阅读说明：本技术 高防护可旋转摆臂的机器人 (High-protection robot with rotatable swing arm ) 是由 何敏佳 江文明 吴泽龙 余天荣 毛洪泰 于 2021-06-29 设计创作，主要内容包括：本申请涉及高防护可旋转摆臂的机器人。本申请所述的高防护可旋转摆臂的机器人包括：依次连接的机器人底座、机器人转盘、大臂连接头、机器人下箱体、机器人上箱体、小臂连接头以及机器人腕体；所述机器人底座包括底座壳体、底座电机以及底座减速器；所述机器人转盘包括转盘壳体、转盘电机以及转盘减速器,所述机器人下箱体包括下壳体、下电机以及下减速器；所述机器人上箱体包括上壳体、上电机以及上减速器；所述小臂连接头包括连接壳体、连接电机以及连接减速器,所述底座减速器、所述转盘减速器、所述下减速器、所述上减速器、所述连接减速器分别形成有中间通孔。本申请的高防护可旋转摆臂的机器人具有能够在狭小空间灵活运动的优点。(The application relates to a robot with a high-protection rotatable swing arm. The application the robot of rotatable swing arm of high protection include: the robot comprises a robot base, a robot turntable, a large arm connector, a robot lower box, a robot upper box, a small arm connector and a robot wrist which are connected in sequence; the robot base comprises a base shell, a base motor and a base speed reducer; the robot turntable comprises a turntable shell, a turntable motor and a turntable reducer, and the lower box of the robot comprises a lower shell, a lower motor and a lower reducer; the robot upper box body comprises an upper shell, an upper motor and an upper speed reducer; the forearm connector is including connecting the casing, connecting the motor and connecting the reduction gear, the base reduction gear the carousel reduction gear lower reduction gear go up the reduction gear connect the reduction gear and be formed with middle through-hole respectively. The high-protection robot with the rotatable swing arm has the advantage of being capable of flexibly moving in a narrow space.)

1. The utility model provides a high protection rotatable swing arm's robot which characterized in that: the robot comprises a robot base, a robot turntable, a large arm connector, a robot lower box, a robot upper box, a small arm connector and a robot wrist which are connected in sequence;

the robot base comprises a base shell, a base motor and a base speed reducer, wherein the base motor and the base speed reducer are respectively arranged in the base shell, and the base motor drives the base speed reducer to operate;

the robot turntable comprises a turntable shell, a turntable motor and a turntable reducer, wherein the turntable motor and the turntable reducer are respectively arranged in the turntable shell, and the turntable motor drives the turntable reducer to operate; the output end of the base speed reducer is connected with the rotary table shell in an installing manner;

one end of the large arm connector is mounted at the output end of the base reducer, and the other end of the large arm connector is connected with the lower box body of the robot;

the lower robot box comprises a lower shell, a lower motor and a lower speed reducer, wherein the lower motor and the lower speed reducer are respectively arranged in the lower shell, and the lower motor drives the lower speed reducer to operate;

the robot upper box body comprises an upper shell, an upper motor and an upper speed reducer, wherein the upper motor and the upper speed reducer are respectively arranged in the upper shell, and the upper motor drives the upper speed reducer to operate; the output end of the lower speed reducer is fixedly connected with the upper shell; the upper speed reducer is connected with the small arm connector;

the small arm connector comprises a connecting shell, a connecting motor and a connecting speed reducer, the connecting motor and the connecting speed reducer are respectively arranged in the connecting shell, and the connecting motor drives the connecting speed reducer to operate; the robot wrist body is arranged at the output end of the connecting speed reducer;

the base reducer, the turntable reducer, the lower reducer, the upper reducer and the connecting reducer are respectively provided with a middle through hole;

the robot cable sequentially penetrates through the base speed reducer, the turntable speed reducer, the lower speed reducer, the upper speed reducer and the connecting speed reducer.

2. A robot with high protection and rotatable swing arm according to claim 1, characterized in that: the large arm connector is connected with the lower box body of the robot through the large arm of the robot;

one end of the robot large arm is fixedly arranged on the large arm connecting head, and the other end of the robot large arm is fixedly connected with the robot lower box.

3. A robot with high protection and rotatable swing arm according to claim 2, characterized in that: the robot upper box body is connected with the small arm connector through the small arm of the robot;

one end of the small arm of the robot is installed at the output end of the upper speed reducer, and the other end of the small arm of the robot is fixedly connected with the small arm connector.

4. A robot with high protection and rotatable swing arm according to claim 3, characterized in that: the robot base further comprises a base flange, the base flange is installed at the output end of the base speed reducer, and the robot turntable is installed on the base flange.

5. A robot with high protection and rotatable swing arm according to claim 3, characterized in that: the robot upper box body further comprises a transition flange, the transition flange is connected to the output end of the upper speed reducer, and one end of the robot small arm is fixedly installed on the transition flange.

6. A robot with high protection and rotatable swing arm according to claim 3, characterized in that: the robot wrist body comprises a wrist shell, a wrist motor, a wrist reducer and a tail end output flange, wherein the wrist motor and the wrist reducer are respectively installed in the wrist shell, the wrist motor drives the wrist reducer to operate, and the tail end output flange is installed at the output end of the wrist reducer;

the wrist housing is mounted at the output end of the connection reducer.

7. A robot with high protection and rotatable swing arm according to claim 3, characterized in that: the lower shell comprises a lower cover and a lower end cover, and the lower end cover is buckled on the lower cover;

the upper shell comprises an upper cover and an upper end cover, and the upper end cover is buckled on the upper cover.

8. A robot with high protection and rotatable swing arm according to claim 7, characterized in that: a sealing strip is arranged at the joint of the lower cover and the lower end cover; and a sealing strip is arranged at the joint of the upper cover and the upper end cover.

9. A robot with high protection and rotatable swing arm according to any one of claims 1-8, characterized in that: the air pipe sequentially penetrates through the base speed reducer, the turntable speed reducer, the lower speed reducer, the upper speed reducer and the connecting speed reducer.

10. A robot with high protection and rotatable swing arm according to claim 6, characterized in that: the controller is arranged in the base shell;

the base motor, the turntable motor, the lower motor, the upper motor, the connecting motor and the wrist motor are respectively and electrically connected with the controller.

Technical Field

The present application relates to robots, and more particularly to robots with high protection for rotatable swing arms.

Background

The existing factory layout only has normal working space for operators except for a material storage position, and the overall layout is compact; particularly, for feeding and discharging of a machine tool in a small machining workshop, stations which are in a concave-shaped layout are arranged, no redundant space is used for the layout application of an industrial robot, and the production environment of a factory often meets the conditions of cutting cooling liquid, metal scrap splashing and the like, so that the robot needs to meet the flexible pose transformation in a narrow space and also needs to meet the high protection requirements of dust prevention, water prevention and the like, the robot in the prior art cannot meet the requirements, and flexible transposition and change cannot be carried out in the narrow space.

Disclosure of Invention

Based on this, the purpose of this application lies in, provides the rotatable swing arm's of high protection robot, and it has the advantage that can move in a small and small space is nimble.

One aspect of the application provides a high-protection rotatable swing arm robot, which comprises a robot base, a robot turntable, a large arm connector, a robot lower box, a robot upper box, a small arm connector and a robot wrist, wherein the robot base, the robot turntable, the large arm connector, the robot lower box, the robot upper box, the small arm connector and the robot wrist are sequentially connected;

the robot base comprises a base shell, a base motor and a base speed reducer, wherein the base motor and the base speed reducer are respectively arranged in the base shell, and the base motor drives the base speed reducer to operate;

the robot turntable comprises a turntable shell, a turntable motor and a turntable reducer, wherein the turntable motor and the turntable reducer are respectively arranged in the turntable shell, and the turntable motor drives the turntable reducer to operate; the output end of the base speed reducer is connected with the rotary table shell in an installing manner;

one end of the large arm connector is mounted at the output end of the base reducer, and the other end of the large arm connector is connected with the lower box body of the robot;

the lower robot box comprises a lower shell, a lower motor and a lower speed reducer, wherein the lower motor and the lower speed reducer are respectively arranged in the lower shell, and the lower motor drives the lower speed reducer to operate;

the robot upper box body comprises an upper shell, an upper motor and an upper speed reducer, wherein the upper motor and the upper speed reducer are respectively arranged in the upper shell, and the upper motor drives the upper speed reducer to operate; the output end of the lower speed reducer is fixedly connected with the upper shell; the upper speed reducer is connected with the small arm connector;

the small arm connector comprises a connecting shell, a connecting motor and a connecting speed reducer, the connecting motor and the connecting speed reducer are respectively arranged in the connecting shell, and the connecting motor drives the connecting speed reducer to operate; the robot wrist body is arranged at the output end of the connecting speed reducer;

the base reducer, the turntable reducer, the lower reducer, the upper reducer and the connecting reducer are respectively provided with a middle through hole;

the robot cable sequentially penetrates through the base speed reducer, the turntable speed reducer, the lower speed reducer, the upper speed reducer and the connecting speed reducer.

The application the robot of the rotatable swing arm of high protection, the base reduction gear the carousel reduction gear down the reduction gear go up the reduction gear and connect the reduction gear, be the reduction gear of cavity type respectively to can make the robot cable can be easy to pass, and then can be built-in with the robot cable. Compared with the prior art, the robot of this application, robot cable are terminal from the base to the robot, and the robot cable is inside the robot all the time to make whole robot's sealing performance good, sealed structure is simpler and realize high-efficient sealed easily, and realization robot that like this can also be very easy reaches IP 65's high performance level. In addition, the robot cable is built in, and the interference between the robot cable and other areas or between the robot cable and other structures is avoided, so that the application stability and reliability of the robot are improved, and the robot cable is more suitable for operation in narrow space. Compared with the prior art, the robot has the advantages of being good in narrow space use.

The robot further comprises a robot large arm, and the large arm connector is connected with the lower robot box body through the robot large arm;

one end of the robot large arm is fixedly arranged on the large arm connecting head, and the other end of the robot large arm is fixedly connected with the robot lower box.

The robot upper box body is connected with the small arm connector through the small arm of the robot;

one end of the small arm of the robot is installed at the output end of the upper speed reducer, and the other end of the small arm of the robot is fixedly connected with the small arm connector.

Further, the robot base further comprises a base flange, the base flange is installed at the output end of the base speed reducer, and the robot turntable is installed on the base flange.

Furthermore, the robot upper box body further comprises a transition flange, the transition flange is connected to the output end of the upper speed reducer, and one end of the robot small arm is fixedly installed on the transition flange.

Further, the robot wrist body comprises a wrist shell, a wrist motor, a wrist reducer and a tail end output flange, wherein the wrist motor and the wrist reducer are respectively installed in the wrist shell, the wrist motor drives the wrist reducer to operate, and the tail end output flange is installed at the output end of the wrist reducer;

the wrist housing is mounted at the output end of the connection reducer.

Further, the lower shell comprises a lower cover and a lower end cover, and the lower end cover is buckled on the lower cover;

the upper shell comprises an upper cover and an upper end cover, and the upper end cover is buckled on the upper cover.

Further, a sealing strip is arranged at the joint of the lower cover and the lower end cover; and a sealing strip is arranged at the joint of the upper cover and the upper end cover.

Further, still include the trachea, this trachea passes in proper order the base reduction gear, the carousel reduction gear, lower reduction gear, go up the reduction gear and connect the reduction gear.

Further, the device also comprises a controller which is arranged in the base shell;

the base motor, the turntable motor, the lower motor, the upper motor, the connecting motor and the wrist motor are respectively and electrically connected with the controller.

For a better understanding and practice, the present application is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a perspective view of an exemplary high protection rotatable swing arm robot according to the present application;

FIG. 2 is a perspective view of another perspective of an exemplary high protection rotatable swing arm robot of the present application (with a portion of the housing removed);

FIG. 3 is a perspective view of another perspective of an exemplary high protection rotatable swing arm robot of the present application (with a portion of the housing removed);

FIG. 4 is a side view of an exemplary high protection rotatable swing arm robot of the present application;

FIG. 5 is a schematic perspective view illustrating an exemplary embodiment of a robot with a high-protection rotatable swing arm according to the present disclosure in a swing state of a small arm of the robot;

FIG. 6 is a cross-sectional view of a partial structure of an exemplary high protection rotatable swing arm robot of the present application;

fig. 7 is a cross-sectional view of another partial structure of an exemplary high-protection rotatable swing arm robot of the present application.

Detailed Description

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. In the description of the present application, "a plurality" means two or more unless otherwise specified.

Fig. 1 is a perspective view of an exemplary high protection rotatable swing arm robot according to the present application; FIG. 2 is a perspective view of another perspective of an exemplary high protection rotatable swing arm robot of the present application (with a portion of the housing removed); FIG. 3 is a perspective view of another perspective of an exemplary high protection rotatable swing arm robot of the present application (with a portion of the housing removed);

FIG. 4 is a side view of an exemplary high protection rotatable swing arm robot of the present application; FIG. 5 is a schematic perspective view illustrating an exemplary embodiment of a robot with a high-protection rotatable swing arm according to the present disclosure in a swing state of a small arm of the robot; FIG. 6 is a cross-sectional view of a partial structure of an exemplary high protection rotatable swing arm robot of the present application; fig. 7 is a cross-sectional view of another partial structure of an exemplary high-protection rotatable swing arm robot of the present application.

Referring to fig. 1-7, an exemplary robot with a high protection and rotatable swing arm of the present application includes a robot base 10, a robot turntable 20, a large arm connector 30, a lower robot box 50, an upper robot box 60, a small arm connector 80, and a robot wrist 90, which are connected in sequence;

the robot base 10 comprises a base shell, a base motor and a base speed reducer, wherein the base motor and the base speed reducer are respectively arranged in the base shell, and the base motor drives the base speed reducer to operate;

the robot turntable 20 comprises a turntable shell, a turntable motor and a turntable reducer, wherein the turntable motor and the turntable reducer are respectively arranged in the turntable shell, and the turntable motor drives the turntable reducer to operate; the output end of the base speed reducer is connected with the rotary table shell in an installing manner;

one end of the large arm connector 30 is installed at the output end of the base reducer, and the other end of the large arm connector is connected with the lower robot box 50;

the robot lower box 50 comprises a lower shell, a lower motor 53 and a lower speed reducer 54, wherein the lower motor 53 and the lower speed reducer 54 are respectively installed in the lower shell, and the lower motor 53 drives the lower speed reducer 54 to operate;

the robot upper box 60 comprises an upper shell, an upper motor 64 and an upper speed reducer 63, wherein the upper motor 64 and the upper speed reducer are respectively installed in the upper shell, and the upper motor 64 drives the upper speed reducer 63 to operate; the output end of the lower speed reducer 54 is fixedly connected with the upper shell; the upper speed reducer 63 is connected with the small arm connector 80;

the small arm connector 80 comprises a connecting shell 81, a connecting motor 82 and a connecting speed reducer 83, the connecting motor 82 and the connecting speed reducer 83 are respectively installed in the connecting shell 81, and the connecting motor 82 drives the connecting speed reducer 83 to operate; the robot wrist body 90 is mounted at the output end of the connection reducer 83;

the base reducer, the turntable reducer, the lower reducer 54, the upper reducer 63 and the connection reducer 83 are respectively provided with a middle through hole;

the robot cable L sequentially penetrates through the base speed reducer, the turntable speed reducer, the lower speed reducer 54, the upper speed reducer 63 and the connection speed reducer 83.

The application the robot of rotatable swing arm of high protection, the base reduction gear the carousel reduction gear lower reduction gear 54 go up reduction gear 63 and connect reduction gear 83, be the reduction gear of cavity type respectively to can make robot cable L can be easy to pass, and then can embed robot cable L. Compared with the prior art, the robot of this application, robot cable L is terminal from the base to the robot, and robot cable L is inside the robot all the time to make whole robot's sealing performance good, sealed structure is simpler and realize high-efficient sealed easily, and realization robot that like this can also be very easy reaches IP 65's high performance level. In addition, the robot cable L is internally arranged, so that the interference between the robot cable L and other areas or between the robot cable L and other structures is avoided, the application stability and reliability of the robot are improved, and the robot is more suitable for operation in narrow space. Compared with the prior art, the robot has the advantages of being good in narrow space use.

In some preferred embodiments, the robot further comprises a robot big arm 40, and the big arm connector 30 is connected with the robot lower box body through the robot big arm 40; one end of the robot large arm 40 is fastened and installed on the large arm connector 30, and the other end thereof is fastened and connected with the robot lower box 50. By arranging the robot large arm 40, the wheel base between the large arm connector 30 and the robot lower box 50 can be extended, and the robot can have larger swing space and swing angle so as to grab and carry a wider range of articles.

In some preferred embodiments, the robot box further comprises a robot small arm 70, and the robot upper box is connected with the small arm connector 80 through the robot small arm 70; one end of the robot forearm 70 is mounted at the output end of the upper reducer 63, and the other end thereof is fastened to the forearm connector 80. By arranging the small arm 70 of the robot, the distance between the box body 60 and the small arm connector 80 on the robot can be prolonged, and the axle distance can be prolonged, so that the robot can grab articles at a longer distance.

In some preferred embodiments, the robot base 10 further comprises a base flange mounted at the output of the base reducer, on which the robot turntable 20 is mounted. The robot base 10 is connected to the robot turntable 20 via a base flange and provides a relatively rotating connection structure.

In some preferred embodiments, the robot upper box 60 further includes a transition flange connected to an output end of the upper reducer 63, and one end of the robot arm 70 is fixedly mounted on the transition flange. The upper robot box body 60 is connected with the small robot arm 70 through the transition flange, and a relative rotation connecting structure is provided.

In some preferred embodiments, the robot wrist body 90 includes a wrist housing 92, a wrist motor 93, a wrist reducer 94, and a terminal output flange 91, the wrist motor 93 and the wrist reducer 94 are respectively mounted in the wrist housing 92, the wrist motor 93 drives the wrist reducer 94 to operate, and the terminal output flange 91 is mounted at an output end of the wrist reducer 94; the wrist housing 92 is mounted on the output end of the connection reducer 83. Further, a claw is connected to the end output flange 91 to carry or grab a workpiece.

In some preferred embodiments, the lower housing comprises a lower cover 51 and a lower end cover 52, and the lower end cover 52 is buckled on the lower cover 51; the upper shell comprises an upper cover 61 and an upper end cover 62, and the upper end cover 62 is buckled on the upper cover 61. In some preferred embodiments, a sealing strip is arranged at the joint of the lower cover 51 and the lower end cover 52; and a sealing strip is arranged at the joint of the upper cover 61 and the upper end cover 62. The lower cover 52 can be fastened and mounted on the lower cover 51 by screws, and a sealing strip is provided between the lower cover 51 and the lower cover 52, so that the lower cover 52 can be separated from the lower cover 51 to perform maintenance on the components in the lower cover 51. Similarly, the upper end cover 62 can be fastened and mounted on the upper cover 61 through screws, and a sealing strip is arranged between the upper cover 61 and the upper end cover 62; the upper cover 62 may be separated from the upper cover 61 to facilitate maintenance of the components within the upper cover 61. When the upper cover 61 is buckled with the upper end cover 62, the sealing is tight through a sealing strip; when the lower cover 51 is buckled with the lower cover 52, the sealing is tight through the sealing strip.

In some preferred embodiments, the air pipe is further included, and the air pipe sequentially passes through the base reducer, the turntable reducer, the lower reducer 54, the upper reducer 63, and the connection reducer 83. The tail end of the air pipe can be connected with the claw of the robot or can pass through a specific part of the robot. Inside trachea and robot cable L can all walk the robot to during the robot motion, between each joint and the part, the condition that can not have mutual interference just also makes the robot can swing and rotate in narrow and small space, and then can realize the automated processing in narrow and small space, be applicable to narrow and small space.

In some preferred embodiments, further comprising a controller mounted within the base housing; the base motor, the turntable motor, the lower motor 53, the upper motor 64, the connecting motor 82 and the wrist motor 93 are respectively electrically connected with the controller.

In some preferred embodiments, the robot base 10 further includes a base motor wheel, a base synchronous belt, and a base speed-reducing wheel, the base motor wheel is mounted on the base motor, the base speed-reducing wheel is mounted on the base speed reducer, and the base motor wheel and the base speed-reducing wheel are connected through the base synchronous belt and realize synchronous rotation.

In some preferred embodiments, the robot turntable 20 further includes a turntable motor wheel, a turntable synchronous belt, and a turntable deceleration wheel, the turntable motor wheel is mounted on the turntable motor, the turntable deceleration wheel is mounted on the turntable speed reducer, and the turntable motor wheel and the turntable deceleration wheel are connected through the turntable synchronous belt and realize synchronous rotation.

In some preferred embodiments, the lower robot box 50 further includes a lower motor wheel 55, a lower synchronous belt 57, and a lower reduction gear 56, wherein the lower motor wheel 55 is mounted on the lower motor 53, the lower reduction gear 56 is mounted on the lower speed reducer 54, and the lower motor wheel 55 and the lower reduction gear 56 are connected through the lower synchronous belt 57 and rotate synchronously.

In some preferred embodiments, the upper robot box 60 further includes an upper motor wheel, an upper synchronous belt, and an upper reduction gear, the upper motor wheel is mounted on the upper motor 64, the upper reduction gear is mounted on the upper reducer 63, and the upper motor wheel and the upper reduction gear are connected through the upper synchronous belt and rotate synchronously.

In some preferred embodiments, the small arm connector 80 further comprises a first bevel gear 84 and a second bevel gear 85, the first bevel gear 84 is mounted on the connecting motor 82, the second bevel gear 85 is mounted on the connecting reducer 83, and the first bevel gear 84 is meshed with the second bevel gear 85, so that the connecting motor 82 drives the connecting reducer 83 to rotate.

The robot of the rotatable swing arm of high protection of this application is six joint robot, defines each joint as follows: j1 joint-connecting the robot base 10 and the robot turntable 20; j2 joint-connecting the robot carousel 20 with the boom connector 30; j3 joint-connecting the lower box body of the robot with the upper box body of the robot; j4 joint-connecting the upper box of the robot with the robot forearm 70; j5 knuckle-connecting forearm joint 80 with robot wrist 90; j6 articulation-connects the robot wrist 90 and the paw hand. In the above-named manner, the structure and movement of the robot are further explained as follows.

The robot arm 70 is located inward toward the center of the J1 joint and outward toward the other side, with the axis of the robot arm 40 as the center. When the robot arm 70 is installed inside, the length of the robot arm 70 needs to be such that the point B on the arm connector is higher than the point a on the turntable, so that the swinging back and forth or 360-degree rotation of the robot arm 70 can be realized when the J3 joint rotates. Under the condition, the whole mass center of the robot is more deviated to the shaft rotation center of the J1 joint, the inertia is smaller, the high-speed control of the robot is facilitated, the whole structure of the robot is more compact, and no extra avoidance space is occupied. When the robot forearm 70 is installed on the outer side, the length of the robot forearm 70 does not need to enable the point B on the forearm connector to be higher than the point A on the turntable, and only when the joint J3 is rotated, the robot forearm 70 does not interfere with the ground or other lower end obstacles, and the forward and backward swinging or 360-degree rotation of the robot forearm 70 can be realized.

Further, the robot can be modified to be a robot that rotates outward by mounting the robot upper arm 40 and the robot lower case 50 by rotating the mounting angle by 180 °, and mounting the robot lower arm 70 and the robot lower arm joint 80 by rotating the mounting angle by 180 °. Under the condition, each joint structure of the robot sequentially deviates to the same side from bottom to top, the gravity center offset distance is far away from the former, the inertia is increased, the load capacity requirements on three joints of a J1 joint and a J3 joint are higher, but the space without interference of front and back swinging of the large arm and the small arm can be exerted to the maximum extent, and therefore the adaptation degree of a working space is improved. In this case, since the rotation of the robot arm 70 about the axis of the J3 joint no longer interferes with the robot turret 20, the length of the robot arm 70 may be greater than the length of the robot arm 40 in this configuration.

By axis, it is meant that the joint axis coincides with each joint tip output rotation axis. In one example, in the zero position, the axes of the J2 joint, the J3 joint, and the J5 joint are parallel to each other, and the axes of the J4 joint and the J6 joint are parallel to each other. The J1 joint rotation axis is the rotation axis of the base reducer and is perpendicular to the installation surface of the robot base 10; the J2 joint rotation axis is the rotation axis of the turntable speed reducer and is offset and vertical to the J1 joint axis; the J3 joint rotation axis is the rotation axis of the lower speed reducer 54 and is offset and parallel with the J2 joint axis; the J4 joint rotation axis is the rotation axis of the upper speed reducer 63 and is orthogonal to the J3 joint axis; the J5 joint rotation axis is the rotation axis of the connecting speed reducer 83 and is orthogonal to the J4 joint axis; the J6 joint axis of rotation is the axis of rotation of the wrist reducer 94 and is orthogonal to the J5 joint axis.

The utility model provides a but high protection rotary swing arm's robot, the total length of robot forearm 70 and forearm connector 80 is less than the length of the big arm 40 of robot, and adopts the axis biasing design for robot forearm 70 can be around down the box and do 360 degrees rotations and not interfere with the body, consequently also allows this robot to do the swing arm action around the box in narrow and small space, thereby realizes transport, pile up neatly function. In addition, the joints of the robot adopt a transmission mode of a motor, a synchronous belt and a hollow speed reducer, and the transmission mode is convenient for the robot cable L to pass through the belt wheel and the hollow hole of the speed reducer. The joint part of the small arm connector 80 is arranged at the motor mounting end, namely, a through hole is formed in the side edge of the tail end of the small arm connector 80 and used for enabling a robot cable L to penetrate through, and then the robot cable L is directly connected to the motor of the tail end robot wrist body 90 through the hollow bevel gear and the hollow speed reducer of the small arm connector 80, so that internal wiring of the whole robot cable L is achieved. The whole internal wiring form of the cable L of the robot makes the sealing structure of the robot simpler and more efficient; in addition, sealing rubber is adopted to carry out air-tight sealing at the position of each opening end cover of the robot body, so that the motor, the speed reducer, other transmission parts and the like are all wrapped inside the robot shell to play a role in protecting the robot. The leakproofness design of robot overall structure is favorable to the robot to use under the operating mode that has dustproof and waterproof demand.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.