Manipulator base applied to practical teaching

Abstract

The utility model discloses a manipulator base applied to practical teaching, which comprises a bottom ring plate, a supporting plate group is arranged above the bottom ring plate, and the supporting plate group can rotate relative to the bottom ring plate and is connected with a mechanical arm; a plurality of sets of moving mechanisms are arranged below the bottom ring plate, and the tops of the moving mechanisms are hinged to the bottom ring plate; an adjusting mechanism is further arranged below the bottom ring plate, and the adjusting mechanism is connected with the bottom ring plate and the moving mechanism at the same time and can adjust the state of the moving mechanism; the moving mechanism with the adjustable device is arranged below the bottom ring plate, the moving mechanism can be controlled to rotate around the shaft under the action of external force, the bottom of the moving mechanism is made to make contact with the ground, the bottom ring plate is lifted, the supporting plate is made to break away from the ground, and convenience is provided for transferring the mechanical arm to a needed place according to needs.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, and specifically relates to a manipulator base applied to training teaching. Background Technique

[0002] With the rapid development of technology, the industrial field is undergoing a profound transformation from traditional manual operation to automated and intelligent production. As an important device on the industrial automation production line, the manipulator can accurately and efficiently complete various complex tasks such as grasping, handling, assembling, and welding, greatly improving production efficiency, product quality, and reducing labor costs.

[0003] This trend of industrial automation has led to a large demand for talents who master the knowledge and operation skills related to manipulators. Not only do industrial enterprises need professionals to operate, maintain, and optimize the manipulator system, but also a large number of talents with solid professional knowledge are required in the front-end links such as the research and development and design of manipulators.

[0004] In order to cultivate a large number of talents who master the knowledge and operation skills related to manipulators, vocational colleges purchase manipulators for teaching, aiming to enable students to deeply understand the working principle, structural composition, programming control, etc. of manipulators through actual operation, and at the same time cultivate students' practical hands-on ability, innovative thinking, and the ability to solve practical problems, providing strong support for cultivating professional talents who meet the development needs of industrial automation.

[0005] Currently, compared with the manipulators used in industry, the manipulators used in teaching simplify the complex mechanical structure of industrial manipulators on the basis of ensuring that the basic working principle and main motion forms of the manipulators can be demonstrated. For example, a modular teaching manipulator with the publication number CN104167146B includes a chassis rotation device, a lifting device, a telescopic device, and a finger grasping device. The lifting device is arranged on the chassis rotation device, the telescopic device is arranged at the upper end of the lifting device, and the finger grasping device is arranged at one end of the lifting device. The circumferential direction of the finger grasping device is adjusted through the chassis rotation device, the grasping height of the finger grasping device is adjusted through the lifting device, the grasping control power is transmitted to the finger grasping device through the telescopic device, and the finger grasping device is responsible for grasping objects. This teaching aid can achieve a close combination of "teaching" and "learning" in basic mechanical courses. Each module of the manipulator provided in the above patent is composed of a variety of typical motion mechanisms. Students can freely assemble them into different forms of manipulators, which is convenient for students to master the motion principles of various typical mechanisms and understand the motion effects after the combination of multiple mechanisms.

[0006] Although the robotic arm provided by the above patent can meet the teaching requirements, its flexibility is poor, and it is inconvenient to transfer the robotic arm to the required location according to needs. For example, during the theoretical explanation of the robotic arm, it is inconvenient to transfer the robotic arm to the classroom, which is not conducive to students' understanding of theoretical knowledge in combination with practice. This results in the robotic arm purchased at a high price can only be used for students' practical training, with a narrow range of uses, and it is not conducive to making the best use of things. Summary of the Invention

[0007] The purpose of the present invention is to provide a base for a robotic arm applied to practical training teaching, aiming to improve the problems that the robotic arm for practical operation is inconvenient to move and has a single function.

[0008] The present invention is implemented as follows: A base for a robotic arm applied to practical training teaching includes a bottom ring plate. Above the bottom ring plate, a set of supporting plates is provided. The set of supporting plates can rotate relative to the bottom ring plate and is connected to the robotic arm. Below the bottom ring plate, multiple sets of moving mechanisms are provided. The top of the moving mechanism is hinged to the bottom ring plate. Below the bottom ring plate, an adjusting mechanism is also provided. The adjusting mechanism is connected to both the bottom ring plate and the moving mechanism and can adjust the state of the moving mechanism.

[0009] Preferably, the set of supporting plates includes a first plate body, a second plate body, and a supporting plate. Two second plate bodies are adjustably installed on both sides of the first plate body, and a connecting plate is fixedly provided at the end where they are close to each other. Above the two second plate bodies, a supporting plate is commonly connected.

[0010] Preferably, a clamping plate is fixedly provided on the side wall of the first plate body, and an adjusting screw is provided above it. At the end where the two second plate bodies are close to each other, a clamping groove is provided, and a threaded hole is provided on the connecting plate. The clamping plate penetrates through the clamping groove, and the adjusting screw threadedly penetrates through the threaded hole.

[0011] Preferably, an internal gear ring is connected to the inner side of the bottom ring plate through a bearing, and a motor is fixedly provided below it. A gear is provided on the power output shaft of the motor, and the gear is connected to the internal gear ring.

[0012] Preferably, the upper side of the internal gear ring is higher than the upper side of the bottom ring plate, and the end of the first plate body is fixedly supported on the internal gear ring; multiple support plates are evenly distributed and provided below the bottom ring plate.

[0013] Preferably, the moving mechanism includes a connecting frame, a set of connecting pipes, and rollers. A second support frame is hinged to the roller. A connecting shaft is fixedly provided at the top of the second support frame. The connecting shaft is inserted into the set of connecting pipes. The top of the set of connecting pipes is hinged and provided in the connecting frame, and the top of the connecting frame is connected to the bottom ring plate.

[0014] Preferably, the adjusting mechanism includes an adjusting screw, a lifting disc, connecting plates and a sleeve. Multiple connecting plates are arranged obliquely, with their upper ends hinged to the lifting disc and their lower ends connected to the sleeve. The adjusting screw is threadedly passed through the lifting disc; the sleeve can be replaced with a hoop.

[0015] Preferably, the connecting pipe group includes a top pipe, a first arc-shaped plate and a second arc-shaped plate. The first arc-shaped plate is vertically arranged below the top pipe, and the second arc-shaped plate is spliced on the side of the first arc-shaped plate, and the first arc-shaped plate and the second arc-shaped plate penetrate through the sleeve.

[0016] Preferably, annular grooves are provided on both the inner side surfaces of the first arc-shaped plate and the second arc-shaped plate and the side wall of the connecting shaft, and ball bearings are arranged in the space formed by the opposing annular grooves.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] The present utility model provides a moving mechanism of an adjustable device below the bottom ring plate, which can control the moving mechanism to rotate around the axis under an external force, making its bottom contact the ground and lifting the bottom ring plate, so that the support plate is separated from the ground, facilitating the transfer of the robotic arm to the required location according to needs.

[0019] The present utility model is provided with an adjusting mechanism, and the adjusting mechanism can control the moving mechanism to rotate around the axis. Therefore, when the adjusting mechanism works, multiple sets of moving mechanisms can be forced to adjust their states simultaneously, and thus the lifting of the bottom ring plate can be achieved. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the whole of the present utility model;

[0021] Figure 2 is a schematic structural diagram of the robotic arm of the present utility model;

[0022] Figure 3 is a schematic structural diagram of the base, the support plate group and the moving mechanism of the present utility model;

[0023] Figure 4 is a schematic structural diagram of the base of the present utility model;

[0024] Figure 5 is a schematic structural diagram of the support plate group of the present utility model;

[0025] Figure 6 is a schematic structural diagram of the adjusting mechanism and the moving mechanism of the present utility model;

[0026] Figure 7 is a schematic structural diagram of the adjusting mechanism of the present utility model;

[0027] Figure 8 is a schematic structural diagram of the moving mechanism of the present utility model;

[0028] Figure 9 It is a structural schematic diagram of the connecting pipe group and the roller of the present utility model.

[0029] In the figure: 1. robotic arm; 11. bottom plate; 12. first servo; 13. first arm; 14. second arm; 15. second servo; 16. end effector; 2. bottom ring plate; 21. support plate; 22. internal gear ring; 23. motor; 24. gear; 3. support plate group; 31. first plate body; 32. buckle plate; 33. first adjusting screw; 34. second plate body; 35. support plate; 36. first connecting plate; 37. buckle groove; 4. adjusting mechanism; 41. second adjusting screw; 42. second connecting plate; 43. sleeve; 44. lifting disc; 5. moving mechanism; 51. connecting frame; 6. connecting pipe group; 61. top pipe; 62. first arc plate; 63. second arc plate; 7. roller; 71. second support frame; 72. connecting shaft; 73. annular groove. Detailed implementation manners

[0030] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0031] The following will be further described in conjunction with the accompanying drawings and specific embodiments: Embodiment

[0032] As Figures 1-3 , Figures 5-9 shown, in order to be able to transfer the robotic arm 1 for actual operation according to requirements and fully realize the value of the robotic arm 1, in this embodiment, the base for the robotic arm 1 is improved, and the base is installed on the robotic arm 1, and its state can be adjusted according to requirements, which provides convenience for moving the robotic arm 1 to the corresponding place.

[0033] Specifically, the base includes a bottom ring plate 2, a supporting plate group 3, an adjusting mechanism 4, multiple sets of moving mechanisms 5, etc. A plurality of support plates 21 are evenly distributed and arranged below the bottom ring plate 2, and the bottom ring plate 2 can be stably supported and placed under the action of the support plates 21. The supporting plate group 3 is arranged above the bottom ring plate 2 and can rotate around the central axis of the bottom ring plate 2. At the same time, the robotic arm 1 is installed on the supporting plate group 3. Therefore, the orientation of the robotic arm 1 can be adjusted according to requirements. Multiple sets of moving mechanisms 5 are evenly distributed and arranged below the bottom ring plate 2, and the tops are hinged to the bottom ring plate 2. Therefore, the moving mechanism 5 can adjust its own state under the action of an external force, lift the bottom ring plate 2 by contacting the ground at the bottom of the moving mechanism 5, and separate the support plates 21 from the ground, providing support for the transfer of the robotic arm 1. The adjusting mechanism 4 is also arranged below the bottom ring plate 2 and can control the synchronous adjustment of multiple sets of moving mechanisms 5. Therefore, the state of the moving mechanism 5 can be controlled to change by the operation of the adjusting mechanism 4.

[0034] Before introducing the specific structure, the robotic arm 1 is introduced first. Since the robotic arm 1 is a prior art, a brief introduction is given here. Specifically, the robotic arm 1 includes a bottom plate 11, a first arm 13, a second arm 14, a first servo 12, a second servo 15, an end effector 16, etc. The bottom plate 11, the first arm 13, the second arm 14, the end effector 16, etc. are hinged together, and the first servo 12 and the second servo 15 are arranged at the hinged joints. Therefore, each component can be controlled to rotate under the action of the servo, and the operation of the robotic arm 1 can be realized through cooperation. Of course, the robotic arm 1 also includes a control system, such as a controller, a sensor, a processor, etc., which is the "brain" of the robotic arm and is responsible for controlling and coordinating each part of the robotic arm so that it can accurately execute various actions and tasks according to a predetermined program, instruction or the input of an operator.

[0035] In order to be able to transfer the robotic arm 1 according to requirements, the moving mechanism 5 includes a connecting frame 51, a connecting pipe group 6 and a roller 7. A second support frame 71 is hinged to the roller 7, and a connecting shaft 72 is fixedly arranged at the top of the second support frame 71. The connecting shaft 72 is inserted into the connecting pipe group 6 to realize the hinged connection between the roller 7 and the connecting pipe group 6, and the orientation of the roller 7 can be adjusted according to requirements to realize the transfer of the robotic arm 1. The top of the connecting pipe group 6 is hinged and arranged inside the connecting frame 51, and the top of the connecting frame 51 is connected to the bottom ring plate 2. This setting can facilitate controlling the roller 7 to rotate around the axis to adjust its own state under the action of an external force. For example, the roller 7 is notified to rotate until its contact surface with the ground lifts the bottom ring plate 2.

[0036] In order to control the rotation of the roller 7 to adjust its own state, the adjusting mechanism 4 includes a second adjusting screw 41, a lifting plate 44, a second connecting plate 42 and a sleeve 43. The top of the second adjusting screw 41 is connected and inserted into the supporting plate group 3 through a bearing to achieve the stable installation of the second adjusting screw 41. At the same time, a polygonal plate or a disc is arranged on the second adjusting screw 41 to control the rotation of the second adjusting screw 41. A plurality of second connecting plates 42 are arranged obliquely, and the upper ends are hinged to the lifting plate 44, and the lower ends are connected to the sleeve 43 at the same time. The sleeve 43 is sleeved on the connecting pipe group 6, and the second adjusting screw 41 is threaded through the lifting plate 44. Therefore, the lifting of the lifting plate 44 can be controlled by rotating the second adjusting screw 41, and the inclination angle of the second connecting plate 42 can be changed to provide support for adjusting the state of the roller 7.

[0037] In order to reduce the resistance of the coupling shaft 72 relative to the connecting pipe group 6 during rotation, the connecting pipe group 6 includes a top pipe 61, a first arc plate 62 and a second arc plate 63. The first arc plate 62 is vertically arranged below the top pipe 61, and the second arc plate 63 is spliced on the side of the first arc plate 62. Annular grooves 73 are arranged on the inner side surfaces of the first arc plate 62 and the second arc plate 63 and on the side wall of the coupling shaft 72. A ball is arranged in the space formed by the opposite annular grooves 73. Under the action of the ball, the friction between the coupling shaft 72 and the first arc plate 62 and the second arc plate 63 is reduced.

[0038] Since the second arc plate 63 is spliced on the side of the first arc plate 62, in order to be able to disassemble the first arc plate 62 and the second arc plate 63 according to requirements, the sleeve 43 is replaced by a hoop. On the premise of satisfying the connection between the second connecting plate 42 and the connecting pipe group 6, it is also convenient to disassemble the first arc plate 62 and the second arc plate 63.

[0039] In order to stably install the robotic arm 1 on the supporting plate group 3, the supporting plate group 3 includes a first plate body 31, a second plate body 34 and a supporting plate 35. The top of the second adjusting screw 41 is connected to the first plate body 31. Two second plate bodies 34 can be adjustably installed on both sides of the first plate body 31, and a first connecting plate 36 is fixedly arranged at the mutually approaching ends. A supporting plate 35 is commonly connected above the two second plate bodies 34. At the same time, the bottom plate 11 of the robotic arm 1 is installed on the supporting plate 35. Therefore, when the second plate body 34 moves relative to the first plate body 31, the robotic arm 1 can move relative to the bottom ring plate 2 to adapt it to different working environments.

[0040] In order to achieve the adjustable connection between the first plate body 31 and the second plate body 34, a snap plate 32 is fixedly arranged on the side wall of the first plate body 31, and a first adjusting screw 33 is arranged above it. Snap grooves 37 are arranged at the ends of the two second plate bodies 34 close to each other, and threaded holes are arranged on the first connecting plate 36. The snap plate 32 passes through the snap grooves 37 to achieve the stable and movable connection between the first plate body 31 and the second plate body 34. The first adjusting screw 33 is threadedly passed through the threaded holes. Therefore, the relative movement of the second plate body 34 with respect to the first plate body 31 can be controlled by rotating the first adjusting screw 33. Embodiment

[0041] As Figure 4 shown, on the basis of Embodiment 1, in order to be able to adjust the orientation of the robotic arm 1, an internal gear ring 22 is connected by a bearing inside the bottom ring plate 2, and a motor 23 is fixedly arranged below it. A gear 24 is arranged on the power output shaft of the motor 23, and the gear 24 is connected to the internal gear ring 22. Therefore, the rotation of the gear 24 and the internal gear ring 22 can be controlled under the operation of the motor 23. Since the upper side surface of the internal gear ring 22 is higher than the upper side surface of the bottom ring plate 2, the end of the first plate body 31 is fixedly placed on the internal gear ring 22. Therefore, when the internal gear ring 22 rotates, the supporting plate group 3 is driven to rotate, thereby realizing the adjustment of the orientation of the robotic arm 1. Multiple grooves can also be arranged on the upper side surfaces of the bottom ring plate 2 and the internal gear ring 22, and at the same time, a rod body with a U-shaped structure is equipped. The two ends of the rod body are inserted into the grooves of the bottom ring plate 2 and the internal gear ring 22, and the stationary placement of the bottom ring plate 2 and the internal gear ring 22 can be controlled.

[0042] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator base applied to training teaching, characterized in that It includes a bottom ring plate (2), above which a support plate group (3) is arranged. The support plate group (3) can rotate relative to the bottom ring plate (2) and is connected to the robotic arm (1); below the bottom ring plate (2), multiple sets of moving mechanisms (5) are arranged. The top of the moving mechanism (5) is hinged to the bottom ring plate (2); below the bottom ring plate (2), an adjusting mechanism (4) is also arranged. The adjusting mechanism (4) is connected to both the bottom ring plate (2) and the moving mechanism (5) and can adjust the state of the moving mechanism (5).

2. The manipulator base applied to training teaching according to claim 1, characterized in that The support plate group (3) includes a first plate body (31), a second plate body (34) and a support plate (35). The two second plate bodies (34) are adjustably installed on both sides of the first plate body (31), and a first connecting plate (36) is fixedly arranged at the end where they are close to each other. Above the two second plate bodies (34), a support plate (35) is commonly connected.

3. The manipulator base applied to training teaching according to claim 2, characterized in that, On the side wall of the first plate body (31), a buckle plate (32) is fixedly arranged, and a first adjusting screw (33) is arranged above it. At the end where the two second plate bodies (34) are close to each other, a buckle groove (37) is arranged, and a threaded hole is arranged on the first connecting plate (36). The buckle plate (32) penetrates through the buckle groove (37), and the first adjusting screw (33) threadedly penetrates through the threaded hole.

4. The manipulator base applied to training teaching according to claim 3, characterized in that, Inside the bottom ring plate (2), an internal gear ring (22) is connected by a bearing, and a motor (23) is fixedly arranged below it. A gear (24) is arranged on the power output shaft of the motor (23), and the gear (24) is connected to the internal gear ring (22).

5. The base of a manipulator applied to training teaching according to claim 4, characterized in that, The upper side of the internal gear ring (22) is higher than the upper side of the bottom ring plate (2). The end of the first plate body (31) is fixedly supported on the internal gear ring (22); below the bottom ring plate (2), multiple support plates (21) are evenly distributed.

6. The manipulator base applied to training teaching according to claim 2, wherein The moving mechanism (5) includes a connecting frame (51), a connecting pipe group (6) and rollers (7). On the roller (7), a second support frame (71) is hinged. At the top of the second support frame (71), a connecting shaft (72) is fixedly arranged. The connecting shaft (72) is inserted into the connecting pipe group (6). The top of the connecting pipe group (6) is hinged and arranged inside the connecting frame (51), and the top of the connecting frame (51) is connected to the bottom ring plate (2).

7. The base of a manipulator applied to training teaching according to claim 6, characterized in that The adjusting mechanism (4) includes a second adjusting screw (41), a lifting disc (44), a second connecting plate (42) and a sleeve (43). Multiple second connecting plates (42) are inclined, and the upper ends are hinged to the lifting disc (44), and at the same time, the lower ends are connected to the sleeve (43). The second adjusting screw (41) threadedly penetrates through the lifting disc (44); the sleeve (43) can be replaced by a hoop.

8. A manipulator base applied to training teaching according to claim 7, characterized in that, The connecting pipe group (6) includes a top pipe (61), a first arc-shaped plate (62) and a second arc-shaped plate (63). The first arc-shaped plate (62) is vertically arranged below the top pipe (61). The second arc-shaped plate (63) is spliced on the side of the first arc-shaped plate (62), and the first arc-shaped plate (62) and the second arc-shaped plate (63) penetrate through the sleeve (43).

9. The base of a manipulator applied to training teaching according to claim 8, characterized in that, Circular grooves (73) are provided on both the inner side surfaces of the first arc-shaped plate (62) and the second arc-shaped plate (63) and the side wall of the coupling shaft (72), and balls are arranged in the space formed by the opposed circular grooves (73).

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