CN109551522A - A kind of the science popularization device and demenstration method of robot automatic demonstrating gyro - Google Patents
A kind of the science popularization device and demenstration method of robot automatic demonstrating gyro Download PDFInfo
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- CN109551522A CN109551522A CN201910005347.8A CN201910005347A CN109551522A CN 109551522 A CN109551522 A CN 109551522A CN 201910005347 A CN201910005347 A CN 201910005347A CN 109551522 A CN109551522 A CN 109551522A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000035755 proliferation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
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Abstract
The present invention relates to robot gyros to rotate technical field, and in particular to a kind of the science popularization device and demenstration method of robot automatic demonstrating gyro, including Demonstration table, the Demonstration table are equipped with robot, laying rack, accelerator, rotating platform and gyro；The robot is fixed on the Demonstration table side, and the laying rack is fixed on the robot side, and the laying rack is equipped with gyro, and the accelerator is set to described laying rack the same side, and the rotating platform is set to described accelerator the same side；The Demonstration table side is equipped with PLC control module, the PLC control module is connect with the robot, the accelerator respectively, the operation that automatic demonstrating gyro is clamped, accelerates, rotates, is superimposed and put may be implemented in the present invention, and has the science popularization device being precisely controlled.
Description
Technical field:
The present invention relates to robot gyros to rotate technical field, and in particular to a kind of science popularization of robot automatic demonstrating gyro
Device and demenstration method.
Background technique:
Currently, the function that is precisely controlled by science popularization Project Exhibition industrial robot becomes a kind of way of public rapid proliferation
Diameter.Science popularization project has the characteristics that property of participation is strong, entertainment is high, by various science popularization projects, can uninteresting mechanical action,
The displaying movement being easy to understand known to masses is evolved into, to achieve the purpose that universal knowledge.
Summary of the invention:
In order to solve the problems, such as above-mentioned existing shortcoming, the purpose of the present invention is to provide a kind of robots to drill automatically
The science popularization device for showing gyro may be implemented the operation that automatic demonstrating gyro is clamped, accelerates, rotates, is superimposed and put, and have essence
The science popularization device of quasi- control.
To achieve the goals above, the present invention is achieved by the following scheme:
A kind of science popularization device of robot automatic demonstrating gyro, including Demonstration table, the Demonstration table are equipped with robot, pendulum
Put frame, accelerator, rotating platform and gyro；The robot is fixed on the Demonstration table side, and the laying rack is fixed on
The robot side, the laying rack are equipped with gyro, and the accelerator is set to described laying rack the same side, the rotation
Turn platform and is set to described accelerator the same side；The Demonstration table side is equipped with PLC control module, the PLC control module
It is connect respectively with the robot, the accelerator.
Preferably, the accelerator, laying rack, rotating platform be on the same line.
Preferably, the artificial sixdegree-of-freedom simulation of the machine, the robot claw is equipped with fixture, tail portion is equipped with machinery
Arm guard housing.
Preferably, it is equipped at the accelerator center and accelerates hole, the accelerator is equipped with individual speed regulating motor, institute
Speed regulating motor is stated to be set to inside the Demonstration table.
Preferably, the laying rack is equipped at least two and puts disk, and the disk of putting is equipped with big gyro and small gyro.
Preferably, the rotating platform upper surface has guide groove, is equipped with rotation at the center of the rotating platform upper surface
Bucket.
A kind of demenstration method of robot automatic demonstrating gyro, it is characterised in that: the demenstration method the following steps are included:
A, big gyro clamping: high, highly reliable, integrated to programmable degree using the PLC control module programmed
Industrial robot is moved to the mechanical arm of robot at the big gyro of laying rack, then passes through robot claw fixture
Big gyro is clamped, upward vertical movement can be taken off big gyro.
B, big gyro accelerates: the big gyro of taking-up being placed into the acceleration hole of accelerator, is made greatly by speed regulating motor
Gyro accelerates to the speed of setting.
C, gyro rotates: the mechanical arm for controlling robot is moved at accelerator, then passes through robot claw fixture
It can clamp big gyro, right above upward vertical movement to rotating platform, vertical downward movement and big gyro be placed into rotary flat
On the rotation bucket of platform.
D, small gyro clamping: the mechanical arm for controlling robot is moved at the small gyro on laying rack, then passes through machine
People's claw fixture can clamp small gyro, and upward vertical movement can be taken off small gyro.
E, small gyro accelerates: the small gyro of taking-up being placed into the acceleration hole of accelerator, is made by speed regulating motor small
Gyro accelerates to the speed of setting, and the speed of small gyro is faster than the speed of big gyro at this time.
F, gyro superposition rotation: the mechanical arm for controlling robot is moved at accelerator, then passes through robot claw
Fixture can clamp small gyro, and upward vertical movement is placed on rotation to the top of big gyro, vertical downward movement and by small gyro
On the big gyro turned.
G, demonstration terminates: being successively returned to big gyro, small gyro on laying rack by the mechanical arm of robot, robot
It is returned to initial position.
Compared with prior art, the invention has the benefit that
The present invention makees driving device and selection sixdegree-of-freedom simulation using industrial robot, makes full use of industrial machine
High, highly reliable, the integrated advantage of people's programmable precision accurately controls robot；Accelerator is using speed regulation electricity
Machine controls motor speed using PLC control module according to actual needs and the steady acceleration of large and small gyro is realized in acceleration and deceleration, subtracts
Smaller tremors；The guide groove of rotating platform setting, can guide gyro to fixed point, facilitate superposition gyro, spinning top is as exhibition
Show carrier, due to conservation of angular momentum principle, high-speed rotating small gyro can be stood on the big gyro of rotation, form gyro superposition rotation
The bandwagon effect turned；After demonstration, gyro can be replaced automatically one by one, slow down and stop, the present invention may be implemented certainly
The operation that dynamic demonstration gyro is clamped, accelerates, rotates, is superimposed and put, and there is the science popularization device being precisely controlled.
Additional technical effect of the invention will be elaborated in next specific embodiment.
Detailed description of the invention:
A specific embodiment of the invention is described in further detail with reference to the accompanying drawing:
Fig. 1 is main view and partial sectional view provided by the invention；
Fig. 2 is left view provided by the invention；
Fig. 3 is top view provided by the invention；
Fig. 4 is laying rack structural schematic diagram provided by the invention；
Fig. 5 is accelerator structural schematic diagram provided by the invention；
Fig. 6 is gyro acceleration effect figure provided by the invention；
Fig. 7 is rotating platform structure schematic diagram provided by the invention；
Figure label explanation: 1~Demonstration table；2~robot；21~fixture；22~mechanical arm guard housing；3~laying rack；31
~put disk；4~accelerator；41~accelerate hole；42~speed regulating motor；5~rotating platform；51~guide groove；52~rotation
Bucket；6~gyro；61~big gyro；62~small gyro；7~PLC control module.
Specific embodiment:
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating and embodiment, and the present invention is furture elucidated.
With reference to shown in Fig. 1-3, a kind of science popularization device of robot automatic demonstrating gyro, including Demonstration table 1, on Demonstration table 1
Equipped with robot 2, laying rack 3, accelerator 4, rotating platform 5 and gyro 6；Robot 2 is fixed on 1 side of Demonstration table, machine
People 2 is sixdegree-of-freedom simulation, using high, highly reliable, the integrated advantage of 2 programmable precision of industrial robot, to machine
People 2 is accurately controlled, and 2 claw of robot is equipped with fixture 21, tail portion is equipped with mechanical arm guard housing 22, and mechanical arm guard housing 22 is for protecting
Solid mechanical arm is protected, fixture 21 is equivalent to the gripper of people, and for clamping or putting back to gyro 6 to laying rack 3, laying rack 3 is fixed on
2 side of robot；As shown in connection with fig. 4, laying rack 3 is equipped at least two and puts disk 31, puts disk 31 equipped with big 61 He of gyro
Small gyro 62, accelerator 4 are set to 3 the same side of laying rack, and rotating platform 5 is set to 4 the same side of accelerator, wherein accelerating
Device 4, laying rack 3, rotating platform 5 on the same line, can accurately be grasped convenient for the mechanical arm of robot 2 in the same side
Make, 1 side of Demonstration table is equipped with PLC control module 7, and PLC control module 7 is connect with robot 2, accelerator 4 respectively, on the one hand
PLC control module 7 is connect with robot 2, and the mechanical arm of control robot 2 clamps big gyro 61 and small gyro by fixture 21
62 put to required machining position, and mechanical arm can be with automatic returning original place after completing operation；Another aspect PLC control module 7 with plus
Speed variator 4 connects, and as shown in connection with fig. 5, the acceleration hole 41 set at 4 center of accelerator is used to accelerate big gyro 61 or small gyro
62, accelerator 4 is equipped with individual speed regulating motor 42, and speed regulating motor 42 is set to inside Demonstration table 1, controls mould using PLC
Block 7 controls motor speed according to actual needs and the steady acceleration of large and small gyro 62 is realized in acceleration and deceleration, reduces vibration.
As shown in connection with fig. 7,5 upper surface of rotating platform has guide groove 51, and guide groove 51 can guide gyro to fixed point,
Facilitate superposition gyro 6, rotation bucket 52 is equipped at 5 upper surface center of rotating platform, rotation bucket 52 is used to show the rotation of big gyro 61
Turn, the big gyro 61 of rotation is used as display carrier, and due to conservation of angular momentum principle, high-speed rotating small gyro 62, which can be stood, to be rotated
Big gyro 61 on, formed gyro 6 superposition rotation bandwagon effect.
A kind of demenstration method of robot automatic demonstrating gyro, demenstration method the following steps are included:
A, big gyro 61 clamps: high, highly reliable, integrated to programmable degree using the PLC control module 7 programmed
Industrial robot 2, be moved to the mechanical arm of robot 2 at the big gyro 61 of laying rack 3, then pass through 2 claw of robot
21 flexible rotating of fixture can clamp big gyro 61, and upward vertical movement can be taken off big gyro 61.
B, big gyro 61 accelerates: the big gyro 61 of taking-up is placed into adding for accelerator 4 by the mechanical arm of robot 2
In fast hole 41, since accelerator 4 is connect with PLC control module 7, the speed regulating motor 42 of 4 the inside of accelerator is further controlled
So that big gyro 61 is steadily accelerated to the speed of setting, reduces vibration.
C, gyro 6 rotates: the mechanical arm of control robot 2 is moved at accelerator 4, then passes through 2 claw of robot
Fixture 21 can clamp big gyro 61, right above upward vertical movement, rear horizontal movement to rotating platform 5, vertically downward finally
On the rotation bucket 52 for moving and place big gyro 61 rotating platform 5.
D, small gyro 62 clamps: right above the mechanical arm of control robot 2 is moved at the small gyro 62 on laying rack 3
Then place makes mechanical arm vertical downward movement by robot 2 and claw fixture 21 clamps small gyro 62, upward vertical movement
It can be taken off small gyro 62.
E, small gyro 62 accelerates: by after 62 horizontal movement of small gyro of taking-up again vertical downward movement to accelerator 4
Accelerate in hole 41, fixture 21, which is unclamped, makes the stable speed for accelerating to setting of small gyro 62 by speed regulating motor 42, at this time small gyro
62 speed is faster than the speed of big gyro 61.
F, the superposition of gyro 6 rotation: the mechanical arm of control robot 2 is moved at accelerator 4, then passes through robot 2
Claw fixture 21 can clamp small gyro 62, upward vertical movement to the top of big gyro 61, vertical downward movement and by small top
Spiral shell 62 is placed on the big gyro 61 of rotation, and the big gyro 61 of rotation is used as display carrier, due to conservation of angular momentum principle, high speed
The small gyro 62 of rotation can be stood on the big gyro 61 of rotation, form the bandwagon effect of the superposition rotation of gyro 6.
G, demonstration terminates: big gyro 61, small gyro 62 are successively returned on laying rack 3 by the mechanical arm of robot 2,
Robot 2 is returned to initial position.
Basic principles and main features and the features of the present invention of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement is both fallen in the range of claimed invention.The scope of protection of present invention is by appended claims
And its equivalent.
Claims (7)
1. a kind of science popularization device of robot automatic demonstrating gyro, including Demonstration table, it is characterised in that: the Demonstration table is equipped with
Robot, laying rack, accelerator, rotating platform and gyro；The robot is fixed on the Demonstration table side, described to put
Frame is fixed on the robot side, and the laying rack is equipped with gyro, and it is same that the accelerator is set to the laying rack
Side, the rotating platform are set to described accelerator the same side；The Demonstration table side is equipped with PLC control module, the PLC
Control module is connect with the robot, the accelerator respectively.
2. a kind of science popularization device of robot automatic demonstrating gyro according to claim 1, it is characterised in that: the acceleration
Device, laying rack, rotating platform are on the same line.
3. a kind of science popularization device of robot automatic demonstrating gyro according to claim 1, it is characterised in that: the machine
Artificial sixdegree-of-freedom simulation, the robot claw is equipped with fixture, tail portion is equipped with mechanical arm guard housing.
4. a kind of science popularization device of robot automatic demonstrating gyro according to claim 1, it is characterised in that: the acceleration
It is equipped at device center and accelerates hole, the accelerator is equipped with individual speed regulating motor, and the speed regulating motor is set to described drill
Show inside platform.
5. a kind of science popularization device of robot automatic demonstrating gyro according to claim 1, it is characterised in that: described to put
Frame is equipped at least two and puts disk, and the disk of putting is equipped with big gyro and small gyro.
6. a kind of science popularization device of robot automatic demonstrating gyro according to claim 1, it is characterised in that: the rotation
Platform upper surface has guide groove, and rotation bucket is equipped at the center of the rotating platform upper surface.
7. a kind of demenstration method of robot automatic demonstrating gyro, it is characterised in that: the demenstration method the following steps are included:
A, big gyro clamping: the industry that the PLC control module programmed is high, highly reliable, integrated to programmable degree is utilized
Robot is moved to the mechanical arm of robot at the big gyro of laying rack, then can be clamped by robot claw fixture
Big gyro, upward vertical movement can be taken off big gyro.
B, big gyro accelerates: the big gyro of taking-up being placed into the acceleration hole of accelerator, makes big gyro by speed regulating motor
Accelerate to the speed of setting.
C, gyro rotates: the mechanical arm for controlling robot is moved at accelerator, then passes through robot claw fixture
It clamps big gyro, right above upward vertical movement to rotating platform, vertical downward movement and big gyro is placed into rotating platform
On rotation bucket.
D, small gyro clamping: the mechanical arm for controlling robot is moved at the small gyro on laying rack, then passes through robot pawl
Portion's fixture can clamp small gyro, and upward vertical movement can be taken off small gyro.
E, small gyro accelerates: the small gyro of taking-up being placed into the acceleration hole of accelerator, makes small gyro by speed regulating motor
The speed of setting is accelerated to, the speed of small gyro is faster than the speed of big gyro at this time.
F, gyro superposition rotation: the mechanical arm for controlling robot is moved at accelerator, then passes through robot claw fixture
Small gyro can be clamped, upward vertical movement is placed on rotation to the top of big gyro, vertical downward movement and by small gyro
On big gyro.
G, demonstration terminates: being successively returned to big gyro, small gyro on laying rack by the mechanical arm of robot, robot returns
To initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910005347.8A CN109551522A (en) | 2019-01-03 | 2019-01-03 | A kind of the science popularization device and demenstration method of robot automatic demonstrating gyro |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910005347.8A CN109551522A (en) | 2019-01-03 | 2019-01-03 | A kind of the science popularization device and demenstration method of robot automatic demonstrating gyro |
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| CN109551522A true CN109551522A (en) | 2019-04-02 |
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| CN201910005347.8A Pending CN109551522A (en) | 2019-01-03 | 2019-01-03 | A kind of the science popularization device and demenstration method of robot automatic demonstrating gyro |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4078670A (en) * | 1974-07-18 | 1978-03-14 | Commissariat A L'energie Atomique | Cable-operated power manipulator |
| CN2059500U (en) * | 1989-03-05 | 1990-07-18 | 汤腊春 | Three-freedom gyro |
| DE19507561A1 (en) * | 1994-03-09 | 1995-09-14 | Siemens Ag | Position transformation method for numerically controlled machines |
| CN102699914A (en) * | 2012-05-15 | 2012-10-03 | 郑州大学 | Robot |
| CN103971564A (en) * | 2014-05-23 | 2014-08-06 | 北京航空航天大学 | Gyroscope character demonstrating device |
| CN107073709A (en) * | 2014-05-28 | 2017-08-18 | X开发有限责任公司 | Robot device with environmental indication of joint status |
| CN208068300U (en) * | 2018-04-18 | 2018-11-09 | 昆山塔米机器人有限公司 | Mechanical grip, mechanical arm and performance robot |
-
2019
- 2019-01-03 CN CN201910005347.8A patent/CN109551522A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4078670A (en) * | 1974-07-18 | 1978-03-14 | Commissariat A L'energie Atomique | Cable-operated power manipulator |
| CN2059500U (en) * | 1989-03-05 | 1990-07-18 | 汤腊春 | Three-freedom gyro |
| DE19507561A1 (en) * | 1994-03-09 | 1995-09-14 | Siemens Ag | Position transformation method for numerically controlled machines |
| CN102699914A (en) * | 2012-05-15 | 2012-10-03 | 郑州大学 | Robot |
| CN103971564A (en) * | 2014-05-23 | 2014-08-06 | 北京航空航天大学 | Gyroscope character demonstrating device |
| CN107073709A (en) * | 2014-05-28 | 2017-08-18 | X开发有限责任公司 | Robot device with environmental indication of joint status |
| CN208068300U (en) * | 2018-04-18 | 2018-11-09 | 昆山塔米机器人有限公司 | Mechanical grip, mechanical arm and performance robot |
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Application publication date: 20190402 |