Common mechanical structure of six-axis joint robot: six servo motors directly drive the rotation of six joint axes through harmonic reducer and synchronous pulley. The driving motors of joints 1 to 4 are hollow structures. The driving motor of the six-axis joint robot adopts the hollow shaft structure, which is not common.
The wrist joint design of the six-axis joint robot is complicated because the three movements are integrated simultaneously. The wrist joint of small six-axis joint robot mainly uses harmonic reducer. The wrist structure of the common six-axis joint robot adopts two harmonic reducer and two synchronous gear belt drive inputs.
For the mechanical structure design of industrial robots, pipeline layout is one of the difficulties. How to rationally arrange all kinds of pipelines in the narrow manipulator space &40; The drive line, encoder line, brake line, air pipe, solenoid valve control line, sensor line, etc. of the six motors, so that it is not affected by the rotation of the joint shaft is a problem worth further consideration.
In the design, the various control lines of the six-axis joint robot can be directly passed through the center of the motor. No matter how the joint axis rotates, the pipe does not rotate with it. Even if the pipe rotates, the radius of rotation is small because the pipe is arranged on the axis of rotation. The structure can solve the pipeline layout problem of industrial robot.