Flexible six-shaft robot

Abstract

The invention discloses a flexible six-shaft robot. The flexible six-shaft robot comprises a chassis, a first-stage shaft system, a second-stage shaft system, a third-stage shaft system, a fourth-stage shaft system, a fifth-stage shaft system and a sixth-stage shaft system, wherein the third-stage shaft system comprises a second rotary shaft arranged at the top of a second rotary arm; the second rotary arm is connected with a third rotary arm through a second rotary shaft, and a third servo motor is arranged inside the third rotary arm; an auxiliary rotary plate capable of swinging relative to the second rotary arm is arranged at the bottom end of the second rotary arm; a fifth servo motor used for driving the auxiliary rotary plate to rotate is arranged at the joint of the second rotary arm and the auxiliary rotary plate; an auxiliary swinging arm which is connected with the third rotary arm and drives the third rotary arm to rotate around the second rotary shaft is arranged at the near end edge of the auxiliary rotary plate. The overall center of gravity of the robot is lowered, the service life of the robot is prolonged, the bearing capacity of the robot is greatly improved by virtue of the auxiliary arm, and the size of the robot is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible six-axis robot. Background technique [0002] With the popularization and application of industrial automation, robots have been widely used. Among them, the six-axis robot occupies a considerable proportion due to its advantages of flexibility and versatility. Each axis requires a servo motor to drive it. There is also a large motor at the bottom. Drives the horizontal axis of rotation. There are six motors in total, driving six shafts to rotate. The motor gets smaller as you go up, and the shaft motor at the top is the smallest. However, although the six-axis robots have certain similarities in structure, a large number of six-axis robots have the defects of slow movement speed, poor movement transmission and positioning accuracy, and high noise. Moreover, most long-armed robots on the market require additional balancing devices. The reducer on the arm is biased...

AI Technical Summary

Problems solved by technology

[0006] Although the above-mentioned six-axis robot has increased the power of the servo motor in the first-stage rotating shaft, which effectively ensures sufficient rotational force of the first-stage rotating shaft and can withstand large shearing forces, it is necessary to increase the design size of the robot base. Increase the cost of the robot, and the volume is larger, takes up a lot of space, and the applicable location and scope of use are limited

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