CN209256936U - A kind of catching robot using single-chip microcontroller - Google Patents
A kind of catching robot using single-chip microcontroller Download PDFInfo
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- CN209256936U CN209256936U CN201821972942.6U CN201821972942U CN209256936U CN 209256936 U CN209256936 U CN 209256936U CN 201821972942 U CN201821972942 U CN 201821972942U CN 209256936 U CN209256936 U CN 209256936U
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- chip microcontroller
- gear
- support plate
- motor
- driving
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Abstract
The utility model discloses a kind of catching robots using single-chip microcontroller, including control mechanism, driving mechanism, driving member and executing agency, the driving mechanism and executing agency are connected with control mechanism respectively by the peripheral circuit of control mechanism, the driving mechanism, driving member and executing agency are all set in the top of control mechanism, and the driving member and executing agency are sequentially connected with driving mechanism.The utility model passes through the photoelectric sensor and host computer that are connected respectively with SCM peripheral circuit, it realizes and manipulator is manipulated by host computer, instead of manual hand manipulation's manipulator, promote working efficiency, first motor is controlled by driving chip by single-chip microcontroller and the second motor drives driving member and executing agency's cooperating syringe, mechanical crawl hand is freely moved, hand grabbing workpiece, the adaptability of elevating mechanism hand are grabbed by solenoid valve control machinery.
Description
Technical field
The utility model relates to manipulator technical field more particularly to a kind of catching robots using single-chip microcontroller.
Background technique
Mechanical automation at present has become theme outstanding in modern industry, chemical industry equicontinuity production process it is automatic
Change has been substantially achieved solution, but in mechanical industry, the production processes such as processing, assembly are not continuous, robot
The appearance and application of technology have established solid foundation for the mechanization of production operation, and manipulator refers to that program can be changed only more
It is vertical automatically grab, the device of handling work, operational instrument, be directed to electronics, mechanics, automatic control technology, sensing
The scientific domains such as device technology and computer technology, are a kind of partial functions with human upper limb, and working procedure is fixed automatic
Makeup is set, and in brief, manipulator is exactly to replace manpower with machine, can by workpiece from be somewhere transferred to designated position or
Workpiece manipulation is processed as requested, and manipulator is generally divided into three classes, i.e. Unimate, operation machine hand and professed machine
Hand.
Although existing catching robot has of simple structure and low cost and repairs the advantages such as easy, there is still a need for
Manual hand manipulation's manipulator, and adaptability is poor, it is proposed that a kind of catching robot using single-chip microcontroller solves above-mentioned ask
Topic.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and propose a kind of using single-chip microcontroller
Catching robot.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of catching robot using single-chip microcontroller, including control mechanism, driving mechanism, driving member and executing agency, institute
Driving mechanism and executing agency is stated to be connected with control mechanism respectively by the peripheral circuit of control mechanism, the driving mechanism,
Driving member and executing agency are all set in the top of control mechanism, and the driving member and executing agency, which are driven with driving mechanism, to be connected
It connects.
Preferably, the control mechanism includes photoelectric sensor, host computer and single-chip microcontroller, the photoelectric sensor and upper
The peripheral circuit that machine passes through single-chip microcontroller is connected with single-chip microcontroller respectively, the model AT89C52 that the single-chip microcontroller uses.
Preferably, the driving mechanism includes the first support plate being rotationally connected with above control mechanism, and described first
The upper end of fagging is fixedly connected with L-type plate, and the upper end of the L-type plate is fixedly connected with first motor, the drive of the first motor
First connecting rod is fixedly connected on moving axis, the lower end of the first connecting rod is arranged through L-type plate, on the first connecting rod
It is fixedly and coaxially connected first gear, the driving member rotation is arranged through the first support plate, the first gear and driving member
Transmission connection, the driving member are equipped with the second support plate, and the upper end of second support plate is fixedly connected with bracket, the branch
The upper end of frame is fixedly connected with the second motor, is fixedly connected with the second connecting rod in the drive shaft of second motor, and described
The lower end of two connecting rods is arranged through bracket, has been fixedly and coaxially connected second gear, the execution machine in second connecting rod
Structure is arranged through bracket and the second support plate, and the second gear and executing agency are sequentially connected.
Preferably, the first motor and the second motor are servo motor, and the first motor and the second motor are logical
Chip of overdriving is connected with SCM peripheral circuit.
Preferably, the driving member includes that rotation runs through the shaft for being connected to the second support plate and the setting of the first support plate,
The shaft has been fixedly and coaxially connected rolling bearing, the shaft on one end between the second support plate and the first support plate
On be fixedly and coaxially connected third gear, the third gear is engaged with first gear.
Preferably, the executing agency includes rotation through the screw rod being connected on bracket and the second support plate, the silk
The 4th gear is fixedly and coaxially connected on bar, the 4th gear is engaged with second gear, and the lower end of the screw rod is fixedly connected
There is solenoid valve, the solenoid valve is connected by the peripheral circuit of single-chip microcontroller with single-chip microcontroller, and the lower end of the solenoid valve is fixed to be connected
It is connected to mechanical crawl hand.
The utility model compared with prior art, it has the advantage that:
1, it by the photoelectric sensor and host computer that are connected respectively with SCM peripheral circuit, realizes and is grasped by host computer
Manipulator is controlled, instead of manual hand manipulation's manipulator, promotes working efficiency.
2, it is used cooperatively by driving mechanism, driving member, executing agency, mechanical crawl hand is freely moved
It is dynamic, hand grabbing workpiece, the adaptability of elevating mechanism hand are grabbed by solenoid valve control machinery.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of catching robot using single-chip microcontroller perspective diagram；
Fig. 2 be the utility model proposes a kind of catching robot using single-chip microcontroller structural schematic diagram；
Fig. 3 is the partial enlarged view in Fig. 1 at A；
Fig. 4 is the partial enlarged view in Fig. 1 at B.
In figure: 1 control mechanism, 2 driving mechanisms, 3 driving members, 4 executing agencies, 5 photoelectric sensors, 6 host computers, 7 monolithics
Machine, 8 first support plates, 9L template, 10 first motors, 11 first connecting rods, 12 first gears, 13 second support plates, 14 brackets,
15 second motors, 16 second connecting rods, 17 second gears, 18 shafts, 19 rolling bearings, 20 third gears, 21 screw rods, 22 the 4th
Gear, 23 solenoid valves, 24 mechanical crawl hands.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-4, a kind of catching robot using single-chip microcontroller, including control mechanism 1, driving mechanism 2, driving member 3
With executing agency 4, driving mechanism 2 and executing agency 4 are connected with control mechanism 1 respectively by the peripheral circuit of control mechanism 1,
Driving mechanism 2, driving member 3 and executing agency 4 are all set in the top of control mechanism 1, driving member 3 and executing agency 4 with drive
Motivation structure 2 is sequentially connected, and control mechanism 1 includes photoelectric sensor 5, host computer 6 and single-chip microcontroller 7, photoelectric sensor 5 and host computer
6 are connected with single-chip microcontroller 7 by the peripheral circuit of single-chip microcontroller 7 respectively, the model AT89C52 that single-chip microcontroller 7 uses.
Driving mechanism 2 includes being rotationally connected with the first support plate 8 of 1 top of control mechanism, and the upper end of the first support plate 8 is solid
Surely it is connected with L-type plate 9, the upper end of L-type plate 9 is fixedly connected with first motor 10, is fixedly connected in the drive shaft of first motor 10
There is first connecting rod 11, the lower end of first connecting rod 11 is arranged through L-type plate 9, has been fixedly and coaxially connected on first connecting rod 11
First gear 12, the rotation of driving member 3 are arranged through the first support plate 8, and first gear 12 and driving member 3 are sequentially connected, driving member 3
It is equipped with the second support plate 13, the upper end of the second support plate 13 is fixedly connected with bracket 14, and the upper end of bracket 14 is fixedly connected with
Second motor 15 is fixedly connected with the second connecting rod 16 in the drive shaft of second motor 15, and the lower end of the second connecting rod 16 is run through
Bracket 14 is arranged, and second gear 17 has been fixedly and coaxially connected in the second connecting rod 16, and bracket 14 and second are run through in executing agency 4
Fagging 13 is arranged, and second gear 17 and executing agency 4 are sequentially connected.
First motor 10 and the second motor 15 are servo motor, and servo motor is the prior art, and this will not be repeated here, the
One motor 10 and the second motor 15 are connected by driving chip with the peripheral circuit of single-chip microcontroller 7, and driving member 3 includes that rotation is passed through
The shaft 18 for being connected to the second support plate 13 and the setting of the first support plate 8 is worn, shaft 18 is located at the second support plate 13 and first
It has been fixedly and coaxially connected rolling bearing 19 on one end between fagging 8, third gear 20 has been fixedly and coaxially connected in shaft 18, the
Three gears 20 are engaged with first gear 12, and the first gear 12 and third gear 20 of engagement are convenient for 13 turns of the second support plate of drive
Dynamic, executing agency 4 includes that rotation is coaxially fixed on the screw rod 21 being connected on bracket 14 and the second support plate 13, screw rod 21
It is connected with the 4th gear 22, the 4th gear 22 is engaged with second gear 17, and the 4th gear 22 and the second gear 17 of engagement are convenient for
Screw rod 21 is driven to rotate, the lower end of screw rod 21 is fixedly connected with solenoid valve 23, and solenoid valve 23 is the prior art, does not do herein superfluous
It states, solenoid valve 23 is connected by the peripheral circuit of single-chip microcontroller 7 with single-chip microcontroller 7, and the lower end of solenoid valve 23 is fixedly connected with machinery
Grab hand 24.
In the utility model, by photoelectric sensor 5 by data collection into host computer 6, manual operation host computer 6 is simultaneously
Single-chip microcontroller 7 issues instruction, so that single-chip microcontroller 7 controls first motor 10 and the second motor 15 by driving chip, so that the first electricity
Machine 10 drives the first gear 12 of engagement and third gear 20 to rotate, and the second motor 15 drives the second gear 17 and the 4th of engagement
Gear 22 rotates, to drive 4 cooperating syringe of driving member 3 and executing agency, mechanical crawl hand 24 is freely moved,
And the solenoid valve 23 by being connected with single-chip microcontroller 7 controls mechanical crawl 24 grabbing workpiece of hand.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of catching robot using single-chip microcontroller, including control mechanism (1), driving mechanism (2), driving member (3) and execution
Mechanism (4), which is characterized in that the driving mechanism (2) and executing agency (4) are distinguished by the peripheral circuit of control mechanism (1)
It is connected with control mechanism (1), the driving mechanism (2), driving member (3) and executing agency (4) are all set in control mechanism (1)
Top, the driving member (3) and executing agency (4) are sequentially connected with driving mechanism (2).
2. a kind of catching robot using single-chip microcontroller according to claim 1, which is characterized in that the control mechanism
It (1) include photoelectric sensor (5), host computer (6) and single-chip microcontroller (7), the photoelectric sensor (5) and host computer (6) pass through
The peripheral circuit of single-chip microcontroller (7) is connected with single-chip microcontroller (7) respectively, the model AT89C52 that the single-chip microcontroller (7) uses.
3. a kind of catching robot using single-chip microcontroller according to claim 1, which is characterized in that the driving mechanism
It (2) include the first support plate (8) being rotationally connected with above control mechanism (1), the upper end of first support plate (8) is fixed to be connected
It is connected to L-type plate (9), the upper end of the L-type plate (9) is fixedly connected with first motor (10), the driving of the first motor (10)
It being fixedly connected on axis first connecting rod (11), the lower end of the first connecting rod (11) is arranged through L-type plate (9), and described the
It has been fixedly and coaxially connected in one connecting rod (11) first gear (12), driving member (3) rotation is set through the first support plate (8)
It sets, the first gear (12) and driving member (3) are sequentially connected, and the driving member (3) is equipped with the second support plate (13), described
The upper end of second support plate (13) is fixedly connected with bracket (14), and the upper end of the bracket (14) is fixedly connected with the second motor
(15), it is fixedly connected with the second connecting rod (16) in the drive shaft of second motor (15), second connecting rod (16)
Lower end is arranged through bracket (14), has been fixedly and coaxially connected second gear (17), the execution on second connecting rod (16)
Mechanism (4) is arranged through bracket (14) and the second support plate (13), and the second gear (17) and executing agency (4) transmission connect
It connects.
4. a kind of catching robot using single-chip microcontroller according to claim 3, which is characterized in that the first motor
(10) and the second motor (15) is servo motor, the first motor (10) and the second motor (15) by driving chip with
The peripheral circuit of single-chip microcontroller (7) is connected.
5. a kind of catching robot using single-chip microcontroller according to claim 3, which is characterized in that the driving member (3)
Including rotating through the shaft (18) for being connected to the second support plate (13) and the first support plate (8) setting, shaft (18) position
It has been fixedly and coaxially connected rolling bearing (19) on one end between the second support plate (13) and the first support plate (8), described turn
It has been fixedly and coaxially connected on axis (18) third gear (20), the third gear (20) is engaged with first gear (12).
6. a kind of catching robot using single-chip microcontroller according to claim 3, which is characterized in that the executing agency
It (4) include that rotation is coaxial on the screw rod (21) being connected on bracket (14) and the second support plate (13), the screw rod (21)
It is fixedly connected with the 4th gear (22), the 4th gear (22) is engaged with second gear (17), the lower end of the screw rod (21)
It being fixedly connected with solenoid valve (23), the solenoid valve (23) is connected by the peripheral circuit of single-chip microcontroller (7) with single-chip microcontroller (7),
The lower end of the solenoid valve (23) is fixedly connected with mechanical crawl hand (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821972942.6U CN209256936U (en) | 2018-11-28 | 2018-11-28 | A kind of catching robot using single-chip microcontroller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821972942.6U CN209256936U (en) | 2018-11-28 | 2018-11-28 | A kind of catching robot using single-chip microcontroller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256936U true CN209256936U (en) | 2019-08-16 |
Family
ID=67564446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821972942.6U Expired - Fee Related CN209256936U (en) | 2018-11-28 | 2018-11-28 | A kind of catching robot using single-chip microcontroller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209256936U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203819A (en) * | 2020-03-17 | 2020-05-29 | 西安航空学院 | Fixing device is used in automobile parts processing |
-
2018
- 2018-11-28 CN CN201821972942.6U patent/CN209256936U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203819A (en) * | 2020-03-17 | 2020-05-29 | 西安航空学院 | Fixing device is used in automobile parts processing |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190816 Termination date: 20191128 |
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| CF01 | Termination of patent right due to non-payment of annual fee |