Working space holosymmetric six-axis robot

Abstract

The utility model relates to the technical field of six-axis robots, in particular to a six-axis robot with a fully symmetrical working space, which comprises a base, a rotary table is movably arranged at the upper end of the base, and a rotating mechanism is arranged between the rotary table and the base; a fixing table is fixedly mounted at the upper end of the rotary table, a mounting seat is movably arranged at the upper end of the fixing table, a six-axis robot body is arranged at the upper end of the mounting seat, and a translation mechanism is arranged between the mounting seat and the fixing table. According to the utility model, the rotating mechanism and the translation mechanism are matched for use, so that the full symmetry of a working space in a horizontal plane is realized, the robot can be operated flexibly, stably and accurately at different angles and positions, and the working efficiency and the application range are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to six -axis robot technical field, concretely is six -axis robot of full symmetry of working space. BACKGROUND

[0002] In modern industrial production and automation operation, the application of robots is more and more extensive, especially six-axis robot, it has multiple degrees of freedom, can complete complex action and task, plays an important role in material handling, welding, spraying, assembly and other fields.

[0003] At present, the performance and range of the working space of the existing six-axis robot in the market are different at different angles, and the full-symmetrical working space cannot be realized, which makes the robot may have problems such as motion jam, precision decline and so on when working at some angles, affecting the work efficiency and product quality. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of six-axis robot of full symmetry of working space to solve the problems raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of six-axis robot of full symmetry of working space, comprising

[0007] Base, the upper end of the base movably provided with rotary table, rotary mechanism is arranged between the rotary table and base;

[0008] The fixed mounting of the rotary table is installed with fixed table, the upper end of the fixed table movably provided with mounting seat, the upper end of the mounting seat is provided with six-axis robot body, translation mechanism is arranged between the mounting seat and fixed table.

[0009] Preferably, the rotary mechanism includes motor one, motor one is arranged in the middle bottom of the base, the output shaft of motor one is fixedly connected to the middle bottom of rotary table penetrating through the base;

[0010] Preferably, the rotary mechanism further includes annular guide rail, annular guide rail is arranged in the upper end of the base, sliding seat matched with annular guide rail is arranged below the bottom end of the rotary table;

[0011] Preferably, the translation mechanism includes lead screw, lead screw is movably arranged in the middle of the fixed table, the outside of lead screw movably provided with movable block, the top end of movable block is fixedly connected to the middle bottom of mounting seat, motor two is arranged in the left middle of the fixed table, the output shaft of motor two is fixedly connected with lead screw;

[0012] Preferably, the translation mechanism further comprises a guide groove symmetrically arranged at both sides of the upper end of the fixed table, and a guide block symmetrically arranged at both sides of the bottom end of the mounting seat, the guide block being in sliding connection with the guide groove.

[0013] Preferably, a plurality of supporting legs are arranged at the bottom end of the base in equal arc.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] The work space full-symmetrical six-axis robot realizes full symmetry of the work space in a horizontal plane through cooperation of the rotating mechanism and the translation mechanism, so that the robot can be flexibly, stably and high-precisely operated at different angles and positions, and work efficiency and application range are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a whole front view structural schematic diagram of the utility model;

[0017] Figure 2 It is a ring guide rail structure schematic diagram of the utility model;

[0018] Figure 3 It is a Figure 1 enlarged schematic diagram of A in the utility model;

[0019] Figure 4 It is a Figure 2 enlarged schematic diagram of B in the utility model.

[0020] In the drawing: 1, base; 2, rotating table; 3, fixed table; 4, mounting seat; 5, six-axis robot body; 6, motor one; 7, ring guide rail; 8, sliding seat; 9, screw rod; 10, movable block; 11, motor two; 12, guide groove; 13, guide block; 14, supporting leg. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0022] As Figures 1-4 shown, a technical scheme provided by the utility model comprises the following steps:

[0023] A six-axis robot with a fully symmetrical workspace includes a base 1. Several legs 14 with equal arcs are arranged at the bottom of the base 1. A turntable 2 is movably mounted on the upper end of the base 1. A rotating mechanism is provided between the turntable 2 and the base 1. The rotating mechanism includes a motor 6, which is located at the bottom center of the base 1. The output shaft of the motor 6 passes through the base 1 and is fixedly connected to the bottom center of the turntable 2. The rotating mechanism also includes a ring-shaped guide rail 7, which is located at the upper end of the base 1. A slide 8 matching the ring-shaped guide rail 7 is located below the bottom of the turntable 2. A fixed platform 3 is fixedly mounted on the upper end of the turntable 2. The upper end of the fixed platform 3 is movably mounted... The system includes a mounting base 4, with a six-axis robot body 5 mounted on its upper end. A translation mechanism is provided between the mounting base 4 and the fixed platform 3. The translation mechanism includes a lead screw 9, which is movably mounted in the middle of the fixed platform 3. A movable block 10 is movably mounted outside the lead screw 9, with the top of the movable block 10 fixedly connected to the bottom middle of the mounting base 4. A second motor 11 is located in the middle left side of the fixed platform 3, with the output shaft of the second motor 11 fixedly connected to the lead screw 9. The translation mechanism also includes guide grooves 12, which are symmetrically arranged on both sides of the upper end of the fixed platform 3. Guide blocks 13 are symmetrically arranged on both sides of the bottom end of the mounting base 4, and the guide blocks 13 are slidably connected to the guide grooves 12.

[0024] In this embodiment, regarding the rotation mechanism, by mounting motor 6 at the bottom center of base 1 and connecting its output shaft to the bottom center of turntable 2, the accuracy and symmetry of the rotation center are ensured. Simultaneously, annular guide rail 7 surrounds the upper end of base 1, and slide 8 matches the annular guide rail 7, enabling turntable 2 to rotate stably 360° around the output shaft of motor 6 without dead angles, achieving full symmetry of the six-axis robot's workspace in the horizontal circumferential direction. Regarding the translation mechanism, lead screw 9 is movably positioned in the center of fixed platform 3, and motor 11 is mounted on the left center of fixed platform 3. Guide grooves 12 are symmetrically arranged on both sides of the upper end of fixed platform 3, and guide blocks 13 are symmetrically arranged on both sides of the bottom end of mounting base 4. This symmetrical structural design ensures the stability and symmetry of mounting base 4 during translation. Mounting base 4 can translate bidirectionally along the axial direction under the drive of lead screw 9, with the translation range at both ends being the same, achieving full symmetry of the six-axis robot's workspace in the axial direction of lead screw 9. The integrated design of the rotation and translation mechanisms enables the six-axis robot to achieve full symmetry in its workspace within the horizontal plane, allowing it to perform flexible, stable, and high-precision operations at different angles and positions, thereby improving the robot's work efficiency and applicability.

[0025] Working principle: Regarding the rotation of the turntable 2, after the motor 6 at the bottom center of the base 1 is started, its output shaft rotates, causing the turntable 2, which is fixedly connected to it, to rotate relative to the base 1. The slide 8 at the bottom of the turntable 2 slides on the annular guide rail 7 at the top of the base 1, providing support and guidance to ensure the stable rotation of the turntable 2. This allows the position of the six-axis robot body 5 in the horizontal circumferential direction to be adjusted. Regarding the translation of the mounting base 4, the motor 11 at the middle left side of the fixed platform 3 is started, and its output shaft drives the lead screw 9 to rotate. The movable block 10 outside the lead screw 9 moves along the axial direction of the lead screw 9. Since the top of the movable block 10 is fixedly connected to the bottom center of the mounting base 4, it drives the mounting base 4 to move. At the same time, the guide blocks 13 on both sides of the bottom of the mounting base 4 slide in the guide grooves 12 symmetrically arranged on both sides of the top of the fixed platform 3, providing guidance and limiting functions to ensure that the mounting base 4 translates linearly along the axial direction of the lead screw 9, thereby adjusting the position of the six-axis robot body 5 in the axial direction of the lead screw 9. The robot's fully symmetrical workspace is achieved thanks to the symmetrical design of its rotation and translation mechanisms. In the rotation mechanism, the annular guide rail 7 is circular and centrally symmetrical, the slide block 8 can slide 360° in a circle, and the motor 6 is installed at the bottom center of the base 1 to ensure accurate symmetry of the rotation center, making the six-axis robot body 5 fully symmetrical in the horizontal circumferential direction of the workspace. In the translation mechanism, the lead screw 9 is in the middle of the fixed platform 3, the motor 11 is installed in the middle of the left side, the guide groove 12 and the guide block 13 are symmetrically arranged, and the mounting base 4 can translate in both directions with the same translation range at both ends, making the six-axis robot body 5 fully symmetrical in the axial direction of the lead screw 9. Together, these features make the robot fully symmetrical in the horizontal plane, enabling it to operate flexibly at different angles and positions, improving work efficiency and applicability.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A six-axis robot with a fully symmetrical workspace, characterized in that: include A base (1) is provided with a turntable (2) movably disposed at the upper end of the base (1), and a rotating mechanism is provided between the turntable (2) and the base (1); A fixed platform (3) is fixedly installed on the upper end of the turntable (2). A mounting base (4) is movably provided on the upper end of the fixed platform (3). A six-axis robot body (5) is provided on the upper end of the mounting base (4). A translation mechanism is provided between the mounting base (4) and the fixed platform (3).

2. The six-axis robot with a fully symmetrical workspace according to claim 1, characterized in that: The rotating mechanism includes a motor (6), which is installed at the bottom center of the base (1). The output shaft of the motor (6) passes through the base (1) and is fixedly connected to the bottom center of the turntable (2).

3. A six-axis robot with a fully symmetrical workspace according to claim 2, characterized in that: The rotating mechanism also includes an annular guide rail (7), which is provided at the upper end of the base (1), and a slide (8) matching the annular guide rail (7) is provided below the bottom end of the turntable (2).

4. A six-axis robot with a fully symmetrical workspace according to claim 1, characterized in that: The translation mechanism includes a lead screw (9), which is movably arranged in the middle of the fixed platform (3). A movable block (10) is movably arranged outside the lead screw (9). The top end of the movable block (10) is fixedly connected to the bottom middle of the mounting base (4). A second motor (11) is arranged in the middle left side of the fixed platform (3). The output shaft of the second motor (11) is fixedly connected to the lead screw (9).

5. A six-axis robot with a fully symmetrical workspace according to claim 4, characterized in that: The translation mechanism also includes guide grooves (12), guide grooves (12) are symmetrically arranged on both sides of the upper end of the fixed platform (3), and guide blocks (13) are symmetrically arranged on both sides of the bottom end of the mounting base (4), and the guide blocks (13) are slidably connected to the guide grooves (12).

6. A six-axis robot with a fully symmetrical workspace according to claim 1, characterized in that: Several feet (14) are provided at the bottom of the base (1) with equal arc.

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