CN106847057A - A kind of parallel connection and serial connection robot comprehensive training platform - Google Patents
A kind of parallel connection and serial connection robot comprehensive training platform Download PDFInfo
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- CN106847057A CN106847057A CN201710182995.1A CN201710182995A CN106847057A CN 106847057 A CN106847057 A CN 106847057A CN 201710182995 A CN201710182995 A CN 201710182995A CN 106847057 A CN106847057 A CN 106847057A
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- platform
- feed mechanism
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- 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
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- Business, Economics & Management (AREA)
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- Educational Administration (AREA)
- Educational Technology (AREA)
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- Theoretical Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of parallel connection and serial connection robot comprehensive training platform, including operating platform, installed in the parallel robot of operating platform upper end left part, base plate feed mechanism, conveyer belt, the one end away from parallel robot is provided with the serial manipulator installed on the operational platform on the conveyor belt, the left of serial manipulator is provided with the mounting plate installed on the operational platform, the right of serial manipulator is provided with the tiered warehouse facility installed on the operational platform, the upper end of operating platform is also equipped with raw material feed mechanism, display screen, sighting device is installed on parallel robot, display screen built-in type is provided with and parallel robot, base plate feed mechanism, conveyer belt, serial manipulator, tiered warehouse facility, mounting plate, sighting device, the connected control system of raw material feed mechanism.The integrated performance of the present invention is strong, and easy to control with height automation characteristic and information feedback function, intelligent higher, loading and unloading are more convenient, with good teaching, training function.
Description
Technical field
The present invention relates to robot teaching field, specifically a kind of parallel connection and serial connection robot comprehensive training platform.
Background technology
The invention of robot, research and application practice are, with scientific research and social production as demand, to enter into education
It is the expansion and development in its field.But, due to its involved knowledge popularity and be related to the comprehensive of technology, this is all caused
Robot has more values for education.Serial manipulator real training is developed for robot teaching in the market to put down
Platform, parallel robot training platform, robot workstation, robot application streamline etc., these are applied to the robot of teaching
Training unit lacks comprehensive.Tiered warehouse facility has been widely used in the places such as factory, hospital, bulk storage plant and supermarket, mesh
It is preceding to be also not integrated on robot training platform to the application that tiered warehouse facility carries out loading and unloading on robot, so exploitation one
The integrated application of money is wide, the training platform more than equipment knowledge is extremely urgent.
The content of the invention
The present invention to be solved the problems of above teaching robot's equipment, there is provided a kind of integrated level is high, using model
Enclose a kind of wide parallel connection and serial connection robot comprehensive training platform.
A kind of parallel connection and serial connection robot comprehensive training platform, including operating platform, installed in operating platform upper end left part
Parallel robot, immediately below the parallel robot and base plate feed mechanism, conveyer belt on the operational platform are installed, defeated
The one end taken away from parallel robot is sent to be provided with the serial manipulator installed on the operational platform, a left side for the serial manipulator
Side is provided with installs mounting plate on the operational platform, and the right of the serial manipulator is provided with install on the operational platform vertical
Body warehouse, the upper end of the operating platform is also equipped with raw material feed mechanism, display screen, is provided with the parallel robot and regarded
Feel device, the display screen built-in type be provided with parallel robot, base plate feed mechanism, conveyer belt, serial manipulator,
The connected control system of tiered warehouse facility, mounting plate, sighting device, raw material feed mechanism.
Control system includes servo control system, pneumatic component control system, sensory-control system, robot
Control system, sighting device control system.Control system can manually select the feeding wanted to stereo garage by display screen
Information, so as to control the raw material feed mechanism to carry out feeding.Base plate feed mechanism is fixed on operating platform, and operating platform is adopted
Built with aluminium section bar.Raw material feed mechanism is constituted using sensor and correspondence raw material storage with cylinder, raw material feed mechanism institute
The cylinder of category is responsible for raw material to be pushed on conveyer belt.Base plate feed mechanism is constituted using sensor and cylinder, base plate feeder
Cylinder belonging to structure is responsible for base plate to be pushed on conveyer belt.
The tiered warehouse facility includes aluminum section bar frame, and vertically arrangement is provided with three aluminium on the aluminum section bar frame
Plate, i.e., whole tiered warehouse facility divide into three layers.Installing plate is mounted on each aluminium sheet, four are mounted on each installing plate
Proximity switch.Proximity switch is used for detecting the presence of raw material.Tiered warehouse facility detects the status information for passing station, shape by proximity switch
Face is shown state information on a display screen.
Described raw material feed mechanism includes material loading platform, material loading platform top be sequentially provided with square storage storehouse,
Cylinder storage storehouse, triangle body storage storehouse, described square storage storehouse, cylinder storage storehouse, the lower section of triangle body storage storehouse three
Cylinder one, cylinder two, cylinder three, the square storage storehouse, cylinder storage storehouse, triangle body storage storehouse three are correspondingly provided with respectively
Sensor is mounted on below.Sensor is used for detecting the presence or absence of raw material.
It is characteristic of the invention that：
1 is integrated into a real training using new approaches parallel robot, sighting device, serial manipulator, tiered warehouse facility puts down
On platform.
2 feed mechanisms are responsible for raw material to shift onto on pipeline, and shape and the position of raw material, conveying are detected by sighting device
The feedback of the information of the encoder feedback raw material movable information on line, sighting device and encoder makes parallel machine to parallel robot
Device people's adjust automatically terminal angle, then grips raw material.
3 tiered warehouse facilities carry out loading and unloading by serial manipulator, and the signal of sensor detection is linked into control system, from
And control the serial manipulator to carry out loading and unloading.
4 display platforms use touch display screen, can not only show the state of each station of tiered warehouse facility, can also be manually
Select corresponding station carries out loading and unloading by serial manipulator.
The status information of 5 tiered warehouse facilities is also used for controlling the feed mechanism to carry out feeding.
Therefore, in sum, the beneficial effects of the invention are as follows：Integrated performance is strong, anti-with height automation characteristic and information
Feedback function, easy to control, intelligent higher, loading and unloading are more convenient, with good teaching, training function.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structure chart of tiered warehouse facility；
Fig. 3 is the structure chart of raw material feed mechanism.
Specific embodiment
In order that the technological means realized of the present invention, creation characteristic, reached purpose and effect are easy to understand, below it is right
The present invention is expanded on further.
As shown in figure 1, a kind of parallel connection and serial connection robot comprehensive training platform, including operating platform 10, installed in operation
The parallel robot 1 of the upper end left part of platform 10, immediately below parallel robot 1 and on the base plate on operating platform 10
Material mechanism 9, conveyer belt 4, the one end away from parallel robot 1 on conveyer belt 4 is provided with the series connection on operating platform 10
Robot 5, the left of the serial manipulator 5 is provided with the mounting plate 7 on operating platform 10, the serial manipulator
5 right is provided with the tiered warehouse facility 2 on operating platform 10, and the upper end of the operating platform 10 is also equipped with raw material feeding
Mechanism 3, display screen 8, are provided with sighting device 6 on the parallel robot 1, the built-in type of the display screen 8 be provided with
Parallel robot 1, base plate feed mechanism 9, conveyer belt 4, serial manipulator 5, tiered warehouse facility 2, mounting plate 7, sighting device 6,
The connected control system of raw material feed mechanism 3.
Control system includes servo control system, pneumatic component control system, sensory-control system, robot
Control system, sighting device control system.Control system can manually select the feeding wanted to stereo garage by display screen 8
Information, so as to control the raw material feed mechanism 3 to carry out feeding.Base plate feed mechanism 9 is fixed on operating platform 10, and operation is flat
Platform 10 is built using aluminium section bar.Raw material feed mechanism 3 is constituted using sensor and correspondence raw material storage with cylinder, raw material feeding
Cylinder belonging to mechanism 3 is responsible for raw material to be pushed on conveyer belt 4.Base plate feed mechanism 9 is constituted using sensor and cylinder, bottom
Cylinder belonging to plate feed mechanism 9 is responsible for base plate to be pushed on conveyer belt 4.
When using, raw material feed mechanism 3 is, on conveyer belt 4, raw material moves to the detection zone of sighting device 6 on raw material
When, the attitude and shape information of the meeting automatic detection raw material of sighting device 6 feed back to parallel robot 1.Base plate feed mechanism 9
Base plate is shifted onto on pipeline 4, and raw material is put into the corresponding position of base plate by parallel robot 1 according to raw material shape.When raw material fortune
When moving the position of serial manipulator 5, serial manipulator 5 draws raw material and assembling is simulated to mounting plate 7, or right
The raw material answered is put into tiered warehouse facility 2.
As shown in Fig. 2 the tiered warehouse facility 2 includes aluminum section bar frame 21, on the aluminum section bar frame 21 vertically
Arrangement is provided with three aluminium sheets 24, i.e., whole tiered warehouse facility 2 divide into three layers.Installing plate 23 is mounted on each aluminium sheet 24,
Four proximity switches 22 are mounted on each installing plate 23.Proximity switch 22 is used for detecting the presence of raw material.Tiered warehouse facility 2 passes through
The detection of proximity switch 22 passes the status information of station, and status information is shown on display screen 8.
As shown in figure 3, described raw material feed mechanism 3 includes material loading platform 31, the top of the material loading platform 31 sets successively
There is square to deposit storehouse 32, cylinder storage storehouse 33, triangle body storage storehouse 34, described square storage storehouse 32, cylinder storage storehouse
33rd, the lower section of the triangle body storage three of storehouse 34 is correspondingly provided with cylinder 1, cylinder 2 36, cylinder 3 35, the square respectively
Sensor is mounted on below storage storehouse 32, cylinder storage storehouse 33, the triangle body storage three of storehouse 34.Sensor is used for detecting raw material
The presence or absence of.
Whole training platform can be successively programmed by the feeding order programmed according to raw material feed mechanism 3, also may be used
Selected with according to the information of tiered warehouse facility 2 shown above of display screen 8, selected different raw material stations, raw material feed mechanism 3
Different raw materials will be gone up.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, the simply present invention described in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (3)
1. a kind of parallel connection and serial connection robot comprehensive training platform, it is characterised in that：Including operating platform (10), installed in operation
The parallel robot (1) of platform (10) upper end left part, immediately below the parallel robot (1) and on operating platform (10)
Base plate feed mechanism (9), conveyer belt (4), the one end away from parallel robot (1) on conveyer belt (4) be provided with installed in behaviour
Make the serial manipulator (5) on platform (10), the left of the serial manipulator (5) is provided with operating platform (10)
Mounting plate (7), the right of the serial manipulator (5) is provided with the tiered warehouse facility (2) on operating platform (10), described
The upper end of operating platform (10) is also equipped with raw material feed mechanism (3), display screen (8), is provided with the parallel robot (1)
Sighting device (6), display screen (8) built-in type be provided with and parallel robot (1), base plate feed mechanism (9), conveying
What band (4), serial manipulator (5), tiered warehouse facility (2), mounting plate (7), sighting device (6), raw material feed mechanism (3) were connected
Control system.
2. a kind of parallel connection and serial connection robot comprehensive training platform according to claim 1, it is characterised in that：The solid
Warehouse (2) includes aluminum section bar frame (21), and vertically arrangement is provided with three aluminium sheets on the aluminum section bar frame (21)
(24) installing plate (23), is mounted on each aluminium sheet (24), four proximity switches is mounted on each installing plate (23)
(22)。
3. a kind of parallel connection and serial connection robot comprehensive training platform according to claim 1, it is characterised in that：Described original
Material feed mechanism (3) includes material loading platform (31), and material loading platform (31) top is sequentially provided with square storage storehouse (32), circle
Post storage storehouse (33), triangle body storage storehouse (34), described square deposit storehouse (32), cylinder and deposit storehouse (33), triangle body and deposit
The lower section for putting storehouse (34) three is correspondingly provided with cylinder one (37), cylinder two (36), cylinder three (35), the square storage respectively
Storehouse (32), cylinder storage storehouse (33), triangle body to be deposited and be mounted on sensor below storehouse (34) three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182995.1A CN106847057A (en) | 2017-03-24 | 2017-03-24 | A kind of parallel connection and serial connection robot comprehensive training platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182995.1A CN106847057A (en) | 2017-03-24 | 2017-03-24 | A kind of parallel connection and serial connection robot comprehensive training platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106847057A true CN106847057A (en) | 2017-06-13 |
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ID=59130925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182995.1A Pending CN106847057A (en) | 2017-03-24 | 2017-03-24 | A kind of parallel connection and serial connection robot comprehensive training platform |
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| Country | Link |
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| CN (1) | CN106847057A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5179525A (en) * | 1990-05-01 | 1993-01-12 | University Of Florida | Method and apparatus for controlling geometrically simple parallel mechanisms with distinctive connections |
| CN103203630A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Modular flexible manufacturing logistics system |
| CN103337216A (en) * | 2013-04-28 | 2013-10-02 | 苏州博实机器人技术有限公司 | Flexible production comprehensive training system integrating machinery, light, electricity, gas and liquid |
| CN203386410U (en) * | 2013-05-06 | 2014-01-08 | 祝常红 | Mult-shaft industrial robot teaching and training platform |
| CN203780838U (en) * | 2014-04-28 | 2014-08-20 | 山东农业大学 | Poultry egg transporting and packaging robot |
| CN105858197A (en) * | 2016-06-06 | 2016-08-17 | 江苏瑞莱克斯自动化科技有限公司 | Product detecting and sorting system |
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
-
2017
- 2017-03-24 CN CN201710182995.1A patent/CN106847057A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5179525A (en) * | 1990-05-01 | 1993-01-12 | University Of Florida | Method and apparatus for controlling geometrically simple parallel mechanisms with distinctive connections |
| CN103203630A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Modular flexible manufacturing logistics system |
| CN103337216A (en) * | 2013-04-28 | 2013-10-02 | 苏州博实机器人技术有限公司 | Flexible production comprehensive training system integrating machinery, light, electricity, gas and liquid |
| CN203386410U (en) * | 2013-05-06 | 2014-01-08 | 祝常红 | Mult-shaft industrial robot teaching and training platform |
| CN203780838U (en) * | 2014-04-28 | 2014-08-20 | 山东农业大学 | Poultry egg transporting and packaging robot |
| CN105858197A (en) * | 2016-06-06 | 2016-08-17 | 江苏瑞莱克斯自动化科技有限公司 | Product detecting and sorting system |
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
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| RJ01 | Rejection of invention patent application after publication |