CN203415158U - Six-degree-of-freedom medium-sized series teaching robot - Google Patents
Six-degree-of-freedom medium-sized series teaching robot Download PDFInfo
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- CN203415158U CN203415158U CN201320229548.4U CN201320229548U CN203415158U CN 203415158 U CN203415158 U CN 203415158U CN 201320229548 U CN201320229548 U CN 201320229548U CN 203415158 U CN203415158 U CN 203415158U
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Abstract
The utility model relates to a six-degree-of-freedom medium-sized series teaching robot, comprising a robot pedestal, a six-degree-of-freedom medium-sized series teaching robot body, a robot end tool, an air passage system, a robot control system and a workpiece test bench. The six-degree-of-freedom medium-sized series teaching robot is designed based on low cost and industrial series consistency, a mechanical system is visual, a control system is completely open, operation is carried out through a demonstration box with industrial series consistency, the common demonstration reproducing work mode of an industrial series robot is employed, a student comprehensively grasps selection and assembling of a mechanical drive part, design of a structural member, selection and usage of a sensor, selection and usage of a motor, computer programming and debugging, and other technology, and the capability of a student in designing, assembling and debugging a robot and a dynamo-electric system is raised. Great meaning is provided for culturing high-quality skilled talents and promoting great-leap-forward development of the economy and the society.
Description
Technical field
The present invention relates to the medium-sized series connection teaching robot of a kind of six degree of freedom.
Background technology
In known technical field, along with developing rapidly of Chinese national economy, enterprise is more and more urgent to the technical ability talent's of robot demand.Particularly after China's accession to the WTO, competition between enterprise is the competition showing as to a great extent the technical ability talent, thus by greatly excite the vast Adaptation of Higher Vocational School Students of China at robot learning, master a skill, enthusiasm aspect ability cultivation.The personnel training demand that therefore robot development brings more starts to manifest, and current each colleges and universities of professorship set up the teaching means such as robot laboratory one after another, and therefore, whether relevant teaching robot's equipment meets teaching and seem particularly important with the demand for employment.The industrial operations type teaching robot that the industrial robot product of take is prototype more and more becomes one of the robot teaching of colleges and universities of professorship platform with low-cost industrial design; Zhe Lei robot retains all features of industrial robot; there is better opening and extensibility; stronger interactivity and manipulative ability; the good factors such as man-machine interface; and low-cost design, safe and reliable.Socialization to universal student's robot skill education, science and technology all has great importance.
Summary of the invention
The technical problem to be solved in the present invention is: a kind of physical construction is provided and controls the medium-sized teaching robot of series connection of six degree of freedom who all meets industrial serial machine people feature and industry standard design, can solve the universal platform problem of industrial operation practice shortage in the teaching process of Robotics.
The technical solution adopted for the present invention to solve the technical problems is: the medium-sized series connection teaching robot of a kind of six degree of freedom, there is robot base, the medium-sized series connection teaching machine of six degree of freedom human body, robot end's instrument, air-channel system, robot control system and workpiece experiment table, described robot control system is installed in panel beating switch board, front panel configuration control operation button at described panel beating switch board, described robot end's instrument is arranged on the medium-sized series connection teaching machine of six degree of freedom human body, on the medium-sized series connection teaching machine of described six degree of freedom human body mounting robot base, described robot base is fixedly connected with ground by foot bolt, workpiece experiment table is positioned at robot the place ahead and is applicable to position.
Further, as a kind of concrete embodiment, the medium-sized series connection teaching machine of six degree of freedom described in the present invention human body's height is 1150mm, and maximum expansion radius is 870mm; Described robot control system is the Embedded Motion based on PC104 bus, internal stack formula at described robot control system is provided with three two axis motion control cards, and described robot control system has graphical teach box and Windows environmental interface; Described workpiece experiment table has axle, overlaps two kinds of nylon workpiece and aluminium alloy experiment table.
Further, as a kind of concrete mechanism form, the medium-sized series connection teaching machine of six degree of freedom described in the present invention human body by a joint, two joints, three joints, four joints, five joints, six joints realize and rotatablely moving, two kinds of forms of gyration, and the motor in each joint, the cable of sensor are all arranged in spring thread-protected tube, and the medium-sized series connection teaching machine of six degree of freedom human body adopts the encapsulating structure of transparent mode.
Further, as a kind of concrete version, the joint described in the present invention comprises AC servo motor, harmonic speed reducer, robot base, photoelectric sensor.
Further, as a kind of concrete version, two joints described in the present invention comprise AC servo motor, RV speed reduction unit, the large arm of two joints, photoelectric sensor.
Further, as a kind of concrete version, three joints described in the present invention comprise stepper motor, harmonic speed reducer, synchronous cog belt, photoelectric sensor, three joint supports.
Further, as a kind of concrete version, four joints described in the present invention comprise stepper motor, harmonic speed reducer, photoelectric sensor, four joint bearings.
Further, as a kind of concrete version, five joints described in the present invention comprise stepper motor, harmonic speed reducer, synchronous cog belt, joint seating, photoelectric sensor.
Further, as a kind of concrete version, six joints described in the present invention comprise stepper motor, synchronous cog belt, bevel gear drive, harmonic speed reducer, photoelectric sensor.
Further, in order to make the applicability of robot more extensive, the present invention can be provided with Pneumatic paw instrument, track Spray painting tool or other gripping tools on described robot end's instrument.
The invention has the beneficial effects as follows: in the present invention, the medium-sized series connection teaching machine of six degree of freedom human body is based on low-cost and industry series connection synchronize design, mechanical system is visual, control system all-round opening, the teach box operation that applicable industry is connected consistent, adopts the conventional teaching of industrial serial machine people to reproduce mode of operation.Six degree of freedom medium-sized series connection teaching robot used as high Robotics teaching platform, meets the feature of industrial robot, and low-cost design can meet again the modern high and demand of vocational education to robot used for teaching simultaneously.Study by experiment, the basis that can grasp industrial serial machine people forms and principle of work, understand robot elementary cell technology (mechanism, control, sensor), can complete carrying and the assembly experiment of Different Rule, allow selection, assembling, the design of structural member that student grasps industrial robot mechanical transmission component comprehensively, the technology such as the choice and operation of the choice and operation of sensor, motor, computer programming and debugging make student all can be improved at design, assembling, the debugging capability of robot and Mechatronic Systems.To accelerating high-quality skilled talents, cultivate, advance the great-leap-forward development of economy and society significant.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the three-view diagram of assembly structure of the present invention;
Fig. 2 is the structural representation of the medium-sized series connection teaching machine of six degree of freedom human body in the present invention;
Fig. 2 a is the side view of Fig. 2;
Fig. 3 is the present invention's one articulation structure schematic diagram;
Fig. 3 a is the cut-open view of Fig. 3;
Fig. 4 is the present invention's two articulation structure schematic diagram;
Fig. 5 is the present invention's three articulation structure schematic diagram;
Fig. 5 a is the cut-open view of Fig. 5;
Fig. 6 is the present invention's four articulation structure schematic diagram;
Fig. 6 a is the vertical view of Fig. 6;
Fig. 7 is the present invention's five articulation structure schematic diagram;
Fig. 8 is the present invention's six articulation structure schematic diagram;
Fig. 8 a is the side view of Fig. 8;
Fig. 9 is robot end's tool construction schematic diagram of the present invention;
Fig. 9 a is the side view of Fig. 9;
In figure: (1) robot base, (2) the medium-sized series connection teaching machine of six degree of freedom human body, (3) robot end's instrument, (4) air-channel system, (5) robot control system, (6) work support, (7) panel beating switch board, (8) control knob and pilot lamp, (9) one joints, (10) two joints, (11) three joints, (12) four joints, (13) five joints, (14) six joints, (15) Pneumatic paw instrument, (16) track Spray painting tool, (17) AC servo motor, (18) harmonic speed reducer, (19) robot base, (20) photoelectric sensor, (21) AC servo motor, (22) RV speed reduction unit, the large arm of (23) two joint, (24) photoelectric sensor, (25) stepper motor, (26) harmonic speed reducer, (27) synchronous cog belt, (28) photoelectric sensor, (29) three joint supports, (30) stepper motor, (31) harmonic speed reducer, (32) photoelectric sensor, (33) four joint bearings, (34) stepper motor, (35) harmonic speed reducer, (36) synchronous cog belt, (37) joint seating, (38) photoelectric sensor, (39) stepper motor, (40) synchronous cog belt, (41) bevel gear drive, (42) harmonic speed reducer, (43) photoelectric sensor, (44) spring thread-protected tube.
Embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, basic structure of the present invention is only described in a schematic way, so it only show the formation relevant with the present invention.
As Fig. 1, Fig. 2, Fig. 2 a, the preferred embodiment of the medium-sized series connection teaching robot of a kind of six degree of freedom of the present invention shown in Fig. 9 and Fig. 9 a, there is robot base 1, the medium-sized series connection teaching machine of six degree of freedom human body 2, robot end's instrument 3, air-channel system 4, robot control system 5 and workpiece experiment table 6, described robot control system 5 is installed in panel beating switch board 7, front panel configuration control operation button 8 at described panel beating switch board 7, electrical equipment compactness is attractive in appearance, open layout, cabinet Qianmen configuration button and pilot lamp, after aviation connector is installed, in order to cable transmission signal, described robot end's instrument 3 is arranged on the medium-sized series connection teaching machine of six degree of freedom human body 2, on the medium-sized series connection teaching machine of described six degree of freedom human body 2 mounting robot bases 1, described robot base 1 is fixedly connected with ground by foot bolt, workpiece experiment table 6 is positioned at robot the place ahead and is applicable to position, assurance experiment safety is reliable, in described robot end's instrument 3 standard configurations, adopt Pneumatic paw instrument 15, configuration is without pneumatic elements such as oily quiet air pumps, replaceable is track Spray painting tool 16 etc., there is higher price-performance ratio.
The medium-sized series connection teaching machine of described six degree of freedom human body 2 height is 1150mm, and maximum expansion radius is 870mm, load 6kg; Described robot control system 5 is the Embedded Motion based on PC104 bus, internal stack formula at described robot control system 5 is provided with three two axis motion control cards, described robot control system (5) man-machine interaction is good, adopts graphical teach box or host computer to operate, control.During secondary development simultaneously, can provide corresponding Windows environmental interface that general six-DOF robot Programming with Pascal Language system is provided, can automatically generate robot language supervisor by teaching; Described workpiece experiment table 6 has axle, overlaps two kinds of nylon workpiece and aluminium alloy experiment table.
The medium-sized series connection teaching machine of described six degree of freedom human body 2 is by a joint 9, two joints 10, three joints 11, four joints 12, five joints 13, six joints 14 are realized and being rotatablely moved, two kinds of forms of gyration, and the motor in each joint, the cable of sensor is all arranged in spring thread-protected tube 44, and the medium-sized series connection teaching machine of six degree of freedom human body 2 adopts the encapsulating structure of transparent mode, robot interior drive mechanism adopts industrial robot structure feature completely, suitably increase typical transmission type, meet teaching requirement, in design, adopted the industrial RV speed reduction unit of commonly using, harmonic speed reducer, the principal modes such as toothed belt transmission.
A joint 9 in the present embodiment as shown in Fig. 3 and Fig. 3 a is robot base joint, by AC servo motor 17, driven, direct-connected harmonic speed reducer 18 transmissions, joint integral installation is on robot base 19, the external installation aviation of base hood connector, in order to connect power supply and signal between robot and switch board, joint output terminal arranges the spacing photoelectric sensor 20 in left and right, the anglec of rotation 300 degree.
Two joints 10 in the present embodiment as shown in Figure 4, are driven by AC servo motor 21, direct-connected RV speed reduction unit 22 transmissions, and the large arm 23 of two joints is installed in outside, and in order to be connected with other joints, joint one side arranges positive and negative spacing photoelectric sensor 24, the anglec of rotation 120 degree.
Three joints 11 in the present embodiment as shown in Fig. 5 and Fig. 5 a, are driven by stepper motor 25, by synchronous cog belt 27, connect harmonic speed reducer 26 outputs, and three joint supports 29 are installed on top, and joint one side arranges positive and negative spacing photoelectric sensor 28, the anglec of rotation 120 degree.
Four joints 12 in the present embodiment as shown in Fig. 6 and Fig. 6 a, are driven by stepper motor 30, direct-connected harmonic speed reducer 31 outputs, and integral body is positioned at four joint bearings 33, and joint one side arranges positive and negative spacing photoelectric sensor 32, the anglec of rotation 300 degree.
Five joints 13 in the present embodiment as shown in Figure 7, by stepper motor 34, driven, direct-connected synchronous cog belt 36 transmissions, connect harmonic speed reducer 35 deceleration outputs, joint seating 37 is installed in outside, in order to be connected with other joints, joint one side arranges positive and negative spacing photoelectric sensor 38, the anglec of rotation 180 degree.
Six joints 14 in the present embodiment as shown in Fig. 8 and Fig. 8 a, are driven by stepper motor 39, and direct-connected synchronous cog belt 40 bevel gear drive 41 connect harmonic speed reducer 42 outputs, and joint one side arranges zero-bit photoelectric sensor 43, the anglec of rotation 360 degree.
The present embodiment has following features: robot system embedded Control, and teach box operation, operating type is reproduced in teaching.Body the visual design, structure, function and the feature of embodiment industrial robot.By industry standard design, speed is fast, flexible, and reliability is high; Flexible operation, open strong, can use for a long time non-maintaining.The teaching materials such as robot guide book of experiment, operation instructions, software application instructions are provided, and content contains kinematics, dynamics, Control System Design, robot trajectory planning etc., is robot teaching's ideal platform.
The above-mentioned foundation desirable embodiment of the present invention of take is enlightenment, and by above-mentioned description, relevant staff can, within not departing from the scope of this invention technological thought, carry out various change and modification completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to claim scope.
Claims (10)
1. the medium-sized series connection teaching robot of six degree of freedom, it is characterized in that: there is robot base (1), the medium-sized series connection teaching machine of six degree of freedom human body (2), robot end's instrument (3), air-channel system (4), robot control system (5) and workpiece experiment table (6), described robot control system (5) is installed in panel beating switch board (7), front panel configuration control operation button (8) at described panel beating switch board (7), described robot end's instrument (3) is arranged on the medium-sized series connection teaching machine of six degree of freedom human body (2), on the medium-sized series connection teaching machine of described six degree of freedom human body (2) mounting robot base (1), described robot base (1) is fixedly connected with ground by foot bolt, workpiece experiment table (6) is positioned at robot the place ahead and is applicable to position.
2. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 1, is characterized in that: the medium-sized series connection teaching machine of described six degree of freedom human body's (2) height is 1150mm, and maximum expansion radius is 870mm;
Described robot control system (5) is the Embedded Motion based on PC104 bus, internal stack formula at described robot control system (5) is provided with three two axis motion control cards, and described robot control system (5) has graphical teach box and Windows environmental interface;
Described workpiece experiment table (6) has axle, overlaps two kinds of nylon workpiece and aluminium alloy experiment table.
3. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 1, it is characterized in that: the medium-sized series connection teaching machine of described six degree of freedom human body (2) by a joint (9), two joints (10), three joints (11), four joints (12), five joints (13), six joints (14) realize and rotatablely moving, two kinds of forms of gyration, and the motor in each joint, the cable of sensor are all arranged in spring thread-protected tube (44), and the medium-sized series connection teaching machine of six degree of freedom human body (2) adopts the encapsulating structure of transparent mode.
4. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: a described joint (9) comprises AC servo motor (17), harmonic speed reducer (18), robot base (19), photoelectric sensor (20).
5. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: described two joints (10) comprise AC servo motor (21), RV speed reduction unit (22), two joint large arms (23), photoelectric sensor (24).
6. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: described three joints (11) comprise stepper motor (25), harmonic speed reducer (26), synchronous cog belt (27), photoelectric sensor (28), three joint supports (29).
7. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: described four joints (12) comprise stepper motor (30), harmonic speed reducer (31), photoelectric sensor (32), four joint bearings (33).
8. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: described five joints (13) comprise stepper motor (34), harmonic speed reducer (35), synchronous cog belt (36), joint seating (37), photoelectric sensor (38).
9. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 3, is characterized in that: described six joints (14) comprise stepper motor (39), synchronous cog belt (40), bevel gear drive (41), harmonic speed reducer (42), photoelectric sensor (43).
10. the medium-sized series connection teaching robot of a kind of six degree of freedom as claimed in claim 1, is characterized in that: Pneumatic paw instrument (15), track Spray painting tool (16) can be installed on described robot end's instrument (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320229548.4U CN203415158U (en) | 2013-04-28 | 2013-04-28 | Six-degree-of-freedom medium-sized series teaching robot |
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| CN201320229548.4U CN203415158U (en) | 2013-04-28 | 2013-04-28 | Six-degree-of-freedom medium-sized series teaching robot |
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| CN203415158U true CN203415158U (en) | 2014-01-29 |
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| CN201320229548.4U Expired - Fee Related CN203415158U (en) | 2013-04-28 | 2013-04-28 | Six-degree-of-freedom medium-sized series teaching robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
-
2013
- 2013-04-28 CN CN201320229548.4U patent/CN203415158U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208224A (en) * | 2013-04-28 | 2013-07-17 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN103208224B (en) * | 2013-04-28 | 2015-03-11 | 苏州博实机器人技术有限公司 | Six-degree-of-freedom medium serial teaching robot |
| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140129 Termination date: 20150428 |
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| EXPY | Termination of patent right or utility model |