A desktop industrial robot

Abstract

The present invention relates to the field of automation technology, and in particular to a desktop industrial robot. A desktop industrial robot comprises an arm assembly and a base, wherein the arm assembly is arranged at the upper end of the base, the arm assembly comprises an assembly seat, a first arm and a second arm, one end of the first arm is rotatably 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 present invention is simple to operate, moderately priced, multi-purpose, and compact.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to a desktop industrial robot. Background Art

[0002] Most imported robots require external drives, motion control systems and other control components, and these control components are placed in electrical boxes. These external electrical boxes are generally large in size, which takes up a lot of space. Summary of the invention

[0003] 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 that is easy to operate, moderately priced, multi-purpose, and compact.

[0004] The present invention is achieved through the following technologies:

[0005] A desktop industrial robot comprises an arm assembly and a base, wherein the arm assembly is arranged at the upper end of the base, the arm assembly comprises an assembly base, a first arm and a second arm, one end of the first arm is rotatably connected to the assembly base, 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; a first driving mechanism for driving the first arm is provided on one side of the assembly base, and a second driving mechanism for driving the second arm is provided on the other side of the assembly base; a plurality of drivers, a motion control board, a connecting shaft and a third driving mechanism for driving the arm assembly are provided in the base, and the connecting shaft passes through the base and is connected to the assembly base; a cross limiting portion for limiting is provided at the connection between the mounting plate and the second arm, at the connection between the second arm and the first arm, and at the connection between the first arm and the assembly base.

[0006] Wherein, a third synchronous wheel is provided at the bottom end of the assembly seat, and the output end of the third driving mechanism is connected to the third synchronous wheel through a belt.

[0007] Wherein, a first synchronous wheel is provided on one side of the first arm, the first synchronous wheel is rotatably connected to the assembly seat, and the output end of the first driving mechanism is connected to the first synchronous wheel through a belt.

[0008] The assembly seat is also rotatably connected to a second synchronous wheel, a connecting arm for transmission is connected between the second synchronous wheel and the second arm, and the output end of the second driving mechanism is connected to the second synchronous wheel through a belt.

[0009] Wherein, a driver heat sink is also provided in the base, the driver is a driver PCB board, and the bottom surface of each driver PCB board is attached to the heat sink.

[0010] Wherein, the connecting shaft is connected to the inner wall of the base through a cross limiting portion.

[0011] Wherein, an LCD touch panel is also installed on the outer side of 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.

[0012] Wherein, encoders are provided at the connection between the first arm and the second arm, at the connection between the second arm and the assembly seat, and at the end of the connecting shaft away from the assembly seat.

[0013] Wherein, a parallel connecting rod is provided on one side of the arm assembly for keeping the mounting plate always horizontal.

[0014] Among them, the parallel connecting rod includes 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 rotationally connected in sequence; the first connecting rod is rotationally connected to the assembly seat, the first connecting plate is rotationally connected to the first arm, the second connecting plate is rotationally connected to the second arm, and the second connecting plate is also fixedly connected to the mounting plate.

[0015] Beneficial effects of the present invention:

[0016] A desktop industrial robot of the present invention includes an arm assembly and a base, and the arm assembly is used to implement processing work. A single driver in the base drives the operation of 2 to 3 driving mechanisms. The driver adopts the simplest design, so that the original large circuit part of the driver is streamlined to only retain the core function, and all other redundant functions are removed. Since multiple drivers can achieve the effect of one machine with multiple uses, the size of the driver can be reduced to a minimum; the motion control board only retains the motion trajectory planning calculation and the control function of the external I / O port, and other useless functions are removed. The driver and the motion control board are integrated into the base, and the original external electric box is removed, saving floor space. Since the robot removes the electric box and many other functions that are rarely used, the robot achieves automated work while reducing costs.

[0017] Generally speaking, the arm joints of a robot require very high-precision cross roller bearings to achieve precise positioning of the joints. General cross roller bearings are very expensive, and the cross limiter in the present invention can achieve an effect very close to that of a cross roller bearing, but at a significantly reduced price, thereby further reducing the cost of the robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the internal structure of the base of the present invention.

[0021] Figure 3 It is a schematic diagram of the arm assembly structure of the present invention.

[0022] Figure 4 It is a schematic diagram of the parallel connecting rod structure of the present invention.

[0023] Figure 5 It is a schematic diagram of the connection structure between the mounting plate and the second arm of the present invention.

[0024] Figure 6 It is a schematic diagram of the connection structure between the second arm and the first arm of the present invention.

[0025] Figure 7 It is a schematic diagram of the structure of the cross limiting part of the present invention.

[0026] Reference numerals

[0027] Arm assembly--1, assembly seat--2, first arm--31, second arm--32, first synchronous wheel--34, second synchronous wheel--35, third synchronous wheel--36, mounting plate--4, first driving mechanism--51, second driving mechanism--52, third driving mechanism--53, driver--61, motion control board--62, heat sink--63, LCD touch panel--7, connecting shaft--8, cross limiter--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

[0028] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0029] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the 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 the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0030] like Figure 1 , Figure 2 and Figure 3 As shown, a desktop industrial robot comprises an arm assembly 1 and a base 10, wherein the arm assembly 1 is arranged at the upper end of the base 10, the arm assembly 1 comprises an assembly seat 2, a first arm 31 and a second arm 32, wherein 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 other end of the second arm 32 is rotatably connected to a mounting plate 4; a first driving mechanism 51 for driving the first arm 31 is provided on one side of the assembly seat 2, and a second driving mechanism 52 for driving the second arm 32 is provided on the other side of the assembly seat 2; a plurality of drivers 61, a motion control board 62, a connecting shaft 8 and a third driving mechanism 53 for driving the arm assembly 1 are arranged in the base 10, and the connecting shaft 8 passes through the base 10 and is connected to the assembly seat 2; a cross limiting portion 9 is provided at the connection between the mounting plate 4 and the second arm 32, at the connection between the second arm 32 and the first arm 31, and at the connection between the first arm 31 and the assembly seat 2.

[0031] Specifically, the robot in this embodiment includes an arm assembly 1 and a base 10, and the arm assembly 1 is used to implement processing work. A single driver 61 in the base 10 drives the operation of 2 to 3 driving mechanisms. The driver 61 adopts the simplest design, which reduces the original large circuit part of the driver 61 to only retain the core function, and removes all other redundant functions. Since multiple drivers 61 can achieve the effect of one machine with multiple uses, 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. The driver 61 and the motion control board 62 are integrated into the base 10, and the original external electrical box is removed, saving floor space. Since the robot removes the electrical box and many other functions that are rarely used, the robot achieves automated work while reducing costs.

[0032] The size of the entire robot is comparable to the size occupied by an adult, so it can be plugged in and used on the basis of the existing manual production line without the need to reinstall the original production line or factory.

[0033] Generally speaking, the arm joints of the robot need to use cross roller bearings with very high precision to achieve accurate positioning of the joints. The general cross roller bearings are very expensive. The cross limiter 9 in this embodiment includes a positioning groove 91, a first bearing 92, a second bearing 93 and a third bearing 94. The first bearing 92 is arranged in the positioning groove 91 by abutting, and the x-direction of the mechanical arm connected to the cross limiter 9 has positive and negative offsets, and the positive and negative offsets are caused by the different friction forces caused by the different forces on the mechanical arm connected to the cross limiter 9; it is precisely because of this friction that the first bearing 92 rolls in the positioning groove 91 during the operation of the manipulator, and the rolling direction is determined by the different friction forces received on both sides of the arm. The first bearing 92 rolls in the positioning groove 91, so that the second bearing 93 limits the offset in the x-direction of the cross limiter 9. The two ends of the first bearing 92 are connecting rods, which are respectively connected to the second bearing 93 and the third bearing 94. Since the accuracy coefficient of a single bearing can meet the needs of automated operations with low precision requirements, cross bearings are usually used on the market to achieve common limiting in the xy directions to maintain the processing accuracy of the robot, but the cross bearings are sold at a high price and have high maintenance costs. By limiting the offset of the cross limiting portion 9 in the y direction through the second bearing 93 and the third bearing 94 and limiting the offset of the cross limiting portion 9 in the x direction through the first bearing 92, an effect very close to that of a cross roller bearing can be achieved, but the price is greatly reduced, thereby further reducing the cost of the robot of the present invention.

[0034] Specifically, a third synchronous wheel 36 is provided at the bottom end of the assembly seat 2, and the output end of the third driving mechanism 53 is connected to the third synchronous wheel 36 through a belt. The third driving mechanism 53 is a servo motor, and the arm assembly 1 is precisely rotated by controlling the servo motor; a connecting shaft 8 connected to the bottom end of the assembly seat 2 is connected to the inner wall of the base 10 through a cross limiting portion 9. Since the cross limiting portion 9 can play a role in limiting and positioning, the rotation of the arm assembly 1 is more stable and precise through the joint action of the connecting shaft 8 and the cross limiting portion 9.

[0035] Specifically, a first synchronous wheel 34 is provided on one side of the first arm 31, the first synchronous wheel 34 is rotatably connected to the assembly seat 2, and the output end of the first driving mechanism 51 is connected to the first synchronous wheel 34 through a belt. The first driving mechanism 51 is a servo motor, and the movement of the first arm 31 can be accurately controlled by the servo motor.

[0036] Specifically, the assembly seat 2 is also rotatably connected to a second synchronous wheel 35, a connecting arm for transmission is connected between the second synchronous wheel 35 and the second arm 32, the output end of the second driving mechanism 52 is connected to the second synchronous wheel 35 through a belt, the second driving mechanism 52 is a servo motor, the servo motor controls the rotation of the second synchronous wheel 35, and transmits it to the second arm 32 through the transmission connecting arm, thereby accurately controlling the movement of the second arm 32.

[0037] Specifically, a driver heat sink 63 is further provided in the base 10, and the driver 61 is a driver 61 PCB board, and the bottom surface of each driver 61 PCB board is attached to the heat sink 63. Since the traditional driver 61 is provided with a separate shell, the shell contains the heat sink 63 and the PCB board, and the heat sink 63 is used to dissipate the heat of the power part of the PCB board. However, the driver 61 in this embodiment only retains the PCB board, and the power parts of multiple PCB boards share a heat sink 63, thereby minimizing the volume of the driver 61.

[0038] Specifically, an LCD touch panel 7 is also installed on the outside of 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 adopts the currently popular LCD panel for touch operation, and the high-resolution LCD touch panel 7 can operate the machine very smoothly. Due to the circuit of the driver 61 part, most of the computer control parts required by the robot are omitted, and the interface part is easy to use, which makes the entire operation of the machine very simple at a glance.

[0039] Specifically, encoders 11 are provided at the connection between the first arm 31 and the second arm 32, at the connection between the second arm 32 and the assembly seat 2, and at the end of the connecting shaft 8 away from the assembly seat 2. The encoder 11 can read the movement of the arm assembly 1 and provide feedback on the movement of the arm assembly 1, thereby monitoring the working status of the arm assembly 1 in real time.

[0040] Specifically, a parallel connecting rod is provided on one side of the arm assembly 1 for keeping the mounting plate 4 always horizontal, and the parallel connecting rod includes a first connecting rod 121, a first connecting plate 123, a second connecting rod 122 and a second connecting plate 124, wherein the first connecting rod 121, the first connecting plate 123, the second connecting rod 122 and the second connecting plate 124 are rotatably connected in sequence; the first connecting rod 121 is rotatably connected to 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 by the parallel connecting rod.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A desktop industrial robot, comprising an arm assembly (1) and a base (10), wherein the arm assembly (1) is arranged on the upper end of the base (10), and characterized in that: The arm assembly (1) comprises an assembly base (2), a first arm (31) and a second arm (32); one end of the first arm (31) is rotatably connected to the assembly base (2), one end of the second arm (32) is rotatably connected to the other end of the first arm (31), and the other end of the second arm (32) is rotatably connected to a mounting plate (4); a first driving mechanism (51) for driving the first arm (31) is provided on one side of the assembly base (2), and a second driving mechanism (52) for driving the second arm (32) is provided on the other side of the assembly base (2); The base (10) is provided with a plurality of drivers (61), a motion control panel (62), a connecting shaft (8) and a third driving mechanism (53) for driving the arm assembly (1); the connecting shaft (8) passes through the base (10) and is connected to the assembly seat (2); A cross limiting portion (9) for limiting position is provided at the connection between the mounting plate (4) and the second arm (32), at the connection between the second arm (32) and the first arm (31), and at the connection between the first arm (31) and the assembly seat (2); The connecting shaft (8) is connected to the inner wall of the base (10) via a cross limiting portion (9); The cross limiting portion (9) comprises a positioning groove (91), a first bearing (92), a second bearing (93) and a third bearing (94); the first bearing (92) is arranged in the positioning groove (91) by abutting against the first bearing (92); the x-direction of the robot arm connected to the cross limiting portion (9) is offset in both positive and negative directions; during operation of the robot arm, the first bearing (92) rolls in the positioning groove (91); the first bearing (92) rolls in the positioning groove (91), thereby limiting the offset of the cross limiting portion (9) in the x-direction by the second bearing (93); both ends of the first bearing (92) are connecting rods, which are respectively connected to the second bearing (93) and the third bearing (94); One side of the arm assembly (1) is provided with a parallel connecting rod for keeping the mounting plate (4) always horizontal; The parallel connecting rod comprises a first connecting rod (121), a first connecting plate (123), a second connecting rod (122) and a 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 rotatably connected in sequence; the first connecting rod (121) is rotatably connected to 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).

2. A desktop industrial robot according to claim 1, characterized in that: A third synchronous wheel (36) is provided at the bottom end of the assembly seat (2), and an output end of the third driving mechanism (53) is connected to the third synchronous wheel (36) via a belt.

3. A desktop industrial robot according to claim 1, characterized in that: A first synchronous wheel (34) is provided on one side of the first arm (31), the first synchronous wheel (34) is rotatably connected to the assembly seat (2), and the output end of the first driving mechanism (51) is connected to the first synchronous wheel (34) via a belt.

4. A desktop industrial robot according to claim 1, characterized in that: The assembly seat (2) is also rotatably connected to a second synchronous wheel (35), a connecting arm for transmission is connected between the second synchronous wheel (35) and the second arm (32), and an output end of the second driving mechanism (52) is connected to the second synchronous wheel (35) via a belt.

5. A desktop industrial robot according to claim 1, characterized in that: A drive heat sink (63) is also provided in the base (10); the driver (61) is a driver (61) PCB board; the bottom surface of each driver (61) PCB board is attached to the heat sink (63).

6. A desktop industrial robot according to claim 1, characterized in that: An LCD touch panel (7) is also installed on the outside of the base (10); the LCD touch panel (7), the first drive mechanism (51), the second drive mechanism (52), and the third drive mechanism (53) are all electrically connected to the driver (61).

7. A desktop industrial robot according to claim 1, characterized in that: Encoders (11) are provided at the connection between the first arm (31) and the second arm (32), at the connection between the second arm (32) and the assembly seat (2), and at the end of the connecting shaft (8) away from the assembly seat (2).

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