CN108312134A

CN108312134A - A kind of six-joint robot

Info

Publication number: CN108312134A
Application number: CN201810103773.0A
Authority: CN
Inventors: 丁小生
Original assignee: Jiangxi Huashi Polytron Technologies Inc
Current assignee: Jiangxi Huashi Polytron Technologies Inc
Priority date: 2018-02-01
Filing date: 2018-02-01
Publication date: 2018-07-24
Anticipated expiration: 2038-02-01
Also published as: CN108312134B

Abstract

The present invention proposes a kind of six-joint robot, including the first joint structure, second joint structure, third joint structure, 4th joint structure, 5th joint structure and the 6th joint structure, each joint structure can be rotated around an axis direction when six-joint robot operation, six joint structures can carry out independent rotation in six axis directions, robot operation control terminal is enable to reach any angles and positions, realize working without dead angle in commercial Application, and use six servo motors as driving source simultaneously, and introduce multiple speed reducers, keep the operational motion of robot more steady controllable, and the deceleration ratio of each speed reducer of setting can be passed through, set the working procedure of each servo motor, it can reach and robot is precisely controlled.Multiple bearing blocks and its corresponding bearing arrangement is arranged in the present invention simultaneously, realizes the undamped transmission in each joint of robot and stablizes power and transmit so that robot has good operation stability and work continuity.

Description

A kind of six-joint robot

Technical field

The present invention relates to robotic technology fields, and in particular to a kind of various dimensions robot, especially a kind of 6 DOF degree Six-joint robot.

Background technology

Status of the robot in modern industry is more and more important, with the hair of industrial automation, intelligence, modernization Exhibition, advanced robot progress into the factory of modern industry especially advanced manufacturing industry, play increasingly important role, than It is more and more to the dependence of robot such as present auto manufacturing.For the application of robot in the industry, it is desirable that its energy Enough dimensions freely manipulated are The more the better, the number of dimensions of robot refer to the axis direction number that robot can be freely rotated or Can free-moving rectilinear direction number, the axis direction number that the bright robot of dimension more multilist can be freely rotated is more or energy Enough free-moving rectilinear direction numbers are more.In present commercial Application, the application of various dimensions rotary machine people is more universal, but It is the rotation that robot majority in the prior art is confined to three dimensions, typically along tri- sides orthogonal X-Y-Z To being rotated, this robot increasingly cannot be satisfied the use demand of modern advanced manufacturing industry, and it is a kind of more that there is an urgent need for inventions The various dimensions robot that can realize no dead angle rotation work of dimension.

Invention content

The present invention is based on above-mentioned prior art problems to propose a kind of completely new various dimensions robot, and the robot can be same When around six mutually independent axis carry out independent rotations, belong to a kind of six-joint robot (being also 6 DOF degree robot) so that The operating terminal being installed in robot can reach the angles and positions of any required manipulation, realize robot without dead angle Work, is the alternate modification to existing robot, can be widely applied in modern industry manufacturing industry, have a extensive future.

It is as follows that the present invention solves the technical solution that above-mentioned technical problem is taken：

A kind of six-joint robot, including the first joint structure, second joint structure, third joint structure, the 4th joint knot Structure, the 5th joint structure and the 6th joint structure；

First joint structure includes：Pedestal 5, the first RV speed reducers 6, first motor seat 8,10 and of the first reductor shaft First servo motor 17, the first motor seat 8 include the first mounting base and the second mounting base, the first servo motor 17 It is installed on the first RV speed reducers 6 in first mounting base of the first motor seat 8, the output of the first servo motor 17 turns For axis connection in first reductor shaft 10, the transmission that first reductor shaft 10 is connected to the first RV speed reducers 6 is defeated Enter end, the transmission output of the first RV speed reducers 6 is connected to the pedestal 5；

The second joint structure includes：It second servo motor 13, the second reductor shaft 12, the 2nd RV speed reducers 80 and shakes Pivoted arm 79, second servo motor, 13 and the 2nd RV speed reducers 80 are installed in the second mounting base of the first motor seat 8, The output revolving shaft of second servo motor 13 is connected to second reductor shaft 12, and second reductor shaft 12 is connected to The transmission output of the drive input of the 2nd RV speed reducers 80, the 2nd RV speed reducers 80 is connected to the rocking-turn arm 79 one end；

The third joint structure includes：Third servo motor 20, third reductor shaft 21, the second motor cabinet 23 and third RV speed reducers 78, second motor cabinet 23 include the first mounting base and the second mounting base, 20 He of third servo motor 3rd RV speed reducers 78 are installed in the first mounting base of second motor cabinet 23, and the output of the third servo motor 20 turns For axis connection in the third reductor shaft 21, the transmission that the third reductor shaft 21 is connected to the 3rd RV speed reducers 78 is defeated Enter end, the transmission output of the 3rd RV speed reducers 78 is connected to the other end of the rocking-turn arm 79；

4th joint structure includes：4th servo motor 18, the first gusset piece 19, first harmonic speed reducer 22, rotation Pivoted arm 70, the second gusset piece 71, crossed roller bearing 72, rotating shaft 73, the first deep-groove ball ball bearing 74 and flange connector 75, the 4th servo motor 18 is installed on first gusset piece 19, and the output revolving shaft of the 4th servo motor 18 connects It is connected to the drive input of the first harmonic speed reducer 22, the first harmonic speed reducer 22 is installed on second motor cabinet In 23 the second mounting base, first gusset piece 19 is installed in the second mounting base of second motor cabinet 23, and described The transmission output of one harmonic wave speed reducing machine 22 is connected to the flange connector 75, and the rotating shaft 73 passes through first zanjon Ball ball bearing 74 and the rotational installation of crossed roller bearing 72 are in the second mounting base of second motor cabinet 23, and described second Gusset piece 71 is installed in the second mounting base of second motor cabinet 23, and by the rotating shaft 73, the first deep-groove ball ball Bearing 74 and crossed roller bearing 72 are limited in the second mounting base of second motor cabinet 23, the front end of the rotating shaft 73 It is connected to the flange connector 75, the front end of the rotating arm 70 is formed with rotation connection seat, the rear end of the rotating arm 70 It is formed with rotational installation U-shaped cavity, the rotational installation U-shaped cavity includes the two side walls being mutually parallel, and is formed on each side wall Mounting hole is formed with the first installation cavity and the second installation cavity, the revolution between the front-end and back-end of the rotating arm 70 The rear end of axis 73 is connected to the rotation connection seat of the rotating arm 70；

5th joint structure includes：First motor gland 86, the first gasket 85, the first synchronous belt 65, first are same Walk belt wheel 89, the second synchronous pulley 64, first bearing gland 63, the second deep-groove ball ball bearing 62, third reductor shaft 60, the Three harmonic wave speed reducing machines 59, axle sleeve 58, first bearing seat 56, shaft 54, the 5th servo motor 69 and the first mounting plate 88, described Five servo motors 69 are installed in the first installation cavity body of the rotating arm 70, and the front end face of the 5th servo motor 69 connects It is connected to first mounting plate 88, first mounting plate 88 is connected to the one side of the rotating arm 70, the 5th servo The output revolving shaft of motor 69 is connected to first synchronous pulley 89, the drive input connection of the third harmonic speed reducer 59 In one end of the third reductor shaft 60, the other end of the third reductor shaft 60 is after the first bearing gland 63 It is connected to second synchronous pulley 64, and is provided between the third reductor shaft 60 and first bearing gland 63 described Second deep-groove ball ball bearing 62, the transmission output of the third harmonic speed reducer 59 are connected to the axle sleeve 58, and described Three harmonic wave speed reducing machines 59 are installed in the first bearing seat 56, and the first bearing gland 63 is connected to the first bearing seat It is limited in the first bearing seat 56 on 56 and by the third harmonic speed reducer 59, the first bearing seat 56 is connected to institute The one side wall of the rotational installation U-shaped cavity of rotating arm 70 is stated, the shaft 54 is rotatablely installed in the rotational installation U of the rotating arm 70 In cavity, the axle sleeve 58 is connected to the shaft 54, and first synchronous pulley, 89 and second synchronous pulley 64 passes through described First synchronous belt 65 is sequentially connected, and first gasket 85 is arranged along the edge of 70 one side of the rotating arm, and described first Motor pressing cover 86 is connected to the one side of the rotating arm 70 and compresses first gasket 85；

6th joint structure includes：Second motor pressing cover 28, the second gasket 29, the second synchronous belt 30, third are same Walk belt wheel 31, second bearing seat 37, the first outside framework oil seal 39, driving wheel 40, rotating seat 41, driven wheel 42, bearing holder (housing, cover) 44, second Harmonic wave speed reducing machine 47,3rd bearing seat 48, coupling sleeve 49, second bearing gland 52, the second outside framework oil seal 53, the 6th servo motor 66, the 4th synchronous pulley 67, the second mounting plate 68 and several bearing parts, the 6th servo motor 66 are installed on the rotating arm In 70 the second installation cavity body, and the front end face of the 6th servo motor 66 is connected to second mounting plate 68, and described Two mounting plates 68 are connected to the another side of the rotating arm 70, and the output revolving shaft of the 6th servo motor 66 is connected to described 4th synchronous pulley 67, the driving wheel 40 include active center axis and drive bevel gear, and the active center axis passes through bearing For rotational support in the second bearing seat 37, the third synchronous pulley 31 is connected to the active center axis, the third Synchronous pulley 31 is sequentially connected with the 4th synchronous pulley 67 by second synchronous belt 30, and the second bearing seat 37 connects It is connected to another side wall of the rotational installation U-shaped cavity of the rotating arm 70, first outside framework oil seal 39 is installed on the shaft 54 Interior, second gasket 29 is arranged along the edge of 70 another side of the rotating arm, and second motor pressing cover 28 is connected to The another side of the rotating arm 70 simultaneously compresses second gasket 29, and the inside of the shaft 54 forms gear transmission cavity, The drive bevel gear stretches into the gear drive intracavitary of the shaft 54, and the driven wheel 42 includes driven central shaft and from mantle Gear, for the driven central shaft by bearing rotational support in the bearing holder (housing, cover) 44, the bearing holder (housing, cover) 44 is connected to described turn Axis 54, the second harmonic speed reducer 47 are installed in the rotating seat 41, and it is humorous that the driven central shaft is connected to described second The transmission output of the drive input of wave speed reducer 47, the second harmonic speed reducer 47 is connected to the 3rd bearing seat 48, the coupling sleeve 49 is connected to the 3rd bearing seat 48, and the 3rd bearing seat 48 is by bearing rotational support in described In rotating seat 41, the second bearing gland 52 is connected to the end face of the rotating seat 41, and the rotating seat 41 is connected to described The end face of shaft 54, the driven wheel of differential stretch into the gear drive intracavitary of the shaft 54, and the driven wheel of differential and master Dynamic bevel gear is used as external connection terminal, second skeleton in the gear drive intracavitary Vertical Meshing, the coupling sleeve 49 Oil sealing 53 is set between the coupling sleeve 49 and second bearing gland 52；

When the six-joint robot operation, under the action of the first servo motor 17, the first motor seat 8 can It is rotated around first axle relative to the pedestal, under the action of the second servo motor 13, the rocking-turn arm 79 can It is rotated around the second axis relative to the first motor seat 8, under the action of third servo motor 20, second electricity Engine base 23 can be rotated relative to the rocking-turn arm 79 around third axis, under the action of the 4th servo motor 18, institute Stating rotating arm 70 can be rotated relative to second motor cabinet 23 around the 4th axis, in the work of the 5th servo motor 69 Under, the shaft 54 can be rotated relative to the rotating arm 70 around the 5th axis, in the work of the 6th servo motor Under, the coupling sleeve 49 can be rotated relative to the shaft 54 around the 6th axis, and second axis and described first Axis is vertical, and the third axis is parallel with second axis, and the 4th axis is vertical with the third axis, the 5th axis with it is described 4th axis is vertical, and the 6th axis is vertical with the 5th axis.

Further six-joint robot according to the present invention, wherein first joint structure further includes the first anticollision Block 84, the first servo motor 17 are fixedly installed in the upper surface of the first mounting base of the first motor seat 8, and described first The output revolving shaft of servo motor 17 is fixedly connected on one end of first reductor shaft 10, the shell of the first RV speed reducers 6 Body is fixedly installed in the lower surface of the first mounting base of the first motor seat 8, and the other end of first reductor shaft 10 connects It is connected to the drive input of the first RV speed reducers 6, the transmission output of the first RV speed reducers 6 is connected to the pedestal 5, first anticollison block 84 is set on the pedestal 5, for limiting the first motor seat 8 relative to the pedestal 5 Rotational angle.

Further six-joint robot according to the present invention, wherein the second joint structure further includes the second anticollision Block 81, second servo motor 13 are fixedly installed in the side of the second mounting base of the first motor seat 8, and described second watches The output revolving shaft for taking motor 13 is fixedly connected on one end of second reductor shaft 12, the shell of the 2nd RV speed reducers 80 It is fixedly installed in the other side of the second mounting base of the first motor seat 8, the other end connection of second reductor shaft 12 It is connected to the rocking-turn in the transmission output of the drive input of the 2nd RV speed reducers 80, the 2nd RV speed reducers 80 One end of arm 79, second anticollison block 81 are set on the first motor seat 8, for limit the rocking-turn arm 79 relative to The rotational angle of the first motor seat 8.

Further six-joint robot according to the present invention, wherein the third joint structure further includes having the 4th to prevent Collision block 77, the third servo motor 20 are fixedly installed in the side of the first mounting base of second motor cabinet 23, and described The output revolving shaft of three servo motors 20 is fixedly connected on one end of the third reductor shaft 21, the 3rd RV speed reducers 78 Shell is fixedly installed in the other side of the first mounting base of second motor cabinet 23, the other end of the third reductor shaft 21 It is connected to the drive input of the 3rd RV speed reducers 78, the transmission outputs of the 3rd RV speed reducers 78 is connected to described The other end of rocking-turn arm 79, the 4th anticollison block 77 are set on second motor cabinet 23, for limiting second electricity Rotational angle of the engine base 23 relative to the rocking-turn arm 79.

Further six-joint robot according to the present invention, wherein the 4th joint structure further includes having motor side Second mounting base of lid 16, second motor cabinet 23 is integrally formed at the top of the first mounting base, and in second installation It is formed with installation passage on seat, the 4th servo motor 18 is fixedly installed on first gusset piece 19, and the described 4th watches The output revolving shaft for taking motor 18 is connected to the first harmonic speed reducer 22 after the center through hole of first gusset piece 19 Drive input, the shell of the first harmonic speed reducer 22 is fixedly installed in the installation passage, first connection Plate 19 is fixedly installed in the installation passage, and is between the 4th servo motor 18 and first harmonic speed reducer 22, The electric motor end cap 16 is fixedly connected on the front opening of the installation passage, and by the 4th servo motor 18, first Fishplate bar 19 and first harmonic speed reducer 22 are covered in the installation passage, the transmission output of the first harmonic speed reducer 22 It is fixedly connected on the flange connector 75, the rotating shaft 73 includes center connecting shaft and flange connector, the flange connector It is formed in the rear end of the center connecting shaft, the first deep-groove ball ball bearing 74 is installed in the center connecting shaft, institute It states crossed roller bearing 72 to be installed on the flange connector, the rotating shaft 73 stretches into the installation passage and the revolution The front end of axis is fixedly connected on the flange connector 75, and second gusset piece 71 has ring-shaped structure, and described second Gusset piece 71 is fixedly connected on the open rearward end of the installation passage, by second gusset piece 71 by the crossed roller axis It holds 72 to be limited in the installation passage, the rear end face of the flange connector of the rotating shaft 73 is after second gusset piece 71 It is fixedly connected on the rotation connection seat of the rotating arm 70.

Further six-joint robot according to the present invention, wherein the 5th joint structure further includes third zanjon Ball ball bearing 55；The first bearing seat 56 includes the first connecting flange and the first connecting seat, and first connecting flange is logical It crosses screw to be fixedly connected in the one side wall of rotational installation U-shaped cavity of the rotating arm 70, first connecting seat stretches into described It is rotatablely installed in U-shaped cavity, the side of the shaft 54 is formed with the first installation groove, and first installation groove is sheathed on described On first connecting seat, and the third deep-groove ball ball bearing is provided between first connecting seat and the first installation groove 55, the side of the shaft in the rotational installation U-shaped cavity by the third deep-groove ball ball bearing 55 be rotatablely installed in On first connecting seat of the first bearing seat 56.

Further six-joint robot according to the present invention, wherein the 6th joint structure further includes first miniature Ball bearing 33, outer separator 34, inner spacing collar 35, the second micro rolling ball bearing 36, band grinding wheel press cap 32, the 5th deep-groove ball ball bearing 38, 6th deep-groove ball ball bearing 43, the 7th deep-groove ball ball bearing 45, the 8th deep-groove ball ball bearing 50 and the rolling of the 9th deep-groove ball Pearl bearing 51；There is the second bearing seat 37 second connecting flange and the second connecting seat, second connecting flange to pass through spiral shell Silk is fixedly connected on another side wall of the rotational installation U-shaped cavity, and second connecting seat stretches into the rotational installation U-shaped cavity Interior, the other side of the shaft 54 is formed with the cylindrical channel for being connected to the gear transmission cavity, and second connecting seat passes through institute Cylindrical channel is stated, and is provided with the 5th deep-groove ball ball bearing 38 between second connecting seat and the cylindrical channel Pass through the 5th deep-groove ball in the rotational installation U-shaped cavity with the other side of first outside framework oil seal 39, the shaft Ball bearing 38 is rotatablely installed on the second connecting seat of the second bearing seat 56；First micro rolling ball bearing 33, outside every Set 34, inner spacing collar 35 and the second micro rolling ball bearing 36 are installed in the second connecting seat of the second bearing seat 37, and described interior Spacer 35 is in the outer separator 34, first micro rolling ball bearing, 33 and second micro rolling ball bearing 36 be set to it is described it is outer every The both ends of set 34 and inner spacing collar 35, pass through first micro rolling ball bearing 33, outer separator 34, inner spacing collar 35 and the second tiny balls axis Hold the rotational support bearing for the active center axis that 36 form the driving wheel 40 in the second connecting seat of the second bearing seat Structure, second connecting flange that the second bearing seat 37 is connected to grinding wheel press cap 32, and by the first tiny balls axis 33, outer separator 34, inner spacing collar 35 and the second micro rolling ball bearing 36 is held to be limited in the second connecting seat of the second bearing seat 37； The shaft 54 is formed with the bearing holder (housing, cover) installation passage for being connected to the gear transmission cavity, the bearing holder (housing, cover) towards the rotary shaft 41 44 include third connecting seat and third connecting flange, and the third connecting flange is fixed by screws in the shaft 54 Rear end face, the third connecting seat stretch into the bearing holder (housing, cover) installation passage, and the driven central shaft of the driven wheel is across described Third connecting seat, and 43 He of the 6th deep-groove ball ball bearing is provided between the driven central shaft and third connecting seat 7th deep-groove ball ball bearing 45, by the 6th deep-groove ball ball bearing 43 and the 7th deep-groove ball ball bearing 45 described The rotational support bearing arrangement of the driven central shaft of the driven wheel 42 is formed in the third connecting seat of bearing holder (housing, cover) 44；Described 8th Deep-groove ball ball bearing 50 and the 9th deep-groove ball ball bearing 51 are mounted on the 3rd bearing seat 48, deep by the described 8th Ditch ball ball bearing 50 and the 9th deep-groove ball ball bearing 51 form the 3rd bearing seat 48 and turn in the rotating seat 41 Dynamic spring bearing structure；The rotary shaft 41 is fixed by screws in the rear end face of the shaft 54, the second harmonic The shell of speed reducer 47 is fixedly installed in the rotating seat 41, and the second bearing gland 52 is fixedly connected on the rotating seat 41 rear end face, and the 3rd bearing seat 48, the 8th deep-groove ball ball bearing 50 and the 9th deep-groove ball ball bearing 51 are pressed It is tightly limited in the rotating seat 41, second outside framework oil seal 53 is sheathed on the coupling sleeve 49 and is in the coupling sleeve Between 49 and second bearing gland 52.

Further six-joint robot according to the present invention, wherein when the six-joint robot is run, described the Under the action of one servo motor 17, range that the first motor seat 8 can be relative to the pedestal around first axle at ± 170 ° It is inside rotated, under the action of the second servo motor 13, the rocking-turn arm 79 can be relative to the first motor seat 8 It is rotated in the range of ± 120 ° around the second axis, under the action of third servo motor 20, second motor cabinet 23 can be rotated around third axis in the range of ± 165 ° relative to the rocking-turn arm 79, in the 4th servo motor 18 Under the action of, the rotating arm 70 can be carried out around the 4th axis in the range of ± 360 degree relative to second motor cabinet 23 Rotation, under the action of the 5th servo motor 69, the shaft 54 can exist relative to the rotating arm 70 around the 5th axis It is rotated in the range of ± 135 degree, under the action of six servo motor, the coupling sleeve 49 can be relative to described Shaft 54 is rotated around the 6th axis in the range of ± 360 degree.

Technical solution through the invention can reach following technique effect：

1), six-joint robot of the present invention be innovatively arranged six can independently operated joint structure, each joint knot Structure can carry out independent rotation on an axis direction, and six joint structures can carry out independent rotation in six axis directions, make Any angles and positions can be reached by obtaining robot operation control terminal, realize working without dead angle in commercial Application.

2), for six-joint robot of the present invention simultaneously using six servo motors as driving source, six servo motors can It is uniformly controlled by a control unit, by setting the working procedure of each servo motor in a control unit with reality The automatic intelligent work of existing robot entirety.

3), six-joint robot innovation of the present invention introduces multiple speed reducers, including the Rv being widely used in the industry Speed reducer and harmonic wave speed reducing machine, the driving torque exported to each servo motor by speed reducer are stablized and are slowed down setting, Keep the operational motion of robot more steady controllable, and can be reached to robot by the deceleration ratio of each speed reducer of setting Be precisely controlled.

4), the structure of six-joint robot innovation setting motor cabinet of the present invention, makes it both be used as servo motor and slow down The mounting platform of machine, and as the assembly platform of system global facility, realize the compact structure arrangement of robot, expand Robot application field.

5), introducing rotating arm, shaft and the rotating seat fit structure of six-joint robot innovation of the present invention realize three The rotation of dimension operates, and the pioneering vertical transmission that robotically-driven power is carried out using drive bevel gear and driven wheel of differential, Transmission torque is big and stability is good, meets the transmission dynamics requirement at robot manipulation end.

6), multiple bearing blocks and its corresponding bearing arrangement is arranged in six-joint robot innovation of the present invention, introduces two Micro rolling ball bearing simultaneously coordinates spacer, introduces crossed roller bearing, introduces nine deep-groove ball ball bearings etc., realizes robot The undamped in each joint is driven, and the stabilization power for realizing each transmission shaft transmits so that entire robot has good fortune Row stability and work continuity, have expanded its application field.

Description of the drawings

Attached drawing 1 is the overall structure diagram of six-joint robot of the present invention；

Attached drawing 2 is the explosive decomposition figure of six-joint robot of the present invention；

Attached drawing 3 is the enlarged diagram of first structure part A in explosive decomposition figure shown in attached drawing 2；

Attached drawing 4 is that the enlarged diagram of the second structure division B in explosive decomposition figure shown in attached drawing 2 (it is inessential to save part Component)；

Attached drawing 5 is that the transition connection between first structure part shown in the second structure division B and attached drawing 3 shown in attached drawing 4 is shown It is intended to；

Connection structure diagram of the attached drawing 6 between the first RV speed reducers and first motor seat；

Attached drawing 7 passes through the connection structure diagram of the first RV speed reducers between pedestal and first motor seat；

Connection structure diagram of the attached drawing 8 between first servo motor and the first reductor shaft；

Attached drawing 9 is the installation diagram of first servo motor and the 2nd RV speed reducers on first motor seat；

Attached drawing 10 is installation diagram of the rocking-turn arm on first motor seat；

Attached drawing 11 is installation diagram of second servo motor on first motor seat；

Attached drawing 12 is the installation diagram of shaft and third harmonic speed reducer on rotating arm；

Attached drawing 13 is the installation diagram of servo motor, synchronous pulley and synchronous belt, rotating seat on rotating arm；

Attached drawing 14 is the gear connection structure figure between drive bevel gear and driven wheel of differential in shaft；

Attached drawing 15 is the inner mounting structure figure of the 5th joint structure and the 6th joint structure；

Attached drawing 16 is the integral installation structure chart of six-joint robot of the present invention；

Attached drawing 17 is rotational structure figure of the six-joint robot of the present invention in each dimension；

Attached drawing 18 is that six-joint robot of the present invention is distributed in the rotation angle of each dimension；

Attached drawing 19 is the overall structure Size Distribution of six-joint robot of the present invention.

The meaning of each reference numeral is as follows in figure：

1- bottom plates, 2- panels, 3- battery cases, 4- battery cases, 5- pedestals, the first RV speed reducers of 6-, 7- cable interconnecting devices, 8- first motor seats, 9- side plates, the first reductor shafts of 10-, 11- connecting plates, the second reductor shafts of 12-, 13- the second servo electricity Machine, 14- weldments, 15- sliding blocks, 16- electric motor end caps, 17- first servo motors, the 4th servo motors of 18-, the first gusset pieces of 19-, 20- third servo motors, 21- third reductor shafts, 22- first harmonic speed reducers, the second motor cabinets of 23-, 24- bakelite plates, 25- Wire-feed motor, 26- dust covers, 27- accessory plates, the second motor pressing covers of 28-, the second gaskets of 29-, the second synchronous belts of 30-, 31- Three synchronous pulleys, 32- band grinding wheel press caps, the first micro rolling ball bearings of 33-, 34- outer separators, 35- inner spacing collars, 36- the second tiny balls axis It holds, 37- second bearing seats, the 5th deep-groove ball ball bearings of 38-, the first outside framework oil seals of 39-, 40- driving wheels, 41- rotating seats, 42- driven wheels, the 6th deep-groove ball ball bearings of 43-, 44- bearing holder (housing, cover)s, the 7th deep-groove ball ball bearings of 45-, 46- spacers, 47- Two harmonic wave speed reducing machines, 48- 3rd bearing seats, 49- coupling sleeves, the 8th deep-groove ball ball bearings of 50-, the 9th deep-groove ball balls of 51- Bearing, 52- second bearing glands, the second outside framework oil seals of 53-, 54- shafts, 55- third deep-groove ball ball bearings, 56- first axles Bearing, the 4th deep-groove ball ball bearings of 57-, 58- axle sleeves, 59- third harmonic speed reducers, the 4th reductor shafts of 60-, the holes 61- are used Clamp spring, 62- the second deep-groove ball ball bearings, 63- first bearing glands, the second synchronous pulleys of 64-, the first synchronous belts of 65-, 66- 6th servo motor, the 4th synchronous pulleys of 67-, the second mounting plates of 68-, the 5th servo motors of 69-, 70- rotating arms, 71- second Gusset piece, 72- crossed roller bearings, 73- rotating shafts, 74- the first deep-groove ball ball bearings, 75- flange connectors, 76- wire box, The 4th anticollison blocks of 77-, the 3rd RV speed reducers of 78-, 79- rocking-turn arms, the 2nd RV speed reducers of 80-, the second anticollison blocks of 81-, 82- thirds Anticollison block, 83- cover boards, the first anticollison blocks of 84-, the first gaskets of 85-, 86- first motor glands, 87- attachment screws, 88- One mounting plate, the first synchronous pulleys of 89-.

Specific implementation mode

Technical scheme of the present invention is described in detail below in conjunction with attached drawing, so that those skilled in the art can be more The protection domain for adding and being clearly understood from the present invention, but be not intended to limit the present invention.

Please attached drawing 1 to the attached drawing 19 in combination with the present invention understands the overall plan of the present invention.For ease of clearly showing that this Each component is invented, attached drawing 2 gives the explosive decomposition figure of the robot entirety, attached drawing 3 and attached drawing 4 for every in explosive view Part gives specific enlarged structure schematic diagram, and attached drawing 5 further provides the linking schematic diagram of attached drawing 3 and attached drawing 4.It is such as each attached Shown in figure, six-joint robot of the present invention, that is, 6 articulated robots, by robot body, switch board and teaching box three Part becomes a kind of workbench by connection.Welding machine, fixture etc. are carried by robot platform, is applied to industrial neck Robot apparatus in the production of domain.It can execute work automatically, be to realize various functions by self power and control ability A kind of machine.It can receive mankind commander, can also be run according to the program of advance layout.It is mainly retouched as below core State the structure of robot body.

The six-joint robot includes the first to the 6th joint structure, respectively the operation of offer first to 6 DOF degree, respectively The joint structure of dimension is made of structure members such as component, bearing, servomotor, gear reducers.Wherein the first joint structure includes Bottom plate 1, panel 2, battery case 3, battery case 4, pedestal 5, the first RV speed reducers 6, cable interconnecting device 7, first motor seat 8, side Plate 9, the first reductor shaft 10, connecting plate 11, weldment 14, sliding block 15, first servo motor 17, the first anticollison block 84, cover board 83 With attachment screw 87.Basic platform of the pedestal 5 as entire robot, bottom processing is smooth, and has certain finish, The pedestal 5 is installed on the workbench of robot by bottom plate 1 and screw.The shell of the first RV speed reducers 6 passes through spiral shell Nail is fixedly installed on the first motor seat 8, and as shown in Fig. 6, the drive input of the first RV speed reducers 6 (is used for The one end for receiving driving torque input, also known as rotates input terminal, similarly hereinafter) it is connected to first reductor shaft 10, described first The transmission output cooperation of RV speed reducers 6 is installed on the pedestal 5, and the pedestal 5 and 8 center of first motor seat mouth with teeth are fixed Position, to prevent 6 deviations of the first Rv speed reducers, influences transmission accuracy.Heretofore described RV speed reducers are in cycloidal pin A kind of Novel speed reducer to grow up on the basis of wheel transmission, there is double reduction structure：The first order is planetary reduction gear structure, second Grade is cycloidal-pin wheel slowing-down structure, has many advantages, such as high rigidity, high-precision, large torque, transmission efficiency, than simple cycloidal pin Taking turns Gear Planet Transmission has the overload capacity of smaller volume and bigger, in the transmission mechanism of modern machines people, in very great Cheng Simple cycloid pinwheel planetary gear transmission system and harmonic drive are gradually replaced on degree, but can also use other speed reducers in the prior art RV speed reducers are substituted, similarly hereinafter.First reductor shaft 10 is fixedly installed in the first servo motor by attachment screw 87 On 17 output revolving shaft, as shown in Fig. 8, first reductor shaft 10 is close by attachment screw 87 and flat key orientation cooperation It is fixed on the output revolving shaft of the first servo motor 17, is not allow for loosening and decentraction.It is each for other in the present invention This installation connection type is all used between servo motor and corresponding reductor shaft.The first motor seat 8 is used as the first servo The installation pedestal of motor and the first RV speed reducers 6 and the second servo motor and the 2nd RV speed reducers 80, including be used for first and watch It takes the first mounting base of motor 17 and the installation of the first RV speed reducers 6 and pacifies for the second servo motor 13 and the 2nd RV speed reducers 6 Second mounting base of dress offers the first installation passage in first mounting base, and the shell of the first RV speed reducers 6 passes through Screw is fixedly installed in the bottom surface of first mounting base, and the first RV speed reducers are in the first motor seat 8 and described Between pedestal 5, as shown in Fig. 9, the first servo motor 17 is fixedly installed in the first mounting base of the first motor seat 8 On, first reductor shaft 10 is connected to the transmission input of the first RV speed reducers 6 after first installation passage End, the transmission output end of the first RV speed reducers are connected to the pedestal 5, by adding lubricant grease, ensure stable drive.Institute The mounting surface for stating the first RV speed reducers is parallel with base bottom, keeps first motor seat and pedestal opposite in horizontality.In this way Drive force source is provided by first servo motor 17, by 10 transfer motion power of the first reductor shaft to the first RV speed reducers 6, through subtracting First motor seat 8 is driven to carry out relative motion with pedestal 5 after speed so that entire robot can be relative to firm banking in pedestal It is rotated in plane, completes the first dimension operation in the first joint of robot.The panel 2, battery case 3,4 structure of battery case It at battery installation space, and is set in the pedestal 5, the battery installation that the panel 2, battery case 3 and battery case 4 are formed Space is for disposing heavily loaded plug and encoder for servo motor to remember power supply.The cable interconnecting device 7 is installed on first electricity On engine base 8, and movement cable concentration is transferred on heavily loaded plug.The side plate 9 is connected to the side of the first motor seat Face, the connecting plate 11 are connected on the side plate 9, and the weldment 14 and sliding block 15 are installed on the connecting plate 11, as The alternative fixed mechanism (inessential) of robot.The cover board 83 is for covering the cable collection for setting first motor seat another side Beam mounting shell.First anticollison block 84 is set on the pedestal 5, and it is convex to be set to corresponding anticollision on the first motor seat Edge, when other than the first motor seat is relative to the base rotation to permissible rotational angle, the anticollision flange is hit First anticollison block 84 is alarmed by sensor to servo-driver, and most when first anticollison block 84 is hit Control first servo motor is stopped eventually.The maloperation of machine can be provided only into effect, prevents by anticollison block in this way Equipment damage.

The second joint structure includes：Second servo motor 13, the 2nd RV speed reducers 80, shakes second reductor shaft 12 Pivoted arm 79, the second anticollison block 81 and third anticollison block 82.Second reductor shaft 12 is fixedly connected on institute by attachment screw On the output revolving shaft for stating the second servo motor 13, the two cooperation is close, is not allow for loosening and decentraction.2nd RV slows down The shell of machine 80 is fixedly installed in the side of the second mounting base of the first motor seat 8, second mounting base by screw On offer the second installation passage, the central axis of second installation passage and the central axis of first installation passage hang down Directly.Second servo motor 13 is installed on the other side of second mounting base, and second reductor shaft 12 passes through described The drive input of the 2nd RV speed reducers 80 is connected to after second installation passage, the transmission of the 2nd RV speed reducers 80 is defeated Outlet is connected to one end of the rocking-turn arm 79, as shown in attached drawing 9 to attached drawing 11.During second mounting base and rocking-turn arm 79 have Heart positioning tooth mouth influences transmission accuracy to prevent 80 installation deviation of the 2nd RV speed reducers.Second anticollison block 81 is set to institute It states in the second mounting base, the third anticollison block 82 is set on the shell of the 2nd RV speed reducers 80, when the rocking-turn arm 79 relative to the first motor seat when turning to other than permissible rotational angle, second anticollison block 81 or third anticollison block 82 are hit, and then servo-driver is alarmed, and is finally controlled the second servo motor and be stopped.Pass through anticollison block energy in this way Enough maloperations to machine are provided only into effect, prevent equipment damage.The second joint structure is installed on aforementioned first joint In structure, and second servo motor 13 provides drive force source, is subtracted to the 2nd RV by 12 transfer motion power of the second reductor shaft Fast machine 80 drives rocking-turn arm 79 to do opposite fortune with first motor seat 8 after rotation is slowed down and stablized, then by the 2nd RV speed reducers 80 It is dynamic, complete the second dimension operation of robot second joint.

The third joint structure includes：Third servo motor 20, third reductor shaft 21, the second motor cabinet 23, third RV speed reducers 78 and the 4th anticollison block 77.The third reductor shaft 21 is fixedly connected on the third servo by attachment screw On the output revolving shaft of motor 20, the two cooperation is close, is not allow for loosening and decentraction.Second motor cabinet 23 includes first Mounting base and the second mounting base, first mounting base are integrally formed at the lower section of second mounting base, first installation The first installation passage is offered on seat, the second installation passage is offered in second mounting base, first installation passage Central axis upright in the central axis of second installation passage, while the centerline axis parallel of first installation passage in The central axis of second installation passage of the first motor seat.The third servo motor 20 is fixedly installed in institute by screw The side of the first mounting base of the second motor cabinet 23 is stated, the third reductor shaft 21 passes through the first of second motor cabinet 23 It is sequentially connected after first installation passage of mounting base in the drive input of the 3rd RV speed reducers 78, the 3rd RV slows down The transmission output of machine 78 is connected to the other end of the rocking-turn arm 79, and the shell of the 3rd RV speed reducers 78 is solid by screw The other side of first mounting base of the Dingan County loaded on second motor cabinet 23.First mounting base of second motor cabinet and rocking-turn Arm 79 has centralized positioning tooth mouth to influence transmission accuracy to prevent 78 installation deviation of the 3rd RV speed reducers.4th anticollison block 77 It is set in the first mounting base of second motor cabinet 23, when second motor cabinet is turned to relative to the rocking-turn arm 79 When other than permissible rotational angle, the 4th anticollison block 77 is alarmed by the shock of rocking-turn arm 79, then servo-driver, and Final control third servo motor is stopped.The maloperation of machine can be provided only into effect, be prevented by anticollison block in this way Only equipment damage.The third joint structure is rotatablely connected with the second joint structure by rocking-turn arm 79.The third is watched It takes motor 20 and drive force source is provided, by 21 transfer motion power of third reductor shaft to the 3rd RV speed reducers 78, slow down through rotation steady It after fixed, then drives the second motor cabinet 23 to do relative motion with rocking-turn arm 79 by the 3rd RV speed reducers 78, completes robot third pass The third dimension of section is run.

4th joint structure includes：Electric motor end cap 16, the 4th servo motor 18, the first gusset piece 19, first harmonic Speed reducer 22, bakelite plate 24, wire-feed motor 25, dust cover 26, accessory plate 27, rotating arm 70, the second gusset piece 71, crossed roller axis Hold 72, rotating shaft 73, the first deep-groove ball ball bearing 74, flange connector 75 and wire box 76.4th servo motor 18, One gusset piece 19, first harmonic speed reducer 22, flange connector 75, the first deep-groove ball ball bearing 74, rotating shaft 73 and intersection Roller bearing 72 is installed in the second installation passage of the second mounting base of second motor cabinet 23.Specific described 4th watches It takes motor 18 and is screwed and be installed on first gusset piece 19, the output revolving shaft of the 4th servo motor 18 passes through The drive input of the first harmonic speed reducer 22 is fixedly connected on after the center through hole of first gusset piece 19, preferably in institute It states and is provided with rolling bearing between the output revolving shaft of the 4th servo motor 18 and the center through hole of the first gusset piece 19.Described first The second installation that the shell of harmonic wave speed reducing machine 22 is fixedly installed in the second mounting base of second motor cabinet 23 by screw is logical In road, and installation site of the first harmonic speed reducer in the second installation passage is clearance fit.First gusset piece 19 are fixedly installed in by screw in the second installation passage of the second mounting base of second motor cabinet 23, and in described the Between four servo motors 18 and first harmonic speed reducer 22.The electric motor end cap 16 is fixedly connected on the of second mounting base The rear end of two installation passages, and the 4th servo motor 18, the first gusset piece 19 and first harmonic speed reducer 22 are covered on In second installation passage.The flange connector 75 is fixed by screws in the biography of the first harmonic speed reducer 22 Dynamic output end.The rotating shaft 73 is the cylindrical shaft that rear end is formed with flange connector, i.e., the front of the described rotating shaft is cylindrical shaft, The rear end of the rotating shaft forms flange connector.After the front end of the rotating shaft 73 passes through the first deep-groove ball ball bearing 74 It is fixedly connected on the flange connector 75 by screw, the front of the rotating shaft 73 passes through the first deep-groove ball ball The rotational installation of bearing 74 is in the second installation passage of the second mounting base of second motor cabinet 23, that is, first zanjon Ball ball bearing 74 is set between the front of the rotating shaft 73 and second installation passage.73 rear end of the rotating shaft Flange connector is installed on by crossed roller bearing 72 in second installation passage of the second mounting base of the second motor cabinet 23, i.e. institute It states and is set to after crossed roller bearing 72 is sheathed on the flange connector of 73 rear end of the rotating shaft in second installation passage, The inner wall of the crossed roller bearing 72 is close in the periphery of the flange connector, and the outer wall of the crossed roller bearing 72 is close to institute The inner wall for stating the second installation passage, by the crossed roller bearing 72 and the first deep-groove ball ball bearing 74 so that the revolution Axis 73 can be freely rotated in second installation passage.Second gusset piece 71 is annular shape, and described second couples The internal radius of plate 71 be less than the crossed roller bearing 72 outer diameter, second gusset piece 71 be fixed by screws in The end face of second installation passage of the second mounting base of second motor cabinet 23, and compressed and handed over by second gusset piece 71 The rear end face for pitching roller bearing 72, the crossed roller bearing 72 is limited in second installation passage.The rotating shaft The flange connector of 73 rear ends is fixedly connected on the rotation after sequentially passing through the crossed roller bearing 72 and the second gusset piece 71 The front end of arm 70, the rear end face of the flange connector of preferred rotating shaft 73 is fixed by screws to be arranged in 70 front end of rotating arm Connecting seat front end face, and rotating shaft rotation it is smooth, gapless swing and undamped phenomenon.The bakelite plate 24 is installed on The top surface of second mounting base of two motor cabinets 23, when the robot is operated for automatic feeding, preferable includes described Wire-feed motor 25 is mountable on the bakelite plate, and the dust cover 26 is installed on the second mounting base of the second motor cabinet 23 Top, the accessory plate 27 are installed on the side of the dust cover 26, and the wire box 76 is installed on second motor cabinet 23 The side of second mounting base, for installing and burying the switching cable plug on rotating shaft 73.4th servo motor 18 carries For drive force source, driving torque is transmitted after slowing down by first harmonic speed reducer 22 to flange connector 75 and rotating shaft 73, band Dynamic rotating shaft 72 is rotated in the second motor cabinet, and drives rotating arm 70 to be rotated eventually by rotating shaft, realizes rotation The fourth dimension degree operation in the 4th joint of robot is completed in relative motion between pivoted arm 70 and the second motor cabinet 23.

5th joint structure includes：First motor gland 86, the first gasket 85, the first synchronous belt 65, first are same Step belt wheel 89, the second synchronous pulley 64, first bearing gland 63, the second deep-groove ball ball bearing 62, hole card spring 61, third subtract Fast arbor 60, third harmonic speed reducer 59, axle sleeve 58, the 4th deep-groove ball ball bearing 57, first bearing seat 56, third deep-groove ball Ball bearing 55, shaft 54, the 5th servo motor 69 and the first mounting plate 88.The rotating arm 70 is set side by side along its length It is equipped with the first installation cavity of the 5th servo motor 69 and the second installation cavity of the 6th servo motor 66, and first installation Cavity and the second installation cavity are the cavity space through 70 width of rotating arm, are formed with and turn in the rear end of the rotating arm 70 The rotational installation U-shaped cavity of axis 54.5th servo motor 69 is installed in the first installation cavity body of the rotating arm 70, and institute The front end face for stating the 5th servo motor 69 is fixedly connected on first mounting plate 88, and the output of the 5th servo motor 69 turns For axis through and out in outside first mounting plate 88, first mounting plate 88 is fixedly connected on the side of the rotating arm 70 Fixed installation of the 5th servo motor 69 in the first installation cavity body is realized in face by first mounting plate 88, and will be described 5th servo motor is imbedded in rotating arm, and the output revolving shaft of the 5th servo motor 69 is fixed outside the first mounting plate 88 to be connected It is connected to first synchronous pulley 89.The drive input of the third harmonic speed reducer 59 is connected to the third reductor shaft The other end of 60 one end, the third reductor shaft 60 is fixedly connected on described second after the first bearing gland 63 Synchronous pulley 64, and the second deep-groove ball ball is provided between the third reductor shaft 60 and first bearing gland 63 Bearing 62 after the specific second deep-groove ball ball bearing 62 is sheathed on the third reductor shaft 60, is installed on described In the center through hole of first bearing gland 63, further realize the second deep-groove ball ball bearing 62 the by hole card spring 61 Fixed installation in one bearing gland, 63 center through hole.The transmission output of the third harmonic speed reducer 59 is fixedly connected on institute Axle sleeve 58 is stated, the third harmonic speed reducer 59 is installed in the first bearing seat 56, the first bearing gland 63 and institute It states first bearing seat 56 to be fixed by screws, the third harmonic speed reducer 59 compression is limited in first bearing seat 56 Interior, the specific screw sequentially passes through the screw hole on the first bearing gland 63 and 59 edge of third harmonic speed reducer Rear thread is connected in the first bearing seat 56, by the first bearing seat 56, third harmonic speed reducer 59 and first bearing Gland 63 collectively constitutes harmonic reduction thermomechanical components.The transmission that the axle sleeve 58 is fixedly connected on the third harmonic speed reducer 59 is defeated Outlet, and the 4th deep-groove ball ball bearing 57 is set therebetween, the axle sleeve 58 is through and out in the first bearing Outside the center through hole of seat 56.The two side of the rotational installation U-shaped cavity of the rotating arm offers circular mounting through-hole, described turn Axis 54 is in the rotational installation U-shaped cavity, and the side of the shaft 54 is rotatablely installed in the first bearing seat.Specifically Combination attached drawing 15, the first bearing seat 56 has the first connecting flange and the first connecting seat, first connecting flange tool There is annular shape and is fixed by screws in the outer surface of the one side wall of the rotational installation U-shaped cavity of the rotating arm 70, it is described First connecting seat has hollow cylindrical structure and passes through the circular mounting through-hole of the rotational installation U-shaped cavity one side wall, described turn The side of axis 54 is formed with the first cylindric installation groove, and first installation groove is sheathed on first connecting seat, And the third deep-groove ball ball bearing 55 is provided between first connecting seat and the first installation groove, the shaft Side is rotatablely installed in the rotational installation U-shaped cavity of the rotating arm 70 on the first connecting seat of the first bearing seat 56. The axle sleeve 58 is fixed by screws the one side in the shaft 54 in the shaft, and the specific third is humorous The transmission output shaft of wave speed reducer 59 is fixedly connected on behind the bottom surface of the first installation groove of the axle sleeve 58 in shaft The axle sleeve 58, the axle sleeve 58 are fixed by screws in shaft in the side of shaft 54.First synchronous belt 65 one end is sheathed on first synchronous pulley 89, and the other end of first synchronous belt 65 is sheathed on described second and synchronizes On belt wheel 64, first synchronous belt is tensioned by two synchronous pulleys.First gasket 85 is installed on the rotating arm 70 One side, the first motor gland 86 are fixed by screws in the one side of the rotating arm 70, and by described first Gasket 85 compresses, and forms the harmonic reduction thermomechanical components, the first synchronous belt 65, the first synchronous pulley 89, the second synchronous pulley The sealing protection cover of 64 equal components, and waterproof action can be played.When work, the 5th servo motor 69 provides drive force source, It drives the first synchronous pulley 89 to rotate, and the rotation of the second synchronous pulley 64, the second synchronous pulley is driven by the first synchronous belt 65 64 driving torque is input to third harmonic speed reducer 59 by third reductor shaft 60, slows down through third harmonic speed reducer 59 and makees Driving torque is exported to shaft 54 by axle sleeve 58 after, to drive shaft 54 in the rotational installation U-shaped cavity of rotating arm 70 into Row rotation, realizes the relative motion between shaft 54 and rotating arm 70, completes robot the 5th joint operation.The shaft 54 exists Rotation direction of the rotation direction with the rotating arm 70 under the driving of the 4th servo motor 18 under the driving of 5th servo motor 69 Vertically.

6th joint structure includes：Second motor pressing cover 28, the second gasket 29, the second synchronous belt 30, third are same Walk belt wheel 31, band grinding wheel press cap 32, the first micro rolling ball bearing 33, outer separator 34, inner spacing collar 35, the second micro rolling ball bearing 36, second Bearing block 37, the 5th deep-groove ball ball bearing 38, the first outside framework oil seal 39, driving wheel 40, rotating seat 41, driven wheel the 42, the 6th Deep-groove ball ball bearing 43, bearing holder (housing, cover) 44, the 7th deep-groove ball ball bearing 45, spacer 46, second harmonic speed reducer 47, third axis Bearing 48, coupling sleeve 49, the 8th deep-groove ball ball bearing 50, the 9th deep-groove ball ball bearing 51, second bearing gland 52, second Outside framework oil seal 53, the 6th servo motor 66, the 4th synchronous pulley 67 and the second mounting plate 68.As previously described, the rotating arm 70 are arranged side by side the second peace of the first installation cavity and the 6th servo motor 66 that have the 5th servo motor 69 along its length It behave affectedly body, the side of the shaft 54 is by the rotational installation of third deep-groove ball ball bearing 55 of the 5th joint structure in stretching to Rotating arm 70 is rotatablely installed in the first bearing seat in U-shaped cavity.The other side of the shaft 54 passes through the 5th deep-groove ball ball axis 38 rotational installations are held in the second bearing seat 37 stretched in the rotational installation U-shaped cavity of rotating arm 70.Specifically in combination with attached There is the second connecting flange and the second connecting seat, second connecting flange to have for Figure 15, the specific second bearing seat 37 Annular shape is simultaneously fixed by screws in the outer surface of another side wall of the rotational installation U-shaped cavity of the rotating arm 70, described Second connecting seat has hollow cylindrical structure and across the circular mounting through-hole of rotational installation another side wall of U-shaped cavity, described The inside of shaft 54 forms hollow gear transmission cavity, and the other side of the shaft 54 forms and is connected to the gear transmission cavity With cylindrical channel, second connecting seat passes through the cylindrical channel, and between second connecting seat and cylindrical channel It is provided with the 5th deep-groove ball ball bearing 38 and first outside framework oil seal 39, so that the other side of the shaft is described Rotational installation is on the second connecting seat of the second bearing seat 56 in the rotational installation U-shaped cavity of rotating arm 70, first bone Frame oil sealing 39 is arranged close to the gear transmission cavity to ensure oil seal.Pass through the 5th deep-groove ball ball bearing 38 and Three deep-groove ball ball bearings 55 enable the shaft 54 to be freely rotated in the rotational installation U-shaped cavity of the rotating arm 70. 6th servo motor 66 is installed in the second installation cavity body of the rotating arm 70, and before the 6th servo motor 66 End face is fixedly connected on second mounting plate 68, and the output revolving shaft of the 6th servo motor 66 is through and out in described Outside two mounting plates 68, second mounting plate 68 is fixedly connected on the another side of the rotating arm 70, pacifies by described second Loading board 68 realizes fixed installation of the 6th servo motor 66 in the second installation cavity body, and the 6th servo motor 66 is buried In rotating arm, the output revolving shaft of the 6th servo motor 66 is fixedly connected on the described 4th outside the second mounting plate 68 and synchronizes Belt wheel 67.First micro rolling ball bearing 33, outer separator 34, inner spacing collar 35 and the second micro rolling ball bearing 36 are installed on described second In second connecting seat of bearing block 37, as shown in Fig. 15, the inner spacing collar 35 is in the outer separator 34, and described first is micro- Type ball bearing 33 and the second micro rolling ball bearing 36 are set to the both ends of the outer separator 34 and inner spacing collar 35, micro- by described first Type ball bearing 33, outer separator 34, inner spacing collar 35 and the second micro rolling ball bearing 36 form driving wheel in the second bearing seat 37 40 shaft bearing support construction, second connecting flange that the second bearing seat 37 is fixedly connected on grinding wheel press cap 32, And first micro rolling ball bearing 33, outer separator 34, inner spacing collar 35 and the second micro rolling ball bearing 36 compression are limited to described the In second connecting seat of two bearing bracket 37, second bearing holder assembly is formed.During the driving wheel 40 includes central shaft and is formed in The bevel gear of mandrel one end, the central shaft pass through first tiny balls being arranged in the second connecting seat in second bearing seat Bearing 33, outer separator 34, inner spacing collar 35 and the second micro rolling ball bearing 36 center through hole and be fixed on 37 end face of second bearing seat On the center through hole with grinding wheel press cap 32 after be fixedly connected on the third synchronous pulley 31, i.e., the central shaft of the described driving wheel can Rotationally stabilization is supported on the bearing assembly in the second bearing seat, and free undamped can be realized in second bearing seat Rotation.The third synchronous pulley 31 is connected by the second synchronous belt 30 and the 4th synchronous pulley 67 tensioning, passes through second Synchronous belt 30 realizes the Synchronous Transmission of third synchronous pulley 31 and the 4th synchronous pulley 67, to pass through the 6th servo motor 66 provide driving power is transferred to third synchronous pulley 31 to the 4th synchronous pulley 67, then by the second synchronous belt 30, by third Synchronous pulley 31 transmits driving torque to the driving wheel 40.Second connecting flange of the second bearing seat 37 is solid by screw Surely it is connected to another side surface of the rotating arm 70, second gasket 29 is installed on the other side of the rotating arm 70 Surface, second motor pressing cover 28 are fixed by screws in the another side of the rotating arm 70, and by described Two gaskets 29 compress, and form the second bearing holder assembly, the second synchronous belt 30, third synchronous pulley 31, the 4th synchronous belt The sealing protection cover of the components such as wheel 67, driving wheel 40, and waterproof action can be played.Central shaft one end of the driving wheel 40 is arranged Bevel gear pass through the rotating arm 70 side wall and the shaft cylindrical channel after stretch to the shaft 54 gear pass Dynamic intracavitary, and vertical-transmission is connect by the gear drive intracavitary is engaged with the driven wheel 42 by conical gear, it is such as attached Shown in Figure 14 and 15.The shaft is formed with interface channel towards the rotary shaft 41, and the rotary shaft 41 is solid by screw Surely it is connected to the rear end face of the shaft 54, the bearing holder (housing, cover) 44 is interior to be equipped with the 6th deep-groove ball ball axis along rear and front end 43 and the 7th deep-groove ball ball bearing 45 are held, the 6th deep-groove ball ball bearing 43 and the 7th deep-groove ball ball bearing 45 are passed through Form the rotational support bearing arrangement of driven wheel 42 in the bearing holder (housing, cover) 44, the bearing holder (housing, cover) 44 be fixed by screws in The rear end face of shaft, the specific bearing holder (housing, cover) 44 include third connecting seat and third connecting flange, the third connecting flange It being fixed by screws in the rear end face of shaft 54, the third connecting seat stretches into the gear drive intracavitary of the shaft 54, And the 6th deep-groove ball ball bearing 43 and the 7th deep-groove ball ball bearing 45 are set in the third connecting seat, it is described from The structure of driving wheel is identical as the structure of the driving wheel, described including central shaft and the bevel gear for being formed in central shaft one end The bevel gear of driven wheel is in the shaft and is meshed with the bevel gear of the driving wheel as previously described, such as 14 institute of attached drawing Show, the driving shaft and engaged by camber bevel gear (conical gear), transmission torque is big and stability is good.The driven wheel Central shaft passes through fixed company after the 6th deep-groove ball ball bearing 43 and the 7th deep-groove ball ball bearing 45 in the bearing holder (housing, cover) 44 It is connected to the drive input of the second harmonic speed reducer 47, and is set between the second harmonic speed reducer 47 and bearing holder (housing, cover) 44 It is equipped with the spacer 46.The transmission output of the second harmonic speed reducer 47 is fixedly connected on the 3rd bearing seat 48, institute It states 3rd bearing seat 48 to be fixedly connected with the coupling sleeve 49, the 8th deep-groove ball ball bearing 50 and the 9th deep-groove ball ball Bearing 51 is assemblied on the 3rd bearing seat 48, the second harmonic speed reducer 47,3rd bearing seat 48 and the coupling sleeve 49 are mounted in the rotating seat 41, and the shell of the second harmonic speed reducer 47 is fixedly connected on the rotating seat 41, institute 3rd bearing seat 48 is stated by the 8th deep-groove ball ball bearing 50 and the rotational installation of the 9th deep-groove ball ball bearing 51 in institute It states in rotating seat 41, i.e., the described 8th deep-groove ball ball bearing 50 and the 9th deep-groove ball ball bearing 51 form the 3rd bearing Bearing rotational support structure of the seat 48 in the rotating seat, second outside framework oil seal 53 are inserted on the coupling sleeve 49, are prevented Leak-stopping oil.The second bearing gland 52 is fixedly connected on the rear end face of the rotating seat 41, and the second harmonic is subtracted Fast machine 47,3rd bearing seat 48 and its bearing and the compression of coupling sleeve 49 are limited in the rotating seat 41, form complete component Structure, second outside framework oil seal 53 are between the coupling sleeve 49 and second bearing gland 52 for realizing oil seal. The rotating seat 41 is fixedly connected on the shaft 54, the bevel gear of the driven wheel stretch in the shaft and with the master The bevel gear Vertical Meshing of driving wheel.By the way that when the 6th joint structure works, the 6th servo motor 66 provides driving power To the 4th synchronous pulley 67, third synchronous pulley 31 is transferred to by the second synchronous belt 30, is transmitted and is turned by third synchronous pulley 31 Dynamic torque is driven rotational power extremely to the driving wheel 40, then by the engaged transmission effect of the gear of driving wheel 40 and driven wheel 42 Driven wheel 42 inputs transfer motion power from driven wheel 42 to second harmonic speed reducer 47, is passed after the deceleration of second harmonic speed reducer 47 Turn dynamic torque is realized to the 3rd bearing seat 48 and coupling sleeve 49 being fixed together between coupling sleeve 49 and rotating seat 41 Relative rotation.The coupling sleeve 49 is the component that entire robot couples with process object carrier as mounting tool position, The external connection end face of coupling sleeve 49 is exposed to the center through hole of second bearing gland 52, and final driving torque passes through coupling sleeve Robot the 6th joint operation is completed in 49 outputs outward.

As shown in attached drawing 17 to attached drawing 18, six-joint robot of the present invention can realize the multi-angle fortune of six dimensions Row, the rotational angle range of each dimension is as shown in Fig. 18, specifically the first motor seat 8 under the action of first servo motor 17 It can be rotated in the range of ± 170 ° around first axle relative to fixed pedestal；Under the action of the second servo motor 13, Rocking-turn arm 79 can be rotated around the second axis in the range of ± 120 ° relative to first motor seat 8, in the effect of third servo motor Under, the second motor cabinet 23 can be rotated around third axis in the range of ± 165 ° relative to rocking-turn arm 79, in the 4th servo motor 18 Under the action of, rotating arm 70 can be rotated around the 4th axis in the range of ± 360 degree relative to the second motor cabinet 23；In the 5th servo Under the action of motor 69, shaft 54 can be rotated around the 5th axis in the range of ± 135 degree relative to rotating arm 70；In the 6th servo Under the action of motor, coupling sleeve 49 can be rotated around the 6th axis in the range of ± 360 degree relative to shaft 54, six axis of practising Multiple degrees of freedom flexible operation of the robot around six axis.Wherein each rotational angle range can pass through the setting position of corresponding anticollison block It sets and is adjusted, the rotational angle range such as rocking-turn arm 79 relative to first motor seat 8 around the second axis is also adjusted at ± 150 ° In the range of, etc. each rotational angle be not limited with the numerical value.The further first axle and second axis are vertical (excellent Choosing intersects vertically), the third axis is parallel with second axis, and the 4th axis is vertical with the third axis, and the described 5th Axis intersects vertically with the 4th axis, and the 6th axis intersects vertically with the 5th axis, the 5th axis and the third axis It is parallel.Last attached drawing 19 gives the preferred size of six-joint robot of the present invention, and unit is millimeter (mm).

The preferred structure of the present invention given above describes, but protection scope of the present invention is not confined to above-mentioned embodiment party Formula, the technology that those skilled in the art can carry out this field under foregoing invention design is replaced, than RV speed reducers as mentioned It is preferred that the retarder being made of the prime of planet-gear speed reducer and the rear class of a cycloidal planetary gear speed reducer can be used, But it could alternatively be the other kinds of speed reducer in this field completely, for harmonic wave speed reducing machine and similar could alternatively be Other speed reducers of this field, as long as the regulatory function that can reach input speed and export between rotating speed all can serve as this hair Bright speed reducer, also above-mentioned each joint structure give detailed embodiment, but in not each joint structure All components are all that bottom plate, panel, battery case, battery case, the cable in necessary component, such as the first joint structure are transferred Box etc. is all non-essential component, is also similar for other joint structures, can not limit the invention to embodiment party Include the scheme of all components described in formula.

It the above is only and the preferred embodiment of the present invention is described, technical scheme of the present invention is not limited to This, those skilled in the art on the basis of the design of the major technique of the present invention made by any known deformation belong to the present invention Claimed technology scope, the specific protection domain of the present invention are subject to the record of claims.

Claims

1. a kind of six-joint robot, which is characterized in that including the first joint structure, second joint structure, third joint structure, Four joint structures, the 5th joint structure and the 6th joint structure；

First joint structure includes：Pedestal (5), the first RV speed reducers (6), first motor seat (8), the first reductor shaft (10) and first servo motor (17), the first motor seat (8) includes the first mounting base and the second mounting base, and described first Servo motor (17) and the first RV speed reducers (6) are installed in the first mounting base of the first motor seat (8), and described first watches The output revolving shaft for taking motor (17) is connected to first reductor shaft (10), and first reductor shaft (10) is connected to described The transmission output of the drive input of first RV speed reducers (6), the first RV speed reducers (6) is connected to the pedestal (5)；

The second joint structure includes：Second servo motor (13), the second reductor shaft (12), the 2nd RV speed reducers (80) and Rocking-turn arm (79), second servo motor (13) and the 2nd RV speed reducers (80) are installed on the of the first motor seat (8) In two mounting bases, the output revolving shaft of second servo motor (13) is connected to second reductor shaft (12), and described second Reductor shaft (12) is connected to the drive input of the 2nd RV speed reducers (80), the transmission of the 2nd RV speed reducers (80) Output end is connected to one end of the rocking-turn arm (79)；

The third joint structure includes：Third servo motor (20), third reductor shaft (21), the second motor cabinet (23) and Three RV speed reducers (78), second motor cabinet (23) include the first mounting base and the second mounting base, the third servo electricity Machine (20) and the 3rd RV speed reducers (78) are installed in the first mounting base of second motor cabinet (23), the third servo electricity The output revolving shaft of machine (20) is connected to the third reductor shaft (21), and the third reductor shaft (21) is connected to the third The transmission output of the drive input of RV speed reducers (78), the 3rd RV speed reducers (78) is connected to the rocking-turn arm (79) The other end；

4th joint structure includes：4th servo motor (18), the first gusset piece (19), first harmonic speed reducer (22), Rotating arm (70), the second gusset piece (71), crossed roller bearing (72), rotating shaft (73), the first deep-groove ball ball bearing (74) With flange connector (75), the 4th servo motor (18) is installed on first gusset piece (19), the 4th servo The output revolving shaft of motor (18) is connected to the drive input of the first harmonic speed reducer (22), the first harmonic speed reducer (22) it is installed in the second mounting base of second motor cabinet (23), first gusset piece (19) is installed on second electricity In second mounting base of engine base (23), the transmission output of the first harmonic speed reducer (22) is connected to the flange connector (75), the rotating shaft (73) by the first deep-groove ball ball bearing (74) and crossed roller bearing (72) rotational installation in In second mounting base of second motor cabinet (23), second gusset piece (71) is installed on second motor cabinet (23) In second mounting base, and the rotating shaft (73), the first deep-groove ball ball bearing (74) and crossed roller bearing (72) are limited In in the second mounting base of second motor cabinet (23), the front end of the rotating shaft (73) is connected to the flange connector (75), the front end of the rotating arm (70) is formed with rotation connection seat, and the rear end of the rotating arm (70) is formed with rotational installation U Cavity, the rotational installation U-shaped cavity includes the two side walls being mutually parallel, and mounting hole, the rotation are formed on each side wall The first installation cavity and the second installation cavity are formed between the front-end and back-end of arm (70), the rear end of the rotating shaft (73) connects It is connected to the rotation connection seat of the rotating arm (70)；

5th joint structure includes：First motor gland (86), the first gasket (85), the first synchronous belt (65), first Synchronous pulley (89), the second synchronous pulley (64), first bearing gland (63), the second deep-groove ball ball bearing (62), third subtract Fast arbor (60), third harmonic speed reducer (59), axle sleeve (58), first bearing seat (56), shaft (54), the 5th servo motor (69) and the first mounting plate (88), the 5th servo motor (69) are installed on the first installation cavity of the rotating arm (70) It is interior, and the front end face of the 5th servo motor (69) is connected to first mounting plate (88), first mounting plate (88) It is connected to the one side of the rotating arm (70), the output revolving shaft of the 5th servo motor (69) is connected to described first and synchronizes Belt wheel (89), the drive input of the third harmonic speed reducer (59) are connected to one end of the third reductor shaft (60), The other end of the third reductor shaft (60) is connected to second synchronous pulley after passing through the first bearing gland (63) (64), and between the third reductor shaft (60) and first bearing gland (63) it is provided with the second deep-groove ball ball axis It holds (62), the transmission output of the third harmonic speed reducer (59) is connected to the axle sleeve (58), and the third harmonic slows down Machine (59) is installed in the first bearing seat (56), and the first bearing gland (63) is connected to the first bearing seat (56) It above and by the third harmonic speed reducer (59) is limited in the first bearing seat (56), first bearing seat (56) connection In the one side wall of the rotational installation U-shaped cavity of the rotating arm (70), shaft (54) rotational installation is in the rotating arm (70) Rotational installation U-shaped cavity in, the axle sleeve (58) is connected to the shaft (54), first synchronous pulley (89) and second same Step belt wheel (64) is sequentially connected by first synchronous belt (65), and first gasket (85) is along the rotating arm (70) one The edge of side is arranged, and the first motor gland (86) is connected to the one side of the rotating arm (70) and compresses described first Gasket (85)；

6th joint structure includes：Second motor pressing cover (28), the second gasket (29), the second synchronous belt (30), third Synchronous pulley (31), second bearing seat (37), the first outside framework oil seal (39), driving wheel (40), rotating seat (41), driven wheel (42), bearing holder (housing, cover) (44), second harmonic speed reducer (47), 3rd bearing seat (48), coupling sleeve (49), second bearing gland (52), the second outside framework oil seal (53), the 6th servo motor (66), the 4th synchronous pulley (67), the second mounting plate (68) and several Bearing part, the 6th servo motor (66) is installed in the second installation cavity body of the rotating arm (70), and the described 6th watches The front end face for taking motor (66) is connected to second mounting plate (68), and second mounting plate (68) is connected to the rotating arm (70) output revolving shaft of another side, the 6th servo motor (66) is connected to the 4th synchronous pulley (67), described Driving wheel (40) includes active center axis and drive bevel gear, and the active center axis is by bearing rotational support in described second In bearing block (37), the third synchronous pulley (31) is connected to the active center axis, the third synchronous pulley (31) with 4th synchronous pulley (67) is sequentially connected by second synchronous belt (30), and the second bearing seat (37) is connected to institute Another side wall of the rotational installation U-shaped cavity of rotating arm (70) is stated, first outside framework oil seal (39) is installed on the shaft (54) Interior, second gasket (29) is arranged along the edge of the rotating arm (70) another side, second motor pressing cover (28) It is connected to the another side of the rotating arm (70) and compresses second gasket (29), the inside of the shaft (54) is formed Gear transmission cavity, the drive bevel gear stretch into the gear drive intracavitary of the shaft (54), the driven wheel (42) include from Dynamic central shaft and driven wheel of differential, the driven central shaft by bearing rotational support in the bearing holder (housing, cover) (44), the axis Bearing sleeve (44) is connected to the shaft (54), and the second harmonic speed reducer (47) is installed in the rotating seat (41), described Driven central shaft is connected to the drive input of the second harmonic speed reducer (47), the biography of the second harmonic speed reducer (47) Dynamic output end is connected to the 3rd bearing seat (48), and the coupling sleeve (49) is connected to the 3rd bearing seat (48), described For 3rd bearing seat (48) by bearing rotational support in the rotating seat (41), the second bearing gland (52) is connected to institute The end face of rotating seat (41) is stated, the rotating seat (41) is connected to the end face of the shaft (54), and the driven wheel of differential stretches into The gear drive intracavitary of the shaft (54), and the driven wheel of differential is vertical in the gear drive intracavitary with drive bevel gear Engagement, the coupling sleeve (49) are used as external connection terminal, second outside framework oil seal (53) to be set to the coupling sleeve (49) Between second bearing gland (52)；

When the six-joint robot operation, under the action of the first servo motor (17), the first motor seat (8) can It is rotated around first axle relative to the pedestal, under the action of the second servo motor (13), the rocking-turn arm (79) It can be rotated around the second axis relative to the first motor seat (8), under the action of third servo motor (20), institute Stating the second motor cabinet (23) can be rotated relative to the rocking-turn arm (79) around third axis, in the 4th servo motor (18) under the action of, the rotating arm (70) can be rotated relative to second motor cabinet (23) around the 4th axis, in institute Under the action of stating the 5th servo motor (69), the shaft (54) can be turned relative to the rotating arm (70) around the 5th axis It is dynamic, under the action of six servo motor, the coupling sleeve (49) can relative to the shaft (54) around the 6th axis into Row rotation, and second axis is vertical with the first axle, the third axis is parallel with second axis, the 4th axis and institute It is vertical to state third axis, the 5th axis is vertical with the 4th axis, and the 6th axis is vertical with the 5th axis.

2. six-joint robot according to claim 1, which is characterized in that first joint structure further includes the first anticollision Block (84), the first servo motor (17) are fixedly installed in the upper surface of the first mounting base of the first motor seat (8), institute The output revolving shaft for stating first servo motor (17) is fixedly connected on one end of first reductor shaft (10), and the first RV subtracts The shell of fast machine (6) is fixedly installed in the lower surface of the first mounting base of the first motor seat (8), first reductor shaft (10) the other end is connected to the drive input of the first RV speed reducers (6), and the transmission of the first RV speed reducers (6) is defeated Outlet is connected to the pedestal (5), and first anticollison block (84) is set on the pedestal (5), for limiting described first Rotational angle of the motor cabinet (8) relative to the pedestal (5).

3. six-joint robot according to claim 1 or 2, which is characterized in that the second joint structure further includes second Anticollison block (81), second servo motor (13) are fixedly installed in the side of the second mounting base of the first motor seat (8), The output revolving shaft of second servo motor (13) is fixedly connected on one end of second reductor shaft (12), the 2nd RV The shell of speed reducer (80) is fixedly installed in the other side of the second mounting base of the first motor seat (8), and described second slows down The other end of arbor (12) is connected to the drive input of the 2nd RV speed reducers (80), the 2nd RV speed reducers (80) Transmission output is connected to one end of the rocking-turn arm (79), and second anticollison block (81) is set to the first motor seat (8) on, for limiting rotational angle of the rocking-turn arm (79) relative to the first motor seat (8).

4. according to claim 1-3 any one of them six-joint robots, which is characterized in that the third joint structure further includes There are the 4th anticollison block (77), the third servo motor (20) to be fixedly installed in the first mounting base of second motor cabinet (23) Side, the output revolving shaft of the third servo motor (20) is fixedly connected on one end of the third reductor shaft (21), institute State the 3rd RV speed reducers (78) shell be fixedly installed in second motor cabinet (23) the first mounting base the other side, it is described The other end of third reductor shaft (21) is connected to the drive input of the 3rd RV speed reducers (78), and the 3rd RV slows down The transmission output of machine (78) is connected to the other end of the rocking-turn arm (79), and the 4th anticollison block (77) is set to described On two motor cabinets (23), for limiting rotational angle of second motor cabinet (23) relative to the rocking-turn arm (79).

5. according to claim 1-4 any one of them six-joint robots, which is characterized in that the 4th joint structure further includes There is an electric motor end cap (16), the second mounting base of second motor cabinet (23) is integrally formed at the top of the first mounting base, and Installation passage is formed in second mounting base, the 4th servo motor (18) is fixedly installed in first gusset piece (19) on, the output revolving shaft of the 4th servo motor (18) is connected to after the center through hole of first gusset piece (19) The drive input of the first harmonic speed reducer (22), the shell of the first harmonic speed reducer (22) are fixedly installed in described In installation passage, first gusset piece (19) is fixedly installed in the installation passage, and is in the 4th servo motor (18) between first harmonic speed reducer (22), the front end that the electric motor end cap (16) is fixedly connected on the installation passage is opened Mouthful, and the 4th servo motor (18), the first gusset piece (19) and first harmonic speed reducer (22) are covered on the installation In channel, the transmission output of the first harmonic speed reducer (22) is fixedly connected on the flange connector (75), described time Shaft (73) includes center connecting shaft and flange connector, and the flange connector is formed in the rear end of the center connecting shaft, described First deep-groove ball ball bearing (74) is installed in the center connecting shaft, and the crossed roller bearing (72) is installed on the company It connects on flange, the rotating shaft (73) is stretched into the installation passage and the front end of the rotating shaft is fixedly connected on the flange Connector (75), second gusset piece (71) has ring-shaped structure, and second gusset piece (71) is fixedly connected on institute The crossed roller bearing (72) is limited to the peace by the open rearward end for stating installation passage by second gusset piece (71) It fills in channel, the rear end face of the flange connector of the rotating shaft (73) is fixedly connected on institute after second gusset piece (71) State the rotation connection seat of rotating arm (70).

6. according to claim 1-5 any one of them six-joint robots, which is characterized in that the 5th joint structure further includes Third deep-groove ball ball bearing (55)；The first bearing seat (56) includes the first connecting flange and the first connecting seat, and described the One connecting flange is fixed by screws in the one side wall of the rotational installation U-shaped cavity of the rotating arm (70), and described first Connecting seat stretches into the rotational installation U-shaped cavity, and the side of the shaft (54) is formed with the first installation groove, first peace Dress groove is sheathed on first connecting seat, and is provided between first connecting seat and the first installation groove described the It is rolled by the third deep-groove ball in the rotational installation U-shaped cavity side of three deep-groove ball ball bearings (55), the shaft Pearl bearing (55) is rotatablely installed on the first connecting seat of the first bearing seat (56).

7. six-joint robot according to claim 6, which is characterized in that the 6th joint structure further includes first miniature Ball bearing (33), outer separator (34), inner spacing collar (35), the second micro rolling ball bearing (36), band grinding wheel press cap (32), the rolling of the 5th deep-groove ball Pearl bearing (38), the 6th deep-groove ball ball bearing (43), the 7th deep-groove ball ball bearing (45), the 8th deep-groove ball ball bearing (50) and the 9th deep-groove ball ball bearing (51)；The second bearing seat (37) has the second connecting flange and the second connecting seat, Second connecting flange is fixed by screws on another side wall of the rotational installation U-shaped cavity, and described second connects Seat stretches into the rotational installation U-shaped cavity, and the other side of the shaft (54) is formed with the cylinder for being connected to the gear transmission cavity Channel, second connecting seat passes through the cylindrical channel, and is arranged between second connecting seat and the cylindrical channel There are the 5th deep-groove ball ball bearing (38) and first outside framework oil seal (39), the other side of the shaft is in the rotation It installs in U-shaped cavity and is connected in the second of the second bearing seat (56) by the 5th deep-groove ball ball bearing (38) rotational installation On joint chair；First micro rolling ball bearing (33), outer separator (34), inner spacing collar (35) and the second micro rolling ball bearing (36) are installed on In second connecting seat of the second bearing seat (37), and the inner spacing collar (35) is in the outer separator (34), and described the One micro rolling ball bearing (33) and the second micro rolling ball bearing (36) are set to the both ends of the outer separator (34) and inner spacing collar (35), lead to First micro rolling ball bearing (33), outer separator (34), inner spacing collar (35) and the second micro rolling ball bearing (36) are crossed described second The rotational support bearing arrangement of the active center axis of the driving wheel (40), the belt wheel are formed in second connecting seat of bearing block Gland (32) is connected to the second connecting flange of the second bearing seat (37), and by first micro rolling ball bearing (33), outer Spacer (34), inner spacing collar (35) and the second micro rolling ball bearing (36) are limited to the second connecting seat of the second bearing seat (37) It is interior；The shaft (54) is formed with the bearing holder (housing, cover) installation passage for being connected to the gear transmission cavity, institute towards the rotary shaft (41) It includes third connecting seat and third connecting flange to state bearing holder (housing, cover) (44), and the third connecting flange is fixed by screws in institute State the rear end face of shaft (54), the third connecting seat stretches into the bearing holder (housing, cover) installation passage, the driven wheel it is driven in Mandrel passes through the third connecting seat, and the 6th deep-groove ball is provided between the driven central shaft and third connecting seat Ball bearing (43) and the 7th deep-groove ball ball bearing (45), pass through the 6th deep-groove ball ball bearing (43) and the 7th zanjon Ball ball bearing (45) forms the driven central shaft of the driven wheel (42) in the third connecting seat of the bearing holder (housing, cover) (44) Rotational support bearing arrangement；The 8th deep-groove ball ball bearing (50) and the 9th deep-groove ball ball bearing (51) are mounted on described On 3rd bearing seat (48), institute is formed by the 8th deep-groove ball ball bearing (50) and the 9th deep-groove ball ball bearing (51) State rotational support bearing arrangement of the 3rd bearing seat (48) in the rotating seat (41)；The rotary shaft (41) is solid by screw Surely it is connected to the rear end face of the shaft (54), the shell of the second harmonic speed reducer (47) is fixedly installed in the rotating seat (41) in, the second bearing gland (52) is fixedly connected on the rear end face of the rotating seat (41), and by the 3rd bearing Seat (48), the 8th deep-groove ball ball bearing (50) and the 9th deep-groove ball ball bearing (51) compression are limited to the rotating seat (41) Interior, second outside framework oil seal (53) is sheathed on the coupling sleeve (49) and is in the coupling sleeve (49) and second bearing pressure It covers between (52).

8. according to claim 1-7 any one of them six-joint robots, which is characterized in that when the six-joint robot operation, Under the action of the first servo motor (17), the first motor seat (8) can exist relative to the pedestal around first axle It is rotated in the range of ± 170 °, under the action of the second servo motor (13), the rocking-turn arm (79) can be opposite It is rotated in the range of ± 120 ° around the second axis in the first motor seat (8), in the third servo motor (20) Under effect, second motor cabinet (23) can carry out around third axis in the range of ± 165 ° relative to the rocking-turn arm (79) Rotation, under the action of the 4th servo motor (18), the rotating arm (70) can be relative to second motor cabinet (23) it is rotated in the range of ± 360 degree around the 4th axis, under the action of the 5th servo motor (69), the shaft (54) it can be rotated in the range of ± 135 degree around the 5th axis relative to the rotating arm (70), in the 6th servo Under the action of motor, the coupling sleeve (49) can relative to the shaft (54) around the 6th axis in the range of ± 360 degree into Row rotation.