CN212966620U - Electromechanical integration teaching training device of multifunctional manipulator - Google Patents
Electromechanical integration teaching training device of multifunctional manipulator Download PDFInfo
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- CN212966620U CN212966620U CN202022043868.3U CN202022043868U CN212966620U CN 212966620 U CN212966620 U CN 212966620U CN 202022043868 U CN202022043868 U CN 202022043868U CN 212966620 U CN212966620 U CN 212966620U
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- guide rail
- control module
- plc control
- material detection
- conveyor belt
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Abstract
The utility model discloses a real device of instructing of mechatronic teaching of multi-functional manipulator, comprising a base plate, be provided with feeding mechanism on the bottom plate, transport mechanism, snatch the mechanism, guide rail mechanism and PLC control module, transport mechanism is provided with material detection mechanism, PLC control module respectively with feeding mechanism, transport mechanism, snatch the mechanism, guide rail mechanism and material detection mechanism electric connection, it is including installing the base on guide rail mechanism to snatch the mechanism, install the lift cylinder on the base, the lift cylinder output shaft of lift cylinder has rotatory finger cylinder, the pneumatic finger output shaft of rotatory finger cylinder has a plurality of pneumatic finger, compared with the prior art, it is liftable to snatch the mechanism, it is rotatable, when pneumatic finger snatchs the material, can realize the centre gripping of material, upset and location conveying, and high functionality, and wide application scope.
Description
Technical Field
The utility model relates to a real device of instructing of teaching, especially a real device of instructing of mechatronic teaching of multi-functional manipulator.
Background
The real device of instructing of current teaching uses the sucking disc as snatching the mechanism, snatchs the material through the sucking disc, but the suction of sucking disc is not enough, can not absorb overweight material, restricts the range of application easily, and unable centre gripping material more can not realize complicated operation moreover, and is functional relatively poor, rocks easily when snatching the material, unstability.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model provides a wide application range, strong functionality, stable operation's the real device of instructing of mechatronic teaching of multifunctional manipulator.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a real device of instructing of mechatronic teaching of multi-functional manipulator, includes the bottom plate, be provided with feeding mechanism, transport mechanism on the bottom plate, snatch mechanism, guide rail mechanism and PLC control module, transport mechanism is provided with material detection mechanism, PLC control module respectively with feeding mechanism, transport mechanism, snatch mechanism, guide rail mechanism and material detection mechanism electric connection, it is including installing to snatch the mechanism base in the guide rail mechanism, install the lift cylinder on the base, the lift cylinder output shaft of lift cylinder has rotatory finger cylinder, the pneumatic finger output shaft of rotatory finger cylinder has a plurality of pneumatic finger.
The feeding mechanism comprises a well-shaped charging platform, a through groove is formed in the bottom of the well-shaped charging platform, a material outlet of the through groove is connected with one end of the conveying mechanism, a material pushing block is arranged inside the through groove, a feeding mechanism pushing device is arranged on one side of the material pushing block, and the feeding mechanism pushing device is electrically connected with the PLC control module.
The conveying mechanism comprises a conveying mechanism support, a conveying belt arranged on the conveying mechanism support and a conveying belt driving device in transmission connection with the conveying belt, and the conveying belt driving device is electrically connected with the PLC control module.
One side of conveyer belt is provided with the discharge hopper, material detection mechanism including install the conveyer belt opposite side and with transport mechanism support fixed connection's material detection mechanism support, still install material detection mechanism thrust unit and optical fiber sensor on the material detection mechanism support, optical fiber sensor is located the top of conveyer belt, and a material detection mechanism thrust unit then corresponds a discharge hopper.
It still includes alarm device and display, alarm device and display all with PLC control module electric connection.
The input of lift cylinder and the input of rotatory finger cylinder all are connected with a pneumatic solenoid valve island, pneumatic solenoid valve island is connected with the filtration relief pressure valve, the filtration relief pressure valve with PLC control module electric connection.
Guide rail mechanism includes the guide rail frame, the guide rail shelf location have the level set up the guide rail post, with guide rail post parallel arrangement's ball screw and drive ball screw's guide rail drive arrangement, the bottom of base is provided with screw hole and guide rail hole, the assembly back, ball screw runs through the screw hole, and with screw hole threaded connection, the guide rail post runs through the guide rail hole, guide rail drive arrangement with PLC control module electric connection.
And the surface of the guide rail frame is also provided with a graduated scale.
The utility model has the advantages that: compared with the prior art, the utility model discloses a snatch mechanism liftable, rotatable when the material is snatched to pneumatic finger, can realize centre gripping, upset and the location conveying of material, the function is strong, and the range of application is wider.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is one of the schematic structural diagrams of the present invention;
fig. 2 is a second schematic structural diagram of the present invention;
fig. 3 is a plan view of the present invention.
Detailed Description
Referring to fig. 1 to 3, a mechatronic teaching training device of a multifunctional manipulator comprises a bottom plate 1, wherein a feeding mechanism, a conveying mechanism, a grabbing mechanism, a guide rail mechanism and a PLC (programmable logic controller) control module 2 are arranged on the bottom plate 1, the conveying mechanism is provided with a material detection mechanism, the PLC control module 2 is respectively electrically connected with the feeding mechanism, the conveying mechanism, the grabbing mechanism, the guide rail mechanism and the material detection mechanism, the grabbing mechanism comprises a base 11 arranged on the guide rail mechanism, a lifting cylinder 12 is arranged on the base 11 (the lifting cylinder 12 is provided with a lifting cylinder output shaft capable of lifting), a lifting cylinder output shaft of the lifting cylinder 12 is connected with a rotary finger cylinder 13 (the lifting cylinder output shaft is connected with the rotary finger cylinder 13 through a connecting plate which is arranged horizontally, and the rotary finger cylinder 13 is provided with a pneumatic finger output shaft capable of rotating circumferentially along the horizontal direction), pneumatic finger output shaft of rotatory finger cylinder 13 has a plurality of pneumatic finger 14, compares with prior art, snatchs mechanism liftable, rotatable, when pneumatic finger snatchs the material, can realize centre gripping, upset, the location conveying of material, and the function is strong, and the range of application is wider, and pneumatic finger output shaft is provided with a bar groove, and pneumatic finger is located the inside in bar groove.
Specifically, the rotary finger cylinder 13 is a rotary cylinder.
The guide rail mechanism enables the grabbing mechanism to have the function of moving back and forth in the horizontal direction, the lifting cylinder enables the pneumatic finger to have the function of lifting up and down, and the rotating finger cylinder enables the pneumatic finger to have the rotating function, so that the pneumatic finger can accurately grab materials.
Wherein feeding mechanism can give transport mechanism with the material transmission, and material detection mechanism is used for detecting material and material position on the transport mechanism, snatchs the material that the mechanism is used for snatching transport mechanism, sends to different positions and relays and assembles, and the student passes through each mechanism work of PLC control module control to accomplish study and the exercise to the sound light electricity integration technique, guaranteed good teaching effect
The feeding mechanism comprises a well-shaped charging platform 21, a through groove is formed in the bottom of the well-shaped charging platform 21, a material outlet of the through groove is connected with one end of the conveying mechanism, a material pushing block 22 is installed inside the through groove, a feeding mechanism pushing device 23 is installed on one side of the material pushing block 22, the feeding mechanism pushing device 23 is electrically connected with the PLC control module 2, a user can stack a plurality of materials in the well-shaped charging platform 21, the PLC control module 2 controls the feeding mechanism pushing device 23, the material pushing block 22 pushes the materials located at the bottommost part of the well-shaped charging platform 21 out of the material outlet of the through groove and conveys the materials to the conveying mechanism (the feeding mechanism pushing device 23 is provided with a pushing shaft capable of stretching back and forth along the horizontal direction, the feeding mechanism pushing device 23 can be an air cylinder), an arc-shaped notch is formed in one side of the material pushing block 22, the arc-shaped notch is matched with the shape of the material.
And a material inlet communicated with the through groove is formed in the axial direction of the well-shaped charging platform 21.
The conveying mechanism comprises a conveying mechanism support 31, a conveying belt 32 arranged on the conveying mechanism support 31 and a conveying belt driving device in transmission connection with the conveying belt 32, and the conveying belt driving device is electrically connected with the PLC control module 2.
The conveying belt driving device is a speed reducing motor, belt pulleys are arranged at the front end and the rear end of the conveying belt, one belt pulley is connected with the output end of the speed reducing motor, a pulse encoder is arranged on the speed reducing motor and can realize accurate control of conveying speed of the conveying belt, a positioning plate 34 and a photoelectric sensor (not shown in the figure) are arranged at the tail end of the conveying belt, the positioning plate 34 is used for clamping materials, the photoelectric sensor is used for detecting the positions of the materials on the conveying belt, the materials are conveyed to the front end of the conveying belt from a feeding mechanism, the materials are conveyed to the tail end of the conveying belt under the driving of the conveying belt driving device, the material detection mechanism detects the materials on the conveying belt in the conveying process and eliminates the materials which are not matched with the set values, and when the photoelectric sensor detects that the materials are, the PLC control module drives the grabbing mechanism, and the grabbing mechanism grabs materials.
A discharge hopper 33 is arranged on one side of the conveyor belt 32, the material detection mechanism comprises a material detection mechanism support 41 which is arranged on the other side of the conveyor belt 32 and is fixedly connected with the conveyor mechanism support 31, the material detection mechanism support 41 is also provided with a material detection mechanism pushing device 42 and an optical fiber sensor 43, the optical fiber sensor 43 is arranged above the conveyor belt 32, one material detection mechanism pushing device 42 corresponds to one discharge hopper 33, in the embodiment, the number of the material detection mechanism supports is three, the optical fiber sensors on different material detection mechanism supports have different detection functions, wherein the optical fiber sensor near the front end of the conveyor belt is used for detecting the material, the optical fiber sensor in the middle is used for detecting the color of the material, and the last optical fiber sensor is used for detecting the front and back of the material, when the material which is not matched with the set value is detected, the optical fiber sensor sends information to the PLC control module, the PLC control module controls the material detection mechanism pushing device, the material detection mechanism pushing device pushes the material out of the conveying belt, and the material finally flows out of the discharging hopper.
It still includes alarm device 51 and display 52, alarm device 51 and display 52 all with 2 electric connection of PLC control module, in this embodiment, alarm device 51 includes warning banks and bee calling organ, and warning banks has three kinds of mode, for green, yellow and red, corresponds respectively and shows for normal work, scram and malfunction alerting, bee calling organ carries out audible alarm when malfunction alerting and points out, PLC control module is provided with the RS485 interface, be used for with the display is connected, PLC control module still is provided with the RS422 interface, and convenience of customers downloads the control program when real standard teaching, display 52 is provided with various control button.
The input end of the lifting cylinder 12 and the input end of the rotating finger cylinder 13 are both connected with a pneumatic electromagnetic valve island 61, the pneumatic electromagnetic valve island 61 is connected with a filtering and pressure reducing valve 62, and the filtering and pressure reducing valve 62 is electrically connected with the PLC control module 2.
Guide rail mechanism includes guide rail frame 71, install the guide rail post 72 that the level set up on guide rail frame 71, with guide rail post 72 parallel arrangement's ball screw 73 and drive ball screw 73's guide rail drive arrangement, the bottom of base 11 is provided with screw hole and guide rail hole, the assembly back, ball screw 73 runs through the screw hole, and with screw hole threaded connection, guide rail post 72 runs through the guide rail hole, guide rail drive arrangement with 2 electric connection of PLC control module, guide rail drive arrangement can be the motor.
And the surface of the guide rail frame is also provided with a graduated scale for determining the moving distance of the grabbing mechanism.
The above embodiments do not limit the scope of the present invention, and those skilled in the art can make equivalent modifications and variations without departing from the overall concept of the present invention.
Claims (8)
1. The utility model provides a real device of instructing of mechatronic teaching of multi-functional manipulator, includes bottom plate (1), be provided with feeding mechanism, transport mechanism on bottom plate (1), snatch mechanism, guide rail mechanism and PLC control module (2), transport mechanism is provided with material detection mechanism, PLC control module (2) respectively with feeding mechanism, transport mechanism, snatch mechanism, guide rail mechanism and material detection mechanism electric connection, its characterized in that snatch the mechanism including installing base (11) on the guide rail mechanism, install lift cylinder (12) on base (11), the lift cylinder output shaft of lift cylinder (12) has rotatory finger cylinder (13), the pneumatic finger output shaft of rotatory finger cylinder (13) has a plurality of pneumatic finger (14).
2. The mechatronic teaching and practical training device of the multifunctional manipulator as claimed in claim 1, wherein the feeding mechanism comprises a well-shaped loading platform (21), a through groove is formed in the bottom of the well-shaped loading platform (21), a material outlet of the through groove is connected with one end of the conveying mechanism, a material pushing block (22) is installed inside the through groove, a feeding mechanism pushing device (23) is installed on one side of the material pushing block (22), and the feeding mechanism pushing device (23) is electrically connected with the PLC control module (2).
3. The mechatronic teaching and practical training device of the multifunctional manipulator as claimed in claim 1, wherein the conveying mechanism comprises a conveying mechanism support (31), a conveyor belt (32) mounted on the conveying mechanism support (31), and a conveyor belt driving device in transmission connection with the conveyor belt (32), and the conveyor belt driving device is electrically connected with the PLC control module (2).
4. The mechatronic teaching practical training device of the multifunctional manipulator according to claim 3, wherein a discharge hopper (33) is arranged on one side of the conveyor belt (32), the material detection mechanism comprises a material detection mechanism support (41) which is arranged on the other side of the conveyor belt (32) and is fixedly connected with the conveyor mechanism support (31), a material detection mechanism pushing device (42) and an optical fiber sensor (43) are further arranged on the material detection mechanism support (41), and the optical fiber sensor (43) is positioned above the conveyor belt (32).
5. The mechatronic teaching and training device of the multifunctional manipulator is characterized in that the device further comprises an alarm device (51) and a display (52), wherein the alarm device (51) and the display (52) are electrically connected with the PLC control module (2).
6. The mechatronic teaching and practical training device of the multifunctional manipulator according to claim 1, characterized in that the input end of the lifting cylinder (12) and the input end of the rotating finger cylinder (13) are both connected with a pneumatic solenoid valve island (61), the pneumatic solenoid valve island (61) is connected with a filtering and pressure reducing valve (62), and the filtering and pressure reducing valve (62) is electrically connected with the PLC control module (2).
7. The mechatronic teaching practical training device of the multifunctional manipulator according to claim 1, characterized in that the guide rail mechanism comprises a guide rail frame (71), a horizontally arranged guide rail column (72), a ball screw (73) arranged in parallel with the guide rail column (72) and a guide rail driving device for driving the ball screw (73) are mounted on the guide rail frame (71), a threaded hole and a guide rail hole are formed in the bottom of the base (11), after assembly, the ball screw (73) penetrates through the threaded hole and is in threaded connection with the threaded hole, the guide rail column (72) penetrates through the guide rail hole, and the guide rail driving device is electrically connected with the PLC control module (2).
8. The mechatronic teaching and practical training device of the multifunctional manipulator according to claim 7, characterized in that a scale is further arranged on the surface of the guide rail frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022043868.3U CN212966620U (en) | 2020-09-17 | 2020-09-17 | Electromechanical integration teaching training device of multifunctional manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022043868.3U CN212966620U (en) | 2020-09-17 | 2020-09-17 | Electromechanical integration teaching training device of multifunctional manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212966620U true CN212966620U (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022043868.3U Expired - Fee Related CN212966620U (en) | 2020-09-17 | 2020-09-17 | Electromechanical integration teaching training device of multifunctional manipulator |
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| Country | Link |
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| CN (1) | CN212966620U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113362670A (en) * | 2021-06-30 | 2021-09-07 | 重庆两江公共交通有限公司 | Bus engine teaching training device |
-
2020
- 2020-09-17 CN CN202022043868.3U patent/CN212966620U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113362670A (en) * | 2021-06-30 | 2021-09-07 | 重庆两江公共交通有限公司 | Bus engine teaching training device |
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| GR01 | Patent grant | ||
| 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: 20210413 Termination date: 20210917 |