CN203305213U - Single-shaft motion control practical training device - Google Patents
Single-shaft motion control practical training device Download PDFInfo
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- CN203305213U CN203305213U CN2013202774440U CN201320277444U CN203305213U CN 203305213 U CN203305213 U CN 203305213U CN 2013202774440 U CN2013202774440 U CN 2013202774440U CN 201320277444 U CN201320277444 U CN 201320277444U CN 203305213 U CN203305213 U CN 203305213U
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Abstract
The utility model discloses a single-shaft motion control practical training device which comprises an experiment table, a feeding and discharging mechanism, a detecting mechanism used for detecting the positions of samples and a control mechanism. The detecting mechanism is electrically connected with the control mechanism, supports used for containing samples are correspondingly arranged below the feeding and discharging mechanism, and the supports are at least two in number. According to the single-shaft motion control practical training device, the control mechanism is arranged to drive a mechanism arm to run to move the samples from the front support to the rear support, and the samples can be picked up through the mechanical arm and located precisely by arranging the detecting mechanism. The single-shaft motion control practical training device is simple in structure, convenient and flexible to operate, has the advantages of being high in reliability, speed, precision and the like, can be used for teaching in a long term and is free of maintenance and low in using cost, students can fully understand the working principle of robots and the selection and the design of all mechanism components conveniently, and the design, assembling and debugging ability of the students on the aspect of electromechanical systems is improved.
Description
Technical field
The utility model belongs to robot real training field of Educational Technology, is specifically related to a kind of single shaft motion control training device.
Background technology
But Cartesian robot be can realize the overprogram of automatically controlling, multivariant, freedom of motion builds up manipulator space right-angle relationship, multiduty.The behavior of its work is mainly by completing along the linear movement on X, Y, Z axis.The single shaft control transfer robot is a kind of Cartesian robot on basis, has been mainly used in along the linear movement on single axle.
Cartesian robot can be used as various automation equipments very easily, complete as welding, carrying, loading and unloading, packing, piling, de-stacking, detection, flaw detection, classification, assembling, labeling, coding, stamp, (soft imitative type) spraying, target follow, a series of activities such as explosive.Be specially adapted to many kinds, large batch of flexibility operation, improve the quality of products for stable, raise labour productivity, improve working conditions and play a very important role with the quick update of product.Along with the application of Cartesian robot is more and more extensive, the work of Robotics applied teaching seems important day by day, and the teaching of current domestic Robotics also is in stage of popularization not, and basic teaching experiment platform still needs to enrich constantly.
The general volume of the Cartesian robot of industrial application is larger, and structure and computer programming are comparatively complicated, are unfavorable for using in teaching, can't make the student grasp accurately the selecting of principles and structure parts of Cartesian robot.
Therefore, in view of above problem, be necessary to propose a kind of single shaft motion control training device, simple in structure, easy to operate, being convenient to field research uses, make the student understand fully selection, the design of operation principle and each mechanism components of robot, to improve the student at the design aspect Mechatronic Systems, assembling and debugging capability.
The utility model content
In view of this, the utility model provides a kind of single shaft motion control training device, this apparatus structure is simple, easy to operate, being convenient to field research uses, make the student understand fully selection, the design of operation principle and each mechanism components of robot, improve the purpose of student at the design aspect Mechatronic Systems, assembling and debugging capability to reach.
A kind of single shaft motion control training device according to the purpose of this utility model proposition, comprise experimental bench, be positioned at the charging and discharging mechanism on described experimental bench and control the controlling organization that described charging and discharging mechanism moves, the below correspondence of described charging and discharging mechanism is provided be used to placing the support of exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that can move forward and backward on described frame, and drives the driving mechanism that described manipulator moves;
Described actual training device also comprises the testing agency for detection of the exemplar position, and described testing agency is electrically connected to described controlling organization.
Preferably, the described manipulator vacuum suction head that comprises pneumatic actuator and be connected in described pneumatic actuator lower end.
Preferably, described pneumatic actuator is cylinder, and described cylinder two ends are provided with the magnetic sensor for detection of cylinder ruuning situation, and described magnetic sensor is electrically connected to described controlling organization.
Preferably, described driving mechanism comprises stepper motor, shaft coupling, the ball-screw be connected with described shaft coupling transmission, on described ball-screw, be provided with slide block, the junction of described slide block and described ball-screw is provided with the ball-screw screw, and described manipulator is fixedly connected on a side of described slide block.
Preferably, with described ball-screw, be arranged with at least one guiding optical axis in parallel on described frame, with described direct light shaft connection place, be provided with linear bearing on described slide block.
Preferably, described testing agency comprises and is positioned at the diffuse reflection sensor whether existed for detection of exemplar on described support.
Preferably, described testing agency also comprises the sensor be arranged on described frame for detection of the described manipulator in location, described sensor and the corresponding setting of described each support.
Preferably, the two ends of described frame also are provided be used to limiting the microswitch of described manipulator shift motion.
Preferably, described controlling organization is the PLC controller.
Compared with prior art, the advantage of the disclosed single shaft motion control training of the utility model device is: this device is by arranging the operation of controlling organization driving device hand, by exemplar by last support-moving to a rear support, by testing agency is set, be convenient to manipulator picking up and accurately locating exemplar, this apparatus structure is simple, easy to operate, flexibly, has high reliability, at a high speed, the features such as high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, be convenient to the selection that the student understands operation principle and each mechanism components of robot fully, design, improve the design of student aspect Mechatronic Systems, assembling and debugging capability.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the disclosed a kind of single shaft motion control training device of the utility model.
Fig. 2 is the stereogram of the disclosed charging and discharging mechanism of the utility model.
Fig. 3 is the rearview of the disclosed charging and discharging mechanism of the utility model.
Fig. 4 is the structural representation of the disclosed support of the utility model.
The title of the numeral in figure or the corresponding component of alphabetical representative:
1, experimental bench 2, charging and discharging mechanism 3, controlling organization 4, button control unit 5, support 6, diffuse reflection sensor
21, frame 22, manipulator 23, driving mechanism 24, cylinder 25, vacuum suction 26, magnetic sensor 27, stepper motor 28, shaft coupling 29, ball-screw 30, slide block 31, ball-screw screw 32, guiding optical axis 33, linear bearing 34, photoelectric sensor 35, microswitch 36, handle
The specific embodiment
Along with the application of Cartesian robot is more and more extensive, the work of Robotics applied teaching seems important day by day, and the teaching of current domestic Robotics also is in stage of popularization not, and basic teaching experiment platform still needs to enrich constantly.And the general volume of the Cartesian robot of industrial application is larger, structure and computer programming are comparatively complicated, are unfavorable for using in teaching, can't make the student grasp accurately the selecting of principles and structure parts of Cartesian robot.
The utility model is for deficiency of the prior art, the utility model provides a kind of single shaft motion control training device, this apparatus structure is simple, easy to operate, being convenient to field research uses, make the student understand fully selection, the design of operation principle and each mechanism components of robot, improve the purpose of student at the design aspect Mechatronic Systems, assembling and debugging capability to reach.
Below will to the technical solution of the utility model, be clearly and completely described by the specific embodiment.Obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment obtained, and all belong to the scope of the utility model protection.
Please in the lump referring to Fig. 1 to Fig. 4, Fig. 1 is the structural representation of the disclosed a kind of single shaft motion control training device of the utility model.Fig. 2 is the stereogram of the disclosed charging and discharging mechanism of the utility model.Fig. 3 is the rearview of the disclosed charging and discharging mechanism of the utility model.Fig. 4 is the structural representation of the disclosed support of the utility model.As shown in the figure, a kind of single shaft motion control training device, comprise experimental bench 1, be positioned at the charging and discharging mechanism 2 on experimental bench 1 and control the controlling organization 3 that charging and discharging mechanism 2 moves, one side of controlling organization 3 is provided with button control unit 4, the below correspondence of charging and discharging mechanism 2 is provided be used to the support 5 of placing exemplar, and support 5 is at least two.
Charging and discharging mechanism 2 comprises frame 21, is arranged at the manipulator 22 that can move forward and backward on frame 21, and the driving mechanism 23 that moves of driving mechanical hand 22; By driving mechanism 23 driving mechanical hands, move forward and backward exemplar is transferred to next station by last station, realize that the straight line of exemplar is carried.
Wherein, the ball-screw 29 that driving mechanism comprises stepper motor 27, shaft coupling 28, is in transmission connection with shaft coupling 28, on ball-screw 29, be provided with slide block 30, slide block 30 is provided with ball-screw screw 31 with the junction of ball-screw 29, and manipulator 22 is fixedly connected on a side of slide block 30.The ball-screw screw, under the effect of slide block, is converted to slide block along ball-screw axis moving linearly by rotatablely moving of ball-screw.
In addition, driving mechanism also can be electric pushrod or cylinder etc., can realize that the rectilinear motion of slide block gets final product, and the specific embodiment does not limit at this.
Actual training device also comprises the testing agency for detection of the exemplar position, testing agency is electrically connected to controlling organization 3, by testing agency, the position signalling of exemplar is passed to controlling organization 3, controlling organization is controlled manipulator 22 operations, is positioned on another support 21 by support, picking up exemplar and driving after exemplar moves.
The vacuum suction 25 that manipulator 22 comprises pneumatic actuator and is connected in the pneumatic actuator lower end.Pneumatic actuator is cylinder 24, the cylinder two ends are provided with the magnetic sensor 26 for detection of cylinder ruuning situation, whether for detection of Telescopic-cylinder, put in place, magnetic sensor 26, controlling organization 3 is controlled the break-make of vacuum suction head according to cylinder ruuning situation if with controlling organization 3, being electrically connected to.
On frame 21, be arranged with at least one guiding optical axis 32 in parallel with ball-screw 29, with the junction of guiding optical axis 32, be provided with linear bearing 33 on slide block 30.By the guiding optical axis is set, the traveling priority of slide block is led, avoid slide block the problems such as deflection to occur, guarantee the accuracy of position of manipulator.The optical axis that wherein leads can be 1,2 or many, and concrete quantity needs determine according to using, and does not limit at this.
Testing agency comprises and is positioned at the diffuse reflection sensor 6 whether existed for detection of exemplar on support 5.Diffuse reflection sensor 6 is electrically connected to controlling organization 3, detects exemplar and signal is passed to controlling organization by diffuse reflection sensor 6, and which support controlling organization can be determined on is provided with exemplar, is convenient to the subsequent drive manipulator and moves to corresponding position.
Testing agency also comprises the sensor be arranged on frame 21 for detection of positioning mechanical arm 22, sensor setting corresponding to each support, by the sensor corresponding with support is set on frame, after the support of determining the exemplar place, controlling organization can be controlled manipulator and move, and the arrival corresponding sensor of exemplar place support place stops movement exemplar is carried out to next step the work of picking up.Wherein sensor is photoelectric sensor 34 or pressure sensor or displacement transducer etc., does not specifically limit.
The two ends of frame 21 also are provided be used to limiting the microswitch 35 of manipulator 22 shift motions.Microswitch 35 is electrically connected to controlling organization, and when manipulator moved to the microswitch place, controlling organization control step motor stopped, and avoids occurring that manipulator moves problems such as exceeding setting stroke and frame generation collision, avoids occurring the damage of device.
Wherein, controlling organization is the PLC controller.Sensitivity and precision are all higher.
Experimental bench adopts the fine aluminum section bar to build, and experimental bench 1 two ends also are provided with handle 36, convenient experiment and transportation.
A kind of single shaft motion loading and unloading method, adopt single shaft motion control training device, and concrete operation step is as follows:
(1), by diffuse reflection sensor 26 Bracket for Inspections 5, whether having the experiment exemplar, and information is passed to controlling organization, controlling organization record corresponding information; In order to determine the position at exemplar place, so that moving, control driving mechanism driving mechanical hand picks up exemplar.
(2), after having detected, controlling organization is according to detection signal control step motor rotation, stepper motor drives the ball-screw rotation by shaft coupling, the ball-screw screw is under the effect of slide block and guiding optical axis, rotatablely moving of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block driving mechanical hand move to the corresponding sensor place of exemplar place support, sensor passes to controlling organization by signal, and controlling organization control step motor stops.
(3), controlling organization is controlled the pneumatic actuator operation, cylinder 24 drives vacuum suction 25 and is displaced downwardly to desired location, after magnetic sensor 26 detects cylinder and puts in place, signal is passed to controlling organization 3, controlling organization is controlled and is opened the vacuum suction switch, exemplar is picked up in the energising of vacuum suction head, moves and resets on exhaust hood.
(4), controlling organization control step motor remains in operation, driving mechanical hand 22 moves forward to next sensing station place, stepper motor shuts down.
(5), controlling organization is controlled the pneumatic actuator operation, cylinder 24 drives vacuum suction 25 and is displaced downwardly to desired location, after magnetic sensor 26 detects cylinder and puts in place, signal is passed to controlling organization 3, controlling organization is controlled and is disconnected the vacuum suction switch, the vacuum suction head is positioned over exemplar on support, on exhaust hood, moves and resets, so cycling.
(6), last stepper motor driving mechanical hand is reset to initial position.
The utility model discloses a kind of single shaft motion control training device, this device is by arranging the operation of controlling organization driving device hand, by exemplar by last support-moving to a rear support, by testing agency is set, be convenient to manipulator picking up and accurate location exemplar.This apparatus structure is simple, small volume, easy to operate, flexible, have the features such as high reliability, high-speed, high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, is convenient to selection, design that the student understands operation principle and each mechanism components of robot fully, improves design, assembling and the debugging capability of student aspect Mechatronic Systems.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the utility model.Multiple modification to these embodiment will be apparent for those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from spirit or scope of the present utility model, realization in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. single shaft motion control training device, it is characterized in that, comprise experimental bench, be positioned at the charging and discharging mechanism on described experimental bench and control the controlling organization that described charging and discharging mechanism moves, the below correspondence of described charging and discharging mechanism is provided be used to placing the support of exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that can move forward and backward on described frame, and drives the driving mechanism that described manipulator moves;
Described actual training device also comprises the testing agency for detection of the exemplar position, and described testing agency is electrically connected to described controlling organization.
2. single shaft motion control training device as claimed in claim 1, is characterized in that, the vacuum suction head that described manipulator comprises pneumatic actuator and is connected in described pneumatic actuator lower end.
3. single shaft motion control training device as claimed in claim 2, it is characterized in that, described pneumatic actuator is cylinder, and described cylinder two ends are provided with the magnetic sensor for detection of cylinder ruuning situation, and described magnetic sensor is electrically connected to described controlling organization.
4. single shaft motion control training device as claimed in claim 1, it is characterized in that, described driving mechanism comprises stepper motor, shaft coupling, the ball-screw be connected with described shaft coupling transmission, on described ball-screw, be provided with slide block, the junction of described slide block and described ball-screw is provided with the ball-screw screw, and described manipulator is fixedly connected on a side of described slide block.
5. single shaft motion control training device as claimed in claim 4, is characterized in that, with described ball-screw, is arranged with at least one guiding optical axis in parallel on described frame, with described direct light shaft connection place, is provided with linear bearing on described slide block.
6. single shaft motion control training device as claimed in claim 1, is characterized in that, described testing agency comprises and is positioned at the diffuse reflection sensor whether existed for detection of exemplar on described support.
7. single shaft motion control training device as claimed in claim 6, is characterized in that, described testing agency also comprises the sensor be arranged on described frame for detection of the described manipulator in location, described sensor and the corresponding setting of described each support.
8. single shaft motion control training device as claimed in claim 1, is characterized in that, the two ends of described frame also are provided be used to limiting the microswitch of described manipulator shift motion.
9. single shaft motion control training device as claimed in claim 1, is characterized in that, described controlling organization is the PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202774440U CN203305213U (en) | 2013-05-20 | 2013-05-20 | Single-shaft motion control practical training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202774440U CN203305213U (en) | 2013-05-20 | 2013-05-20 | Single-shaft motion control practical training device |
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| Publication Number | Publication Date |
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| CN203305213U true CN203305213U (en) | 2013-11-27 |
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| CN2013202774440U Expired - Fee Related CN203305213U (en) | 2013-05-20 | 2013-05-20 | Single-shaft motion control practical training device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231367A (en) * | 2013-05-20 | 2013-08-07 | 苏州大学 | Uniaxial motion control practice training device and feeding and discharging method |
| CN105666527A (en) * | 2016-03-31 | 2016-06-15 | 上海电气自动化设计研究所有限公司 | Industrial robot work fixture detection system |
| CN105976693A (en) * | 2016-07-12 | 2016-09-28 | 辽宁科技大学 | Ore removal mechanism used for ore drawing experiment |
| CN106023774A (en) * | 2016-07-12 | 2016-10-12 | 辽宁科技大学 | Adjustable automatic ore-drawing device controlled by PLC |
-
2013
- 2013-05-20 CN CN2013202774440U patent/CN203305213U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231367A (en) * | 2013-05-20 | 2013-08-07 | 苏州大学 | Uniaxial motion control practice training device and feeding and discharging method |
| CN103231367B (en) * | 2013-05-20 | 2016-04-20 | 苏州大学 | A kind of single axial movement controls actual training device and loading and unloading method |
| CN105666527A (en) * | 2016-03-31 | 2016-06-15 | 上海电气自动化设计研究所有限公司 | Industrial robot work fixture detection system |
| CN105976693A (en) * | 2016-07-12 | 2016-09-28 | 辽宁科技大学 | Ore removal mechanism used for ore drawing experiment |
| CN106023774A (en) * | 2016-07-12 | 2016-10-12 | 辽宁科技大学 | Adjustable automatic ore-drawing device controlled by PLC |
| CN106023774B (en) * | 2016-07-12 | 2018-11-06 | 辽宁科技大学 | A kind of adjustable automatic ore removal device controlled by PLC |
| CN105976693B (en) * | 2016-07-12 | 2018-11-16 | 辽宁科技大学 | A kind of ore removal mechanism for ore drawing experiment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20160520 |