CN103231367A - Uniaxial motion control practice training device and feeding and discharging method - Google Patents
Uniaxial motion control practice training device and feeding and discharging method Download PDFInfo
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Abstract
The invention discloses a uniaxial motion control practice training device and a feeding and discharging method. The device comprises an experiment table, a feeding and discharging mechanism, a detecting mechanism used for detecting the position of a sample, and a control mechanism, wherein the detecting mechanism is electrically connected with the control mechanism, brackets used for placing the sample are correspondingly arranged below the feeding and discharging mechanism, and at least two brackets are arranged; and the control mechanism of the device is used for driving a mechanical arm to operate so as to move the sample from the former bracket to the latter bracket, the detecting mechanism is used for facilitating the mechanical arm to conveniently pick up and accurately locate the sample, and the device has the characteristics of simple structure, convenience and flexibility in operation, high reliability, high speed, high precision and low application cost, thereby capable of being used for teaching for a long time without maintenance, facilitating students in fully mastering the working principle of a robot and the selection and design of mechanism components and improving the designing, assembling and debugging capabilities of the students on electromechanical systems.
Description
Technical field
The invention belongs to robot real training field of Educational Technology, be specifically related to a kind of single shaft motion control actual training device and loading and unloading method.
Background technology
But Cartesian robot be can realize automatically control overprogram, multivariant, freedom of motion builds up manipulator space right-angle relationship, multiduty.The behavior of its work mainly is by finishing the linear movement on X, Y, the Z axle.The single shaft control transfer robot then is a kind of Cartesian robot on basis, is mainly used in finishing the linear movement along on the single axle.
Cartesian robot can be used as various automation equipments very easily, finishes as welding, carrying, loading and unloading, packing, piling, de-stacking, detection, flaw detection, classification, assembling, decals, coding, plays sign indicating number, (soft imitative type) spraying, target follows, a series of activities such as explosive.Be specially adapted to many kinds, large batch of flexibility operation, improve the quality of products for stable, raise labour productivity, improve working conditions and the quick update of product plays a part very important.Along with the application of Cartesian robot more and more widely, the work of Robotics applied teaching seems important day by day, and present domestic Robotics teaching also is in stage of popularization not, basic teaching experiment platform still need be enriched constantly.
The general volume of the Cartesian robot of industrial application is bigger, and structure and computer programming are comparatively complicated, are unfavorable for using in teaching, can't make the operation principle of student's exact grasp Cartesian robot and selecting for use of structure member.
Therefore, in view of above problem, be necessary to propose a kind of single shaft motion control actual training device, simple in structure, easy to operate, being convenient to field research uses, make the student understand selection, the design of operation principle and each mechanism part of robot fully, to improve the student at the design aspect the Mechatronic Systems, assembling and debugging capability.
Summary of the invention
In view of this, the invention provides a kind of single shaft motion control actual training device and loading and unloading method, this apparatus structure is simple, easy to operate, being convenient to field research uses, make the student understand selection, the design of operation principle and each mechanism part of robot fully, improve the student in the purpose of the design aspect the Mechatronic Systems, assembling and debugging capability to reach.
A kind of single shaft motion control actual training device according to purpose proposition of the present invention, comprise experimental bench, be positioned at the charging and discharging mechanism on the described experimental bench and control the controlling organization that described charging and discharging mechanism moves, the below correspondence of described charging and discharging mechanism is provided with for the support of placing exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that can move forward and backward on the described frame, and drives the driving mechanism that described manipulator moves;
Described actual training device also comprises the testing agency for detection of the exemplar position, described testing agency is electrically connected with described controlling organization, by testing agency the position signalling of exemplar is passed to controlling organization, the operation of controlling organization control manipulator is positioned on another support after exemplar moves by picking up exemplar on the support and driving.
Preferably, the described manipulator vacuum suction head that comprises pneumatic actuator and be connected in described pneumatic actuator lower end.
Preferably, described pneumatic actuator is cylinder, described cylinder two ends are provided with the magnetic sensor for detection of cylinder ruuning situation, and described magnetic sensor is electrically connected with described controlling organization, and described controlling organization is controlled the break-make of described vacuum suction head according to cylinder ruuning situation.
Preferably, the ball-screw that described driving mechanism comprises stepper motor, shaft coupling, is in transmission connection with described shaft coupling, described ball-screw is provided with slide block, the junction of described slide block and described ball-screw is provided with the ball-screw screw, and described manipulator is fixedly connected on a side of described slide block.
Preferably, be arranged with at least one guiding optical axis in parallel with described ball-screw on the described frame, be provided with linear bearing with described direct light shaft connection place on the described slide block.
Preferably, described testing agency comprises and is positioned at the diffuse reflection sensor that whether exists for detection of exemplar on the described support.
Preferably, described testing agency also comprises the sensor that is arranged on the described frame for detection of the described manipulator in location, described sensor and the corresponding setting of described each support.
Preferably, the two ends of described frame also are provided with for the microswitch that limits described manipulator shift motion.
Preferably, described controlling organization is the PLC controller.
A kind of single shaft motion loading and unloading method adopts described single shaft motion control actual training device, and the concrete operations step is as follows:
(1), detect on the support whether have the experiment exemplar by the diffuse reflection sensor, and information is passed to controlling organization, controlling organization record corresponding information;
(2), after detection is finished, controlling organization is according to detection signal control step motor rotation, stepper motor drives the ball-screw rotation by shaft coupling, the ball-screw screw is under the effect of slide block and guiding optical axis, rotatablely moving of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block drive manipulator and move to the corresponding sensor place of exemplar place support, sensor passes to controlling organization with signal, and controlling organization control step motor stops;
(3), controlling organization control pneumatic actuator operation, cylinder drives the vacuum suction head and is displaced downwardly to desired location, after magnetic sensor detects cylinder and puts in place, signal is passed to controlling organization, the vacuum suction switch is opened in controlling organization control, exemplar is picked up in the energising of vacuum suction head, moves on the exhaust hood to reset;
(4), controlling organization control step motor remains in operation, and drives manipulator and moves forward to next sensing station place, stepper motor shuts down;
(5), controlling organization control pneumatic actuator operation, cylinder drives the vacuum suction head and is displaced downwardly to desired location, after magnetic sensor detects cylinder and puts in place, signal is passed to controlling organization, controlling organization control disconnects the vacuum suction switch, the vacuum suction head is positioned over exemplar on the support, moves to reset so cycling on the exhaust hood;
(6), last stepper motor drives manipulator and is reset to initial position.
Compared with prior art, the advantage of single shaft motion control actual training device disclosed by the invention and loading and unloading method is: this device is by arranging the operation of controlling organization driving device hand, exemplar is moved to back one support by last support, by testing agency is set, be convenient to manipulator picking up and accurately locating exemplar, this apparatus structure is simple, easy to operate, flexibly, has high reliability, at a high speed, features such as high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, is convenient to the selection that the student understands operation principle and each mechanism part of robot fully, design improves the design of student aspect Mechatronic Systems, assembling and debugging capability.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of single shaft motion control actual training device disclosed by the invention.
Fig. 2 is the stereogram of charging and discharging mechanism disclosed by the invention.
Fig. 3 is the rearview of charging and discharging mechanism disclosed by the invention.
Fig. 4 is the structural representation of support disclosed by the invention.
The title of the numeral among the figure or the corresponding component of alphabetical representative:
1, experimental bench 2, charging and discharging mechanism 3, controlling organization 4, button control unit 5, support 6, diffuse reflection sensor
21, frame 22, manipulator 23, driving mechanism 24, cylinder 25, vacuum suction 26, magnetic sensor 27, stepper motor 28, shaft coupling 29, ball-screw 30, slide block 31, ball-screw screw 32, guiding optical axis 33, linear bearing 34, photoelectric sensor 35, microswitch 36, handle
The specific embodiment
Along with the application of Cartesian robot more and more widely, the work of Robotics applied teaching seems important day by day, and present domestic Robotics teaching also is in stage of popularization not, basic teaching experiment platform still need be enriched constantly.And the general volume of the Cartesian robot of industrial application is bigger, and structure and computer programming are comparatively complicated, are unfavorable for using in teaching, can't make the operation principle of student's exact grasp Cartesian robot and selecting for use of structure member.
The present invention is directed to deficiency of the prior art, the invention provides a kind of single shaft motion control actual training device and loading and unloading method, this apparatus structure is simple, easy to operate, being convenient to field research uses, make the student understand selection, the design of operation principle and each mechanism part of robot fully, improve the student in the purpose of the design aspect the Mechatronic Systems, assembling and debugging capability to reach.
To be clearly and completely described technical scheme of the present invention by the specific embodiment below.Obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Please in the lump referring to Fig. 1 to Fig. 4, Fig. 1 is the structural representation of a kind of single shaft motion control actual training device disclosed by the invention.Fig. 2 is the stereogram of charging and discharging mechanism disclosed by the invention.Fig. 3 is the rearview of charging and discharging mechanism disclosed by the invention.Fig. 4 is the structural representation of support disclosed by the invention.As shown in the figure, a kind of single shaft motion control actual training device, comprise experimental bench 1, be positioned at the charging and discharging mechanism 2 on the experimental bench 1 and control the controlling organization 3 that charging and discharging mechanism 2 moves, one side of controlling organization 3 is provided with button control unit 4, the below correspondence of charging and discharging mechanism 2 is provided with for the support 5 of placing exemplar, and support 5 is at least two.
Charging and discharging mechanism 2 comprises frame 21, is arranged at the manipulator 22 that can move forward and backward on the frame 21, and drives the driving mechanism 23 that manipulator 22 moves; Drive manipulators by driving mechanism 23 and move forward and backward exemplar is transferred to next station by last station, realize that the straight line of exemplar is carried.
Wherein, the ball-screw 29 that driving mechanism comprises stepper motor 27, shaft coupling 28, is in transmission connection with shaft coupling 28, ball-screw 29 is provided with slide block 30, and slide block 30 is provided with ball-screw screw 31 with the junction of ball-screw 29, and manipulator 22 is fixedly connected on a side of slide block 30.The ball-screw screw is converted to slide block along ball-screw axis moving linearly with rotatablely moving of ball-screw under the effect of slide block.
In addition, driving mechanism also can be electric pushrod or cylinder etc., can realize that the rectilinear motion of slide block gets final product, and the specific embodiment does not limit at this.
Actual training device also comprises the testing agency for detection of the exemplar position, testing agency is electrically connected with controlling organization 3, by testing agency the position signalling of exemplar is passed to controlling organization 3,22 operations of controlling organization control manipulator are positioned over after exemplar moves on another support 21 by picking up exemplar on the support and driving.
The vacuum suction 25 that manipulator 22 comprises pneumatic actuator and is connected in the pneumatic actuator lower end.Pneumatic actuator is cylinder 24, the cylinder two ends are provided with the magnetic sensor 26 for detection of cylinder ruuning situation, whether put in place for detection of cylinder is flexible, magnetic sensor 26, controlling organization 3 is according to the break-make of cylinder ruuning situation control vacuum suction head if being electrically connected with controlling organization 3.
Be arranged with at least one guiding optical axis 32 in parallel with ball-screw 29 on the frame 21, the junction with guiding optical axis 32 on the slide block 30 is provided with linear bearing 33.The straight line of slide block is moved lead by the guiding optical axis is set, avoid slide block problems such as deflection to occur, guarantee the accuracy of position of manipulator.The optical axis that wherein leads can be 1,2 or many, and concrete quantity does not limit at this according to using needs to decide.
Testing agency comprises and is positioned at the diffuse reflection sensor 6 that whether exists for detection of exemplar on the support 5.Diffuse reflection sensor 6 is electrically connected with controlling organization 3, detects exemplar and signal is passed to controlling organization by diffuse reflection sensor 6, and controlling organization can determine which support is provided with exemplar, is convenient to the subsequent drive manipulator and moves to the corresponding position.
Testing agency also comprises the sensor that is arranged on the frame 21 for detection of positioning mechanical arm 22, the corresponding setting with each support of sensor, by arranging and the support corresponding sensor in frame, behind the support of determining the exemplar place, controlling organization can be controlled manipulator and move, and the corresponding sensor of arrival exemplar place support place stops movement exemplar is carried out next step the work of picking up.Wherein sensor is photoelectric sensor 34 or pressure sensor or displacement transducer etc., does not specifically limit.
The two ends of frame 21 also are provided with for the microswitch 35 that limits manipulator 22 shift motions.Microswitch 35 is electrically connected with controlling organization, and when manipulator moved to the microswitch place, controlling organization control step motor stopped, and avoids occurring manipulator and moves problems such as exceeding setting stroke and frame generation collision, avoids occurring the damage of device.
Wherein, controlling organization is the PLC controller.Sensitivity and precision are all higher.
Experimental bench adopts the fine aluminum section bar to build, and experimental bench 1 two ends also are provided with handle 36, convenient experiment and transportation.
A kind of single shaft motion loading and unloading method adopts single shaft motion control actual training device, and the concrete operations step is as follows:
(1), detect on the supports 5 whether have the experiment exemplar by diffuse reflection sensor 26, and information is passed to controlling organization, controlling organization record corresponding information; In order to determine the position at exemplar place, so that moving, control driving mechanism drive manipulator picks up exemplar.
(2), after detection is finished, controlling organization is according to detection signal control step motor rotation, stepper motor drives the ball-screw rotation by shaft coupling, the ball-screw screw is under the effect of slide block and guiding optical axis, rotatablely moving of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block drive manipulator and move to the corresponding sensor place of exemplar place support, sensor passes to controlling organization with signal, and controlling organization control step motor stops.
(3), controlling organization control pneumatic actuator operation, cylinder 24 drives vacuum suction 25 and is displaced downwardly to desired location, after magnetic sensor 26 detects cylinder and puts in place, signal is passed to controlling organization 3, the vacuum suction switch is opened in controlling organization control, exemplar is picked up in the energising of vacuum suction head, moves on the exhaust hood to reset.
(4), controlling organization control step motor remains in operation, and drives manipulator 22 and moves forward to next sensing station place, stepper motor shuts down.
(5), controlling organization control pneumatic actuator operation, cylinder 24 drives vacuum suction 25 and is displaced downwardly to desired location, after magnetic sensor 26 detects cylinder and puts in place, signal is passed to controlling organization 3, controlling organization control disconnects the vacuum suction switch, the vacuum suction head is positioned over exemplar on the support, moves to reset so cycling on the exhaust hood.
(6), last stepper motor drives manipulator and is reset to initial position.
The invention discloses a kind of single shaft motion control actual training device and loading and unloading method, this device is by arranging the operation of controlling organization driving device hand, exemplar is moved to back one support by last support, by testing agency is set, be convenient to manipulator picking up and accurately locating exemplar.This apparatus structure is simple, volume is less, easy to operate, flexible, have features such as high reliability, high-speed, high accuracy, can be used for long-term teaching and use Maintenance free, use cost is lower, is convenient to selection, design that the student understands operation principle and each mechanism part of robot fully, improves design, assembling and the debugging capability of student aspect Mechatronic Systems.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments herein.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the wideest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. single shaft motion control actual training device, it is characterized in that, comprise experimental bench, be positioned at the charging and discharging mechanism on the described experimental bench and control the controlling organization that described charging and discharging mechanism moves, the below correspondence of described charging and discharging mechanism is provided with for the support of placing exemplar, and described support is at least two;
Described charging and discharging mechanism comprises frame, is arranged at the manipulator that can move forward and backward on the described frame, and drives the driving mechanism that described manipulator moves;
Described actual training device also comprises the testing agency for detection of the exemplar position, described testing agency is electrically connected with described controlling organization, by testing agency the position signalling of exemplar is passed to controlling organization, the operation of controlling organization control manipulator is positioned on another support after exemplar moves by picking up exemplar on the support and driving.
2. single shaft motion control actual training device as claimed in claim 1 is characterized in that, the vacuum suction head that described manipulator comprises pneumatic actuator and is connected in described pneumatic actuator lower end.
3. single shaft motion control actual training device as claimed in claim 2, it is characterized in that, described pneumatic actuator is cylinder, described cylinder two ends are provided with the magnetic sensor for detection of cylinder ruuning situation, described magnetic sensor is electrically connected with described controlling organization, and described controlling organization is controlled the break-make of described vacuum suction head according to cylinder ruuning situation.
4. single shaft motion control actual training device as claimed in claim 1, it is characterized in that, the ball-screw that described driving mechanism comprises stepper motor, shaft coupling, is in transmission connection with described shaft coupling, described ball-screw is provided with slide block, the junction of described slide block and described ball-screw is provided with the ball-screw screw, and described manipulator is fixedly connected on a side of described slide block.
5. single shaft motion control actual training device as claimed in claim 4 is characterized in that, is arranged with at least one guiding optical axis in parallel with described ball-screw on the described frame, is provided with linear bearing with described direct light shaft connection place on the described slide block.
6. single shaft motion control actual training device as claimed in claim 1 is characterized in that, described testing agency comprises and is positioned at the diffuse reflection sensor that whether exists for detection of exemplar on the described support.
7. single shaft motion control actual training device as claimed in claim 6 is characterized in that, described testing agency also comprises the sensor that is arranged on the described frame for detection of the described manipulator in location, described sensor and the corresponding setting of described each support.
8. single shaft motion control actual training device as claimed in claim 1 is characterized in that, the two ends of described frame also are provided with for the microswitch that limits described manipulator shift motion.
9. single shaft motion control actual training device as claimed in claim 1 is characterized in that, described controlling organization is the PLC controller.
10. a single shaft motion loading and unloading method is characterized in that, adopts each described single shaft motion control actual training device of claim 1-9, and the concrete operations step is as follows:
(1), detect on the support whether have the experiment exemplar by the diffuse reflection sensor, and information is passed to controlling organization, controlling organization record corresponding information;
(2), after detection is finished, controlling organization is according to detection signal control step motor rotation, stepper motor drives the ball-screw rotation by shaft coupling, the ball-screw screw is under the effect of slide block and guiding optical axis, rotatablely moving of ball-screw is converted to slide block along ball-screw axis moving linearly, make slide block drive manipulator and move to the corresponding sensor place of exemplar place support, sensor passes to controlling organization with signal, and controlling organization control step motor stops;
(3), controlling organization control pneumatic actuator operation, cylinder drives the vacuum suction head and is displaced downwardly to desired location, after magnetic sensor detects cylinder and puts in place, signal is passed to controlling organization, the vacuum suction switch is opened in controlling organization control, exemplar is picked up in the energising of vacuum suction head, moves on the exhaust hood to reset;
(4), controlling organization control step motor remains in operation, and drives manipulator and moves forward to next sensing station place, stepper motor shuts down;
(5), controlling organization control pneumatic actuator operation, cylinder drives the vacuum suction head and is displaced downwardly to desired location, after magnetic sensor detects cylinder and puts in place, signal is passed to controlling organization, controlling organization control disconnects the vacuum suction switch, the vacuum suction head is positioned over exemplar on the support, moves to reset so cycling on the exhaust hood;
(6), last stepper motor drives manipulator and is reset to initial position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310188622.7A CN103231367B (en) | 2013-05-20 | 2013-05-20 | A kind of single axial movement controls actual training device and loading and unloading method |
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| CN201310188622.7A CN103231367B (en) | 2013-05-20 | 2013-05-20 | A kind of single axial movement controls actual training device and loading and unloading method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103926380A (en) * | 2014-04-24 | 2014-07-16 | 苏州科曼特自动化科技有限公司 | Novel industrial component inspection robot |
| CN104376423A (en) * | 2014-11-26 | 2015-02-25 | 烟台中正新技术有限公司 | Sampling retracing system and retracing method of intelligent fertilizer preparation machine |
| CN106002969A (en) * | 2016-06-13 | 2016-10-12 | 哈尔滨工大智慧工厂有限公司 | Rectangular coordinate robot system for automatic feeding and discharging of AOI detection |
| CN106514643A (en) * | 2015-09-14 | 2017-03-22 | 无锡市盛宝嘉科技有限公司 | Positioning mechanism for picking and placing work of manipulator |
| CN106914886A (en) * | 2017-03-30 | 2017-07-04 | 无锡职业技术学院 | A kind of industrial robot experience system and practical training method with detachable apparatus |
| CN107272569A (en) * | 2017-08-11 | 2017-10-20 | 重庆邮电大学 | A kind of long-range motion control experimental facility |
| CN108673478A (en) * | 2018-07-18 | 2018-10-19 | 温州大学 | Pipeline machine human simulation operates experience system |
| CN109397270A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103926380A (en) * | 2014-04-24 | 2014-07-16 | 苏州科曼特自动化科技有限公司 | Novel industrial component inspection robot |
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| CN108673478A (en) * | 2018-07-18 | 2018-10-19 | 温州大学 | Pipeline machine human simulation operates experience system |
| CN109397270A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training |
| CN109397270B (en) * | 2018-12-25 | 2024-03-22 | 苏州富纳艾尔科技有限公司 | A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot |
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| CN103231367B (en) | 2016-04-20 |
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