CN205984107U - Desktop robot is used in teaching based on PLC control - Google Patents
Desktop robot is used in teaching based on PLC control Download PDFInfo
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- CN205984107U CN205984107U CN201620510069.3U CN201620510069U CN205984107U CN 205984107 U CN205984107 U CN 205984107U CN 201620510069 U CN201620510069 U CN 201620510069U CN 205984107 U CN205984107 U CN 205984107U
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Abstract
The utility model discloses a desktop robot is used in teaching based on PLC control, including base support, a joint drive servo motor, base flange, first joint RV transmission, a horizontally connect arm, counter flange, second joint RV transmission, the 2nd joint drive servo motor, protection cover plate, fixing base, supporting seat, lead screw, horizontally connect board, hollow tube, the 2nd horizontally connect arm, the 3rd joint drive servo motor, lift servo motor 3, servo motor 4, PLC controller and servo motor 5, the utility model discloses with transparent RV reduction gear, carry out each articular transmission to RV reduction gear, lift vacuum chuck that the servo motor control that corresponds through PLC controller control corresponds carry out work, and decomposition when making the teaching demonstration, assembly and secondary development all become relatively easy, enlarge the utility function of demonstration, and PLC control theory is clear understandable, simulate effectually, have good application prospect.
Description
Technical field
This utility model is related to robot teaching's equipment technical field and in particular to a kind of teaching based on PLC control is used
Desktop machine people.
Background technology
It is currently used for the robot imparting knowledge to students, because part is relatively decentralized, modularity or assembly are less, and repetitive positioning accuracy is relatively
Difference, and, using simple harmonic speed reducer or planetary reduction gear cooperation stepping or servomotor process, the joint being capable of
Transmission, the control process of various steppings or servomotor it is impossible to enough multimodes are controlled for industrial robot motion,
Also have the carry load ability of the robot end being used for teaching all more relatively low, the practical function that produces of demonstration is also subject to
Limitation, and there is simulation effect on driving birds is not good, student's indigestion grasps its principle and the problem used.
Utility model content
The technical problem that this utility model is solved is to overcome the robot being currently used for imparting knowledge to students, and part is relatively decentralized, repeats
Positioning precision is poor, and carry load ability is all more relatively low, the problem of simulation effect on driving birds is not good.
In order to achieve the above object, this utility model be employed technical scheme comprise that：
A kind of desk for teaching face robot based on PLC control it is characterised in that：Drive including base support, the first joint
Dynamic servomotor, base flange, the first joint RV actuating device, first level linking arm, counter flange, second joint RV transmission
Device, second joint drive servomotor, shield plate, fixed seat, support base, screw mandrel, horizontal connecting plate, hollow pipe, second
Level connection joint arm, the 3rd joint drive servomotor, lifting vacuum cup, control panel, PLC and touch display screen,
Described first joint drive servomotor is arranged in base support, and described first joint drive servomotor is located at
The output bearing of top is connected with the first joint RV actuating device by base flange, and described first joint RV actuating device leads to
Cross first level linking arm to be connected with counter flange, described counter flange is fixedly arranged above second joint RV actuating device, institute
The top stating second joint RV actuating device is provided with associated dynamic second joint driving servomotor, described second joint
RV actuating device is connected with the 3rd joint drive servomotor also by the second level connection joint arm, and described 3rd joint drive is watched
Take the underface that motor is located at the second level connection joint arm, the output bearing of described 3rd joint drive servomotor extends upward
Second level connection joint arm is simultaneously connected with fixed seat, described fixed seat be arranged above support base, and arrange between the two
Have screw mandrel, described shield plate is arranged on the outside of fixed seat, support base, screw mandrel, described fixed seat pass through horizontal connecting plate with
Hollow pipe is connected, and described hollow pipe vertically downward and runs through the second level connection joint arm, and described lifting vacuum cup is arranged on sky
The bottom of heart pipe,
Described first joint drive servomotor, second joint drive servomotor, the 3rd joint drive servomotor to lead to
Cross cable to be connected with PLC respectively, described control panel, touch display screen are connected with PLC respectively.
The aforesaid desk for teaching face robot based on PLC control it is characterised in that：Described first joint RV transmission dress
Put, second joint RV actuating device is RV decelerator, and shell is made using clear perspex material.
The aforesaid desk for teaching face robot based on PLC control it is characterised in that：Described horizontal connecting plate passes through nut
Twist-on is on screw mandrel.
The beneficial effects of the utility model are：Desk for teaching face robot based on PLC control of the present utility model, is three
Axle robot, takes modularized design, assembly assembling, using transparent RV decelerator, carries out the transmission in each joint moreover it is possible to be easy to
Observe, and control corresponding Serve Motor Control corresponding RV decelerator, lifting vacuum cup to carry out work by PLC
Make, so that decomposing during teaching demonstration, assembling and secondary development all become relatively easy, to improve repetitive positioning accuracy and end is born
Loading capability, expands the utilitarian function of demonstration, and PLC control principle is clearly understandable, and simulation effect is good, has a good application prospect.
Brief description
Fig. 1 is the structural representation of the desk for teaching face robot based on PLC control of the present utility model.
Fig. 2 is the control principle drawing of PLC of the present utility model.
Specific embodiment
Below in conjunction with Figure of description, this utility model is further described.
As shown in figure 1, the desk for teaching face robot based on PLC control of the present utility model, including base support 1,
One joint drive servomotor 2, base flange 3, the first joint RV actuating device 4, first level linking arm 5, counter flange 6,
Second joint RV actuating device 7, second joint drive servomotor 8, shield plate 9, fixed seat 10, support base 11, screw mandrel 12,
Horizontal connecting plate 13, hollow pipe 14, the second level connection joint arm 15, the 3rd joint drive servomotor 16, lifting vacuum cup 17,
Control panel 18, PLC 19 and touch display screen 20,
Described first joint drive servomotor 2 is arranged in base support 1, described first joint drive servomotor 2
Output bearing above is connected with the first joint RV actuating device 4 by base flange 3, described first joint RV transmission
Device 4 is connected with counter flange 6 by first level linking arm 5, and described counter flange 6 is fixedly arranged above second joint RV and passes
Dynamic device 7, the top of described second joint RV actuating device 7 is provided with associated dynamic second joint and drives servomotor 8,
Described second joint RV actuating device 7 is connected with the 3rd joint drive servomotor 16 also by the second level connection joint arm 15,
Described 3rd joint drive servomotor 16 is located at the underface of the second level connection joint arm 15, described 3rd joint drive servo electricity
The output bearing of machine 16 is extended upward the second level connection joint arm 15 and is connected with fixed seat 10, just the going up of described fixed seat 10
Side is provided with support base 11, and is provided with screw mandrel 12 between the two, described shield plate 9 be arranged on fixed seat 10, support base 11,
The outside of screw mandrel 12, described fixed seat 10 is connected with hollow pipe 14 by horizontal connecting plate 13, described hollow pipe 14 vertical to
Descend and run through the second level connection joint arm 15, described lifting vacuum cup 17 is arranged on the bottom of hollow pipe 14,
Described first joint drive servomotor 2, second joint drive servomotor 8, the 3rd joint drive servomotor
16 are connected with PLC 19 respectively by cable, described control panel 18, touch display screen 20 respectively with PLC
19 are connected, and wherein, touch display screen 20 can be used in showing the operation conditions of each joint drive servomotor, and lifting is true
The situation of suction disk 17 crawl load, described control panel 18 can arrange the operational factor of each joint drive servomotor.
Described first joint RV actuating device 4, second joint RV actuating device 7 are RV decelerator, RV decelerator be through
Help efficient RV decelerator, and it has high accuracy, heavy load, and it is multi-functional to meet teaching demonstration, and simulation effect is good, load capacity
By force, and shell is made using clear perspex material, it is easy to student and observe the first joint RV actuating device 4, second joint RV
Operation principle in actuating device 7 and process, are easy to learn.
Described horizontal connecting plate 13 passes through nut twist-on on screw mandrel 12, and the 3rd joint drive servomotor 16 controls screw mandrel
12 rotations, and drive hollow pipe 14 to realize lifting, described hollow pipe 14 drives the lifting of lifting vacuum cup 17, realizes robot
Promptly function.
Desk for teaching face robot based on PLC control of the present utility model, as shown in Fig. 2 operation principle is, is three axles
Robot, controls the first joint drive servomotor 2, second joint to drive servomotor the 8, the 3rd by PCL controller respectively
The driving of joint drive servomotor 16, wherein, the first joint drive servomotor 2 controls the first joint RV actuating device 4 work
Make, second joint drives servomotor 8 to control second joint RV actuating device 7 to work, and described first joint RV actuating device 4 is controlled
First level linking arm 5 processed turns round, and described second joint RV actuating device 7 controls the second level connection joint arm 15 to turn round, and described the
Three joint drive servomotor 16 controls screw mandrel 12 to rotate, and drives hollow pipe 14 to realize lifting, and described hollow pipe 14 drives and rises
The lifting linear motion of fall vacuum cup 17, for demonstration load action in kind.
In sum, the desk for teaching face robot based on PLC control of the present utility model, is three-axis robot, takes
Modularized design, assembly assembling, using transparent RV decelerator, carry out the transmission in each joint moreover it is possible to be easy to observe, and pass through
PLC controls corresponding Serve Motor Control corresponding RV decelerator, lifting vacuum cup to be operated and drill so that imparting knowledge to students
Decompose when showing, assembling and secondary development all become relatively easy, improve repetitive positioning accuracy and end load ability, expansion is drilled
The utilitarian function shown, PLC control principle is clearly understandable, and simulation effect is good, has a good application prospect.
Of the present utility model ultimate principle, principal character and advantage have been shown and described above.The technical staff of the industry
It should be appreciated that this utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description is originally
The principle of utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change
And improvement, these changes and improvements both fall within the range of claimed this utility model.This utility model claims scope
By appending claims and its equivalent thereof.
Claims (3)
1. based on PLC control desk for teaching face robot it is characterised in that：Including base support（1）, the first joint drive watches
Take motor（2）, base flange（3）, the first joint RV actuating device（4）, first level linking arm（5）, counter flange（6）,
Two joint RV actuating devices（7）, second joint drive servomotor（8）, shield plate（9）, fixed seat（10）, support base
（11）, screw mandrel（12）, horizontal connecting plate（13）, hollow pipe（14）, the second level connection joint arm（15）, the 3rd joint drive servo electricity
Machine（16）, lifting vacuum cup（17）, control panel（18）, PLC（19）And touch display screen（20）,
Described first joint drive servomotor（2）It is arranged on base support（1）Interior, described first joint drive servomotor
（2）Output bearing above passes through base flange（3）With the first joint RV actuating device（4）It is connected, described first pass
Section RV actuating device（4）By first level linking arm（5）With counter flange（6）It is connected, described counter flange（6）Top is solid
Surely there is second joint RV actuating device（7）, described second joint RV actuating device（7）Top be provided with associated dynamic
Two joint drive servomotors（8）, described second joint RV actuating device（7）Also by the second level connection joint arm（15）With the 3rd
Joint drive servomotor（16）It is connected, described 3rd joint drive servomotor（16）Positioned at the second level connection joint arm（15）
Underface, described 3rd joint drive servomotor（16）Output bearing extend upward the second level connection joint arm（15）And
With fixed seat（10）It is connected, described fixed seat（10）Be arranged above support base（11）, and it is provided with silk between the two
Bar（12）, described shield plate（9）It is arranged on fixed seat（10）, support base（11）, screw mandrel（12）Outside, described fixed seat
（10）By horizontal connecting plate（13）With hollow pipe（14）It is connected, described hollow pipe（14）Vertically downward and run through the second level
Linking arm（15）, described lifting vacuum cup（17）It is arranged on hollow pipe（14）Bottom,
Described first joint drive servomotor（2）, second joint drive servomotor（8）, the 3rd joint drive servomotor
（16）By cable respectively with PLC（19）It is connected, described control panel（18）, touch display screen（20）Respectively with
PLC（19）It is connected.
2. the desk for teaching face robot based on PLC control according to claim 1 it is characterised in that：Described first pass
Section RV actuating device（4）, second joint RV actuating device（7）It is RV decelerator, and shell adopts clear perspex material
Make.
3. the desk for teaching face robot based on PLC control according to claim 1 it is characterised in that：Described level is even
Fishplate bar（13）By nut twist-on in screw mandrel（12）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620510069.3U CN205984107U (en) | 2016-05-31 | 2016-05-31 | Desktop robot is used in teaching based on PLC control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620510069.3U CN205984107U (en) | 2016-05-31 | 2016-05-31 | Desktop robot is used in teaching based on PLC control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205984107U true CN205984107U (en) | 2017-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620510069.3U Active CN205984107U (en) | 2016-05-31 | 2016-05-31 | Desktop robot is used in teaching based on PLC control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205984107U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172103A (en) * | 2018-01-30 | 2018-06-15 | 江苏理工学院 | A kind of experiment device for teaching based on four axis robots |
| CN108305553A (en) * | 2018-01-30 | 2018-07-20 | 江苏理工学院 | A kind of experiment device for teaching of view-based access control model assembly |
| CN109465804A (en) * | 2018-11-09 | 2019-03-15 | 刘明贵 | A kind of desktop underloading robot |
-
2016
- 2016-05-31 CN CN201620510069.3U patent/CN205984107U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172103A (en) * | 2018-01-30 | 2018-06-15 | 江苏理工学院 | A kind of experiment device for teaching based on four axis robots |
| CN108305553A (en) * | 2018-01-30 | 2018-07-20 | 江苏理工学院 | A kind of experiment device for teaching of view-based access control model assembly |
| CN109465804A (en) * | 2018-11-09 | 2019-03-15 | 刘明贵 | A kind of desktop underloading robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |