Russell Lee Watkins, 41, is charged with felony conspiracy, robbery with dangerous weapon, first-degree burglary and second-degree kidnapping.
In court Tuesday, Watkins denied any involvement in the incident.
"The victims, if they were to put a picture of me towards the victims, they going to say it definitely wasn't me," Watkins told a judge. "Like really, it wasn't. I am a law-abiding citizen. I work."
He also asked the judge to reduce his $690,000 bond.
"Your honor, I know the charge is tremendous ...with that type of bond, I would never see the birth of my child," said Watkins, who said he wants to be by his pregnant wife's side. "Like, I haven't really been getting in trouble."
The judge denied his request.
The incident happened at a home on Slippery Elm Drive in Southeast Raleigh on Dec. 17.
A warrant was issued for Watkins' arrest Jan. 4.
The prosecution noted that Watkins is a convicted felon and called the crime he's now accused of a "violent ambush."
Authorities said Watkins took "a black pistol" inside the home and tied up the people inside, two adults, ages 31 and 25, and a 14-year-old.
Watkins stole a diamond ring from the home and then sold it to a pawn shop called American Gold Exchange in exchange for $100, "knowing the ring was stolen during an armed robbery," prosecutors said.
An Xbox, an iPhone, $140 in cash, keys to a Mercedes sedan, and a laptop were also stolen.
ABC11 tried to speak to the victims but nobody answered the door at the residence.
Watkins is facing seven felony charges.