CN104766527A - Industrial robot teaching device integrated with diversified post ability training - Google Patents
Industrial robot teaching device integrated with diversified post ability training Download PDFInfo
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Abstract
The invention discloses an industrial robot teaching device integrated with diversified post ability training. The industrial robot teaching device comprises an ABB industrial robot. The ABB industrial robot is arranged on the center area of a workbench. The position in front of an industrial robot gripper of the ABB industrial robot is provided with an industrial robot transporting unit. One side of the industrial robot transporting unit is provided with an industrial robot stacking unit and an industrial robot conveying mechanism, and the other side of the industrial robot transporting unit is provided with an industrial robot path drawing unit. An industrial robot polishing and burnishing unit is arranged behind the industrial robot path drawing unit. A tool placing frame is arranged behind the industrial robot stacking unit. One corner of the workbench is provided with a demonstrator. A control cabinet is arranged inside the workbench (7). The ABB industrial robot is connected with the control cabinet and the demonstrator. The industrial robot teaching device has the advantages that by adopting the modularized open-type design structure, the device is suitable for the teaching application.
Description
Technical field
The invention belongs to robotics, relate to the industrial robot instructional device integrating polynary post capability and train.
Background technology
Current China has been industrial robot recoverable amount first big country in the world, the behind of Chinese industrial robot explosive growth cause maximum be exactly the scarcity of industrial robot applied talent.Vocational education cultivates the important cradle of the applied technical ability talent as China, and for society, to cultivate qualified this urgent need of the applied industrial robot talent obviously extremely urgent.As the professional colleges of cultivating applied talent, whether have the quality of capable teaching training apparatus to Talent-cultivating Quality and play crucial effect, but industrial robot price is higher compared with PLC etc., and the operating expenses of domestic most professional colleges are limited or be in not enough state, a lot of professional colleges face is allowed to know industrial robot actual training device urgency perfectly well, but hang back to high industrial robot actual training device, the pattern of emulation can only be adopted to carry out the teaching of empty talk formula, affect teaching efficiency.
In addition, the manufacturer of more domestic production instruments used for education, produce FMS or the CIMS instructional device based on industrial robot, the instruments used for education of this " on tall and big " are asked a price up to a million at the drop of a hat, but teaching efficiency mutually with it is not but brought in the behind of high equipment, because this instructional device control procedure is complicated, make the student of professional colleges confused, touch less than main threads, once certain annelet breaks down, equipment set is paralysed, in the face of FMS or the CIMS instructional device of maintenance difficult can only be sought help manufacturing enterprise with compensation, cause school that student dare not be allowed to employ device, can only demonstrate, define the difficult situation of " pleasnt to the eye but of no use ", therefore this FMS or the CIMS instructional device based on industrial robot causes criticism and the negative of a lot of professional quarters.
In addition, domestic industry robot is mainly used in the fields such as material handling, piling material loading/discharging, part sanding and polishing and welding, accounts for more than 70% of industrial robot application, presents the feature of application diversification.Industry is relied on according to professional colleges, base oneself upon the aims of the instiution in post, teaching equipment must have post specific aim, and the industrial robot actual training device that current domestic several large teaching aid manufacturer produces can only realize the training of a kind of post capability, therefore high industrial robot instructional device does not play high teaching return, greatly reduce industrial robot device cost performance, weaken the enthusiasm that professional colleges buys industrial robot.
Summary of the invention
The object of the present invention is to provide the industrial robot instructional device integrating polynary post capability and train.
The technical solution adopted in the present invention comprises ABB industrial robot, ABB industrial robot is arranged on worktable central area, the industrial robot paw front of ABB industrial robot is provided with industrial robot handling unit, industrial robot handling unit side is provided with industrial robot palletized unit and industrial robot conveying mechanism, opposite side is provided with industrial robot track drawing unit, industrial robot track drawing unit rear is provided with industrial robot sanding and polishing unit, industrial robot palletized unit rear is provided with frock laying rack, one jiao of worktable is provided with teaching machine, worktable 7 inside is provided with switch board, ABB industrial robot is connection control cabinet and teaching machine respectively.
Further, described worktable surrounding is provided with glass screen and light curtain, prevents the industrial robot paw of ABB industrial robot from stretching out safe range and jeopardizes student.
Further, described industrial robot paw comprises parent frock, and parent frock is that U-shaped pawl is arranged on front end, and the U-shaped pawl of parent frock is provided with vacuum air-channel mouth, directly can capture square cross and carry out the work of carrying warehouse-in; Parent frock captures vacuum chuck tooling composition carrying paw frock, and the gas circuit docking of the two, is adsorbed by vacuum cup and carry workpiece; Parent frock captures paintbrush frock, paintbrush frock front end is provided with paintbrush, and paintbrush adopts soft pen, and industrial robot paw drives paintbrush on industrial robot track drawing unit, draw the shape of various kinds, analog track welding and gluing, the homogeneity of training welding and gluing process; Parent frock captures sanding and polishing frock, and sanding and polishing frock front end is provided with the micromachine with rotation axis, and the rotation axis of micromachine is provided with felt polishing wheel, drives felt polishing wheel to carry out polishing to workpiece face by micromachine.
Further, described frock laying rack is used for putting vacuum chuck tooling, paintbrush frock, polishing frock;
Further, described industrial robot handling unit comprises mesh coordinate mechanism, and training of students, by the application of carrying paw frock to relevant action track in experimental piece transport, realizes the material handling at this unit; Mesh coordinate mechanism is built by aluminium section bar, is printed on aluminium sheet by serigraphy by grid, and mesh spacing 30 × 30mm, carrying platform is printed on coordinate digital, and in order to locate piling coordinate, and various carrying real training is carried out in industrial robot paw cooperation.Experimental piece is the size φ 24 × 20mm of 9 circular objects, each experimental piece, upper print 1 ~ 9 digital number.
Further; described industrial robot track drawing unit is made up of draw mechanism and drawing board; realize drawing at the analog track of this unit; analog track welding and gluing; the homogeneity of training welding and gluing process; picture mechanism is provided with quick locking screw, drawing board on the table top of picture mechanism, is conducive to quick-replaceable when drawing board damages by quick locking screw in compression.
Further, described industrial robot palletized unit is the storage storehouse of 4 layers, and every layer of 4 bin level are used for putting workpiece, carries workpiece to the position in storehouse of specifying by industrial robot paw; Storage storehouse is built by aluminium section bar, position in storehouse capacity 16, size 70 × 120mm, storage storehouse overall dimension 534 × 520 × 120mm.
Further, described industrial robot conveying mechanism comprises carriage and travelling belt, the carriage of travelling belt one end is provided with photoelectric sensor, and when photoelectric sensor senses that workpiece is placed, travelling belt rotation makes workpiece be transported to industrial robot paw can capture position.
Further, described industrial robot sanding and polishing unit is polishing block, and polished workpiece is fixed on polishing block, and polished workpiece adopts stainless steel, and polishing block adopts aluminium profile.This unit realizes robot by the simulation sanding and polishing of industrial robot paw realization at this unit.Sanding and polishing one or two plane or curved surface, the ability of image training robot fine setting and joint conversion.
Further, described worktable bottom adopts steel to be welded, with castor and pin cup; Worktable profile gross dimensions is: long 1600* wide 1400* height 800mm; Worktable comprises sole plate of workbench, and for place machine people and each unit, side is provided with cooling fan, be used for worktable internal heat is shed, bottom worktable, universal wheel be installed, be used for mobile, worktable side is provided with organic glass door, facilitates installation and the maintenance of switch board.
Accompanying drawing explanation
Fig. 1 is the industrial robot instructional device side schematic view that the present invention integrates polynary post capability and trains;
Fig. 2 is the industrial robot instructional device vertical view that the present invention integrates polynary post capability and trains;
Fig. 3 is parent tool structure schematic diagram of the present invention;
Fig. 4 is parent frock of the present invention and vacuum chuck tooling structural representation;
Fig. 5 is parent frock of the present invention and paintbrush tool structure schematic diagram;
Fig. 6 is parent frock of the present invention and sanding and polishing tool structure schematic diagram;
Fig. 7 is frock laying rack structural representation of the present invention;
Fig. 8 is handling unit structural representation of the present invention;
Fig. 9 is track drawing unit structural representation of the present invention;
Figure 10 is industrial robot palletized unit structural representation of the present invention;
Figure 11 is conveying mechanism structural representation of the present invention;
Figure 12 is sanding and polishing cellular construction schematic diagram of the present invention;
Figure 13 is Working table structure schematic diagram of the present invention.
Embodiment
Below in conjunction with embodiment, the present invention is described in detail.
Apparatus of the present invention comprise ABB industrial robot 1 as depicted in figs. 1 and 2, ABB industrial robot 1 is arranged on worktable 7 central area, industrial robot paw 9 front of ABB industrial robot 1 is provided with industrial robot handling unit 4, industrial robot handling unit 4 side is provided with industrial robot palletized unit 2 and industrial robot conveying mechanism 3, opposite side is provided with industrial robot track drawing unit 5, industrial robot track drawing unit 5 rear is provided with industrial robot sanding and polishing unit 6, industrial robot palletized unit 2 rear is provided with frock laying rack 12, one jiao of worktable 7 is provided with teaching machine 8, worktable 7 inside is provided with switch board 10, ABB industrial robot 1 is connection control cabinet 10 and teaching machine 8 respectively.
Above each unit be used for simulating that ABB industrial robot 1 is carried, piling, storage assembling, conveying, polishing, polishing, welding, gluing operative scenario.This instructional device both can be carried, piling, storage, assembling, conveying, polishing, polishing, welding, gluing base application training, FMS integrated application pattern drill can be done again.
This teaching aid device combines automatic control, position control, Electric Machine Control, pneumatic control, Programmable Logic Controller, sensor technology, contribute to the study of student to Machine Design, electric automatization, automatically control, computer technology, sensor and the knowledge such as detection, Industrial Engineering, promote student to the program design of Programmable Logic Controller, sensing and detection, motor drive and the application power of the technology such as control, improving student to integration capabilities such as industrial robot design, assembling, debugging, is typical industrial robot trainer.
Described worktable 7 surrounding is provided with glass screen and light curtain 11, prevents the industrial robot paw 9 of ABB industrial robot 1 from stretching out safe range and jeopardizes student.
Industrial robot paw 9 realizes the training of the carrying of robot, piling, storage, assembling, polishing, conveying, polishing, welding, gluing function by changing graping chaw frock at frock laying rack 12, convenient and swift.
As shown in Figure 3, industrial robot paw 9 comprises parent frock 901, and parent frock 901 is arranged on front end for U-shaped pawl, and the U-shaped pawl of parent frock 901 is provided with vacuum air-channel mouth, directly can capture square cross and carry out the work of carrying warehouse-in; As shown in Figure 4, parent frock 901 captures vacuum chuck tooling 902 and forms carrying paw frock, and the gas circuit docking of the two, is adsorbed by vacuum cup and carry workpiece; As shown in Figure 5, parent frock 901 captures paintbrush frock 903, paintbrush frock 903 front end is provided with paintbrush 904, paintbrush 904 adopts soft pen, industrial robot paw 9 drives paintbrush 904 on industrial robot track drawing unit 5, draw the shape of various kinds, analog track welding and gluing, the homogeneity of training welding and gluing process; As shown in Figure 6, parent frock 901 captures sanding and polishing frock 905, sanding and polishing frock 905 front end is provided with the micromachine 906 with rotation axis, the rotation axis of micromachine 906 is provided with felt polishing wheel 907, drives felt polishing wheel 907 pairs of workpiece faces to carry out polishing by micromachine 906.
As shown in Figure 7, frock laying rack 12 is used for putting vacuum chuck tooling 902, paintbrush frock 903, polishing frock 905;
As shown in Figure 8, industrial robot handling unit 4 comprises mesh coordinate mechanism 401, and training of students, by the application of carrying paw frock to relevant action track in experimental piece 402 transport, realizes the material handling at this unit; Mesh coordinate mechanism 401 is built by aluminium section bar, is printed on aluminium sheet by serigraphy by grid, and mesh spacing 30 × 30mm, carrying platform is printed on coordinate digital, and in order to locate piling coordinate, and various carrying real training is carried out in industrial robot paw 9 cooperation.Experimental piece 402 is 9 circular objects, the size φ 24 × 20mm of each experimental piece 402, upper print 1 ~ 9 digital number.
As shown in Figure 9, industrial robot track drawing unit 5 is made up of picture mechanism 501 and drawing board 502, realizes drawing at the analog track of this unit, analog track welding and gluing, the homogeneity of training welding and gluing process.
Picture mechanism 501 is provided with quick locking screw, drawing board 502 on the table top of picture mechanism 501, is conducive to quick-replaceable when drawing board 502 damages by quick locking screw in compression.
As shown in Figure 10, industrial robot palletized unit 2 is the storage storehouse 201 of 4 layers, and every layer of 4 bin level are used for putting workpiece, carries workpiece to the position in storehouse of specifying by industrial robot paw 9; Storage storehouse 201 is built by aluminium section bar, position in storehouse capacity 16, size 70 × 120mm, storage storehouse 201 overall dimension 534 × 520 × 120mm.
As shown in figure 11, industrial robot conveying mechanism 3 comprises carriage 301 and travelling belt 302, the carriage 301 of travelling belt 302 one end is provided with photoelectric sensor, and when photoelectric sensor senses that workpiece is placed, travelling belt 302 rotation makes workpiece be transported to industrial robot paw 9 can capture position.
As shown in figure 12, industrial robot sanding and polishing unit 6 is polishing block 601, and polished workpiece is fixed on polishing block 601, and polished workpiece adopts stainless steel, and polishing block 601 adopts aluminium profile.This unit realizes the simulation sanding and polishing that robot realizes at this unit by industrial robot paw 9.Sanding and polishing one or two plane or curved surface, the ability of image training robot fine setting and joint conversion.
As shown in figure 13, worktable 7 bottom adopts steel to be welded, with castor and pin cup; Worktable 7 profile gross dimensions is: long 1600* wide 1400* height 800mm; Worktable 7 comprises sole plate of workbench 701, for place machine people and each unit, side is provided with cooling fan 702, be used for worktable internal heat is shed, universal wheel 703 is installed bottom worktable 7, be used for mobile, worktable 7 side is provided with organic glass door 704, facilitates installation and the maintenance of switch board 10.
The present invention be advantageous in that:
The multidisciplinary technology of this actual training device integrated application, is applicable to the practical teaching of the courses such as mechanical principle, Automatic Control Theory, electrical control and Programmable Logic Controller, Sensors & Testing Technology, Computer Control Technology.In addition, this comprehensive training device has following features:
(1) instructional device is modularization open by design structure, each module has independently gas circuit and Circuits System, and intermodule leaves source of the gas and line interface, can form the apolegamy of disparate modules so as required, functional module can freely increase and decrease, and arranges in pairs or groups very flexible.Not only can be used alone as independently system, also can combine as subsystem and other similar devices.Can change between module, facilitate secondary development.
(2) course of work of various pneumatic element, electrical equipment and mechanical motion topworks and running status have intuitive;
(3) parent frock is when capturing sanding and polishing frock and vacuum chuck tooling, and circuit and gas circuit can automatic butt, without the need to human assistance.
(4) whether instructional device has manually and automatic control mode, manually control normally to detect main devices serviceabilitys such as device for mechanical gear train, motor, position limitation protection switch, solenoid valve, cylinder, gas pawls;
(5) worktable aluminium section bar and Plate Welding composition, the distinctive T-slot of desktop, removing and installing of the another parts of convenient machinery and electric elements, the appliance mounting panel of worktable can outwards be extracted out, facilitate circuit layout and Installation and Debugging, the table pin of worktable is equipped with strap brake roller in addition, is convenient to device shift position;
(6) there is good security performance.
The above is only to better embodiment of the present invention, not any pro forma restriction is done to the present invention, every any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (10)
1. integrate the industrial robot instructional device that polynary post capability is trained, it is characterized in that: comprise ABB industrial robot (1), ABB industrial robot (1) is arranged on worktable (7) central area, industrial robot paw (9) front of ABB industrial robot (1) is provided with industrial robot handling unit (4), industrial robot handling unit (4) side is provided with industrial robot palletized unit (2) and industrial robot conveying mechanism (3), opposite side is provided with industrial robot track drawing unit (5), industrial robot track drawing unit (5) rear is provided with industrial robot sanding and polishing unit (6), industrial robot palletized unit (2) rear is provided with frock laying rack (12), one jiao of worktable (7) is provided with teaching machine (8), worktable (7) inside is provided with switch board (10), ABB industrial robot (1) is connection control cabinet (10) and teaching machine (8) respectively.
2. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described worktable (7) surrounding is provided with glass screen and light curtain (11), prevent the industrial robot paw of ABB industrial robot (1) (9) from stretching out safe range and jeopardize student.
3. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot paw (9) comprises parent frock (901), parent frock (901) is arranged on front end for U-shaped pawl, the U-shaped pawl of parent frock (901) is provided with vacuum air-channel mouth, directly can capture square cross and carry out the work of carrying warehouse-in; Parent frock (901) captures vacuum chuck tooling (902) composition carrying paw frock, and the gas circuit docking of the two, is adsorbed by vacuum cup and carry workpiece; Parent frock (901) captures paintbrush frock (903), paintbrush frock (903) front end is provided with paintbrush (904), paintbrush (904) adopts soft pen, industrial robot paw (9) drives paintbrush (904) in the shape of the upper picture various kinds of industrial robot track drawing unit (5), analog track welding and gluing, the homogeneity of training welding and gluing process; Parent frock (901) captures sanding and polishing frock (905), sanding and polishing frock (905) front end is provided with the micromachine (906) with rotation axis, the rotation axis of micromachine (906) is provided with felt polishing wheel (907), drives felt polishing wheel (907) to carry out polishing to workpiece face by micromachine (906).
4., according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described frock laying rack (12) is used for putting vacuum chuck tooling (902), paintbrush frock (903), polishing frock (905).
5. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot handling unit (4) comprises mesh coordinate mechanism (401), training of students, by the application of carrying paw frock to relevant action track in experimental piece (402) transport, realizes the material handling at this unit; Mesh coordinate mechanism (401) is built by aluminium section bar, be printed on aluminium sheet by serigraphy by grid, mesh spacing 30 × 30mm, carrying platform is printed on coordinate digital, in order to locate piling coordinate, and various carrying real training is carried out in industrial robot paw (9) cooperation.Experimental piece (402) is 9 circular objects, the size φ 24 × 20mm of each experimental piece (402), upper print 1 ~ 9 digital number.
6. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot track drawing unit (5) is made up of picture mechanism (501) and drawing board (502), realize drawing at the analog track of this unit, analog track welding and gluing, the homogeneity of training welding and gluing process, (501) are provided with quick locking screw in picture mechanism, drawing board (502) by quick locking screw in compression on the table top of picture mechanism (501), be conducive to quick-replaceable when drawing board (502) damages.
7. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot palletized unit (2) is the storage storehouse (201) of 4 layers, every layer of 4 bin level are used for putting workpiece, carry workpiece to the position in storehouse of specifying by industrial robot paw (9); Storage storehouse (201) is built by aluminium section bar, position in storehouse capacity 16, size 70 × 120mm, storage storehouse (201) overall dimension 534 × 520 × 120mm.
8. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot conveying mechanism (3) comprises carriage (301) and travelling belt (302), the carriage (301) of travelling belt (302) one end is provided with photoelectric sensor, when photoelectric sensor senses that workpiece is placed, travelling belt (302) rotation makes workpiece be transported to industrial robot paw (9) can capture position.
9. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described industrial robot sanding and polishing unit (6) is polishing block (601), polished workpiece is fixed on polishing block (601), polished workpiece adopts stainless steel, and polishing block (601) adopts aluminium profile; This unit realizes robot by the simulation sanding and polishing of industrial robot paw (9) realization at this unit; Sanding and polishing one or two plane or curved surface, the ability of image training robot fine setting and joint conversion.
10. according to the industrial robot instructional device integrating polynary post capability described in claim 1 and train, it is characterized in that: described worktable (7) bottom adopts steel to be welded, with castor and pin cup; Worktable (7) profile gross dimensions is: long 1600* wide 1400* height 800mm; Worktable (7) comprises sole plate of workbench (701), for place machine people and each unit, side is provided with cooling fan (702), be used for worktable internal heat is shed, worktable (7) bottom is provided with universal wheel (703), be used for mobile, worktable (7) side is provided with organic glass door (704), facilitates installation and the maintenance of switch board (10).
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