CN203449311U - Double-shaft control carrying mechanical arm - Google Patents
Double-shaft control carrying mechanical arm Download PDFInfo
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- CN203449311U CN203449311U CN201320445964.8U CN201320445964U CN203449311U CN 203449311 U CN203449311 U CN 203449311U CN 201320445964 U CN201320445964 U CN 201320445964U CN 203449311 U CN203449311 U CN 203449311U
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Abstract
The utility model discloses a double-shaft control carrying mechanical arm which comprises an experiment table, a double-shaft control carrying robot, a sensor system, a vacuum adsorption system, a gas path system, a mechanical arm control system, a button control unit, an experiment sample piece and a sample piece support. The double-shaft control carrying robot, the gas path system, the mechanical arm control system, the button control unit, the experiment sample piece and the sample piece support are all fixed above the experiment table. The vacuum adsorption system is arranged in the double-shaft control carrying robot. A two-freedom-degree straight line robot and a tail end vacuum adsorption pneumatic system are used for carrying experiment workpieces automatically. Basic robot teaching practical training is achieved in an enjoyment-learning-combined mode.
Description
Technical field
The utility model relates to robot teaching field, and particularly the typical plane twin shaft in a kind of basis is controlled conveying robot.
Background technology
Cartesian robot is can realize automatic control, can overprogram, multivariant, freedom of motion to build up manipulator space right-angle relationship, multiduty.The behavior of its work is mainly by completing along the linear movement in X, Y, Z axis.
Cartesian robot can be used as various automation equipments very easily, completes as a series of activities such as welding, carrying, loading and unloading, packing, piling, de-stacking, detection, flaw detection, classification, assembling, labeling, coding, stamp, (soft imitative type) spray, target is followed, explosive.Be specially adapted to many kinds, the just flexibility operation of batch, for stable, improve the quality of products, 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 current domestic Robotics is imparted knowledge to students also in a stage of popularization, and basic teaching experiment platform still needs to enrich constantly.
In addition, enterprise is in order constantly to expand the competitiveness of product in market and to realize the maximization of self profit, in industrial design, reduces that to save production cost be still that one of emphasis of its solution is sought by enterprise.
Utility model content
The problem that the utility model solves is: provide a kind of modularized design, twin shaft with low cost, that can be used in basic teaching to control conveying robot.
A kind of twin shaft is controlled conveying robot, it is characterized in that, comprise: experimental bench (1), twin shaft is controlled transfer robot (2), sensing system (3), vacuum suction system (4), air-channel system (5), manipulator control system (6), button control unit (7), experiment exemplar and exemplar support (8), wherein said twin shaft is controlled transfer robot (2), air-channel system (5), manipulator control system (6) and button control unit (7), experiment exemplar and exemplar support (8) are all fixed on described experimental bench (1) top, described vacuum suction system (4) is installed on described twin shaft and controls in transfer robot (2).
Preferably, described twin shaft is controlled transfer robot (2) and is comprised orthogonal the first straight line executing mechanism (101) and the second straight line executing mechanism (102), straight line optical axis guide rail (11) as supplemental support, pneumatic actuator (9) and form the first bridge-type support body (26) and the second bridge-type support body (27) of truss structure with described straight line optical axis guide rail (11), described twin shaft is controlled transfer robot (2) and is installed on described experimental bench (1) top by described the first bridge-type support body (26) and the second bridge-type support body (27), described the first straight line executing mechanism (101) and the second straight line executing mechanism (102) level are installed between the first bridge-type support body and the second bridge-type support body, the two ends of described the first straight line executing mechanism (101) are separately fixed at described the first bridge-type support body (26), the two ends of described the second straight line executing mechanism (102) are separately fixed at the second bridge-type support body (27).
Preferably, described the first straight line executing mechanism (101) and the second straight line executing mechanism (102) form by ball-screw (18) and straight line optical axis (22), each group straight line executing mechanism also comprises motor (16), drives the shaft coupling (17) of described ball-screw, is actively arranged on the slide block (201 or 202) on described ball-screw, described every straight line optical axis (22) below is equipped with a horizontal stand, and described photoelectric sensor (14) and described microswitch (15) are installed on this horizontal stand.
Preferably, the slide block of described the first straight line executing mechanism (201) slip plane is vertical with slide block (202) slip plane of the second straight line executing mechanism, and described the second straight line executing mechanism (101) is fixed on the slide block (202) of the second straight line executing mechanism (101) with the first straight line executing mechanism (102).
Preferably, the quantity of the microswitch (15) in described each group straight line executing mechanism is two.
Preferably, described pneumatic actuator (9) is provided with cylinder (23), air cylinder support (24), magnetic sensor (25), described the second straight line executing mechanism (102) comprises a slide block (202), described cylinder (23) is fixed on a side of above-mentioned slide block (202) by two air cylinder supports (24), described vacuum suction system (4) is fixed on cylinder (23) end, realizes the carrying to object.
Preferably, described sensing system (3) comprises diffuse reflection sensor (13), photoelectric sensor (14), microswitch (15) and magnetic sensor (25).
Preferably, described manipulator control system (6) is provided with a controller.
Preferably, described air-channel system (5) comprises vacuum switch detection feedback element.
Compared with prior art, the utlity model has following advantage: two degree of freedom control conveying robot is used as base machine people technique teaching platform, rationally distributed, convenient operation is safe and reliable.Use modularized design, to realize production processing cost, minimize.By teaching through lively activities, improve students ' interest of study, and be that its basis of understanding robot forms and operation principle, understand robot elementary cell technology (mechanism, control, sensor), understand the design concepts such as modularization configuration etc., can complete the carrying experiment under diverse location, allow student grasp the selection of mechanical transmission component comprehensively, the design of structural member, the choice and operation of sensor, the choice and operation of motor, computer programming and debugging, all can be improved design, assembling, the debugging capability of student's Mechatronic Systems.
Accompanying drawing explanation
For the technical scheme in the utility model embodiment is more clearly described, to the accompanying drawing of required use in embodiment be introduced simply below, apparently, the accompanying drawing the following describes is only some embodiment that record in the utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the overall structure schematic diagram that the utility model embodiment twin shaft is controlled conveying robot;
Fig. 2 is the axonometric drawing A that in the utility model embodiment, twin shaft is controlled transfer robot;
Fig. 3 is the axonometric drawing B that in the utility model embodiment, twin shaft is controlled transfer robot;
Fig. 4 is the structure scheme of installation of the first straight line executing mechanism in the utility model embodiment;
Fig. 5 is the second straight line executing mechanism B structure scheme of installation in the utility model embodiment;
Fig. 6 tests exemplar and exemplar support, diffuse reflection installation of sensors schematic diagram in the utility model embodiment.
Wherein:
1, aluminium alloy experimental bench; 2, twin shaft is controlled transfer robot; 3, sensing system;
4, vacuum suction system; 5, air-channel system; 6, manipulator control system;
7, button control panel; 8, experiment exemplar and exemplar support; 9, pneumatic actuator;
101, the first straight line executing mechanism; 102, the second straight line executing mechanism;
11, straight line optical axis guide rail; 12, balladeur train; 13, diffuse reflection sensor;
14, photoelectric sensor; 15, microswitch; 16, stepper motor;
17, shaft coupling; 18, ball-screw; 19, screw-nut; 201, the first slide block;
202, the second slide block; 21, linear bearing; 22, straight line optical axis; 23, cylinder;
24, air cylinder support; 25, magnetic sensor; 26, the first bridge support;
27, the second bridge support; 281, the first motor mounting plate; 282, the second motor mounting plate;
291, the first front guide rod frame; 292, the second front guide rod frame; 301, the first back-guiding rod frame;
302, the second back-guiding rod frame; 311, the first horizontal stand; 312, the second horizontal stand.
The specific embodiment
The utility model discloses a kind of twin shaft and control conveying robot, the preferred embodiment shown in reference to the accompanying drawings, is specifically described the utility model below.
Twin shaft is controlled a conveying robot, as shown in Figure 1, comprises experimental bench 1, twin shaft control transfer robot 2, sensing system 3, vacuum suction system 4, air-channel system 5, manipulator control system 6, button control panel 7, experiment exemplar and exemplar support 8.Wherein, described twin shaft control transfer robot 2, air-channel system 5, manipulator control system 6, button control unit 7, experiment exemplar and exemplar support 8 are all directly installed on described experimental bench 1.
As the further improvement of the utility model embodiment, because this experimental bench 1 must possess certain quality and hardness, therefore adopt fine aluminum section bar to build, each fixing square handle of its left and right, convenient experiment and transportation.
As the further improvement of the utility model embodiment, above-mentioned button control unit 7 comprises a touch-screen gauge tap.
As shown in Figures 2 and 3, above-mentioned twin shaft is controlled transfer robot 2 and is comprised straight line executing mechanism, the straight line optical axis guide rail 11 as supplemental support, pneumatic actuator 9 and form the first bridge-type support body 26 and the second bridge-type support body 27 of truss structures with described straight line optical axis guide rail 11.Above-mentioned twin shaft is controlled the floor installation of transfer robot 2 by above-mentioned the first bridge-type support body 26 and the second bridge-type support body 27 above above-mentioned experimental bench 1.
Wherein, as shown in Figures 3 and 4, above-mentioned straight line executing mechanism is divided into two groups: the first straight line executing mechanism 101 and the second straight line executing mechanism 102.Above-mentioned the first straight line executing mechanism 101 consists of ball-screw 18 and straight line optical axis 22, also comprise a motor 16, shaft coupling 17, first slide block 201, photoelectric sensor 14, microswitch 15, described motor 16 drives ball-screw 18 by described shaft coupling 17, ball-screw 18 is provided with and drives the first slide block 201 to do straight-line screw-nut 19, the inside, both sides of above-mentioned the first slide block 201 is fixed with linear bearing 21, by straight line optical axis 22 guiding.Above-mentioned photoelectric sensor 14 and microswitch 15 are in order to realize the position feedback to the first slide block 201.
As Figure 2-Figure 5, above-mentioned the second straight line executing mechanism 102 is mutually vertical with the first straight line executing mechanism 101, and the dimensional parameters of its each corresponding parts is all consistent, is same module.The first straight line executing mechanism 101 is fixed on the first bridge-type support body 26 by the first connecting plate for electric motor 281 and the first front guide rod frame 291, the first back-guiding rod frame 301 is fixed on the second bridge-type support body 27, and the second straight line executing mechanism 102 is fixed on the first slide block 201 upsides of the first straight line executing mechanism 101 by the second connecting plate for electric motor 282 and the second front guide rod frame 292, the second back-guiding rod frame 302 is fixed on the balladeur train 12 of straight line optical axis guide rail 11.
As shown in Figure 5, above-mentioned pneumatic actuator 9 comprises cylinder 23, a pair of air cylinder support setting up and down 24 and magnetic sensor 25, and this pneumatic actuator 9 is vertically fixed on the second slide block 202 1 sides of the second straight line executing mechanism 102 by air cylinder support 24.Above-mentioned magnetic sensor 25 and above-mentioned cylinder 23 are installed between two air cylinder supports 24, and vacuum suction system 4 is installed on above-mentioned cylinder 23 ends.Wherein, whether magnetic sensor is effective for detection of cylinder piston signal, can judge that cylinder stretches out or retracted position puts in place, reaches designing requirement, corresponding, and magnetic element is installed on cylinder piston.
Preferably, above-mentioned cylinder 23 is stainless steel tube cylinder.
The straight line executing mechanism 101 and 102 of installing by above-mentioned two groups of levels, position probing feedback, and rectangular co-ordinate principle is to realize the movement between some point on two dimensional surface.On the second slide block 202 of the second straight line executing mechanism 102, pneumatic actuator 9 is installed, with mating die blocking straight line executing mechanism 101 and 102 and vacuum suction system 4 realize the carrying work to object.
As Figure 4-Figure 6, the sensor system 3 comprises the diffuse reflection sensor 13 being installed under exemplar support 8 and is arranged on photoelectric sensor 14 and the microswitch 15 on two cover straight line executing mechanisms.Below above-mentioned the first straight line executing mechanism 101 and the second straight line executing mechanism 102, corresponding the first horizontal stand 311 and the second horizontal stand 312 installed, is respectively provided with a photoelectric sensor 14 and two microswitches 15 on above-mentioned each horizontal stand.Coordinate the break-make of photoelectric sensor 14 to make pneumatic actuator 9 actions, by magnetic sensor 25 break-makes, vacuum suction system 4 work.
In above-mentioned air-channel system 5, comprise vacuum switch and detect feedback element.Normally a kind of employing vacuum pressure switch of vacuum switch feedback element, has mechanical type and digital display isotype, in native system, can apply digital display vacuum pressure switch.Vacuum suction system in the utility model is connected with in turn without having quiet air pump, pressure regulation filter, controlling magnetic valve, vacuum generator, digital display vacuum pressure switch, vacuum filter and vacuum cup.When end vaccum-suction attachement pad is under cylinder 23 and ball-screw 18 translation stages drives, move to bow and arrow top, the action of control magnetic valve, carrying work is carried out in the work of sucker negative pressure absorbing, now whether the signal of vacuum pressure switch has or not suspicious detection vacuum suction negative pressure state normal, whether under enough negative pressure or suction force state, assurance system can normally be moved in other words.If signal is undesired, in hole, can there is absorption affinity inadequate, inhale incessantly workpiece, or in holding workpiece movable process, the situation that workpiece falls road idol occurs.
Preferably, manipulator control system 6 configuration Mitsubishi PLC control systems.
Robot actions process: the utility model twin shaft is controlled to conveying robot energising, touch-screen is controlled and is pressed SR, twin shaft stops after controlling transfer robot 2 reseting movements, by whether there being experiment exemplar to exist in diffuse reflection sensor 13 test experience exemplar supports, and system log (SYSLOG) information.Detect complete, under system is controlled, the stepper motor 16 that twin shaft is controlled conveying robot starts action, by shaft coupling 17, drive ball-screw 18 rotations, ball-screw screw 19 is under slide block 20 and 22 effects of straight line optical axis, by rotatablely moving of ball-screw 18, make slide block 20 along the axis moving linearly of ball-screw 18, according to the setting of manipulator control system 6, move to photoelectric sensor 14 calibration position that experiment exemplar exists, now stepper motor 16 stops, control pneumatic actuator 9 actions (break-make by magnetic sensor 25 is judged), and vacuum suction system 4 is started working, the crawl of realization to experiment exemplar, by manipulator control system 6, control, stepper motor 16 runnings, repeat above-mentioned straight line executing mechanism 9 movement step, mobile experiment exemplar is to placement location (the next photoelectric sensor 14 of system is demarcated position), now stepper motor 16 shuts down, pneumatic actuator 9 actions (judging by magnetic sensor 25), and vacuum suction system 4 is started working, the placement of realization to experiment exemplar, so circulation can single or is repeatedly carried operation.
Compared with prior art, the utlity model has following advantage:
(1) the utility model flexible operation, rationally distributed, has high reliability;
(2) the utility model manipulator adopts automatic control technology, reproducible programming, and the equal follow procedure operation of all motions, has high-speed, high-precision feature;
(3) the utility model use face maintenance for a long time, its structure typical case is simple and easy, representative;
(4) the utility model is interesting strong, teach through lively activities, improve students ' interest of study, the basis that helps student to understand robot forms and operation principle, understands the elementary cell technology of robot, allow student grasp the selection of mechanical transmission component comprehensively, the design of structural member, the choice and operation of sensor, the choice and operation of motor, computer programming and debugging, all can be improved design, assembling, the debugging capability of student's Mechatronic Systems;
(5) in the utility model, relate to modular, as far as possible by structural module, by universal component, to realize production processing cost, minimize.
To those skilled in the art, obviously the utility model is not limited to the details of above-mentioned one exemplary embodiment, and in the situation that not deviating from spirit of the present utility model or essential characteristic, can realize the utility model with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than above-mentioned explanation, is therefore intended to include in the utility model dropping on the implication that is equal to important document of claim and all changes in scope.Any Reference numeral in claim should be considered as limiting related claim.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should make description as a whole, and the technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (9)
1. a twin shaft is controlled conveying robot, it is characterized in that, comprise: experimental bench (1), twin shaft is controlled transfer robot (2), sensing system (3), vacuum suction system (4), air-channel system (5), manipulator control system (6), button control unit (7), experiment exemplar and exemplar support (8), wherein said twin shaft is controlled transfer robot (2), air-channel system (5), manipulator control system (6) and button control unit (7), experiment exemplar and exemplar support (8) are all fixed on described experimental bench (1) top, described vacuum suction system (4) is installed on described twin shaft and controls in transfer robot (2).
2. twin shaft according to claim 1 is controlled conveying robot, it is characterized in that, described twin shaft is controlled transfer robot (2) and is comprised orthogonal the first straight line executing mechanism (101) and the second straight line executing mechanism (102), straight line optical axis guide rail (11) as supplemental support, pneumatic actuator (9) and form the first bridge-type support body (26) and the second bridge-type support body (27) of truss structure with described straight line optical axis guide rail (11), described twin shaft is controlled transfer robot (2) and is installed on described experimental bench (1) top by described the first bridge-type support body (26) and the second bridge-type support body (27), described the first straight line executing mechanism (101) and the second straight line executing mechanism (102) level are installed between the first bridge-type support body and the second bridge-type support body, the two ends of described the first straight line executing mechanism (101) are separately fixed at described the first bridge-type support body (26), the two ends of described the second straight line executing mechanism (102) are separately fixed at the second bridge-type support body (27).
3. twin shaft according to claim 2 is controlled conveying robot, it is characterized in that, described the first straight line executing mechanism (101) and the second straight line executing mechanism (102) form by ball-screw (18) and straight line optical axis (22), each group straight line executing mechanism also comprises motor (16), drive the shaft coupling (17) of described ball-screw, actively be arranged on the slide block (201 or 202) on described ball-screw, described every straight line optical axis (22) below is equipped with a horizontal stand, described photoelectric sensor (14) and described microswitch (15) are installed on this horizontal stand.
4. twin shaft according to claim 3 is controlled conveying robot, it is characterized in that, the slide block of described the first straight line executing mechanism (201) slip plane is vertical with slide block (202) slip plane of the second straight line executing mechanism, and described the second straight line executing mechanism (101) is fixed on the slide block (202) of the second straight line executing mechanism (101) with the first straight line executing mechanism (102).
5. twin shaft according to claim 3 is controlled conveying robot, it is characterized in that, the quantity of the microswitch (15) in described each group straight line executing mechanism is two.
6. twin shaft according to claim 2 is controlled conveying robot, it is characterized in that, described pneumatic actuator (9) is provided with cylinder (23), air cylinder support (24), magnetic sensor (25), described the second straight line executing mechanism (102) comprises a slide block (202), described cylinder (23) is fixed on a side of above-mentioned slide block (202) by two air cylinder supports (24), described vacuum suction system (4) is fixed on cylinder (23) end, realizes the carrying to object.
7. twin shaft according to claim 1 is controlled conveying robot, it is characterized in that, described sensing system (3) comprises diffuse reflection sensor (13), photoelectric sensor (14), microswitch (15) and magnetic sensor (25).
8. twin shaft according to claim 1 is controlled conveying robot, it is characterized in that, described manipulator control system (6) is provided with a controller.
9. twin shaft according to claim 1 is controlled conveying robot, it is characterized in that, described air-channel system (5) comprises vacuum switch and detects feedback element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320445964.8U CN203449311U (en) | 2013-07-24 | 2013-07-24 | Double-shaft control carrying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320445964.8U CN203449311U (en) | 2013-07-24 | 2013-07-24 | Double-shaft control carrying mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN203449311U true CN203449311U (en) | 2014-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320445964.8U Expired - Fee Related CN203449311U (en) | 2013-07-24 | 2013-07-24 | Double-shaft control carrying mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN203449311U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
-
2013
- 2013-07-24 CN CN201320445964.8U patent/CN203449311U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
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| 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: 20140226 Termination date: 20160724 |