CN201804458U - Modular multi-control rectangular coordinate robot - Google Patents
Modular multi-control rectangular coordinate robot Download PDFInfo
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- CN201804458U CN201804458U CN2010205092505U CN201020509250U CN201804458U CN 201804458 U CN201804458 U CN 201804458U CN 2010205092505 U CN2010205092505 U CN 2010205092505U CN 201020509250 U CN201020509250 U CN 201020509250U CN 201804458 U CN201804458 U CN 201804458U
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Abstract
The utility model relates to a modular multi-control rectangular coordinate robot which comprises at least one linear robot and at least one rotary robot, wherein the linear robot is provided with another linear robot or one rotary robot; the linear robot is also provided with a motor, the motor drives a ball screw by a coupling, and a screw nut on the ball screw drives a motion platform to make a linear motion; and the rotary robot is provided with a motor, the motor drives a worm gear by a coupling, and the worm gear drives a rotating platform to rotate. Thus, students can recombine and reconstruct certain modules to create a robot of multiple degrees of freedom, so that the students can comprehensively master the application and the development of the electromechanical integration technology and the integration technology and can be helped to cognize each component of the system from the whole perspective of the system. Therefore, the students can master the composition, the functions and the control principle of the electromechanical control system, and the practical ability and the innovation and development ability of students can be fostered.
Description
Technical field
The utility model relates to robot and makes the field, especially relates to a kind of modular combination coordinate robot.
Background technology
Along with the application of Cartesian robot more and more widely, it is important that the design effort of Cartesian robot seems day by day.Cartesian robot of successful design relates to the work of a lot of aspects, comprises physical construction, power drive, servocontrol or the like.And in the teaching process of specialty, Cartesian robot has the problem that lacks controlling object.
Summary of the invention
Technical problem to be solved in the utility model provides in a kind of process of the teaching in specialty, can solve the modularization that lacks the controlling object problem and control Cartesian robot more.
The technical scheme in the invention for solving the technical problem is: a kind of modularization is controlled Cartesian robot more, comprises linear robot and rotary machine people, and described linear robot is provided with linear robot or rotary machine people.
In order to make robot that a plurality of degree of freedom are arranged, described linear robot has one at least; Described rotary machine people has one at least.
For robot is moved on straight line, described linear robot is provided with motor, and motor drives ball screw by shaft coupling, and the screw rod screw on the screw rod drives motion platform with rectilinear motion.
For robot can be rotated, described rotary machine people is provided with motor, and motor drives worm and gear by shaft coupling, and worm and gear drives the rotation of rotatable platform.
The beneficial effects of the utility model are: modularization is controlled Cartesian robot more and is used as the elementary teaching platform, forms and principle of work in order to the basis of understanding robot, understands robot elementary cell technology (mechanism, control, sensor).And can finish experiments such as simple carrying, assembling, processing, simultaneously, the student can reconfigure, build and then constitute multi-freedom robot certain module by taking action on one's own, allow the student grasp the application and development and the integrated technology of electromechanical integration technology comprehensively, help the student to remove each ingredient of recognition system, thereby grasp composition, function and the control principle of Mechatronic control system from the entire system angle; Grasp the selection of mechanical transmission component, the design of structural member, the selection of sensor and use, the selection of motor and use, computer programming and debugging etc. make design, assembling, the debugging capability of student's Mechatronic Systems all can obtain combined training, cultivate students ' practical ability and innovative development ability.
Description of drawings
Fig. 1 is the structural representation of linear robot of the present utility model;
Fig. 2 is a rotary machine people's of the present utility model structural representation;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 (a) and Fig. 4 (b) are the utility model two degrees of freedom unitized construction synoptic diagram;
Fig. 5 (a) and Fig. 5 (b) are the utility model Three Degree Of Freedom unitized construction synoptic diagram;
Fig. 5 (a) and Fig. 5 (b) are the utility model four-degree-of-freedom unitized construction synoptic diagram.
1, motor 2, shaft coupling 3, ball screw 4, motion platform 5, rotatable platform
Embodiment
Linear robot as shown in Figure 1 is provided with motor 1, and motor 1 drives ball screw 3 by shaft coupling 2, and the screw rod screw on the ball screw 3 drives motion platform 4 with rectilinear motion.The rotation of motor 1 becomes rectilinear motion output.
Rotary machine people as shown in Figures 2 and 3 is provided with motor 1, and motor 1 drives worm and gear by shaft coupling 2, and worm and gear drives the rotation of rotatable platform 5.The rotation of motor 1 is changed on another plane by worm and gear and is rotated.
Introduce the multivariant Cartesian robot that some are occurred through combination by linear robot and rotary machine people below.
Be depicted as the binary Cartesian robot of being made up of two linear robots as Fig. 4 (a), it is arbitrary motion in one plane.Be depicted as by a linear robot and the binary Cartesian robot that the rotary machine people forms as Fig. 4 (b), it can point-blank move, and vertically this straight line can rotate.
Be depicted as the Cartesian robot of the Three Degree Of Freedom of being made up of three linear robots as Fig. 5 (a), it can arbitrary motion in a 3 D stereo.Be depicted as the Cartesian robot of the Three Degree Of Freedom of being made up of two linear robots and rotary machine people as Fig. 5 (b), it can arbitrary motion in a plane, and can rotate on the direction on vertical this plane.
Be depicted as by three linear robots and the Cartesian robot that the rotary machine people forms as Fig. 6 (a) and Fig. 6 (b), wherein the rotation of the rotary machine people among Fig. 6 (a) is perpendicular to the plane of movement from first and second linear robot of bottom number; The rotation of rotary machine people among Fig. 6 (b) is perpendicular to the plane of movement from second of bottom number and the 3rd linear robot.
The terminal attitude control of the robot of above-mentioned various configurations has 3 kinds of control models: manually control, PLC programming Control, computer PCI motion control card control or control based on the PC104 bus embedded type.
The characteristics of Cartesian robot: multifreedom motion, the space angle between each freedom of motion are the right angle; Automatically control, but overprogram, the equal follow procedure operation of all motions; Generally formed by control system, drive system, mechanical system, operation tool etc.; Flexibly, multi-functional, because of the difference in functionality of operation tool also different; High reliability, high-speed, high accuracy; Can be used for rugged environment, but long-term work, the convenient operation maintenance.
Claims (4)
1. a modularization is controlled Cartesian robot more, comprises linear robot and rotary machine people, it is characterized in that: described linear robot is provided with linear robot or rotary machine people.
2. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described linear robot has one at least; Described rotary machine people has one at least.
3. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described linear robot is provided with motor (1), motor (1) drives ball screw (3) by shaft coupling (2), and the screw rod screw on the ball screw (3) drives motion platform (4) and does rectilinear motion.
4. modularization according to claim 1 is controlled Cartesian robot more, it is characterized in that: described rotary machine people is provided with motor (1), and motor (1) drives worm and gear by shaft coupling (2), and worm and gear drives the rotation of rotatable platform (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205092505U CN201804458U (en) | 2010-08-30 | 2010-08-30 | Modular multi-control rectangular coordinate robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205092505U CN201804458U (en) | 2010-08-30 | 2010-08-30 | Modular multi-control rectangular coordinate robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201804458U true CN201804458U (en) | 2011-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205092505U Expired - Lifetime CN201804458U (en) | 2010-08-30 | 2010-08-30 | Modular multi-control rectangular coordinate robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN201804458U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102881214A (en) * | 2012-09-20 | 2013-01-16 | 哈尔滨宇坤科技开发有限公司 | Modular-robot aided teaching platform for primary school |
| RU2481795C1 (en) * | 2011-12-20 | 2013-05-20 | Юрий Иванович Русанов | Device for individual lifting diagnostic and surgical elements in multifunctional diagnostic and surgical robotic system of operation table with possibility of information-computer control named after yirusanov |
-
2010
- 2010-08-30 CN CN2010205092505U patent/CN201804458U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2481795C1 (en) * | 2011-12-20 | 2013-05-20 | Юрий Иванович Русанов | Device for individual lifting diagnostic and surgical elements in multifunctional diagnostic and surgical robotic system of operation table with possibility of information-computer control named after yirusanov |
| CN102881214A (en) * | 2012-09-20 | 2013-01-16 | 哈尔滨宇坤科技开发有限公司 | Modular-robot aided teaching platform for primary school |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 215121 No. 128, Fang Zhou road, Suzhou Industrial Park, Jiangsu, China Patentee after: JIANGSU HUIBO ROBOTICS TECHNOLOGY Co.,Ltd. Address before: 215121, 09, 101, 201 and 301, northwest of Suzhou nanometer City, 99 Jinji Lake Avenue, Suzhou Industrial Park, Jiangsu, China Patentee before: JIANGSU HUIBO ROBOTICS TECHNOLOGY Co.,Ltd. Address after: 215121, 09, 101, 201 and 301, northwest of Suzhou nanometer City, 99 Jinji Lake Avenue, Suzhou Industrial Park, Jiangsu, China Patentee after: JIANGSU HUIBO ROBOTICS TECHNOLOGY Co.,Ltd. Address before: 215121, 2A building, new science and technology industrial square, 8 Industrial Road, Suzhou Industrial Park, Suzhou, Jiangsu Patentee before: SUZHOU BOSHI ROBOTICS TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term |
Granted publication date: 20110420 |
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| CX01 | Expiry of patent term |