CN104766530A - Open type robot training platform based on sectional material setting up - Google Patents
Open type robot training platform based on sectional material setting up Download PDFInfo
- Publication number
- CN104766530A CN104766530A CN201510175263.0A CN201510175263A CN104766530A CN 104766530 A CN104766530 A CN 104766530A CN 201510175263 A CN201510175263 A CN 201510175263A CN 104766530 A CN104766530 A CN 104766530A
- Authority
- CN
- China
- Prior art keywords
- arm
- drive unit
- straight line
- section bar
- training platform
- 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
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses an open type robot training platform based on sectional material setting up and belongs to the technical field of education robots. The training platform comprises a machine frame, a driving device mounting base, an upper rotating table, a lower rotating table, a first driving device, a second driving device, a first branch chain, a second branch chain, a tail end executing mechanism and a working platform. The machine frame is formed by straight line aluminum profile rod pieces in a setting-up mode. The first branch chain comprises the upper rotating table, a first driving arm and a first driven arm. The second branch chain comprises a lower rotating table, a second driving arm and a second driven arm. The tail end executing mechanism comprises an executing support rod and an executing tail end mounting plate. The training platform is a typical mechatronics system, advanced technologies such as machinery, electronics, computer software and hardware, control, artificial intelligence and modeling are integrated, the platform meets the related requirements for teaching using, autonomous functions such as track planning, writing and grabbing can be completed, good cost performance, openness and expandability are achieved, and meanwhile function modules can be increased and decreased according to needs conveniently for innovation.
Description
Technical field:
The invention belongs to educational robot technical field, be specifically related to a kind of open robot's training platform built based on section bar.
Background technology:
China is weak foundation in the development and application of educational robot, and there is very large gap in relative developed country.And in recent years along with the policy of recruiting constantly carrying out in Ge great colleges and universities, China Higher education has also started into people the developing period of one " fast traffic lane ".But college student quantity ever-increasing while, also expose all drawback of China university on students developing, wherein the shortage of the ability of practice and creativity has become the major defect of China university student.How improving the competitive power of Engineering Students that Chinese University Students especially accounts for sum nearly 40% is highly our problem of inquiring into.The Experiment Teaching Mode traditional in China falls behind, and proving test is many, and designability, Making Innovation Experiments are few; In teaching Process of experiment, student be only passive accept teacher arrange, complete the experimental duties of established procedure, the development of its learning autonomy and individual character is buried.Tradition is about the motion class training platform complex structure of mechanical arm, and action is single, dangerous high, is unfavorable for the practice of student and builds, limiting the exercise of students ' practical ability.
Summary of the invention:
Object of the present invention is just in order to overcome the above-mentioned deficiency of prior art, and provide a kind of open robot's training platform built based on section bar, this education and training platform belongs to educational robot field.This education and training platform can become the good carrier of technology course and integrated practice course, and its action knowledge broad covered area, ability education various, start to experience abundant.
A kind of open robot's training platform built based on section bar provided by the present invention comprises frame, the first drive unit 1, second drive unit 6, first side chain, the second side chain, end effector mechanism and workbench 16.
Frame comprises straight line profile bar 7, section bar connecting angle pieces 9, section bar straight line web member 8 and drive unit mount pad.
First side chain comprises turntable 3, first master arm 10 and the first slave arm 11, described upper turntable 3 center mounting hole is connected by the reductor in key connected mode and described first drive unit 1, described first master arm 10 is bolted to connection with described upper turntable 3, described first master arm 10 straight line installation direction is by the center of described upper turntable 3, and described first slave arm 11 is connected by turning joint with the first master arm 10.
Described second side chain comprises lower turntable 4, second master arm 14 and the second slave arm 15, described lower turntable 4 center mounting hole is connected by the reductor in key connected mode and described second drive unit 6, described second master arm 14 is bolted to connection with described lower turntable 4, described second master arm 14 straight line installation direction is by the center of described lower turntable 4, and described second slave arm 15 is connected by turning joint with the second master arm 14; Described first slave arm 11 end is connected by turning joint with described second slave arm 15 end, and described first side chain and the second side chain are connected to form parallelogram sturcutre by revolute pair.Drive the first master arm 10 and the second master arm 14 can control the path of end effector by drive unit.
Described end effector mechanism comprises execution cradling piece 12 and performs end installing plate 13, described execution cradling piece 12 is vertically fixedly mounted on the terminal surface of described second slave arm 15 by bolt, and described execution end installing plate 13 is mounted by means of bolts on described execution cradling piece 12; Described workbench 16 level is arranged on described straight line profile bar 7.
Described frame is made up of " day " font frame of a horizontal direction and " day " font frame of two vertical directions, one of them " day " font frame horizontal pendulum is placed on ground as lower margin, two other " day " font frame is vertically fixedly mounted on the side, left side of horizontal shape frame by described section bar connecting angle pieces 9 and described section bar straight line web member 8, two vertical " day " font frames are parallel to each other, mounting distance 100 millimeters, described drive unit mount pad is fixedly mounted on two vertically parallel " day " font frames by bolt level, form complete rack construction.
First drive unit 1 and described second drive unit 6 adopt servomotor-reducer structure.
Training platform provided by the present invention, wherein most of material adopts profile bar, and it is simply light to build installation process.Simplify parallel manipulator mechanism, the inertia simultaneously maintaining mechanism is preferably little, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
The present invention converges to the power that two servomotors export on master arm, by two slave arms crossing by power transmission on end effector, play the effect of structural constraint simultaneously.Article two, side chain crosses formation parallelogram sturcutre, makes end effector have the clear and definite characteristics of motion and positioning precision.
The present invention has following technical characterstic:
(1) the two-freedom translation of end effector of the present invention is by different driven by servomotor, and another degree of freedom is by servomotor or pneumatic actuation;
(2) two power sources are transported on end effector by two transmission branch chain by the present invention;
(3) end effector of the present invention drives turntable and master arm to drive by drive unit, and slave arm coordinates the movement locus of master arm restriction actuator; Ensure that end effector has clear and definite movement locus and positional precision, and make that structure of the present invention is simple, inertia is little.
(4) the present invention adopts open Metal Structure Design, and system architecture is compact, modularization, is convenient to expansion, good stability, lightweight, to ensure mechanical arm speed and rapid starting/stopping.
(5) basic machine of the present invention adopts national standard aluminium section bar, can carry out every expanded application, is the platform carrying out electromechanics and control to make and carry out creativity in education expansion.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention;
The structural representation of Tu2Shi mechanism of the present invention mid frame;
The structural representation of the first side chain and the second side chain in Tu3Shi mechanism of the present invention.
The plan structure schematic diagram of the first active and the second side chain in Tu4Shi mechanism of the present invention;
The structural representation of workbench in Tu5Shi mechanism of the present invention.
In figure: 1: the first drive unit; 2: upper drive unit mount pad; 3: upper turntable; 4: lower turntable; 5: lower drive unit mount pad; 6: the second drive units; 7: straight line profile bar; 8: section bar straight line web member; 9: section bar connecting angle pieces; 10: the first master arms; 11: the first slave arms; 12: perform cradling piece; 13: perform end installing plate; 14: the second master arms; 15: the second slave arms; 16: workbench.
Embodiment:
A kind of open robot's training platform built based on section bar provided by the present invention comprises the first drive unit 1, upper drive unit mount pad 2, upper turntable 3, lower turntable 4, lower drive unit mount pad 5, second drive unit 6, straight line profile bar 7, section bar straight line web member 8, section bar connecting angle pieces 9, first master arm 10, first slave arm 11, performs cradling piece 12, performs end installing plate 13, second master arm 14, second slave arm 15 and workbench 16.Described upper turntable 3, first master arm 10 and the first slave arm 11 form the first side chain jointly; Described lower turntable 4, second master arm 14, second slave arm 15 forms the second side chain jointly; Described execution cradling piece 12 and execution end installing plate 13 form end actuating unit jointly; Wherein drive unit comprises the first drive unit 1, second drive unit 6 and end effector, experimentally object can install servomotor or pneumatic actuating device on execution end installing plate; Described first side chain and described second side chain interact to drive and perform the translation of end installing plate 13.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, the rack level that described straight line profile bar 7, section bar straight line web member 8, section bar connecting angle pieces 9 connect and compose is placed, two equal levels of drive unit mount pad are arranged in frame, and upper and lower symmetry is concentrically disposed in frame.First drive unit 1 is vertically mounted on drive unit mount pad 2, second drive unit 6 at right angle setting seat at lower drive unit mount pad 5, ensures that servomotor and reductor can be arranged symmetrically in frame.First drive unit 1 drives upper turntable 3, and upper turntable 3 drives the first master arm 10; Second drive unit 6 drives lower turntable 4, and lower turntable 4 drives the second master arm 14.The first described master arm 10 and the second master arm 14 provide rotational power to respectively the first slave arm 11 and the second slave arm 15, and the first slave arm 11 and the second slave arm 15 form crossing of power, pass to and perform end installing plate 13.As shown in Figure 5, workbench 16 is arranged on four straight line profile bar 7, and these four rod members are vertically mounted in frame, and workbench 16 and working arm are arranged on frame homonymy.Workbench 16 surface containing various shape counterbore, is applicable to end effector and performs different actions, comprises that Brush calligraphy is write, disk pickup and trajectory planning etc.
As shown in Fig. 1, Fig. 3, Fig. 4, described first side chain, the second side chain are interconnected respectively by turning joint.The first described master arm 10, first slave arm 11, two mounting hole distances on second master arm 14 are all equal, two mounting hole distances near the second master arm 14 direction on second slave arm 15 are identical with two mounting hole length of the second master arm 14, as shown in Figure 4, upper turntable 3 and the concentric mounting points of the first master arm 10 are labeled as M (being simultaneously lower turntable 4 and the concentric mounting points of the second master arm 14), the turning joint mounting center point of the first master arm 10 and the first slave arm 11 is labeled as Q, the turning joint mounting center point of the second master arm 14 and the second slave arm 15 is labeled as P, the turning joint mounting center point of the first slave arm 11 and the second slave arm 15 is labeled as N, because mounting hole is apart from equal, MPNQ forms a parallelogram, wherein M point is fixed, by the rotation of MP and MQ, N point planar does two degree-of-freedom motion.
As shown in Figure 1, Figure 2, Figure 5, described frame and building of workbench 16 are built by straight line profile bar 7, and the connection of straight line profile bar 7 is fixed by section bar straight line web member 8 and section bar connecting angle pieces 9.Wherein the isoplanar connection of two straight line profile bar 7 is fixed by section bar straight line web member 8, and the vertical plane of two straight line profile bar 7 connects to be fixed by section bar connecting angle pieces 9.
As shown in Figure 3, Figure 4, perform end installing plate 13 and end effector is installed, for whole arm end provides a vertical degree of freedom, generally completed by pneumatic actuation cylinder.Certainly, in the specific implementation, adopt other any one can realize same movement function version be all fine as type of drive.
Below be schematically described the present invention and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (3)
1., based on open robot's training platform that section bar is built, it is characterized in that this training platform comprises frame, the first drive unit (1), the second drive unit (6), the first side chain, the second side chain, end effector mechanism and workbench (16); Described frame comprises straight line profile bar (7), section bar connecting angle pieces (9), section bar straight line web member (8) and drive unit mount pad; Described first side chain comprises turntable (3), the first master arm (10) and the first slave arm (11), described upper turntable (3) center mounting hole is connected by the reductor in key connected mode and described first drive unit (1), described first master arm (10) and described upper turntable (3) are bolted to connection, described first master arm (10) straight line installation direction is by the center of described upper turntable (3), and described first slave arm (11) is connected by turning joint with the first master arm (10); Described second side chain comprises lower turntable (4), the second master arm (14) and the second slave arm (15), described lower turntable (4) center mounting hole is connected by the reductor in key connected mode and described second drive unit (6), described second master arm (14) and described lower turntable (4) are bolted to connection, described second master arm (14) straight line installation direction is by the center of described lower turntable (4), and described second slave arm (15) is connected by turning joint with the second master arm (14); Described first slave arm (11) end is connected by turning joint with described second slave arm (15) end, and described first side chain and the second side chain are connected to form parallelogram sturcutre by revolute pair; Described end effector mechanism comprises execution cradling piece (12) and performs end installing plate (13), described execution cradling piece (12) is vertically fixedly mounted on the terminal surface of described second slave arm (15) by bolt, and described execution end installing plate (13) is mounted by means of bolts on described execution cradling piece (12); Described workbench (16) level is arranged on described straight line profile bar (7).
2. a kind of open robot's training platform built based on section bar according to claim 1, it is characterized in that described frame is made up of " day " font frame of a horizontal direction and " day " font frame of two vertical directions, one of them " day " font frame horizontal pendulum is placed on ground as lower margin, two other " day " font frame is vertically fixedly mounted on the side, left side of horizontal shape frame by described section bar connecting angle pieces (9) and described section bar straight line web member (8), two vertical " day " font frames are parallel to each other, mounting distance 100 millimeters, described drive unit mount pad is fixedly mounted on two vertically parallel " day " font frames by bolt level, form complete rack construction.
3. a kind of open robot's training platform built based on section bar according to claim 1, is characterized in that described first drive unit (1) and described second drive unit (6) adopt servomotor-reducer structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175263.0A CN104766530A (en) | 2015-04-14 | 2015-04-14 | Open type robot training platform based on sectional material setting up |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175263.0A CN104766530A (en) | 2015-04-14 | 2015-04-14 | Open type robot training platform based on sectional material setting up |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104766530A true CN104766530A (en) | 2015-07-08 |
Family
ID=53648325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510175263.0A Pending CN104766530A (en) | 2015-04-14 | 2015-04-14 | Open type robot training platform based on sectional material setting up |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104766530A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106952560A (en) * | 2017-04-19 | 2017-07-14 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robot teaching's training platform |
| CN107555113A (en) * | 2017-09-21 | 2018-01-09 | 南京师范大学 | A kind of medical blood taking pipe snatch device |
| CN108247641A (en) * | 2018-01-24 | 2018-07-06 | 安徽海思达机器人有限公司 | A kind of robot training platform |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0065859A2 (en) * | 1981-05-15 | 1982-12-01 | Westinghouse Electric Corporation | Robotic manipulator structure |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN1903519A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN203799567U (en) * | 2014-04-18 | 2014-08-27 | 南通大学 | Punch press teaching instrument |
| CN204248882U (en) * | 2014-10-23 | 2015-04-08 | 山东科技大学 | A kind of novel buttons manipulator |
| CN204557926U (en) * | 2015-04-14 | 2015-08-12 | 安徽工业大学 | A kind of open robot's training platform built based on section bar |
-
2015
- 2015-04-14 CN CN201510175263.0A patent/CN104766530A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0065859A2 (en) * | 1981-05-15 | 1982-12-01 | Westinghouse Electric Corporation | Robotic manipulator structure |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN1903519A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101913146A (en) * | 2010-08-05 | 2010-12-15 | 安徽工业大学 | Concurrent parallelogram-containing three-translational freedom robot mechanism |
| CN203799567U (en) * | 2014-04-18 | 2014-08-27 | 南通大学 | Punch press teaching instrument |
| CN204248882U (en) * | 2014-10-23 | 2015-04-08 | 山东科技大学 | A kind of novel buttons manipulator |
| CN204557926U (en) * | 2015-04-14 | 2015-08-12 | 安徽工业大学 | A kind of open robot's training platform built based on section bar |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106952560A (en) * | 2017-04-19 | 2017-07-14 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robot teaching's training platform |
| CN107555113A (en) * | 2017-09-21 | 2018-01-09 | 南京师范大学 | A kind of medical blood taking pipe snatch device |
| CN108247641A (en) * | 2018-01-24 | 2018-07-06 | 安徽海思达机器人有限公司 | A kind of robot training platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102085659B (en) | Space-controlled five degree of freedom twelve-rod welding robot mechanism | |
| CN204557926U (en) | A kind of open robot's training platform built based on section bar | |
| CN104575237B (en) | Multi-module combination practical teaching device of industrial robot | |
| CN203386417U (en) | Robot teaching training system | |
| Huang et al. | Inverse kinematics analysis trajectory planning for a robot arm | |
| CN204423797U (en) | A kind of industrial robot multimode combination Practical teaching device | |
| CN104766530A (en) | Open type robot training platform based on sectional material setting up | |
| CN103208224A (en) | Six-degree-of-freedom medium serial teaching robot | |
| CN100348376C (en) | Two-free-degree decoupling spherical parallel mechanism | |
| CN102237006B (en) | Inverted pendulum system based on counter moment rotary mechanism | |
| CN107221247A (en) | Welding analog work station for teaching | |
| CN109940613A (en) | A kind of emulation mode calculating the response of Manipulator Dynamics containing piezoelectric material and control | |
| CN207852175U (en) | Welding analog work station for teaching | |
| Gulzar et al. | Kinematic modeling and simulation of an economical scara manipulator by Pro-E and verification using MATLAB/Simulink | |
| CN202816198U (en) | Primary school-used modular robot teaching aid platform | |
| CN203288154U (en) | Three-freedom-degree table tennis carrying manipulator | |
| CN204772522U (en) | Bionical manipulator of writing | |
| CN206373901U (en) | A kind of mechanical arm and robot | |
| Wang et al. | Simulation and analysis of mechanical characteristics of a 6-dof spray-painting robot | |
| Xiaoqing et al. | Mechanical design and kinematic analysis of a new kind of palletizing robot | |
| CN208788631U (en) | A kind of sixdegree-of-freedom simulation | |
| CN107344359B (en) | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting | |
| CN105206170A (en) | Motion analysis platform for cam follower | |
| CN220604191U (en) | Multi-freedom-degree motion simulation platform | |
| RU179382U1 (en) | THREE-DEGREE DYNAMIC PLATFORM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160803 Address after: 243000 Anhui city of Ma'anshan province high tech Zone Chihu Road No. 966 penholder Applicant after: Anhui Hiseed Robot Company Limited Address before: 243032 Anhui city in Ma'anshan Province town Ma Xianglu Applicant before: Anhui University of Technology |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150708 |