CN203317425U - Industrial operation type six-freedom-degree series connection robot - Google Patents
Industrial operation type six-freedom-degree series connection robot Download PDFInfo
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- CN203317425U CN203317425U CN2013202231923U CN201320223192U CN203317425U CN 203317425 U CN203317425 U CN 203317425U CN 2013202231923 U CN2013202231923 U CN 2013202231923U CN 201320223192 U CN201320223192 U CN 201320223192U CN 203317425 U CN203317425 U CN 203317425U
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Abstract
The utility model relates to an industrial operation type six-freedom-degree series connection robot which comprises an industrial operation type six-freedom-degree series connection robot body, an air circuit system, a sheet metal control cabinet, a workpiece and an experiment table, wherein the air circuit system and the sheet metal control cabinet are arranged at two sides of the industrial operation type six-freedom-degree series connection robot body; the workpiece and the experiment table are arranged in front of the industrial operation type six-freedom-degree series connection robot body; a robot control system is arranged in the sheet metal control cabinet; a control operation button and an indicator lamp are arranged on a sheet metal control cabinet front panel; and the industrial operation type six-freedom-degree series connection robot body is mounted on a robot base and comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint and a robot tail end tool. With the adoption of the manner, current situations that a robot technical education experimental platform is in shortage, the cost is higher, and the popularization is difficult are avoided.
Description
Technical field
The utility model relates to the robot teaching technical field, particularly a kind of industrial operations type six degree of freedom serial machine people.
Background technology
Along with developing rapidly of Chinese national economy, enterprise is more and more urgent to the technical ability talent's of robot demand.Particularly after China's accession to the WTO, competition between enterprise will show as the competition to the technical ability talent to a great extent, will greatly excite thus the vast Adaptation of Higher Vocational School Students of China at robot learning, master a skill, the enthusiasm aspect the ability cultivation.The personnel training demand that therefore the robot development brings more starts to manifest, and current each colleges and universities of professorship set up the teaching means such as robot laboratory one after another, and therefore, whether relevant teaching robot's equipment meets teaching and seem particularly important with the demand for employment.The industrial operations type teaching robot that the industrial robot product of take is prototype more and more becomes one of the robot teaching of colleges and universities of professorship platform with low-cost, industrialization design; this class robot retains all features of industrial robot; there is better opening and extensibility; stronger interactivity and manipulative ability; the good factors such as man-machine interface; and low-cost design, safe and reliable.Universal student's robot skill education, the socialization of science and technology are all had great importance.
The utility model content
The purpose of this utility model is the defect existed in existing technology in order to solve, and a kind of industrial operations type six degree of freedom serial machine people is provided, and can solve Industrial Robot Technology educational experimentation platform shortage and high expensive and be difficult to universal present situation.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of industrial operations type six degree of freedom serial machine people, comprise industrial operations type six degree of freedom serial machine human body, be arranged on the air-channel system of industrial operations type six degree of freedom serial machine human body side, the panel beating switch board, and the workpiece and the experimental bench that are arranged on industrial operations type six degree of freedom serial machine human body the place ahead, be provided with robot control system in described panel beating switch board, panel beating switch board front panel configuration control operation button, described industrial operations type six degree of freedom serial machine human body is arranged on robot base, described industrial operations type six degree of freedom serial machine human body comprises a joint, two joints, three joints, four joints, five joints, six joints and robot end's instrument.
As further improvement, described robot body joint is visual encapsulation.
As further improvement, described robot end's instrument can be installed Pneumatic paw instrument or track Spray painting tool.
As further improvement, a described joint comprises robot base, is arranged on AC servo motor, harmonic speed reducer, photoelectric sensor on described robot base.
As further improvement, described two joints comprise the large arm of two joints, are arranged on AC servo motor, RV decelerator, photoelectric sensor on the large arm of described two joint.
As further improvement, described three joints comprise AC servo motor, RV decelerator, knuckle support, photoelectric sensor.
As further improvement, described four joints comprise stepper motor, synchronous cog belt, harmonic speed reducer, photoelectric sensor, four joint bearings.
As further improvement, described five joints comprise stepper motor, harmonic speed reducer, synchronous cog belt, joint seating, photoelectric sensor.
As further improvement, described six joints comprise stepper motor, synchronous cog belt, Bevel Gear Transmission, harmonic speed reducer, photoelectric sensor.
The beneficial effects of the utility model are: industrial operations type six degree of freedom serial machine human body is based on low-cost and industry series connection synchronize design, mechanical system is visual, the control system all-round opening, the teach box operation that applicable industry is connected consistent, adopt industrial serial machine people teaching commonly used to reproduce mode of operation.Industrial operations type six degree of freedom serial machine people uses as Higher-end machines people technique teaching platform, meets the characteristics of industrial robot, and low-cost design can meet again the demand of modern high and vocational education to robot used for teaching simultaneously.
The accompanying drawing explanation
Further illustrate the utility model below in conjunction with accompanying drawing and case study on implementation.
Fig. 1 is that the utility model main assembly is looked schematic diagram with arranging the master.
Fig. 2 is that the utility model main assembly is looked schematic diagram with arranging a left side.
Fig. 3 is the utility model main assembly and layout schematic top plan view.
Fig. 4 is industrial operations type six degree of freedom serial machine human body's of the present utility model main TV structure schematic diagram.
Fig. 5 is industrial operations type six degree of freedom serial machine human body's of the present utility model right TV structure schematic diagram.
Fig. 6 is the utility model one joint master's TV structure schematic diagram.
Fig. 7 is the utility model one left TV structure schematic diagram in joint.
Fig. 8 is the utility model two right TV structure schematic diagrames in joint.
Fig. 9 is the utility model two joint master's TV structure schematic diagrames.
Figure 10 is the utility model two joint plan structure schematic diagrames.
Figure 11 is the utility model three joint master's TV structure schematic diagrames.
Figure 12 is the utility model three joint plan structure schematic diagrames.
Figure 13 is the utility model four joint master's TV structure schematic diagrames.
Figure 14 is the utility model four joint plan structure schematic diagrames.
Figure 15 is the utility model five joint master's TV structure schematic diagrames.
Figure 16 is the utility model five joint plan structure schematic diagrames.
Figure 17 is the utility model six joint master's TV structure schematic diagrames.
Figure 18 is the utility model six joint plan structure schematic diagrames.
Figure 19 is the utility model robot end instrument master TV structure schematic diagram.
Figure 20 is the utility model robot end instrument plan structure schematic diagram.
In figure, 1, robot base, 2, industrial operations type six degree of freedom serial machine human body, 3, robot end's instrument, 4, air-channel system, 5, robot control system, 6, workpiece and support, 7, the panel beating switch board, 8, control button and indicator lamp, 9, one joint, 10, two joints, 11, three joints, 12, four joints, 13, five joints, 14, six joints, 15, the Pneumatic paw instrument, 16, the track Spray painting tool, 17, AC servo motor, 18, harmonic speed reducer, 19, robot base, 20, photoelectric sensor, 21, AC servo motor, 22, the RV decelerator, 23, the large arm of two joints, 24, photoelectric sensor, 25, AC servo motor, 26, the RV decelerator, 27, knuckle support, 28, photoelectric sensor, 29, stepper motor, 30, synchronous cog belt, 31, harmonic speed reducer, 32, photoelectric sensor, 33, four joint bearings, 34, stepper motor, 35, harmonic speed reducer, 36, synchronous cog belt, 37, joint seating, 38, photoelectric sensor, 39, stepper motor, 40, synchronous cog belt, 41, Bevel Gear Transmission, 42, harmonic speed reducer, 43, photoelectric sensor, 44, the spring thread-protected tube.
The specific embodiment
For making that architectural feature of the present utility model and the effect reached are had a better understanding and awareness, coordinate detailed explanation in order to preferred embodiment and accompanying drawing, be described as follows:
Industrial operations type six degree of freedom serial machine people, based on industrial robot Mechatronic Systems synchronize design, adopts industry series connection teaching to reproduce mode of operation and carries out automated handling and assembling workpiece.The robot body the visual design, the control system all-round opening, industrial operations type six degree of freedom serial machine people configures aluminium alloy experiment porch and nylon workpiece, makes robot end's pneumatic tool be captured and assembling work.
As shown in Figure 1-Figure 3, described robot base 1 adopts the fine aluminum section bar to build, configuration plate platform and fixing angle bar, expansion bolt firm banking.Described workpiece and experimental bench 7 configure axles, overlap two kinds of nylon workpiece and aluminium alloy experimental bench, realize robot transport and assembling work.Described robot control system 5 adopts to be controlled based on PC104 bus embedded type motion controller, panel beating is controlled link plate and is installed in panel beating switch board 7, the electrical equipment compactness is attractive in appearance, open layout, cabinet Qianmen configuration button and indicator lamp, the aviation connector is installed in back, and cable connects in order to signal transmission.Described robot end's instrument 3 standard configurations adopt the Pneumatic paw instrument, and configuration is without pneumatic elements such as oily quiet air pumps, and replaceable is track Spray painting tool etc., has higher price-performance ratio.
As shown in Fig. 4-Fig. 5, the described industrial operations type six degree of freedom serial machine human body 2 of described industrial operations type six degree of freedom serial machine human body 2 is comprised of six joints, according to joint of robot, distinguish, can be divided into 1 joint～6 joints, joint is connected by connecting plate and support etc., forms six degree of freedom industry serial machine people configuration.Joint of robot rotatablely moves, two kinds of forms of gyration, and each joint motor, sensor cable are by 44 protection of spring thread-protected tube.
The joint of robot transmission adopts the transparent mode encapsulation, and the visual design, can see inner drive mechanism, ruuning situation intuitively.The robot interior drive mechanism adopts the industrial robot structure characteristics fully, suitably increases typical transmission type, meets the teaching requirement.The principal modes such as the industrial RV decelerator of commonly using, harmonic speed reducer, toothed belt transmission have been adopted in design.
As Figure 6-Figure 7, a described joint 9 is the robot base joint, by AC servo motor 17, driven, direct-connected harmonic speed reducer 18 transmissions, the joint integral installation on robot base 19, the external installation aviation of base hood connector.In order to connect power supply and signal between robot and switch board.The joint output arranges the spacing photoelectric sensor 20 in left and right, the anglec of rotation 300 degree.
As shown in Fig. 8-Fig. 9, described two joints 10, driven by AC servo motor 21, direct-connected RV decelerator 22 transmissions, and the large arm 23 of two joints is installed in the outside, in order to be connected with other joints.Joint one side arranges positive and negative spacing photoelectric sensor 24, the anglec of rotation 120 degree.
As shown in Figure 10-Figure 12, described three joints 11, driven by AC servo motor 25, direct-connected RV decelerator 26 outputs, and knuckle support 27 is installed on top, and joint one side arranges positive and negative spacing photoelectric sensor 28, the anglec of rotation 120 degree.
As shown in Figure 13-Figure 14, described four joints 12, driven by stepper motor 29, and direct-connected synchronous cog belt 30 transmissions connect harmonic speed reducer 31 outputs, and integral body is positioned at four joint bearings 33, and joint one side arranges positive and negative spacing photoelectric sensor 32, the anglec of rotation 300 degree.
As shown in Figure 15-Figure 16, described five joints 13, driven by stepper motor 34, and direct-connected synchronous cog belt 36 transmissions connect harmonic speed reducer 35 deceleration outputs.Joint seating 37 is installed in the outside, in order to be connected with other joints.Joint one side arranges positive and negative spacing photoelectric sensor 38, the anglec of rotation 180 degree.
As shown in Figure 17-Figure 18, described six joints 14, driven by stepper motor 39, and direct-connected synchronous cog belt 40 Bevel Gear Transmission 41 connect harmonic speed reducer 42 outputs, and joint one side arranges zero-bit photoelectric sensor 43, the anglec of rotation 360 degree.
The robot characteristics: the robot system embedded Control, the teach box operation, operating type is reproduced in teaching.The body the visual design, structure, function and the characteristics of embodiment industrial robot.By industry standard design, speed is fast, flexible, and reliability is high; Flexible operation, open strong, can use for a long time non-maintaining.The teaching materials such as robot guide book of experiment, operation instructions, software application specification are provided, and content contains kinematics, dynamics, Control System Design, robot trajectory planning etc., is robot teaching's ideal platform.
Compared with prior art, the utility model has the advantages that: realize industrial serial machine people operation practice-training teaching, solve Industrial Robot Technology educational experimentation platform shortage and high expensive and be difficult to universal present situation, with the industrial robot form, allow the student grasp industrial serial machine person joint structure, functional part principle and composition comprehensively, and industrial serial machine people's design and operating technology, thereby grasp composition, function and the control principle of industrial serial machine people Mechatronic control system, exercise student ' is in the face of industrial robot use, maintenance and trouble diagnosibility.
In sum, only own for preferred embodiment of the present utility model, not be used for limiting the scope that the utility model is implemented, all equalizations of doing according to the described shape of the utility model claim scope, structure, feature and spirit change and modify, and all should be included in claim scope of the present utility model.
Claims (9)
1. an industrial operations type six degree of freedom serial machine people, it is characterized in that: comprise industrial operations type six degree of freedom serial machine human body (2), be arranged on the air-channel system (4) of industrial operations type six degree of freedom serial machine human body (2) side, panel beating switch board (7), and the workpiece and the experimental bench (6) that are arranged on industrial operations type six degree of freedom serial machine human body (2) the place ahead, be provided with robot control system (5) in described panel beating switch board (7), panel beating switch board (7) front panel configuration control operation button and indicator lamp (8), described industrial operations type six degree of freedom serial machine human body (2) is arranged on robot base (1), described industrial operations type six degree of freedom serial machine human body (2) comprises a joint (9), two joints (10), three joints (11), four joints (12), five joints (13), six joints (14) and robot end's instrument (3).
2. a kind of industrial operations type six degree of freedom serial machine people according to claim 1 is characterized in that: described robot body joint is visual encapsulation.
3. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: described robot end's instrument (3) can be installed Pneumatic paw instrument (15) or track Spray painting tool (16).
4. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: a described joint (9) comprises robot base (19), is arranged on AC servo motor (17), harmonic speed reducer (18), photoelectric sensor (20) on described robot base (19).
5. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: described two joints (10) comprise the large arm of two joints (23), are arranged on AC servo motor (21), RV decelerator (22), photoelectric sensor (24) on the described two large arms of joint (23).
6. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: described three joints (11) comprise AC servo motor (25), RV decelerator (26), knuckle support (27), photoelectric sensor (28).
7. a kind of industrial operations type six degree of freedom serial machine people according to claim 1 is characterized in that: described four joints (12) comprise stepper motor (29), synchronous cog belt (30), harmonic speed reducer (31), photoelectric sensor (32), four joint bearings (33).
8. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: described five joints (13) comprise stepper motor (34), harmonic speed reducer (35), synchronous cog belt (36), joint seating (37), photoelectric sensor (38).
9. a kind of industrial operations type six degree of freedom serial machine people according to claim 1, it is characterized in that: described six joints (14) comprise stepper motor (39), synchronous cog belt (40), Bevel Gear Transmission (41), harmonic speed reducer (42), photoelectric sensor (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202231923U CN203317425U (en) | 2013-04-26 | 2013-04-26 | Industrial operation type six-freedom-degree series connection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202231923U CN203317425U (en) | 2013-04-26 | 2013-04-26 | Industrial operation type six-freedom-degree series connection robot |
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| CN203317425U true CN203317425U (en) | 2013-12-04 |
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| CN2013202231923U Expired - Fee Related CN203317425U (en) | 2013-04-26 | 2013-04-26 | Industrial operation type six-freedom-degree series connection robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN103624777A (en) * | 2013-04-26 | 2014-03-12 | 苏州博实机器人技术有限公司 | Industrial operation type six-freedom-degree series robot |
| CN104269099A (en) * | 2014-09-19 | 2015-01-07 | 苏州博实机器人技术有限公司 | Modularized building-block-type demountable serial robot |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN106935087A (en) * | 2017-03-21 | 2017-07-07 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform experience system |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
-
2013
- 2013-04-26 CN CN2013202231923U patent/CN203317425U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624777A (en) * | 2013-04-26 | 2014-03-12 | 苏州博实机器人技术有限公司 | Industrial operation type six-freedom-degree series robot |
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN103208224B (en) * | 2013-04-28 | 2015-03-11 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN104269099A (en) * | 2014-09-19 | 2015-01-07 | 苏州博实机器人技术有限公司 | Modularized building-block-type demountable serial robot |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| CN106935087A (en) * | 2017-03-21 | 2017-07-07 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform experience system |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Suzhou BoShi Robotics Technology Co., Ltd. Document name: Notification of Termination of Patent Right |
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| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20170426 |
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| CF01 | Termination of patent right due to non-payment of annual fee |