CN105679172A - Teaching robot - Google Patents
Teaching robot Download PDFInfo
- Publication number
- CN105679172A CN105679172A CN201410662144.3A CN201410662144A CN105679172A CN 105679172 A CN105679172 A CN 105679172A CN 201410662144 A CN201410662144 A CN 201410662144A CN 105679172 A CN105679172 A CN 105679172A
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- teaching robot
- wrist
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Abstract
The invention relates to a teaching robot, and belongs to the field of automation. The teaching robot comprises a base, wherein a round tube is fixedly connected onto the base; the upper end of the round tube is connected with the base; step motors and a harmonic reducer are arranged in the round tube, and are fixed at the bottom of the base; an ascending and descending module is arranged on the base; a horizontal transverse moving module is connected onto the ascending and descending module; the front end of the horizontal transverse moving module is provided with a wrist rotation and hand rotation module; the front end of the wrist rotation and hand rotation module is connected with a hand claw; the step motors output the wrist rotation action onto the base through the harmonic reducer; the ascending and descending action and the transverse moving action are respectively completed through operations that the respective step motors drive ball screws through a flexible shaft coupler for driving lead screws; the wrist rotation and hand rotation actions are completed by two driving motors; and the action of the hand claw is driven through one step motor. The teaching robot has the advantages that the structure is simple; the operation is convenient; and the use range is wide, and the like.
Description
Technical field
The present invention relates to a kind of intellectual technology, FMC teaching robot is used in specifically a kind of teaching with 5 frees degree.
Background technology
In modern education, teaching robot has very extensively application, is widely used in the teaching of the special disciplines such as machinery, electric, automation, robot. But current teaching robot's structure is comparatively simple, and purposes is single or less.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of electronic seven freedom teaching robot, can be widely used in the course teachings such as theory of mechanics, machine components, mechanism and electronic product control, single-chip microcomputer, PLC.
The present invention realizes by following technology:
A kind of teaching robot, comprise base, on base, be fixedly connected with cylinder, cylinder upper end is connected with pedestal, is provided with stepper motor and harmonic speed reducer in cylinder, and stepper motor and harmonic speed reducer are fixed on base bottom, above pedestal, be provided with lifting module, in lifting module, be connected with horizontal translation module, horizontal translation module front end is provided with that wrist turns, hand revolving die piece, and wrist turns, hand revolving die piece front end is connected with paw.
Described lifting module is fixed on pedestal by riser, riser both sides are respectively equipped with closed slide, lifting module by stepper motor, consist of the connected ball-screw of flexible clutch, the screw that is through on ball-screw, is connected with horizontal translation module on screw.
Described horizontal translation module is made up of motor, leading screw, screw, interface board and location-plate, motor is by being connected with leading screw by flexible clutch, leading screw is through the screw being fixed on interface board, interface board is provided with two horizontal guide pillars, the guide pillar other end through location-plate turn with wrist, hand revolving die piece is connected.
Cylinder of the present invention is bolted on manipulator chassis, for supporting the weight of whole robot. Pedestal is bolted on cylinder, and stepper motor and harmonic speed reducer are fixed on pedestal bottom. Stepper motor is exported waist rotation by harmonic speed reducer and is accomplished on pedestal. The riser of lifting module is fixed on pedestal, and lifting action drives ball-screw to order about screw by stepper motor through flexible clutch and completes, and screw is led by the parallel lines guide rail on lifting module both sides. Horizontal translation module is fixed on lifting module screw, translation motion drives ball-screw to order about screw by stepper motor through flexible clutch and completes, screw is fixed on ball-screw nut new interface plate, ball-screw nut new interface plate is led by the horizontal linear guide rail on both sides, and ball-screw nut new interface plate will be moved horizontally and be outputed on location-plate by two horizontal guide pillars. Location-plate turns as wrist simultaneously and hand rotates the fixed head of making drive motors, is driven respectively by two stepper motors. Hand rotates to be done by a pair of bevel gear transferring power being fixed on interface board. Paw is connected in before hand turns action module. That the present invention has is simple in structure, easy to operate, use the advantages such as extensive.
Brief description of the drawings
Fig. 1 is structural principle schematic diagram of the present invention;
Fig. 2 is that the present invention removes the structural principle schematic diagram after base cylinder.
Wherein, 1, cylinder, 2, stepper motor, 3, harmonic speed reducer, 4, lifting module, 5, horizontal translation module, 6, wrist turn, hand revolving die piece, 7, paw, 8. base, 9. pedestal, 10. riser, 11. closed slides, 12. ball-screws, 13. leading screws, 14. interface boards, 15. location-plates, 16. guide pillars.
Detailed description of the invention
In embodiment: Fig. 1, Fig. 2, on base 8, be fixedly connected with cylinder 1, cylinder 1 upper end is connected with pedestal 9, is provided with stepper motor 2 and harmonic speed reducer 3 in cylinder 1, stepper motor 2 and harmonic speed reducer 3 are fixed on pedestal 9 bottoms, and stepper motor 2 is exported waist by harmonic speed reducer 3 and rotated work. Pedestal 9 is provided with lifting module 4 above, is connected with horizontal translation module 5 in lifting module 4, and horizontal translation module 5 front ends are provided with that wrist turns, hand revolving die piece 6, and wrist turns, hand revolving die piece 6 front ends are connected with paw 7. Wrist turns, hand rotates and does have two drive motors to complete, and the action of paw is to drive by a stepper motor.
Lifting module 4 is fixed on pedestal 9 by riser 10, riser 10 both sides are respectively equipped with closed slide 11, lifting module 4 by stepper motor, consist of the connected ball-screw 12 of flexible clutch, the screw that is through on ball-screw 12, is connected with horizontal translation module 5 on screw. Lifting action drives ball-screw 12 to order about screw by stepper motor through flexible clutch and completes.
Horizontal translation module 5 is made up of motor, leading screw 13, screw, interface board 14 and location-plate 15, motor is by being connected with leading screw 13 by flexible clutch, leading screw 13 is through the screw being fixed on interface board 14, interface board 14 is provided with two horizontal guide pillars 16, guide pillar 16 other ends through location-plate 15 turn with wrist, hand revolving die piece 6 is connected. Translation motion drives leading screw 13 to order about screw by stepper motor through flexible clutch and completes.
Claims (3)
1. a teaching robot, comprise base, it is characterized in that: on base, be fixedly connected with cylinder, cylinder upper end is connected with pedestal, is provided with stepper motor and harmonic speed reducer in cylinder, and stepper motor and harmonic speed reducer are fixed on base bottom, above pedestal, be provided with lifting module, in lifting module, be connected with horizontal translation module, horizontal translation module front end is provided with that wrist turns, hand revolving die piece, and wrist turns, hand revolving die piece front end is connected with paw.
2. according to the teaching robot described in claims 1, it is characterized in that, described lifting module is fixed on pedestal by riser, riser both sides are respectively equipped with closed slide, lifting module by stepper motor, consist of the connected ball-screw of flexible clutch, the screw that is through on ball-screw, is connected with horizontal translation module on screw.
3. according to the teaching robot described in claims 1, it is characterized in that, described horizontal translation module is made up of motor, leading screw, screw, interface board and location-plate, motor is by being connected with leading screw by flexible clutch, leading screw is through the screw being fixed on interface board, interface board is provided with two horizontal guide pillars, the guide pillar other end through location-plate turn with wrist, hand revolving die piece is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410662144.3A CN105679172A (en) | 2014-11-19 | 2014-11-19 | Teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410662144.3A CN105679172A (en) | 2014-11-19 | 2014-11-19 | Teaching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105679172A true CN105679172A (en) | 2016-06-15 |
Family
ID=56945048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410662144.3A Pending CN105679172A (en) | 2014-11-19 | 2014-11-19 | Teaching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105679172A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297468A (en) * | 2016-09-22 | 2017-01-04 | 佛山华数机器人有限公司 | Industrial robot multi-functional practical operation platform |
| CN107067921A (en) * | 2016-09-28 | 2017-08-18 | 哈尔滨理工大学 | A kind of force feedback apparatus that can be extended to seven freedom |
| CN108172068A (en) * | 2016-12-07 | 2018-06-15 | 浙江海洋大学 | One kind is used for administrative science aided education instrument |
-
2014
- 2014-11-19 CN CN201410662144.3A patent/CN105679172A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297468A (en) * | 2016-09-22 | 2017-01-04 | 佛山华数机器人有限公司 | Industrial robot multi-functional practical operation platform |
| CN107067921A (en) * | 2016-09-28 | 2017-08-18 | 哈尔滨理工大学 | A kind of force feedback apparatus that can be extended to seven freedom |
| CN107067921B (en) * | 2016-09-28 | 2018-05-11 | 哈尔滨理工大学 | A kind of force feedback apparatus that can be extended to seven freedom |
| CN108172068A (en) * | 2016-12-07 | 2018-06-15 | 浙江海洋大学 | One kind is used for administrative science aided education instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160615 |
|
| WD01 | Invention patent application deemed withdrawn after publication |