CN201327679Y - Miniature programmable logistics teaching robot - Google Patents
Miniature programmable logistics teaching robot Download PDFInfo
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- CN201327679Y CN201327679Y CNU2008202055282U CN200820205528U CN201327679Y CN 201327679 Y CN201327679 Y CN 201327679Y CN U2008202055282 U CNU2008202055282 U CN U2008202055282U CN 200820205528 U CN200820205528 U CN 200820205528U CN 201327679 Y CN201327679 Y CN 201327679Y
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Abstract
The utility model discloses a miniature programmable logistics teaching robot, comprising a chassis (1), and a universal wheel (2) and wheels (4) driven by a travel drive motor (3) which are arranged below the chassis (1), wherein a bracket seat (5) which can be horizontally turned and a horizontally-rotating motor (3) are arranged on the chassis (1); a screw (7) and a vertical sliding rail (8) are arranged on the bracket seat (5); a lifting sliding seat (9) is arranged on the vertical sliding rail (8); a screw hole screwed with the screw (7) is arranged on the lifting sliding seat (9); a lifting motor (10) which can drive the screw (7) to rotate is arranged on the bracket seat (5); a horizontal sliding rail (11) is arranged on the lifting sliding seat (9); a horizontal sliding seat (12) is arranged on the horizontal sliding rail (11); a rotatable ring-shaped conveyor belt (13) is arranged between the remote ends of the lifting sliding seat (9) and the horizontal sliding rail (11); the horizontal sliding seat (12) is fixed with the conveyor belt (13); the lifting sliding seat (9) is provided with a back-forth telescopic motor (14) which drives the conveyor belt (13) to rotate; a turnable manipulator (15) is arranged on the horizontal sliding seat (12); and two mechanical grippers which can be opened and closed are arranged on the manipulator (15).
Description
Technical field
The utility model belongs to the technical field of robot, specifically is meant a kind of miniature logistics teaching robot able to programme.
Background technology
At present, the logistics management technology is an important development direction of Modern Manufacturing Technology, comprises that a series of materials of production run move and Product transport.Logistics field extensively adopts material flows automation equipment as means of delivery, can finish automatic loading and unloading, transportation and the access of material workpiece in the scope of appointment, has improved logistics operation efficient, has reduced construction costs.Wherein automatic guiding carriage has high flexibility, is easy to control point such as integrated.Therefore, the function of exploitation AGV robot is an important directions of studying in the mass transport.
Be accompanied by the fast development of electron and information technology, the robot research field makes rapid progress.Main cause is that computing machine and single-chip microcomputer are able to widespread use, and price constantly descends, and correlation technique is day by day ripe, and this widespread use for robot provides objective condition.
" innovation is a national progressive soul, is the forever motive force of an a state's prosperity prosperity." educate and will reform, innovate, cultivate and improve the whole nation's innovation ability, this is the glorious historic mission that the educator bears.Robot teaching's activity is becoming and is improving the student to the integration ability of being gained knowledge and the innovative point of overall qualities education.From other angle, as the demand of world manufacturing center, develop a kind of merchandising machine people of new generation that can adapt to the present reform in education of China in conjunction with China for the material flows automation equipment correlation technique talent, have vast market prospect.
Existing robots exists some drawbacks in the market: or physical construction is inseparable cuts apart, or volume is too huge, maybe can only be by the whole action operation of control system control, or controlling object is comparatively single, this just makes the beginner be difficult to finish programming Control, being difficult to has clearly understanding to each parts relationship of robot, and this brings inconvenience to the practice of innovation teaching.
The utility model content
Shortcomings such as the purpose of this utility model is to overcome that existing robots is not removable, cost is expensive, whole control provide a kind of simple in structure, with low cost, logistics teaching robot miniature able to programme that each module is independently controlled.
In order to realize above-mentioned purpose, the technology official documents and correspondence that the utility model adopts is: miniature logistics teaching robot able to programme, comprise chassis, chassis below two wheels being provided with universal wheel and driving by travel driving motor.But be provided with the motor that horizontally rotates that the carrier base that can horizontally rotate and driving arm seat rotate above the described chassis.Described carrier base is provided with screw rod and the vertical slide rail that is parallel to each other, and vertical slide rail is provided with lift slide, and lift slide is provided with the screw that is spirally connected with screw rod, but described carrier base is provided with the lifting motor of drive screw turns.Described lift slide is provided with horizontal slide rail, horizontal slide rail is provided with horizontal slide, be provided with rotating endless belt conveyer between the far-end of lift slide and horizontal slide rail, horizontal slide and travelling belt are fixed, and lift slide is provided with and drives the elastic motor that travelling belt rotates.Described horizontal slide is provided with rotating mechanical arm, but mechanical arm is provided with the gripper of two opening and closing movements.
The utility model can dismounting reconstruct, and each module can independently be controlled, and can allow the student pass through the robot that dismantles voluntarily and recombinate, and solid more directly perceived is in depth learnt the principle of each basic system of robot, and to the further understanding of mcu programming control; Thereby excite the research interest of student, arouse student's creativity and imagination, make the teaching robot can cooperate the present reform in education simultaneously robot.
Owing to adopted above-mentioned structure, the utility model has following beneficial effect with respect to present technology:
1, control system software of the present utility model mainly develops software to be installed at free MCS-51/AVR of the Internet download and just can write and generate automatically the hex file on the common computer; Serial communication or downloader can be made by oneself also and can buy, and price general charged is in dozens of yuan; No longer need other special equipment, so cost is cheaper.
2, the utility model can dismounting, can strengthen the interest of operator to machinery and electronics, increases relevant photoelectricity knowledge, helps imparting knowledge to students.
3, each module of robot of providing of the utility model can independently be controlled, and makes programming moduleization, simplification; Be convenient to the beginner and learn programming.
4, complete machine controlling object of the present utility model is many, the deal with data amount is big; Basic person is well improved.
5, the robot that provides of the utility model does not need stube cable and volume little, has very strong flowability and dirigibility.
6, the robot motion that provides of the utility model is coordinated, and has good sight.
Description of drawings
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.
Fig. 1 is a miniature logistics teaching robot's able to programme stereographic map;
Fig. 2 is the stereographic map at the back side on miniature logistics teaching robot's able to programme chassis;
Fig. 3 is the stereographic map of miniature logistics teaching robot's able to programme mechanical arm;
Fig. 4 is the stereographic map of carrier base, lift slide, horizontal slide of miniature logistics teaching robot able to programme etc.
Embodiment
As shown in Figures 1 to 4, miniature logistics teaching robot able to programme described in the utility model, comprise chassis 1, chassis 1 below two wheels 4 being provided with universal wheel 2 and driving by travel driving motor 3.Universal wheel 2 is two front-wheels, and two wheels 4 are two trailing wheels.Travel driving motor 3 is two DC speed-reducing, drives two trailing wheels respectively.The inferoanterior on described chassis 1 is provided with the photoelectric sensor 22 that is connected with travel driving motor 3 with the side, and photoelectric sensor 22 is installed in car body and hangs down Intelligent Recognition road conditions (generally all being black matrix white line or white background black line).When its during in black matrix, the light of photoelectric sensor 22 emissions just can not be reflected, and just can be reflected by it and run into white line, the signal wire of photoelectric sensor 22 will change level; When at white background, the light of photoelectric sensor emission is reflected by it, just can not reflect and run into black line, and the signal wire of photoelectric sensor will change level.The control system of travel driving motor 3 is installed in the data of the low bikini photoelectric sensor 22 of car body by collection, analyzes, handles the velocity contrast of adjusting two travel driving motor 3 then and change direction of travel.What be provided with above the described chassis 1 that but the carrier base 5 that can horizontally rotate and driving arm seat 5 rotate horizontally rotates motor 6, and horizontally rotating motor 6 is reducing motors, described carrier base 5 and horizontally rotate motor 6 and pass through meshed transmission gear.Described carrier base 5 is provided with screw rod 7 and the vertical slide rail 8 that is parallel to each other, vertical slide rail 8 is three, vertical slide rail 8 is provided with the lift slide 9 that can slide up and down, lift slide 9 is provided with the screw that is spirally connected with screw rod 7, but described carrier base 5 is provided with the lifting motor 10 that drive screw 7 rotates.Lifting motor 10 is a stepper motor, and lifting motor 10 drive screws 7 rotate, and screw rod 7 cooperates with screw can make lift slide 9 move up and down on vertical slide rail 8.Described lift slide 9 is provided with horizontal slide rail 11, horizontal slide rail 11 is two, but horizontal slide rail 11 is provided with the horizontal slide 12 of horizontal slip, be provided with rotating endless belt conveyer 13 between the far-end of lift slide 9 and horizontal slide rail 11, horizontal slide 12 is fixing with travelling belt 13, and lift slide 9 is provided with and drives the elastic motor 14 that travelling belt 13 rotates.Flexible motor 14 drives travelling belt 13 and rotates, and can make horizontal stretching motion by the horizontal slide 12 of drive.Described horizontal slide 12 is provided with rotating mechanical arm 15, and mechanical arm 15 is provided with the gripper 16 of all right one way or the other opening and closing movement.Described mechanical arm 15 is connected with horizontal slide 12 by big steering wheel 17, and described gripper 16 is connected with mechanical arm 15 by little steering wheel 18.Mechanical arm 15 is connected with horizontal slide by big steering wheel axle, drives the picture arcs motion of whole mechanical arm work 180 degree by the rotation of big steering wheel axle.The axle of the little steering wheel 18 on the gripper 16 is connected with the couple axle of gripper 16, controls the corner of 18 of little steering wheels and can control gripper 16 opening and closing within the specific limits.
Described carrier base 5 is provided with can be by the lower position switch 19 of lift slide 9 roof pressures triggering, the top of described vertical slide rail 8 is provided with can be by the upper limit position switch 20 of lift slide 9 roof pressures triggering, and lower position switch 19 is connected with lifting motor 10 with upper limit position switch 20.When lift slide 9 slides up and down on earth, but roof pressure triggers lower position switch 19, lifting motor 10 stalls; When lift slide 9 slides up and down the top, but roof pressure triggers upper limit position switch 20, falls motor 10 stalls.
Described lift slide 9 is provided with can be by the limit switch 21 of horizontal slide 12 roof pressures triggering, and limit switch 21 is connected with elastic motor 14.All will be horizontally slid to lift slide 9 approachingly before 12 motions of each horizontal slide, roof pressure triggers limit switch 21 and resets, and can prevent that like this mechanical arm seat is with the horizontal base collision with locate inaccurate.
Described chassis 1 is provided with parcel tray 23.Described parcel tray 23 is divided into two-layer, above that one deck beaten several rows of circular hole and Xiang Yiduan; Following one deck is even surface and tilts to the other end, plays the effect of automatic classification.Whole parcel tray 23 is installed on the chassis 1 and its position of scalable.
Each module of mechanical part of the present utility model all is a module independently, adopt standard interface to realize being connected between module and the module, simplified the one-piece construction of robot greatly, and each module can independent dismounting, independent control, different robots in the past all are the characteristics of integral structure, be convenient to widely that the learner understands robot each module dismounting and programming Control, have a taste of robot construction and control better.Be fit to the ABC of study of beginner, also be fit to have basic person to improve comprehensive programming Control etc.; It is teaching robot's a innovation greatly.
After described control system is used MCS-51/AVR to develop software to write assembly language or C language generation hex file on computers, download in the single-chip microcomputer by serial communication or downloader again; A standalone module of each subroutine control mechanical part.Because execution unit all is to be operated under the low-voltage state, as: single-chip microcomputer, steering wheel, stepper motor, reducing motor, photoelectric sensor etc., its operating voltage range is: between 5V～12V, and control system is mounted on the car body; So needn't be connected by cable between the master control system of robot and the body, as long as can be just passable for the large current charge battery with 12V.
In a word; though the utility model has exemplified above-mentioned preferred implementation; but should illustrate; though those skilled in the art can carry out various variations and remodeling; unless such variation and remodeling have departed from scope of the present utility model, otherwise all should be included in the protection domain of the present utility model.
Claims (7)
1. miniature logistics teaching robot able to programme is characterized in that: comprise chassis (1), chassis (1) below two wheels (4) of being provided with universal wheel (2) and driving by travel driving motor (3);
Be provided with the carrier base (5) that can horizontally rotate above the described chassis (1) but and driving arm seat (5) rotate horizontally rotate motor (6);
Described carrier base (5) is provided with screw rod (7) and the vertical slide rail (8) that is parallel to each other, vertical slide rail (8) is provided with lift slide (9), lift slide (9) is provided with the screw that is spirally connected with screw rod (7), described carrier base (5) but be provided with the lifting motor (10) that drive screw (7) rotates;
Described lift slide (9) is provided with horizontal slide rail (11), horizontal slide rail (11) is provided with horizontal slide (12), be provided with rotating endless belt conveyer (13) between the far-end of lift slide (9) and horizontal slide rail (11), horizontal slide (12) is fixing with travelling belt (13), and lift slide (9) is provided with and drives the elastic motor (14) that travelling belt (13) rotates;
Described horizontal slide (12) is provided with rotating mechanical arm (15), mechanical arm (15) but be provided with the gripper (16) of two opening and closing movements.
2. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: described mechanical arm (15) is connected with horizontal slide (12) by big steering wheel (17), and described gripper (16) is connected with mechanical arm (15) by little steering wheel (18).
3. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: described carrier base (5) is provided with can be by the lower position switch (19) of lift slide (9) roof pressure triggering, the top of described vertical slide rail (8) is provided with can be by the upper limit position switch (20) of lift slide (9) roof pressure triggering, and lower position switch (19) is connected with lifting motor (10) with upper limit position switch (20).
4. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: described lift slide (9) is provided with can be by the limit switch (21) of horizontal slide (12) roof pressure triggering, and limit switch (21) is connected with elastic motor (14).
5. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: the inferoanterior of described chassis (1) is provided with the photoelectric sensor (22) that is connected with travel driving motor (3) with the side.
6. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: described carrier base (5) and horizontally rotate motor (6) and pass through meshed transmission gear.
7. according to the described miniature logistics teaching robot able to programme of claim 1, it is characterized in that: described chassis (1) is provided with parcel tray (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202055282U CN201327679Y (en) | 2008-12-18 | 2008-12-18 | Miniature programmable logistics teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202055282U CN201327679Y (en) | 2008-12-18 | 2008-12-18 | Miniature programmable logistics teaching robot |
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| Publication Number | Publication Date |
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| CN201327679Y true CN201327679Y (en) | 2009-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008202055282U Expired - Fee Related CN201327679Y (en) | 2008-12-18 | 2008-12-18 | Miniature programmable logistics teaching robot |
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| CN102129808A (en) * | 2011-01-19 | 2011-07-20 | 中国科学院力学研究所 | Robot |
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
| CN103240736A (en) * | 2013-05-22 | 2013-08-14 | 西南交通大学 | Non-decelerating robot gripping device |
| CN103252790A (en) * | 2013-05-23 | 2013-08-21 | 四川农业大学 | Control system of watermelon-picking mechanical arm |
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN104029199A (en) * | 2014-06-03 | 2014-09-10 | 南通大学 | Translational half-decoupling service robot |
| CN104176417A (en) * | 2014-08-25 | 2014-12-03 | 南京工业职业技术学院 | Automatic library book racking device |
| CN104858854A (en) * | 2015-05-21 | 2015-08-26 | 北京信息科技大学 | Lightweight mechanical arm for carrying objects |
| CN105084023A (en) * | 2015-09-06 | 2015-11-25 | 南京理工技术转移中心有限公司 | Stacking robot |
| CN105328691A (en) * | 2015-09-29 | 2016-02-17 | 江苏金源锻造股份有限公司 | Carrying robot |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
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| CN106005624A (en) * | 2016-07-25 | 2016-10-12 | 佛山市宾宏设备有限公司 | Belt discharging mechanism of automatic production line for medical gauze |
| CN106087270A (en) * | 2016-07-25 | 2016-11-09 | 佛山市宾宏设备有限公司 | A kind of hospital gauze automatic assembly line |
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| CN106239470A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | A kind of automatic guided vehicle QR alignment system |
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2008
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| CN102129808B (en) * | 2011-01-19 | 2012-12-19 | 中国科学院力学研究所 | Robot |
| CN102129808A (en) * | 2011-01-19 | 2011-07-20 | 中国科学院力学研究所 | Robot |
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
| CN103240736A (en) * | 2013-05-22 | 2013-08-14 | 西南交通大学 | Non-decelerating robot gripping device |
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| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
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| CN107309906A (en) * | 2017-06-23 | 2017-11-03 | 深圳市晓控通信科技有限公司 | A kind of intelligent robot with air-cleaning function based on Internet of Things |
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| CN108545473A (en) * | 2018-04-27 | 2018-09-18 | 阜阳盛东智能制造技术研发有限公司 | A kind of fixed handling machinery arm |
| CN108621116A (en) * | 2018-05-25 | 2018-10-09 | 中科产业控股（深圳）有限公司 | A kind of article picks and places intelligent robot |
| CN108621116B (en) * | 2018-05-25 | 2024-04-23 | 中科产业控股（深圳）有限公司 | Intelligent robot for taking and placing articles |
| CN108748210A (en) * | 2018-07-18 | 2018-11-06 | 昆明理工大学 | A kind of light-duty package picks and places robot |
| CN109733791A (en) * | 2018-12-04 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | It is a kind of based on the load transmission device of laser automatic guided vehicle and transportation resources |
| CN110217364A (en) * | 2019-06-18 | 2019-09-10 | 杭州爱易特智能技术有限公司 | A kind of religion wound type underwater robot and its control system |
| CN110921296A (en) * | 2019-11-13 | 2020-03-27 | 徐州泓吉环锻科技有限公司 | Auxiliary material replacing equipment for connecting rod forging, punching and trimming |
| CN110921168A (en) * | 2019-11-29 | 2020-03-27 | 江苏大学 | Multi-region logistics robot and platform suitable for three-dimensional cultivation of plant factory and operation method |
| CN114360978A (en) * | 2021-12-24 | 2022-04-15 | 鞍钢集团矿业有限公司 | High tension switchgear divide-shut brake operation robot mechanism |
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