CN106041905B - A kind of three-axis robot and its arm and application method - Google Patents
A kind of three-axis robot and its arm and application method Download PDFInfo
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- CN106041905B CN106041905B CN201610475073.5A CN201610475073A CN106041905B CN 106041905 B CN106041905 B CN 106041905B CN 201610475073 A CN201610475073 A CN 201610475073A CN 106041905 B CN106041905 B CN 106041905B
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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
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- 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
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Abstract
The invention discloses a kind of three-axis robot and its arm and application methods, belong to robot field, which solve existing assembling and transfer with the problem of robot architecture is complicated, volume is big, manufacture is of high cost.The arm of the present invention includes body frame, servomotor and the lifting arm for being arranged on body frame end, and body frame end set has sliding slot, and middle part is provided with runner and draws high arm；Lifting arm is arranged in sliding slot；It draws high one end of arm and the center of runner is connected by axis pin with body frame；It draws high arm and runner can be rotated around axis pin relative to body frame；Biasing post is provided on runner；Drawing high arm end set has the first sliding groove, and middle part is provided with the second sliding slot；Biasing post is arranged in the second sliding slot；The first protrusion is provided on lifting arm；First protrusion is arranged in the first sliding groove；The servomotor is fixedly connected with the axis pin of roller centre.The present invention can substitute the assembling of existing structure complexity and transfer robot to realize the effect for improving production efficiency, reducing production cost.
Description
Technical field
The invention belongs to robot fields, specifically, are related to a kind of three-axis robot and its arm and application method.
Background technology
The robot of food fast transfer is SCARA robots mostly in electronic assemblies and production line currently on 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 generally requires to complete by four axis even six axis mechanisms.
Chinese Patent Application No. 201420515514.6, the patent document in publication date on April 15th, 2015, discloses one kind
SCARA type mechanical arms, the SCARA types mechanical arm include pedestal, power section and rotating part, and the power section is complete
Portion is fixedly installed in the pedestal, and the power section can drive the rotating part rotate at any angle and appoint
The positioning in orientation of anticipating.SCARA types mechanical arm described in the utility model is driven using multi-stage coaxial, zero of offer power
Part is all placed into firm banking, and does not participate in the movement of the SCARA types mechanical arm directly, therefore will not consume each other
Power and inertia, under conditions of same even load, can achieve the effect that save the energy, improve speed and acceleration, so as to
The work efficiency of the SCARA type mechanical arms described in the utility model is improved, in addition, the SCARA type machines described in the utility model
Tool arm can pass through the joint motions of each each mechanical arm of servomotor independent control so that the SCARA types mechanical arm
Movement it is more accurate.
Chinese Patent Application No. 201320228197.5, the patent document in publication date on November 13rd, 2013, discloses one
Kind of 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
It states compound motion joint in rotary moving and is divided into rotary joint and linear joint two parts, the rotary joint passes through the 3rd servo electricity
Machine output is slowed down by third harmonic retarder, toothed belt transmission to ball spline inner ring, and the third harmonic retarder increases
Deep groove ball bearing passes through as Auxiliary support, the utility model robot in the intra-articular harmonic speed reducer of compound motion in rotary moving
Interior increase deep groove ball bearing is effectively improved the operation rigidity of robot, compact-sized, and precision is high.
Above-mentioned two parts of patent documents disclose the SCARA robots of two kinds of different structures, but the common defects of the two are knots
Structure is complicated, has high requirement to making precision using the action of screw leading screw control machinery arm, therefore cost of manufacture raises.
The content of the invention
1st, to solve the problems, such as
For existing assembling and transfer the problem of robot architecture is complicated, volume is big, manufacture is of high cost, present invention offer
A kind of three-axis robot and its arm and application method, simple in structure, compact, small, manufacture is at low cost, flexible movements,
Precisely, the assembling of existing structure complexity and transfer robot can be substituted to realize the effect for improving production efficiency, reducing production cost
Fruit.
2nd, technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of three-axis robot arm, including body frame, servomotor and the lifting arm for being arranged on body frame end, the master
Frame end portion is provided with the 3rd sliding slot, and middle part is provided with runner and draws high arm；The lifting arm is arranged in the 3rd sliding slot；It is described
The one end for drawing high arm and the center of runner be connected by axis pin with body frame；It draws high arm and runner can be opposite around axis pin
Body frame rotates；Biasing post is provided on the runner；The arm end set that draws high has the first sliding groove, and middle part is provided with
Two sliding slots；The biasing post is arranged in the second sliding slot；The first protrusion is provided on the lifting arm；Described first is convex
It rises and is arranged in the first sliding groove；The servomotor is fixedly connected with the axis pin of roller centre.
Preferably, the axis of the axis pin for drawing high arm one end, the center line of runner are crossed to form with body frame surface
The line of two points is vertical with straight line where the 3rd sliding slot.
Preferably, the second protrusion is provided on the lifting arm；Second protrusion is arranged in the 3rd sliding slot.
Preferably, it is additionally provided with retarder between the servomotor and the axis pin of roller centre；The retarder
One end is connected with servomotor, the axis pin connection of the other end and roller centre.
Preferably, the length of second sliding slot is K, and a diameter of d of the biasing post, the roller centre is to inclined
The distance at stem center is R, and the length of the 3rd sliding slot is L, wherein K=L=2R+d.
Preferably, the arm that draws high is provided with rotation basal disc with body frame junction；The rotation basal disc is consolidated with body frame
Fixed connection；
Described axis pin one end for drawing high connection between arm and body frame is fixedly connected with body frame, and the other end passes through and draws high arm
Allow to draw high arm around axis pin rotation.
A kind of three-axis robot, including arm, the arm is a kind of above-mentioned three-axis robot arm.
A kind of application method of three-axis robot, includes the following steps：
S1. the device of article to be transferred can be captured by being set in lifting arm lower end；
S2. start servomotor, make it that axis pin of the runner around its center be driven to rotate, the biasing post being arranged on runner exists
It is slided in second sliding slot, while draws high arm and rotated around the axis pin of its one end, draw high the arm other end in the first protrusion and the first sliding groove
Cooperation under lifting arm is driven vertically to drop to minimum point in the 3rd sliding slot, stop servomotor；
S3. lifting arm drops to after minimum point and capturing for lifting arm lower end is arranged in starting step S1 waits to turn in step S2
The device of article is moved, captures article to be transferred；
S4. servomotor is started, runner continues around the axis pin rotation at its center, and biasing post continues sliding in the second sliding slot
It is dynamic, make to draw high axis pin rotation of the arm around its one end, draw high the drive under cooperation of first protrusion with the first sliding groove of the arm other end and rise
Arm vertical ascent in the 3rd sliding slot drops, until lifting arm stops servomotor when rising to peak；
S5. start motor in turntable, make linking arm that arm be driven to be rotated relative to pedestal, rotate to article purpose to be transferred
Put motor in the platform that stops rotating；
S6. servomotor is started, runner continues around the axis pin rotation at its center, and biasing post continues sliding in the second sliding slot
It is dynamic, make to draw high axis pin rotation of the arm around its one end, draw high the drive under cooperation of first protrusion with the first sliding groove of the arm other end and rise
Drop arm vertically drops to minimum point in the 3rd sliding slot, stops servomotor；
S7. lifting arm drops to after minimum point and capturing for lifting arm lower end is arranged in starting step S1 waits to turn in step S6
The device of article is moved, discharges article to be transferred.
Preferably, the rotating speed that servomotor is exported through speed reducer in the step S2 is 60rad/min.
Preferably, servomotor drives axis pin rotation 1 circle of the runner around its center to stop in the step；The step
1 circle of axis pin rotation that servomotor drives runner to continue around its center in rapid S4 stops；Servomotor band in the step S6
1 circle of axis pin rotation that turn wheel continues around its center stops.
3rd, advantageous effect
Compared with the prior art, beneficial effects of the present invention are：
(1) robot arm compact structure of the invention, simple, can be installed to different machines people end, flexibility is high；
Using the structure that biasing post is set to drive stretching arm and lifting arm execution on runner, cost is low；
(2) present invention uses the simple structure of three coordinate machine device people, can complete the action of four axis robots, is made reducing
Make to play important impetus in terms of cost, simplified robot architecture, raising robot dexterity；
(3) present invention draw high the axis of axis pin of arm one end, two that center line and the body frame surface of runner are crossed to form
The line of point is vertical with straight line where the sliding slot to have the advantages that reach most quick and maximum range of activities；
(4) present invention sets second raised (rectangle sliding block) to be engaged with the 3rd sliding slot, is set directly at lifting arm
It compares, can be replaced according to demand after the second raised effect of attrition precision, this is than directly replacing lifting in 3rd sliding slot
Arm more saves cost, and operation is also simpler；
(5) present invention design K=L=2R+d, compared with arbitrarily setting size, this structure can be more advantageous to control speed
Degree improves control accuracy, while improves precision by multiple /V；
(6) on the one hand present invention rotation basal disc, which plays, makes the stretching arm point of rotation be not less than biasing post, and on the other hand also having makes
The advantages of will not causing the movement interference between runner during lift arm movements because of deviation；
(7) the application method step of robot of the present invention is simple, easy to operate, can complete to pass by a servo-drive system
The action that the multiple servo-drive systems of system robot could be completed, and its flexible movements, precision are high；
(8) robot motion of the present invention is fast, efficient, can effectively improve the production efficiency of assembling and transfer production line.
Description of the drawings
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 front view of the present invention；
Fig. 7 is the top view of Fig. 6.
In figure：1st, body frame；2nd, runner；3rd, servomotor；4th, the first protrusion；5th, lifting arm；6th, the first sliding groove；7th, it is eccentric
Column；8th, the second sliding slot；9th, arm is drawn high；10th, basal disc is rotated；11st, the 3rd sliding slot；12nd, the second protrusion；13rd, pedestal；14th, turntable；
15th, linking arm.
Specific embodiment
The present invention is further described below with reference to specific embodiment.
Embodiment 1
As shown in Figure 1, a kind of three-axis robot arm, including body frame 1, servomotor 3 and the liter for being arranged on 1 end of body frame
Arm 5 drops, as shown in Fig. 2, 1 end set of body frame has the 3rd sliding slot 11, the length of the 3rd sliding slot 11 is L=100mm, and middle part is set
There is runner 2 and draw high arm 9；The second protrusion 12 is provided on lifting arm 5；Second protrusion 12 is arranged in the 3rd sliding slot 11；It draws high
One end of arm 9 and the center of runner 2 are connected by axis pin with body frame 1；It draws high arm 9 and runner 2 can be opposite around axis pin
Body frame 1 rotates；Draw high two points that the axis of the axis pin of 9 one end of arm, the center line of runner 2 and 1 surface of body frame are crossed to form
Line is vertical with 11 place straight line of the 3rd sliding slot；Biasing post 7 is provided on runner 2；7 a diameter of d=10mm of biasing post, runner 2
The distance at center to 7 center of biasing post is R=45mm, and drawing high 9 end set of arm has the first sliding groove 6, and middle part is provided with the second cunning
Slot 8；The length of second sliding slot 8 is K=100mm, and biasing post 7 is arranged in the second sliding slot 8；It is convex that first is provided on lifting arm 5
Play 4；First protrusion 4 is arranged in the first sliding groove 6；Retarder is additionally provided between the axis pin at 2 center of servomotor 3 and runner,
Retarder one end is connected with servomotor 3, and the other end is connected with the axis pin at 2 center of runner；
As shown in figure 5, above-mentioned K=L=2R+d in the present embodiment.
It is the robot arm compact structure of the present invention, simple, different machines people end can be installed to, flexibility is high；It adopts
It is low with the setting biasing post drive stretching arm on runner and the structure of lifting arm execution, cost.
As shown in Figure 6 and Figure 7, a kind of three-axis robot, including pedestal 13, turntable 14, linking arm 15；Turntable 14 is set
It puts in 13 upper end of pedestal；Electric rotating machine control turntable 14 is provided in pedestal 13 to rotate；15 one end of linking arm and turntable 14
It is fixedly connected, the other end is provided with a kind of as above three-axis robot arm；Body frame 1 and linking arm 15 in the arm in the present embodiment
It is fixedly connected.
Robot of the present invention uses the simple structure of three coordinate machine device people, can complete the action of four axis robots, drop
Low cost of manufacture plays important impetus in terms of simplifying robot architecture, raising robot dexterity.
A kind of application method of three-axis robot, includes the following steps：
S1. the device of article to be transferred can be captured by being set in 5 lower end of lifting arm, to capture ferrous element in the present embodiment
Exemplified by, in 5 lower end of lifting arm, electromagnet is set；
S2. servomotor 3 is started, the rotating speed through retarder output is 60rad/min；It is made to drive runner 2 around its center
Axis pin rotation, be arranged on biasing post 7 on runner 2 and slided in the second sliding slot 8, while draw high axis pin of the arm 9 around its one end
Rotation draws high 9 other end of arm in the first protrusion 4 with driving lifting arm 5 vertical in the 3rd sliding slot 11 under the cooperation of the first sliding groove 6
Minimum point is dropped to, as shown in figure 4, stopping servomotor 3；
S3. lifting arm 5 drops to after minimum point the electromagnetism that 5 lower end of lifting arm is arranged in starting step S1 in step S2
Iron, electromagnet energizing magnetic, ferrous element is drawn；
S4. servomotor 3 is started, runner 2 continues around the axis pin rotation at its center, and biasing post 7 continues in the second sliding slot 8
It slides, makes to draw high axis pin rotation of the arm 9 around its one end, draw high 9 other end of arm under cooperation of first protrusion 4 with the first sliding groove 6
The drive vertical ascent in the 3rd sliding slot 11 of lifting arm 5 stops watching when lifting arm 5 rises to peak after the rotation of runner 2 0.5 is enclosed
Motor 3 is taken, as shown in Figure 3；
S5. the electric rotating machine set in pedestal 13 is started, control turntable 14 rotates, and linking arm 15 is made to drive arm opposite
Pedestal 13 rotates, and rotates to article point of destination to be transferred and stops rotating motor；
S6. servomotor 3 is started, runner 2 continues around the axis pin rotation at its center, and biasing post 7 continues in the second sliding slot 8
It slides, makes to draw high axis pin rotation of the arm 9 around its one end, draw high 9 other end of arm under cooperation of first protrusion 4 with the first sliding groove 6
Lifting arm 5 is driven vertically to decline in the 3rd sliding slot 11, lifting arm 5 stops servo electricity to minimum point after 0.5 circle of the rotation of runner 2
Machine 3；
S7. lifting arm 5 drops to after minimum point the electromagnetism that 5 lower end of lifting arm is arranged in starting step S1 in step S6
Iron makes electromagnet dead electricity is magnetic to disappear, and ferrous element falls to appointed place.
The application method step of robot is simple in the present embodiment, easy to operate, can be completed by a servo-drive system
The action that the multiple servo-drive systems of traditional robot could be completed, and its flexible movements, precision are high；Robot motion is fast, efficient,
The production efficiency of assembling and transfer production line can be effectively improved.
Embodiment 2
A kind of three-axis robot arm, it is same as Example 1, it is set the difference is that drawing high arm 9 with 1 junction of body frame
There is rotation basal disc 10；Rotation basal disc 10 is fixedly connected with body frame 1；Draw high axis pin one end and the master of connection between arm 9 and body frame 1
Frame 1 is fixedly connected, and the other end allows to draw high arm 9 around axis pin rotation through arm 9 is drawn high.
The present embodiment can play advantageous effect same as Example 1.
Claims (4)
1. a kind of three-axis robot, including arm, it is characterised in that：Including body frame (1), servomotor (3) and it is arranged on body frame
(1) lifting arm (5) of end, the body frame (1) end set have the 3rd sliding slot (11), and middle part is provided with runner (2) and draws
Rise arm (9)；The lifting arm (5) is arranged in the 3rd sliding slot (11)；Described one end for drawing high arm (9) and runner (2)
Center be connected by axis pin with body frame (1)；It draws high arm (9) and runner (2) can be rotated around axis pin relative to body frame (1)；
Biasing post (7) is provided on the runner (2)；Described arm (9) end set that draws high has the first sliding groove (6), and middle part is set
There is the second sliding slot (8)；The biasing post (7) is arranged in the second sliding slot (8)；First is provided on the lifting arm (5)
Raised (4)；Described first raised (4) is arranged in the first sliding groove (6)；The servomotor (3) and runner (2) center
Axis pin is fixedly connected；
The axis of the axis pin for drawing high arm (9) one end, the center line of runner (2) and body frame (1) surface be crossed to form two
The line of a point is vertical with straight line where the 3rd sliding slot (11)；
Second raised (12) are provided on the lifting arm (5)；Described second raised (12) is arranged on the 3rd sliding slot (11)
It is interior；
Retarder is additionally provided between the servomotor (3) and the axis pin at runner (2) center；Described retarder one end with
Servomotor (3) connects, and the other end is connected with the axis pin at runner (2) center；
The length of second sliding slot (8) be K, the biasing post (7) a diameter of d, the runner (2) center to bias
The distance at column (7) center is R, and the length of the 3rd sliding slot (11) is L, wherein K=L=2R+d；
The arm (9) that draws high is provided with rotation basal disc (10) with body frame (1) junction；The rotation basal disc (10) and body frame
(1) it is fixedly connected；
Described axis pin one end being connected between arm (9) and body frame (1) of drawing high is fixedly connected with body frame (1), and the other end passes through
Drawing high arm (9) makes to draw high arm (9) and can be rotated around the axis pin.
2. a kind of application method of three-axis robot, includes the following steps：
S1. the device of article to be transferred can be captured by being set in lifting arm (5) lower end；
S2. start servomotor (3), make it that axis pin of the runner (2) around its center be driven to rotate, be arranged on inclined on runner (2)
Stem (7) slides in the second sliding slot (8), while draws high arm (9) and rotated around the axis pin of its one end, draws high arm (9) other end and exists
First raised (4) and drive lifting arm (5) under the cooperation of the first sliding groove (6) in the 3rd sliding slot (11) it is vertical drop to it is minimum
Point stops servomotor (3)；
S3. lifting arm (5) drops to after minimum point and the crawl of lifting arm (5) lower end is arranged in starting step S1 treats in step S2
The device of article is shifted, captures article to be transferred；
S4. servomotor (3) is started, runner (2) continues around the axis pin rotation at its center, and biasing post (7) continues in the second sliding slot
(8) slided in, make to draw high axis pin rotation of the arm (9) around its one end, draw high arm (9) other end and slided in first raised (4) with first
Lifting arm (5) is driven under the cooperation of slot (6) in the 3rd sliding slot (11) interior vertical ascent, until lifting arm (5) rises to peak
When stop servomotor (3)；
S5. start turntable (14) interior motor, make linking arm (15) that arm be driven to be rotated relative to pedestal (13), rotate to be transferred
Article point of destination stops rotating platform (14) interior motor；
S6. servomotor (3) is started, runner (2) continues around the axis pin rotation at its center, and biasing post (7) continues in the second sliding slot
(8) slided in, make to draw high axis pin rotation of the arm (9) around its one end, draw high arm (9) other end and slided in first raised (4) with first
Under the cooperation of slot (6) lifting arm (5) is driven vertically to drop to minimum point in the 3rd sliding slot (11), stop servomotor (3)；
S7. lifting arm (5) drops to after minimum point and the crawl of lifting arm (5) lower end is arranged in starting step S1 treats in step S6
The device of article is shifted, discharges article to be transferred.
3. a kind of application method of three-axis robot according to claim 2, it is characterised in that：It is watched in the step S2
It is 60rad/min to take the rotating speed that motor (3) is exported through speed reducer.
4. a kind of application method of three-axis robot according to claim 3, it is characterised in that：It is watched in the step S4
0.5 circle of axis pin rotation that motor (3) drives runner (2) to continue around its center is taken to stop；Servomotor (3) in the step S6
0.5 circle of axis pin rotation that runner (2) continues around its center is driven to stop.
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| 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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