CN105881526B - Light six-axis universal robot with extension arm - Google Patents

Abstract

The invention discloses a light six-axis universal robot with an extension arm, wherein the extension arm is arranged on a small arm of the robot, and the extension arm comprises a bracket body fixedly connected with the small arm, a first telescopic mechanism and a second telescopic mechanism which are arranged on the bracket body, a swinging mechanism hinged on the first telescopic mechanism and a swinging driving mechanism fixed on the second telescopic mechanism. When the left-handed threaded rod and the right-handed threaded rod on the bracket body drive the two telescopic mechanisms to reversely stretch to the extreme ends, the swinging mechanism can swing the driving mechanism to swing to a certain extent for supporting under the driving of the power device. By the invention, the reverse movement of the two telescopic mechanisms can prolong or shorten the total length of the extension arm, the small arm and the extension arm so as to adapt to various working conditions; the swing mechanism can swing in a certain amplitude relative to the swing driving mechanism, namely, the function of bending the small arm is given, so that the swing mechanism is suitable for various working conditions.

Description

A light-duty six-axis universal robot with an extension arm

Technical field:

The invention relates to the technical field of robots, in particular to a light-duty six-axis universal robot provided with an extension arm.

Background technique:

The invention patent application with the application number CN201210566463.5 discloses a light-duty six-axis universal robot. The drive motor for the fifth axis and the drive motor for the sixth axis are placed in the shaft seat protection box; the housing of the arm rod and the housing of the arm extension rod are respectively fixed at the front and rear of the arm reducer, and the sleeve of the sixth axis is in the fifth shaft, the fifth shaft is inserted into the fourth shaft, the fourth shaft is inserted into the housing of the forearm rod, the reducer of the small arm and the housing of the extension rod of the small arm, the fourth shaft, the fifth shaft and the sixth shaft A fourth shaft driven gear, a fifth shaft driven gear and a sixth shaft driven gear are respectively fixed on the shaft.

Invention content:

The technical problem solved by the present invention: the small arm of the light six-axis universal robot in the prior art can only drive the execution end installed at the end of the small arm to rotate, which is difficult to meet the needs of actual operation.

In order to solve the above technical problems, the present invention provides the following technical solutions: a light-duty six-axis universal robot with an extension arm, including a base body, a waist swivel part pivotally connected to the base body, and a large arm pivoted to the waist swivel part. The arm, the small arm installed on the big arm, the waist swivel part rotates around the base body, and the big arm turns around the waist swivel part;

An extension arm is provided on the small arm, and the extension arm includes a support body fixedly connected to the small arm, a first telescopic mechanism and a second telescopic mechanism installed on the support body, a swing mechanism hinged on the first telescopic mechanism, A swing driving mechanism fixed on the second telescopic mechanism; the support body is provided with a left-handed threaded rod and a right-handed threaded rod connected end to end, and a power device for driving the rotation of the left-handed threaded rod and the right-handed threaded rod; the first A telescopic mechanism is screwed to the left-handed threaded rod, and the second telescopic mechanism is screwed to the right-handed threaded rod. The support body is provided with a guide rod for guiding the first telescopic mechanism and the second telescopic mechanism; The first axis and the second axis of the swing drive mechanism include a linear guide groove, an arc-shaped guide groove arranged at the end of the linear guide groove and communicated with the linear guide groove, and an arc-shaped guide groove arranged beside the arc-shaped guide groove A pair of elastic devices arranged symmetrically on the side and left and right, and a second power device arranged on the side of the arc-shaped guide groove; the second shaft is hinged with the first telescopic mechanism through a connecting rod, and the second shaft is slidably fitted on the linear guide In the groove, the first shaft slides and fits in the arc-shaped guide groove, and a pair of elastic devices clamp the first shaft at the junction of the linear guide groove and the arc-shaped guide groove. The distance between the first axis and the second axis The value is equal to the arc radius value of the arc-shaped guide groove, and the second power device is used to drive the first shaft to slide in the arc-shaped guide groove.

According to the above-mentioned technical scheme, the working principle of a light-duty six-axis universal robot provided with an extension arm according to the present invention is as follows: the left-handed threaded rod and the right-handed threaded rod connected together are fixed end to end, and the left-handed threaded rod and the right-handed threaded rod are fixed together. The threaded rods are coaxially arranged, the left-handed threaded rod and the right-handed threaded rod rotate at the same time, the left-handed threaded rod drives the first telescopic mechanism to rise, the right-handed threaded rod drives the second telescopic mechanism to descend, the first telescopic mechanism drives the swing mechanism to rise, the second telescopic mechanism The mechanism drives the swing driving mechanism to descend, the first shaft and the second shaft slide in the linear guide groove first, then the first shaft snaps into a pair of elastic devices and enters the arc-shaped guide groove, and the second shaft stays in the straight line Afterwards, the second power device drives the first shaft to swing in the arc-shaped guide groove with the axis of the second shaft as the center line of rotation. In this way, the swing mechanism can swing to a certain extent and is installed on the swing The execution end of the robot on the mechanism also swings accordingly; when the robot does not need to use the swing function of the extension arm, the second power device interrupts the power delivered to the first shaft, and under the elastic force of a pair of elastic devices, the first shaft resets to The connection between the linear guide groove and the arc-shaped guide groove, after that, driven by the left-handed threaded rod and the right-handed threaded rod connected together, the first telescopic mechanism descends and the second telescopic mechanism rises, the first shaft and the second telescopic The two shafts slide in the linear guide groove and move downward relative to the linear guide groove, so far, the swing mechanism is limited.

Through the above-mentioned technical scheme, the present invention has the following technical effects: first, the use of the left-handed threaded rod and the right-handed threaded rod enables the swing mechanism to move up and down quickly relative to the swing drive mechanism, so as to improve work efficiency; second, the first telescopic mechanism The reverse movement with the second telescopic mechanism can lengthen or shorten the length of the extension arm, and then lengthen or shorten the total length of the small arm and the extension arm to adapt to various working conditions; thirdly, the swing mechanism can be driven relative to the swing The mechanism swings to a certain extent, which endows the forearm with the function of bending to adapt to various working conditions.

As a description of the extension arm in the present invention, the bracket body includes a base and a support plate; the base is fixedly connected to the small arm, the guide rod is fixed on the base, and the support plate is fixed on the top of the guide rod; The first telescopic mechanism includes a first telescopic chassis, a pair of first guide columns, and a first telescopic block; the first telescopic chassis is screwed on a left-handed threaded rod, and the first telescopic chassis is provided with a first guide notch, and the first telescopic chassis is provided with a first guide slot. The first guide notch is slidably matched with the guide rod; the pair of first guide posts are arranged on the first telescopic chassis, and a pair of first guide holes are opened on the support plate, and the pair of first guide posts are connected one by one. fit in a pair of first guide holes, the first telescopic block is installed on the top of the first guide column, one end of the connecting rod is fixedly connected with the first telescopic block, and the other end of the connecting rod is connected with the second shaft Hinged; the second telescopic mechanism includes a second telescopic chassis, a second guide column, and a telescopic disk; the second telescopic chassis is screwed on a right-handed threaded rod, and the second telescopic chassis is provided with a second guide notch. The second guide notch is slidably matched with the guide rod; the second guide column is arranged on the second telescopic chassis, and the second telescopic chassis is located below the first telescopic chassis; the first telescopic chassis is provided with a second guide hole, so that A third guide hole is opened on the support plate, and the second guide column passes through the second guide hole and the third guide hole; the telescopic plate is installed on the top of the second guide column, and the swing driving mechanism is fixed on the on the plate.

According to the above description, the left-handed threaded rod and the right-handed threaded rod connected together rotate at the same time, the left-handed threaded rod drives the first telescopic chassis up and down, and the right-handed threaded rod drives the second telescopic chassis up and down, and the first telescopic chassis is raised and lowered in the first guide Carry out under the guidance of notch and guide rod, the lifting of the second telescopic chassis is carried out under the guidance of second guide notch and guide rod.

As a description of the extension arm of the present invention, the right-handed threaded rod is located below the left-handed threaded rod, the bottom end of the right-handed threaded rod is pivotally connected to the base, and the top end of the left-handed threaded rod is pivotally connected to the support plate. The power device includes a worm wheel installed at the bottom of the right-hand threaded rod, a worm engaged with the worm wheel, and a first servo motor connected to the worm, the worm is pivotally connected to the base, and the first servo motor is installed on the base. According to the above description, the rotation of the left-handed threaded rod and the right-handed threaded rod is driven by the worm gear driven by the first servo motor. Since the worm gear has a good self-locking function, the swing mechanism of the present invention can be stable during the swing process. stay anywhere in space.

As a description of the extension arm in the present invention, the swing mechanism includes a swing body, the first shaft and the second shaft are fixed on the swing body, and the swing body is provided with a mounting flange connected to the execution end of the robot; The swing driving mechanism includes a guide plate fixed on the telescopic disc, the linear guide groove and the arc-shaped guide groove are opened on the guide plate, and the pair of elastic devices and the second power device are installed on the guide plate.

Based on the above description of the extension arm, in the extension arm, the pair of elastic devices includes a first elastic device and a second elastic device, and both the first elastic device and the second elastic device include a support base fixed on the guide plate, One end of the telescopic spring connected to the support base, and the limiting plate connected with the other end of the telescopic spring, the limiting plate of the first elastic device and the limiting plate of the second elastic device are arranged opposite to each other. According to the above description, the end of the limit plate is in the shape of an arc, and when the first shaft enters the arc-shaped guide groove from the linear guide groove, the first shaft is simultaneously snapped into the first elastic device limit plate and the second Between the limiting plates of the elastic device, when the first shaft swings to the left in the arc-shaped guide groove, the limiting plate of the first elastic device will be offset against the first shaft under the action of the telescopic spring and has a tendency to reset the first shaft. When the first shaft swings to the right in the arc-shaped guide groove, the limit plate of the second elastic device will abut against the first shaft under the action of the telescopic spring and has a tendency to reset the first shaft. Once the second power device interrupts the power transmission to the first shaft, the first shaft resets under the action of the first elastic device or the second elastic device, so that the first shaft and the second shaft slide in the linear guide groove simultaneously.

Based on the above description of the extension arm, in the extension arm, the second power device includes a U-shaped seat fixed on the guide plate and straddling the linear guide groove, a second servo motor fixed on the U-shaped seat, One end of the second connecting rod connected to the output shaft of the second servo motor, and the first cylinder installed at the other end of the second connecting rod. A cylinder rod fits the first hole. According to the above description, when the first shaft enters the arc-shaped guide groove, the first shaft is blocked by the side wall of the arc-shaped guide groove, and both the first shaft and the second shaft stop, wherein the axis of the second shaft It coincides with the axis line of the output shaft of the second servo motor, the rotation of the output shaft of the second servo motor drives the swing of the second connecting rod, the second connecting rod drives the swing of the first cylinder, and the piston rod of the first cylinder is inserted into the first shaft of the first shaft. One hole is used to drive the first shaft to swing; when the robot swings without the swing mechanism, the piston rod of the first air cylinder resets and breaks away from the contact with the first shaft. Under the action of a pair of elastic devices, the first shaft resets.

As a description of the extension arm in the present invention, the support body is wrapped with a first shell, and the first shell is fixedly connected with the base and the support plate; the telescopic disc is wrapped with a second shell, and the second shell The body is fixedly connected with the telescopic disk, and the first telescopic mechanism and the second telescopic mechanism are located in the second casing.

Description of drawings:

Below in conjunction with accompanying drawing, the present invention will be further described:

Fig. 1 is a kind of structural representation of the light-duty six-axis universal robot that is provided with extension arm of the present invention;

FIG. 2 is a schematic structural view of the extension arm 60 in FIG. 1;

FIG. 3 is a schematic structural view of the extension arm 60 in FIG. 2 after the first casing 66 and the second casing 67 are hidden;

FIG. 4 is a schematic diagram of the combined structure of the bracket body 61, the first telescopic mechanism 62, and the second telescopic mechanism 63 in FIG. 3;

FIG. 5 is a schematic diagram of the combined structure of the swing mechanism 64 and the swing drive mechanism 65 in FIG. 3;

FIG. 6 is a schematic view of the combined structure of the swing mechanism 64 and the swing drive mechanism 65 observed from another perspective in FIG. 5;

FIG. 7 is a structural schematic view of the swing mechanism 64 in the extension arm 60 in FIG. 2 after swinging at a certain angle;

FIG. 8 is a schematic structural view of the extension arm 60 in FIG. 7 with the first shell 66 and the second shell 67 hidden.

Explanation of symbols in the figure:

10. Base body;

20. Waist swivel parts;

30. Boom;

40. Forearm;

60. Extension arm;

61. Bracket body; 611. Left-handed threaded rod; 612. Right-handed threaded rod; 613. Guide rod; 614. Base; 615. Support plate; 616. Worm wheel; 617. Worm; 618. The first servo motor;

62. The first telescopic mechanism; 622. The first telescopic chassis; 623. The first guide column; 624. The first telescopic block; 626. The first guide notch;

63. The second telescopic mechanism; 632. The second telescopic chassis; 633. The second guide column; 634. The telescopic plate; 636. The second guide notch;

64. Swing mechanism; 640. Swing body; 641. First shaft; 642. Second shaft; 643. Connecting rod; 644. Mounting flange;

65. Swing drive mechanism; 650. Guide plate; 651. Linear guide groove; 652. Arc-shaped guide groove; 653. Support base; 654. Telescopic spring; 655. Limiting plate; 657, the second servo motor; 658, the first cylinder;

66. The first casing;

67. The second casing.

Detailed ways:

As shown in Figure 1, a light-duty six-axis general-purpose robot provided with an extension arm includes a base body 10, a waist swivel part 20 pivotally connected to the base body, a boom 30 pivotally connected to the waist swivel part, and a For the small arm 40 on the top, the waist swivel part rotates around the base body, and the big arm rotates around the waist swivel part. The forearm is provided with an extension arm 60 .

As shown in Figure 3, the extension arm 60 includes a bracket body 61 fixedly connected to the small arm, a first telescopic mechanism 62 and a second telescopic mechanism 63 installed on the bracket body, a swing mechanism 64 hinged on the first telescopic mechanism, a fixed Swing drive mechanism 65 on the second telescoping mechanism.

4 and 5, the support body is provided with a left-handed threaded rod 611 and a right-handed threaded rod 612 connected end to end, and a power device for driving the rotation of the left-handed threaded rod and the right-handed threaded rod; the first telescopic mechanism It is screwed with the left-handed threaded rod, and the second telescopic mechanism is screwed with the right-handed threaded rod. The support body is provided with a guide rod 613 for guiding the first telescopic mechanism and the second telescopic mechanism.

4 and 6, the swing mechanism includes a first shaft 641 and a second shaft 642 arranged in parallel, and the swing drive mechanism includes a linear guide groove 651, which is arranged at the end of the linear guide groove and aligned with the linear guide groove. The arc-shaped guide groove 652 connected by the grooves, a pair of elastic devices arranged symmetrically on the sides of the arc-shaped guide groove, and the second power device arranged on the side of the arc-shaped guide groove. The second shaft is hinged with the first telescopic mechanism through the connecting rod 643, the second shaft is slidably fitted in the linear guide groove, the first shaft is slidably fitted in the arc-shaped guide groove, and a pair of elastic devices clamp the first shaft The distance between the first axis and the second axis is equal to the arc radius of the arc-shaped guide groove, and the second power device is used to drive the first axis Slide in the arc-shaped guide groove.

In the extension arm 60, as shown in Figure 4, the support body 61 includes a base 614 and a support plate 615; the base is fixedly connected to the small arm 40, the guide rod 613 is fixed on the base, and the support plate is fixed on the guide rod. top. The first telescopic mechanism 62 includes a first telescopic chassis 622, a pair of first guide columns 623, and a first telescopic block 624; The guide notch 626, the first guide notch is slidingly matched with the guide rod; the pair of first guide columns is arranged on the first telescopic chassis, a pair of first guide holes is set on the support plate, and a pair of first guide holes are provided on the support plate. A guide column fits in a pair of first guide holes in a one-to-one manner, the first telescopic block is installed on the top of the first guide post, and one end of the connecting rod 643 is fixedly connected with the first telescopic block, connected The other end of the rod is hinged to the second shaft 642 . The second telescopic mechanism 63 includes a second telescopic chassis 632, a second guide column 633, and a telescopic disk 634; the second telescopic chassis is screwed on the right-hand threaded rod 612, and the second telescopic chassis is provided with a second guide notch 636. The second guide notch is slidingly matched with the guide rod; the second guide column is arranged on the second telescopic chassis, and the second telescopic chassis is located below the first telescopic chassis; the first telescopic chassis is provided with a second Guide hole, the third guide hole is opened on the support plate, the second guide column passes through the second guide hole and the third guide hole upward; the telescopic plate is installed on the top of the second guide column, and the swing drive Mechanism 65 is fixed on the telescoping disc.

In the extension arm 60 , as shown in FIG. 4 , the right-handed threaded rod 612 is located below the left-handed threaded rod 611 , the bottom end of the right-handed threaded rod is pivotally connected to the base 614 , and the top end of the left-handed threaded rod is pivotally connected to the support plate 615 , the power unit includes a worm gear 616 installed at the bottom of the right-hand threaded rod, a worm gear 617 meshing with the worm gear, and a first servo motor 618 coupled with the worm gear. The worm gear is pivotally connected to the base, and the first servo motor is mounted on the base.

In the extension arm 60, referring to Fig. 5 and Fig. 6, the swing mechanism 64 includes a swing body 640, the first shaft 641 and the second shaft 642 are fixed on the swing body, and the swing body is provided with an installation for connecting the execution end of the robot. Flange 644. The swing drive mechanism 65 includes a guide plate 650 fixed on the telescopic disc 634, the linear guide groove 651 and the arc-shaped guide groove 652 are opened on the guide plate, and the pair of elastic devices and the second power device are installed on the guide plate.

In the extension arm 60, with reference to Fig. 5 and Fig. 6, the pair of elastic devices includes a first elastic device and a second elastic device, and both the first elastic device and the second elastic device include a support base 653 fixed on the guide plate 1. The telescopic spring 654 that one end is connected with the support seat body, the limiting plate 655 that is connected with the other end of the telescopic spring, the limiting plate of the first elastic device and the limiting plate of the second elastic device are arranged oppositely.

In the extension arm 60, with reference to Fig. 5 and Fig. 6, the second power device includes a U-shaped seat body 656 fixed on the guide plate 650 and straddling the linear guide groove 651, and a second U-shaped seat body fixed on the U-shaped seat body. Servomotor 657, the second connecting rod that one end is connected with the output shaft of the second servomotor, the first cylinder 658 that is installed on the other end of the second connecting rod, the piston rod of the first cylinder is parallel to the first shaft 641, the first shaft A first hole that can cooperate with the piston rod of the first cylinder is opened on the end face.

2 and 3, the support body 61 is wrapped with a first shell 66, and the first shell is fixedly connected with the base 614 and the support plate 615; the telescopic disc 634 is wrapped with a second shell 67, the second The second casing is fixedly connected with the telescopic disk, and the first telescopic mechanism 62 and the second telescopic mechanism 63 are located in the second casing.

In actual operation, the workflow of the extension arm of the present invention is as follows:

First, the left-handed threaded rod 611 and the right-handed threaded rod 612 that are connected together are fixed end to end, the left-handed threaded rod and the right-handed threaded rod are coaxially arranged, the left-handed threaded rod and the right-handed threaded rod rotate simultaneously, and the left-handed threaded rod 611 drives The first telescopic mechanism 62 rises, the right-hand threaded rod 612 drives the second telescopic mechanism 63 to descend, the first telescopic mechanism drives the swing mechanism 64 to rise, and the second telescopic mechanism drives the swing drive mechanism 65 to descend; the first shaft 641 and the second shaft 642 First, it slides in the linear guide groove 651, and then the first shaft 641 snaps into a pair of elastic devices and enters the arc-shaped guide groove 652, and the second shaft stays in the linear guide groove.

Second, the second power unit drives the first shaft 641 to swing in the arc-shaped guide groove 652 with the axis line of the second shaft 642 as the center line of rotation, so that the swing mechanism 64 can swing to a certain extent and is installed on the swing The execution end of the robot on the mechanism also swings accordingly, refer to Fig. 7 and Fig. 8 .

Third, when the robot does not need to use the swing function of the extension arm 60, the second power device interrupts the power delivered to the first shaft 641, and under the elastic force of a pair of elastic devices, the first shaft returns to the linear guide groove 651 and At the communication part of the arc-shaped guide groove 652, afterward, driven by the left-handed threaded rod 611 and the right-handed threaded rod 612 connected together, the first telescopic mechanism 62 descends and the second telescopic mechanism 63 rises, and the first shaft 641 and The second shaft 642 slides in the linear guide groove 651 and moves downward relative to the linear guide groove, so far, the swing mechanism 64 is limited.

The above content is only the preferred implementation mode of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation mode and application scope. limits.

Claims (6)

1. a kind of light-duty six axis all-purpose robot equipped with adjutage turns including base body (10), the waist being articulated on base body Component (20), the large arm (30) being articulated on waist rotation member, the forearm (40) in large arm, waist rotation member turn around base body Dynamic, large arm is rotated around waist rotation member；It is characterized in that：

The forearm is equipped with adjutage (60), and the adjutage includes being fixedly connected with the stake body (61) of forearm, mounted on branch The first telescoping mechanism (62) and the second telescoping mechanism (63), the swing mechanism being hinged on the first telescoping mechanism on frame body (64), the swing driving mechanism (65) being fixed on the second telescoping mechanism；

The stake body be equipped with head and the tail connection left hand thread bar (611) and right-handed thread bar (612), for driving left-handed spiral shell Rasp bar and the power plant of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar, the second telescoping mechanism It is spirally connected with right-handed thread bar, stake body is equipped with the guide rod being oriented to the first telescoping mechanism and the second telescoping mechanism (613)；

The swing mechanism includes the first axle (641) being arranged in parallel and the second axis (642), and the swing driving mechanism includes straight Linear guide groove (651) is arranged on linear guide groove end and the circular arc shaped guide slots connected with linear guide groove (652), a pair of of elastic device for being arranged on circular arc shaped guide slots side and being symmetrical set is arranged on by circular arc shaped guide slots Second power plant of side；

Second axis is hinged by connecting rod (643) with the first telescoping mechanism, and the second axis is slidably fitted in linear guide groove Interior, first axle is slidably fitted in linear guide groove and circular arc shaped guide slots, and first axle is clamped in directly by a pair of of elastic device The distance value of the connectivity part of linear guide groove and circular arc shaped guide slots, first axle and the second axis is equal to the circular arc of circular arc shaped guide slots Radius value, second power plant are used to that first axle to be driven to slide in circular arc shaped guide slots.

2. a kind of light-duty six axis all-purpose robot equipped with adjutage as described in claim 1, it is characterised in that：Adjutage (60) in, the stake body (61) includes pedestal (614), support plate (615)；The pedestal is fixedly connected with forearm (40), described to lead It is fixed on pedestal to bar (613), the support plate is fixed on the top of guide rod；

First telescoping mechanism (62) includes the first flexible chassis (622), a pair of first lead (623), the first telescopic block (624)；The first flexible chassis is screwed onto in left hand thread bar (611), and the first flexible chassis opens up the first guiding slot port (626), first guiding slot port is slidably matched with guide rod；The pair of first lead is arranged on the first flexible chassis On, a pair of first pilot hole is opened up on the support plate, a pair of first lead coordinates in a manner of one-to-one leads in a pair first Into hole, the first telescopic block is installed at the top of every one first lead in a pair of first lead, the connecting rod (643) One end is fixedly connected with the first telescopic block, and the other end of connecting rod and the second axis (642) are hinged；

Second telescoping mechanism (63) includes the second flexible chassis (632), the second lead (633), flexible disk (634)；Institute It states the second flexible chassis to be screwed onto in right-handed thread bar (612), the second flexible chassis opens up the second guiding slot port (636), described Second guiding slot port is slidably matched with guide rod；Second lead is arranged on the second flexible chassis, the second flexible chassis Positioned at the lower section on the first flexible chassis；The first flexible chassis opens up the second pilot hole, and third guiding is opened up on the support plate Hole, second lead are upward through the second pilot hole and third pilot hole；The flexible disk is mounted on the second lead Top, the swing driving mechanism (65) are fixed on flexible disk.

3. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 2, it is characterised in that：Adjutage (60) in, for the right-handed thread bar (612) positioned at the lower section of left hand thread bar (611), the bottom end of right-handed thread bar is articulated in bottom On seat (614), the top of left hand thread bar is articulated on support plate (615), and the power plant includes being mounted on right-handed thread bar The worm gear (616) of bottom, the worm screw (617) engaged with worm gear, the first servo motor (618) coupled with worm screw, worm screw pivot joint On pedestal, the first servo motor is mounted on pedestal.

4. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 2, feature exist

In：In adjutage (60), the swing mechanism (64) includes pendular body (640), the first axle (641) and the second axis (642) it is fixed on pendular body, pendular body is equipped with the mounting flange (644) that connection robot performs end；

The swing driving mechanism (65) includes the guide plate (650) being fixed on flexible disk (634), the linear guide groove (651) it is opened on guide plate with circular arc shaped guide slots (652), the pair of elastic device and the second power plant are mounted on and lead On plate.

5. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 4, it is characterised in that：Adjutage (60) in, the pair of elastic device includes the first elastic device and the second elastic device, the first elastic device and the second elasticity Device include be fixed on guide plate support pedestal (653), one end with support pedestal connect adjustable spring (654), and The limiting plate (655) of adjustable spring other end connection, the limiting plate of the first elastic device and the limiting of the second elastic device Plate is oppositely arranged.

6. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 4, it is characterised in that：Adjutage (60) in, second power plant includes being fixed on guide plate (650) and across the U-shaped seat of linear guide groove (651) Body (656), the second servo motor (657) being fixed on U-shaped seat body, one end connect with the second servo motor output shaft second Connecting rod, the first cylinder (658) mounted on the second connecting rod other end, the piston rod and first axle (641) of the first cylinder are flat It goes, the first hole coordinated with the first cylinder piston rod is opened up on the end face of first axle.