CN110480599A - A kind of robot - Google Patents

Abstract

The present invention relates to a kind of robots, it includes pedestal and is mounted on the base the rotation seat of end face by first rotating shaft, rotation seat connects the first arm by the second shaft, first arm is connect by third shaft with the second arm, second arm is connect by the 4th shaft with attachment device, rotation seat is equipped with the first stepper motor connection for driving first rotating shaft rotation, one end of second shaft is equipped with the second stepper motor for driving the movement of the first arm, one end of third shaft is equipped with the third stepper motor for driving the movement of the second arm, the upper surface of attachment device is equipped with the 4th stepper motor for driving attachment device movement, first arm and the second arm are the arc curved boom with radian respectively.The control module of servo-drive is not depended on, control module executes mentioned order, eliminates the operand of program, the cost of control program is saved, while mechanical arm is designed using curved boom, radius of turn is larger, the volume of robot is effectively reduced, making robot, enhanced convenience is reasonable when in use.

Description

A kind of robot

Technical field

The present invention relates to a kind of robots.

Background technique

Industrial robot is multi-joint manipulator or multivariant robot towards industrial circle, can be by fixed journey Object is carried in sequence crawl.Industrial robot can replace the heavy labor of people to realize the mechanization and automation of production, and can be It operates under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy etc..

Existing robot usually completes the rotation in each joint by servo-drive, to realize robot in space Position it is mobile, stop and the change of speed etc., and realize above-mentioned movement, the control module of servo-drive need to be relied on, controlled Module executes mentioned order, then the operation program of large amount of complex is needed, in this way, control cost is undoubtedly increased, in addition, existing The mechanical arm of robot is all flat design, causes mechanical arm radius of turn smaller, and increases the volume of robot, leads to machine The mechanical arm stress of device people is unreasonable.

Summary of the invention

It is an object of the invention to provide a kind of robots, to reduce control cost, keep the structure stress of mechanical arm more reasonable.

For this purpose, the present invention provides a kind of robot, a kind of robot, including pedestal and bottom is mounted on by first rotating shaft The rotation seat of seat upper surface, rotation seat connect the first arm by the second shaft, and the first arm is connect by third shaft with the second arm, Second arm is connect by the 4th shaft with the attachment device for solid mechanical hand, it is characterised in that: the rotation seat is equipped with The first stepper motor connection of first rotating shaft rotation is driven, one end of second shaft, which is equipped with, drives the movement of the first arm Second stepper motor, one end of the third shaft are equipped with the third stepper motor for driving the movement of the second arm, the company The upper surface of connection device is equipped with the 4th stepper motor for driving attachment device movement；

First arm and the second arm are the arc curved boom with radian respectively；

The bottom surface of 4th stepper motor is provided with photosensitive device.

The invention has the advantages that driving the rotation of each shaft by stepper motor, a rotation axis may be implemented and respectively realize The position in space is mobile, stops and the change of speed, and does not depend on the control module of servo-drive, and control module executes above-mentioned life Enable, eliminate the operand of program, save control program cost, while mechanical arm using curved boom design, radius of turn compared with Greatly, the volume of robot is effectively reduced, making robot, enhanced convenience is reasonable when in use.

Detailed description of the invention

Fig. 1 is a kind of front view of robot；

Fig. 2 is a kind of left view of robot.

Description of symbols: 1, pedestal；2, first rotating shaft；3, the first stepper motor；4, rotation seat；5, the second stepping electricity Machine；6, the second shaft；7, the first arm；8, the second arm；9, third stepper motor；10, third shaft；11, the 4th shaft；12, Four stepper motors；13, attachment device.

Specific embodiment

Of the invention is described in detail with reference to the accompanying drawings and examples.

A kind of robot as shown in Figure 1, 2, including pedestal 1, the rotation seat 4 coupled on pedestal 1 by first rotating shaft 2, Rotation seat 4 is equipped with the first stepper motor 3 for driving first rotating shaft 2 to rotate, and the other end of rotation seat 4 passes through the second shaft 6 First arm 7 of connection, an end face of the second shaft 6 are provided with the second stepper motor 5 that dynamic second shaft 6 moves, the first arm 7 The other end pass through the second arm 8 that third shaft 10 couples, an end face of third shaft 10 is provided with dynamic third shaft 10 and transports Dynamic third stepper motor 9, the other end of the second arm 8 pass through the attachment device for solid mechanical hand that the 4th shaft 11 connects 13, attachment device 13 is equipped with the 4th stepper motor 12 for driving the movement of the 4th shaft 11；First arm 7 and the second arm 8 all use Curved boom design, can effectively increase the radius of turn of arm exhibition, when machine man-hour, the fortune of each step motor control component Dynamic, when being rotated, the first stepper motor 3 controls rotation seat 4 and is rotated on pedestal 1, robot need into When row stretching, extension, second stepper motor 5 and third stepper motor 9 drive the first arm 7 and the second arm 8 to be stretched, and robot needs When the article to be grabbed by manipulator, attachment device 13 is driven to take manipulator to by the 4th stepper motor 12 Suitable position carries out clamping article.It can be seen that this scheme does not depend on the control module of servo-drive, on control module executes Order is stated, the operand of program is eliminated, saves the cost of control program, while mechanical arm is designed using curved boom, rotation half Diameter is larger, effectively reduces the volume of robot, and making robot, enhanced convenience is reasonable when in use.In a preferred embodiment In, the curved boom radian of the first arm 8 and the second arm 9 uses 110 to 150 °, preferably 120 °.

The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type etc. are all can be Variation, all equivalents and improvement carried out based on the technical solution of the present invention should not be excluded of the invention Except protection scope.

Claims (1)

1. a kind of robot, it is mounted on the base the rotation seat of end face including pedestal and by first rotating shaft, rotation seat passes through the Two shafts connect the first arm, and the first arm is connect by third shaft with the second arm, and the second arm passes through the 4th shaft and is used to fix The attachment device of manipulator connects, it is characterised in that: the rotation seat is equipped with the first stepping electricity for driving first rotating shaft rotation Machine connection, one end of second shaft are equipped with the second stepper motor for driving the movement of the first arm, the third shaft One end the third stepper motor for driving the movement of the second arm is installed, the upper surface of the attachment device, which is equipped with, drives connection dress Set the 4th stepper motor of movement；

First arm and the second arm are the arc curved boom with radian respectively；

The bottom surface of 4th stepper motor is provided with photosensitive device.