CN101947781A - Modularized multi-control Cartesian coordinate robot - Google Patents
Modularized multi-control Cartesian coordinate robot Download PDFInfo
- Publication number
- CN101947781A CN101947781A CN 201010266032 CN201010266032A CN101947781A CN 101947781 A CN101947781 A CN 101947781A CN 201010266032 CN201010266032 CN 201010266032 CN 201010266032 A CN201010266032 A CN 201010266032A CN 101947781 A CN101947781 A CN 101947781A
- Authority
- CN
- China
- Prior art keywords
- robot
- drives
- linear
- motor
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a modularized multi-control Cartesian coordinate robot, which comprises a linear robot and a rotating robot; the linear robot is provided with a linear robot or a rotating robot; the number of the liner robot is at least one; the number of the rotating robot is at least one; the linear robot is provided with a motor which drives a ball screw through a coupler, and a screw nut on the ball screw drives a motion platform to perform linear motion; and the rotating robot is provided with a motor which drives a worm gear through a coupler, and the worm gear drives a rotating platform to rotate. Students can constitute a multi-degree-of-freedom robot through recombining and constructing certain modules by hands, so that the method allows the students to comprehensively grasp the application development and the integration technology of the mechatronics technology, helps the students to recognize constituent parts of a system from the perspective of the whole system so as to grasp the constitution, functions and control principles of an electromechanical control system, and trains the practical ability and the innovation and development ability of the students.
Description
Technical field
The present invention relates to robot and make the field, especially relate to a kind of modular combination coordinate robot.
Background technology
Along with the application of Cartesian robot more and more widely, it is important that the design work of Cartesian robot seems day by day.Cartesian robot of successful design relates to the work of a lot of aspects, comprises frame for movement, power drive, SERVO CONTROL or the like.And in the teaching process of specialty, Cartesian robot has the problem that lacks the control object.
Summary of the invention
Technical problem to be solved by this invention provides in a kind of process of the teaching in specialty, can solve the modularization that lacks control object problem and control Cartesian robot more.
The present invention solves the technical scheme that its technical problem takes: a kind of modularization is controlled Cartesian robot more, comprises linear robot and rotary machine people, and described linear robot is provided with linear robot or rotary machine people.
In order to make robot that a plurality of frees degree are arranged, described linear robot has one at least; Described rotary machine people has one at least.
For robot is moved on straight line, described linear robot is provided with motor, and motor drives ball screw by shaft coupling, and the screw rod screw on the screw rod drives motion platform with rectilinear motion.
For robot can be rotated, described rotary machine people is provided with motor, and motor drives worm and gear by shaft coupling, and worm and gear drives the rotation of rotatable platform.
The invention has the beneficial effects as follows: modularization is controlled Cartesian robot more and is used as the elementary teaching platform, forms and operation principle in order to the basis of understanding robot, understands robot elementary cell technology (mechanism, control, sensor).And can finish experiments such as simple carrying, assembling, processing, simultaneously, the student can reconfigure, build and then constitute multi-freedom robot certain module by taking action on one's own, allow the student grasp the application and development and the integrated technology of electromechanical integration technology comprehensively, help the student to remove each part of recognition system, thereby grasp composition, function and the control principle of Mechatronic control system from the entire system angle; Grasp the selection of mechanical transmission component, the design of structural member, the selection of sensor and use, the selection of motor and use, computer programming and debugging etc. make design, assembling, the debugging capability of student's Mechatronic Systems all can obtain combined training, cultivate students ' practical ability and innovative development ability.
Description of drawings
Fig. 1 is the structural representation of linear robot of the present invention;
Fig. 2 is a rotary machine people's of the present invention structural representation;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 (a) and Fig. 4 (b) are two degrees of freedom combining structure schematic diagrames of the present invention;
Fig. 5 (a) and Fig. 5 (b) are Three Degree Of Freedom combining structure schematic diagrames of the present invention;
Fig. 6 (a) and Fig. 6 (b) are four-degree-of-freedom combining structure schematic diagrames of the present invention.
1, motor 2, shaft coupling 3, ball screw 4, motion platform 5, rotatable platform
The specific embodiment
Linear robot as shown in Figure 1 is provided with motor 1, and motor 1 drives ball screw 3 by shaft coupling 2, and the screw rod screw on the ball screw 3 drives motion platform 4 with rectilinear motion.The rotation of motor 1 becomes rectilinear motion output.
Rotary machine people as shown in Figures 2 and 3 is provided with motor 1, and motor 1 drives worm and gear by shaft coupling 2, and worm and gear drives the rotation of rotatable platform 5.The rotation of motor 1 is changed on another plane by worm and gear and is rotated.
Introduce the multivariant Cartesian robot that some are occurred through combination by linear robot and rotary machine people below.
Be depicted as the binary Cartesian robot of being made up of two linear robots as Fig. 4 (a), it is arbitrary motion in one plane.Be depicted as by a linear robot and the binary Cartesian robot that the rotary machine people forms as Fig. 4 (b), it can point-blank move, and vertically this straight line can rotate.
Be depicted as the Cartesian robot of the Three Degree Of Freedom of being made up of three linear robots as Fig. 5 (a), it can arbitrary motion in a 3 D stereo.Be depicted as the Cartesian robot of the Three Degree Of Freedom of being made up of two linear robots and rotary machine people as Fig. 5 (b), it can arbitrary motion in a plane, and can rotate on the direction on vertical this plane.
Be depicted as by three linear robots and the Cartesian robot that the rotary machine people forms as Fig. 6 (a) and Fig. 6 (b), wherein the rotation of the rotary machine people among Fig. 6 (a) is perpendicular to the plane of movement from first and second linear robot of bottom number; The rotation of rotary machine people among Fig. 6 (b) is perpendicular to the plane of movement from second of bottom number and the 3rd linear robot.
The terminal attitude control of the robot of above-mentioned various configurations has 3 kinds of control models: manually control, PLC programming Control, computer PCI motion control card control or control based on the PC104 bus embedded type.
The characteristics of Cartesian robot: multifreedom motion, the space angle between each freedom of motion are the right angle; Automatically control, but overprogram, the equal follow procedure operation of all motions; Generally formed by control system, drive system, mechanical system, operation tool etc.; Flexibly, multi-functional, because of the difference in functionality of operation tool also different; High reliability, high-speed, high accuracy; Can be used for rugged environment, but long-term work, the convenient operation maintenance.
Claims (4)
1. a modularization is controlled Cartesian robot more, comprises linear robot and rotary machine people, it is characterized in that: described linear robot is provided with linear robot or rotary machine people.
2. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described linear robot has one at least; Described rotary machine people has one at least.
3. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described linear robot is provided with motor (1), motor (1) drives ball screw (3) by shaft coupling (2), and the screw rod screw on the ball screw (3) drives motion platform (4) and does rectilinear motion.
4. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described rotary machine people is provided with motor (1), and motor (1) drives worm and gear by shaft coupling (2), and worm and gear drives the rotation of rotatable platform (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010266032 CN101947781A (en) | 2010-08-30 | 2010-08-30 | Modularized multi-control Cartesian coordinate robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010266032 CN101947781A (en) | 2010-08-30 | 2010-08-30 | Modularized multi-control Cartesian coordinate robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101947781A true CN101947781A (en) | 2011-01-19 |
Family
ID=43451469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010266032 Pending CN101947781A (en) | 2010-08-30 | 2010-08-30 | Modularized multi-control Cartesian coordinate robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101947781A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535283A (en) * | 2014-12-25 | 2015-04-22 | 温州职业技术学院 | Precise electronically-controlled non-contact excitation experimental platform |
| CN104646879A (en) * | 2013-11-22 | 2015-05-27 | 现代自动车株式会社 | Respot jig |
| CN104816219A (en) * | 2015-05-18 | 2015-08-05 | 吴中区木渎蒯斌模具加工厂 | Automatic polishing machine of vibration absorption connection clamping piece |
| CN104816240A (en) * | 2015-05-18 | 2015-08-05 | 吴中区木渎蒯斌模具加工厂 | Inversion mechanism of automatic polishing machine of vibration absorption connection clamping piece |
| CN105690219A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Counting-type bearing pedestal surface grinding equipment |
| CN105690221A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Bearing pedestal surface grinding equipment facilitating chip removal |
| CN105690220A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Adjustable bearing pedestal surface grinding equipment |
| CN105690218A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Bearing block surface grinding equipment |
| CN105751042A (en) * | 2016-03-11 | 2016-07-13 | 温州智元知识产权管理有限公司 | Stability-adjustable bearing seat surface grinding equipment |
| CN105751041A (en) * | 2016-03-11 | 2016-07-13 | 温州智元知识产权管理有限公司 | Intelligent grinding device for bearing base surface |
| CN105773393A (en) * | 2016-03-11 | 2016-07-20 | 温州智元知识产权管理有限公司 | Bearing pedestal surface grinding equipment capable of allowing workers to temporarily leave |
| CN108789450A (en) * | 2018-08-09 | 2018-11-13 | 安徽星宇生产力促进中心有限公司 | A kind of unit for child studying robot base |
| CN109070341A (en) * | 2016-04-20 | 2018-12-21 | Ntn株式会社 | Apparatus for work and dual-arm apparatus for work |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6124695A (en) * | 1996-09-19 | 2000-09-26 | Matsushita Electric Industrial Co., Ltd. | Cartesian coordinates robot |
| CN2608216Y (en) * | 2003-03-28 | 2004-03-31 | 中国人民解放军国防科学技术大学 | Modular polar coordinate digital controlled cutter |
| CN101086810A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | A teaching robot |
| CN101204812A (en) * | 2007-12-19 | 2008-06-25 | 沈孝芹 | Three degrees of freedom right angle coordinate manipulator |
-
2010
- 2010-08-30 CN CN 201010266032 patent/CN101947781A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6124695A (en) * | 1996-09-19 | 2000-09-26 | Matsushita Electric Industrial Co., Ltd. | Cartesian coordinates robot |
| CN2608216Y (en) * | 2003-03-28 | 2004-03-31 | 中国人民解放军国防科学技术大学 | Modular polar coordinate digital controlled cutter |
| CN101086810A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | A teaching robot |
| CN101204812A (en) * | 2007-12-19 | 2008-06-25 | 沈孝芹 | Three degrees of freedom right angle coordinate manipulator |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104646879A (en) * | 2013-11-22 | 2015-05-27 | 现代自动车株式会社 | Respot jig |
| CN104535283A (en) * | 2014-12-25 | 2015-04-22 | 温州职业技术学院 | Precise electronically-controlled non-contact excitation experimental platform |
| CN104816219A (en) * | 2015-05-18 | 2015-08-05 | 吴中区木渎蒯斌模具加工厂 | Automatic polishing machine of vibration absorption connection clamping piece |
| CN104816240A (en) * | 2015-05-18 | 2015-08-05 | 吴中区木渎蒯斌模具加工厂 | Inversion mechanism of automatic polishing machine of vibration absorption connection clamping piece |
| CN105690220A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Adjustable bearing pedestal surface grinding equipment |
| CN105690221A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Bearing pedestal surface grinding equipment facilitating chip removal |
| CN105690219A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Counting-type bearing pedestal surface grinding equipment |
| CN105690218A (en) * | 2016-03-11 | 2016-06-22 | 温州智元知识产权管理有限公司 | Bearing block surface grinding equipment |
| CN105751042A (en) * | 2016-03-11 | 2016-07-13 | 温州智元知识产权管理有限公司 | Stability-adjustable bearing seat surface grinding equipment |
| CN105751041A (en) * | 2016-03-11 | 2016-07-13 | 温州智元知识产权管理有限公司 | Intelligent grinding device for bearing base surface |
| CN105773393A (en) * | 2016-03-11 | 2016-07-20 | 温州智元知识产权管理有限公司 | Bearing pedestal surface grinding equipment capable of allowing workers to temporarily leave |
| CN109070341A (en) * | 2016-04-20 | 2018-12-21 | Ntn株式会社 | Apparatus for work and dual-arm apparatus for work |
| US11154994B2 (en) | 2016-04-20 | 2021-10-26 | Ntn Corporation | Work device and dual-arm work device |
| CN108789450A (en) * | 2018-08-09 | 2018-11-13 | 安徽星宇生产力促进中心有限公司 | A kind of unit for child studying robot base |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101947781A (en) | Modularized multi-control Cartesian coordinate robot | |
| Lai et al. | Inverse kinematics for a novel hybrid parallel–serial five-axis machine tool | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN103921268B (en) | For transporation by plane containing prrpr side chain parallel institution punching system | |
| CN103753584A (en) | Mechanical arm control system | |
| CN201804458U (en) | Modular multi-control rectangular coordinate robot | |
| CN103273482A (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| Zhang et al. | Modelling and Simulation of SCARA Robot using MATLAB/SimMechanics | |
| Savaş et al. | Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes | |
| CN202720820U (en) | Electromechanical integration system | |
| US20180304460A1 (en) | Manually taught robot and method for manually teaching robot | |
| Zhang et al. | Novel design and analysis of a reconfigurable parallel manipulator using variable geometry approach | |
| CN106976077A (en) | A kind of rod-type and cascaded structure conveying robot | |
| Pronichev et al. | Interdisciplinary design of mechatronic systems based on the integration of separate software | |
| CN112548996A (en) | Open industrial robot control system and open industrial robot | |
| Cenev | Design and implementation of double H’-gantry manipulator for TUT microfactory concept | |
| Altintas | A new approach to 3-axis cylindrical and cartesian type robot manipulators in mechatronics education | |
| Marsono et al. | Calibration the travel resolution stepper motor machines of CNC-based batik robot running GRBL firmware | |
| CN213339214U (en) | Small-size multiaxis simulation machining center experiment teaching system | |
| CN108109490A (en) | A kind of electromechanical integration combined type experimental system | |
| Silantieva et al. | CHARACTERISTICS OF MECHATRONIC MODULES | |
| Силантьева et al. | 681 CHARACTERISTICS OF MECHATRONIC MODULES | |
| TWI707214B (en) | Robot arm teaching module | |
| Safdar | Theory of Robotics Arm Control with PLC | |
| Van Bibber et al. | Design and Control of a High Precision Laser-Cutting Machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20110119 |