Six-axis robot

Abstract

The utility model discloses a six-axis robot, relates to the technical field of automatic assembly equipment, and aims at solving the problems that a traditional screw driving robot is single in function and needs to be additionally provided with turnover equipment. An automatic screw tightening module and a grabbing module are arranged on the two sides of the actuator mounting plate correspondingly. The grabbing module is composed of a servo motor, a speed reducer, a lead screw, a threaded sleeve, a cross beam, a connecting arm, a clamping jaw, a rotating arm and the like, the lead screw is driven by the servo motor to rotate, the threaded sleeve is driven to move up and down, and the clamping jaw is opened and closed in cooperation with linkage of the connecting arm and the rotating arm. By integrating the double-function module, the six-axis robot has the screw driving and material turnover capacity at the same time, the number of devices and the occupied area are reduced, and the procedure connection efficiency is improved; the grabbing module achieves high-precision opening and closing and stable clamping of a clamping jaw, is suitable for materials of multiple specifications, and is particularly suitable for small-batch and multi-variety automatic assembly scenes.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly equipment technology, specifically a six-axis robot. Background Technology

[0002] In the field of automated assembly, six-axis robots are widely used in precision operations such as screw driving due to their multi-degree-of-freedom and high precision. However, traditional six-axis screw driving robots have limited functionality, only capable of tightening screws and unable to directly handle material handling. If it is necessary to transfer workpieces from the feeding station to the screw driving station, or to move workpieces to the next process after screw driving, additional conveyor belts, dedicated handling robots, and other handling equipment are required, resulting in complex production line layouts and large equipment footprints.

[0003] Meanwhile, existing equipment with turnover function and screw-driving equipment often operate independently, and the two need to be linked in a complex control system, which not only increases the equipment procurement cost, but also has the problem of low efficiency in process connection.

[0004] Therefore, those skilled in the art have provided a six-axis robot to solve the problems mentioned in the background section. Utility Model Content

[0005] The purpose of this invention is to provide a six-axis robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A six-axis robot includes a mounting base for mounting the six-axis robot. A robot body is fixedly mounted on the upper end of the mounting base. An actuator mounting plate is fixedly connected to the end of the robot body. An automatic screw tightening module and a gripping module are respectively provided on both sides of the actuator mounting plate. The gripping module includes a horizontal plate that is vertically fixedly connected to the actuator mounting plate. A bracket is fixedly mounted on the upper end of the horizontal plate. A servo motor is fixedly mounted on the upper end of the bracket. A reducer is provided on the lower end of the bracket. A base plate is fixedly connected to the lower end of the horizontal plate by a screw. A lead screw is rotatably mounted between the base plate and the horizontal plate. The reducer is connected to the output shaft of the servo motor and the lead screw respectively.

[0008] As a further embodiment of this utility model: a threaded sleeve is threadedly connected to the lead screw, and crossbeams are fixedly connected to both sides of the threaded sleeve.

[0009] As a further improvement of this utility model: each end of the crossbeam is rotatably connected to a connecting arm, and the end of the connecting arm is rotatably connected to a gripper.

[0010] As a further embodiment of this utility model: grooves are provided on both sides of the base plate, and through slots are provided on the top of the grippers. A rotating arm is rotatably connected in the groove, and the other end of the rotating arm is rotatably connected to the inner wall of the through slot on the corresponding gripper.

[0011] As a further improvement of this utility model, the actuator mounting plate is fixedly connected to the end flange of the robot body by a bolt group.

[0012] As a further improvement of this utility model: the inner side of each gripper is provided with anti-slip teeth, and the anti-slip teeth have a serrated structure.

[0013] As a further improvement of this utility model: the rotating arm is rotatably connected to the groove and the through groove by a pin, and both ends of the pin are provided with limiting rings, and the limiting rings are interference-fitted with the pin.

[0014] As a further improvement of this utility model: the servo motor is connected to the control system of the robot body via a controller, and the controller is used to control the forward and reverse rotation and speed of the servo motor to realize the opening and closing action of the gripper.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] This utility model's six-axis robot integrates an automatic screw tightening module and a gripping module on both sides of the actuator mounting plate, achieving the integration of screw tightening and material handling functions. This effectively solves the problem of the single function of traditional six-axis robots, allowing it to complete "gripping-transportation-assembly" without the need for additional handling equipment. The end-to-end operation significantly reduces the equipment footprint and production line layout complexity, lowering equipment procurement and maintenance costs. The gripping module uses a servo motor to drive the lead screw rotation, combined with the linkage structure of the threaded sleeve, connecting arm, and rotating arm. Through the precise transmission of the lead screw and nut pair, stable control of the gripper opening and closing is achieved. Coupled with the anti-slip tooth design on the inner side of the gripper, it can reliably grip workpieces, screws, or threaded sleeves of different specifications, preventing materials from falling off during turnover. The modular connection between the actuator mounting plate and the robot body allows the automatic screw tightening module and gripping module to be quickly replaced or upgraded according to production needs, adapting to different types of screws and workpieces, improving the flexibility of the equipment. In addition, the six-axis linkage of the robot body, combined with the collaborative work of the dual-function modules, can reduce the positioning time during process switching and improve the production cycle, making it particularly suitable for small-batch, multi-variety assembly scenarios such as electronic products and automotive parts, combining practicality and economy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a six-axis robot.

[0018] Figure 2 This is a schematic diagram of the actuator mounting plate in a six-axis robot.

[0019] Figure 3 This is a schematic diagram of the overall structure of the grasping module in a six-axis robot.

[0020] Figure 4 This is a front view of the gripping module in a six-axis robot.

[0021] In the diagram: 1. Mounting base; 2. Robot body; 3. Automatic screw tightening module; 4. Gripping module; 5. Actuator mounting plate; 6. Horizontal plate; 7. Bracket; 8. Servo motor; 9. Base plate; 10. Groove; 11. Reducer; 12. Lead screw; 13. Threaded sleeve; 14. Crossbeam; 15. Connecting arm; 16. Gripper; 17. Rotating arm; 18. Through slot. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1

[0024] Reference Figures 1-4 This embodiment provides a six-axis robot, including a mounting base 1 for mounting the six-axis robot. A robot body 2 is fixedly mounted on the upper end of the mounting base 1. An actuator mounting plate 5 is fixedly connected to the end of the robot body 2. An automatic screw tightening module 3 and a gripping module 4 are respectively provided on both sides of the actuator mounting plate 5. The gripping module 4 includes a horizontal plate 6 that is fixedly connected to the actuator mounting plate 5 perpendicularly. A bracket 7 is fixedly mounted on the upper end of the horizontal plate 6. A servo motor 8 is fixedly mounted on the upper end of the bracket 7. A reducer 11 is provided on the lower end of the bracket 7. A base plate 9 is fixedly connected to the horizontal plate 6 by a screw. A lead screw 12 is rotatably mounted between the base plate 9 and the horizontal plate 6. The reducer 11 is connected to the output shaft of the servo motor 8 and the lead screw 12 respectively.

[0025] Example 2

[0026] Reference Figures 1-4This embodiment is based on the previous embodiment, but differs from the previous embodiment in that the lead screw 12 is threadedly connected to a threaded sleeve 13, and both sides of the threaded sleeve 13 are fixedly connected to a crossbeam 14. The ends of the crossbeams 14 are rotatably connected to a connecting arm 15, and the ends of the connecting arms 15 are rotatably connected to a gripper 16. The inner side of the gripper 16 is provided with anti-slip teeth, and the anti-slip teeth have a serrated structure.

[0027] Furthermore, grooves 10 are provided on both sides of the base plate 9, and through slots 18 are provided on the top of each gripper 16. A rotating arm 17 is rotatably connected in the groove 10, and the other end of the rotating arm 17 is rotatably connected to the inner wall of the through slot 18 on the corresponding gripper 16. The rotating arm 17 is rotatably connected to the groove 10 and the through slot 18 by a pin. Both ends of the pin are provided with limiting rings, and the limiting rings are interference-fitted with the pin.

[0028] Furthermore, the actuator mounting plate 5 is fixedly connected to the end flange of the robot body 2 by a bolt group, and the servo motor 8 is connected to the control system of the robot body 2 by a controller. The controller is used to control the forward and reverse rotation and speed of the servo motor 8 to realize the opening and closing action of the gripper 16.

[0029] This utility model's six-axis robot integrates an automatic screw tightening module 3 and a gripping module 4, achieving the integration of "screw tightening" and "material handling" functions. The robot body 2 is fixed to the work area via a mounting base 1. The actuator mounting plate 5 is located at the end of the robot's sixth axis, with the automatic screw tightening module 3 and gripping module 4 mounted on both sides respectively. When handling materials, the controller sends a signal to start the servo motor 8 to rotate forward. The servo motor 8, after being reduced in speed and torque by the reducer 11, drives the lead screw 12 to rotate clockwise. The threaded sleeve 13 moves downward along the lead screw 12, and the crossbeam 14 moves downward with the threaded sleeve 13, driving the connecting arm 15. The connecting arm 15 drives the gripper 16 to rotate inward to grip the material. The robot body 2 moves the gripping module 4 to the target position through six-axis linkage. The servo motor 8 reverses, and the gripper 16 opens to release the material. When tightening screws, the robot body 2 moves the automatic screw tightening module 3 to the workstation to be tightened and screws the screw into the preset hole in the workpiece.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A six-axis robot, characterized by: The system includes a mounting base (1) for mounting a six-axis robot. The upper end of the mounting base (1) is fixedly mounted with a robot body (2). The end of the robot body (2) is fixedly connected with an actuator mounting plate (5). The two sides of the actuator mounting plate (5) are respectively provided with an automatic screw tightening module (3) and a gripping module (4). The gripping module (4) includes a horizontal plate (6) that is vertically fixedly connected to the actuator mounting plate (5). The upper end of the horizontal plate (6) is fixedly mounted with a bracket (7). The upper end of the bracket (7) is fixedly mounted with a servo motor (8). The lower end of the bracket (7) is provided with a reducer (11). The lower end of the horizontal plate (6) is provided with a base plate (9) that is fixedly connected to it by a screw. A lead screw (12) is rotatably mounted between the base plate (9) and the horizontal plate (6). The reducer (11) is connected to the output shaft of the servo motor (8) and the lead screw (12) respectively.

2. The six-axis robot of claim 1, wherein, The lead screw (12) is threaded with a threaded sleeve (13), and crossbeams (14) are fixedly connected to both sides of the threaded sleeve (13).

3. The six-axis robot of claim 2, wherein, Each of the crossbeams (14) is rotatably connected to a connecting arm (15), and the end of the connecting arm (15) is rotatably connected to a gripper (16).

4. The six-axis robot of claim 3, wherein, The base plate (9) has grooves (10) on both sides, and the grippers (16) have through slots (18) on their tops. A rotating arm (17) is rotatably connected in the groove (10), and the other end of the rotating arm (17) is rotatably connected to the inner wall of the through slot (18) on the corresponding gripper (16).

5. The six-axis robot of claim 1, wherein, The actuator mounting plate (5) is fixedly connected to the end flange of the robot body (2) by a bolt group.

6. The six-axis robot of claim 3, wherein, The inner side of each gripper (16) is provided with anti-slip teeth, which are serrated.

7. The six-axis robot of claim 4, wherein, The rotating arm (17) is rotatably connected to the groove (10) and the through groove (18) by a pin. Both ends of the pin are provided with a limiting ring, and the limiting ring is interference-fitted with the pin.

8. The six-axis robot of claim 1, wherein, The servo motor (8) is connected to the control system of the robot body (2) via a controller. The controller is used to control the forward and reverse rotation and speed of the servo motor (8) to realize the opening and closing action of the gripper (16).

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