CN103213121A - Three-freedom-degree table tennis carrying mechanical arm - Google Patents
Three-freedom-degree table tennis carrying mechanical arm Download PDFInfo
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- CN103213121A CN103213121A CN2013101571975A CN201310157197A CN103213121A CN 103213121 A CN103213121 A CN 103213121A CN 2013101571975 A CN2013101571975 A CN 2013101571975A CN 201310157197 A CN201310157197 A CN 201310157197A CN 103213121 A CN103213121 A CN 103213121A
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Abstract
The invention discloses a three-freedom-degree table tennis carrying mechanical arm which comprises an experiment table, a table tennis work support on the experiment table facet and a three-freedom-degree orthogonal coordinate robot. The three-freedom-degree table tennis carrying mechanical arm further comprises a control system used for controlling the three-freedom-degree orthogonal coordinate robot. The three-freedom-degree table tennis carrying mechanical arm is used as a basic robot technology teaching platform and is reasonable in layout, convenient to operate, safe and reliable. Through edutainment, learning interest is improved, basic constitutions and a working principle of the robot are understood, the basic unit technology of the robot is understood (mechanisms, control and sensors), and carrying experiments of different rules can be finished. A student can comprehensively master choices of mechanical transmission components, design of structural components, choice and using of the sensors, choice and using of a motor, and programming and debugging of a computer. Therefore, capacities of design, assembly and debugging of an electromechanical system of the student can be all improved.
Description
Technical field
The invention belongs to the robot teaching field, be specifically related to a kind of Three Degree Of Freedom table tennis conveying robot.
Background technology
But Cartesian robot be can realize automatically control overprogram, multivariant, freedom of motion builds up manipulator space right-angle relationship, multiduty.The behavior of its work mainly is by finishing the linear movement on X, Y, the Z axle.
Cartesian robot can be used as various automation equipments very easily, finishes as welding, carrying, loading and unloading, packing, piling, de-stacking, detection, flaw detection, classification, assembling, decals, coding, beats that sign indicating number, spraying, target are followed, a series of activities such as explosive.Be specially adapted to the flexibility operation of many kinds, small lot, improve the quality of products, raise labour productivity, improve working conditions and the quick update of product plays crucial effect for stable.
Along with the application of Cartesian robot more and more widely, the work of robot application technique teaching seems important day by day.
Summary of the invention
Technical problem to be solved by this invention is at above-mentioned the deficiencies in the prior art, and a kind of Three Degree Of Freedom table tennis conveying robot of teaching through lively activities is provided, and it can solve the problem that lacks the control object in the teaching process of Robotics.
The technical solution adopted in the present invention is: a kind of Three Degree Of Freedom table tennis conveying robot, comprise table tennis work support and three degrees of freedom right angle coordinate robot on experimental bench, the experimental bench table top, also comprise being used to control described three degrees of freedom right angle coordinate ROBOT CONTROL system.
As preferably, described experimental bench adopts aluminium section bar to build, its bottom configuration leg and roller.
As preferably, described experimental bench front end is installed the control operation panel, and described control operation panel is provided with action button and indicator lamp.
As preferably, described control system adopts panel beating link plate form, and configuration Mitsubishi PLC control system, open layout are installed on described experimental bench below.
As preferably, also be provided with the touch-screen system that links to each other with control system on the described experimental bench table top.
As preferably, described three degrees of freedom right angle coordinate robot comprises the second cover module type straight line executing mechanism that is fixed on the cover module type straight line executing mechanism of first on the experimental bench and can moves around on this first cover module type straight line executing mechanism, the described second cover module type straight line executing mechanism is equipped with slide unit cylinder, sensing system and the vacuum suction system of elevating movement by the connecting plate that can move around on this second cover module type straight line executing mechanism.
As preferably, the described first cover module type straight line executing mechanism is made of pedestal with guide rail and the motion platform that moves around on above-mentioned guide rail by ball screw mechanism, and described ball screw mechanism drives by the driving motor of its termination.
As preferably, described connecting plate is provided with the slide unit cylinder, and the output of this slide unit cylinder is provided with the output bent plate that is used for sensor installation system and vacuum suction system.
As preferably, described vacuum suction system comprises and is used to carry the vacuum cup of each station table tennis workpiece to assigned address.
Beneficial effect of the present invention is: the present invention uses as base machine people technique teaching platform, rationally distributed, be convenient to operation, safe and reliable, by teaching through lively activities, improve learning interest, and elementary cell technology (mechanism of understanding robot is formed and operation principle on the basis of understanding robot, control, sensor), can finish the carrying experiment of Different Rule, allow the student grasp the selection of mechanical transmission component comprehensively, the design of structural member, the selection of sensor and use, the selection of motor and use, computer programming and debugging make the design of student's Mechatronic Systems, assembling, debugging capability all can be improved.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a structural representation of the present invention;
Fig. 3 is a structural representation of the present invention;
Fig. 4 is a structural representation of the present invention.
Among the figure: 1, experimental bench; 2, table tennis work support; 3, three degrees of freedom right angle coordinate robot; 4, control system; 5, control operation panel; 6, touch-screen system; 31, the first cover module type straight line executing mechanism; 311, pedestal; 312, guide rail; 313, ball screw mechanism; 314, motion platform; 315, driving motor; 32, the second cover module type straight line executing mechanism; 33, connecting plate; 34, sensing system; 35, vacuum suction system; 36, magnetic sensor; 37, slide unit cylinder; 38, output bent plate; 39, vacuum cup.
The specific embodiment
Below in conjunction with the accompanying drawings and the specific embodiments the present invention is described in further detail.
As depicted in figs. 1 and 2, a kind of Three Degree Of Freedom table tennis conveying robot, comprise experimental bench 1, table tennis work support 2 on experimental bench 1 table top and three degrees of freedom right angle coordinate robot 3, also comprise the control system 4 that is used to control described three degrees of freedom right angle coordinate robot 3, described experimental bench 1 adopts aluminium section bar to build, its bottom configuration leg and roller, convenient experiment and transportation, and experimental bench 1 front end is installed control operation panel 5, described control operation panel 5 is provided with action button and indicator lamp, described control system 4 adopts panel beating link plate form, configuration Mitsubishi PLC control system 4, open layout is installed on described experimental bench 1 below, also is provided with the touch-screen system 6 that links to each other with control system 4 on described experimental bench 1 table top.
As shown in Figure 3, described three degrees of freedom right angle coordinate robot 3 comprises the second cover module type straight line executing mechanism 32 that is fixed on the cover of first on the experimental bench 1 module type straight line executing mechanism 31 and can moves around on this first cover module type straight line executing mechanism 31, two cover module type straight line executing mechanisms adopt AC servo motor and step motor control respectively, the described first cover module type straight line executing mechanism 31 is made of pedestal 311 with guide rail 312 and the motion platform 314 that moves around on above-mentioned guide rail 312 by ball screw mechanism 313, described ball screw mechanism 313 drives by the driving motor 315 of its termination, the described second cover module type straight line executing mechanism 32 is installed on the described motion platform 314, and it is equipped with the slide unit cylinder 37 of elevating movement by the connecting plate 33 that can move around on this second cover module type straight line executing mechanism 32, sensing system 34 and vacuum suction system 35, by connecting plate 33 two cover module type straight line executing mechanisms are built into the Cartesian robot pattern, can arbitrary motion in a 3 D stereo.
As shown in Figure 4, described connecting plate 33 is provided with slide unit cylinder 37, described slide unit cylinder 37 is provided with magnetic sensor 36, the output of this slide unit cylinder 37 is provided with the output bent plate 38 that is used for sensor installation system 34 and vacuum suction system 35, and described vacuum suction system 35 comprises and is used to carry the vacuum cup 39 of each station table tennis workpiece to assigned address.
Operating process of the present invention: manipulator energising, SR is pressed in touch-screen control, stop behind the manipulator reseting movement, three degrees of freedom right angle coordinate robot 3 begins the pointwise operation from table tennis work support 2 starting points, the table tennis workpiece has nil case, system log (SYSLOG) information on the tip sensor system 34 detection supports.Detection finishes, the reversion zero-bit.Three degrees of freedom right angle coordinate robot 3 begins action, and according to the procedure stipulation action, terminal vacuum cup 39 each the station table tennis workpiece of carrying of pointwise are to assigned address, but single or carrying operation repeatedly.
The manipulator characteristics: manipulator is controlled automatically, but overprogram, the equal follow procedure operation of all motions; Flexible operation, interesting strong, have features such as high reliability, high-speed, high accuracy; Can use non-maintaining for a long time.The table tennis carrying can be put simple letter figures pattern, teach through lively activities.
The present invention uses as base machine people technique teaching platform, rationally distributed, be convenient to operation, safe and reliable, by teaching through lively activities, improve learning interest, and elementary cell technology (mechanism of understanding robot is formed and operation principle on the basis of understanding robot, control, sensor), can finish the carrying experiment of Different Rule, allow the student grasp the selection of mechanical transmission component comprehensively, the design of structural member, the selection of sensor and use, the selection of motor and use, computer programming and debugging make the design of student's Mechatronic Systems, assembling, debugging capability all can be improved.
The above, only for preferred embodiment of the present invention, so can not limit scope of the invention process with this, i.e. the equivalence of doing according to the present patent application claim and description changes and modification, all should still belong in the scope that patent of the present invention contains.
Claims (9)
1. Three Degree Of Freedom table tennis conveying robot, it is characterized in that: comprise table tennis work support (2) and three degrees of freedom right angle coordinate robot (3) on experimental bench (1), experimental bench (1) table top, also comprise the control system (4) that is used to control described three degrees of freedom right angle coordinate robot (3).
2. Three Degree Of Freedom table tennis conveying robot according to claim 1 is characterized in that: described experimental bench (1) adopts aluminium section bar to build, its bottom configuration leg and roller.
3. Three Degree Of Freedom table tennis conveying robot according to claim 1 is characterized in that: described experimental bench (1) front end is installed control operation panel (5), and described control operation panel (5) is provided with action button and indicator lamp.
4. Three Degree Of Freedom table tennis conveying robot according to claim 1 is characterized in that: described control system (4) adopts panel beating link plate form, and configuration Mitsubishi PLC control system (4), open layout are installed on described experimental bench (1) below.
5. Three Degree Of Freedom table tennis conveying robot according to claim 1 is characterized in that: also be provided with the touch-screen system (6) that links to each other with control system (4) on described experimental bench (1) table top.
6. Three Degree Of Freedom table tennis conveying robot according to claim 1, it is characterized in that: described three degrees of freedom right angle coordinate robot (3) comprises the second cover module type straight line executing mechanism (32) that is fixed on the cover module type straight line executing mechanism (31) of first on the experimental bench (1) and can moves around on this first cover module type straight line executing mechanism (31), and the described second cover module type straight line executing mechanism (32) is equipped with the slide unit cylinder (37) of elevating movement by the connecting plate (33) that can move around on this second cover module type straight line executing mechanism (32), sensing system (34) and vacuum suction system (35).
7. Three Degree Of Freedom table tennis conveying robot according to claim 6, it is characterized in that: the described first cover module type straight line executing mechanism (31) constitutes by the pedestal with guide rail (312) (311) and by the motion platform (314) that ball screw mechanism (313) moves around on above-mentioned guide rail (312), and described ball screw mechanism (313) drives by the driving motor (315) of its termination.
8. according to claim 6 or 7 described Three Degree Of Freedom table tennis conveying robots, it is characterized in that: described connecting plate (33) is provided with slide unit cylinder (37), and the output of this slide unit cylinder (37) is provided with the output bent plate (38) that is used for sensor installation system (34) and vacuum suction system (35).
9. Three Degree Of Freedom table tennis conveying robot according to claim 8 is characterized in that: described vacuum suction system (35) comprises and is used to carry the vacuum cup (39) of each station table tennis workpiece to assigned address.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101571975A CN103213121A (en) | 2013-04-28 | 2013-04-28 | Three-freedom-degree table tennis carrying mechanical arm |
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| CN2013101571975A CN103213121A (en) | 2013-04-28 | 2013-04-28 | Three-freedom-degree table tennis carrying mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308453A (en) * | 2014-11-12 | 2015-01-28 | 无锡亚中智能装备有限公司 | Heating press-fit device |
| CN104842348A (en) * | 2015-06-08 | 2015-08-19 | 山东力诺特种玻璃股份有限公司 | Glass shell grabbing manipulator |
| CN105173685A (en) * | 2015-06-10 | 2015-12-23 | 合肥京东方光电科技有限公司 | Position control device and vacuum drying device |
| CN105252781A (en) * | 2015-12-02 | 2016-01-20 | 苏州聚慧体育用品有限公司 | Automatic production assembly line for table tennis balls |
| CN108077104A (en) * | 2017-12-11 | 2018-05-29 | 浠诲己 | Pet dog is fed and amuses robot |
| CN108157204A (en) * | 2017-12-11 | 2018-06-15 | 浠诲己 | Pet feeding amuses device |
| CN108527339A (en) * | 2018-05-28 | 2018-09-14 | 东莞市铧光自动化机械有限公司 | A kind of Intelligent mechanical arm device |
| CN109382814A (en) * | 2018-12-25 | 2019-02-26 | 苏州富纳艾尔科技有限公司 | Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training |
| CN113427307A (en) * | 2021-06-26 | 2021-09-24 | 山东省智能机器人应用技术研究院 | Industrial robot end effector for gripping caterpillar links and palletizing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308453A (en) * | 2014-11-12 | 2015-01-28 | 无锡亚中智能装备有限公司 | Heating press-fit device |
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| CN104842348A (en) * | 2015-06-08 | 2015-08-19 | 山东力诺特种玻璃股份有限公司 | Glass shell grabbing manipulator |
| CN104842348B (en) * | 2015-06-08 | 2016-08-17 | 山东力诺特种玻璃股份有限公司 | Glass bulb catching robot |
| CN105173685A (en) * | 2015-06-10 | 2015-12-23 | 合肥京东方光电科技有限公司 | Position control device and vacuum drying device |
| CN105252781A (en) * | 2015-12-02 | 2016-01-20 | 苏州聚慧体育用品有限公司 | Automatic production assembly line for table tennis balls |
| CN108077104A (en) * | 2017-12-11 | 2018-05-29 | 浠诲己 | Pet dog is fed and amuses robot |
| CN108157204A (en) * | 2017-12-11 | 2018-06-15 | 浠诲己 | Pet feeding amuses device |
| CN108077104B (en) * | 2017-12-11 | 2020-12-15 | 徐州云创物业服务有限公司 | Pet dog feeding fun robot |
| CN108527339A (en) * | 2018-05-28 | 2018-09-14 | 东莞市铧光自动化机械有限公司 | A kind of Intelligent mechanical arm device |
| CN108527339B (en) * | 2018-05-28 | 2023-07-28 | 东莞市铧光自动化机械有限公司 | Intelligent mechanical arm device |
| CN109382814A (en) * | 2018-12-25 | 2019-02-26 | 苏州富纳艾尔科技有限公司 | Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training |
| CN109382814B (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 circulation transport mechanism and robot for real standard of robot |
| CN113427307A (en) * | 2021-06-26 | 2021-09-24 | 山东省智能机器人应用技术研究院 | Industrial robot end effector for gripping caterpillar links and palletizing method |
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Application publication date: 20130724 |