CN203449311U - Double-shaft control carrying mechanical arm - Google Patents

Abstract

The utility model discloses a dual-axis control transporting manipulator, which comprises: a test bench, a dual-axis control transporting robot, a sensor system, a vacuum adsorption system, an air path system, a manipulator control system, a button control unit, an experimental sample and a sample support, Wherein the two-axis control handling robot, air system, manipulator control system and button control unit, experimental sample and sample support are all fixed above the test bench, and the vacuum adsorption system is installed on the two-axis control handling inside the robot. The utility model adopts a two-degree-of-freedom linear robot and a terminal vacuum adsorption pneumatic system to automatically carry experimental workpieces. And practice basic robot teaching in an entertaining way.

Description

A dual-axis control handling manipulator

technical field

The utility model relates to the field of robot education, in particular to a basic and typical plane type biaxial control handling manipulator.

Background technique

The Cartesian coordinate robot is a multi-purpose manipulator capable of automatic control, reprogrammable, multi-degree-of-freedom, and a spatial right-angle relationship between the degrees of freedom of movement. The way it works is primarily by performing linear motion along the X, Y, and Z axes.

Cartesian coordinate robots can be very conveniently used as various automation equipment, such as welding, handling, loading and unloading, packaging, palletizing, unstacking, testing, flaw detection, classification, assembly, labeling, coding, coding, (software profiling) spraying, target following, detonation and a series of work. It is especially suitable for flexible operations with multiple varieties and convenient batches. It plays a very important role in stably improving product quality, increasing labor productivity, improving working conditions and rapid product replacement.

With the application of Cartesian robots more and more widely, the application teaching of robot technology is becoming more and more important. However, the teaching of robot technology in China is still in a popular stage, and the basic teaching experiment platform still needs to be continuously enriched.

In addition, in order to continuously expand the market competitiveness of products and maximize their own profits, in terms of industrial design, reducing and saving production costs is still one of the key points for enterprises to seek solutions.

Utility model content

The problem solved by the utility model is to provide a dual-axis control handling manipulator with modular design, low cost, and capable of being used for basic teaching.

A biaxial control handling manipulator, characterized in that it includes: a test bench (1), a biaxial control handling robot (2), a sensor system (3), a vacuum adsorption system (4), an air system (5), and a manipulator control system (6), button control unit (7), experimental sample and sample holder (8), wherein the two-axis control handling robot (2), air system (5), manipulator control system (6) and The button control unit (7), the experimental sample and the sample holder (8) are all fixed above the experimental table (1), and the vacuum adsorption system (4) is installed in the two-axis control handling robot (2) .

Preferably, the two-axis control transfer robot (2) includes a first linear actuator (101) and a second linear actuator (102) perpendicular to each other, a linear optical axis guide rail (11) as an auxiliary support, a pneumatic actuator mechanism (9) and the first bridge frame (26) and the second bridge frame (27) forming a truss structure with the linear optical axis guide rail (11), the two-axis control handling robot (2) passes The first bridge-type frame (26) and the second bridge-type frame (27) are installed above the test bench (1), and the first linear actuator (101) and the second linear actuator ( 102) Horizontally installed between the first bridge-type frame body and the second bridge-type frame body, the two ends of the first linear actuator (101) are respectively fixed on the first bridge-type frame body (26), Both ends of the second linear actuator (102) are respectively fixed on the second bridge frame (27).

Preferably, the first linear actuator (101) and the second linear actuator (102) are both composed of a ball screw (18) and a linear optical axis (22), and each group of linear actuators also includes a motor ( 16), the coupling (17) driving the ball screw, the slider (201 or 202) actively installed on the ball screw, and each linear optical axis (22) is provided below A horizontal support, the photoelectric sensor (14) and the micro switch (15) are installed on the horizontal support.

Preferably, the sliding plane of the slider (201) of the first linear actuator is perpendicular to the sliding plane of the slider (202) of the second linear actuator, and the second linear actuator (101) is perpendicular to the first linear actuator The actuator (102) is fixed on the slider (202) of the second linear actuator (101).

Preferably, the number of micro switches (15) in each group of linear actuators is two.

Preferably, the pneumatic actuator (9) is provided with a cylinder (23), a cylinder bracket (24), a magnetic sensor (25), and the second linear actuator (102) includes a slider (202), the The cylinder (23) is fixed on one side of the slider (202) through two cylinder brackets (24), and the vacuum adsorption system (4) is fixed at the end of the cylinder (23) to carry objects.

Preferably, the sensor system (3) includes a diffuse reflection sensor (13), a photoelectric sensor (14), a micro switch (15), and a magnetic sensor (25).

Preferably, the manipulator control system (6) is provided with a controller.

Preferably, the air path system (5) includes a vacuum switch detection feedback element.

Compared with the prior art, the utility model has the following advantages: the dual-degree-of-freedom control handling manipulator is used as a basic robot technology teaching platform, and the layout is reasonable, easy to operate, safe and reliable. Use modular design to minimize product production and processing costs. Improve students' interest in learning through entertaining and teaching, and enable them to understand the basic composition and working principle of robots, understand the basic unit technology (mechanism, control, sensor) of robots, and understand design concepts such as modular configurations, etc., and can complete different positions The following handling experiments allow students to fully grasp the selection of mechanical transmission components, the design of structural parts, the selection and use of sensors, the selection and use of motors, computer programming and debugging, so that students' ability in the design, assembly and debugging of electromechanical systems can be improved. can be improved.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some implementations recorded in the utility model For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is the overall structure schematic diagram of the biaxial control handling manipulator of the utility model embodiment;

Fig. 2 is the axonometric drawing A of the dual-axis control handling robot in the embodiment of the present invention;

Fig. 3 is the axonometric drawing B of the dual-axis control handling robot in the embodiment of the present invention;

Fig. 4 is a schematic diagram of the structure and installation of the first linear actuator in the embodiment of the present invention;

Fig. 5 is a schematic diagram of the structure and installation of the second linear actuator B in the embodiment of the present invention;

Fig. 6 is a schematic diagram of the installation of the experimental sample, the sample support, and the diffuse reflection sensor in the embodiment of the present invention.

in:

1. Aluminum alloy test bench; 2. Two-axis control handling robot; 3. Sensor system;

4. Vacuum adsorption system; 5. Air system; 6. Manipulator control system;

7. Button control panel; 8. Experimental sample and sample support; 9. Pneumatic actuator;

101. The first linear actuator; 102. The second linear actuator;

11. Linear optical axis guide rail; 12. Carriage; 13. Diffuse reflection sensor;

14. Photoelectric sensor; 15. Micro switch; 16. Stepper motor;

17. Coupling; 18. Ball screw; 19. Screw nut; 201. The first slider;

202. Second slider; 21. Linear bearing; 22. Linear optical axis; 23. Cylinder;

24. Cylinder bracket; 25. Magnetic sensor; 26. The first bridge bracket;

27. The second bridge bracket; 281. The first motor mounting plate; 282. The second motor mounting plate;

291. The first leading rod frame; 292. The second leading rod frame; 301. The first rear guiding rod frame;

302, the second rear guide rod frame; 311, the first horizontal support; 312, the second horizontal support.

Detailed ways

The utility model discloses a dual-axis control handling manipulator. The utility model will be specifically described below according to the preferred embodiment shown in the accompanying drawings.

A two-axis control handling manipulator, as shown in Figure 1, includes a test bench 1, a two-axis control handling robot 2, a sensor system 3, a vacuum adsorption system 4, an air system 5, a manipulator control system 6, a button control panel 7, Experimental sample and sample holder 8. Wherein, the two-axis control handling robot 2 , the air system 5 , the manipulator control system 6 , the button control unit 7 , the test sample and the sample support 8 are all directly installed on the test bench 1 .

As a further improvement of the embodiment of the present utility model, since the test bench 1 must have a certain quality and hardness, it is built with high-quality aluminum profiles, and its left and right sides are fixed with square handles to facilitate experiments and transportation.

As a further improvement of the embodiment of the present invention, the button control unit 7 includes a touch screen control switch.

As shown in Figure 2 and Figure 3, the above-mentioned two-axis control transfer robot 2 includes a linear actuator, a linear optical axis guide rail 11 as an auxiliary support, a pneumatic actuator 9, and a first truss structure formed with the linear optical axis guide rail 11 The bridge frame body 26 and the second bridge frame body 27 . The above-mentioned two-axis control transfer robot 2 is installed above the above-mentioned experimental platform 1 through the bases of the first bridge-type frame body 26 and the second bridge-type frame body 27 .

Wherein, as shown in FIG. 3 and FIG. 4 , the linear actuators are divided into two groups: the first linear actuator 101 and the second linear actuator 102 . The above-mentioned first linear actuator 101 is composed of a ball screw 18 and a linear optical axis 22, and also includes a motor 16, a coupling 17, a first slider 201, a photoelectric sensor 14, and a micro switch 15. The motor 16 drives the ball screw 18 through the shaft coupling 17, and the ball screw 18 is provided with a screw nut 19 that drives the first slider 201 to perform linear motion, and the two sides of the first slider 201 are fixed inside The linear bearing 21 is guided by a linear optical axis 22 . The above photoelectric sensor 14 and micro switch 15 are used to realize the position feedback of the first slider 201 .

As shown in FIGS. 2-5 , the second linear actuator 102 and the first linear actuator 101 are perpendicular to each other, and the dimensional parameters of the corresponding parts are the same, and they are the same module. The first linear actuator 101 is fixed on the first bridge frame body 26 through the first motor connecting plate 281 and the first front guide rod frame 291, the first rear guide rod frame 301 is fixed on the second bridge frame body 27, and the first The second linear actuator 102 is fixed on the upper side of the first slider 201 of the first linear actuator 101 through the second motor connection plate 282 and the second front guide rod frame 292, and the second rear guide rod frame 302 is fixed on the linear optical axis guide rail 11 on the carriage 12.

As shown in Figure 5, the above-mentioned pneumatic actuator 9 includes a cylinder 23, a pair of cylinder brackets 24 arranged up and down, and a magnetic sensor 25. The pneumatic actuator 9 is vertically fixed to the second linear actuator 102 through the cylinder bracket 24. Slider 202 side. The magnetic sensor 25 and the cylinder 23 are installed between two cylinder brackets 24 , and the vacuum adsorption system 4 is installed at the end of the cylinder 23 . Among them, the magnetic sensor is used to detect whether the cylinder piston signal is valid, which can determine whether the cylinder is extended or retracted, and meets the design requirements. Correspondingly, a magnetic element is installed on the cylinder piston.

Preferably, the above-mentioned cylinder 23 is a stainless steel tube cylinder.

Through the above two sets of horizontally installed linear actuators 101 and 102 , position detection feedback, and the principle of rectangular coordinates, the movement between points on the two-dimensional plane is realized. The pneumatic actuator 9 is installed on the second slide block 202 of the second linear actuator 102 to cooperate with the modular linear actuators 101 and 102 and the vacuum adsorption system 4 to carry objects.

As shown in FIGS. 4-6 , the sensor system 3 includes a diffuse reflection sensor 13 installed under the sample holder 8 , a photoelectric sensor 14 and a micro switch 15 installed on two sets of linear actuators. Below the first linear actuator 101 and the second linear actuator 102, the first horizontal bracket 311 and the second horizontal bracket 312 are correspondingly installed, and each of the above horizontal brackets is respectively equipped with a photoelectric sensor 14 and two micro Move switch 15. Cooperating with the on-off of the photoelectric sensor 14 makes the pneumatic actuator 9 act, and the vacuum adsorption system 4 works through the on-off of the magnetic sensor 25 .

The above-mentioned gas path system 5 includes a vacuum switch detection feedback element. The vacuum switch feedback element is usually a vacuum pressure switch, which has mechanical and digital display modes. The digital display vacuum pressure switch can be used in this system. The vacuum adsorption system in the utility model is sequentially connected with or without a silent air pump, a pressure regulating filter, a control solenoid valve, a vacuum generator, a digital display vacuum pressure switch, a vacuum filter and a vacuum sucker. When the end vacuum adsorption plate is driven by the cylinder 23 and the ball screw 18 translation platform, it moves to the top of the bow and arrow, controls the action of the solenoid valve, and the negative pressure suction work of the suction plate is carried out. At this time, the signal of the vacuum pressure switch is suspicious to detect the vacuum adsorption. Whether the negative pressure state is normal, or whether it is in a sufficient negative pressure or suction state to ensure that the system can operate normally. If the signal is not normal, there will be insufficient adsorption force in the pit, and the workpiece cannot be sucked, or the workpiece will fall off the road during the movement of the workpiece.

Preferably, the manipulator control system 6 is configured with a Mitsubishi PLC control system.

Manipulator operation process: power on the dual-axis control handling manipulator of the utility model, press the reset button under touch screen control, and the dual-axis control handling robot 2 stops after reset movement, and detects whether there is an experimental sample in the experimental sample support through the diffuse reflection sensor 13 , the system logs information. After the detection is completed, under the control of the system, the stepper motor 16 of the two-axis control handling manipulator starts to move, and the ball screw 18 is driven to rotate through the coupling 17, and the ball screw nut 19 is under the action of the slider 20 and the linear optical axis 22 , the rotary motion of the ball screw 18 makes the slider 20 move linearly along the axis of the ball screw 18, and moves to the calibration position of the photoelectric sensor 14 where the experimental sample exists according to the setting of the manipulator control system 6, and at this time step The motor 16 is stopped, the pneumatic actuator 9 is controlled to operate (through the on-off determination of the magnetic sensor 25), and the vacuum adsorption system 4 starts to work to realize the grasping of the experimental sample, controlled by the manipulator control system 6, and the stepping motor 16 operates , repeat the above-mentioned motion steps of the linear actuator 9, move the experimental sample to the placement position (the next photoelectric sensor 14 in the system is marked), at this time the stepper motor 16 stops running, and the pneumatic actuator 9 moves (judged by the magnetic sensor 25), And the vacuum adsorption system 4 starts to work to realize the placement of the experimental sample, and the handling operation can be carried out once or repeatedly in such a cycle.

Compared with the prior art, the utility model has the following advantages:

(1) The utility model has flexible operation, reasonable layout and high reliability;

(2) The manipulator of this utility model adopts automatic control technology, which can copy programming, and all movements are run according to the program, with the characteristics of high speed and high precision;

(3) The utility model can be used for surface maintenance for a long time, and its structure is typical and simple, which is representative;

(4) The utility model is highly interesting, entertaining and entertaining, improves students' interest in learning, helps students understand the basic composition and working principle of robots, understands the basic unit technology of robots, and allows students to fully grasp the selection of mechanical transmission components, structural parts Design, selection and use of sensors, selection and use of motors, computer programming and debugging, so that students can improve the design, assembly and debugging capabilities of electromechanical systems;

(5) The utility model involves the concept of modularization, try to modularize the structure and generalize parts and components, so as to minimize the cost of product production and processing.

It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, so it is intended to fall within the scope of the claims All changes within the meaning and range of equivalents of the required elements are included in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (9)

1. A dual-axis control handling robot, characterized in that it includes: a test bench (1), a dual-axis control handling robot (2), a sensor system (3), a vacuum adsorption system (4), and an air system (5) , manipulator control system (6), button control unit (7), experimental sample and sample support (8), wherein the two-axis control handling robot (2), air system (5), manipulator control system (6 ), the button control unit (7), the experimental sample and the sample holder (8) are all fixed above the experimental table (1), and the vacuum adsorption system (4) is installed on the two-axis control handling robot (2 )Inside. 2. The dual-axis control transfer robot according to claim 1, characterized in that, the dual-axis control transfer robot (2) includes a first linear actuator (101) and a second linear actuator (102) perpendicular to each other ), the linear optical axis guide rail (11) as an auxiliary support, the pneumatic actuator (9), and the first bridge frame (26) and the second bridge frame that form a truss structure with the linear optical axis guide rail (11) Body (27), the two-axis control handling robot (2) is installed above the experimental platform (1) through the first bridge frame (26) and the second bridge frame (27), the The first linear actuator (101) and the second linear actuator (102) are horizontally installed between the first bridge-type frame body and the second bridge-type frame body, the two of the first linear actuator (101) ends are respectively fixed on the first bridge-type frame body (26), and both ends of the second linear actuator (102) are respectively fixed on the second bridge-type frame body (27). 3. The dual-axis control handling manipulator according to claim 2, characterized in that, the first linear actuator (101) and the second linear actuator (102) are both composed of a ball screw (18) and a linear light shaft (22), each group of linear actuators also includes a motor (16), a coupling (17) driving the ball screw, and a slider (201 or 202) actively installed on the ball screw ), a horizontal bracket is provided below each linear optical axis (22), and the photoelectric sensor (14) and the micro switch (15) are installed on the horizontal bracket. 4. The dual-axis control handling manipulator according to claim 3, characterized in that the sliding plane of the slider (201) of the first linear actuator is perpendicular to the sliding plane of the slider (202) of the second linear actuator , the second linear actuator (101) and the first linear actuator (102) are fixed on the slider (202) of the second linear actuator (101). 5. The dual-axis control transfer manipulator according to claim 3, characterized in that, the number of micro switches (15) in each group of linear actuators is two. 6. The dual-axis control handling manipulator according to claim 2, characterized in that, the pneumatic actuator (9) is provided with a cylinder (23), a cylinder bracket (24), a magnetic sensor (25), and the second The linear actuator (102) includes a slider (202), the cylinder (23) is fixed on one side of the slider (202) through two cylinder brackets (24), and the vacuum adsorption system (4) is fixed on The end of the cylinder (23) realizes the transportation of objects. 7. The dual-axis control handling manipulator according to claim 1, characterized in that, the sensor system (3) includes a diffuse reflection sensor (13), a photoelectric sensor (14), a micro switch (15), and a magnetic sensor (25). 8. The dual-axis control handling manipulator according to claim 1, characterized in that the manipulator control system (6) is provided with a controller. 9. The dual-axis control transfer manipulator according to claim 1, characterized in that the air circuit system (5) includes a vacuum switch detection feedback element.

Images