CN109129455A - A kind of desktop industrial robot and its application method - Google Patents
A kind of desktop industrial robot and its application method Download PDFInfo
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- CN109129455A CN109129455A CN201811245056.8A CN201811245056A CN109129455A CN 109129455 A CN109129455 A CN 109129455A CN 201811245056 A CN201811245056 A CN 201811245056A CN 109129455 A CN109129455 A CN 109129455A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 10
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 53
- 229910000831 Steel Inorganic materials 0.000 claims description 52
- 239000010959 steel Substances 0.000 claims description 52
- 238000004891 communication Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 210000003205 muscle Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000012545 processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 238000005266 casting Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 241000233855 Orchidaceae Species 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 238000003466 welding Methods 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
- 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
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of desktop industrial robots, including pedestal, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and the 5th transmission mechanism, the top of the pedestal is fixedly connected with the flange on first transmission mechanism, first transmission mechanism and the second transmission mechanism are rotatablely connected, the third transmission mechanism is spindle rotationally arranged in the top of the second transmission mechanism, 4th transmission mechanism is connected with third transmission mechanism, and the 5th transmission mechanism is connected with the 4th transmission mechanism.Compared to the prior art each mechanism more of the invention can be performed simultaneously movement, improve operational efficiency, reduce the waiting time, and operating efficiency greatly promotes；Structure fixed below the gyration block of end can replace according to demand simultaneously, versatility is good, and robot body is mostly tightly connected by processing aluminum products workpiece by bolt lock, and low in cost easy to process, overall volume is small to be suitble to small-sized production line operation.
Description
Technical field
The present invention relates to small intelligent equipment technology field, especially a kind of desktop industrial robot and its application method.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, can be according to the program of preparatory layout
Operation, the principle program action that modern industrial robot can also be formulated according to artificial intelligence technology, but existing industry
Robot architecture is many and diverse, and volume can not be suitable for greatly small-sized production line operation, seriously affects the development of enterprise.
In addition, the arm body and turntable of existing robot are all made of the production technology of Mechanical processing of casting, which is in high-volume
Production phase can effectively reduce cost, and be conducive to Industrial Moulding Design.However, with market competition it is fierce into
Row, the trend that small lot customizes is more obvious, inevitable if continuing to use traditional Mechanical processing of casting mode manufacture machine people
So that the factors such as development process is elongated, and the cost of mold investment is big, finally by the research and development cost of larger production, to influence emerging
The development of medium-sized and small enterprises.
Summary of the invention
It is as above to solve the problems, such as the purpose of the present invention is to provide a kind of desktop industrial robot, 5 axis of desktop machine people
Arrangement, wherein 1# axis realizes that revolution acts on X/Y plane；It is arranged in parallel between 2#, 3#, 4#, and perpendicular to X/Y plane,
The movement and posture rotary movement, 5# for realizing product space are fixed on 4#, realize the final posture rotary movement of product；
The structure that the arm body and pedestal of desktop machine people all uses sheet fabrication part to be bolted to connection, stable structure is secured,
Size is small, and total quality also decreases compared with casting structure, more succinct compared with plate welding structure production technology.
In order to solve the above technical problems, the present invention realizes as follows: a kind of desktop industrial machine of the present invention
Device people, including pedestal, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and the 5th driver
Structure, the top of the pedestal are fixedly connected with the flange on first transmission mechanism, and first transmission mechanism and second passes
The rotation connection of motivation structure, the third transmission mechanism are spindle rotationally arranged in the top of the second transmission mechanism, the 4th transmission
Mechanism is connected with third transmission mechanism, and the 5th transmission mechanism is connected with the 4th transmission mechanism；4th driver
Structure includes: the 4th motor, the 4th speed reducer, the 4th shaft, fourth bearing, the first supporting block, the second supporting block and bottom plate, described
4th shaft is set in the end of third transmission mechanism, and the output end of the 4th motor and the 4th speed reducer input terminal, which are constituted, to be passed
Dynamic connection, the output shaft of the 4th speed reducer are connected with the 4th shaft, and first supporting block and the 4th shaft are solid
Fixed connection, the fourth bearing are set in the end of third transmission mechanism, and second supporting block is set in the interior of fourth bearing
On side wall, it is fixedly connected at left and right sides of the upper surface of the bottom plate with the bottom of the first supporting block and the second supporting block.
Preferably, first transmission mechanism include: first motor, the first speed reducer, crossed roller bearing, platform base and
Flange sleeve；The first motor output shaft and the first speed reducer input shaft, which are constituted, to be sequentially connected；First speed reducer and
Platform base is fixedly connected, and the first speed reducer output shaft is mutually fixedly connected by flange sleeve with pedestal；The crossed roller bearing
It is fixedly connected on one side with platform base, another side pedestal is fixedly connected；The platform base includes platform floor, left side vertical plate, right side
Vertical plate and gusset；The left side vertical plate is fixedly mounted on platform floor by gusset；The right side vertical plate and left side vertical plate pair
Claim setting.
Preferably, second transmission mechanism includes: the second motor, the second speed reducer, the second shaft, second bearing,
Two steel tapes I, the second steel tape II and the first arm panel assembly, second motor are connected with second speed reducer；It is described
The output shaft of second speed reducer and second shaft constitute transmission connection；The second bearing is socketed in the second shaft two sides；
Second steel tape I and the second steel tape II are symmetricly set on the second shaft two sides, and the second steel tape I, the second steel tape
It II and second is bolted to connection between shaft；Mutually fixation connects second steel tape I with the first arm panel assembly
It connects, second steel tape II is connected with the first arm panel assembly, and intermediate equipped with washer.
Preferably, the first arm panel assembly includes: the first arm plate and long slab, between the long slab and the first arm plate
Logical gusset is fixedly connected；The first arm board ends portion is in hollow circular shape, is connected between two circles by hollow rectangle；
The first arm plate and long slab are made of aluminum products.
Preferably, the third transmission mechanism includes: third motor, third speed reducer, third shaft, 3rd bearing,
Three steel tapes I, third steel tape II and the second arm panel assembly, the third motor are connected with the third speed reducer；It is described
The output shaft of third speed reducer and the third shaft constitute transmission connection；The 3rd bearing is socketed in third shaft two sides；
The third steel tape I and third steel tape II are symmetricly set on third shaft two sides, and third steel tape I, third steel tape
It is bolted to connection between II and third shaft；Mutually fixation connects the third steel tape I with the second arm panel assembly
It connects, the third steel tape II is connected with the second arm panel assembly, and intermediate equipped with washer.
Preferably, the second arm panel assembly includes side plate I, side plate II and connection sheet；The side plate I and side plate II are symmetrical
Setting；It is fixedly connected between the side plate I and the connection sheet by gusset；Pass through between the side plate II and the connection sheet
Gusset is fixedly connected；Positioning convex platform there are two being set on the side plate II.
Preferably, the 5th transmission mechanism includes: the 5th motor, the 5th speed reducer, flange sleeve I and end gyration block,
5th motor is fixedly connected with the 4th transmission mechanism, and the flange sleeve I and the bottom of the 4th transmission mechanism are solid
Fixed connection is equipped with end gyration block, the fixed company of output end of the 5th speed reducer of the gyration block and institute below the flange sleeve I
It connects；The input shaft of 5th speed reducer is flexibly connected with the 5th motor composition；It is set on the excircle of the flange sleeve I
It is jagged.
Preferably, second steel tape I and the second steel tape II are equipped with pin hole.
Preferably, the pedestal is made of aluminum products；4th motor is one of stepper motor or servo motor；
4th speed reducer is planet-gear speed reducer.
Preferably, the second arm panel assembly is made of aluminum products.
A kind of desktop industrial robot application method, including the following steps:
1) it obtains initial data: the primary data of five axis and five axis working limit data of starting being inputted into computer, and saved；
2) it establishes connection: establishing connection by using RS232/RS485 communication interface and desktop industrial robot；
3) data are transmitted: operating parameter being set on software on computers, and desktop is transmitted to by RS232/RS485 communication interface
Industrial machine, robot instruct running based on the received；
4) operational monitoring: robot operational process can feedback data to computer, and operator according to circumstances does one adjustment of progress, until
It is best to find operation.
Compared with prior art, technical solution of the present invention have the advantage that by the first transmission mechanism of programming Control,
Second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and the 5th transmission mechanism act respectively, can drive end gyration block
Various complex job movements are completed, each mechanism can be performed simultaneously movement, improve operational efficiency, reduce the waiting time, operating efficiency
It greatly promotes；Structure fixed below end gyration block can replace according to demand simultaneously, and versatility is good, robot body mostly by
It processes aluminum products workpiece to be tightly connected by bolt lock, low in cost easy to process, overall volume is small to be suitble to small-sized stream
Waterline production operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of this hair.
Fig. 2 is the first transmission mechanism schematic diagram.
Fig. 3 is the second transmission mechanism schematic diagram.
Fig. 4 is third transmission mechanism schematic diagram.
Fig. 5 is the second arm panel assembly structural schematic diagram.
Fig. 6 is the first arm panel assembly structural schematic diagram.
Fig. 7 is the 5th transmission mechanism schematic diagram.
Fig. 8 is platform base structural schematic diagram.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Please refer to shown in attached drawing 1: a kind of desktop industrial robot of the present invention includes pedestal 1, the first transmission mechanism
2, the second transmission mechanism 3, third transmission mechanism 4, the 4th transmission mechanism 5 and the 5th transmission mechanism 6, the top of the pedestal 1 with
Flange on first transmission mechanism 2 is fixedly connected, and first transmission mechanism 2 and the second transmission mechanism 3 are rotatablely connected, institute
The top that third transmission mechanism 4 is spindle rotationally arranged in the second transmission mechanism 3 is stated, the 4th transmission mechanism 5 is driven with third
Mechanism 6 is connected, and the 5th transmission mechanism 6 is connected with the 4th transmission mechanism 5.
Preferably, as shown in attached drawing 1 and Fig. 7, the 4th transmission mechanism 5 includes: the 4th motor 51, the 4th speed reducer
52, the 4th shaft 53, fourth bearing 54, the first supporting block 55, the second supporting block 56 and bottom plate 57, the 4th shaft set 53 are set
In the end of third transmission mechanism 4, the output end and 52 input terminal of the 4th speed reducer of the 4th motor 51 constitute transmission connection,
The output shaft of 4th speed reducer 52 is connected with the 4th shaft 53, and first supporting block 55 and the 4th shaft 54 are solid
Fixed connection, the fourth bearing set 54 are located at the end of third transmission mechanism 4；Second supporting block 56 is set in fourth bearing
On 54 inner sidewall, the bottom at left and right sides of the upper surface of the bottom plate 57 with the first supporting block 55 and the second supporting block 56 is fixed
Connection.
As shown in attached drawing 2 and Fig. 8, the first transmission mechanism 2 of the present invention include: first motor 21, the first speed reducer 22,
Crossed roller bearing 23, platform base 24 and flange sleeve 25；21 output shaft of first motor and first speed reducer 22 input
Axis constitutes transmission connection；First speed reducer 22 is fixedly connected with platform base 24, and 21 output shaft of the first speed reducer passes through method
Orchid set is fixedly connected with 1 phase of pedestal；23 one side of crossed roller bearing is fixedly connected with platform base 24, and another side pedestal 1 is solid
Fixed connection；The platform base 24 includes platform floor 241, left side vertical plate 242, right side vertical plate 243 and gusset 244；The left side
Vertical plate 242 is fixedly mounted on 241 plate of platform bottom by gusset 244；The right side vertical plate 243 and left side vertical plate 241 are symmetrically set
It sets.First transmission mechanism 2 of the invention is driven using crossed roller bearing, is obtained the effect of revolving support, is increased the antidumping of axis
Torque.Mounting means uses outer ring to be fixed on, and pedestal is motionless, and inner ring is fixed on revolving platform with stepper motor motor stator and puts down
Pedestal 24 moves, but crossed roller bearing inner ring, motor stator, does not have relative motion between platform base three.The rotor of motor
(motor shaft) is fixed on pedestal after connecting with the first speed reducer 22 by flange sleeve.The motor of axis consumes more and a little turns in this way
Dynamic inertia, but solves the problems, such as the big of space hold.
As shown in Fig. 3, second transmission mechanism 3 of the present invention include: the second motor 31, the second speed reducer 32,
Second shaft 33, second bearing 34, the second steel tape I 35, the second steel tape II 36 and the first arm panel assembly 37, second electricity
Machine 31 is connected with second speed reducer 32, for by the second motor 31(servo motor) revolving speed of output subtracted by planetary gear
A next executive item is being transmitted after speed and speed change；The output shaft of second speed reducer 32 and second shaft 33, which are constituted, to be passed
Dynamic connection；The second bearing socket 34 is in 33 two sides of the second shaft；II 63 pairs of second steel tape I 35 and the second steel tape
Claim to be arranged and passes through spiral shell in 33 two sides of the second shaft, and between the second steel tape I 35, the second steel tape II 36 and the second shaft 33
Bolt is fixedly connected；Second steel tape I 35 is fixedly connected with 37 phase of the first arm panel assembly, second steel tape II 36
It is connected with the first arm panel assembly 37, and intermediate equipped with washer 38.Second transmission mechanism 3 of the invention is passed using two
Power ring flange, is respectively connected with axis and arm.Torque on axis is passed on arm.Two of them power transmission ring flange and axis and arm have
Matching relationship, this matching relationship ensure that the concentricity of shafting components, and in addition the precision of half is then protected by 3 positioning pins
Card.
Third transmission mechanism 4 of the present invention as shown in Fig. 4 includes: third motor 41, third speed reducer 42, third turn
Axis 43,3rd bearing 44, third steel tape I 45, third steel tape II 46 and the second arm panel assembly 47, wherein 41 He of third motor
The third speed reducer 42 is connected, and the output shaft and third shaft 43 of third speed reducer 42 constitute transmission connection；3rd bearing
44 are socketed in 43 two sides of third shaft；Third steel tape I 45 and third steel tape II 46 are symmetricly set on 43 two sides of third shaft,
And it is bolted to connection between third steel tape I 45, third steel tape II 46 and third shaft 43；Third steel tape I
45 are fixedly connected with 47 phase of the second arm panel assembly, and third steel tape II 46 is connected with the second arm panel assembly 47, and
Centre is equipped with washer 48.
Further, as shown in Fig. 5, the second arm panel assembly 47 includes side plate I 471, side plate II 472 and connection
Piece 473；The side plate I 471 and side plate II 472 are symmetrical arranged；Pass through bolt between the side plate I 472 and the connection sheet 472
Cooperation is fixedly connected with lock on the corresponding threaded hole of gusset 244；Pass through gusset between the side plate II and the connection sheet
244 are fixedly connected；Positioning convex platform there are two being set on the side plate II.
Further, as shown in fig. 6, the first arm panel assembly 37 includes: the first arm plate 371 and long slab 372, wherein
Lead to gusset 244 between long slab 372 and the first arm plate 371 to be fixedly connected；First arm plate, 371 both ends are in hollow circular shape,
It is connected between two circles by hollow rectangle；The first arm plate 371 and long slab 372 are made of aluminum products.
Further, as shown in Fig. 7, the 5th transmission mechanism 6 includes: the 5th motor 61, the 5th speed reducer 62, method
Orchid set I 63 and end gyration block 64, the 5th motor 61 are fixedly connected with the 4th transmission mechanism 5, the flange sleeve I 63
It is fixedly connected with the bottom of the 4th transmission mechanism 4, I 63 lower section of flange sleeve is equipped with end gyration block 64, the revolution
Block 64 with the output end of the 5th speed reducer 62 be fixedly connected；The input shaft of 5th speed reducer 62 and the 5th motor
61 constitute flexible connection；The excircle of the flange sleeve I 63 is equipped with notch
Use principle of the invention: being acted by plc process control first motor 21, and first motor 21 drives 24 top of platform base
All mechanisms realize whole revolution；Second motor 31 drives the movement of the first arm panel assembly 37, and then realizes and drive the first arm plate
The mechanism molar behavior of 37 top of device, third motor 41 drive the movement of the second arm panel assembly 47, the 4th transmission mechanism 5 and the 5th
Transmission mechanism 6 is moved with the movement of the second arm panel assembly 47；4th motor 51 drives the rotation of the 4th shaft 53, and then drives
The movement of first supporting block 55, so that bottom plate 57 be driven to act, the 5th mechanism 6 is moved integrally with the movement of bottom plate, and end is returned
The component of 64 bottom of switch block is moved with the movement of each mechanism.All workpieces of the present invention are all to be processed to make by aluminum products
At, the reduction R&D and production period, the small production for being suitble to small-sized flow production line of overall volume.
A kind of desktop industrial robot application method, including the following steps:
1) it obtains initial data: the primary data of five axis and five axis working limit data of starting being inputted into computer, and saved；
2) it establishes connection: establishing connection by using RS232/RS485 communication interface and desktop industrial robot；
3) data are transmitted: operating parameter being set on software on computers, and desktop is transmitted to by RS232/RS485 communication interface
Industrial machine, robot instruct running based on the received；
4) operational monitoring: robot operational process can feedback data to computer, and operator according to circumstances does one adjustment of progress, until
It is best to find operation.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of desktop industrial robot, it is characterised in that: passed including pedestal, the first transmission mechanism, the second transmission mechanism, third
Flange on motivation structure, the 4th transmission mechanism and the 5th transmission mechanism, the top of the pedestal and first transmission mechanism is solid
Fixed connection, first transmission mechanism and the second transmission mechanism are rotatablely connected, and the third transmission mechanism is spindle rotationally arranged in
The top of second transmission mechanism, the 4th transmission mechanism are connected with third transmission mechanism, the 5th transmission mechanism and
Four transmission mechanisms are connected；4th transmission mechanism include: the 4th motor, the 4th speed reducer, the 4th shaft, fourth bearing,
First supporting block, the second supporting block and bottom plate, the 4th shaft are set in the end of third transmission mechanism, the 4th motor
Output end and the 4th speed reducer input terminal constitute be sequentially connected, output shaft and the 4th shaft phase of the 4th speed reducer
Connection, first supporting block are fixedly connected with the 4th shaft, and the fourth bearing is set in the end of third transmission mechanism, institute
The second supporting block is stated to be set on the inner sidewall of fourth bearing, at left and right sides of the upper surface of the bottom plate with the first supporting block and the
The bottom of two supporting blocks is fixedly connected.
2. a kind of desktop industrial robot according to claim 1, which is characterized in that first transmission mechanism includes:
First motor, the first speed reducer, crossed roller bearing, platform base and flange sleeve；The first motor output shaft and described first
Speed reducer input shaft constitutes transmission connection；First speed reducer is fixedly connected with platform base, and the first speed reducer output shaft is logical
It crosses flange sleeve and pedestal is connected to a fixed；The crossed roller bearing one side is fixedly connected with platform base, and another side pedestal is fixed
Connection；The platform base includes platform floor, left side vertical plate, right side vertical plate and gusset；The left side vertical plate is fixed by gusset
It is mounted on platform floor；The right side vertical plate and left side vertical plate are symmetrical arranged.
3. a kind of desktop industrial robot according to claim 1, which is characterized in that second transmission mechanism includes:
Second motor, the second speed reducer, the second shaft, second bearing, the second steel tape I, the second steel tape II and the first arm panel assembly,
Second motor is connected with second speed reducer；The output shaft of second speed reducer and second shaft, which are constituted, to be passed
Dynamic connection；The second bearing is socketed in the second shaft two sides；Second steel tape I and the second steel tape II are symmetricly set on
Second shaft two sides, and be bolted to connection between the second steel tape I, the second steel tape II and the second shaft；It is described
Second steel tape I is mutually fixedly connected with the first arm panel assembly, second steel tape II and the first arm panel assembly phase
Connection, and it is intermediate equipped with washer.
4. a kind of desktop industrial robot according to claim 3, which is characterized in that the first arm panel assembly includes:
First arm plate and long slab lead to gusset and are fixedly connected between the long slab and the first arm plate；The first arm board ends portion is in
Hollow circular shape is connected between two circles by hollow rectangle；The first arm plate and long slab are made of aluminum products.
5. a kind of desktop industrial robot according to claim 1, which is characterized in that the third transmission mechanism includes:
Third motor, third speed reducer, third shaft, 3rd bearing, third steel tape I, third steel tape II and the second arm panel assembly,
The third motor is connected with the third speed reducer；The output shaft of the third speed reducer and the third shaft, which are constituted, to be passed
Dynamic connection；The 3rd bearing is socketed in third shaft two sides；The third steel tape I and third steel tape II are symmetricly set on
Third shaft two sides, and be bolted to connection between third steel tape I, third steel tape II and third shaft；It is described
Third steel tape I is mutually fixedly connected with the second arm panel assembly, the third steel tape II and the second arm panel assembly phase
Connection, and it is intermediate equipped with washer；Second arm panel assembly is made of aluminum products.
6. a kind of desktop industrial robot according to claim 1, which is characterized in that the second arm panel assembly includes side
Plate I, side plate II and connection sheet；The side plate I and side plate II are symmetrical arranged；Pass through muscle between the side plate I and the connection sheet
Plate is fixedly connected；It is fixedly connected between the side plate II and the connection sheet by gusset；It is fixed there are two being set on the side plate II
Position boss.
7. a kind of desktop industrial robot according to claim 1, which is characterized in that the 5th transmission mechanism includes:
5th motor, the 5th speed reducer, flange sleeve I and end gyration block, the 5th motor and the 4th transmission mechanism are fixed to be connected
It connects, the flange sleeve is fixedly connected with the bottom of the 4th transmission mechanism, and end gyration block, institute are equipped with below the flange sleeve
State gyration block with the output end of the 5th speed reducer be fixedly connected；The input shaft of 5th speed reducer and the 5th motor
It constitutes and is flexibly connected；The excircle of the flange sleeve is equipped with notch.
8. a kind of desktop industrial robot according to claim 3, which is characterized in that second steel tape I and second
Steel tape II is equipped with pin hole.
9. a kind of desktop industrial robot according to claim 1, it is characterised in that the pedestal is made of aluminum products；Institute
Stating the 4th motor is one of stepper motor or servo motor；4th speed reducer is planet-gear speed reducer.
10. a kind of desktop industrial robot application method, which is characterized in that including the following steps:
It obtains initial data: the primary data of five axis and five axis working limit data of starting being inputted into computer, and saved；
2) it establishes connection: establishing connection by using RS232/RS485 communication interface and desktop industrial robot；
3) data are transmitted: operating parameter being set on software on computers, and desktop is transmitted to by RS232/RS485 communication interface
Industrial machine, robot instruct running based on the received；
4) operational monitoring: robot operational process can feedback data to computer, and operator according to circumstances does one adjustment of progress, until
It is best to find operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245056.8A CN109129455A (en) | 2018-10-24 | 2018-10-24 | A kind of desktop industrial robot and its application method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245056.8A CN109129455A (en) | 2018-10-24 | 2018-10-24 | A kind of desktop industrial robot and its application method |
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| CN109129455A true CN109129455A (en) | 2019-01-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568002A (en) * | 2013-06-25 | 2014-02-12 | 王常勇 | Six-axis degree-of-freedom manipulator |
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