CN108436891A - A kind of robot Multifunctional mobile platform - Google Patents
A kind of robot Multifunctional mobile platform Download PDFInfo
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- CN108436891A CN108436891A CN201810566667.6A CN201810566667A CN108436891A CN 108436891 A CN108436891 A CN 108436891A CN 201810566667 A CN201810566667 A CN 201810566667A CN 108436891 A CN108436891 A CN 108436891A
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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
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention provides a kind of robot Multifunctional mobile platforms, its with taking into account industrial production and practice-training teaching versatility, content of courses modularization decomposes design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later so that the actual training device content of courses is abundant, examination link is simple, Item Practice Training content relevance is relatively low.It includes movable cabinet, multi-axis robot, demonstration module, transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame, end clamp；The upper surface center of the activity cabinet is provided with the table top of proximate matter composition, the bottom of the multi-axis robot is installed in by Universal base on table top, the side perimeter of the table top of the activity cabinet is provided with control and display panel structure, there is turnover platform veneer in remaining side of the table top by hinge/or hinge connection.
Description
Technical field
The present invention relates to the technical field of industrial robot training platform, specially a kind of robot multifunctional movable is flat
Platform.
Background technology
In the current marketplace, the relevant device overall price of industrial automation is higher, and interchangeability is poor.Although electrical
Cabling is clearly regular, and logic is complete, but is not appropriate for beginner and carries out training operation.Electrical phase is more partial in practice teaching setting
The automation of pass, it is more demanding to student, audient's area in student group is significantly limited, and device modeling is simple and crude, it is main
Body structure is mostly that aluminium section bar is built, and after equipment conveying or long-time use, structure may deform displacement.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of robot Multifunctional mobile platform, industrial production and reality are taken into account
Training teaching ground versatility, content of courses modularization decompose design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later so that
The actual training device content of courses is abundant, examination link is simple, Item Practice Training content relevance is relatively low.
A kind of robot Multifunctional mobile platform, it is characterised in that：
It includes movable cabinet, multi-axis robot, demonstration module, transfer module, workpiece welding module, servo turntable mould
Block, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame, end clamp；
The upper surface center of the activity cabinet is provided with the table top of proximate matter composition, the bottom of the multi-axis robot
It is installed on table top by Universal base, the side perimeter of the table top of the activity cabinet is provided with control and display panel
Remaining side of structure, the table top has turnover platform veneer, the activity cabinet to correspond to by hinge/or hinge connection
The region for packing up platform veneer is provided with interior female die block placing chamber, and the platform veneer turns over cloth concordant with the table top under state
It sets, threaded mounting hole is evenly equipped on the platform veneer；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module,
Tiered warehouse facility module, spare grips frame bottom be respectively arranged with corresponding mounting base, the carrying mould under unused state
It is block, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare
Fixture stand, end clamp are respectively arranged in the corresponding interior female die block placing chamber；
The demonstration module is used to refer to the correspondence that corresponding module is placed on the movable cabinet when not used
Position；
The transfer module is specially the carrier of robot base's carrying action demonstration；
The workpiece welding module is specially the carrier of robot welding action demonstration；
The servo turntable module is specially the carrier of robot precise positioning demonstration；
The assembly locating module is specially the carrier of robotic asssembly orientation demonstration；
The feed bin conveying combination module is specially the carrier of robot feed bin conveying demonstration；
The tiered warehouse facility module is specially robotic presentation storing and the carrier of carrying；
The spare grips frame is for placing spare clamp assembly.
It is further characterized by：Turnover platform gusset, the mesa corners are provided between adjacent platform veneer
By hinge/or the turnover platform veneer of hinge connection respective side, the platform gusset turns under state and described plate
Face flush arrangement is evenly equipped with threaded mounting hole on the platform gusset；
The bottom four corners position of the activity cabinet is provided with the universal wheel of strap brake；
The frame of the table top is specially square structure, and the side perimeter of the table top is provided with the convex cabinet in side,
Its excess-three side of the table top is provided with turnover platform veneer, and the upper surface of the convex cabinet in side specifically in order to control and is shown
Panel construction, the control and display panel structure specifically include touch screen, indicator light, button, power switch, emergency stop, described
The on both sides of the upper end position of the convex cabinet in side is provided with handle, human hand push-and-pull force when the handle moves convenient for equipment；
The section below of the control and display panel structure is provided with metal plate door, is arranged on the front end face of the metal plate door
There are documents pouch, the documents pouch to be respectively arranged with hook, institute on the both side plate of the convex cabinet in side for placing teachings book
The bottom for stating metal plate door is provided with the first heat emission hole, and the bottom of the side plate is provided with the second heat emission hole；
Proximate matter on the table top is perpendicular to the convex corresponding frame in the side, and the ontology of the multi-axis robot is about side
The perpendicular bisector face of convex cabinet is arranged symmetrically, and three pieces of platform veneers are laid around the ontology of the multi-axis robot in concentric rows
It sets；The platform veneer of adjacent two pieces that two blocks of platform gussets are filled in after expansion is formed by vacant locations region；
The distance between all adjacent threaded mounting holes are identical under the platform veneer, platform gusset unfolded state, it is several to form
A regular hexagon border structure；
More than half disk is formed under the platform veneer, platform gusset unfolded state, it is ensured that the face domain of operation planar is enough
Greatly；
The multi-axis robot is specially six-joint robot；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module,
Tiered warehouse facility module, spare grips frame bottom be respectively arranged on corresponding mounting base and be both provided with stubborn screw soon and right
The serial number answered；
The center of the outer arc side of the platform veneer is provided with raised lock, the corresponding side surface of the activity cabinet
Corresponding position is provided with spherical buckle assembly, and the protrusion of the platform veneer under closed configuration is fastened on the institute of corresponding position
State spherical buckle assembly；
The transfer module specifically includes and carries top plate, carries workpiece, and the carrying top plate is installed on pair by support column
On the mounting base answered, the upper surface for carrying top plate has XY coordinate systems and indicates the round deep gouge of number, the carrying
The shape of workpiece is in cylindrical shape, as the demonstration workpiece for carrying teaching；
The workpiece welding module specifically includes demonstration top plate, welding workpiece, and the demonstration top plate is installed by support column
In on corresponding mounting base, the welding workpiece is installed in the demonstration cover top surface, the demonstration as welding teaching
Workpiece；
The servo turntable module specifically includes fixed top plate, rotating disc, demonstration workpiece, and the fixed top plate passes through support
Column is installed on corresponding mounting base, and the fixed top board surface is provided with XY coordinate systems, the lower face of the fixed top plate
Be connected with servo motor, the output end of the servo motor is connected with speed reducer, the output end of the speed reducer vertically to through
Counter flange is connected with after the fixed top plate, the counter flange is connected with rotating disc, and the rotation panel surface has position
Graduation mark and the round deep gouge for indicating number；Directional beacon is additionally provided on the fixed top plate, the directional beacon is provided with arrow,
The arrow is directed toward the circle centre position of the rotating disc, when the graduation mark of rotating disc is aligned with arrow, as specified waiting work
, servo-driver is additionally provided on the mounting base, the servo-driver is watched for receiving dependent instruction and control
Take the startup, stopping, acceleration and deceleration of motor；The demonstration workpiece includes but not limited to bearing, cylindrical work；
The assembly locating module specifically includes assembly top plate, workpiece block, and the assembly top plate is installed on by support column
On corresponding mounting base, the upper surface of the assembly top plate is provided with XY coordinate systems, and the upper surface of the assembly top plate is also set
It is equipped with pusher cylinder, expeller, gear block, the workpiece block is arranged in the upper surface of the assembly top plate, the pusher cylinder
Driving expeller pushes workpiece block to be acted towards the material blocking block, carries out coarse positioning to workpiece block；
The feed bin conveying combination module specifically includes flat belt, and the length direction both ends of the flat belt are respectively disposed with
Mounting bracket, the live-roller at the flat belt both ends are respectively arranged in the top of the corresponding mounting bracket, the bottom of the mounting bracket
Portion is installed in corresponding mounting base, and bin component is there also is provided on the mounting base, and the bin component includes feed tube
And the clamping plate positioned at both sides below feed tube, two pieces of clamping plates are installed in the fixed block of lower section, the fixed block passes through support
Plate is fixed in the mounting base, and one end of the supporting plate is connected with pusher cylinder, and the piston end of the pusher cylinder is fixed with
Push plate, the push plate arrange that the push plate pushes the product into the upper end of flat belt towards the starting upper surface of the flat belt
Face；Live-roller corresponding to the starting upper surface position of the flat belt is specially drive roll, and the side of the drive roll is fixedly mounted with
There are driven pulley, the driven pulley to be set in the defeated of stepper motor by synchronous band connection driving pulley, the driving pulley
Outlet, the stepper motor are installed in motor fixing seat, and the bottom of the motor fixing seat is provided with long slot bore, and fastening screw is passed through
It is fixed in mounting base after wearing the long slot bore, tensioning plate, the tensioning plate and the electricity are also connected on the mounting base
The respective side of machine fixed seat is fastenedly connected by soket head cap screw, and the setting of the tensioning plate, long slot bore ensures of synchronous belt
Tightly；The outboard cover of the synchronous belt is equipped with protective cover；Step actuator is additionally provided on the mounting base, step actuator is used
In the startup, stopping, acceleration-deceleration of control stepper motor；The upper surface at the length direction both ends of the mounting base is respectively set
There is handle, easy to carry；The underlying surfaces corresponding to feed tube of the supporting plate are additionally provided with optoelectronic switch, the optoelectronic switch
For detecting in feed tube whether have material；
The tiered warehouse facility module includes plate in mounting base, support side plate, warehouse, warehouse top plate, optoelectronic switch, fine motion
Switch, each square region surrounded there are two deep gouge on plate in the warehouse top plate and warehouse form independent depot area, institute
It states and is respectively provided with microswitch in the slot of the deep gouge of warehouse top plate and is incuded；The both sides the warehouse Zhong Ban are respectively provided with light
Electric switch is incuded；
The spare grips frame ensures, according to teaching demand, freely to replace the fixture of different purposes, the spare grips frame
The clamp assembly for including inside is the monomeric gripper for coordinating disparate modules to carry out needed for practice teaching, and clamp assembly type covers suction
Disk, laser and pneumatic-finger are provided with interchangeability, replaceable in end clamp；
The end clamp is installed on the terminal surface of robot body, is used cooperatively, is used for relevant presentation module
The relevant function of demonstration robot.
After adopting the structure of the invention so that industrial production of the robot in automatic production line and practice teaching are general；
(including machinery, program)；And movable platform versatility, it can have a style of one's own and carry out practice teaching, can directly participate in industrial flow-line
Production；This outer platform is round outside but spuare inside and platform veneer mounting hole is in wait hexagons to be distributed, and can freely collapse, open；And it teaches
The setting of content resolution modularization is learned, each Teaching Module is compact and flexible and interchangeable；It leads to taking into account industrial production and practice-training teaching
With property, content of courses modularization decomposes design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later so that actual training device is taught
Learn that abundant in content, examination link is simple, Item Practice Training content relevance is relatively low.
Description of the drawings
Fig. 1 is the three-dimensional figure structure schematic representation one of the present invention (module is placed in the platform veneer of expansion, on platform gusset)；
Fig. 2 is that the three-dimensional figure structure schematic representation two of the present invention (is unfolded platform veneer and mesa corners plate, module are positioned over indent
In module placing chamber)；
Fig. 3 is that the three-dimensional figure structure schematic representation three of the present invention (collapses platform veneer and mesa corners plate, module are positioned over indent
In module placing chamber, it is in industrial production state)；
Fig. 4 is the vertical view figure structure schematic representation of Fig. 3 (arrangement for display thread mounting hole is illustrated)；
Fig. 5 is the three-dimensional figure structure schematic representation of the transfer module of the present invention；
Fig. 6 is the three-dimensional figure structure schematic representation of the workpiece welding module of the present invention；
Fig. 7 is the three-dimensional figure structure schematic representation of the servo turntable module of the present invention；
Fig. 8 is the three-dimensional figure structure schematic representation of the assembly locating module of the present invention；
Fig. 9 is the three-dimensional figure structure schematic representation of the feed bin conveying combination module of the present invention；
Figure 10 is the synchronous belt attachment structure schematic diagram of the feed bin conveying combination module of the present invention；
Figure 11 is the three-dimensional figure structure schematic representation of the tiered warehouse facility module of the present invention；
Figure 12 is the three-dimensional figure structure schematic representation of the spare grips frame of the present invention.
Specific implementation mode
A kind of robot Multifunctional mobile platform, is shown in Fig. 1-Figure 12：
It includes multi-axis robot 1, movable cabinet 2, demonstration module, transfer module 6, workpiece welding module 7, servo turntable
Module 8, assembly locating module 9, feed bin conveying combination module 10, tiered warehouse facility module 11, spare grips frame 12, end clamp
13；
The upper surface center of movable cabinet 2 is provided with the table top 203 of proximate matter composition, and the bottom of multi-axis robot 1 is logical
It crosses Universal base 3 to be installed on table top 203, the side perimeter of the table top 203 of movable cabinet 1 is provided with control and display surface
Remaining side of harden structure, table top 203 has turnover platform veneer 4, movable cabinet 2 to correspond to by hinge/or hinge connection
The region for packing up platform veneer 4 is provided with interior female die block placing chamber 208, and platform veneer 4 turns over cloth concordant with table top 203 under state
It sets, threaded mounting hole is evenly equipped on platform veneer 4；
Transfer module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module
10, tiered warehouse facility module 11, spare grips frame 12 bottom be respectively arranged with corresponding mounting base, carried under unused state
Module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module 10, tiered warehouse facility mould
Block 11, spare grips frame 12, end clamp 13 are respectively arranged in corresponding interior female die block placing chamber 208；
Demonstration module is used to refer to the corresponding position that corresponding module is placed on movable cabinet 2 when not used；
Transfer module 6 is specially the carrier of robot base's carrying action demonstration；
Workpiece welding module 7 is specially the carrier of robot welding action demonstration；
Servo turntable module 8 is specially the carrier of robot precise positioning demonstration；
Assemble the carrier that locating module 9 is specially robotic asssembly orientation demonstration；
Feed bin conveying combination module 10 is specially the carrier of robot feed bin conveying demonstration；
Tiered warehouse facility module 11 is specially the carrier of robotic presentation storing and carrying；
Spare grips frame 12 is for placing spare clamp assembly.
It is further characterized by：Turnover platform gusset 5, platform gusset 5 are provided between adjacent platform veneer 4
Turn over concordant with table top 203 under state by hinge/or the turnover platform veneer 4 of hinge connection respective side, platform gusset 5
It arranges, threaded mounting hole is evenly equipped on platform gusset 5；
The bottom four corners position of movable cabinet 2 is provided with the universal wheel 205 of strap brake；
The frame of table top 203 is specially square structure, and the side perimeter of table top 203 is provided with the convex cabinet 201 in side,
Its excess-three side of table top 203 is provided with turnover platform veneer 401/402, platform board B 403, the upper end of the convex cabinet in side 201
Face 2011 is specific in order to control and display panel structure, control and display panel structure specifically include touch screen 20111, indicator light
20112,2011 liang of the upper surface side position of button 20113, power switch 20114, emergency stop 20115, the convex cabinet in side 201 is provided with
Handle 20116, human hand push-and-pull force when handle 20116 moves convenient for equipment；
The section below of control and display panel structure is provided with metal plate door 202, is provided on the front end face of metal plate door 202
Documents pouch 2021, documents pouch 2021 are respectively arranged with hook for placing teachings book on the both side plate of the convex cabinet in side 201
2013, the bottom of metal plate door 202 is provided with the first heat emission hole 2014, and the bottom of side plate is provided with the second heat emission hole 2015；
The frame of proximate matter on table top 203 corresponding to the convex cabinet in side 201, the ontology 101 of multi-axis robot 1 about
The perpendicular bisector face of the convex cabinet in side 201 is arranged symmetrically, three pieces of platform veneers 4 around multi-axis robot ontology 101 in concentrically arranged
Setting；Two pieces of adjacent platform veneers 4 that two blocks of platform gussets 5 are filled in after expansion are formed by vacant locations region；Platform
The distance between all adjacent threaded mounting holes are identical under veneer 4,5 unfolded state of platform gusset, form several positive six
Side shape border structure；
More than half disk is formed under platform veneer 4,5 unfolded state of platform gusset, it is ensured that the face domain of operation planar is sufficiently large；
Multi-axis robot 1 is specially six-joint robot；
Transfer module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module
10, tiered warehouse facility module 11, spare grips frame 12 bottom be respectively arranged on corresponding mounting base and be both provided with stubborn spiral shell soon
Nail 14 and corresponding serial number；
The center of the outer arc side of platform veneer 4 is provided with protrusion lock 41, the correspondence of the corresponding side surface of movable cabinet 2
Position is provided with spherical buckle assembly 405, and the protrusion lock 41 of the platform veneer 4 under closed configuration is fastened on the spherical shape of corresponding position
Buckle assembly 405；
Transfer module 6, which specifically includes, to be carried top plate 601, carries workpiece 602, is carried top plate 601 and is installed by support column 603
There is XY coordinate systems in the upper surface on corresponding mounting base 604, carrying top plate 601 and indicate the round deep gouge of digital 1-9,
The shape for carrying workpiece 602 is in cylindrical shape, as the demonstration workpiece for carrying teaching；
Workpiece welding module 7 specifically includes demonstration top plate 701, welding workpiece 702, and demonstration top plate 701 passes through support column 703
It is installed on corresponding mounting base 704, welding workpiece 702 is installed in 701 upper surface of demonstration top plate, as welding teaching
Demonstrate workpiece；
Servo turntable module 8 specifically includes fixed top plate 801, rotating disc 802, demonstration workpiece 803, and fixed top plate 801 is logical
It crosses support column 804 to be installed on corresponding mounting base 805,801 surface of fixed top plate is provided with XY coordinate systems, fixed top plate
801 lower face is connected with servo motor 806, and the output end of servo motor 806 is connected with speed reducer 807, speed reducer 807 it is defeated
Outlet is vertically connected with counter flange 808 to after fixed top plate 801, and counter flange 808 is connected with rotating disc 802, rotation
802 surface of disk has position scale line and indicates the round deep gouge of number；It is additionally provided with directional beacon 809 on fixed top plate 801, is referred to
Mark is provided with arrow, arrow is directed toward the circle centre position of rotating disc 802, when the graduation mark of rotating disc 802 is aligned with arrow, as
Specified waiting station, servo-driver 810 is additionally provided on mounting base 805, and servo-driver 810 refers to for receiving correlation
Order and startup, stopping, the acceleration and deceleration of control servomotor；It includes but not limited to bearing, cylindrical work to demonstrate workpiece 803；
Assembly locating module 9 specifically includes assembly top plate 901, workpiece block 902, and assembly top plate 901 is pacified by support column 903
Loaded on corresponding mounting base 904, the upper surface of assembly top plate 901 is provided with XY coordinate systems, assembles the upper surface of top plate 901
It is additionally provided with pusher cylinder 905, expeller 906, gear block 907, workpiece block 902 is arranged in the upper surface of assembly top plate 901, pushes away
Expect that cylinder 905 drives expeller 906 to push workpiece block 902 towards the action of material blocking block 907, carry out coarse positioning to workpiece block 902；
Feed bin conveying combination module 10 specifically includes flat belt 1001, and the length direction both ends of flat belt 1001 are respectively arranged
There are mounting bracket 1002, the live-roller 1003 at 1001 both ends of flat belt to be respectively arranged in the top of corresponding mounting bracket 1002, installs
The bottom of frame 1002 is installed in corresponding mounting base 1004, and bin component, bin component are there also is provided on mounting base 1004
Clamping plate 1006 including feed tube 1005 and positioned at both sides below feed tube, two clamping plates 1006 are installed in the fixed block of lower section
1007, fixed block 1007 is fixed in mounting base 1004 by supporting plate 1008, and one end of supporting plate 1008 is connected with pusher cylinder
1009, the piston end of pusher cylinder 1009 is fixed with push plate 1010, starting upper surface cloth of the push plate 1010 towards flat belt 1001
It sets, push plate 1010 pushes the product into the upper surface of flat belt 1001；Corresponding to the starting upper surface position of flat belt 1001
Live-roller 1003 is specially drive roll, and the side of drive roll is fixed with driven pulley 1011, and driven pulley 1011 passes through synchronous belt
1012 connection driving pulleys 1013, driving pulley 1013 are set in the output end of stepper motor 1014, and stepper motor 1014 is fixedly mounted with
The bottom of motor fixing seat 1015, motor fixing seat 1015 is provided with long slot bore 1016, fastening screw runs through long slot bore 1016
After be fixed in mounting base 1004, tensioning plate 1017, tensioning plate 1017 and motor fixing seat are also connected on mounting base 1004
1015 respective side is fastenedly connected by soket head cap screw 1018, and the setting of tensioning plate 1017, long slot bore 1016 ensures synchronous belt
1012 tensioning；The outboard cover of synchronous belt 1012 is equipped with protective cover 1019；It is additionally provided with step actuator on mounting base 1004
1020, step actuator 1020 is used to control the startup, stopping, acceleration-deceleration of stepper motor 1014；The length of mounting base 1004
The upper surface at degree direction both ends is respectively arranged with handle 1021, easy to carry；Supporting plate 1008 corresponds under feed tube 1005
Square surface is additionally provided with optoelectronic switch 1022, and optoelectronic switch 1022 is for detecting in feed tube 1005 whether have material；
Tiered warehouse facility module 11 includes plate 1103, warehouse top plate in mounting base 1101, support side plate 1102, warehouse
1104, optoelectronic switch 1105, microswitch (being blocked by workpiece), each on plate 1103 in warehouse top plate 1104 and warehouse there are two heavy
Square region that slot surrounds forms independent depot area, and microswitch is respectively provided in the slot of the deep gouge of warehouse top plate 1104
Incuded；1103 both sides of plate are respectively provided with optoelectronic switch 1105 and are incuded in warehouse.
Spare grips frame 12 ensures, according to teaching demand, freely to replace the fixture of different purposes, include in spare grips frame
Clamp assembly be coordinate disparate modules carry out practice teaching needed for monomeric gripper, clamp assembly type cover sucker, swash
Light and pneumatic-finger are provided with interchangeability, replaceable in end clamp；
End clamp 13 is installed on the terminal surface of robot body 101, is used cooperatively, is used for relevant presentation module
The relevant function of demonstration robot.
Its course of work is briefly described as follows：
There are 9 (three rows three row) circular troughs, each hole slot to have position digital label on the module top plate of transfer module, demonstrates
Workpiece is cylindric workpiece.Workpiece is placed in random 6 holes of top plate, carrying universal fixturing, which is picked up, is carried to another finger
Determine in hole.If only putting 1 carrying workpiece on module top plate at round deep gouge, then understand there are 9 kinds of riding positions；Such as place 2
When a carrying workpiece, then pressing has 36 kinds of riding positions known to permutation and combination formula, i.e., not according to carrying workpiece placement number
Together, there are many riding positions and carrying track known to permutation and combination.
The welding demonstration workpiece of workpiece welding module is the weldment made of thin plate spot welding；With associated clamps along outer
Seam weldering straight down and the action demonstration of outer surrounding straight angle full weld handle the variation of rifle appearance well in angular position point.Wherein flat fillet weld
Straightway rifle appearance is constant, should at the uniform velocity convert rifle appearance in the taught point of arc section.
Servo turntable module servo-driver control servomotor is with turn disc, and rotating disc divides 6 stations, respectively
Station is round deep gouge, can place cylindric workpiece, such as bearing, circle handle.The instruction sent out according to PLC, rotating disc are taken up an official post
One station is controlled stop at the arrow direction in directional beacon, this position is off waiting station.When equipment normal operation, machine
Device people can arrive directional beacon and be directed toward feeding or blowing at position.In addition, this module is combined with vision, it can be achieved that robot and rotating disc
Synchronous transfer, and complete feeding or the task of blowing.Teaching demand according to robot, servo rotate corresponding angle, can allow
Student is familiar with and understands that robot cooperates the task of completion with servo, while grasping the relevant knowledge of servo-drive.
Assemble locating module：In operation, workpiece block is carried to assembly top plate corresponding position.After receiving instruction, pusher gas
Cylinder is stretched out with expeller, that is, pushes workpiece block.Under the mating reaction of gear block and expeller, the clamping to workpiece block is realized
Positioning.Fixture carries corresponding part and starts to assemble, and pusher cylinder, which is unclamped, after the completion of assembly resets.
Feed bin conveying combination module：After the power is turned on, step actuator control stepper motor rotation, and pass through driving pulley, same
Torque and speed are transmitted on active beaming roller by step band and driven pulley, and driving shaft roller strap moves flat belt 1 and driven beaming roller is same
Step rotation, i.e. conveyer belt normal rotation.Workpiece is neatly deposited at feed tube, receives after instruction workpiece by pusher cylinder from guide
Cylinder is internal to be pushed out on flat belt.Workpiece is run with flat belt to the other end, is sensed and is fed back by end sensor, robot
Take workpiece away.This motor is also changed to asynchronous machine, and the kind of drive can take synchronous belt or sprocket wheel to be driven.
Respectively there are the square region that 2 deep gouges surround, wherein warehouse 1 and warehouse on tiered warehouse facility module warehouse top plate and middle plate
2 are located at carrying top plate, and being respectively provided with microswitch in slot is incuded；Warehouse 3 and warehouse 4 are located at plate in carrying, middle plate both sides
Injection switch is respectively provided with to be incuded.
Spare grips frame is installed on platform veneer 4, place each spare grips component 1202,1203,1204,1205,
1206,1207, clamp assembly is the monomeric gripper for coordinating disparate modules to carry out needed for practice teaching, and clamp types cover suction
Disk, laser and pneumatic-finger are provided with interchangeability, replaceable in end clamp.
Agent structure is sketched：As shown in Fig. 1-figure, robot body 101 is fixed in 203 table of table top by Universal base 3
On face, and it is symmetrically placed about the convex 201 center line face of cabinet in side.Platform veneer A 401/402, platform board B 403 surround machine
Human body 101 places, and is in concentric laid out in parallel；Platform veneer A/B adjacents are supplemented respectively by 2 platform gussets 5, make its knot
Structure becomes 1 entirety with fitting together perfectly.Platform veneer A/B is respectively connected by hinge and supporting rod component 204, is supported, with true
It protects respectively concordant with table top 203.Various training modules are equal or are individually or simultaneously fixed to platform veneer A 401/402, platform
In board B 403.It when individual module is fixed in platform veneer A, is computed, optional installation site number is：[(6+6)
× 2 × 3+2 × 2 × 2+2 × 5 × 2+4 × 2] × 3=324 kinds.To sum up, it (includes corner plate that individual module, which is fixed to platform,
Place) on when, optional total installation site number is：324+4 × 2 × 2=340 kinds.Separately it is found that platform veneer A/B corresponding hole sites institute
The angle of composition is 255 °, and 1 stroke range of six-joint robot joint shaft is ± 165 ° (i.e. 330 °), therefore six-joint robot can cover
Lid reaches platform veneer A/B area any point.
Above-mentioned each module has interchangeability, can be used alone, and can also work in coordination use, it is not limited to which certain is single
The demonstration of function, the system for being combined into 1 entire run are come for highly difficult practical item training.Such as：Mould will be carried
Block 6, assembly locating module 9, tiered warehouse facility module 11 are mounted on 4 corresponding position region of platform veneer simultaneously, and transfer module 6
On be placed with 4 carrying workpiece, be placed with 4 workpiece blocks in tiered warehouse facility module 11.Equipment normally transports startup, and robot is from three-dimensional storehouse
On library module 11 grabbing workpiece block 908 and be carried to assembly 9 rigging position of locating module at, pusher cylinder stretch out push workpiece block
To realize positioning, subsequent robot, which draws to carry workpiece and move from transfer module 6, to be put to assembly 9 rigging position of locating module
Side will slowly carry workpiece and be assembled to inside workpiece block according to workpiece block present position.After the completion of assembly, robot continues to press from both sides
The component assembled movement is taken to put to 11 vacant station of tiered warehouse facility module.
When movable platform is in rounding state, platform veneer A/B is that and side parallel with platform cabinet 201 is bonded.
Under current state, if you need in the concerned process steps to participation industrial production line, the brake of universal wheel 205 be unclamped and is pushed into production line
In on corresponding station, flexibly and easily, it can be ensured that carry out practice teaching with industrial production versatility without interfering with each other.
It has following advantageous effect：Industrial production in automatic production line and practice teaching general (including machinery, journey
Sequence)；Movable platform versatility can have a style of one's own and carry out practice teaching, can directly participate in industrial flow-line production；In platform outer circle
The hexagons distributions such as side and platform veneer mounting hole are in, and can freely collapse, open；Content of courses decomposing moduleization is arranged,
Each Teaching Module is compact and flexible and interchangeable.
Compared with other same categories of device, advantage is as follows：1, easy to use：Without complicated program service requirement, it is simple easily on
Hand, student can free practices；2, position is optional, modularization, versatility：According to the content of courses, single or multiple modules is selected to set
In platform veneer region, and installation position selection is diversified.
Specific embodiments of the present invention are described in detail above, but content is only the preferable implementation of the invention
Example, should not be construed as limiting the practical range of the invention.It is all to become according to impartial made by the invention application range
Change and improve etc., it should all still belong within this patent covering scope.
Claims (10)
1. a kind of robot Multifunctional mobile platform, it is characterised in that：It include movable cabinet, multi-axis robot, demonstration module,
Transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility mould
Block, spare grips frame, end clamp；
The upper surface center of the activity cabinet is provided with the table top of proximate matter composition, and the bottom of the multi-axis robot passes through
Universal base is installed on table top, and the side perimeter of the table top of the activity cabinet is provided with control and display surface is hardened
There is turnover platform veneer in remaining side of structure, the table top by hinge/or hinge connection, and the activity cabinet, which corresponds to, to be received
The region for playing platform veneer is provided with interior female die block placing chamber, and the platform veneer turns over cloth concordant with the table top under state
It sets, threaded mounting hole is evenly equipped on the platform veneer；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, solid
Warehouse module, spare grips frame bottom be respectively arranged with corresponding mounting base, the transfer module, work under unused state
Part welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips
Frame, end clamp are respectively arranged in the corresponding interior female die block placing chamber；
The demonstration module is used to refer to the corresponding position that corresponding module is placed on the movable cabinet when not used；
The transfer module is specially the carrier of robot base's carrying action demonstration；
The workpiece welding module is specially the carrier of robot welding action demonstration；
The servo turntable module is specially the carrier of robot precise positioning demonstration；
The assembly locating module is specially the carrier of robotic asssembly orientation demonstration；
The feed bin conveying combination module is specially the carrier of robot feed bin conveying demonstration；
The tiered warehouse facility module is specially robotic presentation storing and the carrier of carrying；
The spare grips frame is for placing spare clamp assembly.
2. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：Between adjacent platform veneer
It is provided with turnover platform gusset, the platform gusset passes through hinge/or the turnover platform list of hinge connection respective side
Plate, the platform gusset turns under state and the table top flush arrangement, and threaded mounting hole is evenly equipped on the platform gusset.
3. a kind of robot Multifunctional mobile platform as claimed in claim 1 or 2, it is characterised in that：The activity cabinet
Bottom four corners position is provided with the universal wheel of strap brake.
4. a kind of robot Multifunctional mobile platform as claimed in claim 3, it is characterised in that：The frame of the table top is specific
It is square structure, the side perimeter of the table top is provided with the convex cabinet in side, its excess-three side of the table top is provided with can
The platform veneer of overturning, the upper surface of the convex cabinet in side is specifically in order to control and display panel structure, the control and display surface
Harden structure specifically includes touch screen, indicator light, button, power switch, emergency stop, and the on both sides of the upper end position of the convex cabinet in side is set
It is equipped with handle；The section below of the control and display panel structure is provided with metal plate door, is set on the front end face of the metal plate door
It is equipped with documents pouch, the documents pouch is used to place teachings book, and hook is respectively arranged on the both side plate of the convex cabinet in side,
The bottom of the metal plate door is provided with the first heat emission hole, and the bottom of the side plate is provided with the second heat emission hole.
5. a kind of robot Multifunctional mobile platform as claimed in claim 4, it is characterised in that：Proximate matter on the table top hangs down
Directly in the convex corresponding frame in the side, the ontology of the multi-axis robot is arranged symmetrically about the perpendicular bisector face of the convex cabinet in side,
Three pieces of platform veneers are in concentrically arranged setting around the ontology of the multi-axis robot；Two blocks of platform gussets are filled in
The platform veneer of adjacent two pieces after expansion is formed by vacant locations region；The platform veneer, the expansion of platform gusset
The distance between all adjacent threaded mounting holes are identical under state, form several regular hexagon border structures.
6. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：The transfer module, workpiece
Welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame
Bottom, which is respectively arranged on corresponding mounting base, is both provided with stubborn screw and corresponding serial number soon.
7. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：The outer arc of the platform veneer
The center on side is provided with raised lock, and the corresponding position of the corresponding side surface of the activity cabinet is provided with spherical buckle assembly,
The protrusion of the platform veneer under closed configuration is fastened on the spherical buckle assembly of corresponding position.
8. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：The servo turntable module tool
Body includes fixed top plate, rotating disc, demonstration workpiece, and the fixed top plate is installed on by support column on corresponding mounting base,
The fixed top board surface is provided with XY coordinate systems, and the lower face of the fixed top plate is connected with servo motor, the servo electricity
The output end of machine is connected with speed reducer, and the output end of the speed reducer is vertically connected with transition method to after the fixed top plate
Orchid, the counter flange are connected with rotating disc, and the rotation panel surface has position scale line and indicates the round deep gouge of number；
Directional beacon is additionally provided on the fixed top plate, the directional beacon is provided with arrow, and the arrow is directed toward the circle of the rotating disc
At the heart, when the graduation mark of rotating disc is aligned with arrow, as specified waiting station is additionally provided on the mounting base and watches
Driver is taken, the servo-driver is used to receive the startup, stopping, acceleration and deceleration of dependent instruction and control servomotor；Institute
It includes but not limited to bearing, cylindrical work to state demonstration workpiece.
9. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：The assembly locating module tool
Body includes assembly top plate, workpiece block, and the assembly top plate is installed on by support column on corresponding mounting base, the assembly top
The upper surface of plate is provided with XY coordinate systems, and the upper surface of the assembly top plate is additionally provided with pusher cylinder, expeller, gear block,
The workpiece block is arranged in the upper surface of the assembly top plate, and the pusher cylinder driving expeller pushes workpiece block described in
Material blocking block action carries out coarse positioning to workpiece block.
10. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that：The spare grips frame is true
It protects according to teaching demand, freely replaces the fixture of different purposes, the clamp assembly for including in the spare grips frame is cooperation
Disparate modules carry out the monomeric gripper needed for practice teaching, and clamp assembly type covers sucker, laser and pneumatic-finger.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810566667.6A CN108436891A (en) | 2018-06-05 | 2018-06-05 | A kind of robot Multifunctional mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810566667.6A CN108436891A (en) | 2018-06-05 | 2018-06-05 | A kind of robot Multifunctional mobile platform |
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| CN110315169A (en) * | 2019-08-08 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | A kind of robot simulation's welding system for real training |
| CN110329705A (en) * | 2019-08-08 | 2019-10-15 | 江苏汇博机器人技术股份有限公司 | A kind of robot stereoscopic warehouse for real training |
| CN110491272A (en) * | 2019-09-17 | 2019-11-22 | 深圳模德宝科技有限公司 | A kind of automation fixture instructional device |
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