A four-axis desktop robot

Abstract

The utility model relates to the field of desktop robots, and in particular to a four-axis desktop robot, wherein a first-axis rotating part is provided on the upper transmission of the base, a first-axis driving motor is provided on the top of the first-axis rotating part, and a large arm and a small arm are extended upward from the first-axis rotating part; a connecting rod is provided between the large arm and the small arm, an end effector mounting frame is installed at the end of the small arm, and a fourth-axis steering gear is installed on the end effector mounting frame. In the utility model, the large arm and the small arm are driven to rotate as a whole by the first-axis rotating part, and the large arm and the small arm are controlled to swing by the second-axis driving motor and the third-axis driving motor, and finally the fourth-axis steering gear can realize precise control of the end of the small arm, and the first-axis driving motor and the synchronous belt drive the first-axis rotating part, so that the excessive rotation clearance caused by the gear box accuracy problem in the traditional driving method can be avoided, thereby improving the positioning accuracy of the device.

Description

Technical Field

[0001] The utility model relates to the technical field of desktop robots, in particular to a four-axis desktop robot. Background Art

[0002] The application scope of four-axis desktop robots involves multiple industries, such as packaging, automobile manufacturing, machinery, logistics warehousing, medical device manufacturing, etc. Compared with palletizing robots, they have many advantages such as soaring work efficiency, stable quality, conscientious work, no influence from other external factors, 24-hour uninterrupted operation, and long service life.

[0003] Currently, the four-axis desktop robots on the market are usually driven by a motor plus a gearbox. This will cause excessive rotational clearance due to the accuracy of the gearbox, resulting in poor positioning accuracy and inaccurate repeated positioning of the four-axis desktop robots. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a four-axis desktop robot.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A four-axis desktop robot comprises a machine base, wherein a first-axis rotating part is arranged on the upper part of the machine base, a first-axis driving motor is arranged on the top of the first-axis rotating part, and a large arm and a small arm extend upward from the first-axis rotating part; a connecting rod is arranged between the large arm and the small arm, an end effector mounting frame is installed at the end of the small arm, and a fourth-axis servo is installed on the end effector mounting frame.

[0007] In addition, a preferred structure is that the output end of the first shaft driving motor extends downward into the first shaft rotating part, and the output end of the first shaft driving motor is connected to the transmission end of the first shaft rotating part through a synchronous belt.

[0008] In addition, a preferred structure is that the base and the first shaft rotating part are connected by a hollow shaft and a bearing, and the synchronous belt is a steel wire braided belt.

[0009] In addition, the preferred structure is that the upper arm and the lower arm are both installed on the rotating end of the first shaft rotating part, the joints of the upper arm and the lower arm are connected with deep groove ball bearings and pins, and the outer sides of the upper arm and the lower arm are both covered with protective covers.

[0010] In addition, a preferred structure is that a second-axis drive motor and a third-axis drive motor are respectively arranged on both sides of the top of the first-axis rotating part through mounting seats, and the output ends of the second-axis drive motor and the third-axis drive motor are respectively connected to the transmission ends of the upper arm and the lower arm.

[0011] In addition, a preferred structure is that the upper arm and the lower arm are connected by a plurality of connecting rods, and the connecting rods are made of lightweight material.

[0012] The beneficial effects of the utility model are as follows: the upper arm and the lower arm are driven to rotate as a whole through the first-axis rotating part, the upper arm and the lower arm are controlled to swing through the second-axis driving motor and the third-axis driving motor, and finally the fourth-axis steering gear can realize precise control of the end of the lower arm, and the first-axis driving motor and the synchronous belt are used to drive the first-axis rotating part, so that the excessive rotation clearance caused by the gear box accuracy problem in the traditional driving method can be avoided, thereby improving the positioning accuracy of the device and enhancing the accuracy of repeated positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an axonometric diagram of a four-axis desktop robot proposed in the utility model;

[0014] Figure 2 This is a front structural schematic diagram of a four-axis desktop robot proposed by the utility model;

[0015] Figure 3 This is a side structural schematic diagram of a four-axis desktop robot proposed by the utility model;

[0016] Figure 4 The utility model is a schematic diagram of a top view of the structure of a four-axis desktop robot.

[0017] In the figure: 1 machine base, 2 first axis rotating part, 3 first axis driving motor, 4 second axis driving motor, 5 third axis driving motor, 6 upper arm, 7 lower arm, 8 connecting rod, 9 end effector mounting frame, 10 fourth axis steering gear, 11 synchronous belt, 12 protective cover. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0019] Referring to 1-4, a four-axis desktop robot includes a base 1, a first-axis rotating part 2 is arranged on the upper part of the base 1, a first-axis driving motor 3 is arranged on the top of the first-axis rotating part 2, and a large arm 6 and a small arm 7 extend upward from the first-axis rotating part 2.

[0020] Among them, a connecting rod 8 is arranged between the upper arm 6 and the lower arm 7, an end effector mounting frame 9 is installed at the end of the lower arm 7, and a fourth axis steering gear 10 is installed on the end effector mounting frame 9. Not only the fourth axis steering gear 10 but also a suction cup can be installed on the end effector mounting frame 9, and the user can freely customize it according to the actual situation.

[0021] The output end of the first shaft driving motor 3 extends downward into the first shaft rotating part 2, and the output end of the first shaft driving motor 3 is connected to the transmission end of the first shaft rotating part 2 through a synchronous belt 11. The first shaft driving motor 3 and the synchronous belt 11 drive the first shaft rotating part 2 to transmit, replacing the traditional motor plus gearbox driving method, which can prevent the rotation clearance from being too large due to the accuracy problem of the gearbox. And the first shaft driving motor 3 is a stepping motor.

[0022] The base 1 and the first shaft rotating part 2 are connected by a hollow shaft and a bearing, and the synchronous belt 11 is a steel wire braided belt. The steel wire braided belt has strong rigidity, so that the upper arm 6 and the lower arm 7 will not have a large rotation gap during the rotation and positioning process.

[0023] The upper arm 6 and the lower arm 7 are both mounted on the rotating end of the first shaft rotating part 2. The joints of the upper arm 6 and the lower arm 7 are connected by deep groove ball bearings and pins, and the outer sides of the upper arm 6 and the lower arm 7 are sleeved with protective covers 12. The upper arm 6 and the lower arm 7 can be driven to rotate as a whole by the first shaft rotating part 2. The connection method of using deep groove ball bearings and pins at the joints can reduce the friction at the connection, making it smooth during operation and reducing energy loss. And the setting of the protective cover 12 can protect the upper arm 6 and the lower arm 7.

[0024] Among them, the second axis drive motor 4 and the third axis drive motor 5 are respectively arranged on both sides of the top of the first axis rotating part 2 through the mounting seat, and the output ends of the second axis drive motor 4 and the third axis drive motor 5 are respectively connected to the transmission ends of the big arm 6 and the small arm 7. Through the arrangement of the second axis drive motor 4 and the third axis drive motor 5, the big arm 6 and the small arm 7 can be controlled to swing.

[0025] Among them, the upper arm 6 and the lower arm 7 are connected by multiple connecting rods 8, and the connecting rods 8 are made of lightweight materials. By using a multi-link 8 structure between the upper arm 6 and the lower arm 7, its rigidity can be increased, and the connecting rods 8 use lightweight materials in the prior art, which can not only reduce weight but also improve the stability of equipment operation. It is also worth noting that the specific connection structure and working method between the upper arm 6 and the lower arm 7 are all prior art, and do not belong to the main technical features solved in this technical solution, so they are not elaborated in this utility model.

[0026] In this embodiment, a first-axis rotating part 2 is provided on the upper transmission of the machine base 1, a first-axis driving motor 3 is provided on the top of the first-axis rotating part 2, and a large arm 6 and a small arm 7 extend upward from the first-axis rotating part 2. A connecting rod 8 is provided between the large arm 6 and the small arm 7, an end effector mounting frame 9 is installed at the end of the small arm 7, and a fourth-axis steering gear 10 is installed on the end effector mounting frame 9. The setting of the first-axis rotating part 2 can drive the large arm 6 and the small arm 7 to rotate as a whole, and the large arm 6 and the small arm 7 can be controlled to swing by the second-axis driving motor 4 and the third-axis driving motor 5. Finally, the setting of the fourth-axis steering gear 10 or the suction cup on the end effector mounting frame 9 can realize precise operation of the end of the small arm 7.

[0027] Furthermore, the first shaft rotating part 2 in the device adopts the transmission mode of the first shaft driving motor 3 and the synchronous belt 11. This transmission mode has high stability and can prevent the problem of excessive rotation clearance caused by the accuracy of the gear box in the traditional transmission mode. In addition, the actual use scenario of the device is a teaching demonstration, so there is no large load during the actual use of the device. Therefore, the device is a lightweight structure with a rated load of 0.5kg and a weight of only 5kg. This can not only improve practicality but also reduce production costs, thereby improving the cost performance of the equipment.

[0028] In the utility model, the upper arm 6 and the lower arm 7 are driven to rotate as a whole by the first-axis rotating part 2, and the upper arm 6 and the lower arm 7 are controlled to swing by the second-axis driving motor 4 and the third-axis driving motor 5. Finally, the fourth-axis steering gear 10 can realize precise control of the end of the lower arm 7, and the first-axis driving motor 3 and the synchronous belt 11 drive the first-axis rotating part 2. In this way, the excessive rotation clearance caused by the gear box accuracy problem in the traditional driving method can be avoided, thereby improving the positioning accuracy of the device and enhancing the accuracy of repeated positioning.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A four-axis desktop robot, comprising a base (1), characterized in that: A first shaft rotating part (2) is provided on the upper part of the machine base (1), a first shaft driving motor (3) is provided on the top of the first shaft rotating part (2), and a large arm (6) and a small arm (7) extend upward from the first shaft rotating part (2); A connecting rod (8) is provided between the upper arm (6) and the lower arm (7), an end effector mounting frame (9) is installed at the end of the lower arm (7), and a fourth axis steering gear (10) is installed on the end effector mounting frame (9).

2. A four-axis desktop robot according to claim 1, characterized in that: The output end of the first shaft driving motor (3) extends downward and into the first shaft rotating part (2), and the output end of the first shaft driving motor (3) is connected to the transmission end of the first shaft rotating part (2) via a synchronous belt (11).

3. A four-axis desktop robot according to claim 2, characterized in that: The machine base (1) and the first shaft rotating part (2) are connected by a hollow shaft and a bearing, and the synchronous belt (11) is a steel wire braided belt.

4. A four-axis desktop robot according to claim 1, characterized in that: The upper arm (6) and the lower arm (7) are both mounted on the rotating end of the first shaft rotating part (2); the joints of the upper arm (6) and the lower arm (7) are connected with a deep groove ball bearing and a pin; and the outer sides of the upper arm (6) and the lower arm (7) are both sleeved with a protective cover (12).

5. A four-axis desktop robot according to claim 4, characterized in that: A second-axis drive motor (4) and a third-axis drive motor (5) are respectively arranged on both sides of the top of the first-axis rotating part (2) via mounting seats, and the output ends of the second-axis drive motor (4) and the third-axis drive motor (5) are respectively connected to the transmission ends of the upper arm (6) and the lower arm (7).

6. A four-axis desktop robot according to claim 5, characterized in that: The upper arm (6) and the lower arm (7) are connected via a plurality of connecting rods (8), and the connecting rods (8) are made of lightweight material.

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