CN103231367B - A kind of single axial movement controls actual training device and loading and unloading method - Google Patents
A kind of single axial movement controls actual training device and loading and unloading method Download PDFInfo
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- CN103231367B CN103231367B CN201310188622.7A CN201310188622A CN103231367B CN 103231367 B CN103231367 B CN 103231367B CN 201310188622 A CN201310188622 A CN 201310188622A CN 103231367 B CN103231367 B CN 103231367B
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Abstract
The invention discloses a kind of single axial movement and control actual training device and loading and unloading method, this device comprise experimental bench, charging and discharging mechanism, for detecting testing agency and the controlling organization of exemplar position, testing agency is electrically connected with described controlling organization, the below correspondence of described charging and discharging mechanism is provided with the support for placing exemplar, and described support is at least two; This device runs by arranging controlling organization driving device hand, by exemplar by a last support-moving extremely rear support, by arranging testing agency, be convenient to manipulator also accurately locate the pickup of exemplar, this apparatus structure is simple, easy to operate, flexible, there is the features such as high reliability, high speed, high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, be convenient to selection, design that student understands the operation principle of robot and each mechanism part fully, improve the design of student in Mechatronic Systems, assembling and debugging capability.
Description
Technical field
The invention belongs to robot real training field of Educational Technology, be specifically related to a kind of single axial movement and control actual training device and loading and unloading method.
Background technology
Cartesian robot be can realize automatically controlling, can overprogram, multivariant, freedom of motion builds up space right-angle relationship, multiduty manipulator.The behavior of its work is mainly by completing along the linear movement in X, Y, Z axis.Single shaft control transfer robot is then a kind of Cartesian robot on basis, has been mainly used in along the linear movement on single axle.
Cartesian robot can be used as various automation equipment very easily, a series of activities such as completing as welding, carrying, loading and unloading, packaging, piling, de-stacking, detection, flaw detection, classification, assembling, labeling, coding, stamp, (soft imitative type) sprays, target is followed, be explosive.Be specially adapted to multi items, large batch of flexibility operation, improve the quality of products for stable, raise labour productivity, to improve working conditions and the quick update of product plays a very important role.Along with the application of Cartesian robot is more and more extensive, the work of Robotics applied teaching seems important day by day, and current domestic Robotics teaching is also in a non-stage of popularization, and basic teaching experiment platform still needs to enrich constantly.
The general volume of Cartesian robot of industrial application is comparatively large, and structure and computer programming are comparatively complicated, are unfavorable for using in teaching, and student cannot be made to grasp selecting of the principles and structure parts of Cartesian robot accurately.
Therefore, in view of above problem, be necessary that proposing a kind of single axial movement controls actual training device, structure is simple, easy to operate, be convenient to field research use, student is made to understand selection, the design of the operation principle of robot and each mechanism part fully, to improve the design of student in Mechatronic Systems, assembling and debugging capability.
Summary of the invention
In view of this, the invention provides a kind of single axial movement and control actual training device and loading and unloading method, this apparatus structure is simple, easy to operate, be convenient to field research use, student is made to understand selection, the design of the operation principle of robot and each mechanism part fully, to reach the object improving the design of student in Mechatronic Systems, assembling and debugging capability.
A kind of single axial movement that object according to the present invention proposes controls actual training device, comprise experimental bench, be positioned at the charging and discharging mechanism on described experimental bench and control described charging and discharging mechanism run controlling organization, the below correspondence of described charging and discharging mechanism is provided with the support for placing exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that described frame can move forward and backward, and drives the driving mechanism of described manipulator movement;
Described actual training device also comprises the testing agency for detecting exemplar position, described testing agency is electrically connected with described controlling organization, by testing agency, the position signalling of exemplar is passed to controlling organization, controlling organization controls manipulator and runs, by support picking up exemplar and being positioned on another support after driving exemplar to move.
Preferably, described manipulator comprises pneumatic actuator and is connected to the vacuum suction head of described pneumatic actuator lower end.
Preferably, described pneumatic actuator is cylinder, described cylinder two ends are provided with the magnetic sensor for detecting cylinder ruuning situation, and described magnetic sensor is electrically connected with described controlling organization, and described controlling organization controls the break-make of described vacuum suction head according to cylinder ruuning situation.
Preferably, described driving mechanism comprises stepper motor, shaft coupling, the ball-screw that is connected with described shaft coupling transmission, described ball-screw is provided with slide block, the junction of described slide block and described ball-screw is provided with ball-screw screw, and described manipulator is fixedly connected on the side of described slide block.
Preferably, described frame is arranged with at least one optical axis that leads in parallel with described ball-screw, described slide block is provided with linear bearing with described direct light shaft connection place.
Preferably, described testing agency comprises and being positioned on described support for detecting the diffuse reflection sensor whether exemplar exists.
Preferably, described testing agency also comprises the sensor be arranged at for manipulator described in detection and location in described frame, and described sensor is corresponding with described each support to be arranged.
Preferably, the two ends of described frame are also provided with the microswitch for limiting described manipulator shift motion.
Preferably, described controlling organization is PLC.
A kind of single axial movement loading and unloading method, the single axial movement described in employing controls actual training device, and concrete operation step is as follows:
(1), by whether diffuse reflection sensor Bracket for Inspection exists experiment exemplar, and information is passed to controlling organization, controlling organization record corresponding information;
(2) after, having detected, controlling organization is according to detection signal control step motor rotation, stepper motor drives ball-screw to rotate by shaft coupling, ball-screw screw is under the effect of slide block with guiding optical axis, the rotary motion of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block driving mechanical hand move to the corresponding sensor place of exemplar place support, sensor is by signal transmission to controlling organization, and controlling organization control step motor stops;
(3), controlling organization controls pneumatic actuator operation, cylinder drives vacuum suction head to be displaced downwardly to desired location, after magnetic sensor detects that cylinder puts in place, by signal transmission to controlling organization, controlling organization controls to open vacuum suction switch, vacuum suction head energising pickup exemplar, exhaust hood moves reset;
(4), controlling organization control step motor remains in operation, and driving mechanical hand moves forward to next sensing station place, and stepper motor shuts down;
(5), controlling organization controls pneumatic actuator operation, cylinder drives vacuum suction head to be displaced downwardly to desired location, after magnetic sensor detects that cylinder puts in place, by signal transmission to controlling organization, controlling organization controls to disconnect vacuum suction switch, exemplar is positioned on support by vacuum suction head, and exhaust hood moves reset, cycling like this;
(6), last stepper motor driving mechanical hand is reset to initial position.
Compared with prior art, the advantage that single axial movement disclosed by the invention controls actual training device and loading and unloading method is: this device runs by arranging controlling organization driving device hand, by exemplar by a last support-moving extremely rear support, by arranging testing agency, be convenient to manipulator also accurately locate the pickup of exemplar, this apparatus structure is simple, easy to operate, flexibly, there is high reliability, high speed, the features such as high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, be convenient to student and understand the operation principle of robot and the selection of each mechanism part fully, design, improve the design of student in Mechatronic Systems, assembling and debugging capability.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation that a kind of single axial movement disclosed by the invention controls actual training device.
Fig. 2 is the stereogram of charging and discharging mechanism disclosed by the invention.
Fig. 3 is the rearview of charging and discharging mechanism disclosed by the invention.
Fig. 4 is the structural representation of support disclosed by the invention.
The title of the numeral in figure or the corresponding component representated by letter:
1, experimental bench 2, charging and discharging mechanism 3, controlling organization 4, button control unit 5, support 6, diffuse reflection sensor
21, frame 22, manipulator 23, driving mechanism 24, cylinder 25, vacuum suction 26, magnetic sensor 27, stepper motor 28, shaft coupling 29, ball-screw 30, slide block 31, ball-screw screw 32, guiding optical axis 33, linear bearing 34, photoelectric sensor 35, microswitch 36, handle
Detailed description of the invention
Along with the application of Cartesian robot is more and more extensive, the work of Robotics applied teaching seems important day by day, and current domestic Robotics teaching is also in a non-stage of popularization, and basic teaching experiment platform still needs to enrich constantly.And the general volume of the Cartesian robot of industrial application is comparatively large, structure and computer programming are comparatively complicated, are unfavorable for using in teaching, and student cannot be made to grasp selecting of the principles and structure parts of Cartesian robot accurately.
The present invention is directed to deficiency of the prior art, the invention provides a kind of single axial movement and control actual training device and loading and unloading method, this apparatus structure is simple, easy to operate, be convenient to field research use, student is made to understand selection, the design of the operation principle of robot and each mechanism part fully, to reach the object improving the design of student in Mechatronic Systems, assembling and debugging capability.
To be clearly and completely described technical scheme of the present invention by detailed description of the invention below.Obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please also refer to Fig. 1 to Fig. 4, Fig. 1 is the structural representation that a kind of single axial movement disclosed by the invention controls actual training device.Fig. 2 is the stereogram of charging and discharging mechanism disclosed by the invention.Fig. 3 is the rearview of charging and discharging mechanism disclosed by the invention.Fig. 4 is the structural representation of support disclosed by the invention.As shown in the figure, a kind of single axial movement controls actual training device, comprise experimental bench 1, be positioned at charging and discharging mechanism 2 on experimental bench 1 and control the controlling organization 3 that charging and discharging mechanism 2 runs, the side of controlling organization 3 is provided with button control unit 4, the below correspondence of charging and discharging mechanism 2 is provided with the support 5 for placing exemplar, and support 5 is at least two.
Charging and discharging mechanism 2 comprises frame 21, is arranged at the manipulator 22 that frame 21 can move forward and backward, and the driving mechanism 23 of driving mechanical hand 22 movement; By driving mechanism 23 driving mechanical hand movable by exemplar by last station to next station, realize the straight line conveying of exemplar.
Wherein, driving mechanism comprises stepper motor 27, shaft coupling 28, the ball-screw 29 that is in transmission connection with shaft coupling 28, ball-screw 29 is provided with slide block 30, slide block 30 is provided with ball-screw screw 31 with the junction of ball-screw 29, and manipulator 22 is fixedly connected on the side of slide block 30.The rotary motion of ball-screw, under the effect of slide block, is converted to slide block along ball-screw axis moving linearly by ball-screw screw.
In addition, driving mechanism also can be electric pushrod or cylinder etc., and can realize the rectilinear motion of slide block, detailed description of the invention does not limit at this.
Actual training device also comprises the testing agency for detecting exemplar position, testing agency is electrically connected with controlling organization 3, by testing agency, the position signalling of exemplar is passed to controlling organization 3, controlling organization controls manipulator 22 and runs, by support picking up exemplar and being positioned on another support 21 after driving exemplar to move.
Manipulator 22 comprises pneumatic actuator and is connected to the vacuum suction 25 of pneumatic actuator lower end.Pneumatic actuator is cylinder 24, cylinder two ends are provided with the magnetic sensor 26 for detecting cylinder ruuning situation, whether put in place for detecting Telescopic-cylinder, magnetic sensor 26, controlling organization 3 controls the break-make of vacuum suction head according to cylinder ruuning situation if being electrically connected with controlling organization 3.
Frame 21 is arranged with at least one optical axis 32 that leads in parallel with ball-screw 29, slide block 30 is provided with linear bearing 33 with the junction of guiding optical axis 32.Leading by arranging the rectilinear movement of guiding optical axis to slide block, avoiding slide block to occur the problems such as deflection, ensureing the accuracy of position of manipulator.The optical axis that wherein leads can be 1,2 or many, and concrete quantity needs according to use and determines, and does not limit at this.
Testing agency comprises and being positioned on support 5 for detecting the diffuse reflection sensor 6 whether exemplar exists.Diffuse reflection sensor 6 is electrically connected with controlling organization 3, detects exemplar and by signal transmission to controlling organization, controlling organization can be determined which support is provided with exemplar, is convenient to subsequent drive manipulator and moves to corresponding position by diffuse reflection sensor 6.
Testing agency also comprises the sensor be arranged at for detection and location manipulator 22 in frame 21, sensor is corresponding with each support to be arranged, by arranging the sensor corresponding with support in frame, when after the support determining exemplar place, controlling organization can control manipulator and move, and the sensor place arrived corresponding to the support of exemplar place stops mobile pickup work exemplar being carried out to next step.Wherein sensor is photoelectric sensor 34 or pressure sensor or displacement transducer etc., does not specifically limit.
The two ends of frame 21 are also provided with the microswitch 35 for limiting manipulator 22 shift motion.Microswitch 35 is electrically connected with controlling organization, and when manipulator moves to microswitch place, controlling organization control step motor stops, and avoids occurring that manipulator moves and exceeds setting stroke and frame produces problems such as colliding, avoid the damage occurring device.
Wherein, controlling organization is PLC.Sensitivity and precision are all higher.
Experimental bench adopts fine aluminum section bar to build, and experimental bench 1 two ends are also provided with handle 36, convenient experiment and transport.
A kind of single axial movement loading and unloading method, adopt single axial movement to control actual training device, concrete operation step is as follows:
(1), by whether diffuse reflection sensor 26 Bracket for Inspection 5 exists experiment exemplar, and information is passed to controlling organization, controlling organization record corresponding information; In order to determine the position at exemplar place, so that control driving mechanism driving mechanical hand to move pickup exemplar.
(2) after, having detected, controlling organization is according to detection signal control step motor rotation, stepper motor drives ball-screw to rotate by shaft coupling, ball-screw screw is under the effect of slide block with guiding optical axis, the rotary motion of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block driving mechanical hand move to the corresponding sensor place of exemplar place support, sensor is by signal transmission to controlling organization, and controlling organization control step motor stops.
(3), controlling organization controls pneumatic actuator operation, cylinder 24 drives vacuum suction 25 to be displaced downwardly to desired location, after magnetic sensor 26 detects that cylinder puts in place, by signal transmission to controlling organization 3, controlling organization controls to open vacuum suction switch, vacuum suction head energising pickup exemplar, exhaust hood moves reset.
(4), controlling organization control step motor remains in operation, and driving mechanical hand 22 moves forward to next sensing station place, and stepper motor shuts down.
(5), controlling organization controls pneumatic actuator operation, cylinder 24 drives vacuum suction 25 to be displaced downwardly to desired location, after magnetic sensor 26 detects that cylinder puts in place, by signal transmission to controlling organization 3, controlling organization controls to disconnect vacuum suction switch, exemplar is positioned on support by vacuum suction head, and exhaust hood moves reset, cycling like this.
(6), last stepper motor driving mechanical hand is reset to initial position.
The invention discloses a kind of single axial movement and control actual training device and loading and unloading method, this device runs by arranging controlling organization driving device hand, by exemplar by a last support-moving extremely rear support, by arranging testing agency, being convenient to manipulator and the pickup of exemplar is also accurately located.This apparatus structure is simple, small volume, easy to operate, flexible, there is the features such as high reliability, high speed, high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, is convenient to selection, design that student understands the operation principle of robot and each mechanism part fully, improves the design of student in Mechatronic Systems, assembling and debugging capability.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a single axial movement controls actual training device, it is characterized in that, comprise experimental bench, be positioned at the charging and discharging mechanism on described experimental bench and control described charging and discharging mechanism run controlling organization, the below correspondence of described charging and discharging mechanism is provided with the support for placing exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that described frame can move forward and backward, and drives the driving mechanism of described manipulator movement;
Described actual training device also comprises the testing agency for detecting exemplar position, described testing agency is electrically connected with described controlling organization, by testing agency, the position signalling of exemplar is passed to controlling organization, controlling organization controls manipulator and runs, by support picking up exemplar and being positioned on another support after driving exemplar to move;
Described manipulator comprises pneumatic actuator, and described pneumatic actuator two ends are provided with the magnetic sensor for detecting pneumatic actuator ruuning situation;
Described driving mechanism comprises stepper motor, shaft coupling, the ball-screw that is connected with described shaft coupling transmission, described ball-screw is provided with slide block, the junction of described slide block and described ball-screw is provided with ball-screw screw, and described manipulator is fixedly connected on the side of described slide block.
2. single axial movement as claimed in claim 1 controls actual training device, and it is characterized in that, described manipulator comprises pneumatic actuator and is connected to the vacuum suction head of described pneumatic actuator lower end.
3. single axial movement as claimed in claim 2 controls actual training device, it is characterized in that, described pneumatic actuator is cylinder, described cylinder two ends are provided with the magnetic sensor for detecting cylinder ruuning situation, described magnetic sensor is electrically connected with described controlling organization, and described controlling organization controls the break-make of described vacuum suction head according to cylinder ruuning situation.
4. single axial movement as claimed in claim 1 controls actual training device, it is characterized in that, described frame is arranged with at least one optical axis that leads in parallel with described ball-screw, described slide block is provided with linear bearing with described direct light shaft connection place.
5. single axial movement as claimed in claim 1 controls actual training device, it is characterized in that, described testing agency comprises and being positioned on described support for detecting the diffuse reflection sensor whether exemplar exists.
6. single axial movement as claimed in claim 5 controls actual training device, and it is characterized in that, described testing agency also comprises the sensor be arranged at for manipulator described in detection and location in described frame, and described sensor is corresponding with each described support to be arranged.
7. single axial movement as claimed in claim 1 controls actual training device, and it is characterized in that, the two ends of described frame are also provided with the microswitch for limiting described manipulator shift motion.
8. single axial movement as claimed in claim 1 controls actual training device, and it is characterized in that, described controlling organization is PLC.
9. a single axial movement loading and unloading method, is characterized in that, adopt the single axial movement described in any one of claim 1-8 to control actual training device, concrete operation step is as follows:
(1), by whether diffuse reflection sensor Bracket for Inspection exists experiment exemplar, and information is passed to controlling organization, controlling organization record corresponding information;
(2) after, having detected, controlling organization is according to detection signal control step motor rotation, stepper motor drives ball-screw to rotate by shaft coupling, ball-screw screw is under the effect of slide block with guiding optical axis, the rotary motion of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block driving mechanical hand move to the corresponding sensor place of exemplar place support, sensor is by signal transmission to controlling organization, and controlling organization control step motor stops;
(3), controlling organization controls pneumatic actuator operation, cylinder drives vacuum suction head to be displaced downwardly to desired location, after magnetic sensor detects that cylinder puts in place, by signal transmission to controlling organization, controlling organization controls to open vacuum suction switch, vacuum suction head energising pickup exemplar, exhaust hood moves reset;
(4), controlling organization control step motor remains in operation, and driving mechanical hand moves forward to next sensing station place, and stepper motor shuts down;
(5), controlling organization controls pneumatic actuator operation, cylinder drives vacuum suction head to be displaced downwardly to desired location, after magnetic sensor detects that cylinder puts in place, by signal transmission to controlling organization, controlling organization controls to disconnect vacuum suction switch, exemplar is positioned on support by vacuum suction head, and exhaust hood moves reset, cycling like this;
(6), last stepper motor driving mechanical hand is reset to initial position.
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| CN103926380A (en) * | 2014-04-24 | 2014-07-16 | 苏州科曼特自动化科技有限公司 | Novel industrial component inspection robot |
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| CN106514643A (en) * | 2015-09-14 | 2017-03-22 | 无锡市盛宝嘉科技有限公司 | Positioning mechanism for picking and placing work of manipulator |
| CN106002969A (en) * | 2016-06-13 | 2016-10-12 | 哈尔滨工大智慧工厂有限公司 | Rectangular coordinate robot system for automatic feeding and discharging of AOI detection |
| CN106914886A (en) * | 2017-03-30 | 2017-07-04 | 无锡职业技术学院 | A kind of industrial robot experience system and practical training method with detachable apparatus |
| CN107272569A (en) * | 2017-08-11 | 2017-10-20 | 重庆邮电大学 | A kind of long-range motion control experimental facility |
| CN108673478B (en) * | 2018-07-18 | 2020-05-05 | 温州大学 | Simulation operation training system for assembly line robot |
| CN109397270B (en) * | 2018-12-25 | 2024-03-22 | 苏州富纳艾尔科技有限公司 | A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot |
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