CN107248365A - Robot teaching aid that 3D printed - Google Patents
Robot teaching aid that 3D printed Download PDFInfo
- Publication number
- CN107248365A CN107248365A CN201710683286.1A CN201710683286A CN107248365A CN 107248365 A CN107248365 A CN 107248365A CN 201710683286 A CN201710683286 A CN 201710683286A CN 107248365 A CN107248365 A CN 107248365A
- Authority
- CN
- China
- Prior art keywords
- large arm
- forearm
- arm
- plate
- drive
- 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
- 238000010146 3D printing Methods 0.000 claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims description 76
- 238000009434 installation Methods 0.000 claims description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000007639 printing Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot teaching aid for 3D printing, which comprises a base, a large arm driving assembly, a small arm driving assembly, a connecting piece and a tail end assembly, wherein a mounting base is rotationally arranged on the base; the big arm driving assembly comprises a big arm driving wheel, a big arm, a first big arm connecting rod, a big arm connecting plate, a second big arm connecting rod and a big arm motor, the small arm driving assembly comprises a small arm driving wheel, a small arm connecting plate, a small arm connecting rod and a small arm motor, and an angle sensor used for measuring an included angle between the big arm and the small arm is arranged on the connecting piece. The invention adjusts the position and the posture of the tail end of the mechanical arm by adjusting the large arm and the small arm connecting rod, and has simple structure and convenient operation; the main structure is printed and formed by 3D, so that the cost is greatly saved, information such as angles between the large arm and the small arm and terminal coordinates can be visually displayed in real time, the teaching and use of the robot theory are facilitated, and the teaching application problems of the robot body structure, the forward-inverse kinematics, the control system and the like are solved.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of robot teaching aid of 3D printing.
Background technology
With the extensive use of robot technology, many colleges and universities have opened up the related course of robot technology, and purchase
Related experimental real-training equipment.The correlation provided with the educational facilities supplier " the bright religion instrument in day " of largest domestic, " sub- dragon religion instrument "
Exemplified by equipment, all using finished industrial robot as nucleus equipment, it is aided with other and simulation is constituted such as workbench, workpiece
Production system.Although this mode is adapted to combine with practice, be not suitable for the teaching to robot theoretical side.Either use
The Simple robot of oneself exploitation, and the structure of actual industrial robot differ greatly.Meanwhile, the said equipment price is very high, many
The powerless purchase of number colleges and universities is only sufficient to buy a small amount of equipment, it is impossible to fully meet teaching request.
For most Regular Colleges, the teaching to robot theoretical side is quite important, while the knowwhy of robot
Also it is more uninteresting and abstract, but face available without suitable teaching equipment.
3D printing is also known as 3 D-printing, is a kind of accumulation increases material manufacturing technology, develops in recent years rapider.3D printing can be real
Existing rapid prototyping manufacturing, is particularly suitable for innovative design prototype fabrication, can greatly improve speed and the flexibility of exploitation design.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of robot teaching aid of 3D printing.
In order to achieve the above object, technical scheme is as follows：
The present invention provides a kind of robot teaching aid of 3D printing, including：
Rotated on base, base and be provided with installation pedestal；
Large arm drive component, including large arm drive, large arm, the first big arm link, large arm connecting plate, second largest arm link
With large arm motor, the first big arm link respectively with installation pedestal, large arm connecting plate rotate be connected, second largest arm link respectively with greatly
Arm connecting plate, end fixed plate rotate connection, and large arm drive is rotated and is arranged in installation pedestal, and large arm is connected to large arm
On drive and between large arm connecting plate and connector, large arm motor is arranged in installation pedestal and its output end and large arm
Drive is connected；
Forearm drive component, including forearm drive, forearm, forearm connecting plate, small arm link and forearm motor, forearm are passed
Wheel rotation is arranged in installation pedestal, small arm link respectively with forearm drive, forearm connecting plate rotate be connected, forearm with it is small
Arm connecting plate rotates connection and is detachably fixed with end fixed plate and is connected, and forearm motor is arranged in installation pedestal and it is exported
End is connected with forearm drive；
Connector, connector is arranged between large arm and forearm, and connector, which is provided with, to be used to measure between large arm and forearm
The angular transducer of angle angle；
Connector assembly, including end fixed plate and the tip sensor that is arranged in the fixed plate of end.
The present invention is compared to prior art, by adjusting large arm and forearm, adjusts position and the posture of end fixed plate, knot
Structure is simple, easy to operate, intuitively can in real time show, greatly save cost, be easy to teaching to use.
Wherein, installation pedestal includes bottom plate, left plate and right plate, left plate and right plate be arranged at the both sides of bottom plate and
Therebetween connecting shaft is provided with, forearm drive is arranged in connecting shaft and set close to left plate, and forearm motor is fixedly installed
In on left plate, large arm drive is arranged in connecting shaft and set close to right plate, and large arm motor is fixedly installed on right plate
On.
In addition, tip sensor is the one or more in laser sensor, velocity sensor, angular transducer.
On the basis of above-mentioned technical proposal, following improvement can be also done：
As preferred scheme, main driving wheel and main motor are additionally provided with, main connecting shaft, main biography are provided between base and bottom plate
Driving wheel is arranged in main connecting shaft, and main motor is arranged on bottom plate and its output end is connected with main driving wheel.
Using above-mentioned preferred scheme, driven between base and bottom plate by main motor, realize the rotation of installation pedestal.
As preferred scheme, above-mentioned large arm drive includes large arm axle sleeve and large arm hub, and large arm hub is arranged at
On large arm axle sleeve, large arm is connected through large arm hub with large arm axle sleeve；Forearm drive includes forearm axle sleeve and forearm hub, small
Arm hub is arranged on forearm axle sleeve, and extension is provided with forearm hub contiguous block on forearm hub, and small arm link turns with forearm hub
Dynamic connection.
Using above-mentioned preferred scheme, by the form of hub and sleeve combination, large arm drive and forearm drive are improved
Structural strength, also allow for install.
As preferred scheme, connecting shaft locking member is additionally provided with, connecting shaft locking member is arranged at left plate and/or right plate
It is connected above and with connecting shaft, connecting shaft locking member includes opening retaining ring and clamping screw, opening locking ring set is located at connecting shaft
On, clamping screw is arranged at the openend of opening retaining ring, and opening retaining ring is staggeredly provided with bullet on the medial surface of openend
Property projection.
Using above-mentioned preferred scheme, connecting shaft locking member further locks connecting shaft, it is to avoid large arm drive, forearm are passed
Connecting shaft is driven during wheel rotation, the stability of structure is improved.
As preferred scheme, the two ends of above-mentioned the first big arm link, the two ends of second largest arm link, small arm link
Two ends and large arm and the connection end of large arm connecting plate and connector are provided with connecting bushing and protective case, and connecting bushing is arranged at
In protective case, protective case is that one or more combinations in PC, ABS, PP are prepared from.
Using above-mentioned preferred scheme, the first big arm link, second largest arm link, the connection end of small arm link and large arm are adopted
With the form of connecting bushing and protective case you, improve structural strength, increase the service life.
As preferred scheme, above-mentioned large arm connecting plate is triangular plate, and three summits of triangular plate are circular arc knot
Structure and three apexes are provided with large arm adapter sleeve.
Using above-mentioned preferred scheme, the summit of triangular plate is provided with large arm adapter sleeve, is easily installed, and also further improves
Structural strength.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
In order to reach the purpose of the present invention, as shown in figure 1, providing a kind of 3D in the one of which embodiment of the present invention
The robot teaching aid of printing, including：
Rotated on base 10, base and be provided with installation pedestal；
Large arm drive component, including large arm drive 20, large arm 21, the first big arm link 22, large arm connecting plate 23, second
Big arm link 24 and large arm motor 25, the first big arm link 22 are rotated and are connected with installation pedestal, large arm connecting plate 23 respectively, and second
Big arm link 24 is rotated and is connected with large arm connecting plate 23, end fixed plate 50 respectively, and large arm drive 20 rotates and is arranged at installation
On pedestal, large arm 21 is connected on large arm drive 20 and between large arm connecting plate 23 and connector, large arm motor 25
It is arranged in installation pedestal and its output end is connected with large arm drive 20；
Forearm drive component, including forearm drive 30, forearm 31, forearm connecting plate 32, small arm link 33 and forearm electricity
Machine 34, forearm drive 30 rotate be arranged in installation pedestal, small arm link 33 respectively with forearm drive 30, forearm connecting plate
32 rotate connection, and forearm 31 is rotated to be connected and be detachably fixed with end fixed plate 50 and is connected with forearm connecting plate 32, forearm electricity
Machine 34 is arranged in installation pedestal and its output end is connected with forearm drive 30；
Connector 40, connector 40 is arranged between large arm 21 and forearm 31, and connector 40, which is provided with, to be used to measure large arm
The angular transducer of angle angle between forearm；
Connector assembly, including end fixed plate 50 and the tip sensor that is arranged in end fixed plate 50.
Present embodiment is compared to prior art, by adjusting large arm and forearm, adjusts position and the appearance of end fixed plate
State, it is simple in construction, it is easy to operate, it intuitively can in real time show, greatly save cost, be easy to teaching to use.
Wherein, installation pedestal includes bottom plate, left plate and right plate, left plate and right plate be arranged at the both sides of bottom plate and
Therebetween connecting shaft is provided with, forearm drive is arranged in connecting shaft and set close to left plate, and forearm motor is fixedly installed
In on left plate, large arm drive is arranged in connecting shaft and set close to right plate, and large arm motor is fixedly installed on right plate
On.
In addition, tip sensor is the one or more in laser sensor, velocity sensor, angular transducer.
In order to further optimize the implementation result of the present invention, in another embodiment of the invention, foregoing interior
On the basis of appearance, main driving wheel and main motor are additionally provided with, main connecting shaft is provided between base and bottom plate, main driving wheel is arranged at master
In connecting shaft, main motor is arranged on bottom plate and its output end is connected with main driving wheel.
Using above-mentioned preferred scheme, driven between base and bottom plate by main motor, realize the rotation of installation pedestal.
In order to further optimize the implementation result of the present invention, in another embodiment of the invention, foregoing interior
On the basis of appearance, above-mentioned large arm drive includes large arm axle sleeve and large arm hub, and large arm hub is arranged on large arm axle sleeve, greatly
Arm is connected through large arm hub with large arm axle sleeve；Forearm drive includes forearm axle sleeve and forearm hub, and forearm hub is arranged at
On forearm axle sleeve, extension is provided with forearm hub contiguous block on forearm hub, and small arm link is rotated with forearm hub and is connected.
Using above-mentioned preferred scheme, by the form of hub and sleeve combination, large arm drive and forearm drive are improved
Structural strength, also allow for install.
In order to further optimize the implementation result of the present invention, in another embodiment of the invention, foregoing interior
On the basis of appearance, connecting shaft locking member is additionally provided with, connecting shaft locking member is arranged on left plate and right plate and connected with connecting shaft
Connect, connecting shaft locking member includes opening retaining ring and clamping screw, and opening locking ring set is in connecting shaft, and clamping screw is set
In the openend of opening retaining ring, opening retaining ring is staggeredly provided with elastic projection on the medial surface of openend.
Using above-mentioned preferred scheme, connecting shaft locking member further locks connecting shaft, it is to avoid large arm drive, forearm are passed
Connecting shaft is driven during wheel rotation, the stability of structure is improved.
In order to further optimize the implementation result of the present invention, in another embodiment of the invention, foregoing interior
On the basis of appearance, the two ends of above-mentioned the first big arm link, the two ends of second largest arm link, the two ends of small arm link, Yi Ji great
The connection end of arm and large arm connecting plate and connector is provided with connecting bushing and protective case, and connecting bushing is arranged in protective case, protects
Sheath is that one or more combinations in PC, ABS, PP are prepared from.
Using above-mentioned preferred scheme, the first big arm link, second largest arm link, the connection end of small arm link and large arm are adopted
With the form of connecting bushing and protective case you, improve structural strength, increase the service life.
In order to further optimize the implementation result of the present invention, in another embodiment of the invention, foregoing interior
On the basis of appearance, above-mentioned large arm connecting plate is triangular plate, and three summits of triangular plate are arc structure and three summits
Place is provided with large arm adapter sleeve.
Using above-mentioned preferred scheme, the summit of triangular plate is provided with large arm adapter sleeve, is easily installed, and also further improves
Structural strength.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (8)
1. a kind of robot teaching aid of 3D printing, it is characterised in that including：
Rotated on base, base and be provided with installation pedestal；
Large arm drive component, including large arm drive, large arm, the first big arm link, large arm connecting plate, second largest arm link and big
Arm motor, the first big arm link is rotated and is connected with installation pedestal, large arm connecting plate respectively, and second largest arm link connects with large arm respectively
Fishplate bar, end fixed plate rotate connection, and large arm drive is rotated and is arranged in installation pedestal, and large arm is connected to large arm transmission
On wheel and between large arm connecting plate and connector, large arm motor is arranged in installation pedestal and its output end is driven with large arm
Wheel connection；
Forearm drive component, including forearm drive, forearm, forearm connecting plate, small arm link and forearm motor, forearm drive
Rotation is arranged in installation pedestal, and small arm link is rotated and is connected with forearm drive, forearm connecting plate respectively, and forearm connects with forearm
Fishplate bar rotates connection and is detachably fixed and be connected with end fixed plate, forearm motor be arranged in installation pedestal and its output end and
Forearm drive is connected；
Connector, connector is arranged between large arm and forearm, and connector, which is provided with, to be used to measure angle between large arm and forearm
The angular transducer of angle；
Connector assembly, including end fixed plate and the tip sensor that is arranged in the fixed plate of end.
2. the robot teaching aid of 3D printing according to claim 1, it is characterised in that installation pedestal includes bottom plate, left side
Plate and right plate, left plate and right plate are arranged at the both sides of bottom plate and are provided with connecting shaft therebetween, and forearm drive is set
Set in connecting shaft and close to left plate, forearm motor is fixedly installed on left plate, and large arm drive is arranged at connecting shaft
Upper and close right plate is set, and large arm motor is fixedly installed on right plate.
3. the robot teaching aid of 3D printing according to claim 2, it is characterised in that be additionally provided with main driving wheel and main electricity
Machine, is provided with main connecting shaft between base and bottom plate, main driving wheel is arranged in main connecting shaft, and main motor is arranged on bottom plate and it
Output end is connected with main driving wheel.
4. the robot teaching aid of 3D printing according to claim 3, it is characterised in that large arm drive includes large arm axle sleeve
With large arm hub, large arm hub is arranged on large arm axle sleeve, and large arm is connected through large arm hub with large arm axle sleeve；Forearm drive
Including forearm axle sleeve and forearm hub, forearm hub is arranged on forearm axle sleeve, and extension connects provided with forearm hub on forearm hub
Block is connect, small arm link is rotated with forearm hub and is connected.
5. the robot teaching aid of 3D printing according to claim 1, it is characterised in that be additionally provided with connecting shaft locking member, even
Spindle locking member is arranged on left plate and/or right plate and is connected with connecting shaft, and connecting shaft locking member includes opening retaining ring
And clamping screw, opening locking ring set is in connecting shaft, and clamping screw is arranged at the openend of opening retaining ring, opening locking
Ring is staggeredly provided with elastic projection on the medial surface of openend.
6. the robot teaching aid of 3D printing according to claim 1, it is characterised in that the two ends of the first big arm link,
Two ends, the two ends of small arm link and the large arm of two big arm links are provided with the connection end of large arm connecting plate and connector and are connected
Axle sleeve and protective case, connecting bushing are arranged in protective case, and protective case is one or more combination preparation in PC, ABS, PP
Into.
7. the robot teaching aid of 3D printing according to claim 1, it is characterised in that large arm connecting plate is triangular plate,
Three summits of triangular plate are arc structure and three apexes are provided with large arm adapter sleeve.
8. the robot teaching aid of 3D printing according to claim 1, it is characterised in that tip sensor is laser sensing
One or more in device, acceleration transducer, angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683286.1A CN107248365A (en) | 2017-08-10 | 2017-08-10 | Robot teaching aid that 3D printed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710683286.1A CN107248365A (en) | 2017-08-10 | 2017-08-10 | Robot teaching aid that 3D printed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107248365A true CN107248365A (en) | 2017-10-13 |
Family
ID=60013394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710683286.1A Pending CN107248365A (en) | 2017-08-10 | 2017-08-10 | Robot teaching aid that 3D printed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107248365A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172102A (en) * | 2018-01-26 | 2018-06-15 | 天津职业技术师范大学 | A kind of dismantled and assembled indexable drill jig teaching aid of polychrome based on 3D printing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| KR20070042892A (en) * | 2005-10-19 | 2007-04-24 | 세이코 엡슨 가부시키가이샤 | Parallel link mechanism and industrial robot |
| CN102581841A (en) * | 2012-02-21 | 2012-07-18 | 济南中润自控设备有限公司 | Double driving mechanical arm |
| CN204516240U (en) * | 2015-03-25 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of teaching robot |
| US20160207205A1 (en) * | 2015-01-21 | 2016-07-21 | Buck Engineering & Consulting Gmbh | Simulator |
| CN105869508A (en) * | 2016-06-11 | 2016-08-17 | 单家正 | Three-freedom-degree teaching robot |
| CN106985135A (en) * | 2017-05-16 | 2017-07-28 | 广西大学 | A kind of combination drive assembly manipulator in parallel |
| CN207425214U (en) * | 2017-08-10 | 2018-05-29 | 南通理工学院 | Robot teaching aid that 3D printed |
-
2017
- 2017-08-10 CN CN201710683286.1A patent/CN107248365A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070042892A (en) * | 2005-10-19 | 2007-04-24 | 세이코 엡슨 가부시키가이샤 | Parallel link mechanism and industrial robot |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN102581841A (en) * | 2012-02-21 | 2012-07-18 | 济南中润自控设备有限公司 | Double driving mechanical arm |
| US20160207205A1 (en) * | 2015-01-21 | 2016-07-21 | Buck Engineering & Consulting Gmbh | Simulator |
| CN204516240U (en) * | 2015-03-25 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of teaching robot |
| CN105869508A (en) * | 2016-06-11 | 2016-08-17 | 单家正 | Three-freedom-degree teaching robot |
| CN106985135A (en) * | 2017-05-16 | 2017-07-28 | 广西大学 | A kind of combination drive assembly manipulator in parallel |
| CN207425214U (en) * | 2017-08-10 | 2018-05-29 | 南通理工学院 | Robot teaching aid that 3D printed |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172102A (en) * | 2018-01-26 | 2018-06-15 | 天津职业技术师范大学 | A kind of dismantled and assembled indexable drill jig teaching aid of polychrome based on 3D printing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171013 |
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| RJ01 | Rejection of invention patent application after publication |