CN106041905A - Three-axis robot and arm and using method thereof - Google Patents
Three-axis robot and arm and using method thereof Download PDFInfo
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- CN106041905A CN106041905A CN201610475073.5A CN201610475073A CN106041905A CN 106041905 A CN106041905 A CN 106041905A CN 201610475073 A CN201610475073 A CN 201610475073A CN 106041905 A CN106041905 A CN 106041905A
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- arm
- runner
- chute
- bearing pin
- servomotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Abstract
The invention discloses a three-axis robot and an arm and using method thereof and belongs to the field of robots. By the adoption of the three-axis robot and the arm and using method thereof, the problems that an existing assembling and transferring robot is complex in structure, large in size and high in manufacturing cost are solved. The arm comprises a main frame, a servo motor and a lifting arm arranged at the end of the main frame. A sliding groove is formed in the end of the main frame. A turning wheel and a pulling-up arm are arranged in the middle of the main frame. The lifting arm is arranged in the sliding groove. One end of the pulling-up arm and the center of the turning wheel are both connected with the main frame through a hinge pin. The pulling-up arm and the turning wheel can rotate relative to the main frame around the hinge pin. An eccentric column is arranged on the turning wheel. A first sliding groove is formed in the end of the pulling-up arm, and a second sliding groove is formed in the middle of the pulling-up arm. The eccentric column is arranged in the second sliding groove. The lifting arm is provided with a first protrusion, and the first protrusion is arranged in the first sliding groove. The servo motor is fixedly connected with the hinge pin at the center of the turning wheel. The three-axis robot can replace the existing assembling and transferring robot which is complex in structure to achieve the effects of improving the production efficiency and reducing the production cost.
Description
Technical field
The invention belongs to robot field, specifically, relate to a kind of three-axis robot and arm thereof and using method.
Background technology
In electronic assemblies and production line, the robot of food fast transfer is SCARA robot mostly in the market
And spider humanoid robot, they can complete fast transfer article, and be accurately positioned.But these robot architectures are complicated,
Cost of manufacture is high, and same action is generally required and completed by four axles even six axis mechanism.
Chinese Patent Application No. 201420515514.6, the patent document in publication date on April 15th, 2015, disclose one
SCARA type mechanical arm, described SCARA type mechanical arm includes base, power section and rotating part, and described power section is complete
Portion is fixedly installed in described base, and described power section can drive described rotating part rotate at any angle and appoint
The location in meaning orientation.SCARA type mechanical arm described in this utility model uses multi-stage coaxial transmission, zero of offer power
Part is all placed into firm banking, and the most directly participates in the motion of described SCARA type mechanical arm, thus without consuming each other
Power and inertia, under conditions of same even load, it is possible to reach to save the energy, improve speed and the effect of acceleration, thus
Improve the work efficiency of SCARA type mechanical arm described in this utility model, additionally, the SCARA type machine described in this utility model
Tool arm can independently control the joint motions of each mechanical arm by each servomotor so that described SCARA type mechanical arm
Motion the most accurate.
Chinese Patent Application No. 201320228197.5, the patent document in publication date on November 13rd, 2013, disclose one
Plant Scara robot, including the first rotary joint, the second rotary joint, compound motion joint in rotary moving and spline leading screw, the
One rotary joint and the second rotary joint are connected, and the second rotary joint other end connects compound motion joint in rotary moving, institute
Stating compound motion joint in rotary moving and be divided into rotary joint and linear joint two parts, described rotary joint is by the 3rd servo electricity
Machine output is slowed down through third harmonic decelerator, toothed belt transmission to ball spline inner ring, and described third harmonic decelerator increases
Deep groove ball bearing supports as auxiliary, and this utility model robot is by compound motion intraarticular harmonic speed reducer in rotary moving
Interior increase deep groove ball bearing, is effectively improved the operation rigidity of robot, compact conformation, and precision is high.
Above-mentioned two parts of patent documents disclose the SCARA robot of two kinds of different structures, but both common defects are knots
Structure is complicated, and using screw mandrel leading screw to control mechanical arm action has high requirement to making precision, and therefore cost of manufacture raises.
Summary of the invention
1, problem to be solved
For existing assembling and the transfer problem that robot architecture is complicated, volume is big, manufacturing cost is high, the present invention provides
A kind of three-axis robot and arm thereof and using method, its simple in construction, compact, volume is little, low cost of manufacture, flexible movements,
Precisely, the complicated assembling of existing structure can be replaced and transfer robot realizes improving production efficiency, the effect of reduction production cost
Really.
2, technical scheme
For solving the problems referred to above, the present invention adopts the following technical scheme that.
A kind of three-axis robot arm, including body frame, servomotor and the lifting arm being arranged on body frame end, described master
Frame end portion is provided with chute, and middle part is provided with runner and draws high arm；Described lifting arm is arranged in chute；Described draws high arm
One end and the center of runner be all connected with body frame by bearing pin；Draw high arm and runner can revolve relative to body frame around bearing pin
Turn；It is provided with biasing post on described runner；Described arm end of drawing high is provided with the first chute, and it is sliding that middle part is provided with second
Groove；Described biasing post is arranged in the second chute；First it is provided with protruding on described lifting arm；The first described projection sets
Put in the first chute；Described servomotor is fixing with the bearing pin of roller centre to be connected.
Preferably, the described axis of the bearing pin drawing high arm one end, the centrage of runner are crossed to form with body frame surface
The line of two points is vertical with described chute place straight line.
Preferably, described body frame end is provided with the 3rd chute；Second it is provided with protruding on described lifting arm；Described
The second projection be arranged in the 3rd chute.
Preferably, it is additionally provided with decelerator between described servomotor and the bearing pin of roller centre；Described decelerator
One end is connected with servomotor, and the other end is connected with the bearing pin of roller centre.
Preferably, a length of K of the second described chute, a diameter of d of described biasing post, described roller centre is to partially
The distance at stem center is R, a length of L of the 3rd described chute, wherein K=L=2R+d.
Preferably, the described arm that draws high is provided with rotation basal disc with runner junction；Described rotation basal disc is solid with runner
Fixed connection；
Described drawing high that the bearing pin one end being connected between arm with runner is fixing with runner to be connected, the other end passes and draws high arm
Make to draw high arm to rotate around this bearing pin.
A kind of three-axis robot, including arm, described arm is above-mentioned a kind of three-axis robot arm.
The using method of a kind of three-axis robot, comprises the steps:
S1., the device that can capture article to be transferred is set in lifting arm lower end；
S2. servomotor is started so that it is driving the runner bearing pin around its center to rotate, the biasing post being arranged on runner exists
Slide in second chute, draw high the arm bearing pin around its one end simultaneously and rotate, draw high the arm other end at first protruding and the first chute
Cooperation under drive lifting arm vertically to drop to minimum point in the 3rd chute, stop servomotor；
Startup step S1 is arranged on after S3. in step S2, lifting arm drops to minimum point capturing of lifting arm lower end wait to turn
Move the device of article, capture article to be transferred；
S4. starting servomotor, runner continues around the bearing pin at its center and rotates, and biasing post continues in the second chute sliding
Dynamic, make to draw high the arm bearing pin around its one end and rotate, draw high the arm other end and rise with driving under the cooperation of the first chute in the first projection
Fall arm vertical ascent in the 3rd chute, until lifting arm rises to stop servomotor during peak；
S5. start motor in turntable, make linking arm drive arm respect thereto to rotate, rotate to article purpose to be transferred
Put motor in the platform that stops the rotation；
S6. starting servomotor, runner continues around the bearing pin at its center and rotates, and biasing post continues in the second chute sliding
Dynamic, make to draw high the arm bearing pin around its one end and rotate, draw high the arm other end and rise with driving under the cooperation of the first chute in the first projection
Fall arm vertically drops to minimum point in the 3rd chute, stops servomotor；
Startup step S1 is arranged on after S7. in step S6, lifting arm drops to minimum point capturing of lifting arm lower end wait to turn
Move the device of article, discharge article to be transferred.
Preferably, in described step S2 servomotor through the rotating speed that reductor exports be 60rad/min.
Preferably, in described step, servomotor drives the runner bearing pin around its center to rotate 1 circle stopping；Described step
The bearing pin that in rapid S4, servomotor drives runner to continue around its center rotates 1 circle to be stopped；Servomotor band in described step S6
Dynamic runner continues around the bearing pin at its center and rotates 1 circle stopping.
3, beneficial effect
Compared to prior art, the invention have the benefit that
(1) the robot arm compact structure, simple of the present invention, can be installed to different machines robot end, and motility is high；
Using and arrange biasing post drive stretching arm and the structure of lifting arm execution on runner, cost is low；
(2) present invention uses the simple structure of three coordinate machine device people, it is possible to complete the action of four axle robots, is reducing system
Make cost, simplify robot architecture, improve robot dexterity aspect play important impetus；
(3) present invention draws high the axis of bearing pin of arm one end, centrage and the body frame surface of runner are crossed to form two
The line of point is vertical with described chute place straight line to be had and can reach the quickest and advantage of full range of movement；
(4) present invention arranges second protruding (rectangle slide block) and matches with the 3rd chute, is set directly at lifting arm
Comparing in 3rd chute, when being replaced according to demand after the second protruding effect of attrition precision, this ratio directly changes lifting
Arm is more cost-effective, operates the most simpler；
(5) present invention designs K=L=2R+d, and compared with arbitrarily arranging size, this structure can be more beneficial for controlling speed
Degree, improves and controls accuracy, spacing improve precision by multiple simultaneously；
On the one hand (6) present invention rotates basal disc and plays and make the stretching arm point of rotation be not less than biasing post, on the other hand also makes
The advantage that will not cause movement interference between runner because of deviation during lift arm movements；
(7) the using method step of robot of the present invention is simple, easy to operate, it is possible to complete to pass by a servosystem
The action that the multiple servosystem of system robot just can complete, and its flexible movements, precision is high；
(8) robot motion of the present invention is fast, efficiency is high, can be effectively improved assembling and the production efficiency of transfer production line.
Accompanying drawing explanation
Fig. 1 is the front three-dimensional structure diagram of robot arm of the present invention；
Fig. 2 is the back side three-dimensional structure diagram of robot arm of the present invention；
Fig. 3 is robot arm movement state diagram one of the present invention；
Fig. 4 is robot arm movement state diagram two of the present invention；
Fig. 5 is robot arm size relationship figure of the present invention；
Fig. 6 is robot of the present invention front view；
Fig. 7 is the top view of Fig. 6.
In figure: 1, body frame；2, runner；3, servomotor；4, first is protruding；5, lifting arm；6, the first chute；7, eccentric
Post；8, the second chute；9, arm is drawn high；10, basal disc is rotated；11, the 3rd chute；12, second is protruding；13, base；14, turntable；
15, linking arm.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is further described below.
Embodiment 1
As it is shown in figure 1, a kind of three-axis robot arm, including body frame 1, servomotor 3 and the liter being arranged on body frame 1 end
Fall arm 5, as in figure 2 it is shown, body frame 1 end is provided with the 3rd chute 11, a length of L=100mm of the 3rd chute 11, middle part is arranged
There is runner 2 and draw high arm 9；The second projection 12 it is provided with on lifting arm 5；Second projection 12 is arranged in the 3rd chute 11；Draw high
One end of arm 9 and the center of runner 2 are all connected with body frame 1 by bearing pin；Draw high arm 9 and runner 2 can be relative around bearing pin
Body frame 1 rotates；Draw high the axis of bearing pin of arm 9 one end, two points that the centrage of runner 2 is crossed to form with body frame 1 surface
Line is vertical with chute place straight line；Biasing post 7 it is provided with on runner 2；The a diameter of d=10mm of biasing post 7, runner 2 center is extremely
The distance at biasing post 7 center is R=45mm, draws high arm 9 end and is provided with the first chute 6, and middle part is provided with the second chute 8；The
The a length of K=100mm of two chutes 8, biasing post 7 is arranged in the second chute 8；The first projection 4 it is provided with on lifting arm 5；The
One projection 4 is arranged in the first chute 6；It is additionally provided with decelerator, decelerator between the bearing pin at servomotor 3 and runner 2 center
One end is connected with servomotor 3, and the other end is connected with the bearing pin at runner 2 center；
As it is shown in figure 5, above-mentioned K=L=2R+d in the present embodiment.
The robot arm compact structure of the present invention, simple, different machines robot end can be installed to, motility is high；Adopt
Being used on runner and arrange biasing post drive stretching arm and the structure of lifting arm execution, cost is low.
As shown in Figure 6 and Figure 7, a kind of three-axis robot, including base 13, turntable 14, linking arm 15；Turntable 14 sets
Put in base 13 upper end；It is provided with electric rotating machine control turntable 14 in base 13 to rotate；Linking arm 15 one end and turntable 14
Fixing connection, the other end is provided with as above a kind of three-axis robot arm；Body frame 1 and linking arm 15 in this arm in the present embodiment
Fixing connection.
Robot of the present invention uses the simple structure of three coordinate machine device people, it is possible to complete the action of four axle robots, in fall
Low cost of manufacture, simplification robot architecture, raising robot dexterity aspect play important impetus.
The using method of a kind of three-axis robot, comprises the steps:
S1., the device that can capture article to be transferred is set in lifting arm 5 lower end, to capture ferrous element in the present embodiment
As a example by, in lifting arm 5 lower end, electric magnet is set；
S2. starting servomotor 3, the rotating speed exported through decelerator is 60rad/min；It is made to drive runner 2 around its center
Bearing pin rotate, the biasing post 7 being arranged on runner 2 slides in the second chute 8, draws high the arm 9 bearing pin around its one end simultaneously
Rotate, draw high arm 9 other end first protruding 4 with drive lifting arm 5 under the cooperation of the first chute 6 in the 3rd chute 11 vertical
Drop to minimum point, as shown in Figure 4, stop servomotor 3；
S3. the electromagnetism being arranged on lifting arm 5 lower end in step S1 is started after lifting arm 5 drops to minimum point in step S2
Ferrum, electric magnet energizing magnetic, ferrous element is drawn；
S4. starting servomotor 3, runner 2 continues around the bearing pin at its center and rotates, and biasing post 7 continues in the second chute 8
Slide, make to draw high the arm 9 bearing pin around its one end and rotate, draw high arm 9 other end first protruding 4 with under the cooperation of the first chute 6
Driving lifting arm 5 vertical ascent in the 3rd chute 11, after runner 2 rotates 0.5 circle, lifting arm 5 stops when rising to peak watching
Take motor 3, as shown in Figure 3；
S5. the electric rotating machine arranged in starting base 13, controls turntable 14 and rotates, make linking arm 15 drive arm relative
Base 13 rotates, and rotates to article point of destination to be transferred and stops the rotation motor；
S6. starting servomotor 3, runner 2 continues around the bearing pin at its center and rotates, and biasing post 7 continues in the second chute 8
Slide, make to draw high the arm 9 bearing pin around its one end and rotate, draw high arm 9 other end first protruding 4 with under the cooperation of the first chute 6
Driving lifting arm 5 vertically to decline in the 3rd chute 11, runner 2 rotates lifting arm 5 to minimum point after 0.5 circle, stops servo electricity
Machine 3；
S7. the electromagnetism being arranged on lifting arm 5 lower end in step S1 is started after lifting arm 5 drops to minimum point in step S6
Ferrum, makes electric magnet dead electricity magnetic disappear, and ferrous element falls to appointed place.
In the present embodiment, the using method step of robot is simple, easy to operate, it is possible to be completed by a servosystem
The action that the multiple servosystem of conventional machines people just can complete, and its flexible movements, precision is high；Robot motion is fast, efficiency is high,
Assembling and the production efficiency of transfer production line can be effectively improved.
Embodiment 2
A kind of three-axis robot arm, same as in Example 1, except that, draw high arm 9 and arrange with runner 2 junction
There is rotation basal disc 10；Rotation basal disc 10 is fixing with runner 2 to be connected；Draw high the bearing pin one end being connected between arm 9 with runner 2 and turn
Wheel 2 is fixing to be connected, and the other end makes to draw high arm 9 and can rotate around this bearing pin through drawing high arm 9.
The present embodiment can play beneficial effect same as in Example 1.
Claims (10)
1. a three-axis robot arm, including body frame (1), servomotor (3) and the lifting arm being arranged on body frame (1) end
(5), it is characterised in that: described body frame (1) end is provided with chute, and middle part is provided with runner (2) and draws high arm (9)；Described
Lifting arm (5) be arranged in chute；Described one end drawing high arm (9) and the center of runner (2) are all by bearing pin and master
Frame (1) connects；Draw high arm (9) and runner (2) can rotate relative to body frame (1) around bearing pin；It is provided with on described runner (2)
Biasing post (7)；Described arm (9) end of drawing high is provided with the first chute (6), and middle part is provided with the second chute (8)；Described is inclined
Stem (7) is arranged in the second chute (8)；First protruding (4) it are provided with on described lifting arm (5)；Described first is protruding
(4) it is arranged in the first chute (6)；Described servomotor (3) is fixing with the bearing pin at runner (2) center to be connected.
A kind of three-axis robot arm the most according to claim 1, it is characterised in that: described arm (9) one end of drawing high
The line of two points that the axis of bearing pin, the centrage of runner (2) are crossed to form with body frame (1) surface and described chute place
Straight line is vertical.
A kind of three-axis robot arm the most according to claim 2, it is characterised in that: described body frame (1) end is arranged
There is the 3rd chute (11)；Second protruding (12) it are provided with on described lifting arm (5)；Described second protruding (12) are arranged on the
In three chutes (11).
A kind of three-axis robot arm the most according to claim 3, it is characterised in that: described servomotor (3) with turn
It is additionally provided with decelerator between the bearing pin at wheel (2) center；Described decelerator one end is connected with servomotor (3), the other end with
The bearing pin at runner (2) center connects.
5. according to a kind of three-axis robot arm described in claim 3 or 4, it is characterised in that: described the second chute (8)
A length of K, described biasing post (7) a diameter of d, the distance at described runner (2) center to biasing post (7) center is R, described
The a length of L, wherein K=L=2R+d of the 3rd chute (11).
A kind of three-axis robot arm the most according to claim 5, it is characterised in that: described draws high arm (9) and runner
(2) junction is provided with rotation basal disc (10)；Described rotation basal disc (10) is fixing with runner (2) to be connected；
Described drawing high that the bearing pin one end being connected between arm (9) with runner (2) is fixing with runner (2) to be connected, the other end passes
Draw high arm (9) to make to draw high arm (9) and can rotate around this bearing pin.
7. a three-axis robot, including arm, it is characterised in that: described arm is one three axle described in claim 6
Robot arm.
8. a using method for three-axis robot, comprises the steps:
S1., the device that can capture article to be transferred is set in lifting arm (5) lower end；
S2. servomotor (3) is started so that it is driving the runner (2) bearing pin around its center to rotate, be arranged on runner (2) is inclined
Stem (7) slides in the second chute (8), draws high the arm (9) bearing pin around its one end simultaneously and rotates, draws high arm (9) other end and exist
First protruding (4) with drive under the cooperation of the first chute (6) lifting arm (5) in the 3rd chute (11) vertical drop to minimum
Point, stops servomotor (3)；
S3. the crawl being arranged on lifting arm (5) lower end in startup step S1 after lifting arm (5) drops to minimum point in step S2 is treated
The device of transfer article, captures article to be transferred；
S4. starting servomotor (3), runner (2) continues around the bearing pin at its center and rotates, and biasing post (7) continues at the second chute
(8) slide in, make to draw high the arm (9) bearing pin around its one end and rotate, draw high arm (9) other end sliding with first in first protruding (4)
Lifting arm (5) vertical ascent in the 3rd chute (11) is driven, until lifting arm (5) rises to peak under the cooperation of groove (6)
Time stop servomotor (3)；
S5. start turntable (14) interior motor, make linking arm (15) drive arm respect thereto (13) to rotate, rotate to be transferred
Article point of destination stops the rotation platform (14) interior motor；
S6. starting servomotor (3), runner (2) continues around the bearing pin at its center and rotates, and biasing post (7) continues at the second chute
(8) slide in, make to draw high the arm (9) bearing pin around its one end and rotate, draw high arm (9) other end sliding with first in first protruding (4)
Drive lifting arm (5) vertically to drop to minimum point in the 3rd chute (11) under the cooperation of groove (6), stop servomotor (3)；
S7. the crawl being arranged on lifting arm (5) lower end in startup step S1 after lifting arm (5) drops to minimum point in step S6 is treated
The device of transfer article, discharges article to be transferred.
The using method of a kind of three-axis robot the most according to claim 7, it is characterised in that: described step S2 is watched
Take motor (3) through the rotating speed that reductor exports be 60rad/min.
The using method of a kind of three-axis robot the most according to claim 7, it is characterised in that: in described step S4
The bearing pin that servomotor (3) drives runner (2) to continue around its center rotates 0.5 circle to be stopped；Servomotor in described step S6
(3) bearing pin driving runner (2) to continue around its center rotates 0.5 circle to be stopped.
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| CN201610475073.5A CN106041905B (en) | 2016-06-23 | 2016-06-23 | A kind of three-axis robot and its arm and application method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809647A (en) * | 2017-04-07 | 2017-06-09 | 东莞六鼎智能科技有限公司 | A kind of materials and parts of vision positioning arrange board device automatically |
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| CN105328694A (en) * | 2015-11-03 | 2016-02-17 | 东莞市禹瑞机电设备有限公司 | Efficient cam mechanical hand |
| CN205766125U (en) * | 2016-06-23 | 2016-12-07 | 马鞍山工蜂智能科技有限公司 | A kind of three-axis robot |
| CN205817861U (en) * | 2016-06-23 | 2016-12-21 | 马鞍山工蜂智能科技有限公司 | A kind of three-axis robot arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809647A (en) * | 2017-04-07 | 2017-06-09 | 东莞六鼎智能科技有限公司 | A kind of materials and parts of vision positioning arrange board device automatically |
| CN106809647B (en) * | 2017-04-07 | 2023-01-24 | 东莞六鼎智能科技有限公司 | Automatic plate arrangement equipment for material parts through visual positioning |
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