A lightweight six-axis robot

Abstract

The utility model provides a kind of light six-axis robot belongs to mechanical hand technical field.It solves the problem of slow start, brake and low response speed of six-axis robot in prior art due to its heavy weight.The utility model includes turbine box, driving arm seat, light driving arm, connecting rod, intermediate seat, driving wrist and forepaw assembly, turbine flange is installed at the top of turbine box, driving arm seat is connected and fixed with turbine box by turbine flange, the inside of light driving arm is hollow structure and the both ends of light driving arm are formed with large connecting seat and small connecting seat respectively, large connecting seat is connected with driving arm seat, the both ends of driving arm seat are fixedly connected with cycloidal reducer and servo motor, servo motor extends motor shaft, and motor shaft is connected with connecting rod transmission shaft, connecting rod lower end is connected with connecting rod transmission shaft, connecting rod is set along the direction of light driving arm, and the other end of connecting rod is connected with the bottom of intermediate seat, side plate is formed on the both sides of intermediate seat, and small connecting seat is connected with side plate.The utility model has the advantages of light weight and compact structure.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical hand technical field relates to a light six -axis robot. BACKGROUND

[0002] In prior art, the weight of part of six -axis robot and load are big, lead to start, brake slowly, response speed is low, it is difficult to adjust motion trajectory quickly, and drive huge structure and load, need to be equipped with high -power motor, energy consumption is significantly higher than light -duty robot, long -term use will increase the running cost such as electricity bill greatly.

[0003] The Chinese patent with patent publication number CN209491763U discloses a six -axis robot, including controller, base, rotating seat, big arm, fixed seat, small arm, wrist, rotating seat is connected to the top of base, the both sides of rotating seat are equipped with the first connecting arm of connecting big arm, second connecting arm, the both sides of big arm are equipped with the third connecting arm of connecting fixed seat, fourth connecting arm, the inside of base is equipped with one axle motor, one axle speed reducer, one axle motor drives and connects one axle speed reducer, one axle speed reducer is equipped with rotating seat connecting piece of driving connection rotating seat, rotating seat is equipped with two axle motors of driving connection big arm in the inside, big arm is equipped with two axle speed reducers of connecting two axle motors, three axle motors of driving connection fixed seat in the inside, fixed seat is equipped with three axle speed reducers of connecting three axle motors, four axle motors of driving connection small arm, small arm is equipped with five axle motors, five axle speed reducers, four axle speed reducers of connecting four axle motors, six axle motors of driving connection wrist in the inside, five axle motor drives and connects five axle speed reducer.

[0004] The six -axis robot provided by the patent forms a multi -layer nested driving structure from the base, the rotating seat, the big arm, the fixed seat to the small arm and the wrist, and each layer of components is not designed for weight reduction, which causes the overall quality to be stacked. UTILITY MODEL CONTENTS

[0005] The utility model aims at the above -mentioned problem existing in prior art, provides a light six -axis robot.

[0006] The objective of this utility model can be achieved through the following technical solution: A lightweight six-axis robot includes a turbine housing, a drive arm base, a lightweight drive arm, a connecting rod, an intermediate base, a drive wrist, and a forepaw assembly. A turbine flange is installed on the top of the turbine housing. The drive arm base is connected and fixed to the turbine housing through the turbine flange. The lightweight drive arm has a hollow internal structure, and a large connecting seat and a small connecting seat are formed at both ends of the lightweight drive arm. The large connecting seat is connected to the drive arm base. A cycloidal reducer and a servo motor are fixedly connected to both ends of the drive arm base. The servo motor extends with a motor shaft, and a connecting rod drive shaft is connected to the motor shaft. The lower end of the connecting rod is connected to the connecting rod drive shaft. The connecting rod is arranged along the direction of the lightweight drive arm, and the other end of the connecting rod is connected to the bottom of the intermediate base. Side plates are formed on both sides of the intermediate base. The small connecting seat is connected to the side plates. A wrist motor gearbox is fixedly installed on the top of the intermediate base. A wrist flange is installed at the end of the drive wrist, and the wrist flange is connected to the wrist motor gearbox. The forepaw assembly is fixed to one end of the drive wrist.

[0007] In the aforementioned lightweight six-axis robot, a front plate is formed in the intermediate seat, and a connecting shaft is provided on the inner side of the front plate, the connecting shaft passing through the other end of the connecting rod.

[0008] In the aforementioned lightweight six-axis robot, a wrist reducer and a wrist motor are provided on the rear side of the wrist motor gearbox.

[0009] In the aforementioned lightweight six-axis robot, mounting plates are formed on both sides of the drive arm base, and the large connecting seat is fitted and connected to the inner side of the mounting plate.

[0010] In the aforementioned lightweight six-axis robot, covers are installed at both ends of the connecting rod.

[0011] Compared with the prior art, the lightweight six-axis robot provided by this utility model has the following beneficial effects: 1. The lightweight drive arm adopts a hollow structure, which significantly reduces its own weight, reduces the overall load of the robot, thereby reducing energy consumption and improving motion flexibility and response speed; 2. A connecting shaft is set on the inner side of the front plate of the intermediate seat, through which the other end of the connecting rod passes. The structure is compact and enhances the stability of the connection between the connecting rod and the intermediate seat; the large connecting seat is closely connected to the inner side of the mounting plate of the drive arm seat, further improving the stability of the overall structure and ensuring the reliability of the robot during operation. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the exploded structure of this utility model;

[0014] Figure 3 This is a schematic diagram of a lightweight drive arm structure;

[0015] Figure 4 This is a schematic diagram of the middle seat structure.

[0016] In the diagram: 1. Turbine box; 11. Turbine flange; 2. Drive arm seat; 21. Cycloidal reducer; 22. Servo motor; 23. Mounting plate; 3. Light-duty drive arm; 31. Large connecting seat; 32. Small connecting seat; 4. Connecting rod; 41. Connecting rod drive shaft; 42. Cover; 5. Intermediate seat; 51. Side plate; 52. Front plate; 53. Connecting shaft; 6. Drive wrist; 61. Wrist flange; 7. Front claw assembly; 8. Wrist motor gearbox; 81. Wrist reducer; 82. Wrist motor. Detailed Implementation

[0017] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0018] like Figures 1 to 4 As shown, this embodiment includes a turbine housing 1, a drive arm seat 2, a lightweight drive arm 3, a connecting rod 4, an intermediate seat 5, a drive wrist 6, and a front claw assembly 7. A turbine flange 11 is installed on the top of the turbine housing 1. The drive arm seat 2 is connected and fixed to the turbine housing 1 through the turbine flange 11 to ensure the stability and reliability of the connection. The lightweight drive arm 3 has a hollow internal structure, which effectively reduces its own weight. Large connecting seats 31 and small connecting seats 32 are formed at the upper and lower ends of the lightweight drive arm 3, respectively. Both the large connecting seats 31 and small connecting seats 32 are disc-shaped structures and are distributed on both sides of the upper and lower ends of the lightweight drive arm 3. Mounting plates 23 are formed on both sides of the drive arm seat 2. The large connecting seats 31 are fitted and connected to the inner side of the mounting plates 23 to enhance the tightness of the connection.

[0019] like Figures 1 to 4 As shown, the drive arm base 2 is fixedly connected to the cycloidal reducer 21 and the servo motor 22 at both ends. The motor shaft of the servo motor 22 is connected to the connecting rod drive shaft 41. The lower end of the connecting rod 4 is connected to the connecting rod drive shaft 41, and the connecting rod 4 is arranged along the direction of the lightweight drive arm 3. The other end of the connecting rod 4 is connected to the bottom of the intermediate base 5. A front plate 52 is formed in the intermediate base 5. A connecting shaft 53 is provided on the inner side of the front plate 52. The connecting shaft 53 passes through the other end of the connecting rod 4 to achieve a reliable connection. Side plates 51 are formed on both sides of the intermediate base 5. The small connecting seat 32 is connected to the side plates 51 to make the lightweight drive arm 3 and the intermediate base 5 structurally stable.

[0020] like Figures 1 to 4As shown, a wrist motor gearbox 8 is fixedly installed above the middle seat 5, and a wrist reducer 81 and a wrist motor 82 are set on its rear side. The space is used reasonably to ensure efficient wrist drive. A wrist flange 61 is installed at the end of the drive wrist 6 and connected to the wrist motor gearbox 8 to ensure the precise movement of the drive wrist 6. The front claw assembly 7 is fixed to one end of the drive wrist 6 and can be replaced as needed to adapt to diverse operations.

[0021] To elaborate further, such as Figure 2 As shown, caps 42 are installed at both ends of the connecting rod 4 to protect the internal structure and prevent dust and other contaminants from entering.

[0022] The working principle of this utility model is as follows: the servo motor 22 drives the linkage transmission shaft 41 to rotate, and transmits the power to the intermediate seat 5 through the linkage 4, which drives the lightweight drive arm 3 and other components to move. The wrist motor 82 drives the drive wrist 6 through the wrist reducer 81. The front claw assembly 7 completes operations such as grasping and placing under the drive wrist 6. All components are connected and cooperate to ensure that the robot runs stably and accurately, meeting the needs of different working scenarios.

[0023] The specific embodiments described herein are merely illustrative of the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or adopt similar methods to replace them, but without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0024] Although this document uses a variety of terms, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of this utility model; interpreting them as any kind of additional limitation would be contrary to the spirit of this utility model.

Claims

1. A lightweight six-axis robot, comprising a turbine housing (1), a drive arm mount (2), a lightweight drive arm (3), a connecting rod (4), an intermediate mount (5), a drive wrist (6), and a forepaw assembly (7), wherein a turbine flange (11) is mounted on the top of the turbine housing (1), and the drive arm mount (2) is connected and fixed to the turbine housing (1) via the turbine flange (11), characterized in that: The lightweight drive arm (3) has a hollow internal structure, and a large connecting seat (31) and a small connecting seat (32) are formed at both ends of the lightweight drive arm (3). The large connecting seat (31) is connected to the drive arm seat (2). A cycloidal reducer (21) and a servo motor (22) are fixedly connected to both ends of the drive arm seat (2). The servo motor (22) has a motor shaft extending out, and a connecting rod drive shaft (41) is connected to the motor shaft. The lower end of the connecting rod (4) is connected to the connecting rod drive shaft (41). The connecting rod (4) moves along the lightweight drive arm (3). The drive arm (3) is oriented in a certain direction and the other end of the connecting rod (4) is connected to the bottom of the intermediate seat (5). Side plates (51) are formed on both sides of the intermediate seat (5). The small connecting seat (32) is connected to the side plates (51). A wrist motor (82) gearbox (8) is fixedly installed on the top of the intermediate seat (5). A wrist flange (61) is installed at the end of the drive wrist (6). The wrist flange (61) is connected to the wrist motor (82) gearbox (8). The front claw assembly (7) is fixed to one end of the drive wrist (6).

2. The lightweight six-axis robot according to claim 1, characterized in that: A front plate (52) is formed in the intermediate seat (5), and a connecting shaft (53) is provided on the inner side of the front plate (52). The connecting shaft (53) passes through the other end of the connecting rod (4).

3. A lightweight six-axis robot according to claim 1, characterized in that: The wrist motor (82) is equipped with a wrist reducer (81) and a wrist motor (82) on the rear side of the gearbox (8).

4. A lightweight six-axis robot according to claim 1, characterized in that: Mounting plates (23) are formed on both sides of the drive arm seat (2), and the large connecting seat (31) is fitted and connected to the inner side of the mounting plate (23).

5. A lightweight six-axis robot according to claim 1, characterized in that: The connecting rod (4) has caps (42) installed at both ends.

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