CN203134248U

CN203134248U - Open type freedom degree teaching robot

Info

Publication number: CN203134248U
Application number: CN 201320150944
Authority: CN
Inventors: 宋健; 巩胜磊; 苏春建; 刘会祥
Original assignee: Weifang University
Current assignee: Weifang University
Priority date: 2013-03-29
Filing date: 2013-03-29
Publication date: 2013-08-14
Anticipated expiration: 2023-03-29

Abstract

The utility model discloses an open type freedom degree teaching robot, which comprises a waist joint, a shoulder joint, an elbow joint and a wrist joint, wherein a waist revolving body of the waist joint is connected with a base through a combined body of rolling ball bearings and thrust ball bearings; the shoulder joint is connected with the waist joint through an output shaft; the elbow joint is connected with the shoulder joint through an upper arm; and the wrist joint is connected with the elbow joint through a forearm, and the tail end of the wrist joint is provided with a tail end actuator. The open type freedom degree teaching robot is composed of the waist, shoulder, elbow and wrist joints, the joints can be freely disassembled and combined, and can be respectively disassembled for teaching; and the open type freedom degree teaching robot has detailed internal structure, integrates the mechanical design and electrification, has direct-viewing image, and is very suitable for teaching.

Description

A kind of open degree of freedom is imparted knowledge to students and is used robot

Technical field

The utility model relates to a kind of robot, relates in particular to a kind of open degree of freedom teaching and uses robot, belongs to robot automation's technical field.

Background technology

Along with science and technology development, be born in the Robotics of the U.S. and more and more paid attention to by countries in the world the sixties in last century.In order to cultivate the talent of aspects such as robot development, design, production, a lot of colleges and universities of China have offered the course of associated machine people aspect.The teaching robot can help the student to understand following principle, the course of work and the mentality of designing done of robot, excites academic program interest.In addition, because Robotics relates to many-sided ambit knowledge such as physical construction, control technology, the information processing technology, the teaching robot is the synthetic instruction equipment of courses such as " Machine Design ", " electrical control " still, and it designs and develops significant.Also there is not to occur being fit to the robot of teaching usefulness now.

The utility model content

In order to solve the existing weak point of above-mentioned technology, the utility model discloses a kind of open degree of freedom teaching robot.

In order to solve above technical matters, the technical solution adopted in the utility model is: a kind of open degree of freedom teaching robot, comprise waist joint, shoulder joint, elbow joint and wrist joint, the waist solid of revolution of waist joint links to each other with base by the assembly of rolling ball bearing and thrust ball bearing; Shoulder joint links to each other with waist joint by output shaft; Elbow joint links to each other with shoulder joint by big arm; Wrist joint links to each other with elbow joint by forearm, and carpal end is provided with end effector.

This use is novel to be made up of waist, shoulder, elbow, wrist four joints, and combination can be freely dismantled in each joint, splits respectively to be used for teaching, and inner structure detail, and Machine Design and electrified in one, visual in image are fit to teaching and use very much.

Description of drawings

Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.

Fig. 1 is waist joint structure synoptic diagram of the present utility model.

Fig. 2 is shoulder joint structural representation of the present utility model.

Fig. 3 is elbow joint structure synoptic diagram of the present utility model.

Fig. 4 is wrist joint structure synoptic diagram of the present utility model.

Fig. 5 is hardware configuration composition frame chart of the present utility model.

Fig. 6 is system software sequence of operations block diagram of the present utility model.

Fig. 7 is general structure synoptic diagram of the present utility model.

Among the figure: 1, base; 2, the first straight-tooth net post gear; 3, the second straight-tooth net post gear; 4, rolling ball bearing; 5, thrust ball bearing; 6, output shaft; 7, waist joint AC servomotor; 8, waist joint harmonic speed reducer; 9, big arm; 10, external gear pump; 11, turbine; 12, worm screw; 13, driving motor; 14, casing; 15, shoulder joint AC servomotor; 16, forearm; 17, elbow joint AC servomotor; 18, elbow joint bevel gear; 19, elbow joint harmonic speed reducer; 20, wrist joint AC servomotor; 21, wrist joint harmonic speed reducer; 22, wrist joint bevel gear; 23, waist joint; 24, shoulder joint; 25, elbow joint; 26, wrist joint; 27, end effector.

Embodiment

As Fig. 1, shown in Figure 7, the main effect of waist joint 23 is to support entire arms, and making the above entire portion of picking robot waist serves as with reference to doing gyration with base 1.In order to reduce volume, increase the aesthetic property of structure, make things convenient for installation and maintenance, with waist joint AC servomotor 7 and vertical being installed on the base 1 of waist joint harmonic speed reducer 8 serial connections.Output shaft 6 connects first straight spur gear 2, and while first straight spur gear 2 links to each other by external toothing with second straight spur gear 3 and is installed on the below of base 1.The waist solid of revolution of waist joint 23 links to each other with base 1 by the assembly of rolling ball bearing 4 and thrust ball bearing 5, and this structure can be born axial force, radial force, can bear upsetting moment again.The output of AC servomotor 7 torques is slowed down through waist joint harmonic speed reducer 8 earlier, transmits through first straight spur gear 2 and the two or two straight spur gear 3 again, and by rolling ball bearing 4, waist is realized revolution around thrust ball bearing 5 with respect to base 1.Because the gyration of waist is the rotation on thrust ball bearing 5, the solid of revolution each several part is smaller to the load torque that the centre of gyration produces.

Fig. 2, shown in Figure 7, shoulder joint 24 links to each other with waist joint 23 by output shaft 6, and shoulder joint is used for big arm 9 is supported, and making big arm 9 serves as with reference to carrying out luffing with waist joint shown in Figure 1.Because shoulder joint is main carrying joint, big arm 9 tenesmus out of hand should have auto-lock function during for fear of power down, so the design adopts a pair of external gear pump 10, turbine 11 and worm screw 12 to form two reduction gear.Driving motor 13 is installed in the casing 14 of shoulder joint.The output torque of the driving motor 13 of shoulder joint passes to worm gear 11 and worm screw 12 by a pair of external gear pump 10, closely drives big arm 9 and rotates.When selecting shoulder joint AC servomotor 15, must consider the static torque of load, must have enough torques and overcome load torque.

Fig. 3, shown in Figure 7, elbow joint 25 links to each other with shoulder joint 24 by big arm 9, controls 27 working positions that can reach of end effector by stretching forearm 16.Elbow joint is in the spatial movement position, and the joint own wt directly has influence on whole activity space and the usability of mechanical arm, and this novel fully taking into account reduces elbow joint weight and reasonable distributed weight.Elbow joint harmonic speed reducer 19 and elbow joint AC servomotor 17 distribute along the axis of big arm 9, to reduce the load torque that the centre of gyration produces.Power is by 17 outputs of elbow joint AC servomotor, and elbow joint harmonic speed reducer 19 passes to elbow joint bevel gear 18, and the 18 output torques of elbow joint bevel gear drive the gear train that forearm 16 stretches.

Fig. 4, shown in Figure 7, wrist joint 26 links to each other with elbow joint 25 by forearm 16, the end of wrist joint 26 is provided with end effector 27, the attitude adjustment of wrist joint and end effector and keep correct operation attitude that substantial connection is arranged, the design considers that wrist joint is in the least significant end of mechanical arm, the joint own wt is bigger than elbow joint to activity space and the usability influence of mechanical arm, more should consider own wt and distribution thereof during design, adopting the gearing the same with elbow joint Fig. 3 is the kind of drive of wrist joint AC servomotor 20 and wrist joint harmonic speed reducer 21 and a pair of wrist joint bevel gear 22.

The utility model can be dismantled independent assortment by the combination in above-mentioned four joints, and internal hardware is convenient to observe.Show that by effective connection in these four joints and the selection complete machine operation of end effector each joint kind of drive reliable operation satisfies the picking robot requirement.

Fig. 5 control system hardware configuration adopts upper and lower machine secondary structure and interconnect module combination, PC is as master controller, operation robot control master routine on it, user interface is provided and carries out job task planning, the positive and negative solution of kinematics and coordinate transform etc., and the joint of robot goal task that planning obtains is assigned the motion controller to DMC.Native system is selected the PCM9575 built-in industrial control machine for use.

Slave computer is finished robot bottom motion control, solves general motion control problem, the slave computer DMC2280 that parameters such as the position in the planning motion process, speed, acceleration select economy and performance to meet the demands.

Interconnect module is used for realizing functions such as switching value input and output, A/D, D/A conversion, photoelectricity isolation and current/voltage amplification.The PICM-3900 interconnect module is connected with the DMC2280 digital motion controller by 100 pin signal cables, the user can link to each other with servo-driver or step actuator by the D connector of 4 15Pin and fetch 4 axles of control, the D connector of 1 37Pin is connected with external input signal, comprising 8 input points, 8 analog input signals, 4 axles positive and negative spacing returned zero input signal and controller resets and anxious stopping transportation is gone into signal; The Phoenix splicing ear of 1 12Pin is outlet connector, is connected with external signal, controls the alarm output signal of 8 output points and controller.Simultaneously, all Transistor-Transistor Logic level input/output signals are carried out photoelectric isolating circuit handle, improved the antijamming capability of total system.

Fig. 6 control system software configuration adopts modularization and Object Oriented method according to the characteristics of open robot's control system, is divided into foreground man-machine interactive operation and backstage motion control function library two parts.Foreground software utilizes Visual C++ applied software development under the Windows operating system that people are familiar with; The backstage is then used C Plus Plus application object-oriented programmed method and is write the motion control built-in function, and the foreground instruction is finished corresponding task by the built-in function that calls the backstage, and software systems are easy to use.

The utility model is convenient to safeguard and revise to have good flexibility and open.Above-mentioned embodiment is not to be to restriction of the present utility model; the utility model also is not limited in above-mentioned giving an example; the variation that those skilled in the art make in the technical solution of the utility model scope, remodeling, interpolation or replacement also all belong to protection domain of the present utility model.

Claims

1. robot is used in an open degree of freedom teaching, comprises waist joint, shoulder joint, elbow joint and wrist joint, and it is characterized in that: the waist solid of revolution of described waist joint links to each other with base by the assembly of rolling ball bearing and thrust ball bearing; Described shoulder joint links to each other with waist joint by output shaft; Described elbow joint links to each other with shoulder joint by big arm; Described wrist joint links to each other with elbow joint by forearm, and carpal end is provided with end effector.