CN210361304U - Multi-axis robot - Google Patents
Multi-axis robot Download PDFInfo
- Publication number
- CN210361304U CN210361304U CN201921408146.4U CN201921408146U CN210361304U CN 210361304 U CN210361304 U CN 210361304U CN 201921408146 U CN201921408146 U CN 201921408146U CN 210361304 U CN210361304 U CN 210361304U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- base
- air cylinder
- positioning pin
- positioning hole
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a multiaxis robot, it includes base, first articulated arm, first cylinder and first locating pin. The rotating end of the first joint arm is rotatably arranged on the base, and the connecting part of the first joint arm exceeds the periphery of the base. A first original point positioning hole used for calibrating an original point is formed in the lower surface, facing the base, of the connecting portion. The first air cylinder is arranged on the side wall of the base, and the driving end of the first air cylinder faces the connecting part; the first positioning pin is arranged at the driving end of the first air cylinder and can be relatively close to or far away from the connecting part under the driving of the first air cylinder so as to be aligned to be inserted into or withdrawn from the first original point positioning hole. Above-mentioned multiaxis robot can realize the initial point automatically and mark, need not manual operation, and labour saving and time saving has improved initial point mark's efficiency and accuracy.
Description
Technical Field
The utility model relates to an industrial robot field, in particular to multiaxis robot.
Background
With the increasing popularity of industrial robots, the market demand of SCARA four-axis robots among them is also increasing. SCARA (Selective Assembly Robot Arm, chinese name) has three rotary joints and one mobile joint to be suitable for high-speed and highly repetitive Assembly work of planar positioning.
In the practical application process, after the industrial robot maintains or changes the battery, the industrial robot needs to mark the initial point again and just can continue to work. This is because the origin is a safe place where the industrial robot is ready to work, which ensures that the industrial robot does not interfere with the gripper or the workpiece.
The original point of the prior SCARA four-axis robot is generally calibrated manually. Specifically, the worker needs to align the key slot or other notch on a certain joint of the SCARA with the screw center of the base of the robot to realize the alignment of the origin. However, such manual calibration is complex in operation, low in working efficiency, and low in positioning accuracy of the calibrated origin.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multiaxis robot to solve among the prior art industrial robot and mark the problem that location efficiency and positioning accuracy are not high that the original point leads to through the manual work.
In order to solve the technical problem, the utility model adopts the following technical scheme:
a multi-axis robot, comprising: a base; one end of the first joint arm is rotatably arranged on the base, the first joint arm is provided with a connecting part exceeding the periphery of the base, and a first original point positioning hole used for calibrating an original point is formed in the lower surface, facing the base, of the connecting part; the first air cylinder is arranged on the side wall of the base, and the driving end of the first air cylinder faces the connecting part; the first positioning pin is arranged at the driving end of the first air cylinder and can be relatively close to or far away from the connecting part under the driving of the first air cylinder so as to be inserted into or withdrawn from the first origin positioning hole in an aligning manner.
According to the utility model discloses an embodiment still includes: the preposed inductive switch is arranged on the first air cylinder and can detect whether the first positioning pin is inserted into the first original point positioning hole or not; the rear induction switch is arranged on the first air cylinder and can detect whether the first positioning pin exits from the first original point positioning hole or not; and the controller is electrically connected with the front induction switch and the rear induction switch respectively.
According to an embodiment of the present invention, the front inductive switch and the rear inductive switch are both magnetic switches and are respectively disposed on the outer wall of the first cylinder; a piston rod and a magnetic ring sleeved on the piston rod are arranged in the cylinder body of the first cylinder, the piston rod can stretch and retract along the axial direction of the first cylinder, and the magnetic ring moves along with the piston rod along the axial direction of the first cylinder; the magnetic ring moves to a first position along with the piston rod to be inducted with the front induction switch, so that the front induction switch outputs an induction signal, and the magnetic ring moves to a second position along with the piston rod to be inducted with the rear induction switch, so that the rear induction switch inducts and outputs an induction signal.
According to the utility model discloses an embodiment still includes: the fixing seat is used for fixing the first air cylinder on the base and comprises a seat body tightly attached to the side wall of the base and a fixing plate protruding out of the seat body, a through hole is formed in the fixing plate, and the first air cylinder penetrates through the through hole.
According to an embodiment of the present invention, the fixing base further has a guide plate protruding from the base body; the guide plate and the fixed plate are oppositely arranged in the longitudinal direction, the guide plate is positioned between the fixed plate and the first joint arm, a guide hole is formed in the guide plate, and the first positioning pin is arranged in the guide hole in a penetrating mode.
According to the utility model discloses an embodiment, first cylinder with the extension axis of first locating pin all is located same vertical axis to can aim at first initial point locating hole.
According to the utility model discloses an embodiment still includes: the second joint arm is rotatably connected with the end part of the connecting part of the first joint arm, and a second origin positioning hole for calibrating an origin is further formed in the upper surface, facing the second joint arm, of the connecting part; the second air cylinder is arranged on the side wall of the second joint arm; the second positioning pin is arranged at the driving end of the second air cylinder and can be relatively close to or far away from the connecting part under the driving of the second air cylinder so as to be inserted into or withdrawn from the second original point positioning hole in an aligning manner.
According to the utility model discloses an embodiment still includes: the front induction switch is arranged on the second cylinder and can detect whether the second positioning pin is inserted into the second original point positioning hole or not;
the rear induction switch is arranged on the second cylinder and can detect whether the second positioning pin exits from the second original point positioning hole or not; and the controller is electrically connected with the front induction switch and the rear induction switch respectively.
According to an embodiment of the invention, the second articulated arm and the first articulated arm are each rotated on two mutually spaced horizontal planes.
According to the utility model discloses an embodiment still includes: the guide rod penetrates through one end part of the second joint arm far away from the first joint arm, and can move up and down along the axial direction or rotate around the axis of the guide rod; an end effector disposed on the guide bar to move with the guide bar.
According to the above technical scheme, the utility model provides a pair of multiaxis robot has following advantage and positive effect at least:
the robot includes base, first articulated arm, first cylinder and first locating pin. The rotating end of the first joint arm is rotatably arranged on the base, and the connecting part of the first joint arm exceeds the periphery of the base. And a first original point positioning hole for calibrating an original point is formed in the lower surface, facing the base, of the connecting part of the first joint arm. The driving end of the first air cylinder faces to the first original point positioning hole of the connecting part; the driving end of the first cylinder is connected with the first positioning pin and used for driving the first positioning pin to be relatively close to or far away from the first origin positioning hole. The first positioning pin can move towards the direction of the first joint arm under the driving of the first air cylinder, if the first positioning pin cannot be accurately inserted into the first original point positioning hole, the first joint arm is not returned to the original point position, the first joint arm continues to rotate, and if the first positioning pin can be accurately inserted into the first original point positioning hole, the first joint arm is returned to the original point position. The first positioning pin passes through the first cylinder again and is far away from the first joint arm so as to withdraw from the first original point positioning hole and finish the alignment of the original point. So, this multiaxis robot adopts the mode of using first locating pin between first articulated arm and base to realized need not manual operation to the automatic, high efficiency, the accurate location of the initial point of robot, not only improved the efficiency that the initial point was markd, still improved the accuracy of the location of initial point, guaranteed multiaxis robot's safe operation.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a multi-axis robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of a connection structure of the first cylinder and the first positioning pin in the embodiment of the present invention.
Fig. 3 is a schematic view of a connection structure of the second cylinder and the second positioning pin in the embodiment of the present invention.
The reference numerals are explained below: 100-multi-axis robot, 1-base, 10-first joint arm, 101-first origin positioning hole, 102-second origin positioning hole, 103-rotating end, 104-connecting part, 11-first cylinder, 12-first positioning pin, 13-preposed induction switch, 14-postposition induction switch, 15-fixed base, 151-base, 152-fixed plate, 153-guide plate, 1531-guide hole, 20-second joint arm, 22-second cylinder, 24-second positioning pin, 25-preposed induction switch, 26-postposition induction switch, 27-fixed base, 30-guide rod, 31-lead screw, 32-nut base and 40-end actuator.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It is to be understood that the invention is capable of other and different embodiments and its several details are capable of modification without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.
The present embodiment provides a multi-axis robot. The multi-axis robot generally has a plurality of joint arms connected in series, and the plurality of joint arms have a function of moving or rotating in respective corresponding axial directions (for example, X, Y, Z axes). The plurality of articulated arms are mutually matched to commonly realize operations such as clamping, conveying and assembling of workpieces under different working scenes.
The motion precision of the multi-axis robot is influenced by the relative position relationship of each joint arm. In order to ensure that each joint arm of the multi-axis robot can be coordinated and safely matched for operation, an initial origin position is correspondingly arranged at the joint connected with each joint arm. Each articulated arm takes the original position as a reference for movement so as to avoid interference with the clamp or the workpiece. It can be seen that the location of the origin is important for the movement of the robot.
Aiming at the problems of complexity and low precision of manually calibrating the original point in the related technology, the multi-axis robot provided by the embodiment realizes automatic, efficient and accurate positioning of the original point by adopting a positioning mode of a positioning pin.
Referring to fig. 1 in particular, the multi-axis robot 100 of the present embodiment mainly includes a base 1, a first articulated arm 10 and a first positioning pin 12 disposed on the base 1, a second articulated arm 20 connected to the first articulated arm 10, a second positioning pin 24 disposed on the second articulated arm 20, and an end effector 40 disposed at one end of the second articulated arm 20. Wherein the end effector 40 is enabled to reach any position of the working space mainly by the change of the relative position between the first articulated arm 10 and the second articulated arm 20. And the first positioning pin 12 and the second positioning pin 24 are used for automatically calibrating the original points of the first articulated arm 10 and the second articulated arm 20 respectively so as to ensure the positioning accuracy of the original points.
It should be noted that the multi-axis robot 100 provided in this embodiment is a SCARA four-axis robot, which is hereinafter referred to as SCARA. The SCARA has four degrees of freedom of motion, including translation on the X, Y, Z axis and rotational about the Z axis, to allow for extension and retraction of the respective articulated arms. SCARA is a selective compliance assembly robot arm, meaning that it is compliant in the horizontal direction along axis X, Y, i.e. first and second articulated arms 10 and 20 can only move in the horizontal direction along axis X, Y.
In addition, for convenience of describing relative positions and movement processes of the components of the multi-axis robot 100, "up and down" orientations appearing hereinafter are based on the view direction in fig. 1, unless otherwise specified.
Referring to fig. 2, the multi-axis robot 100 positions the first joint arm 10 at a first origin position, i.e., a first origin positioning hole 101, by using the first positioning pin 12 between the first joint arm 10 and the base 1, and thus realizes automatic calibration of the origin.
Specifically, the base 1 is a solid structure having a rectangular outline. The base 1 is used as an important bearing part for bearing each part, and the structure of the base 1 is designed in a light weight mode on the premise that the strength of the base 1 meets the standard. The upper end surface of the base 1 is a horizontal reference surface for connecting and carrying the first articulated arm 10 and the like. Wherein, a servo motor for driving the first joint arm 10 to rotate is positioned inside the base 1. The lower end face of the base 1 is generally intended to be laid flat on the ground or on a fixed platform on a production line, so as to support the weight of the components placed on the base 1.
The first articulated arm 10 is horizontally placed on the upper end surface of the base 1.
The first articulated arm 10 is connected to the base 1 and the second articulated arm 20, respectively, and has sufficient strength and rigidity. The first articulated arm 10 is also referred to in the industry as a big arm.
The rotating end 103 of the first articulated arm 10 is rotatably disposed on the base 1, and the portion of the first articulated arm 10 beyond the periphery of the base 1 is a connecting portion 104.
The connection point of the rotating end 103 of the first articulated arm 10 and the base 1 can be regarded as a rotary joint around which the first articulated arm 10 can freely rotate on a horizontal plane.
A first origin positioning hole 101 for calibrating an origin is formed in a lower surface of the connecting portion 104 of the first joint arm 10 facing the base 1.
The position of the first origin positioning hole 101 is the origin position of the movement of the first articulated arm 10 with respect to the base 1. The first origin positioning hole 101 is located close to the rotary joint so as to realize the reference function of the origin. The first joint arm 10 uses the first origin positioning hole 101 as a reference for movement to rotate by a certain angle with respect to the base 1.
The first positioning pin 12 is located on the side wall of the base 1 through the first cylinder 11, and is driven by the first cylinder 11 to be correspondingly matched with the first origin positioning hole 101, so as to realize the positioning of the first origin positioning hole 101.
Specifically, the first cylinder 11 is provided extending in a longitudinal direction perpendicular to the horizontal plane, and a driving end of the first cylinder 11 faces a lower surface of the connecting portion 104 of the first articulated arm 10.
The first positioning pin 12 is connected to the driving end of the first cylinder 11. The first positioning pin 12 is also disposed in the longitudinal direction. The first positioning pin 12 and the extension axis of the first cylinder 11 are located on the same longitudinal axis to align the first origin positioning hole 101. The first positioning pin 12 can be relatively close to or far from the connection portion 104 by the driving of the first cylinder 11 to be inserted into or withdrawn from the first origin positioning hole 101 in alignment.
In this embodiment, the first cylinder 11 is fixed on the sidewall of the base 1 through a fixing seat 15.
The fixing base 15 is an integrally formed structure and includes a base 151, and a fixing plate 152 and a guide plate 153 protruding from the base 151. Wherein the fixing plate 152 is used to fix the first cylinder 11, and the guide plate 153 is used to guide the first positioning pin 12 in the axial direction.
Specifically, one side of the seat 151 is closely attached to the sidewall of the base 1 to be connected and fixed with the base 1. And a fixing plate 152 and a guide plate 153 protrude from the other side of the housing 151. The fixing plate 152 and the guide plate 153 are oppositely disposed in the longitudinal direction. And the guide plate 153 is located above the fixed plate 152, i.e., the guide plate 153 is interposed between the fixed plate 152 and the first articulated arm 10.
The fixing plate 152 is provided with a through hole. The first cylinder 11 can be correspondingly inserted into the through hole, and is fixed to the fixing plate 152 by a corresponding fastener such as a bolt.
The guide plate 153 has a guide hole 1531. The size of the guiding hole 1531 is adapted to the size of the pin of the first positioning pin 12. Accordingly, the guide hole 1531 and the first origin positioning hole 101 are located on the same longitudinal axis. The first positioning pin 12 is slidably inserted into the guide hole 1531 to be guided by the guide hole 1531 to be inserted into or withdrawn from the first origin positioning hole 101 in accurate alignment.
Referring to fig. 2 again, in order to improve the automation degree and the positioning accuracy of the first positioning pin 12, the first cylinder 11 of the present embodiment is further provided with a front inductive switch 13 and a rear inductive switch 14 for sensing the movement state of the first positioning pin 12.
In the present embodiment, the front inductive switch 13 and the rear inductive switch 14 are both magnetic switches. The front inductive switch 13 and the rear inductive switch 14 are electrically connected to a controller in the control system of the multi-axis robot 100, respectively.
The front inductive switch 13 is specifically disposed at an upper end of an outer wall of the first cylinder 11, and is close to a lower end surface of the connecting portion 104. The front induction switch 13 can detect whether the first positioning pin 12 is inserted into the first origin positioning hole 101.
The rear inductive switch 14 is specifically disposed at a lower end of an outer wall of the first cylinder 11, and is capable of detecting whether the first positioning pin 12 exits the first origin positioning hole 101.
The operation principle that the front inductive switch 13 and the rear inductive switch 14 can sense the motion state of the first positioning pin 12 is as follows:
the cylinder body of the first cylinder 11 is provided with a piston rod and a magnetic ring sleeved on the piston rod, and the piston rod can move in a telescopic manner along the axial direction of the first cylinder 11. The end of the piston rod exposed out of the cylinder body is a driving end, and the driving end is connected with and drives the first positioning pin 12 to perform an axial lifting motion so as to insert into or withdraw from the first origin positioning hole 101. The magnetic ring can move axially along with the piston rod, so that the magnetic ring can be close to the front induction switch 13 when moving upwards to generate magnetic induction with the front induction switch 13, so that the front induction switch 13 is triggered. Or the magnetic ring approaches the rear inductive switch 14 when moving downwards, and generates magnetic induction with the rear inductive switch 14 to trigger the rear inductive switch 14 to output an induction signal. The sensing ranges of the front inductive switch 13 and the rear inductive switch 14 are approximately 15-20 mm.
In actual operation, first, the controller controls the servo motor on the base 1 to drive the first articulated arm 10 to rotate slowly. Meanwhile, the controller controls the first cylinder 11 to drive the first positioning pin 12 to move upward. During the lifting of the first positioning pin 12, the magnetic ring can move axially upward synchronously with the extension of the piston rod. When the first positioning pin 12 is moved upward close to the first joint arm 10, if the first positioning pin 12 cannot be accurately inserted into the first origin positioning hole 101, it indicates that the first joint arm 10 has not returned to the origin position. The first joint arm 10 continues to rotate, and if the first positioning pin 12 can be accurately inserted into the first origin positioning hole 101, it indicates that the first joint arm 10 returns to the origin position. When the first positioning pin 12 is inserted into the first origin positioning hole 101, the first joint arm 10 stops rotating, and the magnetic ring reaches the first position S1 (indicated by an arrow in fig. 2) in the axial direction. The first position S1 is close to the front mounted inductive switch 13. Since the magnetic ring located at the first position S1 has entered the sensing range of the front sensing switch 13, the magnetic ring can magnetically sense the front sensing switch 13. At this time, the front sensing switch 13 is turned on, and outputs a sensing signal to the controller that the first positioning pin 12 has been inserted into the first origin positioning hole 101, so as to position the first origin positioning hole 101.
When the first origin positioning hole 101 is calibrated, the controller controls the first cylinder 11 to drive the first positioning pin 12 to move downwards. During the lowering of the first positioning pin 12, the magnetic ring can simultaneously move axially downward with the retraction of the piston rod. When the first positioning pin 12 exits the first origin positioning hole 101 downward, the magnetic ring reaches the second position S2 close to the rear inductive switch 14 in the axial direction. At this time, the magnetic ring at the second position S2 has completely separated from the sensing range of the front sensing switch 13 and enters the sensing range of the rear sensing switch 14. The magnetic ring can magnetically induce with the rear induction switch 14. Subsequently, the rear sensing switch 14 is turned on, and outputs a sensing signal to the controller that the first positioning pin 12 has exited the first origin positioning hole 101, so as to end the alignment of the first origin positioning hole 101.
Referring to fig. 3 in conjunction with fig. 1, the second articulated arm 20 is also horizontally disposed above the first articulated arm 10 and can rotate relative to the first articulated arm 10. I.e. the second articulated arm 20 and the first articulated arm 10 respectively rotate on two mutually spaced horizontal planes.
The second articulated arm 20 is also referred to in the industry as a forearm relative to the first articulated arm 10 (the big arm).
Specifically, one end of the second articulated arm 20 is rotatably connected to an end of the connecting portion 104 of the first articulated arm 10. Wherein the servo motor for driving the second articulated arm 20 is located inside the second articulated arm 20. The connection point of the second articulated arm 20 and the first articulated arm 10 can be regarded as a rotary joint around which the second articulated arm 20 can perform an angular rotation on a horizontal plane. The other end of the second articulated arm 20 is a free end. The free end of the second articulated arm 20 is generally provided with an end effector 40 for acting on a workpiece.
A second origin positioning hole 102 for calibrating the origin is further provided on the upper surface of the connecting portion 104 of the first articulated arm 10 facing the second articulated arm 20.
The second origin positioning hole 102 is located close to the above-described rotary joint so as to perform the origin reference function.
The position of the second origin positioning hole 102 is the origin position of the second articulated arm 20 with respect to the first articulated arm 10. The second articulated arm 20 uses the second origin positioning hole 102 as a reference for movement to rotate by a certain angle with respect to the first articulated arm 10.
In the present embodiment, the second joint arm 20 is positioned at the origin position, i.e., the second origin positioning hole 102, by using the second positioning pin 24 between the second joint arm 20 and the first joint arm 10, and the origin is automatically calibrated.
A second positioning pin 24 is provided on the side wall of the second articulated arm 20 through the second cylinder 22.
Wherein the second cylinder 22 is extended along the longitudinal direction, and the driving end of the second cylinder 22 faces upward toward the lower surface of the connecting portion 104 of the first articulated arm 10.
A second positioning pin 24 is provided at the driving end of the second cylinder 22. The second positioning pin 24 is also disposed in the longitudinal direction. The extension axes of the second positioning pin 24 and the second cylinder 22 are both located on the same longitudinal axis. The second positioning pin 24 can be relatively close to or far from the connecting portion 104 of the first articulated arm 10 by the driving of the second cylinder 22 to be inserted into or withdrawn from the second origin positioning hole 102 in alignment.
In the present embodiment, the second cylinder 22 is also disposed on the sidewall of the second joint arm 20 through the fixing seat 27. The detailed structure of the fixing base 27 will not be described.
In order to improve the degree of automation and the positioning accuracy of the second positioning pin 24, the second cylinder 22 of the present embodiment is also provided with a front inductive switch 25 and a rear inductive switch 26 for sensing the motion state of the second positioning pin 24.
In the present embodiment, the front induction switch 25 and the rear induction switch 26 are respectively provided at upper and lower ends on the outer wall of the second cylinder 22.
The specific structure and the function of the front and rear induction switches arranged on the second positioning pin 24 and the front and rear induction switches arranged on the first positioning pin 12 are the same. Therefore, the operation principle of the front inductive switch 25 and the rear inductive switch 26 will not be described in detail.
In operation, first, the controller controls the servo motor located at the second articulated arm 20 to drive the second articulated arm 20 to rotate slowly. At the same time, the controller controls the second cylinder 22 to drive the second positioning pin 24 to move upward. During the raising of the second positioning pin 24, the magnetic ring of the second cylinder 22 can move axially upward in synchronization with the extension of the piston rod. When the second positioning pin 24 is inserted into the second origin positioning hole 102, the second joint arm 20 stops rotating, and the magnetic ring finally reaches the first position S3 close to the leading inductive switch 25 in the axial direction. The magnetic ring in the first position S3 is capable of magnetically interacting with the front inductive switch 25. At this time, the leading induction switch 25 is turned on, and outputs a signal indicating that the second positioning pin 24 has been inserted into the second origin positioning hole 102 to the controller, so as to position the second origin positioning hole 102.
After the second origin positioning hole 102 is calibrated, the second cylinder 22 drives the second positioning pin 24 to move downwards under the control of the controller. During the lowering of the second positioning pin 24, the magnetic ring can simultaneously move axially downwards with the retraction of the piston rod. When the second positioning pin 24 exits the second origin positioning hole 102, the magnetic ring reaches the second position S4 close to the rear induction switch 26 in the axial direction. The magnetic ring in the second position S4 is capable of magnetically interacting with the rear inductive switch 26. At this time, the rear position sensing switch 26 is turned on, and outputs a sensing signal that the second positioning pin 24 has exited the second origin positioning hole 102 to the controller, so as to end the positioning of the second origin positioning hole 102.
Referring to fig. 1, the multi-axis robot 100 of the present embodiment further includes a guide rod 30 disposed on the second joint arm 20, and an end effector 40 disposed on the guide rod 30.
Wherein the guide bar 30 is capable of up and down movement along a vertical axis, i.e., the Z-axis, or rotation about the Z-axis.
The guide rod 30 can move the end effector 40 together, so that the end effector 40 reaches the designated position of the working space and performs corresponding actions of grabbing and the like on the workpiece.
In the present embodiment, the guide bar 30 is embodied as a ball screw.
The ball screw includes a screw 31 and a nut seat 3232 sleeved on the screw 31. The screw 31 is arranged on the end of the second articulated arm 20 far away from the first articulated arm 10. The nut seat 32 is located at the lower end of the lead screw 31. The ball screw is provided with a servo motor for providing a driving force. The screw rod 31 can rotate under the driving of the servo motor, and the nut seat 32 can perform linear up-and-down lifting movement along the screw rod 31 along with the rotation of the screw rod 31.
The end effector 40 is provided on the nut base 32 to move up and down together with the nut base 32 to relatively approach or separate from a work object such as a workpiece.
The end effector 40 can directly act on the workpiece, and the end effector 40 has functions of gripping, carrying, and assembling the workpiece. For example, end effector 40 may be a jaw, a suction cup, a spray gun, or any other functional component.
In summary, the multi-axis robot 100 provided by the present embodiment has at least the following advantages and positive effects:
this multi-axis robot 100 adopts the bolt mode that uses first locating pin 12 and second locating pin 24 at the joint department between base 1, first articulated arm 10 and second articulated arm 20, fixes a position first articulated arm 10 and second articulated arm 20 in the initial point position department that sets for to realized to the automation of initial point, high efficiency, accurate location, improved the location efficiency and the positioning accuracy of initial point.
Specifically, the first articulated arm 10 is horizontally placed on the base 1. The connection point of the rotating end 103 of the first articulated arm 10 and the base 1 can be regarded as a rotary joint around which the first articulated arm 10 can freely rotate on a horizontal plane. A first origin positioning hole 101 for calibrating an origin is formed in a lower surface of the connecting portion 104 of the first joint arm 10 facing the base 1. The first joint arm 10 uses the first origin positioning hole 101 as a reference for movement to rotate with respect to the base 1. And the first positioning pin 12 can be inserted into or withdrawn from the first origin positioning hole 101 in alignment under the driving of the first cylinder 11 to realize the positioning of the origin of the first articulated arm 10.
The second articulated arm 20 is horizontally placed on the first articulated arm 10, that is, the second articulated arm 20 and the first articulated arm 10 respectively rotate on two horizontal planes which are spaced apart and parallel. Similarly, the connection point between the second articulated arm 20 and the first articulated arm 10 can be regarded as a rotary joint, and the second articulated arm 20 can rotate at a certain angle on a horizontal plane around the rotary joint. A second origin positioning hole 102 for calibrating the origin is further provided on the upper surface of the connecting portion 104 of the first articulated arm 10 facing the second articulated arm 20. The second articulated arm 20 uses the second origin positioning hole 102 as a reference for movement to rotate by a certain angle with respect to the first articulated arm 10. The second positioning pin 24 can be inserted into or withdrawn from the second origin positioning hole 102 in alignment under the driving of the second cylinder 22 to achieve the positioning of the origin of the second articulated arm 20.
Thus, the multi-axis robot 100 can automatically realize the positioning of the original point, does not need manual operation, saves time and labor, improves the efficiency of original point calibration, improves the positioning accuracy of the original point, and ensures the safe operation of the multi-axis robot 100.
While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (10)
1. A multi-axis robot, comprising:
a base;
one end of the first joint arm is rotatably arranged on the base, the first joint arm is provided with a connecting part exceeding the periphery of the base, and a first original point positioning hole used for calibrating an original point is formed in the lower surface, facing the base, of the connecting part;
the first air cylinder is arranged on the side wall of the base, and the driving end of the first air cylinder faces the connecting part;
the first positioning pin is arranged at the driving end of the first air cylinder and can be relatively close to or far away from the connecting part under the driving of the first air cylinder so as to be inserted into or withdrawn from the first origin positioning hole in an aligning manner.
2. The multi-axis robot of claim 1, wherein:
further comprising:
the preposed inductive switch is arranged on the first air cylinder and can detect whether the first positioning pin is inserted into the first original point positioning hole or not;
the rear induction switch is arranged on the first air cylinder and can detect whether the first positioning pin exits from the first original point positioning hole or not;
and the controller is electrically connected with the front induction switch and the rear induction switch respectively.
3. The multi-axis robot of claim 2, wherein:
the front induction switch and the rear induction switch are magnetic switches and are respectively arranged on the outer wall of the first cylinder;
a piston rod and a magnetic ring sleeved on the piston rod are arranged in the cylinder body of the first cylinder, the piston rod can stretch and retract along the axial direction of the first cylinder, and the magnetic ring moves along with the piston rod along the axial direction of the first cylinder;
the magnetic ring moves to a first position along with the piston rod to be inducted with the front induction switch, so that the front induction switch outputs an induction signal, and the magnetic ring moves to a second position along with the piston rod to be inducted with the rear induction switch, so that the rear induction switch inducts and outputs an induction signal.
4. The multi-axis robot of claim 1, wherein:
further comprising:
the fixing seat is used for fixing the first air cylinder on the base and comprises a seat body tightly attached to the side wall of the base and a fixing plate protruding out of the seat body, a through hole is formed in the fixing plate, and the first air cylinder penetrates through the through hole.
5. Multi-axis robot according to claim 4, characterized in that:
the fixed seat is also provided with a guide plate protruding from the seat body;
the guide plate and the fixed plate are oppositely arranged in the longitudinal direction, the guide plate is positioned between the fixed plate and the first joint arm, a guide hole is formed in the guide plate, and the first positioning pin is arranged in the guide hole in a penetrating mode.
6. The multi-axis robot of claim 5, wherein:
the extending axes of the first cylinder and the first positioning pin are positioned on the same vertical axis so as to be aligned with the first origin positioning hole.
7. Multiaxis robot as claimed in any of the claims 1-6, characterized in that:
further comprising:
the second joint arm is rotatably connected with the end part of the connecting part of the first joint arm, and a second origin positioning hole for calibrating an origin is further formed in the upper surface, facing the second joint arm, of the connecting part;
the second air cylinder is arranged on the side wall of the second joint arm;
the second positioning pin is arranged at the driving end of the second air cylinder and can be relatively close to or far away from the connecting part under the driving of the second air cylinder so as to be inserted into or withdrawn from the second original point positioning hole in an aligning manner.
8. The multi-axis robot of claim 7, wherein:
further comprising:
the front induction switch is arranged on the second cylinder and can detect whether the second positioning pin is inserted into the second original point positioning hole or not;
the rear induction switch is arranged on the second cylinder and can detect whether the second positioning pin exits from the second original point positioning hole or not;
and the controller is electrically connected with the front induction switch and the rear induction switch respectively.
9. The multi-axis robot of claim 7, wherein:
the second articulated arm and the first articulated arm rotate on two horizontal planes spaced from each other, respectively.
10. The multi-axis robot of claim 7, wherein:
further comprising:
the guide rod penetrates through one end part of the second joint arm far away from the first joint arm, and can move up and down along the axial direction or rotate around the axis of the guide rod;
an end effector disposed on the guide bar to move with the guide bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921408146.4U CN210361304U (en) | 2019-08-27 | 2019-08-27 | Multi-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921408146.4U CN210361304U (en) | 2019-08-27 | 2019-08-27 | Multi-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210361304U true CN210361304U (en) | 2020-04-21 |
Family
ID=70253190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921408146.4U Active CN210361304U (en) | 2019-08-27 | 2019-08-27 | Multi-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361304U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140530A (en) * | 2023-10-17 | 2023-12-01 | 芜湖藦卡机器人科技有限公司 | Robot zero point semi-automatic calibration fixture |
-
2019
- 2019-08-27 CN CN201921408146.4U patent/CN210361304U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140530A (en) * | 2023-10-17 | 2023-12-01 | 芜湖藦卡机器人科技有限公司 | Robot zero point semi-automatic calibration fixture |
| CN117140530B (en) * | 2023-10-17 | 2024-03-08 | 芜湖藦卡机器人科技有限公司 | Robot zero point semi-automatic calibration fixture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0314839B1 (en) | Positioning apparatus | |
| CN110509067B (en) | Large-scale complicated component normal position processing multi-robot system equips | |
| CN104668958B (en) | Flexible manufacturing system (FMS) | |
| US11351642B2 (en) | Automatic tool head placement and assembly apparatus for a boring machine | |
| US20230249334A1 (en) | Multi-joint robot | |
| CN112158587A (en) | Method for adjusting a workpiece gripping device and workpiece gripping device | |
| CN210361304U (en) | Multi-axis robot | |
| CN111409091B (en) | Mechanical gripper with coaxial visual positioning function | |
| CN111015320B (en) | Cutter clamping equipment | |
| US11878420B2 (en) | High-precision mobile robot management and scheduling system | |
| CN208262857U (en) | Fixture for robot system | |
| CN110657771B (en) | Shaft workpiece measuring robot and measuring method | |
| WO2021012606A1 (en) | High-precision movable robot secondary positioning device | |
| CN215281966U (en) | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies | |
| CN214561843U (en) | Manipulator with many specifications built-in fitting functions of location and installation | |
| KR101296537B1 (en) | Clamping apparatus for automated robot | |
| CN214924494U (en) | Industrial robot arm | |
| CN215471201U (en) | Flexible gripping apparatus of robot | |
| CN209970224U (en) | Turbocharger clamping jaw | |
| CN112405609A (en) | Intelligent hydraulic mechanical arm with positioning device | |
| CN111360799A (en) | A telescopic multiaxis robot for 3C trade | |
| CN219543173U (en) | Mechanical arm for logistics sorting | |
| CN108405666B (en) | Be applied to auxiliary robot of sheet metal processing | |
| CN216925498U (en) | Adjustable flexible device for three-coordinate system | |
| CN219485027U (en) | A vision tongs for industrial intelligent robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |