CN205766125U - A kind of three-axis robot - Google Patents
A kind of three-axis robot Download PDFInfo
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- CN205766125U CN205766125U CN201620643168.9U CN201620643168U CN205766125U CN 205766125 U CN205766125 U CN 205766125U CN 201620643168 U CN201620643168 U CN 201620643168U CN 205766125 U CN205766125 U CN 205766125U
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Abstract
The utility model discloses a kind of three-axis robot, belong to robot field, which solve existing assembling and the transfer problem that robot architecture is complicated, volume is big, manufacturing cost is high.Arm of the present utility model includes body frame, servomotor and is arranged on the lifting arm of body frame end, and body frame end is provided with chute, and middle part is provided with runner and draws high arm；Lifting arm is arranged in chute；The center of one end and runner of drawing high arm is all connected with body frame by bearing pin；Draw high arm and runner can rotate relative to body frame around bearing pin；Biasing post it is provided with on runner；Drawing high arm end and be provided with the first chute, middle part is provided with the second chute；Biasing post is arranged in the second chute；First it is provided with protruding on lifting arm；First projection is arranged in the first chute；Described servomotor is fixing with the bearing pin of roller centre to be connected.This utility model can replace the complicated assembling of existing structure and transfer robot realizes improving production efficiency, the effect of reduction production cost.
Description
Technical field
This utility model belongs to robot field, specifically, relates to a kind of three-axis robot.
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, this utility model
Thering is provided a kind of three-axis robot, its simple in construction, compact, volume is little, low cost of manufacture, flexible movements, precisely, can replace existing
Baroque assembling and transfer robot realize improving production efficiency, the effect of reduction production cost.
2, technical scheme
For solving the problems referred to above, this utility model adopts the following technical scheme that.
A kind of three-axis robot, including arm, described arm includes body frame, servomotor and is arranged on body frame end
Lifting arm, described body frame end is provided with chute, and middle part is provided with runner and draws high arm；Described lifting arm is arranged on chute
In；Described one end drawing high arm and the center of runner are all connected with body frame by bearing pin；Drawing high arm and runner can be around
Bearing pin rotates relative to body frame；It is provided with biasing post on described runner；Described arm end of drawing high is provided with the first chute, middle part
It is provided with the second chute；Described biasing post is arranged in the second chute；First it is provided with protruding on described lifting arm；Described
The first projection be arranged 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.
Preferably, described lifting arm lower end is provided with the device that can capture article to be transferred.
Preferably, the described device that can capture article to be transferred is electric magnet.
Preferably, base, turntable, linking arm are also included；Described turntable is arranged on base upper end；Described base
Inside it is provided with electric rotating machine and controls turntable rotation；Described linking arm one end is fixing with turntable to be connected, and the other end sets and institute
The arm stated is fixing to be connected.
3, beneficial effect
Compared to prior art, the beneficial effects of the utility model are:
(1) robot arm compact structure of the present utility model, simple, can be installed to different machines robot end, flexibly
Property high；Using and arrange biasing post drive stretching arm and the structure of lifting arm execution on runner, cost is low；
(2) this utility model 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；
(3) this utility model draws high the axis of bearing pin of arm one end, centrage and the body frame surface of runner are crossed to form
The line of two points is vertical with described chute place straight line to be had and can reach the most quickly and the advantage of full range of movement；
(4) this utility model arranges second protruding (rectangle slide block) and matches with the 3rd chute, directly sets with lifting arm
Putting and compare in the 3rd chute, when being replaced according to demand after the second protruding effect of attrition precision, this ratio is directly changed
Lifting arm is more cost-effective, operates the most simpler；
(5) this utility model design K=L=2R+d, compared with arbitrarily arranging size, this structure can be more beneficial for controlling
Speed, improves and controls accuracy, spacing improve precision by multiple simultaneously；
(6) on the one hand this utility model rotation basal disc plays and makes the stretching arm point of rotation be not less than biasing post, the most also
There is when making lift arm movements the advantage that will not cause movement interference between runner because of deviation.
Accompanying drawing explanation
Fig. 1 is the front three-dimensional structure diagram of this utility model robot arm；
Fig. 2 is the back side three-dimensional structure diagram of this utility model robot arm；
Fig. 3 is this utility model robot arm movement state diagram one；
Fig. 4 is this utility model robot arm movement state diagram two；
Fig. 5 is this utility model robot arm size relationship figure；
Fig. 6 is this utility model robot 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, this utility model is further described below.
Embodiment 1
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 arm；As it is shown in figure 1, arm includes body frame 1, servomotor 3 and is arranged on body frame 1 end
Lifting 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
It is provided with runner 2 and draws 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；
The center of one end and runner 2 of drawing high arm 9 is all connected with body frame 1 by bearing pin；Draw high arm 9 and runner 2 can be around bearing pin
Rotate relative to body frame 1；Draw high the axis of bearing pin of arm 9 one end, centrage and body frame 1 surface of runner 2 are crossed to form two
The line of point 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, in runner 2
The heart is R=45mm to the distance at biasing post 7 center, draws high arm 9 end and is provided with the first chute 6, and middle part is provided with the second chute
8；The a length of K=100mm of the second chute 8, biasing post 7 is arranged in the second chute 8；First it is provided with protruding on lifting arm 5
4；First projection 4 is arranged in the first chute 6；It is additionally provided with decelerator between the bearing pin at servomotor 3 and runner 2 center, subtracts
Speed device 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.
In the present embodiment, in arm, body frame 1 is fixing with linking arm 15 is connected.
Robot arm compact structure of the present utility model, simple, different machines robot end, motility can be installed to
High；Using and arrange biasing post drive stretching arm and the structure of lifting arm execution on runner, cost is low.
This utility model robot uses the simple structure of three coordinate machine device people, it is possible to complete the action of four axle robots,
Important impetus is played in terms of reducing cost of manufacture, simplifying robot architecture, raising robot dexterity.
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, same as in Example 1, except that, draw high arm 9 and runner 2 junction is provided with rotation
Turn basal disc 10；Rotation basal disc 10 is fixing with runner 2 to be connected；Draw high the bearing pin one end and runner 2 being connected between arm 9 with runner 2
Fixing connecting, 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 (8)
1. a three-axis robot, including arm, it is characterised in that: also include base (13), turntable (14), linking arm
(15)；Described turntable (14) is arranged on base (13) upper end；It is provided with electric rotating machine in described base (13) and controls rotation
Turntable (14) rotates；Described linking arm (15) one end is fixing with turntable (14) to be connected, and the other end sets solid with described arm
Fixed connection；Described arm includes body frame (1), servomotor (3) and is arranged on the lifting arm (5) of body frame (1) end, 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) is arranged on chute
In；Described one end drawing high arm (9) and the center of runner (2) are all connected with body frame (1) by bearing pin；Draw high arm (9) with
And runner (2) can rotate relative to body frame (1) around bearing pin；It is provided with biasing post (7) on described runner (2)；Described draws high
Arm (9) end is provided with the first chute (6), and middle part is provided with the second chute (8)；It is sliding that described biasing post (7) is arranged on second
In groove (8)；First protruding (4) it are provided with on described lifting arm (5)；Described first protruding (4) is arranged on the first chute (6)
In；Described servomotor (3) is fixing with the bearing pin at runner (2) center to be connected.
A kind of three-axis robot the most according to claim 1, it is characterised in that: the described bearing pin drawing high arm (9) one end
Axis, the line of two points that is crossed to form with body frame (1) surface of the centrage of runner (2) and described chute place straight line
Vertically.
A kind of three-axis robot the most according to claim 2, it is characterised in that: described body frame (1) end is provided with the
Three chutes (11)；Second protruding (12) it are provided with on described lifting arm (5)；It is sliding that described second protruding (12) is arranged on the 3rd
In groove (11).
A kind of three-axis robot the most according to claim 3, it is characterised in that: described servomotor (3) and runner (2)
It is additionally provided with decelerator between the bearing pin at center；Described decelerator one end is connected with servomotor (3), the other end and runner
(2) bearing pin at center connects.
5. according to a kind of three-axis robot described in claim 3 or 4, it is characterised in that: the length of described the second chute (8)
For 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 of three chutes (11), wherein K=L=2R+d.
A kind of three-axis robot the most according to claim 5, it is characterised in that: described draws high arm (9) with runner (2) even
The place of connecing 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.
A kind of three-axis robot the most according to claim 6, it is characterised in that: described lifting arm (5) lower end is provided with
The device of article to be transferred can be captured.
A kind of three-axis robot the most according to claim 7, it is characterised in that: described can capture article to be transferred
Device is electric magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620643168.9U CN205766125U (en) | 2016-06-23 | 2016-06-23 | A kind of three-axis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620643168.9U CN205766125U (en) | 2016-06-23 | 2016-06-23 | A kind of three-axis robot |
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| CN205766125U true CN205766125U (en) | 2016-12-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041905A (en) * | 2016-06-23 | 2016-10-26 | 马鞍山工蜂智能科技有限公司 | Three-axis robot and arm and using method thereof |
| CN115533866A (en) * | 2022-11-07 | 2022-12-30 | 陈思睿 | Robot with gripping device and working method thereof |
-
2016
- 2016-06-23 CN CN201620643168.9U patent/CN205766125U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041905A (en) * | 2016-06-23 | 2016-10-26 | 马鞍山工蜂智能科技有限公司 | Three-axis robot and arm and using method thereof |
| CN106041905B (en) * | 2016-06-23 | 2018-05-22 | 马鞍山工蜂智能科技有限公司 | A kind of three-axis robot and its arm and application method |
| CN115533866A (en) * | 2022-11-07 | 2022-12-30 | 陈思睿 | Robot with gripping device and working method thereof |
| CN115533866B (en) * | 2022-11-07 | 2023-06-13 | 陈思睿 | Robot with grabbing device and working method thereof |
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| GR01 | Patent grant |