CN107962557A - A kind of four axis robot of desktop - Google Patents
A kind of four axis robot of desktop Download PDFInfo
- Publication number
- CN107962557A CN107962557A CN201711490243.8A CN201711490243A CN107962557A CN 107962557 A CN107962557 A CN 107962557A CN 201711490243 A CN201711490243 A CN 201711490243A CN 107962557 A CN107962557 A CN 107962557A
- Authority
- CN
- China
- Prior art keywords
- robot
- servo motor
- fixed disk
- desktop
- supporting part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 7
- 239000000956 alloy Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229920003051 synthetic elastomer Polymers 0.000 claims description 3
- 239000005061 synthetic rubber Substances 0.000 claims description 3
- 230000007812 deficiency Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of four axis robot of desktop, including rack and robot body, the rack include supporting part and base.The robot body includes fixed disk, four-axle linked unit, horizontal servo motor and rotating servo motor, and the four-axle linked unit includes three robot's arms, three robot forearms and intermediate bar.The fixed disk at the top of the supporting part with being connected, the fixed disk drives the robot's arm to swing up and down respectively by horizontal servo motor, the robot forearm is connected respectively with the robot's arm by the one-to-one connection of rotation axis, three robot forearm bottoms with movable disk.The intermediate bar bottom is connected with movable disk, and the intermediate bar rotates stretching motion under rotating servo motor driving.The invention reduces appearance and size and weight on the basis of kinetic stability is ensured, realization is fast and accurately sorted, and it is larger to solve existing product build, it is impossible to the deficiency of precision parts sorting.
Description
Technical field
The invention belongs to Industrial Robot Technology field, more particularly, to a kind of four axis robot of desktop.
Background technology
Stacking is that article is piled stacking according to certain pattern, a part, to make the stacking of blocking realize material
Carrying, storage, a kind of methods that can carry out in order of logistics activity such as handling transport.Traditional stacking is to human and material resources
Requirement it is all higher, the labor intensity of operator is big, with the development of Machine Manufacturing Technology, industrial stacking widely used at present
Robot.Industrial robot palletizer is integrate the subjects such as machinery, electronics, information, intellectual technology, computer science high-new
Electronic product, with the continuous development of robot of China industry, industrial robot palletizer technical merit is also developed rapidly.
The quality and quantity of product can be not only improved using industrial robot palletizer, but also to guaranteeing personal safety, improves work situation,
Reduce labor intensity, raise labour productivity, save material consumption and reduce production cost with, have highly important meaning
Justice.
It is right since the size and weight of segregating articles determine the fuselage diameter of industrial robot palletizer mostly more than one meter
In the sorting and carrying of some precision parts, the huge industrial robot palletizer of build tends not to realize.Therefore current city
Need a build smaller on face, the industrial robot palletizer that can be placed on desktop, can ensure the basis of stable movement
It is upper to realize to the quick accurate sorting work of precision parts.
The content of the invention
The invention will be solved the problems, such as to be to provide a kind of four axis robot of desktop, solved existing in the prior art
Industrial robot palletizer volume is larger, it is impossible to the problem of carrying out sorting stacking to precise part.
In order to solve the above technical problems, the technical solution that the invention uses is：
A kind of four axis robot of desktop is provided, including rack and robot body, the rack include supporting part and base,
The supporting part bottom is connected with the base.The robot body includes fixed disk, four-axle linked unit, horizontal servo electricity
Machine and rotating servo motor, the four-axle linked unit include three robot's arms, three robot forearms and intermediate bar.
With being connected at the top of the supporting part, the fixed disk is driven on the robot's arm fixed disk by horizontal servo motor
Lower swing, the robot forearm pass through the one-to-one connection of rotation axis, three robot forearms with the robot's arm
Bottom is connected respectively with movable disk.The intermediate bar bottom is connected with movable disk, and the intermediate bar drives in rotating servo motor
Lower rotation stretching motion, the activity tray bottom are equipped with fixture.
Further, the supporting part includes supporting rod and curved boom, and the supporting rod bottom is connected with base, the curved boom
Top is connected with fixed disk.
Further, upper cover is further included, the upper cover is located at fixed disk top, and the rotating servo motor is located in upper cover
Portion.
Further, shell is further included, the shell is located at the fixed disk lower part, and the horizontal servo motor is located at institute
State enclosure.
Further, the bottom of the base is equipped with non-slip mat, and the non-slip mat is synthetic rubber non-slip mat.
Further, the material of the rack and robot body is aviation aluminum alloy material.
The invention reduces appearance and size and weight on the basis of kinetic stability is ensured, realizes fast and accurately
Sorting, it is larger to solve existing parallel manipulator human body type, it is impossible to the deficiency of precision parts sorting.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of four axis robot of desktop of the invention.
Wherein：
1st, upper cover 2, supporting part 3, base
4th, fixed disk 5, shell 6, robot's arm
7th, robot forearm 8, intermediate bar 9, movable disk
Embodiment
The technical solution of the invention is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the invention part of the embodiment, instead of all the embodiments.Based on the embodiment in the invention, sheet
Field those of ordinary skill all other embodiments obtained without making creative work, belong to the present invention
Create the scope of protection.
, it is necessary to explanation in the description of the invention, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description is of the invention with simplified, rather than the device or element of instruction or hint meaning must be with specifically sides
Position, with specific azimuth configuration and operation, therefore it is not intended that limitation to the invention.In addition, term " first ",
" second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the invention
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the invention.
The invention is to be based on " 3+1 axis in parallel ", i.e. the operation principle of " rotation axis among+one, three axis in parallel " is ground
Hair.As shown in Figure 1, the invention includes rack and robot body, the rack includes supporting part and base, the support
Portion bottom is connected with the base.The robot body includes fixed disk, four-axle linked unit, horizontal servo motor and rotation
Servomotor, the four-axle linked unit include three robot's arms, three robot forearms and intermediate bar.The fixation
For disk with being connected at the top of the supporting part, the fixed disk drives the robot's arm to swing up and down by horizontal servo motor,
The robot forearm passes through the one-to-one connection of rotation axis, three robot forearm bottoms and work with the robot's arm
Moving plate connects respectively, and the activity tray bottom is equipped with fixture.Robot's arm, which is swung up and down, drives robot forearm to swing, then
Drive movable disk move horizontally, so as to fulfill fixture horizontal plane operation.The intermediate bar bottom is connected with movable disk, described
Intermediate bar rotates stretching motion under rotating servo motor driving, so that drive the rotary extension of movable disk to move, so as to fulfill
Operation of the fixture in vertical direction.Four overall axle construction reduce the volume of the invention, it is ensured that precision parts are grasped
Make more accurate.
The invention further includes upper cover, and the upper cover is located at fixed disk top, and the rotating servo motor is located at upper cover
It is internal.The invention further includes shell, and the shell is located at the fixed disk lower part, and the horizontal servo motor is positioned at described
Enclosure.The supporting part includes supporting rod and curved boom, and the supporting rod bottom is connected with base, at the top of the curved boom and solid
Price fixing is connected.
The bottom of the base is equipped with non-slip mat, and the non-slip mat is synthetic rubber non-slip mat.The setting of non-slip mat avoids
The unexpected slip of the invention in use, adds the stability of product.
The material of the rack and robot body is aviation aluminum alloy material.Using light weight, the aviation aluminium of good rigidity
Alloy material is as main material, it is ensured that the invention weight under equal volume is most light.
The invention reduces appearance and size and weight on the basis of kinetic stability is ensured, realizes fast and accurately
Sorting, it is larger to solve existing parallel manipulator human body type, it is impossible to the deficiency of precision parts sorting.
The embodiment of the invention is described in detail above, but the content is only the preferable of the invention
Embodiment, it is impossible to be construed as limiting the practical range of the invention.It is all made according to the invention application range it is equal
Deng change and improvement etc., shall remain within the patent scope covered by the invention.
Claims (6)
1. a kind of four axis robot of desktop, including rack and robot body, it is characterised in that：The rack include supporting part and
Base, the supporting part bottom are connected with the base；The robot body includes fixed disk, four-axle linked unit, level
Servomotor and rotating servo motor, the four-axle linked unit include three robot's arms, three robot forearms and
Intermediate bar；For the fixed disk with being connected at the top of the supporting part, the fixed disk drives the machine by horizontal servo motor
People's large arm is swung up and down, and the robot forearm passes through the one-to-one connection of rotation axis, three machines with the robot's arm
Device people's forearm bottom is connected respectively with movable disk；
The intermediate bar bottom is connected with movable disk, and the intermediate bar rotates stretching motion under rotating servo motor driving；Institute
State activity tray bottom and be equipped with fixture.
2. four axis robot of desktop according to claim 1, it is characterised in that：The supporting part includes supporting rod and curved
Arm, the supporting rod bottom are connected with base, are connected at the top of the curved boom with fixed disk.
3. four axis robot of desktop according to claim 2, it is characterised in that：Upper cover is further included, the upper cover is located at institute
Fixed disk top is stated, the rotating servo motor is located inside the upper cover.
4. four axis robot of desktop according to claim 3, it is characterised in that：Shell is further included, the shell is located at institute
Fixed disk lower part is stated, the horizontal servo motor is located in the shell portion.
5. four axis robot of desktop according to claim 4, it is characterised in that：The bottom of the base is equipped with non-slip mat,
The non-slip mat is synthetic rubber non-slip mat.
6. four axis robot of desktop as claimed in any of claims 1 to 5, it is characterised in that：The rack and machine
The material of device human body is aviation aluminum alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711490243.8A CN107962557A (en) | 2017-12-29 | 2017-12-29 | A kind of four axis robot of desktop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711490243.8A CN107962557A (en) | 2017-12-29 | 2017-12-29 | A kind of four axis robot of desktop |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107962557A true CN107962557A (en) | 2018-04-27 |
Family
ID=61993902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711490243.8A Pending CN107962557A (en) | 2017-12-29 | 2017-12-29 | A kind of four axis robot of desktop |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107962557A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1878544A1 (en) * | 2006-07-11 | 2008-01-16 | CSEM Centre Suisse d'Electronique et de Microtechnique SA | Parallel positioning mechanism with articulated upper arm |
| US20110113915A1 (en) * | 2009-11-18 | 2011-05-19 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Parallel robot |
| CN103213118A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
| CN103231363A (en) * | 2013-04-28 | 2013-08-07 | 苏州博实机器人技术有限公司 | Operational type table-surface parallel robot |
| CN204528621U (en) * | 2015-01-29 | 2015-08-05 | 东莞市李群自动化技术有限公司 | A kind of connecting gear adopting parallel robot to carry out collaborative work |
| CN105513455A (en) * | 2016-02-15 | 2016-04-20 | 苏州哈工海渡工业机器人有限公司 | Modular Delta parallel robot practical training platform |
| CN105538295A (en) * | 2016-02-22 | 2016-05-04 | 武汉需要智能技术有限公司 | Desktop type parallel mechanical arm |
| CN205600708U (en) * | 2015-12-19 | 2016-09-28 | 华南理工大学广州学院 | Teaching parallel robot |
| CN107322576A (en) * | 2017-08-31 | 2017-11-07 | 天津超众机器人科技有限公司 | A kind of three proofings parallel robot for being easy to safeguard |
-
2017
- 2017-12-29 CN CN201711490243.8A patent/CN107962557A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1878544A1 (en) * | 2006-07-11 | 2008-01-16 | CSEM Centre Suisse d'Electronique et de Microtechnique SA | Parallel positioning mechanism with articulated upper arm |
| US20110113915A1 (en) * | 2009-11-18 | 2011-05-19 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Parallel robot |
| CN103213118A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
| CN103231363A (en) * | 2013-04-28 | 2013-08-07 | 苏州博实机器人技术有限公司 | Operational type table-surface parallel robot |
| CN204528621U (en) * | 2015-01-29 | 2015-08-05 | 东莞市李群自动化技术有限公司 | A kind of connecting gear adopting parallel robot to carry out collaborative work |
| CN205600708U (en) * | 2015-12-19 | 2016-09-28 | 华南理工大学广州学院 | Teaching parallel robot |
| CN105513455A (en) * | 2016-02-15 | 2016-04-20 | 苏州哈工海渡工业机器人有限公司 | Modular Delta parallel robot practical training platform |
| CN105538295A (en) * | 2016-02-22 | 2016-05-04 | 武汉需要智能技术有限公司 | Desktop type parallel mechanical arm |
| CN107322576A (en) * | 2017-08-31 | 2017-11-07 | 天津超众机器人科技有限公司 | A kind of three proofings parallel robot for being easy to safeguard |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210507 Address after: No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province Applicant after: Bokent (Yuyao) robot technology Co.,Ltd. Address before: Room 101, 1st floor, building A2, area a, airport international headquarters base, No.8 Pingying Road, Dongli District, Tianjin Applicant before: BEKANNTER (TIANJIN) ROBOT TECHNOLOGY Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180427 |