A common six-axis joint robot has six built-in servo motors, which directly drive the rotation of the six joint shafts through a reducer, a timing belt wheel, etc. Six-axis industrial robots generally have 6 degrees of freedom, including rotation (S axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis) and wrist rotation (T axis) ); The combination of 6 joints realizes the 6-degree-of-freedom movement of the end, which has many advantages such as high flexibility, large load, high positioning accuracy and so on.
The six-axis articulated robot can be used for automatic assembly, painting, handling, welding and post-processing. It can be repositioned with a straight axis and can make movements as flexible as a human. The robot can execute the instructions of the operator.
The role of six axes
What are the components of the six-axis joint robot? What are the advantages and disadvantages?
The first axis: The first axis is the position of the link chassis, which is also the load-bearing and core position. It carries the weight of the entire robot and the horizontal swing of the robot.
The second axis: an important axis that controls the robot's forward and backward swing and expansion.
Third axis: The three axis is also the one that controls the robot to swing back and forth, but the swing amplitude is much smaller than that of the second axis, but this is also the basis for the six-axis robot's arm extension.
The fourth axis: The four axis is an axis that controls the 180° free rotation of the upper arm, which is equivalent to a human forearm.
Fifth axis: The fifth axis is very important. When you have almost adjusted the position, you have to accurately position the product, and then use the fifth axis, which is equivalent to the part of the human wrist.
Sixth axis: After you position the fifth axis on the product, if you need some minor changes, you need to use the sixth axis. The sixth axis is equivalent to a turntable that can rotate horizontally 360°. The product can be positioned more precisely.
Advantages of six-axis robots
1. It has a high degree of freedom, 6-axis, suitable for almost any trajectory or angle of work;
2. It can be programmed freely to complete fully automated work to improve production efficiency and controllable error rate;
3. Functional characteristics, easy operation, flexible and quick replacement between different workpieces;
4. With high accessibility, it can make its hands work in a closed space, but Cartesian coordinate robots cannot perform such operations;
5. Replace many complex tasks that are not suitable for human completion and harmful to health.
Disadvantages of six-axis robots
1. The high price leads to high initial investment cost;
2. A lot of preparatory work before production, for example, the process of programming and computer simulation takes a long time;
3. The axis of the elbow joint and the shoulder joint are parallel. When the large and small arms are stretched into a straight line, although they can reach a long working point, the structural rigidity of the robot is relatively low.