The invention discloses a six-axis
robot which comprises a base, a rotating base, supporting big arms, shoulder joints, supporting
small arms,
wrist joints and a terminal end
actuator, wherein a first
servo motor is fixedly arranged in the inner cavity in the base, a first
harmonic speed
reducer is arranged on the lower end of the inner cavity of the rotating base, a second
servo motor is fixedly arranged on the upper end of the inner cavity of the rotating base, a second
harmonic speed
reducer and a
third harmonic speed
reducer are arranged on the inner cavities of the supporting big arms, a third
servo motor and a fourth servo motor are fixedly arranged on the inner cavities of the shoulder joints, a first belt wheel is fixedly connected to the output shaft of the fourth servo motor, a fifth servo motor, a
fourth harmonic speed reducer and a fifth
harmonic speed reducer are arranged on the inner cavities of the supporting
small arms, a second belt wheel is fixedly connected to a soft wheel of the
fourth harmonic speed reducer, the second belt wheel is in transmission connection with the first belt wheel through a first synchronization belt, a sixth servo motor and a sixth harmonic speed reducer are arranged on the inner cavities of the
wrist joints, and the terminal
actuator is fixedly connected with the soft wheel of the sixth harmonic speed reducer. The six-axis
robot is good in flexibility and fast in action.