CN107081762A - A kind of industrial robot operating training unit - Google Patents
A kind of industrial robot operating training unit Download PDFInfo
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- CN107081762A CN107081762A CN201710404584.2A CN201710404584A CN107081762A CN 107081762 A CN107081762 A CN 107081762A CN 201710404584 A CN201710404584 A CN 201710404584A CN 107081762 A CN107081762 A CN 107081762A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
-
- 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
- G09B9/00—Simulators for teaching or training purposes
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- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
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- General Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of industrial robot operating training unit.It is characterized in that including support safety mechanism, speed control training institution, precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction controlling training institution, support safety mechanism is lower support structure, speed control training institution, precision controlled training mechanism, angle adjustment controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on above support safety mechanism, and direction controlling training institution is arranged in polygonized structure.The present invention newly enters the study industrial robot such as office worker for college student and workshop and is obviously improved effect, versatility is high, many style industrial robots can use this trainer, all use Demountable, can autonomous assembling into various forms of trainers, it is easy to carry, good appearance.
Description
Technical field
The present invention relates to a kind of industrial robot operating training unit.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, the principle guiding principle that modern industrial robot can also be formulated according to artificial intelligence technology
Action.
Robot control system is the brain of robot, is the principal element for determining robot function and performance, can control
Time of movement position, posture and track of the industrial robot processed in working space, operation order and action etc..But robot
The less complex program write in control system can only be handled, this also imply that have at any time occur emergency can
Energy property, professional operator's quality and ability can just determine current unexpected loss size when this.And some rigid connections
The trainee of study industrialization robot is touched, occurs some situations due to may result in without special training and operation and draws
Rise it is nervous can not normally play, cause operation robot to be slipped up, and cause device damage.The reason for causing this error exists
In in psychological and equipment.Because equipment is mechanical equipment, collision is not felt, during casting is again hard alloy, institute
When equipment is collided or is rubbed, can all cause the damage for being difficult to retrieve to equipment.
The content of the invention
For problems of the prior art, it is an object of the invention to provide a kind of industrial robot operation training dress
The technical scheme put.
Described a kind of industrial robot operating training unit, it is characterised in that including support safety mechanism, speed control
Training institution, precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction
Controlled training mechanism, support safety mechanism be lower support structure, speed control training institution, precision controlled training mechanism,
Angle adjustment controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on support safety mechanism
Top, direction controlling training institution is arranged in polygonized structure.
Described a kind of industrial robot operating training unit, it is characterised in that the support safety mechanism includes support bar
It is provided with above cylindric blind hole, support bar lower body and sets in vivo on upper body, support bar lower body, support bar core and spring, support bar
Circular groove is equipped with, support bar core upper end is inserted in cylindric blind hole, socket sets spring and inserted in circular groove, spring outside support bar core
Between support bar upper body and support bar lower body；
The speed control training institution includes first vector, flat step band, latch, roller, encoder, pushing block and square block,
The cavity for accommodating flat step band is provided with first vector, latch and roller are installed in cavity one end, and the cavity other end installs latch, rolling
Wheel and encoder, encoder are engaged by key with roller；Flat step band is engaged with the roller at two ends, and flat step, which takes, is provided with peace
The square hole of pushing block is filled, square block grafting is arranged on pushing block；
The precision controlled training mechanism includes Second support, flat piece of carrier, flat piece of hexagon, the second assistant carrier, first
Infrared sensor and fixed plate, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is arranged on flat piece
On carrier, and the setting angle of flat piece of hexagon is different, and the second assistant carrier is arranged on the lower section of Second support, and two first red
Outer sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and fixed plate clamping is arranged in Second support
The heart, fixed plate will not interfere with the second assistant carrier；
The angle adjustment controlled training mechanism includes the 3rd carrier, core block and core block position-limit mechanism, core block position restrainer
Structure include shell on bullet formula pin, play formula pin lower casing, hold out against spring, to play formula plunger, chock, the first square latch and second square
Set on latch, the 3rd carrier in mounting groove and core block mounting groove, mounting groove and shell on bullet formula pin is set, played outside under formula pin
Shell, hold out against spring, play formula plunger and chock, holding out against spring, play formula plunger and be arranged on bullet formula pin shell with playing formula pin lower casing
Between, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays shell and bullet formula pin lower casing on formula pin
Outer wall offers the first half grooves coordinated with the first square latch, the second square latch to outer wall respectively；Set in core block mounting groove
Core block is put, the side of core block is provided with least one stopper slot；Groove sidewall is installed to offer and the first square latch and the
The second half grooves that two square latches coordinate, install the slit that groove sidewall is further opened with connecting core block mounting groove, play formula plunger
Head is engaged through slit with the stopper slot of core block side；Core block and core block position-limit mechanism at least provided with two groups, and
Core block angle of inclination is different；
The TCP central points controlled training mechanism includes the 4th carrier and adjustable lever, and adjustable lever top is provided with spheroid, can
It is additionally provided with the through hole for being provided with least one set of salient point, the 4th carrier and installing adjustable lever, through hole and is provided with adjusting rod
Vertically groove inserts through hole to salient point on lateral circumferential groove and vertical slot, adjustable lever, and the positioning of lateral circumferential groove is caught in during rotation；
The direction controlling training institution is made up of two the 5th carriers of right-angled intersection, and button is provided with cross searching
Switch, cross searching to being respectively arranged with equidistant button switch and the second infrared sensor on the 5th carrier of external radiation,
Button switch is made up of button shell, button head and back-moving spring, and dividing plate and sheet metal, sheet metal position are provided with button shell
Conducting shell fragment and baffle plate are provided with below button outer casing bottom, button head, the reset is set between conducting shell fragment and baffle plate
Spring, turns on the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively during installation, push button head can overcome the power of spring to make to lead
Logical shell fragment contacts conducting button switch with sheet metal, and the second infrared sensor is arranged on the outside of button switch.
Described a kind of industrial robot operating training unit, it is characterised in that the first vector, Second support, the 3rd
Carrier and the 4th carrier are surrounded between a square, adjacent both sides by support bar upper body, the first connector and the second connection
Part, which coordinates, to be connected；Projection is additionally provided with above the support bar upper body, projection is provided centrally with aperture；Set on first connector
4th plug and the 5th plug are set on first the second plug of plug and the 3rd plug, the second connector；First vector, second carry
Body, the 3rd carrier and the 4th carrier and support bar upper body connection end structure are identical, first vector, Second support, the 3rd carrier and
4th carrier is provided with the first jack, the second jack and vertical cut (V. cut), and the first plug and the 3rd plug are inserted with adjacent first
Hole coordinates, and in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the 4th plug and the
Five plugs coordinate with the second adjacent jack.
Described a kind of industrial robot operating training unit, it is characterised in that the first vector, the 3rd carrier and
Projection, the four of two the 5th carriers are provided with above the fixed plate being provided with four carriers on mounting hole, the second assistant carrier
Individual free end sets three convex tendons and a shrinkage pool, respectively the peace on corresponding matching first vector, the 3rd carrier and the 4th carrier
Fill the projection in hole and fixed plate.
Described a kind of industrial robot operating training unit, it is characterised in that block respectively at the second assistant carrier two ends
It is connected on support bar upper body and is fixedly connected by pin.
Described a kind of industrial robot operating training unit, it is characterised in that the Second support is divided into the elasticity of centre
Connector and the rigid connection body at two ends, flat block of carrier are arranged on nonrigid connector, and nonrigid connector leads to rigid connection body
Pin is crossed to be connected.
Described a kind of industrial robot operating training unit, it is characterised in that body sidewall is provided with groove on the support bar
Body, support bar core top, which is set, sets a deep-slotted chip breaker for being more than 90 degree in grooved hole, slotted eye；On the support bar core and support bar
Body is connected by bearing pin of the end with right angle projection, and the bearing pin with right angle projection is sequentially inserted into cell body and slotted eye, and in groove
Being rotated by 90 ° in deep-slotted chip breaker in hole can be connected support bar core with support bar upper body, and bearing pin can be slided up and down in cell body
It is interior.
Described a kind of industrial robot operating training unit, it is characterised in that the lower section of the support bar lower body sets recessed
Support base is equipped with groove, groove.
Described a kind of industrial robot operating training unit, it is characterised in that the lower surface of the support bar upper body and branch
The upper surface of strut lower body is provided with the arcuate structure coordinated with spring.
A kind of described industrial robot operating training unit, it is characterised in that core block and the core block position-limit mechanism
Three groups are set to, three groups of core block angles of inclination are set gradually as 15 degree, 30 degree and 45 degree.
The present apparatus is to industrialize the artificial object of machine, and the trainer of independent research support industry robot manipulation is main
If the ability training for industrializing robot operator.In operation industrialization robot, many operators are due to operation
It can not in time react when unskilled or generation emergency and cause the various losses that can not be retrieved.Industrialize robotic training dress
Put be train operating personnel to emergency when respond and to new hand grasp operation industrialization robot.
Advantages of the present invention is as follows：
1. existing market does not occur the device specifically designed for industrialization robotic training also, the present apparatus market space is big；
2. newly entering the study industrial robot such as office worker for college student and workshop is obviously improved effect；
3. the present apparatus has five functional, the different specific aims in training direction that every kind of function is played are also different；
4. versatility is high, many style industrial robots can use this trainer；
5. all use Demountable, can autonomous assembling into various forms of trainers, easy to carry, good appearance.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the explosive view one of support safety mechanism；
Fig. 3 is the partial sectional view of support bar upper body；
Fig. 4 is the partial sectional view of support bar core；
Fig. 5 is the explosive view two of support safety mechanism；
Fig. 6 is the structural representation of support safety mechanism；
Fig. 7 is the quick-fried according to figure of speed control training institution；
Fig. 8 is the structural representation of speed control training institution；
Fig. 9 is the schematic diagram one of precision controlled training mechanism；
Figure 10 is the schematic diagram two of precision controlled training mechanism；
Figure 11 is the schematic diagram three of precision controlled training mechanism；；
Figure 12 is the schematic diagram of angle adjustment controlled training mechanism；
Figure 13 is the explosive view of angle adjustment controlled training mechanism；
Figure 14 is the partial sectional view of angle adjustment controlled training mechanism；
Figure 15 is the Local map of angle adjustment controlled training mechanism；
Figure 16 is the schematic diagram of TCP central point controlled trainings mechanism；
Figure 17 is the partial sectional view of TCP central point controlled trainings mechanism；
Figure 18 is the explosive view of direction controlling training institution；
Figure 19 is the structural representation of button head；
Figure 20 is the Local map of direction controlling training institution；
Figure 21 is the schematic diagram of direction controlling training institution；
Figure 22 is the disassembly diagram that support bar upper body is installed with first vector and Second support；
Figure 23 is Figure 22 partial sectional view；
Figure 24 is the schematic diagram after support bar upper body is installed with first vector and Second support；
In figure：One：Speed control training institution, two：Precision controlled training mechanism, three：Angle adjustment controlled training mechanism,
Four：TCP central point controlled trainings mechanism, five：Direction controlling training institution, six：Support safety mechanism, 1- support bars upper body, 2-
Spring, 3- support bar cores, bearing pins of the 4- with right angle projection, 5- support bar lower bodies, 6- support bases, a1- circular grooves, a2- cell bodies,
The cylindric blind holes of a3-, a4- slotted eyes, a5- grooves, a6- projections, 11- first vectors, the flat step bands of 21-, 22- pushing blocks, 23- is square
Block, 24- latches, 25- rollers, 26- keys, 27- encoders, e1- square holes, e2- cavitys, 9- rigid connection bodies, 10- elastic connections
Body, 14- fixed plates, the assistant carriers of 15- second, flat piece of 45- hexagons, flat block of carrier of 46-, 47- Second supports, 12- core blocks
Position-limit mechanism, 28- core blocks, the square latches of 29- second, 30- bullet formula pin lower casings, 31- bullet formula plungers, 32- holds out against spring,
Mounting groove is set on shell on 33- chocks, 34- bullet formula pins, the square latches of 35- first, the carriers of 36- the 3rd, the carriers of f1- the 3rd,
The grooves of f2- the second half, the grooves of f3- the first half, f4- stopper slots, f5- slits, f6- core block mounting grooves, the carriers of 43- the 4th, 44- is adjustable
Pole, h1- salient points, h2- vertical slots, h3- lateral circumferential grooves, h4- through holes, 37- button shells, 38- button heads, 39- the 5th is carried
Body, 40- back-moving springs, 41- button switches, the infrared sensors of 42- second, g1- sheet metals, g2- dividing plates, g3- conducting shell fragments,
G4- baffle plates, the connectors of 7- first, the connectors of 8- second, the plugs of b1- first, the plugs of b2- second, the plugs of b3- the 3rd, b4- the 4th
Plug, the plugs of b5- the 5th, b6- vertical cut (V. cut)s, the jacks of b7- second, the jacks of b8- first.
Embodiment
With reference to Figure of description, the invention will be further described：
A kind of industrial robot operating training unit, is mainly used in carrying out different types of instruction to the personnel for operating industrial robot
Practice, in order to which more preferable operation robot works.Mainly include support safety mechanism six, speed control training institution one, precisely
Spend controlled training mechanism two, angle adjustment controlled training mechanism three, TCP central point controlled trainings mechanism four and direction controlling training
Mechanism five, support safety mechanism is lower support structure, and speed control training institution, precision controlled training mechanism, angle are adjusted
Whole controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on above support safety mechanism,
Direction controlling training institution is arranged in polygonized structure.Each part is independent, and can be independently operated, to be carried out
Split combination.
Lower mask body introduces the embodiment of various pieces of the present invention.
Support safety mechanism six includes support bar upper body 1, support bar lower body 5, support bar core 3 and spring 2, support bar upper body
Cylindric blind hole a3 is provided with 1, the top of support bar lower body 5 is provided with circular groove a1, and cylindric blind hole is inserted in the upper end of support bar core 3
In a3, the outer socket of support bar core 3 sets spring 2 and inserted in circular groove a1, and spring 2 is located at support bar upper body 1 and support bar lower body 5
Between.
It can be set in the lower section of support bar lower body 5 in groove a5, groove and be equipped with support base 6, played support and make
With；The lower surface of support bar upper body and the upper surface of support bar lower body are provided with the arcuate structure coordinated with spring, it is ensured that its
Stability.
The side wall of support bar upper body 1 is provided with cell body a2, and the top of support bar core 3 sets setting one in grooved hole a4, slotted eye big
In 90 degree of deep-slotted chip breaker；Support bar core 3 is connected with support bar upper body 1 by bearing pin 4 of the end with right angle projection, with right angle
The bearing pin of projection is sequentially inserted into cell body and slotted eye, and be rotated by 90 ° in the deep-slotted chip breaker in slotted eye can be by support bar core and support
Bar upper body is connected, and bearing pin can be slided up and down in cell body, and this is ingenious in design, simple and practical.
Projection a6 can be set above support bar upper body, and projection is provided centrally with aperture, for other several parts
Between connect and be used.
In order to prevent that imprudence causes manipulator constantly to push during operation industrialization robot, and can not during pushing
React in time, spy adds spring mechanism in supporting construction, although extendable room is smaller, but can have enough anti-
Go stopping instrument hand to continue to push between seasonable, cause security incident and unnecessary loss.
Speed control training institution includes first vector 11, flat step band 21, latch 24, roller 25, encoder 27, pushing block
22 and square block 23, the cavity e2 for accommodating flat step band is provided with first vector, and latch and roller are installed in cavity one end, and cavity is another
Latch, roller and encoder are installed in one end, and encoder is engaged by key 26 with roller；Flat step band and the roller at two ends match
Close, flat step takes the square hole e1 for being provided with and installing pushing block, square block grafting is arranged on pushing block.
Precision controlled training mechanism includes Second support 47, flat piece of carrier 46, flat piece of the 45, second assistant carrier of hexagon
15th, the first infrared sensor and fixed plate 14, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is set
Put on flat block of carrier, and the setting angle of flat piece of hexagon is different, the second assistant carrier is arranged on the lower section of Second support, two
Individual first infrared sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and the clamping of fixed plate 14 is arranged on
The center of two carriers, fixed plate be will not interfere with the second assistant carrier, and projection is provided with above fixed plate.
Angle adjustment controlled training mechanism includes the 3rd carrier 36, core block 28 and core block position-limit mechanism 12, core block
Position-limit mechanism includes shell 34 on bullet formula pin, plays formula pin lower casing 30, hold out against spring 32, play formula plunger 31, chock 33, first party
Set in mounting groove f1 and core block mounting groove f7, mounting groove and set on the square latch 29 of shape latch 35 and second, the 3rd carrier
Shell on bullet formula pin, formula pin lower casing is played, spring is held out against, plays formula plunger and chock, held out against spring, play formula plunger and be arranged on bullet formula
On pin between shell and bullet formula pin lower casing, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays formula pin
Outer wall offers first coordinated with the first square latch, the second square latch to the outer wall of upper shell and bullet formula pin lower casing respectively
Half groove f3；Core block is set in core block mounting groove, and the side of core block is provided with least one stopper slot f4；Groove sidewall is installed
The second half groove f2 coordinated with the first square latch and the second square latch are offered, groove sidewall is installed and is further opened with connecting core
The slit f5 of block mounting groove, the head for playing formula plunger is engaged through slit with the stopper slot of core block side；Core block and core
Heart block position-limit mechanism is different at least provided with the core block angle of inclination in two groups, and two groups.
TCP central point controlled trainings mechanism includes the 4th carrier 43 and adjustable lever 44, and adjustable lever top is provided with ball
The through hole h4 for being provided with least one set of salient point h1, the 4th carrier and installing adjustable lever, through hole are additionally provided with body, adjustable lever
Vertically groove inserts through hole to the salient point being inside provided with lateral circumferential groove h3 and vertical slot h2, adjustable lever, and horizontal stroke is caught in during rotation
Positioned to circumferential groove.
Direction controlling training institution is made up of two the 5th carriers 39 of right-angled intersection, be provided with cross searching by
Button switch 41, cross searching is respectively arranged with the infrared biography of equidistant button switch 41 and second on the 5th carrier of external radiation
Sensor 42, button switch is made up of button shell 37, button head 38 and back-moving spring 40, be provided with button shell dividing plate g2 and
Sheet metal g1, sheet metal is located at button outer casing bottom, is provided with conducting shell fragment g3 and baffle plate g4 below button head, conducting shell fragment and
The back-moving spring 40 is set between baffle plate, the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively are turned on during installation, push by
Button head can overcome the power of spring make conducting shell fragment contacted with sheet metal conducting button switch, the second infrared sensor 42 be arranged on by
The outside of button switch.
First vector, Second support, the 3rd carrier and the 4th carrier can be surrounded between a square, adjacent both sides
Coordinated by support bar upper body 1, the first connector 7 and the second connector 8 and be connected；First plug b1 is set on the first connector 7
4th plug b4 and the 5th plug b5 is set on the second plug b2 and the 3rd plug b3, the second connector 8；First vector, second
Carrier, the 3rd carrier and the 4th carrier are identical with support bar upper body connection end structure, first vector, Second support, the 3rd carrier
Be provided with the first jack b8, the second jack b7 and vertical cut (V. cut) b6 with the 4th carrier, the first plug and the 3rd plug with it is adjacent
The first jack coordinate, in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the 4th
Plug and the 5th plug coordinate with the second adjacent jack；For fixing the connection of whole framework, portable convenient dismounting is realized
And autonomous assembling.
The two ends of second assistant carrier 15 are respectively engaged with support bar upper body 1 and are fixedly connected by pin；Second support
It is divided into the nonrigid connector 10 of centre and the rigid connection body 9 at two ends, flat block of carrier is arranged on nonrigid connector, elastic connection
Body is connected with rigid connection body by pin.Middle nonrigid connector main function is when manipulator touches flat piece of hexagon
When, if operation is not accurate, can occur certain deformation, if rigid member, then may directly damage, elastic component has preferably
Elasticity, when manipulator is removed, can restPose again.
Core block and core block position-limit mechanism can be set to three groups, three groups of core block angles of inclination are set gradually as 15
Degree, 30 degree and 45 degree, for training the control to angle.
The concrete function of various pieces of the present invention is as follows：
One, speed controls
Equipped with a fixable pushing block on plain cloth band, pushing block is provided with groove, and a square block is inserted during training and is being pushed away
On motion block, manipulator touch square block and slowly slided forward, and roller rotation is driven during plain cloth Tape movement, and encoder turns with roller
Dynamic, when manipulator is moved forward, encoder will export pulse, then can calculating speed according to pulse.
The purpose of training：
The teaching machine that Abb industrialization robot 1410 model is matched somebody with somebody（Executor）For rocker-type.The more big then work of amplitude that rocking bar is promoted
The speed of service of Ye Hua robots can be faster, when distance crawl object manipulation apart from it is closer when, too fast speed can cause
Direct collision can freely control the industrialization robot speed of service to be the most important thing on object so manipulating rocking bar.
Industrialize robot tool hand（Manipulator）Promote square block and drive and run forward, when industrialization robot teaching
When device rocking bar promotes amplitude excessive, then can on a display screen it be exported by encoder real time reaction, during more than certain speed value, then not
It is qualified.
Two, precisions are controlled
One absorbable gas escape type sucker is installed on a robotic arm.Rocking bar is adjusted, sucker is located at flat piece of top of hexagon, then
Operation rocking bar makes sucker slowly down and be adjacent to flat piece of hexagon, when being adjacent to, using cylinder air-breathing, draw flat piece of hexagon to
On, rotated a certain angle during rising, in order to be put into another groove on side.Such as without flat piece of hexagon of laminating
Then rise, sucker can not then capture flat piece of hexagon, infrared sensor can be triggered if continuing to push after being adjacent to.
The purpose of training：
It is suitable to promote or pivots rocker amplitude during operation industrialization robot, then can arrive the industrialization robot speed of service
Up to our requirement.But sometimes we think that having touched object carries out just discovery when capturing, and does not capture successfully,
Then it must advance towards object, because too near apart from object when this, probably due to lacking experience or nervous, cause
Operation rocking bar collides, and causes damage.
The materials such as rubber are added in precision control, in order to prevent that device or manipulator are caused during collision to damage,
Manipulation dynamics when arbitrarily can temper distance element in precision control, mistake can be pointed out if undue push.
Three, angle adjustments are controlled
For learning the 6th axle（The axle at end, generally the 6th axle）Namely instrument hand because manipulator can 360 ° it is comprehensive
Rotation, but can not often be rested in practical operation in an accurate angle because lacking in training.In one plane set
It is respectively 15 °, 30 °, 45 ° to have three planes, and manipulator is adjusted to predetermined angular and gone close to plane, if the manipulator of adjustment connects
Nearly 15 °, 30 °, 45 ° then send prompting.
The purpose of training：
During using industrialization robot, most widely apply to instrument hand and rotate some angle and then capture some object.But
The very exquisite power of angle adjustment, is not that simple rotation can just be reached.
On a robotic arm equipped with two infrared sensors, two sensors are in the approximately the same plane of manipulator, adjustment
Sensor detection range is identical, if also implying that, when manipulator meets some object, two sensors are detected simultaneously by letter
Number, represent that manipulator and this plane are in parastate.
If 3 angles most often applied to, allow manipulator to be adjusted to defined angle and go touch surface, since first face
Touching, then rotates and goes to touch second face again, because the angle between two faces is 15 °, operator can preferably sentence
15 ° of amplitudes to be rotated of breaking are how many.
Four .TCP central points are controlled
Robot movement is to be determined by tool coordinates system with workpiece coordinate system by matrix computations.So TCP is robot
A very important link.Manipulator is by being moved on ball point, if ball point is A points, if manipulator center is B
Point, around A points enters every trade x, y, z ,-x ,-y, six coordinate systems of-z with B points and carries out positions and constantly change, it has been determined that correct instrument
The origin of coordinates.
The purpose of training：
When industrializing robot tool hand and reinstalling or change instrument hand etc., because its shape or size position be not equivalent
The instrument hand installed with the last time, then need to redefine TCP（Tool center point）.
It is time-consuming long because the instrument hand of redefining is a pretty troublesome process, but it is seldom to be also due to operating personnel
The carelessness that the instrument hand of redefining is caused, only skilled control machine hand to tcp coordinate definitions, can just make in some occasions
Improve efficiency.
Five, direction controllings
During original state, manipulator stops being suspended in center, using center as original position, and instruction is assigned to operating personnel,
To any one party to movement, the object of mechanical subordinate side must just touch button switch and make it when being moved to specified location
Push, judge whether the direction specified at us.It is moved to after button switch and must continue to move forward until touching
Infrared sensor, and touch next point specified within a period of time.Button switch is automatically reset switch, during experiment
It can be used for multiple times.
The purpose of training：
Because operation industrialization robot is a spatial operation, in each position of industrialization robot（Such as：East, south,
West, north）To because coordinate it is all different, then the direction of operation industrialization robot rocking bar is also different, and many operators are exactly
Because spatially the change of coordinate and cause operation industrialization robot anisotropy to damaging robot.
Four button switches and infrared sensor are set in four positive directions of a plane, display screen is randomly assigned a side
To, operator then must direction motion industry robot as indicated, now operator can not always stand in industrialization machine
Button switch and infrared sensor are removed in the front of people, it is necessary to stand in all angles.
The present invention a kind of trainer is only provided, as train which kind of industrial robot operation, and how to operate by
User is voluntarily set.
Claims (10)
1. a kind of industrial robot operating training unit, it is characterised in that including support safety mechanism, speed control training institution,
Precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction controlling training airplane
Structure, support safety mechanism is lower support structure, speed control training institution, precision controlled training mechanism, angle adjustment control
Training institution processed and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on above support safety mechanism, direction
Controlled training mechanism is arranged in polygonized structure.
2. a kind of industrial robot operating training unit according to claim 1, it is characterised in that the support safety machine
Structure includes being provided with cylindric blind hole in vivo on support bar upper body, support bar lower body, support bar core and spring, support bar, supports
Circular groove is provided with above bar lower body, support bar core upper end is inserted in cylindric blind hole, socket sets spring and inserted outside support bar core
Enter in circular groove, spring is located between support bar upper body and support bar lower body；
The speed control training institution includes first vector, flat step band, latch, roller, encoder, pushing block and square block,
The cavity for accommodating flat step band is provided with first vector, latch and roller are installed in cavity one end, and the cavity other end installs latch, rolling
Wheel and encoder, encoder are engaged by key with roller；Flat step band is engaged with the roller at two ends, and flat step, which takes, is provided with peace
The square hole of pushing block is filled, square block grafting is arranged on pushing block；
The precision controlled training mechanism includes Second support, flat piece of carrier, flat piece of hexagon, the second assistant carrier, first
Infrared sensor and fixed plate, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is arranged on flat piece
On carrier, and the setting angle of flat piece of hexagon is different, and the second assistant carrier is arranged on the lower section of Second support, and two first red
Outer sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and fixed plate clamping is arranged in Second support
The heart, fixed plate will not interfere with the second assistant carrier；
The angle adjustment controlled training mechanism includes the 3rd carrier, core block and core block position-limit mechanism, core block position restrainer
Structure include shell on bullet formula pin, play formula pin lower casing, hold out against spring, to play formula plunger, chock, the first square latch and second square
Set on latch, the 3rd carrier in mounting groove and core block mounting groove, mounting groove and shell on bullet formula pin is set, played outside under formula pin
Shell, hold out against spring, play formula plunger and chock, holding out against spring, play formula plunger and be arranged on bullet formula pin shell with playing formula pin lower casing
Between, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays shell and bullet formula pin lower casing on formula pin
Outer wall offers the first half grooves coordinated with the first square latch, the second square latch to outer wall respectively；Set in core block mounting groove
Core block is put, the side of core block is provided with least one stopper slot；Groove sidewall is installed to offer and the first square latch and the
The second half grooves that two square latches coordinate, install the slit that groove sidewall is further opened with connecting core block mounting groove, play formula plunger
Head is engaged through slit with the stopper slot of core block side；Core block and core block position-limit mechanism at least provided with two groups, and
Core block angle of inclination is different；
The TCP central points controlled training mechanism includes the 4th carrier and adjustable lever, and adjustable lever top is provided with spheroid, can
It is additionally provided with the through hole for being provided with least one set of salient point, the 4th carrier and installing adjustable lever, through hole and is provided with adjusting rod
Vertically groove inserts through hole to salient point on lateral circumferential groove and vertical slot, adjustable lever, and the positioning of lateral circumferential groove is caught in during rotation；
The direction controlling training institution is made up of two the 5th carriers of right-angled intersection, and button is provided with cross searching
Switch, cross searching to being respectively arranged with equidistant button switch and the second infrared sensor on the 5th carrier of external radiation,
Button switch is made up of button shell, button head and back-moving spring, and dividing plate and sheet metal, sheet metal position are provided with button shell
Conducting shell fragment and baffle plate are provided with below button outer casing bottom, button head, the reset is set between conducting shell fragment and baffle plate
Spring, turns on the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively during installation, push button head can overcome the power of spring to make to lead
Logical shell fragment contacts conducting button switch with sheet metal, and the second infrared sensor is arranged on the outside of button switch.
3. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the first vector,
Two carriers, the 3rd carrier and the 4th carrier are surrounded passes through support bar upper body, the first connector between a square, adjacent both sides
Coordinate with the second connector and be connected；Projection is additionally provided with above the support bar upper body, projection is provided centrally with aperture；First connects
Set on fitting and the 4th plug and the 5th plug are set on first the second plug of plug and the 3rd plug, the second connector；First
Carrier, Second support, the 3rd carrier and the 4th carrier and support bar upper body connection end structure are identical, first vector, Second support,
3rd carrier and the 4th carrier are provided with the first jack, the second jack and vertical cut (V. cut), the first plug and the 3rd plug and phase
The first adjacent jack coordinates, and in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the
Four plugs and the 5th plug coordinate with the second adjacent jack.
4. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the first vector,
It is provided with projection above the fixed plate that is provided with three carriers and the 4th carrier on mounting hole, the second assistant carrier, two the
Four free ends of five carriers set three convex tendons and a shrinkage pool, respectively corresponding matching first vector, the 3rd carrier and the 4th
The projection on mounting hole and fixed plate on carrier.
5. a kind of industrial robot operating training unit according to claim 2, it is characterised in that second auxiliary is carried
Body two ends are respectively engaged with support bar upper body and are fixedly connected by pin.
6. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the Second support point
For middle nonrigid connector and the rigid connection body at two ends, flat block of carrier is arranged on nonrigid connector, nonrigid connector with
Rigid connection body is connected by pin.
7. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the support bar upper body
Side wall is provided with cell body, and support bar core top, which is set, sets a deep-slotted chip breaker for being more than 90 degree in grooved hole, slotted eye；The support bar
Core and support bar upper body are connected by bearing pin of the end with right angle projection, the bearing pin with right angle projection be sequentially inserted into cell body with
Be rotated by 90 ° and support bar core can be connected with support bar upper body in slotted eye, and deep-slotted chip breaker in slotted eye, and bearing pin can on
Lower slider is in cell body.
8. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the support bar lower body
Lower section groove is set, be equipped with support base in groove.
9. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the support bar upper body
Lower surface and support bar lower body upper surface be provided with spring coordinate arcuate structure.
10. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the core block and core
Heart block position-limit mechanism is set to three groups, and three groups of core block angles of inclination are set gradually as 15 degree, 30 degree and 45 degree.
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| CN201710404584.2A CN107081762B (en) | 2017-06-01 | 2017-06-01 | Industrial robot operation trainer |
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| CN201710404584.2A CN107081762B (en) | 2017-06-01 | 2017-06-01 | Industrial robot operation trainer |
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| CN107081762B (en) | 2023-10-03 |
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