CN105479449A - Modularized five-bar parallel robot practical training table - Google Patents
Modularized five-bar parallel robot practical training table Download PDFInfo
- Publication number
- CN105479449A CN105479449A CN201610085978.1A CN201610085978A CN105479449A CN 105479449 A CN105479449 A CN 105479449A CN 201610085978 A CN201610085978 A CN 201610085978A CN 105479449 A CN105479449 A CN 105479449A
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- CN
- China
- Prior art keywords
- bar parallel
- parallel robot
- module
- practical traning
- traning platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a modularized five-bar parallel robot practical training table. The modularized five-bar parallel robot practical training table comprises a practical training table module, a five-bar parallel robot module, a wiring demonstration module and an electric control module, wherein the five-bar parallel robot module, the wiring demonstration module and the electric control module are installed on the practical training table module, and the electric control module is electrically connected with the five-bar parallel robot module; the five-bar parallel robot module comprises two driving devices symmetrically arranged on a rack, each driving device is connected with one end of a driving arm, the other end of each driving arm is in rotating-shaft connection with one end of a driven arm, the other ends of the two driven arms are hinged through a rotating shaft, and a telescopic air cylinder is arranged on the rotating shaft and provided with a suction nozzle. A five-bar parallel robot and a virtual operation machine are centralized on one platform and are suitable for personnel with different bases; A control system related to five-bar parallel robot teaching application is connected through lines, and the virtual machine and a body are integrated on one practical training table, which is beneficial for comprehensively learning the five-bar parallel robot. By means of a modularized hanging box assembling structure, the modularized five-bar parallel robot practical training table is convenient to assemble and disassemble, reasonable in space utilization and multipurpose.
Description
Technical field
The present invention relates to a kind of robot practical traning platform device, particularly a kind of modularization five bar parallel robot practical traning platform device, relate to five bar parallel manipulator human bodies and control system and the virtual of robot thereof and builds system etc.; Be mainly used in teaching field, to cultivation, the real training study of five bar parallel robot professionals.
Background technology
Be at present that a robot arranges in pairs or groups single regulator cubicle at robot teaching's equipment of teaching field, function singleness and dispersion, can not be well explanation robot and the principle thereof of student image, and the personnel studied in depth without five bar parallel robots cannot independent hands-on, greatly reduces the interest of the real training task of five bar parallel robots.
Summary of the invention
The present invention is well integrated in five bar parallel manipulator human bodies, control system and the mode of connection, virtual emulation operating system above a platform, make student by perceptual knowledge to rational knowledge, by virtual emulation to physical operation, deeply grasp knowledge and the operational applications of five bar parallel robots.
For achieving the above object, the technical solution used in the present invention is: a kind of modularization five bar parallel robot practical traning platform, comprise: practical traning platform module, and the five bar parallel robot modules be mounted in described practical traning platform module, wiring demonstration module and electric control module, it is characterized in that, the described five bar parallel robot modules of described electric control module electrical connection, described five bar parallel robot modules comprise two drive units be symmetricly set in frame, each drive unit all connects actuating arm one end, the equal rotating shaft of each actuating arm other end connects one end of passive arm, two described passive arm other ends are hinged by rotating shaft, described rotating shaft arranges telescopic cylinder, described telescopic cylinder arranges suction nozzle.
In a preferred embodiment of the present invention, described practical traning platform is also provided with touch-control and pseudo operation machine module, and described touch-control and pseudo operation machine module comprise: touch-screen, the control button district arranging button, five bar parallel robot pseudo operation machines.
In a preferred embodiment of the present invention, in described five bar parallel robot pseudo operation machines, dummy emulation system software is installed.
In a preferred embodiment of the present invention, described wiring demonstration module and described electric control module are all arranged on to be hung in case, and described extension case is arranged in described practical traning platform module.
In a preferred embodiment of the present invention, the extension case of described electric control module adopts transparent material.
In a preferred embodiment of the present invention, described drive unit is motor.
In a preferred embodiment of the present invention, described practical traning platform module comprises the cabinet below pallet and pallet.
The invention solves the defect existed in background technology, the present invention possesses following beneficial effect:
1, modularization.Adopt the disassembled version of independent extension case, easy accessibility, a tractor serves several purposes.
2, integrated.Control system relevant for five bar parallel robot teaching application, connection, virtual emulation machine and Ontology integration, at a practical traning platform, learn more convenient system.
3, virtual.The independently common industrial robot type of dummy emulation system module integration, beginner can select the five bar parallel robots that will learn on virtual platform, and study is convenient and avoid the danger of practical operation robot.
4, actual situation combines.Robot entity and virtual emulation machine are focused on a platform, is applicable to different basic level librarian use.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the front view of the preferred embodiments of the present invention;
Fig. 2 is the three-dimensional structure diagram of the preferred embodiments of the present invention;
Fig. 3 is the three-dimensional structure diagram of the five bar parallel robots of the preferred embodiments of the present invention;
In figure: 1, five bar parallel robot modules, 2, touch-control and pseudo operation machine module, 3, wiring demonstration module, 4, electric control module, 5, practical traning platform module, 6, frame, 7, motor, 8, actuating arm, 9, passive arm, 10, rotating shaft, 11, telescopic cylinder, 12, suction nozzle.
Detailed description of the invention
The present invention is further detailed explanation in conjunction with the accompanying drawings and embodiments now, and these accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
This practical traning platform is vocational training, high research teaching and the five bar parallel robot modularization training platforms develop, provides a comprehensive practical traning environment to student, makes it full appreciation, combined training and the many branch professional knowledge of lifting mutually; This practical traning platform integrates theory teaching, skills practice training, teaching method, teaching evaluation, control system relevant for five bar parallel robot teaching application, connection, dummy emulation system and robot body are integrated in same practical traning platform, student first can build the five bar parallel robots that will learn by virtual emulation machine, first impression is set up to robot, then in conjunction with other modules on practical traning platform, study mechanical part and the electric control system of five bar parallel robots in depth, and the action of the study programming Control five bar parallel robot of a nearly step.
The reality teaches pattern that can be carried out by this practical traning platform is included but are not limited to: the principle of the control system of the theory of mechanics of five bar parallel robots and electric control theory, robot and the parsing of positive and negative kinematics, mechanical system installment and debugging, electrical equipment and function, movement control technology, pneumatics application, advanced programming instruction study, electric control circuit class real training, system maintenance and fault detect scheduling theory knowledge and application technology.
As Fig. 1, shown in Fig. 2 and Fig. 3, a kind of modularization five bar parallel robot practical traning platform, comprise: practical traning platform module 5, and the five bar parallel robot modules 1 be mounted in practical traning platform module 5, wiring demonstration module 3 and electric control module 4, electric control module 4 is electrically connected five bar parallel robot modules 1, five bar parallel robot modules 1 comprise two motors 7 be symmetricly set in frame 6, each motor 7 all connects actuating arm 8 one end, the equal rotating shaft of each actuating arm 8 other end connects one end of passive arm 9, two passive arm 9 other ends are hinged by rotating shaft 10, rotating shaft 10 is arranged telescopic cylinder 11, telescopic cylinder 11 is provided with suction nozzle 12.
Practical traning platform is also provided with touch-control and pseudo operation machine module 2, touch-control and pseudo operation machine module 2 comprise: touch-screen, the control button district arranging button, five bar parallel robot pseudo operation machines, be provided with dummy emulation system software in five bar parallel robot pseudo operation machines.
Wiring demonstration module 3 and electric control module 4 are all arranged on to be hung in case, hangs case and is arranged in practical traning platform module 5.
The extension case of electric control module 4 adopts transparent material.Practical traning platform module 5 comprises the cabinet below pallet and pallet.
Wherein, five bar parallel robot modules 1 comprise: five bar parallel manipulator human bodies and the workpiece for demonstrating crawl; Touch-control and pseudo operation machine module 2 comprise: touch-screen, control button district, five bar parallel robot pseudo operation machines; Wiring demonstration module 3 and electric control module 4 adopt hangs box-shaped formula, the electrical wiring circuit of the system that illustrates of the former opening, and the latter is visual electrical control cabinet mainly; Practical traning platform module 5 comprises practical traning platform pallet and real training cabinet below.
Above according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, related personnel in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine technical scope according to right.
Claims (7)
1. a modularization five bar parallel robot practical traning platform, comprise: practical traning platform module, and the five bar parallel robot modules be mounted in described practical traning platform module, wiring demonstration module and electric control module, it is characterized in that, the described five bar parallel robot modules of described electric control module electrical connection, described five bar parallel robot modules comprise two drive units be symmetricly set in frame, each drive unit all connects actuating arm one end, the equal rotating shaft of each actuating arm other end connects one end of passive arm, two described passive arm other ends are hinged by rotating shaft, described rotating shaft arranges telescopic cylinder, described telescopic cylinder arranges suction nozzle.
2. a kind of modularization five bar parallel robot practical traning platform according to claim 1, it is characterized in that: described practical traning platform is also provided with touch-control and pseudo operation machine module, described touch-control and pseudo operation machine module comprise: touch-screen, the control button district arranging button, five bar parallel robot pseudo operation machines.
3. a kind of modularization five bar parallel robot practical traning platform according to claim 1, is characterized in that: be provided with dummy emulation system software in described five bar parallel robot pseudo operation machines.
4. a kind of modularization five bar parallel robot practical traning platform according to claim 1, is characterized in that: described wiring demonstration module and described electric control module are all arranged on to be hung in case, and described extension case is arranged in described practical traning platform module.
5. a kind of modularization five bar parallel robot practical traning platform according to claim 4, is characterized in that: the extension case of described electric control module adopts transparent material.
6. a kind of modularization five bar parallel robot practical traning platform according to claim 1, is characterized in that: described drive unit is motor.
7. a kind of modularization five bar parallel robot practical traning platform according to claim 1, is characterized in that: described practical traning platform module comprises the cabinet below pallet and pallet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610085978.1A CN105479449A (en) | 2016-02-15 | 2016-02-15 | Modularized five-bar parallel robot practical training table |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610085978.1A CN105479449A (en) | 2016-02-15 | 2016-02-15 | Modularized five-bar parallel robot practical training table |
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| Publication Number | Publication Date |
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| CN105479449A true CN105479449A (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610085978.1A Pending CN105479449A (en) | 2016-02-15 | 2016-02-15 | Modularized five-bar parallel robot practical training table |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881710A (en) * | 2017-04-19 | 2017-06-23 | 中北大学 | It is a kind of to become the pickup robot for driving five bar parallel institutions of layout |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN111251282A (en) * | 2020-05-06 | 2020-06-09 | 浙江谱麦科技有限公司 | SCARA high-speed parallel manipulator |
| CN114700638A (en) * | 2022-05-06 | 2022-07-05 | 江南大学 | Cooperative processing equipment and method for plane parallel mechanism and mobile device |
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| CN205016139U (en) * | 2015-09-17 | 2016-02-03 | 南京康尼科技实业有限公司 | Device is instructed to reality of parallelly connected EDU robot of 3DOF motion delta type |
| CN205600724U (en) * | 2016-02-15 | 2016-09-28 | 苏州哈工海渡工业机器人有限公司 | Real standard platform of five pole parallel robots of modularization |
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2016
- 2016-02-15 CN CN201610085978.1A patent/CN105479449A/en active Pending
Patent Citations (11)
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| JP2000254881A (en) * | 1999-03-05 | 2000-09-19 | Tekkusu Iijii:Kk | Parallel link mechanism robot for conveying wafer |
| CN201130469Y (en) * | 2007-07-26 | 2008-10-08 | 浙江天煌科技实业有限公司 | Light electromechanical gas integrated control real training system |
| CN202169229U (en) * | 2011-06-04 | 2012-03-21 | 罗云兵 | Industrial spraying robot |
| CN202816252U (en) * | 2012-05-24 | 2013-03-20 | 山东栋梁科技设备有限公司 | Modularized flexible production line training device |
| CN103198747A (en) * | 2013-04-28 | 2013-07-10 | 苏州博实机器人技术有限公司 | Electromechanical and pneumatic integrated production training system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881710A (en) * | 2017-04-19 | 2017-06-23 | 中北大学 | It is a kind of to become the pickup robot for driving five bar parallel institutions of layout |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN111251282A (en) * | 2020-05-06 | 2020-06-09 | 浙江谱麦科技有限公司 | SCARA high-speed parallel manipulator |
| CN114700638A (en) * | 2022-05-06 | 2022-07-05 | 江南大学 | Cooperative processing equipment and method for plane parallel mechanism and mobile device |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 215000 Suzhou Industrial Park, Jiangsu, Suzhou Exhibition Road, No. 8 Applicant after: Jiangsu Harbin Industrial Robot Co. Ltd. Shanghai Du Address before: 215121 Suzhou science and Technology Industrial Park, No. 8, Exhibition Road, Suzhou Industrial Park, Jiangsu, China, 3 Applicant before: SUZHOU HAGONG HAIDU INDUSTRIAL ROBOT CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160413 |