CN106355988A - Multifunctional training robot - Google Patents
Multifunctional training robot Download PDFInfo
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- CN106355988A CN106355988A CN201610847188.2A CN201610847188A CN106355988A CN 106355988 A CN106355988 A CN 106355988A CN 201610847188 A CN201610847188 A CN 201610847188A CN 106355988 A CN106355988 A CN 106355988A
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- industrial robot
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Business, Economics & Management (AREA)
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- Educational Administration (AREA)
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- Theoretical Computer Science (AREA)
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Abstract
The invention discloses a multifunctional training robot, comprising an industrial robot multifunctional combined fixture, an industrial robot multifunctional practical operating platform and an industrial robot body; the industrial robot body is connected with a manipulator mount, and the industrial robot multifunctional practical operating platform is arranged aside the industrial robot body; the industrial robot multifunctional practical operating platform and the industrial robot multifunctional combined fixture may cooperate with each other to provide various teaching objectives, and functions of a modern industrial robot are displayed to the maximum extent; the multifunctional training robot is simple in structure, low in cost and applicable to industrial robot-based simulation teaching; the multifunctional training robot is suitable for robot teaching aids.
Description
Technical field
The present invention relates to multi-functional real training robot.
Background technology
The use of robot is more and more extensive, and a lot of schools, enterprise, training organization all can open up the class of robot teaching
Journey, but because industrial robot price is high, and function is more single, if as a curricula if necessary to buy
The dry high industrial robot of price, then instruction cost is just too high.And existing fixture often only has a kind of function, this
The fixture motility of sample is not high, and price is high, is unfavorable for imparting knowledge to students.
Content of the invention
The technical problem to be solved in the present invention is: provides small-sized, cheap multi-functional real training robot.
The solution that the present invention solves its technical problem is:
Multi-functional real training robot, including the multi-functional composite fixture of industrial robot, industrial robot multi-functional practical operation platform, work
Industry robot body；The multi-functional composite fixture of industrial robot: include first machine with six links linking together
Frame, the second frame, the 3rd frame, the 4th frame, the 5th frame, the 6th frame；First frame: it is located at front side, which is provided with
Mounting seat, mounting seat is provided with clamping drive module, and clamping drive module includes clamping the clamping that cylinder body is connected with clamping cylinder body
Expansion link, itself or clamping cylinder body are provided with the 3rd clamping part forward extending out, and clamping expansion link is provided with the 4th forward extending out
Clamping part；Second frame, it is provided with the mounting groove of several arcs, and each mounting groove is equipped with sucker, all of mounting groove
The center of circle homocentric；3rd frame, it is provided with the pen clip for clamping pen；4th frame, it is provided with scrubbing brush installing rack；5th machine
Frame, it is provided with mechanical hand installed part；6th frame, it is provided with nozzle；First frame, the second frame, the 3rd frame, the 4th machine
Frame, the 5th frame, the 6th frame connect into a rectangular-shaped hexahedro frame；
Industrial robot multi-functional practical operation platform: it includes the casing being provided with cavity volume, also includes rotating disk, shaft coupling and simulated machine tool
Clamping device, the upper surface of casing be interval with multiple be arranged side by side support bar, be provided with several between two neighboring support bar
Spaced inner thread piece, the upper surface middle part of casing is provided with connecting hole, and the lower section of connecting hole is provided with the liquid bath that connects of annular, even
The lower section connecing hole is additionally provided with shaft coupling, and shaft coupling is located at and connects the axis that liquid bath wraps shaft coupling；Rotating disk is located at the upper of shaft coupling
Side, rotating disk and the removable connection of shaft coupling, rotating disk is provided with least one liquid-leaking nozzle, and liquid-leaking nozzle is located at the top connecing liquid bath；
Simulated machine tool clamping device: it includes platform frame, platform frame is provided with rotation driving module, in rotation driving module
Be provided with rotating shaft, rotating shaft be connected with clamping seats, clamping seats are provided with telescopic drive module, telescopic drive module include cylinder body and
The expansion link that cylinder body connects, platform frame or cylinder body are provided with the first clamping part, and expansion link is provided with the second clamping part；Described rotation
Turn drive module and include air pressure motor or hydraulic motor, telescopic drive module is hydraulic cylinder or pneumatic cylinder；The outer spiral shell of platform frame
Stricture of vagina part is connected with inner thread piece；It is provided with rotor in rotation driving module, be provided with two in rotor and can follow the right of rotor rotation
Claim the rotary magnet of setting, platform frame is provided with two rotation magnetic sensible switch, described rotation magnetic sensible switch and rotary magnet position
Put corresponding so that rotor often rotates 90 degree all a rotary magnet and a rotation magnetic sensible switch magnetic connection；Universal wheel group
Part includes universal wheel and roller wheel shaft, and universal wheel can rotate around roller wheel shaft, and roller wheel shaft integrally extends downwardly, roller wheel shaft bag
Include rotating shaft set and vertical rod, rotating shaft set and vertical rod are using threaded；
Industrial machine human body is connected with mechanical hand installed part, and industrial robot multi-functional practical operation platform is located at industrial robot originally
The side of body.
As the improvement further of such scheme, industrial robot multi-functional practical operation platform: also include inner sleeve and overcoat, interior
It is set in overcoat, be provided with gap between inner sleeve and overcoat and formed and described connect liquid bath；Rotating shaft extends along the longitudinal direction, and described two
Individual rotation magnetic sensible switch is one in front and one in back arranged；It is additionally provided with lock nut, described lock nut is abutted with rotating shaft set in vertical rod；
The multi-functional composite fixture of industrial robot: clamping drive module is hydraulic cylinder or pneumatic cylinder.
As the improvement further of such scheme, the multi-functional composite fixture of industrial robot: two before and after clamping expansion link
End is respectively fixed with two fixture straight line Magnet, and mounting seat is provided with two folders corresponding with two fixture straight line magnet positions respectively
Tool straight line magnetic sensible switch, the fixture straight line Magnet magnetic that each fixture straight line magnetic sensible switch respectively can be corresponding connects；
Industrial robot multi-functional practical operation platform: the lower end of inner sleeve and overcoat is equipped with set shoulder, and the set shoulder of inner sleeve and overcoat is mutually
Abut；Platform frame is provided with two the first slippage slots extending in left-right direction one in front and one in back arranging, two rotation magnetic strengths
Switch is separately fixed on the first different slippage slots.
As the improvement further of such scheme, the multi-functional composite fixture of industrial robot: mounting seat is provided with two
The 3rd slippage slot extending in left-right direction of setting after previous, two fixture straight line magnetic sensible switch are respectively provided at different three
In slippage slot, fixture straight line magnetic sensible switch can move in the 3rd slippage slot that it is located；
Industrial robot multi-functional practical operation platform: rotating disk includes turntable body and the rotation contiguous block being located in the middle part of turntable body,
Rotate contiguous block to be connected with described shaft coupling.
As the improvement further of such scheme, the multi-functional composite fixture of industrial robot: the first frame is provided with four
Through hole, described four through holes are respectively provided at the surrounding of mounting seat, and described four through holes are respectively provided with a locating rod, locating rod
It is provided with tandem first abutting part and the second abutting part, between the first abutting part and the first frame, be provided with holddown spring；
Industrial robot multi-functional practical operation platform: the edge of turntable body turns over formation flange upwards.
As the improvement further of such scheme, industrial robot multi-functional practical operation platform: described four through holes position respectively
On four angle points of rectangle；
The multi-functional composite fixture of industrial robot: the rear and front end of expansion link is respectively fixed with two straight line Magnet, clamping seats set
There are two straight line magnetic sensible switch corresponding with two straight line magnet positions respectively, each straight line magnetic sensible switch respectively can be corresponding
Straight line Magnet magnetic connect.
As the improvement further of such scheme, the multi-functional composite fixture of industrial robot: pen clip includes front wing and rear wing,
The upper end of the upper end of front wing and rear wing is connected with weak section, and the lower end of front wing and the lower end of rear wing are equipped with bolt through-hole；
Industrial robot multi-functional practical operation platform: rotating shaft extends along the longitudinal direction, described two straight line magnetic sensible switch are one in front and one in back
Setting.
As the improvement further of such scheme, the multi-functional composite fixture of industrial robot: the second frame is tabular component,
Sucker is provided with two locking nuts, and the second frame is located between described two locking nuts；
Industrial robot multi-functional practical operation platform: clamping seats are provided with two extend in left-right direction one in front and one in back arranging
Two slippage slots, two straight line magnetic sensible switch are respectively provided in the second different slippage slots, and straight line magnetic sensible switch can be located at it
Move in second slippage slot.
As the improvement further of such scheme, industrial robot multi-functional practical operation platform, also include briquetting, briquetting sets
There is the keyed end crossing out, briquetting is provided with bolt through-hole, keyed end is provided with screwed hole, described screw thread in the hole is provided with spiral shell
Top.
As the improvement further of such scheme, industrial robot multi-functional practical operation platform, the side wall of described cavity volume sets
There is opening, described opening is provided with chamber door.
The invention has the beneficial effects as follows: multi-functional real training robot, including the multi-functional composite fixture of industrial robot, industry
Robot multi-functional practical operation platform, industrial machine human body；The multi-functional composite fixture of industrial robot: include that there are six connections
First frame of link together, the second frame, the 3rd frame, the 4th frame, the 5th frame, the 6th frame；First machine
Frame: it is located at front side, which is provided with mounting seat, mounting seat is provided with clamping drive module, and clamping drive module includes clamping cylinder
Body and the clamping clamping expansion link that is connected of cylinder body, itself or clamping cylinder body are provided with the 3rd clamping part forward extending out, and clamping is stretched
Bar is provided with the 4th clamping part forward extending out；Second frame, it is provided with the mounting groove of several arcs, on each mounting groove all
It is provided with sucker, the center of circle of all of mounting groove is homocentric；3rd frame, it is provided with the pen clip for clamping pen；4th frame, it sets
There is scrubbing brush installing rack；5th frame, it is provided with mechanical hand installed part；6th frame, it is provided with nozzle；First frame, the second machine
Frame, the 3rd frame, the 4th frame, the 5th frame, the 6th frame connect into a rectangular-shaped hexahedro frame；With the 3rd clamping
Workpiece is clamped by portion and the 4th clamping part, can achieve the clamping to various workpiece, realizes the function of loading and unloading.The present invention has
Five working conditions, moreover it is possible to painting, writing picture, brush person's handwriting, hold Plain parts in addition to realizing the function of above-mentioned loading and unloading
Function.
Industrial robot multi-functional practical operation platform: it includes the casing being provided with cavity volume, also includes rotating disk, shaft coupling and simulation
Clamping machine tool device, the upper surface of casing is interval with and multiple is arranged side by side support bar, if being provided between two neighboring support bar
A dry spaced inner thread piece, the upper surface middle part of casing is provided with connecting hole, and what the lower section of connecting hole was provided with annular connects liquid
Groove, the lower section of connecting hole is additionally provided with shaft coupling, and shaft coupling is located at and connects the axis that liquid bath wraps shaft coupling；Rotating disk is located at shaft coupling
Top, rotating disk and the removable connection of shaft coupling, rotating disk is provided with least one liquid-leaking nozzle, and liquid-leaking nozzle is located at and connects the upper of liquid bath
Side；
Simulated machine tool clamping device: it includes platform frame, platform frame is provided with rotation driving module, in rotation driving module
Be provided with rotating shaft, rotating shaft be connected with clamping seats, clamping seats are provided with telescopic drive module, telescopic drive module include cylinder body and
The expansion link that cylinder body connects, platform frame or cylinder body are provided with the first clamping part, and expansion link is provided with the second clamping part；Described rotation
Turn drive module and include air pressure motor or hydraulic motor, telescopic drive module is hydraulic cylinder or pneumatic cylinder；The outer spiral shell of platform frame
Stricture of vagina part is connected with inner thread piece；It is provided with rotor in rotation driving module, be provided with two in rotor and can follow the right of rotor rotation
Claim the rotary magnet of setting, platform frame is provided with two rotation magnetic sensible switch, described rotation magnetic sensible switch and rotary magnet position
Put corresponding so that rotor often rotates 90 degree all a rotary magnet and a rotation magnetic sensible switch magnetic connection；Universal wheel group
Part includes universal wheel and roller wheel shaft, and universal wheel can rotate around roller wheel shaft, and roller wheel shaft integrally extends downwardly, roller wheel shaft bag
Include rotating shaft set and vertical rod, rotating shaft set and vertical rod are using threaded；By shaft coupling and electro-motor or air motor or hydraulic pressure horse
The rotating shaft that reaches connects, and is so achieved that the function of the workbench of industrial rotation, and during spray painting, unnecessary spray
Masking liquid from liquid-leaking nozzle flow out, enter connect in liquid bath, prevent unnecessary spray coating liquor from trickling everywhere it is ensured that place of imparting knowledge to students clean and tidy.
Rotation driving module can simulate such as the processing action of the equipment such as numerically controlled lathe, and telescopic drive module is easy to clamp workpiece.This
Bright structure is simple, with low cost it is adaptable to the teaching of simulated machine tool clamping based on industrial robot.Industrial machine human body with
Mechanical hand installed part connects, and industrial robot multi-functional practical operation platform is located at the side of industrial machine human body.
The present invention is used for robot teaching's teaching aid.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below
Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the present invention, rather than whole enforcement
Example, those skilled in the art's on the premise of not paying creative work, other designs can also be obtained according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 be the industrial robot multi-functional practical operation platform of the embodiment of the present invention be connected with simulated machine tool clamping device
Schematic perspective view；
Fig. 2 is that the partial enlargement of the industrial robot multi-functional practical operation platform of the embodiment of the present invention is intended to；
Fig. 3 is the structural representation of the universal wheel component of industrial robot multi-functional practical operation platform of the embodiment of the present invention；
Fig. 4 is the structural representation of the briquetting of industrial robot multi-functional practical operation platform of the embodiment of the present invention；
Fig. 5 is the structural representation of the stacking plate of industrial robot multi-functional practical operation platform of the embodiment of the present invention；
Fig. 6 is the schematic perspective view of the simulated machine tool clamping device of the embodiment of the present invention；
Fig. 7 is the structural decomposition diagram of the simulated machine tool clamping device of the embodiment of the present invention；
Fig. 8 is the internal structure schematic top plan view of the simulated machine tool clamping device of the embodiment of the present invention；
Fig. 9 is the control principle drawing of the industrial robot multi-functional practical operation platform of the present embodiment；
Figure 10 is the structural representation of the telescopic drive module of the simulated machine tool clamping device of the embodiment of the present invention；
Figure 11 is the structure cross-sectional schematic being provided with rotating disk of the industrial robot multi-functional practical operation platform of the embodiment of the present invention；
Figure 12 is that the structure partial amplification being provided with rotating disk of the industrial robot multi-functional practical operation platform of the embodiment of the present invention is shown
It is intended to；
Figure 13 is the schematic perspective view of the clamping drive module of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 14 is that the right side of the clamping drive module of the multi-functional composite fixture of industrial robot of the embodiment of the present invention regards schematic diagram；
Figure 15 is the schematic perspective view of another line of vision of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 16 is the front-view schematic diagram of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 17 is the schematic rear view of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 18 is the left view schematic diagram of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 19 is that the right side of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention regards schematic diagram；
Figure 20 is the schematic top plan view of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 21 is the elevational schematic view of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 22 is the schematic perspective view of the hexahedro frame of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 23 be the multi-functional composite fixture of industrial robot of the embodiment of the present invention front-view schematic diagram；
Figure 24 is the schematic rear view of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 25 is the left view schematic diagram of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 26 is that the right side of the multi-functional composite fixture of industrial robot of the embodiment of the present invention regards schematic diagram；
Figure 27 is the schematic top plan view of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 28 is the elevational schematic view of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 29 is the schematic perspective view of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 30 is the structural representation of the pen clip of the multi-functional composite fixture of industrial robot of the embodiment of the present invention；
Figure 31 is the structural representation when carrying out clamping workpiece for the present embodiment；
Figure 32 is the structural representation in spray painting for the present embodiment.
Specific embodiment
Technique effect below with reference to the design, concrete structure and generation to the present invention of embodiment and accompanying drawing is carried out clearly
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this
Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment being obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in literary composition
All connection/annexations, not singly refer to component and directly connect, and refer to be added deduct by adding according to the situation that is embodied as
Couple auxiliary less, to form more excellent draw bail.Each technical characteristic in the invention, in not conflicting conflict
Under the premise of can be with combination of interactions.
Referring to figs. 1 to Figure 32, this is one embodiment of the present of invention, specifically:
Referring to figs. 1 to Figure 12, this is the industrial robot multi-functional practical operation platform of the present embodiment, specifically:
Industrial robot multi-functional practical operation platform, including the casing being provided with cavity volume, also includes rotating disk, shaft coupling and simulated machine tool dress
Clamp device, the upper surface of casing is interval with and multiple is arranged side by side support bar 100, if being provided between two neighboring support bar 100
Dry spaced inner thread piece 101, the upper surface middle part of casing is provided with connecting hole, and the lower section of connecting hole is provided with connecing of annular
Liquid bath 30, the lower section of connecting hole is additionally provided with shaft coupling, and shaft coupling is located at and connects the axis that liquid bath 30 wraps shaft coupling；Rotating disk is located at
The top of shaft coupling, rotating disk and the removable connection of shaft coupling, rotating disk is provided with least one liquid-leaking nozzle 21, and liquid-leaking nozzle 21 is located at and connects
The top of liquid bath 30；Shaft coupling is connected with the rotating shaft of electro-motor or air motor or hydraulic motor, is so achieved that work
The function of the workbench of the rotation in industry, and during spray painting, unnecessary spray coating liquor flows out from liquid-leaking nozzle, enters and connects liquid bath
Interior, prevent unnecessary spray coating liquor from trickling everywhere it is ensured that place of imparting knowledge to students clean and tidy；
Simulated machine tool clamping device: include platform frame 1, platform frame 1 is provided with rotation driving module 2, rotation driving module 2
Be provided with rotating shaft, rotating shaft be connected with clamping seats, clamping seats are provided with telescopic drive module, telescopic drive module include cylinder body,
The expansion link being connected with cylinder body, platform frame or cylinder body are provided with the first clamping part 3, and expansion link is provided with the second clamping part 4；
For reduces cost, mitigate weight, reduce noise, described rotation driving module 2 includes air pressure motor or hydraulic motor, stretches
Contracting drive module is hydraulic cylinder or pneumatic cylinder；
Platform frame 1 is connected with inner thread piece 101 with externally threaded item；
In teaching process, generally require the function to existing industrial robot and show, in rotation driving module, be provided with rotor, turn
It is provided with two symmetrically arranged rotary magnets that can follow rotor rotation, platform frame 1 is provided with two rotation magnetic strengths and opens in son
Close 5, described rotation magnetic sensible switch 5 corresponding with rotary magnet position so that rotor often rotate 90 degree all have a rotary magnet and
One rotation magnetic sensible switch 5 magnetic connects.Rotation driving module can simulate such as the processing action of the equipment such as numerically controlled lathe, and stretches
Drive module is easy to clamp workpiece.
For the ease of installing and debugging, the present embodiment also includes inner sleeve 31 and overcoat 32, and inner sleeve 31 is located in overcoat 32, interior
It is provided with gap between set 31 and overcoat 32 and is formed and described connect liquid bath 30；The rotating shaft of the present embodiment extends along the longitudinal direction, because
Individual rotation magnetic sensible switch is provided with long signal connecting line, and for the ease of rotating installation, the debugging of magnetic sensible switch, therefore described
Two rotation magnetic sensible switch are one in front and one in back arranged.
In order to strengthen connecing the sealing property of liquid bath 30, the lower end of inner sleeve 31 and overcoat 32 is equipped with set shoulder, and inner sleeve 31 is with outward
The set shoulder of set 32 mutually abuts.Seal gasket can also be set between the set shoulder of inner sleeve 31 and overcoat 32, effect is more preferable.
For the ease of rotate magnetic sensible switch regulation, platform frame 1 be provided with two one in front and one in back arrange along right and left
To the first slippage slot 7 extending, two rotation magnetic sensible switch 5 are separately fixed on the first different slippage slots 7.
Because the turntable body that rotating disk needs a thin-walled to catch spray coating liquor simultaneously need to the larger rotation of intensity connects
Block 24, therefore the rotation contiguous block 24 that the rotating disk of the present invention includes turntable body 23 and is located at turntable body 23 middle part, turntable body
23 edge turns over upwards and forms the flange 22 that can prevent spray coating liquor from leaking, and rotates contiguous block 24 and is connected with described shaft coupling.This
The split type setting of sample, turntable body 23 with stamping, and can rotate contiguous block 24 and can be added with die casting or Cutting Process
Then both be connected with the technique such as glueing joint, welding, advantageously reduce material cost Manufacturing cost by work.
In order to allow system know position and the working condition of expansion link, the rear and front end of expansion link is respectively fixed with two directly
Line Magnet, clamping seats are provided with two straight line magnetic sensible switch 6 corresponding with two straight line magnet positions respectively, and each straight line magnetic strength is opened
Close the straight line Magnet magnetic connection that 6 difference can be corresponding.
Similarly for the ease of installing, adjusting, rotating shaft extends along the longitudinal direction, before described two straight line magnetic sensible switch 6 one
Arrange after one.
For the ease of controlling the stroke of expansion link, adapt to different product sizes, clamping seats be provided with two one previous
The second slippage slot 8 extending in left-right direction arranging afterwards, two straight line magnetic sensible switch 6 are respectively provided at the second different slippage slots
In 8, straight line magnetic sensible switch 6 can move in the second slippage slot 8 that it is located.
Due to there being the setting of support bar and inner thread piece, the present embodiment can also flexibly connect different teaching religions
Tool.In teaching, in order to allow student understand the powerful of existing industrial robot, include intelligent displaying, such as robot toward contact
Drawing, the stacking of goods, carrying, drawing needs drawing board, and the stacking of goods needs stacking plate, as shown in Fig. 4 a kind of stacking
Plate, it be formed around via, its middle part is provided with criss-cross projection, faculty can with bolt pass through stacking plate mistake
Hole is connected with inner thread piece 101, thus stacking plate is fixed on support bar.It is of course also possible to be provided with the present embodiment
Briquetting 20011 is fixed to stacking plate, and briquetting 20011 is provided with the keyed end crossing out, and briquetting 20011 is provided with bolt
Via, keyed end is provided with screwed hole, and described screw thread in the hole is provided with land 2012.Land 2012 is that mechanical field personnel commonly use
Part, as the term suggests it has external screw thread and realizes the function of withstanding article.This briquetting 20011 provided by the present invention,
It is not only applicable to the teaching widening parts with via, be also applied for the drawing board of Non-precondition bolt through-hole.Because manufacturing stacking
The material of plate and drawing board is all soft, is first connected briquetting 20011 and interior threaded part with bolt, then passes through to adjust spiral shell
The extension elongation on top, to adjust the dynamics of the compression to drawing board and stacking plate.
Because the present invention can connect various teaching aids, so being provided with opening on the side wall of the cavity volume of casing, on described opening
It is provided with chamber door.Like that, rotating disk, simulated machine tool clamping device, drawing board, stacking plate and several briquettings can be placed in casing.
As shown in Fig. 2 being provided with universal wheel component in the lower section of casing, universal wheel component includes universal wheel 401 and roller turns
Axle, universal wheel can rotate around roller wheel shaft, and roller wheel shaft integrally extends downwardly, and roller wheel shaft includes rotating shaft set 402 and vertical rod
403, rotating shaft set and vertical rod adopt threaded.Lock nut 404 is additionally provided with vertical rod, described lock nut is abutted with rotating shaft set
Thus fixing the extension elongation of vertical rod, the lower end of vertical rod is provided with and supports piece, and the described piece 405 that supports is connected with the lower end activity of vertical rod
Connect.In mobile the present embodiment, vertical rod is up adjusted, and allows universal wheel to contact with ground, so facilitates the movement of the present embodiment,
After moving to suitable position, allow vertical rod down to adjust so that universal wheel leaves ground, allow the present embodiment teaching when will not
Mobile, and by arranging at least three universal wheel component, the present embodiment can be allowed to have the function of leveling.And mobilizable support
Piece, can adapt to the ground of injustice to greatest extent.
Fig. 9 is the control principle drawing of the present embodiment, using electromagnetic valve, telescopic drive module and rotation driving module is carried out
Control, its attachment structure is as shown in Figure 9.And rotate magnetic sensible switch, straight line magnetic sensible switch is connected with system.
With reference to Figure 13 to Figure 30, this is the multi-functional composite fixture of industrial robot of the present embodiment:
Including have the first frame 1000 of six links linking together, the second frame 2000, the 3rd frame 3000,
Four frames 4000, the 5th frame 5000, the 6th frame 6000, the first frame 1000: it is located at front side, which is provided with mounting seat,
Mounting seat is provided with clamping drive module, and clamping drive module includes clamping the clamping expansion link that cylinder body is connected with clamping cylinder body,
Itself or clamping cylinder body are provided with the 3rd clamping part 300 forward extending out, and clamping expansion link is provided with the 4th clamping forward extending out
Portion 400；With the 3rd clamping part and the 4th clamping part, workpiece is clamped, can achieve the clamping to various workpiece, realize loading and unloading
Function；
Second frame 2000: it is provided with the mounting groove 2001 of four dry shape identical arcs, each mounting groove 2001 is all provided with
There is sucker 2002, the center of circle of all of mounting groove 2001 is homocentric；Make four suckers, different in mounting groove by adjusting sucker
Position, is suitable for workpiece of different shapes, and when adsorbing workpiece, the center of circle of mounting groove is located at the surface of the center of gravity of workpiece, leads to
Cross the absorption that adjustment position on mounting groove for the sucker just can be suitable for different in width workpiece, as long as the length of workpiece is more than installing
The diameter of circle that groove 2001 is located just can be picked up by the present invention.
3rd frame 3000: it is provided with the pen clip 3001 for clamping pen；In teaching, generally require to show modern machines
The intellectuality of people, therefore with pen clip 3001, pen clip will be lived, robot can be allowed to draw a picture, write by programming.
4th frame 4000: it is provided with scrubbing brush installing rack 4001；After writing picture, need identify the handwriting brushed it is possible to
Blackboard brush is arranged on scrubbing brush installing rack 4001, then just with blackboard brush, person's handwriting can be brushed.
For the ease of connecting robot, the 5th frame 5000: it is provided with mechanical hand installed part 5001；
6th frame 6000: it is provided with nozzle 6001, so can be achieved with the function of painting；
First frame 1000, the second frame 2000, the 3rd frame 3000, the 4th frame 4000, the 5th frame 5000, the 6th frame
6000 connect into a rectangular-shaped hexahedro frame, and such setting can easily switch various functions.
The clamping drive module of the present embodiment is hydraulic cylinder or pneumatic cylinder, the manufacturing cost of hydraulic cylinder and pneumatic cylinder and maintenance
Cost is all relatively low.
For the ease of controlling the stroke of clamping expansion link, and it is easy to the work shape that control system understands clamping expansion link
State, the rear and front end of clamping expansion link is respectively fixed with two fixture straight line Magnet, and mounting seat is provided with two and is pressed from both sides with two respectively
Tool straight line magnet positions corresponding fixture straight line magnetic sensible switch 60, each fixture straight line magnetic sensible switch 60 respectively can be corresponding
Fixture straight line Magnet magnetic connects.
In order to adapt to various sizes of workpiece, mounting seat be provided with two one in front and one in back arrange extend in left-right direction
3rd slippage slot 80, two fixture straight line magnetic sensible switch 60 are respectively provided in the 3rd different slippage slots 80, fixture straight line magnetic strength
Switch 60 can move in the 3rd slippage slot 80 that it is located.By alignment jig straight line magnetic sensible switch 60 in the 3rd slippage slot 80
Interior position, to control the stroke of clamping expansion link.And because fixture straight line magnetic sensible switch 60 has very long electric wire, and
Two the 3rd slippage slots 80 extending in left-right direction one in front and one in back arranging can avoid two fixture straight line magnetic sensible switch 60
Electric wire can interfere.
After workpiece is clipped, need to transfer to processing stations, in order to improve the clamping success rate of the present embodiment, the first frame
1000 are provided with four through holes, and described four through holes are respectively provided at the surrounding of mounting seat, and described four through holes are respectively provided with one
Individual locating rod 200, locating rod 200 is provided with tandem first abutting part 202 and the second abutting part 203, the first abutting part
It is provided with holddown spring 201 and the first frame 1000 between.So that before clamping, workpiece can be compressed tightly against work by locating rod 200
Make on platform.When the 3rd clamping part and the 4th clamping part unclamp, locating rod 200, can be by due to the elastic force of holddown spring 201
Processing stations pushed to by workpiece.
Four through holes of the present embodiment are located on four angle points of rectangle respectively, so carry out the flat of workpiece to greatest extent
Steady release.
Pen clip 3001 includes front wing and rear wing, and the upper end weakness section 3002 of the upper end of front wing and rear wing connects, front wing
The lower end of lower end and rear wing is equipped with bolt through-hole.
In order to better adapt to the workpiece of different sizes, shape, the second frame 2000 is tabular component, on sucker 2002
It is provided with two locking nuts 2003, the second frame 2000 is located between described two locking nuts 2003, two locking nuts
2003 can be clipped between the second frame 2000, thus sucker can be fixed on the diverse location of mounting groove.
Industrial machine human body is connected with mechanical hand installed part 5001, and industrial robot multi-functional practical operation platform is located at industry
The side of robot body.
Figure 31 is the structural representation when carrying out clamping workpiece for the present embodiment, and Figure 32 is the present embodiment in spray painting
Structural representation.
Industrial robot multi-functional practical operation platform and the multi-functional composite fixture of industrial robot cooperate, and enable multiple
Teaching purpose, to greatest extent show modern industry robot various functions.
Above the better embodiment of the present invention is illustrated, but the invention is not limited to described enforcement
Example, those of ordinary skill in the art also can make a variety of equivalent modifications without prejudice on the premise of present invention spirit or replace
Change, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (10)
1. multi-functional real training robot it is characterised in that: include the multi-functional composite fixture of industrial robot, the many work(of industrial robot
Can practical operation platform, industrial machine human body；
The multi-functional composite fixture of industrial robot: include have six links linking together the first frame (1000),
Second frame (2000), the 3rd frame (3000), the 4th frame (4000), the 5th frame (5000), the 6th frame (6000)；
First frame (1000):
It is located at front side, which is provided with mounting seat, and mounting seat is provided with clamping drive module, and clamping drive module includes clamping cylinder
Body and the clamping clamping expansion link that is connected of cylinder body, itself or clamping cylinder body are provided with the 3rd clamping part (300) forward extending out, and press from both sides
Tight expansion link is provided with the 4th clamping part (400) forward extending out；
Second frame (2000), it is provided with the mounting groove of several arcs (2001), and each mounting groove is equipped with suction on (2001)
Disk (2002), the center of circle of all of mounting groove (2001) is homocentric；
3rd frame (3000), it is provided with the pen clip (3001) for clamping pen；
4th frame (4000), it is provided with scrubbing brush installing rack (4001)；
5th frame (5000), it is provided with mechanical hand installed part (5001)；
6th frame (6000), it is provided with nozzle (6001)；
First frame (1000), the second frame (2000), the 3rd frame (3000), the 4th frame (4000), the 5th frame
(5000), the 6th frame (6000) connects into a rectangular-shaped hexahedro frame；
Industrial robot multi-functional practical operation platform: it includes the casing being provided with cavity volume, also includes rotating disk, shaft coupling and simulated machine tool
Clamping device, the upper surface of casing is interval with and multiple is arranged side by side support bar (100), between two neighboring support bar (100)
It is provided with several spaced inner thread pieces (101), the upper surface middle part of casing is provided with connecting hole, and the lower section of connecting hole is provided with
Annular connect liquid bath (30), the lower section of connecting hole is additionally provided with shaft coupling, and shaft coupling is located at and connects liquid bath (30) and wrap shaft coupling
Axis；
Rotating disk is located at the top of shaft coupling, rotating disk and the removable connection of shaft coupling, and rotating disk is provided with least one liquid-leaking nozzle (21),
Liquid-leaking nozzle (21) is located at the top connecing liquid bath (30)；
Simulated machine tool clamping device: it includes platform frame (1), platform frame (1) is provided with rotation driving module (2), rotation
Drive module (2) is provided with rotating shaft, and rotating shaft is connected with clamping seats, and clamping seats are provided with telescopic drive module, telescopic drive mould
Block includes the expansion link that cylinder body is connected with cylinder body, and platform frame (1) or cylinder body are provided with the first clamping part (3), expansion link sets
There is the second clamping part (4)；Described rotation driving module (2) includes air pressure motor or hydraulic motor, and telescopic drive module is hydraulic pressure
Cylinder or pneumatic cylinder；Platform frame (1) is connected with inner thread piece (101) with externally threaded item；It is provided with rotation driving module (2) and turn
Son, is provided with two symmetrically arranged rotary magnets that can follow rotor rotation in rotor, platform frame (1) is provided with two rotations
Magnetic sensible switch (5), described rotation magnetic sensible switch (5) corresponding with rotary magnet position so that rotor often rotates 90 degree all one
Rotary magnet and rotation magnetic sensible switch (5) magnetic connect；
Universal wheel component includes universal wheel (401) and roller wheel shaft, and universal wheel (401) can rotate around roller wheel shaft, roller wheel shaft
Entirety extends downwardly, and roller wheel shaft includes rotating shaft set (402) and vertical rod (403), and rotating shaft set (402) and vertical rod (403) adopt spiral shell
Stricture of vagina connects；
Industrial machine human body is connected with mechanical hand installed part (5001), and industrial robot multi-functional practical operation platform is located at industrial machine
The side of device human body.
2. multi-functional real training robot according to claim 1 it is characterised in that:
Industrial robot multi-functional practical operation platform: also include inner sleeve (31) and overcoat (32), inner sleeve (31) is located in overcoat (32),
It is provided with gap between inner sleeve (31) and overcoat (32) and is formed and described connect liquid bath (30)；Rotating shaft extends along the longitudinal direction, and described two
Individual rotation magnetic sensible switch (5) is one in front and one in back arranged；Lock nut (404), described lock nut are additionally provided with vertical rod (403)
(404) abut with rotating shaft set (402)；
The multi-functional composite fixture of industrial robot: clamping drive module is hydraulic cylinder or pneumatic cylinder.
3. multi-functional real training robot according to claim 2 it is characterised in that:
The multi-functional composite fixture of industrial robot: the rear and front end of clamping expansion link is respectively fixed with two fixture straight line Magnet,
Mounting seat be provided with two respectively with two fixture straight line magnet positions corresponding fixture straight line magnetic sensible switch (60), each fixture is straight
Line magnetic sensible switch (60) is distinguished fixture straight line Magnet magnetic that can be corresponding and is connected；
Industrial robot multi-functional practical operation platform: the lower end of inner sleeve (31) and overcoat (32) is equipped with set shoulder, inner sleeve (31) and outward
The set shoulder of set (32) mutually abuts；Platform frame (1) is provided with two extend in left-right direction first one in front and one in back arranging
Slippage slot (7), two rotations magnetic sensible switch (5) are separately fixed on different the first slippage slots (7).
4. multi-functional real training robot according to claim 3 it is characterised in that:
The multi-functional composite fixture of industrial robot: mounting seat is provided with two extend in left-right direction one in front and one in back arranging
Three slippage slots (80), two fixtures straight line magnetic sensible switch (60) are respectively provided in the 3rd different slippage slots (80), fixture straight line
Magnetic sensible switch (60) can move in the 3rd slippage slot (80) that it is located；
Industrial robot multi-functional practical operation platform: rotating disk includes turntable body (23) and is located at the rotation in the middle part of turntable body (23)
Contiguous block (24), is rotated contiguous block (24) and is connected with described shaft coupling.
5. multi-functional real training robot according to claim 4 it is characterised in that:
The multi-functional composite fixture of industrial robot: the first frame (1000) is provided with four through holes, described four through holes set respectively
In the surrounding of mounting seat, described four through holes are respectively provided with a locating rod (200), and it is previous that locating rod (200) is provided with one
The first abutting part (202) afterwards and the second abutting part (203), are provided between the first abutting part (202) and the first frame (1000)
Holddown spring (201)；
Industrial robot multi-functional practical operation platform: the edge of turntable body (23) turns over formation flange (22) upwards.
6. multi-functional real training robot according to claim 5 it is characterised in that:
Industrial robot multi-functional practical operation platform: described four through holes are located on four angle points of rectangle respectively；
The multi-functional composite fixture of industrial robot: the rear and front end of expansion link is respectively fixed with two straight line Magnet, clamping seats set
There are two straight line magnetic sensible switch (6) corresponding with two straight line magnet positions respectively, each straight line magnetic sensible switch (6) respectively can be with
Its corresponding straight line Magnet magnetic connects.
7. multi-functional real training robot according to claim 6 it is characterised in that:
The multi-functional composite fixture of industrial robot: pen clip (3001) includes front wing and rear wing, the upper end of front wing and the upper end of rear wing
Connected with weak section (3002), the lower end of front wing and the lower end of rear wing are equipped with bolt through-hole；
Industrial robot multi-functional practical operation platform: rotating shaft extends along the longitudinal direction, described two straight line magnetic sensible switch (6) are previous
After arrange.
8. multi-functional real training robot according to claim 7 it is characterised in that:
The multi-functional composite fixture of industrial robot: the second frame (2000) is tabular component, sucker (2002) is provided with two locks
Jack panel (2003), the second frame (2000) is located between described two locking nuts (2003)；
Industrial robot multi-functional practical operation platform: clamping seats are provided with two extend in left-right direction one in front and one in back arranging
Two slippage slots (8), two straight line magnetic sensible switch (6) are respectively provided in different the second slippage slots (8), straight line magnetic sensible switch (6)
Can move in the second slippage slot (8) that it is located.
9. multi-functional real training robot according to claim 1 it is characterised in that:
Industrial robot multi-functional practical operation platform, also includes briquetting (20011), and briquetting (20011) is provided with the lock crossing out
Fixed end, briquetting (20011) is provided with bolt through-hole, and keyed end is provided with screwed hole, and described screw thread in the hole is provided with land (2012).
10. the multi-functional practical operation platform of industrial robot according to claim 1 it is characterised in that:
Industrial robot multi-functional practical operation platform, the side wall of described cavity volume is provided with opening, and described opening is provided with chamber door.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610847188.2A CN106355988B (en) | 2016-09-22 | 2016-09-22 | Multifunctional training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610847188.2A CN106355988B (en) | 2016-09-22 | 2016-09-22 | Multifunctional training robot |
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| CN106355988B CN106355988B (en) | 2020-02-07 |
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|---|---|
| CN106355988B (en) | 2020-02-07 |
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