CN108481313B - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN108481313B CN108481313B CN201810612877.4A CN201810612877A CN108481313B CN 108481313 B CN108481313 B CN 108481313B CN 201810612877 A CN201810612877 A CN 201810612877A CN 108481313 B CN108481313 B CN 108481313B
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- Prior art keywords
- fixedly installed
- sliding
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- face
- groove
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/16—Programme controls
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot control systems, including pedestal, gas balance chamber is provided in the pedestal, gas balance chamber middle position is fixedly installed air pump, air valve is symmetrically set on the gas balance chamber end wall, the gas balance is intracavitary to be symmetrically set with piston, the piston lower surface middle position is fixedly installed piston rod, the piston-rod lower end face protrudes into free surrounding space and is fixedly connected with supporting block through the pedestal, in present invention work, this transfer robot determines the position of cargo and the position of placement by infrared radiation detection apparatus, it is mobile to control motor internal driving device, rotation, lifting and carrying, balance and stability when adjusting in moving process through air pressure simultaneously maintains the rough ground of device mobile, guarantee device during keeping balance by the transmission of shaft coupling and connecting shaft It continuing to move to, this plant automation degree is high, flexibly and efficiently, the stability being able to maintain in cargo carrying.
Description
Technical field
The present invention relates to the field of carrying, specially a kind of robot control systems.
Background technique
In the industrial production or in life, carrying is regular movement, there is handling work as long as the movement for having cargo, right
The cargo of and quality big in quantity weight, which is carried, generally requires large-scale instrument and artificial cooperation completion, big machinery plant area face
Long-pending big and different complete independently handling works, current conveying robot human organism are fixed at one the rotation and length for passing through mechanical arm
It spends height adjustment and carries out cargo carrying, but the cargo use for small and more than quantity will increase landed cost, and carrying range is small,
Secondly, moveable handling device there are device stability in moving process is poor, often can only by the bad adaptability of road pavement at present
It is mobile in slippery traffic surface, cause its applicable range small, but apparatus of the present invention can solve this problem.
Summary of the invention
The purpose of the present invention is to provide a kind of robot control systems to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme: a kind of robot control system, including pedestal, institute
It states and is provided with gas balance chamber in pedestal, gas balance chamber middle position is fixedly installed air pump, the gas balance chamber
It is symmetrically set with air valve on end wall, the gas balance is intracavitary to be symmetrically set with piston, in the piston lower surface
Between position be fixedly installed piston rod, the piston-rod lower end face protrudes into free surrounding space and is fixedly connected with branch through the pedestal
Bracer, the supporting block are connected with rotation axis close to one end rotation in surface formula of the air pump, are fixedly installed in the rotation axis
There is scroll wheel, pedestal lower end surface middle position is fixedly installed fixed block, the first drive cavity is provided in the fixed block,
Driving motor is fixedly installed in first drive cavity, the output shaft lower end surface of the driving motor is fixedly installed the first cone
Gear, the first bevel gear left side have been engaged second bevel gear, rotation are provided through in the second bevel gear
Bar, first drive cavity are symmetrical set connecting cavity of the opening towards outside, and described rotating bar or so end face extends through
First drive cavity protrudes into the connecting cavity and is fixedly connected with shaft coupling, and the shaft coupling is far from first drive cavity
An end face be fixedly connected with connecting shaft, it is described in being symmetrically set with spring groove in the pedestal on the upside of the fixed block
Sliding shoe is set in spring groove, and the sliding shoe upper surface is fixedly installed compressed spring, the compressed spring other end and institute
It states spring groove upper surface to be fixedly connected, sliding shoe lower end surface middle position is fixedly installed connecting rod, under the connecting rod
End face is fixedly connected with link block, and front and back is provided in the link block and is run through and downward opening cavity, in the link block
It is provided with bilateral symmetry and perforative first empty slot in left and right, an end face of the connecting shaft far from the shaft coupling is empty through first
It slot and cavity and is connect with the link block by bearing rotary type, first gear is fixedly installed in the connecting shaft, it is described
First gear lower end surface has been engaged second gear, is provided with perforative second empty slot in left and right, institute on the downside of first empty slot
It states rotation axis and passes through bearing through second empty slot and second gear and the link block close to an end face of the fixed block
Rotary type connection, the pedestal upper surface is symmetrically set with the first opening up groove, first groove front and back end
The first solid rod is fixedly installed between wall, rotary type is connected with the first turning handle in first solid rod, between first groove
It is provided with first sliding groove, the first sliding rail is fixedly installed on the first sliding groove lower end wall, is slidably matched on first sliding rail
It is provided with symmetrical first sliding block, rotary type is connected with the second turning handle, the first sliding groove front side on first sliding block
It is provided with and communicated with guide runner, sliding groove is provided with and communicated on front side of the guide runner, the fixation of left side first slip front face is set
It is equipped with the first sliding rack, right side first slip front face is fixedly installed the second sliding rack, second slide teeth
Motor-driven meshing gear has been engaged between front end face and the second sliding rack rear end face.
Preferably, being provided with fuselage on the upside of the pedestal, symmetrical opening is provided in the fuselage lower end surface
Second groove directed downwardly is fixedly installed the second solid rod between end wall before and after second groove, rotates in second solid rod
Formula is connected with third turning handle, and second sliding slot is provided between second groove, and the second sliding slot upper end wall is fixedly installed
Second sliding rail is slidably matched on second sliding rail and is provided with symmetrical second sliding block, rotary type on second sliding block
It is connected with the 4th turning handle, first turning handle is connect by connecting turning handle with the 4th turning handle rotary type, and second turning handle passes through
Connection turning handle is connect with the third turning handle rotary type, and steering motor, the fuselage are fixedly installed in the fuselage upper surface
Upside is provided with rotor, internal spline is provided in the rotor, the internal spline internal messing is provided with tooth sector, described
The output shaft upper surface of steering motor is fixed with steering shaft, and the internal tooth is protruded into through the rotor in the steering shaft upper surface
Be fixedly connected in slot and with the tooth sector, be provided with sliding cavity on the upside of the internal spline, the sliding cavity left hand end wall it
Between be fixedly installed sliding solid rod, be slidably connected with symmetrical movable block, the movable block in the sliding solid rod
Front end face is fixedly installed zigzag clamping bar, and the left side movable block upper surface is fixedly installed the first rack gear extended to the right,
The right side movable block upper surface is fixedly installed the second solid block, and the described second solid block rear end face is fixedly installed to be extended to the left
Second rack gear, sliding cavity upper end wall middle position are fixedly installed drive block, and left and right is provided in the drive block and is run through
Driving groove, be provided with transmission gear in the driving groove, be fixedly installed driving motor in the sliding cavity upper end wall, it is described
The output shaft lower end surface of driving motor is fixedly connected with shaft, and the shaft lower end surface is through the transmission gear and the transmission
The connection of slot lower end wall rotary type, the first rack gear rear end face engage connection, second tooth with the transmission gear front end face
Front end face engages connection with the transmission gear rear end face, and the rotor upper surface is fixedly installed connecting column, the company
It connects and is fixedly installed stable block on column, be fixedly installed infrared radiation detection apparatus on the stable block.
It is supported preferably, the height of the clamping bar is equal to fuselage lower end surface described in this device with the pedestal upper surface
The height of solid rod and ground is slided when connecing, the symmetrical clamping bar is fixedly installed non-slip mat on an opposite end face.
Preferably, being provided with several ball grooves in the end face that the fuselage is abutted with the rotor, set in ball grooves
It is equipped with ball.
Preferably, being fixedly connected when original state, between connecting shaft and shaft coupling but in relaxed state.
Detailed description of the invention
Fig. 1 is a kind of schematic view of the front view of robot control system entirety complete section of the present invention；
Fig. 2 is A enlarged structure schematic diagram in a kind of robot control system of the present invention；
Fig. 3 is B-B direction structure schematic diagram in a kind of robot control system of the present invention；
Fig. 4 is C-C direction structure schematic diagram in a kind of robot control system of the present invention
Fig. 5 is a kind of left view structural representation of robot control system entirety complete section of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, a kind of embodiment provided by the invention: a kind of robot control system, including pedestal 10, it is described
Gas balance chamber 11 is provided in pedestal 10,11 middle position of gas balance chamber is fixedly installed air pump 12, the gas
It is symmetrically set with air valve 14 on 11 end wall of counter balance pocket, piston 13, institute are symmetrically set in the gas balance chamber 11
It states 13 lower end surface middle position of piston and is fixedly installed piston rod 15,15 lower end surface of piston rod is protruded into through the pedestal 10
Free surrounding space and it is fixedly connected with supporting block 16, the supporting block 16 is connected with close to one end rotation in surface formula of the air pump 12
Rotation axis 17 is fixedly installed scroll wheel 18 in the rotation axis 17, and the 10 lower end surface middle position of pedestal is fixedly installed
Fixed block 37 is provided with the first drive cavity 19 in the fixed block 37, and driving electricity is fixedly installed in first drive cavity 19
Machine 20,21 lower end surface of output shaft of the driving motor 20 are fixedly installed first bevel gear 22, and the first bevel gear 22 is left
End face has been engaged second bevel gear 23, and rotating bar 24, first transmission are provided through in the second bevel gear 23
Chamber 19 is symmetrical set connecting cavity 67 of the opening towards outside, and 24 or so the end face of rotating bar extends through described first and passes
Dynamic chamber 19 protrudes into the connecting cavity 67 and is fixedly connected with shaft coupling 25, and the shaft coupling 25 is far from first drive cavity 19
An end face be fixedly connected with connecting shaft 26,37 upside of fixed block is in being symmetrically set with spring groove in the pedestal 10
27, the spring groove 27 is interior to be arranged sliding shoe 28, and 28 upper surface of sliding shoe is fixedly installed compressed spring 29, the compression
29 other end of spring is fixedly connected with 27 upper surface of spring groove, and the 28 lower end surface middle position of sliding shoe is fixedly installed
Connecting rod 30,30 lower end surface of connecting rod are fixedly connected with link block 31, be provided in the link block 31 front and back run through and
Downward opening cavity 32 is provided with bilateral symmetry and perforative first empty slot 33 in left and right, the connection in the link block 31
An end face of the axis 26 far from the shaft coupling 25 is turned through the first empty slot 33 and cavity 32 and with the link block 31 by bearing
Dynamic formula connection, is fixedly installed first gear 34 in the connecting shaft 26, and 34 lower end surface of first gear has been engaged the
Two gears 36 are provided with perforative second empty slot 35 in left and right on the downside of first empty slot 33, and the rotation axis 17 is close to described solid
The end face for determining block 37 is connect with the link block 31 by bearing rotary type through second empty slot 35 and second gear 36,
10 upper surface of pedestal is symmetrically set with the first opening up groove 38, between the 38 front and back end wall of the first groove
Be fixedly installed the first solid rod 39, rotary type is connected with the first turning handle 40 in first solid rod 39, first groove 38 it
Between be provided with first sliding groove 41, the first sliding rail 42, first sliding rail 42 are fixedly installed on 41 lower end wall of first sliding groove
On be slidably matched and be provided with symmetrical first sliding block 43, rotary type is connected with the second turning handle 44 on first sliding block 43,
It is provided with and communicated with guide runner 45 on front side of the first sliding groove 41, is provided with and communicated with sliding groove 46, left side on front side of the guide runner 45
First sliding block, 43 front end face is fixedly installed the first sliding rack 48, right side 43 front end face of the first sliding block fixed setting
There is the second sliding rack 47, engages and set between 47 front end face of the second sliding rack and 48 rear end face of the second sliding rack
It is equipped with motor-driven meshing gear 49.
Valuably, it is provided with fuselage 50 on the upside of the pedestal 10, is provided in 50 lower end surface of fuselage symmetrical
Downward opening second groove 51, is fixedly installed the second solid rod 52 between the 51 front and back end wall of the second groove, and described second
Rotary type is connected with third turning handle 53 in solid rod 52, and second sliding slot 55 is provided between second groove 51, and described second is sliding
55 upper end wall of slot is fixedly installed the second sliding rail 54, and being slidably matched on second sliding rail 54, it is sliding to be provided with symmetrical second
Block 56, rotary type is connected with the 4th turning handle 57 on second sliding block 56, and first turning handle 40 passes through connection turning handle and the 4th
The connection of 57 rotary type of turning handle, second turning handle 44 are connect by connecting turning handle with 53 rotary type of third turning handle, the machine
It is fixedly installed steering motor 58 in 50 upper surface of body, is provided with rotor 59 on the upside of the fuselage 50, in the rotor 59
It is provided with internal spline 60,60 internal messing of internal spline is provided with tooth sector 62, the output shaft upper end of the steering motor 58
Face is fixed with steering shaft 61,61 upper surface of steering shaft protruded into the internal spline 60 through the rotor 59 and with it is described
Tooth sector 62 is fixedly connected, and sliding cavity 64 is provided on the upside of the internal spline 60, is consolidated between 64 left hand end wall of sliding cavity
Surely it is provided with sliding solid rod 65, is slidably connected with symmetrical movable block 66, the movement in the sliding solid rod 65
66 front end face of block is fixedly installed zigzag clamping bar 73, and left side 66 upper surface of movable block, which is fixedly installed, to be extended to the right
First rack gear 68, right side 66 upper surface of movable block are fixedly installed the second solid block 69, and the described second solid 69 rear end face of block is solid
Surely it is provided with the second rack gear 70 extended to the left, the 64 upper end wall middle position of sliding cavity is fixedly installed drive block 72, institute
It states and is provided with the perforative driving groove 71 in left and right in drive block 72, be provided with transmission gear 75, the sliding in the driving groove 71
Driving motor 77 is fixedly installed in 64 upper end wall of chamber, the output shaft lower end surface of the driving motor 77 is fixedly connected with shaft
76,76 lower end surface of shaft is connect through the transmission gear 75 with the 71 lower end wall rotary type of driving groove, and described first
68 rear end face of rack gear engages connection, 70 front end face of the second rack gear and the transmission gear with 75 front end face of transmission gear
The engagement connection of 75 rear end faces, 59 upper surface of rotor is fixedly installed connecting column 78, is fixedly installed on the connecting column 78
There is stable block 79, is fixedly installed infrared radiation detection apparatus 80 on the stable block 79.
Valuably, the height of the clamping bar 73 is equal to 50 lower end surface of fuselage described in this device and 10 upper end of pedestal
The height of solid rod 65 and ground is slided when face abuts, the symmetrical clamping bar 73 is fixedly installed on an opposite end face
Non-slip mat, effect is, when original state fuselage 50 does not increase, clamping plate 73 can carry the cargo on ground, and non-slip mat improves
The clamping effect of device.
Valuably, several ball grooves are provided in the end face that the fuselage 50 is abutted with the rotor 59, in ball grooves
It is provided with ball, effect is to avoid abutting the easy damaged that friction causes device, reduces the service life of device, improves dress
The flexibility set.
Valuably, it is fixedly connected when original state, between connecting shaft 26 and shaft coupling 25 but in relaxed state, effect
It is that in the case that shaft coupling 25 is fixed, connecting shaft 26 can move up and down under the drive of scroll wheel 18, and not influence just
Often transmission, improves the harmony of device.
Specifically used mode: in present invention work, the position of cargo, driving motor 20 are arrived by the scanning of infrared radiation detection apparatus 80
Work, driving first bevel gear 22 rotate, and second bevel gear 23 drives rotating bar 24 to rotate, and passes through shaft coupling 25 and connecting shaft 26
Transmission, then first gear 34 rotate so that by second gear 36 drive scroll wheel 18 rotate, so that driving device is moved to
The required position transported goods, driving motor 20 stop, in moving process, have road surface it is rugged and rough when, avoid a side roll
Wheel 18 is pressed by barrier so that when side is raised, and is elevated side air valve 14 and is opened adjusting air pressure inside reduction, then left side is living
Plug 13, which moves up, drives scroll wheel 18 to be adjusted in short transverse, while link block 31 is driven upward press, slides at this time
Motion block 28 carries out buffering adjusting by spring in spring groove 27, thus the balance of holding meanss, shaft coupling 25 and connecting shaft 26
Between be tightened up so that first gear 34 still keeps rotary state, then scroll wheel 18 continues to rotate advance, across after barrier,
Air valve 14 is closed, and the side of air pressure reduction is filled with air and keeps air pressure balance by the work of air pump 12, so that device continued smooth moves
It moves to cargo location, subsequent driving motor 77 works, and driving transmission gear 75 rotates, then the first rack gear 68 drives left side movable block
66 move right, and the second rack gear 70 drives right side movable block 66 to be moved to the left, then clamping bar 73 is moved towards intermediate cargo
It clamps, if needing remote carrying, then driving motor 20 drives scroll wheel 18 to rotate, and offs normal so that cargo is carried to long distance
It sets, driving motor 77 rotates backward, so that clamping plate 73 moves backward, cargo is put down, if only need to be by cargo in same position
Different height or direction carry, then motor-driven meshing gear 49 rotates, then the first sliding rack 48 drives left side first
Sliding block 43 is moved to the left, and the second sliding rack 47 drives the first sliding block 43 of right side to move right, so that symmetrical second turn
44 upper surface of handle moves up promotion, while the first turning handle of left side 40 is rotated counterclockwise around the first solid rod of left side 39, right side
One turning handle 40 is rotated clockwise around the first solid rod of right side 39, is pushed this device to be moved upward to cargo placing height together and is stopped
Only, steering motor 58 works, and driving tooth sector 62 rotates, then rotor 59 can turn an angle according to needed for position,
Cargo is put down preparation and carried next time by clamping plate 73 afterwards.
Compared with prior art, the beneficial effects of the present invention are: this transfer robot passes through infrared inspection in present invention work
It surveys instrument and determines the position of cargo and the position of placement, control motor internal driving device is mobile, rotation, goes up and down and carries, simultaneously
Balance and stability when adjusting in moving process through air pressure maintains the rough ground of device mobile, by shaft coupling with connect
The transmission of axis guarantees that device continues to move to during keeping balance, this plant automation degree is high, flexibly and efficiently, can protect
Hold the stability in cargo carrying.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (5)
1. a kind of robot control system, including pedestal, it is provided with gas balance chamber in the pedestal, in the gas balance chamber
Between position be fixedly installed air pump, air valve is symmetrically set on the gas balance chamber end wall, the gas balance is intracavitary
It is symmetrically set with piston, the piston lower surface middle position is fixedly installed piston rod, and the piston-rod lower end face is passed through
It wears the pedestal to protrude into free surrounding space and be fixedly connected with supporting block, one end rotation in surface of the supporting block close to the air pump
Formula is connected with rotation axis, and scroll wheel is fixedly installed in the rotation axis, and pedestal lower end surface middle position is fixedly installed
Fixed block is provided with the first drive cavity in the fixed block, driving motor, the drive is fixedly installed in first drive cavity
The output shaft lower end surface of dynamic motor is fixedly installed first bevel gear, and the first bevel gear left side has been engaged the second cone
Gear, rotating bar is provided through in the second bevel gear, and first drive cavity is symmetrical set opening towards outside
Connecting cavity, described rotating bar or so end face extends through first drive cavity and protrudes into the connecting cavity and be fixedly connected with
Shaft coupling, the shaft coupling are fixedly connected with connecting shaft far from an end face of first drive cavity, on the upside of the fixed block in
It is symmetrically set with spring groove in the pedestal, sliding shoe is set in the spring groove, the sliding shoe upper surface fixation is set
It is equipped with compressed spring, the compressed spring other end is fixedly connected with the spring groove upper surface, in the sliding shoe lower end surface
Between position be fixedly installed connecting rod, the connecting rod lower end surface is fixedly connected with link block, before being provided in the link block
After run through and downward opening cavity, bilateral symmetry and perforative first empty slot in left and right, the company are provided in the link block
An end face of the spindle far from the shaft coupling by bearing rotary type is connect through the first empty slot and cavity and with the link block,
It is fixedly installed first gear in the connecting shaft, the first gear lower end surface has been engaged second gear, and described first
Perforative second empty slot in left and right is provided on the downside of empty slot, the rotation axis runs through described second close to an end face of the fixed block
Empty slot and second gear are connect with the link block by bearing rotary type, and the pedestal upper surface is symmetrically set with opening
The first groove upward is fixedly installed the first solid rod between end wall before and after first groove, rotates in first solid rod
Formula is connected with the first turning handle, and first sliding groove is provided between first groove, is fixedly installed on the first sliding groove lower end wall
There is the first sliding rail, is slidably matched on first sliding rail and is provided with symmetrical first sliding block, rotated on first sliding block
Formula is connected with the second turning handle, and guide runner is provided with and communicated on front side of the first sliding groove, is provided with and communicated with cunning on front side of the guide runner
Dynamic slot, left side first slip front face are fixedly installed the first sliding rack, and right side first slip front face is fixed
It is provided with the second sliding rack, is engaged between the second sliding rack front end face and the second sliding rack rear end face
There is motor-driven meshing gear.
2. a kind of robot control system according to claim 1, it is characterised in that: setting is organic on the upside of the pedestal
Body is provided with symmetrical downward opening second groove in the fuselage lower end surface, before and after second groove end wall it
Between be fixedly installed the second solid rod, rotary type is connected with third turning handle in second solid rod, is arranged between second groove
There is second sliding slot, the second sliding slot upper end wall is fixedly installed the second sliding rail, is slidably matched and is provided on second sliding rail
Symmetrical second sliding block, rotary type is connected with the 4th turning handle on second sliding block, and first turning handle is turned by connection
Handle is connect with the 4th turning handle rotary type, and second turning handle is connect by connecting turning handle with the third turning handle rotary type, described
It is fixedly installed steering motor in fuselage upper surface, is provided with rotor on the upside of the fuselage, is provided in the rotor interior
Tooth socket, the internal spline internal messing are provided with tooth sector, and the output shaft upper surface of the steering motor is fixed with steering shaft, institute
Steering shaft upper surface is stated to protrude into the internal spline and be fixedly connected with the tooth sector, the internal tooth through the rotor
It is provided with sliding cavity on the upside of slot, sliding solid rod is fixedly installed between the sliding cavity left hand end wall, is slided in the sliding solid rod
Dynamic to be connected with symmetrical movable block, the movable block front end face is fixedly installed zigzag clamping bar, the left side shifting
Motion block upper surface is fixedly installed the first rack gear extended to the right, and it is solid that the right side movable block upper surface is fixedly installed second
Block, the described second solid block rear end face are fixedly installed the second rack gear extended to the left, and sliding cavity upper end wall middle position is solid
Surely it is provided with drive block, the perforative driving groove in left and right is provided in the drive block, is provided with transmission gear in the driving groove,
Driving motor is fixedly installed in the sliding cavity upper end wall, the output shaft lower end surface of the driving motor, which is fixedly connected with, to be turned
Axis, the shaft lower end surface is connect through the transmission gear with the driving groove lower end wall rotary type, after first rack gear
End face engages connection with the transmission gear front end face, and the second rack gear front end face engages company with the transmission gear rear end face
It connects, the rotor upper surface is fixedly installed connecting column, stable block is fixedly installed on the connecting column, on the stable block
It is fixedly installed infrared radiation detection apparatus.
3. a kind of robot control system according to claim 2, it is characterised in that: the height of the clamping bar is equal to this
The height of solid rod and ground is slided when fuselage lower end surface described in device is abutted with the pedestal upper surface, it is symmetrical described
Clamping bar is fixedly installed non-slip mat on an opposite end face.
4. a kind of robot control system according to claim 3, it is characterised in that: the fuselage is supported with the rotor
It is provided with several ball grooves in the end face connect, is provided with ball in ball grooves.
5. a kind of robot control system according to claim 1, it is characterised in that: when original state, connecting shaft and connection
It is fixedly connected between axis device but in relaxed state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612877.4A CN108481313B (en) | 2018-06-14 | 2018-06-14 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810612877.4A CN108481313B (en) | 2018-06-14 | 2018-06-14 | A kind of robot control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108481313A CN108481313A (en) | 2018-09-04 |
| CN108481313B true CN108481313B (en) | 2018-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810612877.4A Active CN108481313B (en) | 2018-06-14 | 2018-06-14 | A kind of robot control system |
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| CN (1) | CN108481313B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965159A (en) * | 2017-04-10 | 2017-07-21 | 浙江谱麦科技有限公司 | A kind of robot motion's base and the industrial robot including it |
| CN107598905A (en) * | 2017-11-02 | 2018-01-19 | 刘和勇 | A kind of mobile link base of mechanical arm |
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
| CN207447157U (en) * | 2017-09-27 | 2018-06-05 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
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| EP2303731A2 (en) * | 2008-05-21 | 2011-04-06 | Georgia Tech Research Corporation | Force balancing mobile robotic system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965159A (en) * | 2017-04-10 | 2017-07-21 | 浙江谱麦科技有限公司 | A kind of robot motion's base and the industrial robot including it |
| CN207447157U (en) * | 2017-09-27 | 2018-06-05 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
| CN107598905A (en) * | 2017-11-02 | 2018-01-19 | 刘和勇 | A kind of mobile link base of mechanical arm |
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
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