CN117359599B

CN117359599B - Six industrial robot

Info

Publication number: CN117359599B
Application number: CN202311328304.6A
Authority: CN
Inventors: 肖大放; 李霞
Original assignee: Dayan Robotics Dingyuan County Co ltd
Current assignee: Dayan Robotics Dingyuan County Co ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2024-07-02
Anticipated expiration: 2043-10-13
Also published as: CN117359599A

Abstract

The application relates to the field of industrial robots and discloses a six-axis industrial robot, which comprises a sixth axis capable of rotating by 360 degrees, wherein an operation plate is arranged on the end face of the sixth axis, a plurality of executing tools are arranged on the operation plate, a placing cylinder is fixed on the end face of the sixth axis, a rotating shaft coaxially connected with an output shaft of a motor in the sixth axis is arranged in the placing cylinder, a rotating disk is sleeved on the rotating shaft, an extension plate is fixedly connected on the rotating disk, a wire harness fixing frame is fixed at one end of the extension plate, wire harnesses on the executing tools all penetrate through the wire harness fixing frame, the wire harnesses are wound on the outer wall of the placing cylinder, and a driving component for driving the rotating disk to rotate is arranged on the placing cylinder. The application solves the technical problem that the definition of the swing amplitude of the six-axis robot is affected by a plurality of air pipes and wire harnesses carried by the six-axis robot in the prior art, realizes that the air pipes and the wire harnesses can swing freely and are separated from the sixth axis of the six-axis robot, and reduces the influence on the definition of the swing amplitude of the six-axis robot.

Description

Six industrial robot

Technical Field

The application relates to the field of industrial robots, in particular to a six-axis industrial robot.

Background

The six-axis robot generally comprises six degrees of freedom, and according to the degree of freedom distribution, the six-axis robot generally comprises a base, a lower arm, an upper arm, a rotating arm, a wrist arm and an operating head, wherein the operating head can be connected with various clamps according to actual needs, and the robot can realize the functions of carrying, drilling, welding, spraying and the like by matching with the clamps.

However, in the process of implementing the related technical scheme, at least the following technical problems are found: along with the improvement of the industrial integration level, a plurality of modules are simultaneously installed on the operation head of the six-axis robot and used for realizing various operations, so that different operations can be carried out before and after the same point location, but the more the modules on the operation head of the six-axis robot are, the more the carried air pipes and wire harnesses are, so that the definition of the swing amplitude of the six-axis robot can be influenced, and the improvement is needed in planning of the air pipes and the wire harnesses.

Disclosure of Invention

The six-axis industrial robot solves the technical problem that the definition of the swing amplitude of the six-axis robot is affected by a plurality of air pipes and wiring harnesses carried by the six-axis robot in the prior art, realizes free swing of the air pipes and wiring harnesses, is separated from a sixth axis of the six-axis robot, and reduces the influence on the definition of the swing amplitude of the six-axis robot.

The application provides a six-axis industrial robot, which comprises a sixth axis capable of rotating by 360 degrees, wherein an operation plate is arranged on the end face of the sixth axis, a plurality of executing tools are arranged on the operation plate, a placing cylinder is fixed on the end face of the sixth axis, a rotating shaft coaxially connected with an output shaft of a motor in the sixth axis is arranged in the placing cylinder, the operation plate is fixed at the end part of the rotating shaft far away from one end of the sixth axis, a rotating disc is sleeved on the rotating shaft, the rotating disc is positioned between the placing cylinder and the operation plate, an extension plate perpendicular to the placing cylinder is fixedly connected on the rotating disc, a wire harness fixing frame is fixed at one end of the extension plate far away from the placing cylinder, wire harnesses on a plurality of executing tools all penetrate through the wire harness fixing frame, the wire harnesses are wound on the outer wall of the placing cylinder, and a driving assembly for driving the rotating disc is arranged on the placing cylinder; the drive assembly includes: the bearing I is sleeved on the rotating shaft and freely rotates with the rotating shaft; the first umbrella tooth is fixed on the outer ring of the first bearing; the first motor is fixedly arranged on the outer wall of the placing cylinder; and the second umbrella tooth is positioned in the placing cylinder and is coaxially connected with the output shaft of the first motor, the second umbrella tooth is meshed with the first umbrella tooth, and the rotating disk is fixed on the first umbrella tooth.

Further, the wire harness fixing frame includes: the support plate is used for penetrating wire harnesses on various execution tools, and a guide rod penetrating through the extension plate is fixed on the support plate; an electric telescopic cylinder mounted on the extension plate; the connecting cross rod is fixedly connected between the support plate and the telescopic rod of the electric telescopic cylinder, and the axis of the telescopic rod of the electric telescopic cylinder is parallel to the axis of the guide rod.

Further, a stand bar is fixed on the extension plate and used for lifting the electric telescopic cylinder.

Further, the external diameter of rotary disk is greater than the external diameter of placing the section of thick bamboo, the extension board is close to the one end rigid coupling of rotary disk has the draw-in groove strip, the draw-in groove strip inserts and locates the edge of rotary disk, the rigid coupling has the clamping mechanism who is used for pressing from both sides tight the draw-in groove strip on the outer wall of placing the section of thick bamboo.

Further, the clamping mechanism includes: the cantilever beam plate is fixedly connected to the outer wall of the placement barrel, and one end of the cantilever beam plate, which is far away from the placement barrel, extends to the outer side of the clamping groove strip; the clamping swing rod is hinged to the end part of the cantilever beam plate, which is far away from one end of the placing cylinder, and the bottom end of the clamping swing rod is used for abutting against the outer side wall of the clamping groove strip; the push rod assembly is arranged on the cantilever beam plate and used for pushing the top of the clamping swing rod to the side far away from the placing cylinder.

Further, the push rod assembly includes: the upright post is vertically fixedly connected to the cantilever beam plate, and a vertical groove is formed in the top of the upright post; the moving column is in threaded connection with the vertical groove, a triangular groove is formed in the peripheral surface of the moving column, and the triangular groove is positioned in the vertical groove; the transverse pushing column is horizontally arranged, one end of the transverse pushing column penetrates through the outer wall of the upright post to penetrate into the triangular groove, the other end of the transverse pushing column is abutted against one side of the top end of the clamping swing rod, and one end of the transverse pushing column extending into the triangular groove is conical and is in open volume with the triangular groove; and the adjusting nut is in threaded connection with the moving column and is abutted against the top surface of the upright post.

Further, a guide cylinder is fixedly connected to the outer side wall of the upright post, and the transverse pushing post penetrates through the guide cylinder.

Furthermore, a plurality of second bearings are embedded in the placement cylinder, and the rotating shaft penetrates through each second bearing.

One or more technical schemes provided by the application have at least the following technical effects or advantages:

Because the angle between the extension plate and the operation plate is changed by adopting the driving assembly, before the executing tool on the six-axis robot needs to operate at an angle with complex characteristics, the rotation speed of the rotating disc driven by the driving assembly can be adjusted, and the angle between the extension plate and the operation plate is changed, so that the position adjustment of the air pipe and the wire harness can be realized, the special complex intersection operation of the tool can be conveniently executed, the free swing of the air pipe and the wire harness is realized, the linkage between the air pipe and the sixth axis of the six-axis robot is separated, the influence on the definition of the swing amplitude of the six-axis robot is reduced, and in addition, when the angle between the extension plate and the operation plate is not required to be changed, the rotation speed of the rotating disc driven by the driving assembly is set to be consistent with the rotation speed of the rotating shaft on the sixth axis.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a six-axis industrial robot in an embodiment of the application;

FIG. 2 is a schematic view of a six-axis industrial robot according to an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a portion of the structure of FIG. 2, primarily illustrating the configuration of the drive assembly;

fig. 4 is an enlarged schematic view of a portion a in fig. 2, mainly illustrating a structure of a harness fixing bracket;

FIG. 5 is a schematic view of a portion of the structure of FIG. 2, primarily illustrating the positional relationship among the clamping mechanism, the rotating disk, and the elongated plate;

FIG. 6 is a schematic view of the clamping mechanism of FIG. 5;

in the figure: 101. a first shaft; 102. a second shaft; 103. a third shaft; 104. a fourth shaft; 105. a fifth shaft; 106. a sixth shaft; 1. an operation panel; 2. placing a cylinder; 3. a rotation shaft; 4. a rotating disc; 5. an elongated plate; 51. a vertical frame rod; 52. a clamping groove strip; 6. a wire harness fixing frame; 61. a support plate; 611. a guide rod; 62. an electric telescopic cylinder; 63. connecting the cross bars; 7. a drive assembly; 71. a first bearing; 72. a first umbrella tooth; 73. a first motor; 74. umbrella teeth II; 8. a clamping mechanism; 81. cantilever beam plates; 82. clamping the swing rod; 83. a push rod assembly; 831. a column; 8311. a vertical groove; 8312. a guide cylinder; 832. moving a column; 8321. triangular grooves; 833. a transverse pushing column; 834. an adjusting nut; 9. a second bearing; 100. and a shaft seat.

Detailed Description

The embodiment of the application discloses a six-axis industrial robot, which changes the angle between an extension plate 5 and an operation plate 1 by using a driving component 7 to drive the rotation speed of a rotating disk 4, so that the position adjustment of an air pipe and a wire harness can be realized, the special complex bottoming operation of a tool can be conveniently executed, and when the angle between the extension plate 5 and the operation plate 1 is not required to be changed, the speed of the driving component 7 to drive the rotating disk 4 to rotate is set to be consistent with the speed of a rotating shaft 3 on a sixth axis 106, thereby realizing that the air pipe and the wire harness on an execution tool of the sixth axis 106 can swing freely and reducing the influence on the definition of the swing amplitude of the six-axis robot.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1-3, a six-axis industrial robot includes a first axis 101, a second axis 102, a third axis 103, a fourth axis 104, a fifth axis 105, a sixth axis 106, an operation board 1, a placement barrel 2, a rotation axis 3, and various end execution tools, where the sixth axis 106 can rotate 360 degrees, the rotation axis 3 is coaxially connected to an output shaft of the sixth axis 106, the placement barrel 2 is a cylinder, the placement barrel 2 is sleeved on the rotation axis 3, an end of one end of the placement barrel 2 is fixedly connected to an end surface of the sixth axis 106, an axis of the placement barrel 2 is collinear with an axis of the rotation axis 3, a plurality of bearings two 9 are embedded in the placement barrel 2, the rotation axis 3 passes through each bearing two 9, stability when the rotation axis 3 rotates can be ensured by using the bearings two 9, the operation board 1 is perpendicular to the rotation axis 3, the operation board 1 is provided with the shaft seat 100 fixedly connected to the rotation axis 3, the rotation axis 3 can drive the operation board 1, various end execution tools can be mounted on the operation board 1, and a space is left between the operation board 1 and the placement barrel 2.

Referring to fig. 2 and 3, the rotating shaft 3 is sleeved with a rotating disc 4, the rotating disc 4 is a disc, the outer diameter of the rotating disc 4 is larger than the outer diameter of the placing barrel 2, the rotating disc 4 is located between the placing barrel 2 and the operating panel 1, a driving component 7 for driving the rotating disc 4 to rotate is arranged on the placing barrel 2, and the driving component 7 can drive the rotating disc 4 to freely rotate, so that the rotating disc 4 and the rotating shaft 3 do not synchronously rotate. The edge on one side of the rotating disk 4 is provided with an extension plate 5, the extension plate 5 is a strip-shaped plate and is parallel to the operation plate 1, one end, close to the rotating disk 4, of the extension plate 5 is fixedly connected with a clamping groove strip 52, the cross section of the clamping groove strip 52 is U-shaped, the clamping groove strip 52 is arc-shaped, the clamping groove strip 52 is inserted into the edge of the rotating disk 4, the extension plate 5 can be enabled to move along the edge of the rotating disk 4, the outer wall of the placing cylinder 2 is fixedly connected with a clamping mechanism 8 used for clamping the clamping groove strip 52, the clamping mechanism 8 is provided with a plurality of and is uniformly arranged along the periphery of the outer wall of the placing cylinder 2, and after the extension plate 5 moves along the edge of the rotating disk 4, the extension plate 5 can be clamped by the clamping mechanism 8 on the outer wall of the placing cylinder 2.

Referring to fig. 2, one end of the extension plate 5 far away from the placement barrel 2 is fixed with a wire harness fixing frame 6, wire harnesses and air pipes on various execution tools all penetrate through the wire harness fixing frame 6, and one end of the air pipes and the wire harnesses close to the execution tools are wound on the placement barrel 2 first, and enough allowance is reserved for winding and separating the air pipes and the wire harnesses.

Referring to fig. 3, the driving assembly 7 includes a first bearing 71, a first bevel gear 72, a first motor 73, and a second bevel gear 74; the first bearing 71 is sleeved on the rotating shaft 3 and freely rotates with the rotating shaft 3, and the first bearing 71 is positioned in the lower half cavity in the placing cylinder 2; the first umbrella tooth 72 is fixed on the outer ring of the first bearing 71, teeth of the first umbrella tooth 72 incline upwards, the rotary disk 4 is fixed on the bottom surface of the first umbrella tooth 72, and the first umbrella tooth 72 and the rotary disk 4 synchronously rotate; the first motor 73 is fixedly arranged on the outer wall of the placing cylinder 2, and an output shaft of the first motor 73 extends into the placing cylinder 2; the second bevel gear 74 is positioned in the placing cylinder 2, the second bevel gear 74 is coaxially connected with the output shaft of the first motor 73, and the second bevel gear 74 is meshed with the first bevel gear 72.

Because the extension board 5 is fixedly connected with the rotating disk 4, the rotation of the rotating disk 4 can drive the rotation of the extension board 5, and then the air pipe and the wire harness bound on the extension board 5 can be swung, when the extension board 5 and the operating board 1 are required to synchronously rotate, the rotation speed of the rotating disk 4 driven by the driving component 7 is consistent with the rotation speed of the rotating shaft 3 on the sixth shaft 106, and when the angle between the extension board 5 and the operating board 1 is required to be changed, the rotation speed of the rotating disk 4 driven by the driving component 7 is regulated, so that the position regulation of the air pipe and the wire harness can be realized, and the use of various executing tools on the operating board 1 is facilitated.

Referring to fig. 2 and 4, the wire harness fixing frame 6 of the extension plate 5 at the end far from the placement barrel 2 includes a support plate 61, an electric telescopic cylinder 62, and a connecting cross bar 63; the support plate 61 is positioned above the extension plate 5, the wire harnesses and air pipes required by various executing tools can be uniformly bundled and pass through the support plate 61, two guide rods 611 are fixedly connected to the bottom surface of the support plate 61, the guide rods 611 are round rods, the guide rods 611 pass through the extension plate 5, and the guide rods 611 can guide the support plate 61 to move up and down; the electric telescopic cylinder 62 is positioned above the extension plate 5 and at one side of the support plate 61, the support rod 51 is fixed on the extension plate 5, the support rod 51 is used for lifting the electric telescopic cylinder 62, so that a sufficient space can be reserved above the extension plate 5 for telescopic movement of a telescopic rod of the electric telescopic cylinder 62, and the axis of the telescopic rod of the electric telescopic cylinder 62 is parallel to the axis of the guide rod 611; the connecting cross rod 63 is horizontally arranged, and the connecting cross rod 63 is fixedly connected between the support plate 61 and the telescopic rod of the electric telescopic cylinder 62.

When the air pipe and the wire harness of the end execution tool are wound on the outer wall of the placement barrel 2, the electric telescopic cylinder 62 can be utilized to drive the support plate 61 to move, so that the height of the support plate 61 can be adjusted, and further the air pipe and the wire harness can be ensured to be orderly wound on the outer wall of the placement barrel 2.

Referring to fig. 5 and 6, the clamping mechanism 8 includes a cantilever beam plate 81, a clamping swing rod 82 and a push rod assembly 83, wherein one end of the cantilever beam plate 81 is fixed on the outer wall of the placement barrel 2, and the other end extends above the extension plate 5 and is positioned outside the clamping groove strip 52; the clamping swing rod 82 is a bar-shaped rod, the clamping swing rod 82 is hinged to the end part of the cantilever beam plate 81, which is far away from one end of the placing cylinder 2, the hinge axis of the clamping swing rod 82 is parallel to the extension plate 5, and the bottom end of the clamping swing rod 82 is used for abutting against the outer side wall of the clamping groove strip 52.

The pushing component is installed on the cantilever beam plate 81, and the pushing component is located between the clamping swing rod 82 and the placing cylinder 2 and comprises an upright post 831, a moving post 832, a transverse pushing post 833 and an adjusting nut 834. The upright post 831 is a square post, the upright post 831 is vertically fixedly connected to the cantilever beam plate 81, a vertical groove 8311 is formed in the top surface of the upright post 831, and the cross section of the vertical groove 8311 is circular; the moving column 832 is a cylinder, the moving column 832 is connected in the vertical groove 8311 by screw thread, a triangular groove 8321 is arranged on the peripheral surface of the moving column 832, and the triangular groove 8321 is positioned in the vertical groove 8311; a guide cylinder 8312 is fixedly connected to the outer side wall of the upright post 831, a transverse pushing column 833 is horizontally arranged, one end of the transverse pushing column 833 passes through the guide cylinder 8312 and is positioned in the vertical groove 8311, the other end of the transverse pushing column 833 is abutted against the side wall of the top end of the clamping swing rod 82, which is close to one side of the upright post 831, and one end of the transverse pushing column 833, which extends into the vertical groove 8311, is in a conical shape, and a certain amount of clearance is reserved between the end of the transverse pushing column 833, which is in the conical shape, and the triangular groove 8321; the adjusting nut 834 is threadedly coupled to the movable post 832 and abuts against the top surface of the post 831.

When the clamping swing rod 82 is required to swing and tightly props against the outer side wall of the clamping groove strip 52, the adjusting nut 834 is rotated, the moving column 832 can move upwards under the driving of the adjusting nut 834, the triangular groove 8321 in the moving column 832 can extrude the transverse pushing column 833 outwards in the upward moving process of the moving column 832, so that the transverse pushing column 833 can push the top end of the clamping swing rod 82 to swing towards the side far away from the placing cylinder 2, the bottom end of the clamping swing rod 82 can extrude the clamping groove strip 52, finally the extension plate 5 can be clamped on the rotating disc 4, the adjusting nut 834 is reversely rotated, the bottom end of the clamping swing rod 82 is separated from the clamping groove strip 52, the extension plate 5 can be detached from the rotating disc 4, and an operator can conveniently replace an air pipe and a wire harness on the extension plate 5.

The application can explain its functional principle by the following modes of operation:

For the air pipe and the wire harness of the six-axis robot in the application, the air pipe and the wire harness are firstly bundled by the winding hose, then are bundled and fixed on the mechanical arm between the fifth axis 105 and the fourth axis 104, pass through the wire harness fixing frame 6 at the end part of the extension plate 5, and reach each executing tool on the final operation plate 1 after bypassing the placing cylinder 2, in addition, the air pipe and the wire harness between the wire harness fixing frame 6 and the placing cylinder 2 are in a loose state, so that the air pipe and the wire harness can be wound on the placing cylinder 2 in a small range.

When the six-axis robot operates, and before the executing tool on the operation board 1 moves to a special position, the rotation speed of the rotating disc 4 can be adjusted by the driving component 7, the angle between the extension board 5 and the operation board 1 is changed, so that the position adjustment of the air pipe and the wire harness can be realized, the special complex bottom crossing operation of the tool can be conveniently executed, and when the angle between the extension board 5 and the operation board 1 is not required to be changed, the speed of the rotating disc 4 driven by the driving component 7 is set to be consistent with the speed of the rotating shaft 3 on the sixth axis 106, the air pipe and the wire harness on the executing tool of the sixth axis 106 can swing freely, and the influence on the definition of the swing amplitude of the six-axis robot is reduced.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art should be able to apply equivalents and modifications according to the technical scheme and the concept of the present application within the scope of the present application.

Claims

1. The utility model provides a six industrial robot, but includes 360 degrees rotatory sixth axle (106), be provided with operation panel (1) on the terminal surface of sixth axle (106), set up multiple execution frock on operation panel (1), a serial communication port, the terminal surface of sixth axle (106) is fixed with places section of thick bamboo (2), place be provided with in section of thick bamboo (2) with motor output shaft coaxial coupling's in sixth axle (106) rotation axis (3), operation panel (1) are fixed in rotation axis (3) keep away from the tip of sixth axle (106) one end, the cover is equipped with rotary disk (4) on rotation axis (3), rotary disk (4) are located place section of thick bamboo (2) with between operation panel (1), fixedly connected with on rotary disk (4) with place section of thick bamboo (2) vertically extension board (5), place section of thick bamboo (2) one end of thick bamboo (5) be provided with mount (6) are kept away from wire harness on multiple execution frock all pass mount (6), and place section of thick bamboo (2) are provided with wire harness (7) on the drive assembly; the drive assembly (7) comprises:

the bearing I (71) is sleeved on the rotating shaft (3) and can freely rotate with the rotating shaft (3);

a first umbrella tooth (72) fixed on the outer ring of the first bearing (71);

a first motor (73) fixedly arranged on the outer wall of the placement barrel (2);

a second bevel gear (74) which is positioned in the placing cylinder (2) and is coaxially connected with the output shaft of the first motor (73), the second bevel gear (74) is meshed with the first bevel gear (72), and the rotating disk (4) is fixed on the first bevel gear (72);

The harness fixing frame (6) comprises:

The support plate (61) is used for penetrating wire harnesses on various execution tools, and a guide rod (611) penetrating through the extension plate (5) is fixed on the support plate (61);

An electric telescopic cylinder (62) mounted on the extension plate (5);

The connecting cross rod (63) is fixedly connected between the support plate (61) and the telescopic rod of the electric telescopic cylinder (62), and the axis of the telescopic rod of the electric telescopic cylinder (62) is parallel to the axis of the guide rod (611).

2. A six-axis industrial robot according to claim 1, characterized in that the extension plate (5) is fixed with a stand bar (51), the stand bar (51) being used for raising the electric telescopic cylinder (62).

3. A six-axis industrial robot according to claim 1, wherein the outer diameter of the rotating disc (4) is larger than the outer diameter of the placing cylinder (2), a clamping groove strip (52) is fixedly connected to one end, close to the rotating disc (4), of the extending plate (5), the clamping groove strip (52) is inserted into the edge of the rotating disc (4), and a clamping mechanism (8) for clamping the clamping groove strip (52) is fixedly connected to the outer wall of the placing cylinder (2).

4. A six-axis industrial robot according to claim 3, characterized in that the clamping mechanism (8) comprises:

the cantilever beam plate (81) is fixedly connected to the outer wall of the placement barrel (2), and one end, away from the placement barrel (2), of the cantilever beam plate (81) extends to the outer side of the clamping groove strip (52);

the clamping swing rod (82) is hinged to the end part of the cantilever beam plate (81) far away from one end of the placing cylinder (2), and the bottom end of the clamping swing rod (82) is used for abutting against the outer side wall of the clamping groove strip (52);

the push rod assembly (83) is mounted on the cantilever beam plate (81) and used for pushing the top of the clamping swing rod (82) to the side far away from the placing cylinder (2).

5. A six-axis industrial robot according to claim 4, wherein the push rod assembly (83) comprises:

the upright post (831) is vertically fixedly connected to the cantilever beam plate (81), and a vertical groove (8311) is formed in the top of the upright post (831);

the moving column (832) is in threaded connection with the vertical groove (8311), a triangular groove (8321) is formed in the peripheral surface of the moving column (832), and the triangular groove (8321) is positioned in the vertical groove (8311);

The transverse pushing column (833) is horizontally arranged, one end of the transverse pushing column penetrates through the outer wall of the upright post (831) to penetrate into the triangular groove (8321), the other end of the transverse pushing column is abutted against one side of the top end of the clamping swing rod (82), and one end of the transverse pushing column (833) extending into the triangular groove (8321) is conical and is in open volume with the triangular groove (8321);

and the adjusting nut (834) is in threaded connection with the moving column (832) and props against the top surface of the upright column (831).

6. The six-axis industrial robot according to claim 5, wherein a guide cylinder (8312) is fixedly connected to the outer side wall of the upright post (831), and the transverse pushing post (833) passes through the guide cylinder (8312).

7. A six-axis industrial robot according to claim 1, characterized in that the placing cylinder (2) is embedded with a plurality of bearing pairs (9), and the rotating shaft (3) passes through each bearing pair (9).