CN104134393A - Manipulator movement principle demonstration teaching tool - Google Patents
Manipulator movement principle demonstration teaching tool Download PDFInfo
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- CN104134393A CN104134393A CN201410401294.9A CN201410401294A CN104134393A CN 104134393 A CN104134393 A CN 104134393A CN 201410401294 A CN201410401294 A CN 201410401294A CN 104134393 A CN104134393 A CN 104134393A
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Abstract
The invention discloses a manipulator movement principle demonstration teaching tool. The manipulator movement principle demonstration teaching tool comprises a first manipulator, a second manipulator, a first demonstration system and a second demonstration system, wherein the first demonstration system is connected with the first manipulator and used for driving the first manipulator to move, and the second demonstration system is connected with the second manipulator and used for driving the second manipulator to move. According to the manipulator movement principle demonstration teaching tool, the manipulators are driven to do corresponding actions through the demonstration systems on a workbench, and the demonstration systems are composed of various mechanical mechanisms. When the manipulator movement principle demonstration teaching tool is applied to teaching activities, on one hand, the movement rules of the manipulators can be shown visually, and students can clearly and visually know the movement principles of the manipulators; on the other hand, understanding and recognizing of the movement principles and the movement rules of the related mechanical mechanisms can be deepened, the operability is high, and learning interest of the students is enhanced.
Description
Technical field
The present invention relates to teaching aid, specifically, the present invention relates to a kind of robot movement principle demonstration teaching aid.
Background technology
The today of advancing by leaps and bounds in science and technology, countless relevantly constantly occur for the mechanical arm novel product that captures object, they may be that practical function is different, may be also that composition mechanism is different, but that they are all lives in order to make people is more convenient.
Mechanical arm is in order to capture object, generally have fold up, the function such as lifting and rotation.How to realize these functions for mechanical arm, in education activities, lack a kind of teaching aid that can demonstrate the telemechanical principle of mechanical arm at present, be unfavorable for understanding and the understanding of the motion principle of students to mechanical arm.
Summary of the invention
The invention provides a kind of robot movement principle demonstration teaching aid, object is to demonstrate for education activities, makes students can intuitively understand the motion principle of mechanical arm.
To achieve these goals, the technical scheme that the present invention takes is: a kind of robot movement principle demonstration teaching aid, comprises the first mechanical arm, the second mechanical arm, is connected with the first mechanical arm and for driving the first demo system of the first robot movement and being connected with the second mechanical arm and for driving the second demo system of the second robot movement.
This robot movement principle demonstration teaching aid also comprises worktable, and described the first demo system and described the second demo system are located on worktable.
Described the first mechanical arm comprises that at least two are matched for capturing the first finger and at least two slide bars that parallel of object, and first-hand fingerstall is located on slide bar and can slides along slide bar; Described the second mechanical arm comprises that at least two are matched for capturing second finger and at least one support bar of object, and second finger and support bar are rotationally connected.
Described the first demo system comprises the first carrier and is located at the mechanical mechanism on the first carrier, mechanical mechanism on the first carrier comprises the first driving mechanism, the first four-bar mechanism and the second four-bar mechanism that connect successively, and the power output member of the second four-bar mechanism is connected with described slide bar.
Described the first four-bar mechanism is crank and rocker mechanism, the clutch end of the first four-bar mechanism is connected with the power intake of described the second four-bar mechanism by connecting rod, the second four-bar mechanism is parallelogram lindage, and its member of doing translation is the power output member being connected with described slide bar; The power that described the first driving mechanism produces is passed to described the first mechanical arm through the first four-bar mechanism and the second four-bar mechanism, makes the first mechanical arm entirety do translation.
Mechanical mechanism on described the first carrier also comprises the second driving mechanism connecting successively, equal width cam mechanism and the first hydraulic gear, the first hydraulic gear comprises the first master cylinder and is located at the first auxiliary oil cylinder in the power output member of described the second four-bar mechanism, the piston rod of the first master cylinder is connected with the clutch end of equal width cam mechanism, the first master cylinder is also connected to control the first auxiliary oil cylinder by oil pipe with the first auxiliary oil cylinder, the piston rod of the first auxiliary oil cylinder is connected with two described the first fingers by the contiguous block of V-arrangement, contiguous block is provided with chute, the first finger is provided with the guide rod inserting in chute, the power that the second driving mechanism produces is passed to described the first mechanical arm through equal width cam mechanism and the first hydraulic gear, and the first finger of the first mechanical arm is moved along described slide bar.
Described the second demo system comprises the second carrier and is located at the mechanical mechanism on the second carrier, mechanical mechanism on the second carrier comprises the 3rd driving mechanism, gear drive, Geneva mechanism and the 3rd four-bar mechanism that connect successively, and the power output member of the 3rd four-bar mechanism is connected with described support bar.
Described gear drive is two-stage gear train, and described the 3rd four-bar mechanism is crank and rocker mechanism; The power that described the 3rd driving mechanism produces is passed to described the second mechanical arm through gear drive and the 3rd four-bar mechanism, makes the second mechanical arm entirety do oscillating traverse motion.
Mechanical mechanism on described the second carrier also comprises the 4 wheel driven actuation mechanism connecting successively, cycloidal gear linkage assembly and the second hydraulic gear, the second hydraulic gear comprises the second master cylinder and is located at the second auxiliary oil cylinder in the power output member of described the 3rd four-bar mechanism, the piston rod of the second master cylinder is connected with the clutch end of cycloidal gear linkage assembly, the second master cylinder is also connected to control the second auxiliary oil cylinder by oil pipe with the second auxiliary oil cylinder, the piston rod of the second auxiliary oil cylinder is connected with two described second fingers by connecting rod, the two ends of connecting rod are rotationally connected with second finger and piston rod respectively, the power that 4 wheel driven actuation mechanism produces is passed to described the second mechanical arm through cycloidal gear linkage assembly and the second hydraulic gear, and the second finger of the second mechanical arm is rotated.
Described the first demo system also comprises the first base that is located at described the first carrier bottom surface, the first base be provided be connected with the first carrier and for drive first carrier rotate the 5th driving mechanism; Described the second demo system also comprises the second base that is located at described the second carrier bottom surface, the second base be provided be connected with the second carrier and for drive second carrier rotate the 6th driving mechanism.
Robot movement principle demonstration teaching aid of the present invention, carry out corresponding actions by the demo system driving device hand on worktable, demo system is made up of multiple mechanical mechanism, be applied in education activities, the characteristics of motion that on the one hand can show intuitively mechanical arm, the motion principle that makes students can be clear, get information about mechanical arm, also can deepen motion principle to associated mechanical mechanism and the understanding and cognition of the characteristics of motion on the other hand, workable, improve student's learning interest.
Brief description of the drawings
This instructions comprises the following drawings, shown in content respectively:
Fig. 1 is the structural representation of demonstration teaching aid of the present invention;
Fig. 2 is the structural representation of the first demo system;
Fig. 3 is the structural representation at first another visual angle of demo system;
Fig. 4 is the structural representation of the first driving mechanism;
Fig. 5 is the structural representation of the first four-bar mechanism;
Fig. 6 is the structural representation of the second four-bar mechanism;
Fig. 7 is the structural representation of the second driving mechanism;
Fig. 8 is the structural representation of equal width cam mechanism;
Fig. 9 is the enlarged drawing of equal width cam mechanism;
Figure 10 is the structural representation of the first mechanical arm;
Figure 11 is the wiring layout of contiguous block and the first auxiliary oil cylinder;
Figure 12 is the wiring layout of the 5th driving mechanism and the first base and the first carrier;
Figure 13 is the first base inner structure schematic diagram;
Figure 14 is the structural representation of the second demo system;
Figure 15 is the structural representation at second another visual angle of demo system;
Figure 16 is the structural representation of the 3rd driving mechanism;
Figure 17 is the wiring layout of gear drive and the 3rd driving mechanism;
Figure 18 is the structural representation of Geneva mechanism;
Figure 19 is the structural representation of the 3rd four-bar mechanism;
Figure 20 is the structural representation of 4 wheel driven actuation mechanism;
Figure 21 is the structural representation of cycloidal gear linkage assembly;
Figure 22 is the wiring layout of the 6th driving mechanism and the second base and the second carrier;
Figure 23 is the first base inner structure schematic diagram;
Figure 24 is the structural representation of the second mechanical arm;
Figure 25 is the schematic diagram of the first hydraulic gear and the second hydraulic gear;
Figure 26 is the schematic diagram of Geneva mechanism;
In figure, be labeled as:
1, worktable; 2, the first carrier; 3, the second carrier; 4, the first mechanical arm; 41, the first finger; 42, slide bar; 43, guide rod; 5, the second mechanical arm; 51, second finger; 52, support bar; 53, first connecting rod; 6, the first driving mechanism; 61, the first drive motor; 62, belt gear; 63, the first support; 7, the first four-bar mechanism; 71, the first side link; 72, the second side link; 73, second connecting rod; 74, the second support; 8, the second four-bar mechanism; 81, the 3rd side link; 82, the 4th side link; 83, third connecting rod; 84, the 3rd support; 9, the second driving mechanism; 91, the second drive motor; 92, the first Hooks coupling universal coupling; 93, the 4th support; 94, the first chute; 95, the first axle; 10, equal width cam mechanism; 101, offset cam; 102, outside framework; 103, the first slide block; 104, mounting disc; 11, the first hydraulic gear; 111, the first master cylinder; 112, the first auxiliary oil cylinder; 113, the 5th support; 12, the first base; 13, the 4th connecting rod; 14, contiguous block; 141, the second chute; 15, the 3rd driving mechanism; 151, the 3rd drive motor; 152, the 6th support; 16, gear drive; 161, the first gear; 162, the second gear; 163, the 3rd gear; 164, the 4th gear; 165, the second axle; 166, the 3rd axle; 167, the 7th support; 168, the 8th support; 17, Geneva mechanism; 171, active driver plate; 172, sheave; 173, the 9th support; 174, the 4th axle; 175, pivoted arm; 176, straight pin; 18, the 3rd four-bar mechanism; 181, the 5th side link; 182, the 6th side link; 183, the 5th connecting rod; 184, the tenth support; 19, cycloidal gear linkage assembly; 191, centre wheel; 192, planetary gear; 193, the 6th connecting rod; 194, the first projection; 195, the second slide block; 20, the second hydraulic gear; 201, the second master cylinder; 202, the second auxiliary oil cylinder; 203, the 11 support; 21, the second base; 22,4 wheel driven actuation mechanism; 221, the 4th drive motor; 222, the second Hooks coupling universal coupling; 223, twelve earthly branches frame; 224, the 5th axle; 225, the second projection; 226, the 3rd chute; 23, the 5th driving mechanism; 231, the 5th drive motor; 232, the first upper flange; 233, the first bottom plate; 24, the 6th driving mechanism; 241, the 6th drive motor; 242, the second upper flange; 243, the second bottom plate.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail, and object is to help those skilled in the art to have more complete, accurate and deep understanding to design of the present invention, technical scheme, and contributes to its enforcement.
As shown in Fig. 1 to Figure 25, a kind of robot movement principle demonstration of the present invention teaching aid, comprises worktable 1, the first mechanical arm 4, the second mechanical arm 5, the first demo system and the second demo system.Worktable 1 is for carrying the remaining part of this demonstration teaching aid, and the end face of worktable 1 is plane, and the first demo system and the second demo system are arranged on the end face of worktable 1.The first demo system is connected with the first mechanical arm 4, for driving the first mechanical arm 4 to move, the first mechanical arm 4 is realized fold up, the action such as lifting and rotation.The second demo system is connected with the second mechanical arm 5, for driving the second mechanical arm 5 to move, the second mechanical arm 5 is realized fold up, the action such as lifting and rotation.
Specifically, as shown in figure 10, the first mechanical arm 4 comprises that two are matched for capturing the first finger 41 and two slide bars that parallel 42 of object, and slide bar 42 is for being fixedly installed, and in the time of state as shown in the figure, the axis of two slide bars 42 is located in the same horizontal plane.Two first fingers 41 parallel, and two first fingers 41 are set on two slide bars 42, and under the driving of the first demo system, two first fingers 41 can be along slide bar 42 synchronous slides.In the time that two first fingers 41 move in opposite directions, can demonstrate holding action, object is clamped.In the time that two first fingers 41 deviate from motion mutually, two first fingers 41 open, and can demonstrate release movement, and the object being held is discharged.
As shown in figure 24, the second mechanical arm 5 comprises that two are matched for capturing second finger 51 and a support bar 52 of object, and second finger 51 is rotationally connected with support bar 52.Support bar 52 is for being fixedly installed, and two second fingers 51 are connected with support bar 52 at the two ends of support bar 52 respectively, and the tie point of second finger 51 and support bar 52 is between the two ends of second finger 51, and the axis of two second fingers 51 parallels.One end of second finger 51 is bare terminal end, and one end of the other end and a first connecting rod 53 is rotationally connected, and first connecting rod 53 is parallel with the axis of support bar 52 tie points with second finger 51 with the axis of second finger 51 tie points.The other end of two first connecting rods 53 is connected with the second demo system by same bearing pin, and under the driving of the second demo system, two second fingers 51 can swing to clamp object or discharge object.In the time that 51 rotations of two second fingers are dwindled the opening of bare terminal end, can demonstrate holding action, object is clamped.In the time that two second fingers 51 rotate backward the opening expansion that makes bare terminal end, two second fingers 51 are opened, and can demonstrate release movement, and the object being held is discharged.
As shown in Figure 2, the first demo system comprises rotating the first carrier 2 and is located at the mechanical mechanism on the first carrier 2.The first carrier 2 parallels with worktable 1, and the end face of the rotation centerline of the first carrier 2 and worktable 1 is perpendicular.The end face of the first carrier 2 is plane, mechanical mechanism on the first carrier 2 comprises that the first driving mechanism 6, the first four-bar mechanism 7 and the second four-bar mechanism 8, the first driving mechanisms 6, the first four-bar mechanism 7 and the second four-bar mechanism 8 that connect are successively arranged on the end face of the first carrier 2.The first driving mechanism 6 is for generation of power, and power is passed to the first mechanical arm 4 through the first four-bar mechanism 7 and the second four-bar mechanism 8, the power output member of the second four-bar mechanism 8 is connected with slide bar 42, finally drives the first mechanical arm 4 and two first fingers 41 to carry out corresponding actions.
As preferably, as shown in Figure 4, the first driving mechanism 6 comprises the first drive motor 61, belt gear 62 and the first support 63, the first drive motor 61 is fixedly mounted on the end face of the first carrier 2 by bearing, the axis of the motor shaft of the first drive motor 61 is parallel with the end face of the first carrier 2.Belt gear 62 is for being obliquely installed, the driving pulley of belt gear 62 is arranged on the motor shaft of the first drive motor 61, driven pulley is arranged on the upper end of the first support 63 by an output shaft, the first support 63 is for being vertically arranged on the end face of the first carrier 2, and the height of the first support 63 is higher than the first drive motor 61.The output shaft of belt gear 62 is connected with the first four-bar mechanism 7, and the first drive motor 61 turns round, and drives belt gear 62 to turn round, thereby power is passed to the first four-bar mechanism 7.
As preferably, as shown in Figure 5, the first four-bar mechanism 7 is crank and rocker mechanism, and it comprises the first side link 71, the second side link 72, second connecting rod 73 and the second support 74.The first side link 71 is arranged on the output shaft of belt gear 62, the end of one end of second connecting rod 73 and the first side link 71 is rotationally connected, the lower end of the other end of second connecting rod 73 and the second side link 72 is rotationally connected, the upper end end of the second side link 72 and the upper end of the second support 74 are rotationally connected, and the length of the second side link 72 is greater than the length of the first side link 71.The second support 74, for being vertically arranged on the end face of the first carrier 2, parallels with the first support 63, and height is higher than the first support 63.The second side link 72 is also connected with the second four-bar mechanism 8 by the 4th connecting rod 13, the output shaft of belt gear 62 drives the first side link 71 to make 360 degree and rotatablely moves, drive the second side link 72 to swing within the scope of certain angle, thereby can demonstrate the characteristics of motion of crank and rocker mechanism, power is passed to the second four-bar mechanism 8 simultaneously, drives the second four-bar mechanism 8 to turn round.
As preferably, as shown in Figure 6, the second four-bar mechanism 8 is parallelogram lindage, and it comprises the 3rd side link 81, the 4th side link 82, third connecting rod 83 and the 3rd support 84.The 3rd side link 81 is L-type member, has three pin joints, and three pin joints lay respectively at two ends and middle corner.Third connecting rod 83 is also L-type member, equally also has three pin joints, and three pin joints lay respectively at two ends and middle corner.Being rotationally connected of one end of the 4th connecting rod 13 and the second side link 72, one end of the other end and the 3rd side link 81 is rotationally connected, and the pin joint of the corner of the other end of the 3rd side link 81 and third connecting rod 83 is rotationally connected.The 3rd side link 81 is rotationally connected with the 3rd support 84 around the corner, the upper end of one end of the 4th side link 82 and the 3rd support 84 is rotationally connected, the upper end pin joint of the other end of the 4th side link 82 and third connecting rod 83 is rotationally connected, and the tie point of the 4th side link 82 and the 3rd support 84 is positioned at the top of the tie point of the 3rd side link 81 and the 3rd support 84, the tie point of the 4th side link 82 and third connecting rod 83 is positioned at the top of the tie point of the 3rd side link 81 and third connecting rod 83.The 3rd support 84, for being vertically arranged on the end face of the first carrier 2, parallels with the first support 63 and the second support 74, and is highly less than the second support 74.Two slide bars 42 of the first mechanical arm 4 are fixedly mounted on the other end of third connecting rod 83, and slide bar 42 is perpendicular with third connecting rod 83, and third connecting rod 83 is as the power output member of the second four-bar mechanism 8.The second side link 72, the 4th connecting rod 13, the 3rd side link 81, the second support 74 and the 3rd support 84 also can form a four-bar mechanism, the first four-bar mechanism 7 is connected with the second four-bar mechanism 8 by the 4th connecting rod 13, power is passed to the second four-bar mechanism 8, final third connecting rod 83 drives the first mechanical arm 4 entirety in vertical plane, to do translation, make the first mechanical arm 4 can demonstrate lifting action, the characteristics of motion that simultaneously can demonstration of parallelism four-bar mechanism.
As shown in Figures 2 and 3, the mechanical mechanism on the first carrier 2 also comprises the second driving mechanism 9, equal width cam mechanism 10 and the first hydraulic gear 11 that connect successively.
As preferably, as shown in Figure 7, the second driving mechanism 9 comprises the second drive motor 91, the first Hooks coupling universal coupling 92, the 4th support 93 and the first axle 95.The second drive motor 91 is fixedly mounted on the end face of the first carrier 2 by bearing, the axis of the motor shaft of the second drive motor 91 is parallel with the end face of the second carrier 3, and parallels with the motor shaft axis of the first drive motor 61.The 4th support 93 is for being vertically arranged on the end face of the first carrier 2, due to the area constraints of the first carrier 2, the second drive motor 91 is positioned at a side of the second support 74, the 4th support 93 is positioned at a side of the first support 63, and the second drive motor 91 and the 4th support 93 were positioned at the relative both sides of the plane of the first carrier 2 axis, and equal width cam mechanism 10 is arranged on the 4th support 93, therefore adopt the first Hooks coupling universal coupling 92 and the first axle 95 and the second drive motor 91 and equal width cam mechanism 10 to couple together, so that each mechanism arranges on the first carrier 2.The first Hooks coupling universal coupling 92 is convenient to pass from the space between the first support 63 and the second support 74, one end of the first Hooks coupling universal coupling 92 is connected with the motor shaft of the second drive motor 91, the other end is connected with the first axle 95, the first axle 95 parallels with the motor shaft of the second drive motor 91, the first axle 95 is supported on the 4th support 93, and the height of the first axle 95 is higher than the height of the second drive motor 91.The second drive motor 91 turns round, and drives the first Hooks coupling universal coupling 92 and the first axle 95 to turn round, thereby power is passed to equal width cam mechanism 10, can demonstrate the Hooks coupling universal coupling characteristics of motion simultaneously.
As preferably, as shown in Figure 7, Figure 8 and Figure 9, equal width cam mechanism 10 comprises offset cam 101, outside framework 102, the first slide block 103 and mounting disc 104.The shape of outside framework 102 is roughly rectangular, its inside is provided with the groove that holds offset cam 101, the shape of groove is also roughly rectangular, offset cam 101 matches with outside framework 102, the positive camber of offset cam 101 contacts with the internal face of outside framework 102, and the distance on offset cam 101 outline lines between any two parallel lines equals the width of the groove of outside framework 102.Offset cam 101 is fixedly mounted in mounting disc 104, and mounting disc 104 is disc-shaped component, and mounting disc 104, between the 4th support 93 and outside framework 102, and parallels with outside framework 102.The first axle 95 is fixedly connected with mounting disc 104 center through the 4th support 93, and offset cam 101 is non-concentric with mounting disc 104, thereby makes the certain distance in offset cam 101 center and the first axle 95 intervals.The both sides that outside framework 102 is relative are respectively provided with the first slide block 103, the first slide blocks 103 of a strip for being horizontally disposed with, perpendicular with the axis of mounting disc 104.Two the first slide blocks 103 are located along the same line, the corresponding both sides at the 4th support 93 are provided with the first chute 94 that allows the first slide block 103 pass through, the first chute 94 can play guide effect to two the first slide blocks 103, in the time that offset cam 101 rotates, the first chute 94 can guarantee that outside framework 102 and the first slide block 103 along continuous straight runs move.One of them first slide block 103 of equal width cam mechanism 10 is connected with the first hydraulic gear 11, thereby the power that the second drive motor 91 can be produced is passed to the first hydraulic gear 11, can demonstrate the characteristics of motion of equal width cam mechanism 10 simultaneously.
As preferably, as shown in Fig. 2, Fig. 6 and Fig. 8, the first hydraulic gear 11 comprises the first master cylinder 111, be located at the first auxiliary oil cylinder 112 on the third connecting rod 83 of the second four-bar mechanism 8 and be vertically arranged on the 5th support 113 on the end face of the first carrier 2, the 5th support 113 and the 4th support 93 are positioned at the same side, are arranged side by side.The cylinder body of the first master cylinder 111 is fixedly mounted on the upper end of the 5th support 113, and the setting that is the level of state, the piston rod of the first master cylinder 111 stretches out towards the 4th support 93 places, the piston rod of the first master cylinder 111 is also connected with the first slide block 103 of the clutch end of equal width cam mechanism 10, and the first master cylinder 111 is also connected to control the first auxiliary oil cylinder 112 by oil pipe (not shown) with the first auxiliary oil cylinder 112.The cylinder body of the first auxiliary oil cylinder 112 is fixedly mounted on third connecting rod 83, and both parallel, and the piston rod of the first auxiliary oil cylinder 112 stretches out towards the first mechanical arm 4.
As shown in figure 25, the first master cylinder 111 and the first auxiliary oil cylinder 112 all have an opening a and an opening b, and opening a and opening b are for hydraulic oil turnover.The opening a of the first master cylinder 111 is connected by oil pipe with the opening a of the first auxiliary oil cylinder 112, and the opening b of the opening b of the first master cylinder 111 and the first auxiliary oil cylinder 112 is connected by another root oil pipe, forms closed oil circuit.In the time that the first slide block 103 moves, can drive the piston rod of the first master cylinder 111 to move, hydraulic oil in the first master cylinder 111 can flow in the first auxiliary oil cylinder 112, thereby can drive the piston rod of the first auxiliary oil cylinder 112 to move, and power is passed to the first mechanical arm 4 the most at last.
As preferably, the first master cylinder 111 is single effect piston-type hydraulic cylinder, and the first auxiliary oil cylinder 112 is Dual-acting piston formula hydraulic cylinder.
As shown in figure 11, the piston rod of the first auxiliary oil cylinder 112 is connected with two first fingers 41 by the contiguous block 14 of a V-arrangement, and the tip of contiguous block 14 is fixedly connected with the end of the piston rod of the first auxiliary oil cylinder 112.Contiguous block 14 is provided with two the second chute 141, the second chutes 141 and has certain length, has a certain size angle between two the second chutes 141, and this angle angle is less than 90 degree.One end at two first fingers 41 is respectively provided with a guide rod 43, the axis of the axis of guide rod 43 and slide bar 42 is spatially perpendicular, guide rod 43 on each the first finger 41 inserts respectively in second chute 141, matches with the second chute 141, forms Wedge mechanism.In the time that the second drive motor 91 operates, the piston rod of the first auxiliary oil cylinder 112 can drive contiguous block 14 to move, contiguous block 14 can be driven two first finger 41 move toward one another or be deviated from mutually motion by the second chute 141, can demonstrate the characteristics of motion of Wedge mechanism simultaneously.
As the distortion embodiment of the first hydraulic gear 11, can adopt hydraulic pump and fuel tank and the first auxiliary oil cylinder 112 to connect and compose conventional hydraulic gear, can drive equally contiguous block 14 to move, hydraulic pump and fuel tank are arranged on the first carrier 2, correspondingly the second driving mechanism 9 and equal width cam mechanism 10 can be cancelled, the structure of the first demo system can be simplified to a certain extent.
As shown in Figure 12 and Figure 13, the first demo system also comprises the first base 12 that is located at the first carrier 2 bottom surfaces, the first base 12 is provided with and is connected with the first carrier 2 and the 5th driving mechanism 23 for driving the first carrier 2 to rotate, thereby can make the first mechanical arm 4 demonstrate spinning movement.
The box body of the first base 12 rectangles, has four side plates and a top board, and side plate is to be fixedly connected with the end face of worktable 1, and top board is positioned at the below of the first carrier 2 and parallels with the first carrier 2.As preferably, the 5th driving mechanism 23 comprises the 5th drive motor 231, the first upper flange 232 and the first bottom plate 233, the first bottom plate 233 is to be positioned at the first base 12 inside, the first bottom plate 233 is that the top board of top is fixedly connected with, the 5th drive motor 231 is vertically arranged on the first bottom plate 233, and the motor shaft of the 5th drive motor 231 protrudes upward and passes top board and is fixedly connected with the first upper flange 232 that is positioned at the first carrier 2 tops, the first upper flange 232 is also fixedly connected with the first carrier 2 by bolt, the corresponding through hole that allows the motor shaft of the 5th drive motor 231 pass that is provided with on top board.The 5th drive motor 231 turns round, thereby can by the first upper flange 232 drive the first carrier 2 with and each mechanical mechanism and first mechanical arm 4 synchronous rotaries of upper setting, the 5th drive motor 231 and the first upper flange 232 are coaxial with the first carrier 2, between the top board of the first base 12 and the first carrier 2, be also provided with a thrust bearing, to guarantee that the first carrier 2 can smooth rotation.
As shown in Figure 14 and Figure 15, the second demo system comprises the second carrier 3 and is located at the mechanical mechanism on the second carrier 3.The second carrier 3 is identical with the structure of the first carrier 2, is disc-shaped component, and the second carrier 3 parallels with worktable 1, and the end face of the rotation centerline of the second carrier 3 and worktable 1 is perpendicular.The end face of the second carrier 3 is plane, mechanical mechanism on the second carrier 3 comprises that the 3rd driving mechanism 15, gear drive 16, Geneva mechanism 17 and the 3rd four-bar mechanism 18, the three driving mechanisms 15, gear drive 16, Geneva mechanism 17 and the 3rd four-bar mechanism 18 that connect are successively arranged on the end face of the second carrier 3.The 3rd driving mechanism 15 is for generation of power, and power is passed to the second mechanical arm 5 through gear drive 16, Geneva mechanism 17 and the 3rd four-bar mechanism 18, the power output member of the 3rd four-bar mechanism 18 is connected with the support bar 52 of the second mechanical arm 5, finally drives the second mechanical arm 5 and two second fingers 51 to carry out corresponding actions.
As preferably, as shown in figure 16, the 3rd driving mechanism 15 comprises the 3rd drive motor 151 and the 6th support 152, the 3rd drive motor 151 is arranged on the upper end of the 6th support 152, the axis of the motor shaft of the 3rd drive motor 151 is parallel with the end face of the first carrier 2, and the 6th support 152 is for being vertically arranged on the end face of the second carrier 3.
As preferably, as shown in figure 17, gear drive 16 is two-stage gear train, and it comprises the first gear 161, the second gear 162, the 3rd gear 163, the 4th gear 164, the second axle 165, the 3rd axle 166, the 7th support 167 and the 8th support 168.The first gear 161 and the second gear 162 are meshed, and the first gear 161 and the second gear 162 are bevel gear, and the 3rd gear 163 and the 4th gear 164 are meshed, and the 3rd gear 163 and the 4th gear 164 are cylindrical gear.The 7th support 167 and the 8th support 168 are for being vertically arranged on the end face of the second carrier 3, and the 7th support 167 and the 6th support 152 are roughly in sustained height, and the height of the 8th support 168 is higher than the 7th support 167.The 7th support 167 and the 8th support 168 are respectively equipped with two that parallel, the 7th support 167 between the 6th support 152 and the 8th support 168, the second 165, axle level frame is located on two the 7th supports 167, and the 3rd axle 166 level frames are located on two the 8th supports 168.The first gear 161 is arranged on the motor shaft of the 3rd drive motor 151, and the second gear 162 and the 3rd gear 163 are arranged on the second axle 165, and the 4th gear 164 is arranged on the 3rd axle 166, and the 3rd axle 166 is also connected with Geneva mechanism 17.When the 5th drive motor 231 turns round, produce power and be passed to Geneva mechanism 17 through gear drive 16, can demonstrate the characteristics of motion of bevel gear mechanism and cylindrical gear mechanism simultaneously.
As preferably, as shown in Figure 18 and Figure 26, Geneva mechanism 17 comprises initiatively driver plate 171, sheave 172, pivoted arm 175, straight pin 176, the 9th support 173 and the 4th axle 174.Initiatively driver plate 171 is for having the disk of two symmetric windows, initiatively on driver plate 171 and at a pivoted arm 175 of the each installation of indentation, there, the end of pivoted arm 175 is installed one for embedding the straight pin 176 of the radial slot on sheave 172, and the radial slot of sheave 172 is evenly equipped with four.Initiatively driver plate 171 is fixedly mounted on the 3rd axle 166, and between two the 8th supports 168.The 9th support 173 is for being vertically arranged on the end face of the second carrier 3, and the 9th support 173 and the 8th support 168 are roughly in sustained height.The 9th support 173 is provided with two 8 the 7th supports 167 paralleling and between the 7th support 167 and the 9th support 173, the 4th 174, axle level frame is located on two the 9th supports 173.Sheave 172 is fixedly mounted on the end of the 4th axle 174, and is positioned at the outside of two the 9th supports 173.Sheave 172 is connected with the 3rd four-bar mechanism 18, when the 5th drive motor 231 turns round, produce power and be passed to Geneva mechanism 17 through gear drive 16, be then passed to the 3rd four-bar mechanism 18 through Geneva mechanism 17, can demonstrate the characteristics of motion of Geneva mechanism 17 simultaneously.
As preferably, as shown in figure 19, the 3rd four-bar mechanism 18 is crank and rocker mechanism, and it comprises the 5th side link 181, the 6th side link 182, the 5th connecting rod 183 and the tenth support 184.One end of the 5th side link 181 is fixedly connected with sheave in the center of sheave, and the other end of the 5th side link 181 and the 5th connecting rod 183 are rotationally connected.The 6th side link 182 is L-type member, has three pin joints, and three pin joints lay respectively at two ends and middle corner.The pin joint of the corner of the other end of the 5th connecting rod 183 and the 6th side link 182 is rotationally connected, the lower end of the 6th side link 182 and the tenth support 184 are rotationally connected, the tenth support 184 is for being vertically arranged on the end face of the second carrier 3, parallel with the 9th support 173, and be highly less than the 9th support 173.The height of the tie point of the 5th connecting rod 183 and the 6th side link 182 is less than sheave centre-height, the support bar 52 of the second mechanical arm 5 is fixedly mounted on the other end of the 6th side link 182, support bar 52 and the 6th side link 182 are perpendicular, and the 6th side link 182 is as the power output member of the 3rd four-bar mechanism 18.The power that the 3rd drive motor 151 produces is passed to the 3rd four-bar mechanism 18 through Geneva mechanism 17, final the 6th side link 182 drives the second mechanical arm 5 entirety in vertical plane, to do oscillating traverse motion, also just make the second mechanical arm 5 can demonstrate lifting action, can demonstrate the characteristics of motion of crank and rocker mechanism simultaneously.
As shown in Figure 14 and Figure 15, the mechanical mechanism on the second carrier 3 also comprises the 4 wheel driven actuation mechanism 22, cycloidal gear linkage assembly 19 and the second hydraulic gear 20 that connect successively.
As preferably, as shown in figure 20,4 wheel driven actuation mechanism 22 comprises the 4th drive motor 221, the second Hooks coupling universal coupling 222, twelve earthly branches frame 223 and the 5th axle 224.The 4th drive motor 221 is fixedly mounted on the end face of the second carrier 3 by bearing, the axis of the motor shaft of the 4th drive motor 221 is parallel with the end face of the second carrier 3, and spatially perpendicular with the motor shaft axis of the 3rd drive motor 151.Twelve earthly branches frame 223 is for being vertically arranged on the end face of the first carrier 2, with the 7th support 167, the 8th support 168 and the 9th support 173 parallel, the 7th support 167, the 8th support 168 and the 9th support 173 centralized arrangement are around the center of the second carrier 3, due to the area constraints of the second carrier 3, the 4th drive motor 221 is positioned at a side of the 8th support 168 and the 9th support 173, twelve earthly branches frame 223 is positioned at the opposite side of the 7th support 167 and the 8th support 168, and the 4th drive motor 221 and twelve earthly branches frame 223 were positioned at the relative both sides of the plane of the second carrier 3 axis, and cycloidal gear linkage assembly 19 is arranged on twelve earthly branches frame 223, therefore adopt the second Hooks coupling universal coupling 222 and the 5th axle 224 that the 4th drive motor 221 and cycloidal gear linkage assembly 19 are coupled together, so that each mechanism arranges on the second carrier 3.One end of the second Hooks coupling universal coupling 222 from the 8th support 168 and the with regard to the space between support through being connected with the motor shaft of the 4th drive motor 221, the other end is connected with the 5th axle 224 through the 8th support 168 of the 7th support 167 and opposite side, the 5th axle 224 parallels with the motor shaft of the 4th drive motor 221, the 5th axle 224 is supported on twelve earthly branches frame 223, and the height of the 5th axle 224 is higher than the height of the 4th drive motor 221.The 4th drive motor 221 turns round, and drives the second Hooks coupling universal coupling 222 and the 5th axle 224 to turn round, thereby power is passed to cycloidal gear linkage assembly 19, can demonstrate the Hooks coupling universal coupling characteristics of motion simultaneously.
As preferably, as shown in Figure 20 and Figure 21, cycloidal gear linkage assembly 19 comprises centre wheel 191, planetary gear 192, the 6th connecting rod 193 and the second slide block 195.Centre wheel 191 inside surfaces are provided with and the interior gear ring engaging of planetary gear 192, centre wheel 191 is fixedly mounted on the vertical side of twelve earthly branches frame 223, centre wheel 191 is coaxial with the 5th axle 224, one end of the 6th connecting rod 193 is fixedly connected with through the end of twelve earthly branches frame 223 with the 5th axle 224, and the other end of the 6th connecting rod 193 is rotationally connected by bearing pin and planetary gear 192 in the center of planetary gear 192.The 6th connecting rod 193 is positioned at a side of planetary gear 192, the second slide block 195 is positioned at the opposite side of planetary gear 192, the one end and the first projection 194 that on this side side of planetary gear 192, are fixed with first projection 194, the second slide blocks 195 away from circle centre position are rotationally connected.The second slide block 195 is strip, and for being horizontally disposed with, perpendicular with the axis of planetary gear 192.On the side of twelve earthly branches frame 223, be provided with the second projection 225 that an along continuous straight runs protrudes, the second projection 225 is provided with the 3rd chute 226 that allows the second slide block 195 pass through, the 3rd chute 226 matches with the second slide block 195, can play guide effect to the second slide block 195.In the time that the 4th drive motor 221 drives the 5th axle 224 to rotate, the 5th axle 224 drives the 6th connecting rod 193 by rotation, the 6th connecting rod 193 drives planetary gear 192 in the interior do turnover of centre wheel 191 motion, drives the second slide block 195 to make horizontal reciprocating rectilinear motion along the 3rd chute 226 by the second projection 225 simultaneously.The second slide block 195 is connected with the second hydraulic gear 20 through the other end of the 3rd chute 226, thereby the power that the 4th drive motor 221 can be produced is passed to youngster's hydraulic gear, can demonstrate the characteristics of motion of cycloidal gear linkage assembly 19 simultaneously.
As preferably, as shown in Figure 14, Figure 15, Figure 19 and Figure 21, the structure of the second hydraulic gear 20 and the first hydraulic gear 11 is basic identical, the second hydraulic gear 20 comprises the second master cylinder 201, be located at the second auxiliary oil cylinder 202 on the 6th side link 182 of the 3rd four-bar mechanism 18 and be vertically arranged on the 11 support 203 on the end face of the second carrier 3, the 11 support 203 is positioned at a side of the tenth support 184, and with twelve earthly branches frame 223 roughly side by side.The cylinder body of the second master cylinder 201 is fixedly mounted on the upper end of the 11 support 203, and the setting that is the level of state, the piston rod of the second master cylinder 201 stretches out towards twelve earthly branches frame 223 places, the piston rod of the second master cylinder 201 is also connected with the second slide block 195 of cycloidal gear linkage assembly 19 clutch ends, and the second master cylinder 201 is also connected to control the second auxiliary oil cylinder 202 by oil pipe (not shown) with the second auxiliary oil cylinder 202.The cylinder body of the second auxiliary oil cylinder 202 is fixedly mounted on the 6th side link 182, and both parallel, and the piston rod of the second auxiliary oil cylinder 202 stretches out towards the second mechanical arm 5.
As shown in figure 25, the second master cylinder 201 and the second auxiliary oil cylinder 202 all have an opening a and an opening b, and opening a and opening b are for hydraulic oil turnover.The opening a of the second master cylinder 201 is connected by oil pipe with the opening a of the second auxiliary oil cylinder 202, and the opening b of the opening b of the second master cylinder 201 and the second auxiliary oil cylinder 202 is connected by another root oil pipe, forms closed oil circuit.In the time that the second slide block 195 moves, can drive the piston rod of the second master cylinder 201 to move, hydraulic oil in the second master cylinder 201 can flow in the second auxiliary oil cylinder 202, thereby can drive the piston rod of the second auxiliary oil cylinder 202 to move, and power is passed to the second mechanical arm 5 the most at last.
As preferably, the second master cylinder 201 is single effect piston-type hydraulic cylinder, and the second auxiliary oil cylinder 202 is Dual-acting piston formula hydraulic cylinder.
As shown in figure 19, the end of the piston rod of the first auxiliary oil cylinder 112 is fixedly connected with the bearing pin of two first connecting rod 53 ends, the piston rod of the first auxiliary oil cylinder 112 does reciprocating linear motion, can drive respectively two second fingers 51 to rotate by two first connecting rods 53, thereby can make two second fingers, 51 demonstrations of the second mechanical arm 5 fold up action.
As the distortion embodiment of the second hydraulic gear 20, can adopt hydraulic pump and fuel tank and the second auxiliary oil cylinder 202 to connect and compose conventional hydraulic gear, can drive equally contiguous block 14 to move, hydraulic pump and fuel tank are arranged on the second carrier 3, correspondingly 4 wheel driven actuation mechanism 22 and cycloidal gear linkage assembly 19 can be cancelled, the structure of the second demo system can be simplified to a certain extent.
The second demo system also comprises that the second base 21, the second bases 21 that are located at the second carrier 3 bottom surfaces are provided with and is connected with the second carrier 3 and the 6th driving mechanism 24 for driving the second carrier 3 to rotate.
As shown in Figure 22 and Figure 23, the second demo system also comprises the second base 21 that is located at the second carrier 3 bottom surfaces, the second base 21 is provided with and is connected with the second carrier 3 and the 6th driving mechanism 24 for driving the second carrier 3 to rotate, thereby can make the second mechanical arm 5 demonstrate spinning movement.
The structure of the second base 21 is identical with the structure of the first base 12, is also the box body of rectangle, has four side plates and a top board, and side plate is to be fixedly connected with the end face of worktable 1, and top board is positioned at the below of the second carrier 3 and parallels with the second carrier 3.The 6th driving mechanism 24 is identical with the structure of the 5th driving mechanism 23, the 6th driving mechanism 24 comprises the 6th drive motor 241, the second upper flange 242 and the second bottom plate 243, the second bottom plate 243 is to be positioned at the second base 21 inside, the second bottom plate 243 is that the top board of top is fixedly connected with, the 6th drive motor 241 is vertically arranged on the second bottom plate 243, and the motor shaft of the 6th drive motor 241 protrudes upward and passes top board and is fixedly connected with the second upper flange 242 that is positioned at the second carrier 3 tops, the second upper flange 242 is also fixedly connected with the second carrier 3 by bolt, the corresponding through hole that allows the motor shaft of the 6th drive motor 241 pass that is provided with on top board.The 6th drive motor 241 turns round, thereby can by the second upper flange 242 drive the second carrier 3 with and each mechanical mechanism and second mechanical arm 5 synchronous rotaries of upper setting, the 6th drive motor 241 and the second upper flange 242 are coaxial with the second carrier 3, between the top board of the second base 21 and the second carrier 3, be also provided with a thrust bearing, to guarantee that the second carrier 3 can smooth rotation.
Below by reference to the accompanying drawings the present invention is exemplarily described.Obviously, specific implementation of the present invention is not subject to the restrictions described above.As long as having adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; Or without improvement, above-mentioned design of the present invention and technical scheme are directly applied to other occasion, all within protection scope of the present invention.
Claims (10)
1. a robot movement principle demonstration teaching aid, is characterized in that: comprise the first mechanical arm, the second mechanical arm, be connected with the first mechanical arm and for driving the first demo system of the first robot movement and being connected with the second mechanical arm and for driving the second demo system of the second robot movement.
2. robot movement principle demonstration teaching aid according to claim 1, is characterized in that: also comprise worktable, described the first demo system and described the second demo system are located on worktable.
3. robot movement principle demonstration teaching aid according to claim 1 and 2, it is characterized in that: described the first mechanical arm comprises that at least two are matched for capturing the first finger and at least two slide bars that parallel of object, and first-hand fingerstall is located on slide bar and can slides along slide bar; Described the second mechanical arm comprises that at least two are matched for capturing second finger and at least one support bar of object, and second finger and support bar are rotationally connected.
4. robot movement principle demonstration teaching aid according to claim 3, it is characterized in that: described the first demo system comprises the first carrier and is located at the mechanical mechanism on the first carrier, mechanical mechanism on the first carrier comprises the first driving mechanism, the first four-bar mechanism and the second four-bar mechanism that connect successively, and the power output member of the second four-bar mechanism is connected with described slide bar.
5. robot movement principle according to claim 4 is shown teaching aid, it is characterized in that: described the first four-bar mechanism is crank and rocker mechanism, the clutch end of the first four-bar mechanism is connected with the power intake of described the second four-bar mechanism by connecting rod, the second four-bar mechanism is parallelogram lindage, and its member of doing translation is the power output member being connected with described slide bar; The power that described the first driving mechanism produces is passed to described the first mechanical arm through the first four-bar mechanism and the second four-bar mechanism, makes the first mechanical arm entirety do translation.
6. robot movement principle according to claim 5 is shown teaching aid, it is characterized in that: the mechanical mechanism on described the first carrier also comprises the second driving mechanism connecting successively, equal width cam mechanism and the first hydraulic gear, the first hydraulic gear comprises the first master cylinder and is located at the first auxiliary oil cylinder in the power output member of described the second four-bar mechanism, the piston rod of the first master cylinder is connected with the clutch end of equal width cam mechanism, the first master cylinder is also connected to control the first auxiliary oil cylinder by oil pipe with the first auxiliary oil cylinder, the piston rod of the first auxiliary oil cylinder is connected with two described the first fingers by the contiguous block of V-arrangement, contiguous block is provided with chute, the first finger is provided with the guide rod inserting in chute, the power that the second driving mechanism produces is passed to described the first mechanical arm through equal width cam mechanism and the first hydraulic gear, and the first finger of the first mechanical arm is moved along described slide bar.
7. show teaching aid according to the arbitrary described robot movement principle of claim 3 to 6, it is characterized in that: described the second demo system comprises the second carrier and is located at the mechanical mechanism on the second carrier, mechanical mechanism on the second carrier comprises the 3rd driving mechanism, gear drive, Geneva mechanism and the 3rd four-bar mechanism that connect successively, and the power output member of the 3rd four-bar mechanism is connected with described support bar.
8. robot movement principle demonstration teaching aid according to claim 7, is characterized in that: described gear drive is two-stage gear train, described the 3rd four-bar mechanism is crank and rocker mechanism; The power that described the 3rd driving mechanism produces is passed to described the second mechanical arm through gear drive and the 3rd four-bar mechanism, makes the second mechanical arm entirety do oscillating traverse motion.
9. robot movement principle demonstration teaching aid according to claim 8, it is characterized in that: the mechanical mechanism on described the second carrier also comprises the 4 wheel driven actuation mechanism connecting successively, cycloidal gear linkage assembly and the second hydraulic gear, the second hydraulic gear comprises the second master cylinder and is located at the second auxiliary oil cylinder in the power output member of described the 3rd four-bar mechanism, the piston rod of the second master cylinder is connected with the clutch end of cycloidal gear linkage assembly, the second master cylinder is also connected to control the second auxiliary oil cylinder by oil pipe with the second auxiliary oil cylinder, the piston rod of the second auxiliary oil cylinder is connected with two described second fingers by connecting rod, the two ends of connecting rod are rotationally connected with second finger and piston rod respectively, the power that 4 wheel driven actuation mechanism produces is passed to described the second mechanical arm through cycloidal gear linkage assembly and the second hydraulic gear, and the second finger of the second mechanical arm is rotated.
10. robot movement principle demonstration teaching aid according to claim 9, it is characterized in that: described the first demo system also comprises the first base that is located at described the first carrier bottom surface, the first base be provided be connected with the first carrier and for drive first carrier rotate the 5th driving mechanism; Described the second demo system also comprises the second base that is located at described the second carrier bottom surface, the second base be provided be connected with the second carrier and for drive second carrier rotate the 6th driving mechanism.
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| CN107522143A (en) * | 2017-08-10 | 2017-12-29 | 苏州衡微仪器科技有限公司 | A kind of lift mechanism |
| CN107731080A (en) * | 2017-10-26 | 2018-02-23 | 苏州大闹天宫机器人科技有限公司 | The theory of mechanics teaching grasping mechanism of fast demountable transform |
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| CN112447090A (en) * | 2020-12-22 | 2021-03-05 | 中国人民解放军陆军工程大学 | Transmission demonstration teaching aid for equipment machinery |
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| CN112447090B (en) * | 2020-12-22 | 2022-04-12 | 中国人民解放军陆军工程大学 | Transmission demonstration teaching aid for equipment machinery |
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