CN202838798U - Five-freedom-degree manipulator training device - Google Patents
Five-freedom-degree manipulator training device Download PDFInfo
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- CN202838798U CN202838798U CN 201220323204 CN201220323204U CN202838798U CN 202838798 U CN202838798 U CN 202838798U CN 201220323204 CN201220323204 CN 201220323204 CN 201220323204 U CN201220323204 U CN 201220323204U CN 202838798 U CN202838798 U CN 202838798U
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- slide block
- training device
- freedom manipulator
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Abstract
The technical problem to be solved in the utility model is to provide a five-freedom-degree manipulator training device. In order to solve the problem, the technical scheme adopted in the utility model is that the device comprises a training table and is characterized in that a push-pull console is arranged below the training table, a horizontal linear moving mechanism and a material platform mechanism are arranged above the training table, a control system is installed on the push-pull console, and a five-freedom-degree manipulator mechanism is installed on the horizontal linear moving mechanism. The five-freedom-degree manipulator training device has the advantages that the action of every joint can be controlled at the bottom layer, the number of input and output points is large, all joints can be operated in a linked way, the positioning accuracy is high, and the running speed is high.
Description
Technical field
The utility model belongs to the instruments used for education field, is specifically related to a kind of Manipulator Transportation mechanism with five degree of freedom.
Background technology
On the one hand, the real training object of Electromechanical Control mostly is simple dynamo-electric joint discrete combination in the instruments used for education field at present, have that can not link in unreasonable structure, joint, bearing accuracy is low, the shortcoming such as few is counted in control, the equipment working state that can not represent well true industry spot for the student, the degree of depth of shortage real training.On the other hand, although the industrial robot that industry spot is used possesses multi-joint interlock, bearing accuracy high, but it is the robot controller of supporting special use all, only need controller is carried out some parameter settings or simple programming gets final product, the student can not carry out bottom control to each joint, does not reach the effect that Electromechanical Control is goed deep into real training.
The utility model content
The technical problems to be solved in the utility model provides a kind of five degree of freedom manipulator training device.
For addressing the above problem, the technical solution adopted in the utility model comprises a Practical training table, the desktop below that it is characterized in that described Practical training table arranges a plug-type control desk, the top arranges a horizontal linear travel mechanism, material platform mechanism, one control system is installed on the described plug-type control desk, in the described horizontal linear travel mechanism five degree of freedom manipulator mechanism is installed.
Described five degree of freedom manipulator training device, it is characterized in that described horizontal linear travel mechanism is mainly by a base plate, pair of guide rails, a pair of slide block, a slide block base, a pair of the first synchronizing wheel,, first Timing Belt, first stepper motor becomes, described guide rails assembling is on base plate, the first stepper motor is installed on the base plate, at the guide rail right-hand member, described slide block is installed on the guide rail, slide block is connected with the slide block base, one of described synchronizing wheel is installed in the rotating shaft of the first stepper motor, another is installed on the base plate, at the guide rail left end, described Timing Belt and the first synchronizing wheel, the second synchronizing wheel and slide block base are connected, the first stepper motor traction slide block traveling priority on guide rail.
Described five degree of freedom manipulator training device, it is characterized in that described five degree of freedom manipulator mechanism is by the chassis level rotary joint, large bending and stretching of the arms joint; forearm bends and stretches the joint; the wrist rotary joint; five joints, paw folding joint form; described chassis level rotary joint is installed on the slide block base; described large bending and stretching of the arms joint is installed on the chassis level rotary joint; described forearm bends and stretches the joint and is installed on the large bending and stretching of the arms joint; described wrist rotary joint is installed in forearm and bends and stretches on the joint, and described paw folding joint is installed on the wrist rotary joint.
Described five degree of freedom manipulator training device, it is characterized in that described chassis level rotary joint by second stepper motor as driving power, and fed back as origin position by photoelectric sensor.
Described five degree of freedom manipulator training device, it is characterized in that described large bending and stretching of the arms joint by first direct current generator as driving power, fed back as origin position by the first magnetic sensor, carry out position, velocity feedback by photoelectric encoder.
Described five degree of freedom manipulator training device, it is characterized in that described forearm bend and stretch the joint by second direct current generator as driving power, fed back as origin position by the second magnetic sensor, carry out position, velocity feedback by photoelectric encoder.
[0011]Described five degree of freedom manipulator training device, it is characterized in that described paw folding joint by a steering wheel as driving power, by the folding of gear drive control mechanical paw.
The utility model has the advantage of, can each joint action of bottom control, input and output control is counted many, the running that can link of each joint, the bearing accuracy height, travelling speed is fast.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Accompanying drawing 1 is the front view of the utility model five degree of freedom manipulator training device.
Accompanying drawing 2 is left views of the utility model five degree of freedom manipulator training device.
Accompanying drawing 3 is vertical views of the utility model five degree of freedom manipulator training device.
Embodiment
As shown in Figure 1, five degree of freedom manipulator training device of the present utility model comprises:
One Practical training table: Practical training table 36 is comprised of aluminium section bar, sheet metal component, wheel etc., the mechanism such as the base plate 27 of distributed on the desktop six material platform mechanisms 21, horizontal linear travel mechanism, step actuator 38; Has a plug-type control desk 37 under the desktop.
One control system: control system 39 is installed on the plug-type control desk 37 under the desktop, is used for gathering described sensor, code device signal, the motor drive signal in described each joint of output.
Six material platform mechanisms: on the material platform mechanism 21 real training desktops, the position, highly can adjust, be used for placing the material of Manipulator Transportation.
One horizontal linear travel mechanism: guide rail 28 is installed on the base plate 27, the first stepper motor 33 is installed on the base plate 27, guide rail 28 left sides, slide block 29 links to each other with guide rail 28, slide block 29 is connected with slide block base 1, the first synchronizing wheel 30 is installed in the rotating shaft of the first stepper motor 33, the second synchronizing wheel 35 is installed on the base plate 27, guide rail 28 the right, the first Timing Belt 32 and the first synchronizing wheel 30, the second synchronizing wheel 35 and slide block base 1 are connected, three photoelectric sensors 26 are contained on the base plate 27 by a long strip type support, position for detection of slide block base 1 in the horizontal linear moving process, two carrying handles 40 are contained in respectively the left and right sides of base plate 27, convenient for assembly and debugging.
One five degree of freedom manipulator mechanism: formed by chassis level rotation, large bending and stretching of the arms, little bending and stretching of the arms, wrist rotation, five joints of paw folding.
The chassis level rotary joint drives power by 20 conducts of the second stepper motor, be installed on the slide block base 1 of horizontal linear travel mechanism, the rotating shaft of the second stepper motor 20 is connected by flange 2 and rotating disk 19, the second stepper motor 20 can drive rotating disk 19 rotations, second photoelectric sensor 31 is housed, for detection of the origin position that horizontally rotates on the rotating disk 19.
Large bending and stretching of the arms joint drives power by 22 conducts of the first direct current generator, the first direct current generator 22 is contained on large arm back up pad 17 and the motor support plate 24, large arm back up pad 17, motor support plate 24 are connected with the rotating disk 19 of chassis level rotary joint, the drive shaft of the first direct current generator 22 is connected with large arm contiguous block 18, large arm contiguous block 18 is connected with large arm primary structural component 16, and large arm primary structural component 16 can rotate thereupon when the first direct current generator 22 rotates; Large arm scrambler 23 is housed on the rear shaft of the first direct current generator 22, is used for position, the velocity feedback of large-arm joint, on the large arm back up pad 17 first magnetic sensor 3 is housed, for detection of the origin position of large-arm joint; The below of large arm primary structural component 16 and large arm back up pad 17 have a larger arc through wires hole, and the control wire harness that is used for each joint, top passes internally; Large arm cover cap 34 is connected with large arm primary structural component 16, plays and decorates and effect attractive in appearance.
Forearm bends and stretches the joint and drives power by 4 conducts of the second direct current generator, the second direct current generator 4 is connected with speed reduction unit 5, the power output of speed reduction unit 5 is by three the second synchronizing wheels 15 and 14 transmissions of the second Timing Belt, the second synchronizing wheel 15 tops larger one are connected with forearm primary structural component 12, and forearm primary structural component 12 can rotate thereupon when the second direct current generator 4 rotates; One is equipped with forearm scrambler 25 in the middle of the second synchronizing wheel 15, the position, the velocity feedback that are used for little shoulder joint; forearm primary structural component 12 is equipped with second magnetic sensor 13 near the second synchronizing wheel 15 one larger positions, for detection of the origin position of little shoulder joint; There is a manhole at a larger center of the second synchronizing wheel 15 tops, and the control wire harness that is used for each joint, top passes internally.
The wrist rotary joint by a direct current generator as driving power, the 3rd direct current generator 11 is connected with the forearm primary structural component 12 that forearm bends and stretches the joint, the rotating shaft of the 3rd direct current generator 11 and wrist coupling shaft 9 are connected, wrist coupling shaft 9 is connected with wrist rotating disc 8, and wrist rotating disc 8 can rotate thereupon when the 3rd direct current generator 11 rotates; A proximity transducer 10 is housed, for detection of the origin position of wrist joint on the wrist rotating disc 8.
As driving power, steering wheel 6 is connected with the wrist rotating disc 8 of wrist rotary joint, and gear-driven paw 7 is housed on the output power shaft of steering wheel 6 by a steering wheel in paw folding joint, and paw 7 can open thereupon or be closed when steering wheel 6 rotates.
Workflow: when workpiece needed Manipulator Transportation, control system was controlled the first direct current generator 22, the second direct current generator 4, the 3rd direct current generator 11 and is got back to origin position, and such as the position in each joint among Fig. 1, control steering wheel 6 makes paw 7 be in open configuration; Control system is controlled the first stepper motor 33 and is moved, controlling the second stepper motor 20 is rotated, after mechanical arm arrival is handled upside down the position, control simultaneously the first direct current generator 22,4 rotations of the second direct current generator, make large arm, little shoulder joint turn to horizontal direction, control steering wheel 6 makes paw closed, and after material was crawled, control system was controlled the first direct current generator 22, the second direct current generator 4 is got back to origin position; Control system is controlled the first stepper motor 33 and is moved, controlling the second stepper motor 20 is rotated, after mechanical arm arrives placement location, control simultaneously the first direct current generator 22,4 rotations of the second direct current generator, make large arm, little shoulder joint turn to horizontal direction, control steering wheel 6 opens paw, after material is placed, control system is controlled the first direct current generator 22, the second direct current generator 4 is got back to origin position, and this moment, carrying was finished, and waits for next time action.
The above only is preferred embodiment of the present utility model, not in order to limiting the utility model, all any modifications of doing within spirit of the present utility model and principle, is equal to and replaces and improvement etc., all is included within the protection domain of the present utility model.
Claims (7)
1. five degree of freedom manipulator training device, comprise a Practical training table (36), the desktop below that it is characterized in that described Practical training table (36) arranges a plug-type control desk (37), the top arranges a horizontal linear travel mechanism, material platform mechanism (21), the upper control system (39) of installing of described plug-type control desk (37) is installed a five degree of freedom manipulator mechanism in the described horizontal linear travel mechanism.
2. five degree of freedom manipulator training device according to claim 1, it is characterized in that described horizontal linear travel mechanism is mainly by a base plate (27), pair of guide rails (28), a pair of slide block (29), a slide block base (1), the first synchronizing wheel (30), the second synchronizing wheel (35),, first Timing Belt (32), first stepper motor (33) forms, described guide rail (28) is installed on the base plate (27), the first stepper motor (33) is installed on the base plate (27), at guide rail (28) right-hand member, described slide block (29) is installed on the guide rail (28), slide block (29) is connected with slide block base (1), (30) one of described the first synchronizing wheels are installed in the rotating shaft of the first stepper motor (33), another is installed on the base plate (27), at guide rail (28) left end, described the first Timing Belt (32) and the first synchronizing wheel (30), the second synchronizing wheel (35) and slide block base (1) are connected, and the first stepper motor (33) traction slide block (29) is at the upper traveling priority of guide rail (28).
3. five degree of freedom manipulator training device according to claim 1, it is characterized in that described five degree of freedom manipulator mechanism is by the chassis level rotary joint, large bending and stretching of the arms joint; forearm bends and stretches the joint; the wrist rotary joint; five joints, paw folding joint form; described chassis level rotary joint is installed on the slide block base; described large bending and stretching of the arms joint is installed on the chassis level rotary joint; described forearm bends and stretches the joint and is installed on the large bending and stretching of the arms joint; described wrist rotary joint is installed in forearm and bends and stretches on the joint, and described paw folding joint is installed on the wrist rotary joint.
4. five degree of freedom manipulator training device according to claim 3 is characterized in that described chassis level rotary joint drives power by second stepper motor (20) conduct, and is fed back as origin position by photoelectric sensor (26).
5. five degree of freedom manipulator training device according to claim 3, it is characterized in that described large bending and stretching of the arms joint drives power by first direct current generator (22) conduct, as the origin position feedback, carry out position, velocity feedback by photoelectric encoder by the first magnetic sensor (3).
6. five degree of freedom manipulator training device according to claim 3, it is characterized in that described forearm bends and stretches the joint and drives power by second direct current generator (4) conduct, as the origin position feedback, carry out position, velocity feedback by photoelectric encoder by the second magnetic sensor (13).
7. five degree of freedom manipulator training device according to claim 2 is characterized in that described paw folding joint drives power by a steering wheel (6) conduct, by the folding of gear drive control mechanical paw (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220323204 CN202838798U (en) | 2012-07-05 | 2012-07-05 | Five-freedom-degree manipulator training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220323204 CN202838798U (en) | 2012-07-05 | 2012-07-05 | Five-freedom-degree manipulator training device |
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| Publication Number | Publication Date |
|---|---|
| CN202838798U true CN202838798U (en) | 2013-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220323204 Ceased CN202838798U (en) | 2012-07-05 | 2012-07-05 | Five-freedom-degree manipulator training device |
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| CN (1) | CN202838798U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272432A (en) * | 2016-09-28 | 2017-01-04 | 哈尔滨云控机器人科技有限公司 | A kind of six degree of freedom mechanical hand |
| CN106420060A (en) * | 2016-09-21 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | Surgical instrument with claw arranged at actuating end |
| CN108447378A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of movable cabinet being used in robot Multifunctional mobile platform |
-
2012
- 2012-07-05 CN CN 201220323204 patent/CN202838798U/en not_active Ceased
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106420060A (en) * | 2016-09-21 | 2017-02-22 | 东莞市联洲知识产权运营管理有限公司 | Surgical instrument with claw arranged at actuating end |
| CN106420060B (en) * | 2016-09-21 | 2019-02-01 | 六安志成智能科技有限公司 | A kind of actuation end is equipped with the surgical instrument of cleft hand |
| CN106272432A (en) * | 2016-09-28 | 2017-01-04 | 哈尔滨云控机器人科技有限公司 | A kind of six degree of freedom mechanical hand |
| CN108447378A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of movable cabinet being used in robot Multifunctional mobile platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| IW01 | Full invalidation of patent right | ||
| IW01 | Full invalidation of patent right |
Decision date of declaring invalidation: 20160601 Decision number of declaring invalidation: 29208 Granted publication date: 20130327 |