand that the utility model includes but is not limited to the content described in the drawings and the above specific embodiment. Any modification not deviating from the function and structural principle of the utility model will be included in the scope of claims.

Claims

1. A six-axis robot, comprising a three-axis overturning device, a rotary driving assembly and an executing device connected to each other in sequence, the overturning large arm of the three-axis overturning device is hinged with a connecting elbow, and both can rotate relative to each other around the third axis of the six-axis robot, the rotary driving assembly is arranged on the connecting elbow and is used to drive the executing device to rotate around the fourth axis of the six-axis robot, characterized in that, The rotating driving assembly comprises a driving part and a transmission structure, the driving part is capable of driving the executing device to rotate through the transmission structure, and the driving part and the overturning large arm are respectively located on two sides of the connecting elbow along the third axis extension direction.

2. The six-axis robot of claim 1, wherein, The transmission structure comprises a driving pulley, a driven pulley, a synchronous belt and a harmonic reducer, the synchronous belt is sleeved outside the driving pulley and the driven pulley, the driven pulley is fixedly connected with a wave generator of the harmonic reducer, the executing device is connected with a flexspline of the harmonic reducer, and the driving part is used for driving the driving pulley to rotate, so as to drive the driven pulley to rotate around a fourth axis through the synchronous belt.

3. The six-axis robot of claim 2, wherein, The connecting elbow comprises a hinged part and an elbow base which are connected with each other, the hinged part is hinged with the overturning large arm, the elbow base comprises a reducer housing and a pulley housing which are connected with each other, the harmonic reducer is arranged in the reducer housing, two ends of the reducer housing along the fourth axis extension direction are respectively provided with a front end opening and a tail end opening, two ends of a hole in the harmonic reducer are respectively communicated with the front end opening and the tail end opening, and the driven pulley is located on the front end side of the harmonic reducer. The pulley housing is located on one side of the front end of the reducer housing, the pulley housing is communicated with the reducer housing, the driving pulley is arranged in the pulley housing, and the driving part is arranged outside the reducer housing, and a driving shaft of the driving part is connected with the driving pulley through the pulley housing.

4. The six-axis robot of claim 3, wherein, An adjusting plate is arranged between the driving part and the outer wall of the pulley housing, the driving part is fixedly connected with the adjusting plate, the adjusting plate is connected with the pulley housing, and the relative position of the adjusting plate and the pulley housing is adjustable along the direction towards and away from the reducer housing. The side of the adjusting plate away from the reducer housing is provided with an adjusting threaded hole extending along the direction towards and away from the reducer housing, the side of the pulley housing away from the reducer housing is provided with a tensioning structure, the tensioning structure is provided with a limiting avoiding part penetrating along the direction towards and away from the reducer housing, the position of the limiting avoiding part corresponds to the position of the adjusting threaded hole, and the limiting avoiding part can allow one end of an adjusting screw to penetrate through the limiting avoiding part and be screwed into the adjusting threaded hole.

5. The six-axis robot of claim 4, wherein, At least one first threaded hole is formed in the outer wall of the pulley housing, and at least one first mounting through hole is formed in the tensioning structure, the tensioning structure is detachably connected with the pulley housing through a fastener penetrating through the first mounting through hole and being screwed into the corresponding first threaded hole.

6. The six-axis robot of claim 4, wherein, The rotating driving assembly further comprises a wire winding inner sleeve and an adapter flange, the adapter flange is arranged at the tail of the reducer housing, the first end of the wire winding inner sleeve is fixedly connected with the flexspline of the harmonic reducer, the second end of the wire winding inner sleeve is fixedly connected with the adapter flange, and the executing device is fixedly connected with the adapter flange.

7. The six-axis robot of any of claims 3 to 6, wherein, The elbow base comprises an end cover and a threading pipe, the end cover is fixedly connected with the front end face of the reducer housing and the pulley housing and seals the front end opening of the reducer housing and the pulley housing, the end cover is provided with a threading avoiding hole corresponding to the fourth shaft, the first end of the threading pipe is fixedly connected with the end cover, and the second end of the threading pipe passes through the threading avoiding hole and enters the interior of the harmonic reducer.

8. The six-axis robot of any of claims 3 to 6, wherein, The elbow base further comprises a wire arranging housing, the wire arranging housing is arranged on the side of the reducer housing away from the pulley housing, the wire arranging housing is in communication with the reducer housing, and the wire arranging housing is provided with at least one wire collecting hole penetrating through the side wall of the wire arranging housing.

9. The six-axis robot of claim 8, wherein, The elbow base further comprises a side cover, the side of the wire arranging housing away from the pulley housing is provided with a maintenance opening, and the side cover detachably seals the maintenance opening.

10. The six-axis robot of any of claims 2-6, wherein, The execution device comprises a rotating arm, a fifth shaft assembly and a welding gun assembly, one end of the rotating arm is fixedly connected with the flexspline of the harmonic reducer, the fifth shaft assembly is connected between the rotating arm and the welding gun assembly, the fifth shaft assembly can drive the welding gun assembly to rotate relative to the rotating arm about a fifth shaft, the welding gun assembly is provided with a welding head for welding workpieces, and the welding gun assembly can drive the welding head to rotate about a sixth shaft.

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