CN107718043A - A kind of desktop type industrial robot - Google Patents

Abstract

The invention relates to the technical field of automation, in particular to a desktop industrial robot. A desktop industrial robot, comprising an arm assembly and a base, the arm assembly is located at the upper end of the base, the arm assembly includes an assembly seat, a first arm and a second arm, one end of the first arm rotates Connected to the assembly seat, one end of the second arm is rotatably connected to the other end of the first arm, and the other end of the second arm is rotatably connected to a mounting plate. The invention has the advantages of simple operation, moderate price, multiple functions of one machine, and small size.

Description

A desktop industrial robot

technical field

The invention relates to the technical field of automation, in particular to a desktop industrial robot.

Background technique

In recent years, with the intensification of aging in our country, manufacturing enterprises have gradually experienced a labor shortage. In order to increase the recruitment rate, enterprises have to attract and retain the declining labor force by increasing salary levels and increasing welfare benefits. This not only It has aggravated the burden on manufacturing enterprises and accelerated the decline and decline of these enterprises.

Although China has the good name of a manufacturing power in the world, there is still a certain gap compared with Germany, Japan and other manufacturing powers with a high degree of mechanization. This gap is mainly reflected in the fact that most of the products processed in our country are cheap. , low-tech products, which leads to lower profits of manufacturing companies, and companies have to pay for a lot of labor, which leads to the continuous compression of the living space of traditional manufacturing companies.

This situation has accelerated the development of mechanization in my country's manufacturing industry today, and now the country has put forward the policy and advocacy of "replacing people with machinery". Compared with workers, robots have many advantages, but at present, most of the robots purchased by enterprises are Imported from foreign countries, special personnel are required from operation to maintenance. Most of today's manufacturing industries are small and medium-sized enterprises, and most small and medium-sized manufacturing enterprises cannot afford such high costs, which limits the development of robots in the manufacturing industry to a certain extent. Moreover, most imported robots need control components such as external drives and motion control systems, and these control components are placed in electric boxes, and these external electric boxes are generally large in size, which occupies a large area space.

Contents of the invention

In order to overcome the shortcomings and deficiencies in the prior art, the object of the present invention is to provide a desktop industrial robot, which can be easily operated, moderately priced, multi-purpose, and small in size.

The present invention is achieved through the following technologies:

A desktop industrial robot, comprising an arm assembly and a base, the arm assembly is located at the upper end of the base, the arm assembly includes an assembly seat, a first arm and a second arm, one end of the first arm rotates Connected to the assembly seat, one end of the second arm is rotatably connected to the other end of the first arm, and the other end of the second arm is rotatably connected to a mounting plate; one side of the assembly seat is provided for driving the first The first driving mechanism of an arm, the other side of the assembly seat is provided with a second driving mechanism for driving the second arm; the base is provided with a plurality of drivers, motion control boards, connecting shafts and for driving The third driving mechanism of the arm assembly, the connecting shaft passes through the base and is connected to the assembly seat; the connection between the mounting plate and the second arm, the connection between the second arm and the first arm, the connection between the first arm and the assembly The joints of the seats are all provided with cross limiters for limit.

Wherein, the bottom end of the assembly seat is provided with a third synchronous wheel, and the output end of the third driving mechanism is connected with the third synchronous wheel through a belt.

Wherein, one side of the first arm is provided with a first synchronous wheel, the first synchronous wheel is rotationally connected with the assembly seat, and the output end of the first driving mechanism is connected with the first synchronous wheel through a belt.

Wherein, the assembly seat is also rotatably connected with a second synchronous wheel, and a connecting arm for transmission is connected between the second synchronous wheel and the second arm, and the output end of the second drive mechanism is connected to the second arm through a belt. Synchronized wheel connection.

Wherein, the base is further provided with a driving heat dissipation plate, the drivers are driver PCBs, and the bottom surface of each driver PCB is attached to the heat dissipation plate.

Wherein, the connecting shaft is connected with the inner wall of the base through the cross limiting portion.

Wherein, an LCD touch panel is installed outside the base, and the LCD touch panel, the first driving mechanism, the second driving mechanism, and the third driving mechanism are all electrically connected to the driver.

Wherein, the connection between the first arm and the second arm, the connection between the second arm and the assembly seat, and the end of the connecting shaft away from the assembly seat are all provided with encoders.

Wherein, one side of the arm assembly is provided with a parallel connecting rod for keeping the mounting plate always horizontal.

Wherein, the parallel connecting rods include a first connecting rod, a first connecting plate, a second connecting rod and a second connecting plate, and the first connecting rod, the first connecting plate, the second connecting rod, and the second connecting plate are sequentially Rotational connection; the first connecting rod is rotationally connected with the assembly seat, the first connecting plate is rotationally connected with the first arm, the second connecting plate is rotationally connected with the second arm, and the second connecting plate is also rotationally connected with the second arm The installation disk is fixedly connected.

Beneficial effects of the present invention:

A desktop industrial robot of the present invention includes an arm assembly and a base, and the arm assembly is used for processing. A single driver in the base drives the operation of 2 to 3 driving mechanisms. The driver adopts the most concise design, so that the original huge circuit part of the driver is reduced to only the core function, and all other redundant functions are removed. Because multiple drivers can realize one The multi-purpose effect of the machine, so the volume of the driver can be reduced to the minimum; the motion control board only retains the motion trajectory planning calculation and the control function of the external I/O port, and removes other useless functions. The drive and motion control board are integrated into the base, which removes the original electrical box that needs to be connected externally, saving the floor space. Since the robot removes the electrical box and many other functions that are rarely used, the robot realizes automation while reducing costs.

Generally speaking, the arm joints of the robot need to use very high-precision cross roller bearings to realize the precise positioning of the joints. The price of ordinary cross roller bearings is very high, but the cross limiter in the present invention can achieve very high precision. It is close to the effect of the cross roller bearing, but the price is greatly reduced, thereby further reducing the cost of the robot of the present invention.

Description of drawings

The present invention is further described by using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, without paying creative work, other embodiments can also be obtained according to the following accompanying drawings Attached picture.

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the base of the present invention.

Fig. 3 is a structural schematic diagram of the arm assembly of the present invention.

Fig. 4 is a schematic diagram of the parallel connecting rod structure of the present invention.

Fig. 5 is a schematic diagram of the connection structure between the mounting plate and the second arm of the present invention.

Fig. 6 is a schematic diagram of the connection structure between the second arm and the first arm of the present invention.

Fig. 7 is a schematic diagram of the structure of the cross limiting part of the present invention.

reference sign

Arm assembly--1, assembly seat--2, first arm--31, second arm--32, first synchronous wheel--34, second synchronous wheel--35, third synchronous wheel-- 36, installation plate--4, first driving mechanism--51, second driving mechanism--52, third driving mechanism--53, driver--61, motion control board--62, cooling plate--63, LCD touch panel--7, connecting shaft--8, cross limit part--9, positioning groove--91, first bearing--92, second bearing--93, third bearing--94, base- -10, encoder--11, first connecting rod--121, second connecting rod--122, first connecting plate--123, second connecting plate--124.

detailed description

Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not intended to limit the present invention Therefore, it has no technical substantive meaning, and any modification of structure, change of proportional relationship or adjustment of size shall still fall into the within the scope covered by the technical content disclosed in the present invention. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable scope of the invention and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without any substantial change in the technical content.

As shown in Fig. 1, Fig. 2 and Fig. 3, a desktop industrial robot includes an arm assembly 1 and a base 10, the arm assembly 1 is arranged on the upper end of the base 10, and the arm assembly 1 includes an assembly seat 2. The first arm 31 and the second arm 32, one end of the first arm 31 is rotatably connected to the assembly seat 2, one end of the second arm 32 is rotatably connected to the other end of the first arm 31, and the first arm 31 is rotatably connected to the assembly seat 2. The other end of the two arms 32 is rotatably connected with the mounting plate 4; one side of the assembly seat 2 is provided with a first drive mechanism 51 for driving the first arm 31, and the other side of the assembly seat 2 is provided with a drive mechanism 51 for driving the first arm 31. Drive the second drive mechanism 52 of the second arm 32; the base 10 is provided with a plurality of drivers 61, a motion control board 62, a connecting shaft 8 and a third drive mechanism 53 for driving the arm assembly 1, the connection The shaft 8 passes through the base 10 and is connected to the assembly seat 2; the connection between the mounting plate 4 and the second arm 32, the connection between the second arm 32 and the first arm 31, and the connection between the first arm 31 and the assembly seat 2 Every place is provided with cross limiting part 9.

Specifically, the robot in this embodiment includes an arm assembly 1 and a base 10, and the arm assembly 1 is used for performing processing work. The single driver 61 in the base 10 drives the operation of 2 to 3 driving mechanisms. The driver 61 adopts the most concise design, so that the original huge circuit part of the driver 61 is simplified to only keep the core function, and all other redundant functions are removed. Due to multiple The driver 61 can realize the multi-purpose effect of one machine, so the volume of the driver 61 can be reduced to a minimum; the motion control board 62 only retains the motion trajectory planning calculation and the control function of the external I/O port, and removes other useless functions. By integrating the driver 61 and the motion control board 62 into the base 10, the original electrical box that needs to be connected externally is removed, and the occupied area is saved. Since the robot removes the electric box and many other functions that are rarely used, the robot realizes automatic work while reducing the cost.

The size of the entire robot is equivalent to the size of an adult, so it can be plugged and used on the basis of the original manual production line, without reinstalling the original production line or factory building.

Generally speaking, the arm joints of the robot need to use very high-precision cross roller bearings to achieve precise positioning of the joints. The general cross roller bearings are very expensive, and the cross limiter 9 in this embodiment includes The positioning groove 91, the first bearing 92, the second bearing 93 and the third bearing 94, the first bearing 92 is arranged in the positioning groove 91 by abutting against, and the x direction of the mechanical arm connected with the cross limiting part 9 exists The offset in the positive and negative directions, and the offset in the positive and negative directions is caused by the different frictional force caused by the different force of the mechanical arm connected to the cross limiter 9; it is this frictional force Existence, during the working process of the manipulator, the first bearing 92 rolls in the positioning groove 91, and the rolling direction is determined by the friction force received by both sides of the arm. The first bearing 92 rolls in the positioning groove 91 , so that the second bearing 92 limits the offset of the cross limiting portion 9 in the x direction. Both ends of the first bearing 92 are connecting rods, respectively connecting the second bearing 93 and the third bearing 94 . Since the precision factor of a single bearing can meet the requirements of automation with low precision, the cross bearing is usually used to achieve the common limit in the xy direction in the market to maintain the machining accuracy of the manipulator, but the price of the cross bearing higher, and the maintenance cost is larger; the second bearing 93 and the third bearing 94 limit the deviation that occurs in the y direction of the cross limiter 9, and the first bearing 92 limits the deviation that occurs in the x direction of the cross limiter 9. Shifting can achieve the effect very close to the cross roller bearing, but the price is greatly reduced, thereby further reducing the cost of the robot of the present invention.

Specifically, the bottom end of the assembly seat 2 is provided with a third synchronous wheel 36, the output end of the third driving mechanism 53 is connected with the third synchronous wheel 36 through a belt, the third driving mechanism 53 is a servo motor, and The servo motor controls the arm assembly 1 to rotate accurately; the connecting shaft 8 connected to the bottom end of the assembly seat 2 is connected to the inner wall of the base 10 through the cross limiting part 9, because the cross limiting part 9 can play a role The effect of limiting and positioning, through the joint action of the connecting shaft 8 and the cross limiting part 9, makes the rotation of the arm assembly 1 more stable and precise.

Specifically, a first synchronous wheel 34 is provided on one side of the first arm 31, and the first synchronous wheel 34 is rotationally connected with the assembly seat 2, and the output end of the first driving mechanism 51 is synchronized with the first synchronous wheel through a belt. Wheel 34 is connected. The first driving mechanism 51 is a servo motor, through which the movement of the first arm 31 can be precisely controlled.

Specifically, the assembly seat 2 is also rotatably connected with a second synchronous wheel 35, and a connecting arm for transmission is connected between the second synchronous wheel 35 and the second arm 32, and the output of the second driving mechanism 52 The end is connected with the second synchronous wheel 35 through a belt, the second drive mechanism 52 is a servo motor, the servo motor controls the rotation of the second synchronous wheel 35, and is transmitted to the second arm 32 through the transmission connection arm, thereby accurately controlling the second arm 32 exercise.

Specifically, the base 10 is also provided with a driving cooling plate 63, the driver 61 is a driver 61 PCB, and the bottom surface of each of the drivers 61 PCB is attached to the cooling plate 63, because the traditional driver 61 is equipped with a separate shell , there are heat dissipation plate 63 and PCB board inside the housing, heat dissipation plate 63 is used for heat dissipation of the power part of the PCB board. However, the driver 61 in this embodiment only retains the PCB board, and the power part of multiple PCB boards shares a heat sink 63, thereby reducing the volume of the driver 61 to a minimum.

Specifically, an LCD touch panel 7 is installed outside the base 10 , and the LCD touch panel 7 , the first driving mechanism 51 , the second driving mechanism 52 and the third driving mechanism 53 are all electrically connected to the driver 61 . The interface control part uses the currently popular LCD panel for touch operation. The high-resolution LCD touch panel 7 can operate the machine very smoothly. Because of the circuit of the driver 61, most of the computer control parts required by the robot are saved. The interface Parts are easy to use, and the whole operation of the machine becomes very simple at a glance.

Specifically, the connection between the first arm 31 and the second arm 32, the connection between the second arm 32 and the assembly seat 2, and the end of the connecting shaft 8 away from the assembly seat 2 are all provided with an encoder 11, and the encoder 11 can be The movement of the arm assembly 1 is read, and the movement of the arm assembly 1 is fed back, so as to monitor the working state of the arm assembly 1 in real time.

Specifically, one side of the arm assembly 1 is provided with a parallel connecting rod for keeping the mounting plate 4 horizontal at all times, and the parallel connecting rod includes a first connecting rod 121, a first connecting plate 123, a second connecting rod 122 and The second connecting plate 124, the first connecting rod 121, the first connecting plate 123, the second connecting rod 122, and the second connecting plate 124 are sequentially connected in rotation; the first connecting rod 121 is connected in rotation with the assembly seat 2, The first connecting plate 123 is rotatably connected to the first arm 31 , the second connecting plate 124 is rotatably connected to the second arm 32 , and the second connecting plate 124 is also fixedly connected to the mounting plate 4 . Since different clamping hands need to be installed on the mounting plate 4 to process different production lines, and the mounting plate 4 needs to be kept parallel at all times, the mounting plate 4 is always kept parallel through the parallel connecting rod.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention, although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand , the technical solution of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims (10)

1. a kind of desktop type industrial robot, including arm assembly (1) and base (10), the arm assembly (1) are located at base (10) upper end, it is characterised in that：

The arm assembly (1) includes assembly seat (2), the first arm (31) and the second arm (32), first arm (31) One end be rotationally connected with assembly seat (2), one end of second arm (32) is rotationally connected with the another of the first arm (31) End, the other end of second arm (32) are rotatably connected to mounting disc (4)；The side of the assembly seat (2), which is provided with, to be used to drive The first drive mechanism (51) of dynamic first arm (31), the opposite side of the assembly seat (2), which is provided with, to be used to drive the second arm (32) the second drive mechanism (52)；

Multiple drivers (61), motion control board (62), connecting shaft (8) and for driving arm total are provided with the base (10) Into the 3rd drive mechanism (53) of (1), the connecting shaft (8) is connected through base (10) with assembly seat (2)；

The junction of the mounting disc (4) and the second arm (32), the junction of the second arm (32) and the first arm (31), the One arm (31) is equipped with for spacing cross limiting section (9) with assembly seat (2) junction.

A kind of 2. desktop type industrial robot according to claim 1, it is characterised in that：The bottom of the assembly seat (2) Provided with the 3rd synchronizing wheel (36), the output end of the 3rd drive mechanism (53) is connected by belt with the 3rd synchronizing wheel (36).

A kind of 3. desktop type industrial robot according to claim 1, it is characterised in that：The one of first arm (31) Side is provided with the first synchronizing wheel (34), and first synchronizing wheel (34) is rotatablely connected with assembly seat (2), first drive mechanism (51) output end is connected by belt with the first synchronizing wheel (34).

A kind of 4. desktop type industrial robot according to claim 1, it is characterised in that：The assembly seat (2) also rotates The second synchronizing wheel (35) is connected with, the connection for transmission is connected between second synchronizing wheel (35) and the second arm (32) Arm, the output end of second drive mechanism (52) are connected by belt with the second synchronizing wheel (35).

A kind of 5. desktop type industrial robot according to claim 1, it is characterised in that：It is additionally provided with the base (10) Heat sink (63) is driven, the driver (61) is driver (61) pcb board, and the bottom surface of each driver (61) pcb board is pasted Together in heat sink (63).

A kind of 6. desktop type industrial robot according to claim 1, it is characterised in that：The connecting shaft (8) passes through ten Word limiting section (9) is connected with the inwall of base (10).

A kind of 7. desktop type industrial robot according to claim 1, it is characterised in that：Also pacify on the outside of the base (10) Equipped with LCD touch pads (7), the LCD touch pads (7), the first drive mechanism (51), the second drive mechanism (52), the 3rd driving Mechanism (53) electrically connects with driver (61).

A kind of 8. desktop type industrial robot according to claim 1, it is characterised in that：First arm (31) and the Two arms (32) junction, the second arm (32) and the one end of assembly seat (2) junction, connecting shaft (8) away from assembly seat (2) are equal Provided with encoder (11).

A kind of 9. desktop type industrial robot according to claim 1, it is characterised in that：The one of the arm assembly (1) Side, which is provided with, to be used to make mounting disc (4) remain horizontal parallel rod.

A kind of 10. desktop type industrial robot according to claim 9, it is characterised in that：The parallel rod includes the One connecting rod (121), the first connecting plate (123), the second connecting rod (122) and the second connecting plate (124), the head rod (121), the first connecting plate (123), the second connecting rod (122), the second connecting plate (124) are rotatablely connected successively；Described first connects Extension bar (121) and assembly seat (2) are rotatablely connected, and first connecting plate (123) is rotatablely connected with the first arm (31), and described the Two connecting plates (124) are rotatablely connected with the second arm (32), and second connecting plate (124) is also fixedly connected with mounting disc (4).