Mechanical arm teaching platform

Abstract

The utility model discloses a mechanical arm teaching platform, which relates to the technical field of teaching tools and comprises a grabbing mechanism and a motion module used for driving the grabbing mechanism to move. The movement module comprises a rack, an X-axis movement module, a plurality of Y-axis movement modules and a Z-axis movement module, the plurality of Y-axis movement modules are arranged on the rack side by side, a supporting frame is slidably arranged on any Y-axis movement module, and the Y-axis movement module can drive the corresponding supporting frame to move along the Y axis; the X-axis movement module is connected among the multiple supporting frames, the Z-axis movement module is arranged on the X-axis movement module in a sliding mode, the X-axis movement module can drive the Z-axis movement module to move along the X axis, the grabbing mechanism is connected to the Z-axis movement module, and the Z-axis movement module can drive the grabbing mechanism to move along the Z axis. Wherein the X axis, the Y axis and the Z axis are perpendicular to one another in pairs. The teaching aid is simple in overall structure, high in operability and beneficial to understanding of students.

Description

Technical Field

[0001] This utility model relates to the field of teaching tools technology, and in particular to a robotic arm teaching platform. Background Technology

[0002] Currently, against the backdrop of industrial automation and intelligentization, the demand for electromechanical control teaching equipment in universities is evolving from basic and singular to intelligent and modular. Traditional robotic arms used in electromechanical teaching typically consist of multiple segments connected by revolute joints and related drive mechanisms, resulting in a complex structure and large size. In electromechanical teaching, when explaining operations such as material handling, feeding, and warehousing, teachers often need to explain complex electromechanical equipment. However, the complex structure of robotic arms used in electromechanical teaching makes it difficult to explain abstract concepts in the classroom.

[0003] Therefore, a robotic arm teaching platform is provided to solve the aforementioned problems existing in the prior art. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm teaching platform to solve the problems existing in the prior art. It has a simple overall structure, is highly operable, helps students understand, and can greatly improve teaching efficiency.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides a robotic arm teaching platform, including a gripping mechanism and a motion module for moving the gripping mechanism. The motion module includes a frame, an X-axis motion module, a Y-axis motion module, and a Z-axis motion module. Multiple Y-axis motion modules are arranged side-by-side on the frame, and a support frame is slidably mounted on each Y-axis motion module. Each Y-axis motion module can drive the corresponding support frame to move along the Y-axis. The X-axis motion module is connected between the multiple support frames. The Z-axis motion module is slidably mounted on the X-axis motion module and can drive the Z-axis motion module to move along the X-axis. The gripping mechanism is connected to the Z-axis motion module, and the Z-axis motion module can drive the gripping mechanism to move along the Z-axis. The X-axis, Y-axis, and Z-axis are all perpendicular to each other.

[0007] Preferably, the frame is a rectangular frame, and multiple Y-axis motion modules are arranged side by side on the rectangular frame, with the multiple Y-axis motion modules extending along the width direction of the rectangular frame.

[0008] Preferably, the Y-axis motion module includes a Y-axis guide rail, which is mounted on the frame and extends along the width of the frame. The Y-axis is parallel to the Y-axis guide rail. A Y-axis ball screw is also mounted on the Y-axis guide rail along its length. A Y-axis ball slider is threaded onto the Y-axis ball screw and slidably mounted on the Y-axis guide rail. A support frame is connected to the Y-axis ball slider and is perpendicular to the Y-axis guide rail. Both ends of the Y-axis ball screw are rotatably connected to the Y-axis guide rail, and one end of the Y-axis ball screw is connected to a Y-axis motor. The Y-axis motor can drive the Y-axis ball screw to rotate, thereby driving the Y-axis ball slider and the support frame to move along the Y-axis guide rail, realizing the movement of the gripping mechanism in the Y-axis direction.

[0009] Preferably, the X-axis motion module includes an X-axis guide rail, which is disposed between the plurality of support frames and perpendicular to the support frames. The X-axis is parallel to the X-axis guide rail. An X-axis ball screw is also provided on the X-axis guide rail along its length. An X-axis ball slider is threadedly connected to the X-axis ball screw and slidably disposed on the X-axis guide rail. The Z-axis motion module is connected to the X-axis ball slider. Both ends of the X-axis ball screw are rotatably connected to the X-axis guide rail, and one end of the X-axis ball screw is connected to an X-axis motor. The X-axis motor can drive the X-axis ball screw to rotate, thereby driving the X-axis ball slider and the Z-axis motion module to move along the X-axis guide rail, realizing the movement of the gripping mechanism in the X-axis direction.

[0010] Preferably, the Z-axis motion module includes a Z-axis guide rail, which is parallel to the support frame, and the Z-axis is parallel to the Z-axis guide rail. A Z-axis ball screw is also provided along the length of the Z-axis guide rail, and a Z-axis ball slider is threaded onto the Z-axis ball screw. The Z-axis ball slider is slidably connected to the Z-axis guide rail and fixedly connected to the X-axis ball slider. The gripping mechanism is connected to the Z-axis guide rail. Both ends of the Z-axis ball screw are rotatably connected to the Z-axis guide rail, and one end of the Z-axis ball screw is connected to a Z-axis motor. The Z-axis motor drives the Z-axis ball screw to rotate, thereby causing the Z-axis guide rail and the gripping mechanism to move relative to the Z-axis ball slider along the Z-axis, thus realizing the movement of the gripping mechanism in the Z-axis direction.

[0011] Preferably, the gripping mechanism includes a robotic arm and a three-axis rotating component, wherein the three-axis rotating component can drive the robotic arm to rotate around a first axis, a second axis, and a third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other.

[0012] Preferably, the three-axis rotating component includes a first motor, a second motor, a third motor, a first support frame, and a second support frame. The first motor is mounted on the Z-axis motion module, and its output shaft is coaxial with the first axis and connected to the first support frame. The first motor can drive the first support frame to rotate around the first axis. The second support frame is rotatably connected to the first support frame, and the second motor is fixed on the first support frame. Its output shaft is coaxial with the second axis and connected to the second support frame. The second motor can drive the second support frame to rotate around the second axis. The third motor is fixed on the second support frame, and its output shaft is coaxial with the third axis and connected to the robot arm. It can drive the robot arm to rotate around the third axis.

[0013] Preferably, the first motor, the second motor, and the third motor are all connected to an optical encoder.

[0014] Preferably, the robotic arm is also connected to a limiting device, which is used to limit the movement of the robotic arm.

[0015] Preferably, the gripping mechanism further includes a camera for positioning the gripped part.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] This utility model includes an X-axis motion module, a Y-axis motion module, and a Z-axis motion module. The three linear motion modules drive the gripping mechanism to move along the X-axis, Y-axis, and Z-axis. The overall structure is simple, the size is small, and the operability is strong, which helps students understand and can greatly improve teaching efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the robotic arm teaching platform in this embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the robotic arm teaching platform in an embodiment of this utility model from another perspective;

[0021] Figure 3 for Figure 1 Enlarged diagram of point A in the middle.

[0022] In the diagram: 1-Frame, 2-Y-axis guide rail, 3-Y-axis ball screw, 4-Y-axis ball slider, 5-Y-axis motor, 6-Support frame, 7-X-axis guide rail, 8-X-axis ball screw, 9-X-axis ball slider, 10-X-axis motor, 11-Z-axis guide rail, 12-Z-axis ball screw, 13-Z-axis ball slider, 14-Z-axis motor, 15-Coupling, 16-Robot arm, 17-First support frame, 18-First motor, 19-Second support frame, 20-Second motor, 21-Third motor, 22-Gear reducer, 23-Raster encoder, 24-Electromagnetic limit switch, 25-Gripper finger, 26-Camera. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] The purpose of this invention is to provide a robotic arm teaching platform to solve the problems existing in the prior art. It has a simple overall structure, is highly operable, helps students understand, and can greatly improve teaching efficiency.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1

[0027] like Figures 1-3As shown, this embodiment provides a robotic arm teaching platform, specifically a truss-type robotic arm teaching platform, mainly including a gripping mechanism and a motion module for driving the gripping mechanism to move. The motion module mainly includes a frame 1, an X-axis motion module, a Y-axis motion module, and a Z-axis motion module. Multiple Y-axis motion modules are arranged side-by-side on the frame 1, and a support frame 6 is slidably mounted on each Y-axis motion module. The Y-axis motion module can drive the corresponding support frame 6 to move along the Y-axis. The X-axis motion module is connected between the multiple support frames 6. The Z-axis motion module is slidably mounted on the X-axis motion module, and the X-axis motion module can drive the Z-axis motion module to move along the X-axis. The gripping mechanism is connected to the Z-axis motion module, and the Z-axis motion module can drive the gripping mechanism to move along the Z-axis. Furthermore, it should be noted that the X-axis, Y-axis, and Z-axis are all mutually perpendicular.

[0028] This embodiment includes an X-axis motion module, a Y-axis motion module, and a Z-axis motion module. The three linear motion modules drive the gripping mechanism to move along the X-axis, Y-axis, and Z-axis. The overall structure is simple, the size is small, and the operability is strong, which helps students understand and can greatly improve teaching efficiency.

[0029] In this embodiment, the frame 1 is a rectangular frame, and the rectangular frame can be horizontally arranged. Multiple Y-axis motion modules are arranged side by side on the rectangular frame, and the multiple Y-axis motion modules extend along the width direction of the rectangular frame. As a preferred embodiment, there are two Y-axis motion modules, which are arranged on both sides of the rectangular frame along the width direction. However, it should be noted that the number of Y-axis motion modules can be selected as needed and is not limited to two. For example, an additional Y-axis motion module can be added between the Y-axis motion modules on both sides.

[0030] In this embodiment, the Y-axis motion module mainly includes a Y-axis guide rail 2, which is mounted on the frame 1 and extends along the width direction of the frame 1. The Y-axis is parallel to the Y-axis guide rail 2. A Y-axis ball screw 3 is also provided above the Y-axis guide rail 2 along its length direction. A Y-axis ball slider 4 is threaded onto the Y-axis ball screw 3. The Y-axis ball slider 4 is slidably mounted on the Y-axis guide rail 2 below. The support frame 6 is vertically arranged, and its bottom... The support frame 6 is perpendicular to the Y-axis guide rail 2 and is mounted on the Y-axis ball screw 4. Both ends of the Y-axis ball screw 3 are rotatably connected to the Y-axis guide rail 2 via rotating shaft seats, and one end of the Y-axis ball screw 3 is connected to a Y-axis motor 5. The Y-axis motor 5 can drive the Y-axis ball screw 3 to rotate, thereby driving the Y-axis ball screw 4 and the support frame 6 to move along the Y-axis guide rail 2, realizing the movement of the gripping mechanism in the Y-axis direction.

[0031] In this embodiment, the X-axis motion module mainly includes an X-axis guide rail 7, which is disposed between the tops of the two support frames 6 and perpendicular to the support frames 6. The X-axis is parallel to the X-axis guide rail 7. An X-axis ball screw 8 is also provided on the front side of the X-axis guide rail 7 along its length direction. An X-axis ball slider 9 is threadedly connected to the X-axis ball screw 8. The rear side of the X-axis ball slider 9 is slidably disposed on the X-axis guide rail 7. The Z-axis motion module is connected to the X-axis ball slider 9. Both ends of the X-axis ball screw 8 are rotatably connected to the X-axis guide rail 7 through a rotating shaft seat. An X-axis motor 10 is connected to one end of the X-axis ball screw 8. The X-axis motor 10 can drive the X-axis ball screw 8 to rotate, thereby driving the X-axis ball slider 9 and the Z-axis motion module to move along the X-axis guide rail 7, realizing the movement of the gripping mechanism in the X-axis direction.

[0032] In this embodiment, the Z-axis motion module mainly includes a Z-axis guide rail 11, which is vertically arranged and parallel to the support frame 6. The Z-axis is parallel to the Z-axis guide rail 11. A Z-axis ball screw 12 is also provided along its length on the rear side of the Z-axis guide rail 11. A Z-axis ball slider 13 is threaded onto the Z-axis ball screw 12. The front side of the Z-axis ball slider 13 is slidably connected to the Z-axis guide rail 11, and the rear side of the Z-axis ball slider 13 is fixedly connected to the X-axis ball slider 9. The gripping mechanism is connected to the front bottom of the Z-axis guide rail 11. Both ends of the Z-axis ball screw 12 are rotatably connected to the Z-axis guide rail 11 via a rotating shaft seat. One end of the Z-axis ball screw 12 is connected to a Z-axis motor 14, which drives the Z-axis ball screw 12 to rotate, thereby driving the Z-axis guide rail 11 and the gripping mechanism to move relative to the Z-axis ball slider 13 along the Z-axis, thus realizing the movement of the gripping mechanism in the Z-axis direction.

[0033] In this embodiment, the output shaft of the X-axis motor 10 and the X-axis ball screw 8, the output shaft of the Y-axis motor 5 and the Y-axis ball screw 3, and the output shaft of the Z-axis motor 14 and the Z-axis ball screw 12 can all be connected by a coupling 15.

[0034] In this embodiment, the gripping mechanism mainly includes a robotic arm 16 and a three-axis rotating component. The three-axis rotating component can drive the robotic arm 16 to rotate around a first axis, a second axis, and a third axis, wherein the first axis, the second axis, and the third axis are mutually perpendicular. Specifically, the three-axis rotating component includes a first motor 18, a second motor 20, a third motor 21, a first support frame 17, and a second support frame 19. The first motor 18 is disposed at the bottom front end of the Z-axis guide rail 11. The output shaft of the first motor 18 is coaxially arranged with the first axis and connected to the first support frame 17. Motor 18 can drive the first support frame 17 to rotate around the first axis; the second support frame 19 is rotatably connected to the first support frame 17, the second motor 20 is fixed on the first support frame 17, the output shaft of the second motor 20 is coaxial with the second axis and connected to the second support frame 19, and the second motor 20 can drive the second support frame 19 to rotate around the second axis; the third motor 21 is fixed on the second support frame 19, the output shaft of the third motor 21 is coaxial with the third axis and connected to the robot arm 16, and can drive the robot arm 16 to rotate around the third axis.

[0035] This embodiment introduces a truss-type linear module structure commonly used in industry, and drives the rotation of the robot arm 16 through a three-axis rotating component, thereby simulating operations such as material picking, feeding, and warehousing in industrial production. The overall structure is small in size, highly operable, and helps students understand, which can greatly improve teaching efficiency.

[0036] In this embodiment, the first motor 18, the second motor 20, and the third motor 21 are all preferably stepper motors and can be connected to a gear reducer 22 to regulate the speed. Furthermore, the first motor 18, the second motor 20, and the third motor 21 are all connected to an optical encoder 23, which is used to read the real-time position of the motor, making the control of the motor more precise.

[0037] In this embodiment, the robotic arm 16 can be selected as needed. As a preferred embodiment, the robotic arm 16 includes gripper fingers 25, which are powered by a linear electric cylinder. Specifically, the linear electric cylinder drives a bidirectional lead screw to rotate, thereby enabling the two gripper fingers 25 connected to the bidirectional lead screw to rotate in opposite directions. Furthermore, the robotic arm 16 is also connected to a limit device, preferably an electromagnetic limiter 24. This device uses electromagnetic switches at both ends of the gripper fingers 25 as electrical limits. When the gripper fingers 25 move to the electromagnetic switches at both ends, the limiter triggers a motor lock-up program to prevent them from exceeding their travel range.

[0038] In this embodiment, the gripping mechanism further includes a camera 26 for positioning the gripped parts. The camera 26 can be connected to the second motor 20, and a visual recognition interface can be added to the camera 26 to connect to a mobile terminal for viewing on the mobile terminal.

[0039] The gantry-type robotic arm teaching platform in this embodiment is not only simple in structure and small in size, but also allows for effective explanation of the electromechanical control principles of operations such as material picking, feeding, and warehousing in industrial production during demonstrations, facilitating students' understanding and learning.

[0040] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robotic arm teaching platform, characterized by: The system includes a gripping mechanism and a motion module for moving the gripping mechanism. The motion module includes a frame, an X-axis motion module, a Y-axis motion module, and a Z-axis motion module. Multiple Y-axis motion modules are arranged side-by-side on the frame, and each Y-axis motion module has a slidably mounted support frame. Each Y-axis motion module can move its corresponding support frame along the Y-axis. The X-axis motion module is connected between the multiple support frames. The Z-axis motion module is slidably mounted on the X-axis motion module and can move its Z-axis motion module along the X-axis. The gripping mechanism is connected to the Z-axis motion module and can move its gripping mechanism along the Z-axis. The X-axis, Y-axis, and Z-axis are all perpendicular to each other.

2. The robotic arm teaching platform according to claim 1, characterized in that: The frame is a rectangular frame, and multiple Y-axis motion modules are arranged side by side on the rectangular frame, with the multiple Y-axis motion modules extending along the width direction of the rectangular frame.

3. The robotic arm teaching platform according to claim 2, characterized in that: The Y-axis motion module includes a Y-axis guide rail, which is mounted on the frame and extends along the width of the frame. The Y-axis is parallel to the Y-axis guide rail. A Y-axis ball screw is also mounted on the Y-axis guide rail along its length. A Y-axis ball slider is threaded onto the Y-axis ball screw and slidably mounted on the Y-axis guide rail. A support frame is connected to the Y-axis ball slider and is perpendicular to the Y-axis guide rail. Both ends of the Y-axis ball screw are rotatably connected to the Y-axis guide rail, and one end of the Y-axis ball screw is connected to a Y-axis motor. The Y-axis motor can drive the Y-axis ball screw to rotate, thereby driving the Y-axis ball slider and the support frame to move along the Y-axis guide rail, realizing the movement of the gripping mechanism in the Y-axis direction.

4. The robotic arm teaching platform according to claim 3, characterized in that: The X-axis motion module includes an X-axis guide rail, which is disposed between and perpendicular to the support frames. The X-axis is parallel to the X-axis guide rail. An X-axis ball screw is also provided along the length of the X-axis guide rail. An X-axis ball slider is threaded onto the X-axis ball screw and slidably disposed on the X-axis guide rail. The Z-axis motion module is connected to the X-axis ball slider. Both ends of the X-axis ball screw are rotatably connected to the X-axis guide rail, and one end of the X-axis ball screw is connected to an X-axis motor. The X-axis motor can drive the X-axis ball screw to rotate, thereby driving the X-axis ball slider and the Z-axis motion module to move along the X-axis guide rail, realizing the movement of the gripping mechanism in the X-axis direction.

5. The robotic arm teaching platform according to claim 4, characterized in that: The Z-axis motion module includes a Z-axis guide rail, which is parallel to the support frame, and the Z-axis is parallel to the Z-axis guide rail. A Z-axis ball screw is also provided along the length of the Z-axis guide rail, and a Z-axis ball slider is threaded onto the Z-axis ball screw. The Z-axis ball slider is slidably connected to the Z-axis guide rail and fixedly connected to the X-axis ball slider. The gripping mechanism is connected to the Z-axis guide rail. Both ends of the Z-axis ball screw are rotatably connected to the Z-axis guide rail, and one end of the Z-axis ball screw is connected to a Z-axis motor. The Z-axis motor drives the Z-axis ball screw to rotate, thereby causing the Z-axis guide rail and the gripping mechanism to move relative to the Z-axis ball slider along the Z-axis, thus realizing the movement of the gripping mechanism in the Z-axis direction.

6. The robotic arm teaching platform of claim 1, wherein: The gripping mechanism includes a robotic arm and a three-axis rotating component. The three-axis rotating component can drive the robotic arm to rotate around a first axis, a second axis, and a third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other.

7. The robotic arm teaching platform according to claim 6, characterized in that: The three-axis rotating component includes a first motor, a second motor, a third motor, a first support frame, and a second support frame. The first motor is mounted on the Z-axis motion module, and its output shaft is coaxial with the first axis and connected to the first support frame. The first motor can drive the first support frame to rotate around the first axis. The second support frame is rotatably connected to the first support frame, and the second motor is fixed on the first support frame. Its output shaft is coaxial with the second axis and connected to the second support frame. The second motor can drive the second support frame to rotate around the second axis. The third motor is fixed on the second support frame, and its output shaft is coaxial with the third axis and connected to the robot arm. It can drive the robot arm to rotate around the third axis.

8. The robotic arm teaching platform according to claim 7, characterized in that: The first motor, the second motor and the third motor are all connected to an optical encoder.

9. The robotic arm teaching platform according to claim 6, characterized in that: The robotic arm is also connected to a limiting device, which is used to limit the movement of the robotic arm.

10. The robotic arm teaching platform according to claim 6, characterized in that: The gripping mechanism also includes a camera, which is used to position the gripped part.

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