CN108806382A - Robot training operation bench and its application method - Google Patents
Robot training operation bench and its application method Download PDFInfo
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- CN108806382A CN108806382A CN201810795421.6A CN201810795421A CN108806382A CN 108806382 A CN108806382 A CN 108806382A CN 201810795421 A CN201810795421 A CN 201810795421A CN 108806382 A CN108806382 A CN 108806382A
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- 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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Abstract
Robot training operation bench of the present invention and its application method are related to practice-training teaching field, more particularly to robot training operation bench and its application method, including holder and workbench in cradle top is set, it is characterized in that, rectangular material library and circular material library are provided on the work top, the rectangular material library and circular material library are disposed in parallel on one end of workbench；The configuration of the present invention is simple, it is easy to operate, rectangular material conveyer belt and circular material conveyer belt realize the conveying of material, realize the punching press of square shaped material in press work station, it is assembled using mounting work station square shaped material and circular material, stacking processing is carried out after the completion of assembly, so that student realizes workpiece handling on a workbench, feeding, assembly, the operation of storage, it can make student in Training Room to feel the feeling in by real production line, deepen understanding of the student to robot application scene, student can be by robot is online and off-line programing simultaneously, reach skilled grasp.
Description
Technical field
The present invention relates to practice-training teaching fields, and in particular to robot training operation bench and its application method.
Background technology
With the development of robot technology, in the major training in the whole nation, technical school, two open up robot application and correlation in succession
The course of profession, and at this stage we to the application of robot and study also only rest in books stage and teaching process due to
The limitation of place and fund, school can not possibly build corresponding actual production line to learn for student, all be that factory is remote mostly
Distance viewing, the not no possibility of practical operation, in order to watch complete workpiece handling, feeding, assembly, storage need it is different
Performance Area is watched, time-consuming, and learning effect is bad.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of simple in structure, easy to operate, and student can be made to come in Training Room
Feel the feeling in by real production line, deepens understanding of the student to robot application scene, while student can be by machine
People is online and off-line programing, reaches the robot training operation bench skillfully grasped and its application method.
Robot training operation bench of the present invention, including holder and workbench in cradle top is set, which is characterized in that institute
It states and is provided with rectangular material library and circular material library on work top, the rectangular material library and circular material library are disposed in parallel in
On one end of workbench；
The rectangular material library is connected with a rectangular material conveyer belt, the rectangular material by rectangular material automatic feed mechanism
One end of conveyer belt is connected with rectangular material automatic material loading structure, and the other end is connected with a rectangular material and keeps in platform, rectangular material
It is provided with rectangular temporary sensor on temporary platform；
The circular material library is connected with a circular material conveyer belt, the circular material by circular material automatic feed mechanism
One end of conveyer belt is connected with circular material automatic feed mechanism, and the other end is connected with a circular material and keeps in platform, circular material
Round temporary sensor is provided on temporary platform；
A press work station, traffic direction of the press work station along circular material conveyer belt are additionally provided on the workbench
Setting；
On workbench a mounting work station and material stacking platform, the assembler are additionally provided on one end far from rectangular material library
Make station and material stacking platform is set up in parallel, automatically grinding work station is additionally provided between mounting work station and press work station；
The material stacking platform and rectangular material are additionally provided with trace simulation work station between keeping in platform.
Preferably, rectangular material library includes rectangular material placement platform, and the rectangular material placement platform passes through several
Rectangular material library support column is fixedly linked with workbench；
The circular material library includes circular material placement platform, and the circular material placement platform passes through several circular materials
Library support column is fixedly linked with workbench；
The rectangular material placement platform and circular material placement platform in same level, and rectangular material placement platform and
Material storage groove is both provided on circular material placement platform.
Preferably, rectangular material automatic feed mechanism includes rectangular material material loading platform, the rectangular material material loading platform
It is fixedly linked with workbench by rectangular feeding holder, rectangular material material loading platform is connected with a side by rectangular material guide cylinder
One end of shape material delivery pipe, the rectangular material delivery pipe is fixedly attached in rectangular material guide cylinder, and rectangular material is led
It is fixedly linked to cylinder and rectangular material material loading platform, the rectangular material guide cylinder and rectangular material delivery pipe are hollow square
Tubulose；
A rectangular material cylinder fixed seat, the rectangular material cylinder fixed seat are additionally provided on the rectangular material material loading platform
The rectangular material guide cylinder length direction of upper edge is set gradually from top to bottom there are two cylinder, respectively rectangular material ejection cylinder and rectangular
It is both provided with extension bar on blanking cylinder, the rectangular material ejection cylinder and rectangular blanking cylinder, the extension bar is towards rectangular
Material guide cylinder is arranged, and position corresponding with extension bar is both provided with a through hole in the material guide cylinder of direction, described logical
The central axis upright of the central axis of via and rectangular material guide cylinder；
A rectangular Material Sensor fixed seat is additionally provided on the rectangular material material loading platform, the rectangular Material Sensor is solid
Reservation and rectangular material cylinder fixed seat are separately positioned on the both sides of rectangular material guide cylinder, in rectangular Material Sensor fixed seat
It is provided with rectangular Material Sensor and the rectangular Material Sensor of bottom, the rectangular positive square shaped material guide cylinder of Material Sensor
Top is arranged, and is provided with the rectangular material detection mouth of a bottom in the rectangular material guide cylinder, the rectangular material detection mouth of bottom is set
It sets in rectangular material guide cylinder on the side of rectangular Material Sensor fixed seat, the rectangular Material Sensor of the bottom and bottom
The rectangular material detection mouth of layer is correspondingly arranged；
The rectangular Material Sensor of bottom is connected with rectangular blanking cylinder and rectangular material ejection cylinder respectively；
A rectangular material discharge hole is provided on the rectangular material material loading platform, the rectangular material guide cylinder is arranged rectangular
On material discharge hole, and it is connected to rectangular material discharge hole；
The rectangular material material loading platform bottom is provided with a rectangular material blanking sensor, rectangular material blanking sensor and side
Shape material conveyer belt is connected；
The rectangular temporary sensor is connected with rectangular blanking cylinder and rectangular material ejection cylinder respectively.
Preferably, circular material automatic feed mechanism includes circular material material loading platform, the circular material material loading platform
It is fixedly linked with workbench by round feeding holder, circular material material loading platform is connected with a circle by circular material guide cylinder
One end of shape material delivery pipe, the circular material delivery pipe is fixedly attached in circular material guide cylinder, and circular material is led
It is fixedly linked to cylinder and circular material material loading platform, the circular material guide cylinder and circular material delivery pipe are hollow circular
Tubulose；
A circular material cylinder fixed seat, the circular material cylinder fixed seat are additionally provided on the circular material material loading platform
Upper edge circular material guide cylinder length direction is set gradually from top to bottom there are two cylinder, respectively round material ejection cylinder and circle
Extension bar is both provided on blanking cylinder, the circle material ejection cylinder and round blanking cylinder, the extension bar is towards round
Material guide cylinder is arranged, and position corresponding with extension bar is both provided with a through hole on circular material guide cylinder, described logical
The central axis upright of the central axis and circular material guide cylinder of via；
A circular material sensor fixed seat is additionally provided on the circular material material loading platform, the circular material sensor is solid
Reservation and circular material cylinder fixed seat are separately positioned on the both sides of circular material guide cylinder, in circular material sensor fixed seat
It is provided with circular material sensor and bottom circular material sensor, the circular material sensor face circular material guide cylinder
Top is arranged, and is provided with a bottom circular material detection mouth on the circular material guide cylinder, bottom circular material detection mouth is leaned on
Subcircular Material Sensor fixed seat is arranged, and the bottom circular material sensor is correspondingly arranged with substrate material detection mouth；
The bottom circular material sensor is connected with round material ejection cylinder and rectangular material ejection cylinder；
A circular material discharge hole is provided on the circular material material loading platform, the circular material guide cylinder is arranged in circle
On material discharge hole, and it is connected to circular material discharge hole；
Circular material material loading platform bottom is provided with a circular material blanking sensor, circular material blanking sensor and circle
Shape material conveyer belt is connected；
The round temporary sensor and round blanking cylinder and round liftout cylinders.
Preferably, press work station includes stamping station and the punching press pedestal being fixed in stamping station, on punching press pedestal
It is provided with material detection sensor, on the table, the stamping station is connected by punching press pillar for the stamping station fixed setting
There is a press machine fixed seat, press machine is provided in press machine fixed seat, and press machine is located at the surface of punching press pedestal, it is described
A staking punch is movably set on press machine, staking punch is arranged towards punching press pedestal；
The material detection sensor is connected with press machine.
Preferably, mounting work station includes mounting plate, and a rectangular material storage area is provided on the mounting plate
And assembly area, it is provided with orthogonal two sliding rails in the assembly area, two sliding rails are interconnected place
Be provided with an assembly cylinder, the assembly cylinder by cylinder plummer and the assembly column being fixedly linked with cylinder plummer with
Workbench is connected, and the assembly cylinder is located at the surface of two sliding rail intersections；Assembly is provided on assembly cylinder to stretch
Contracting bar, the assembly telescopic rod are stretched out towards two sliding rail intersections；
One end of two sliding rails is respectively arranged with a material push cylinder, and being both provided with one on the material push cylinder pushes away
Expect that telescopic rod, two pusher telescopic rods are arranged towards two sliding rail intersections；
Further include a material sensors in place, any one sliding in two sliding rails is arranged in the material sensors in place
On track, the material sensors in place is connected with the material push cylinder on the sliding rail；
It is provided with assembly on the assembly column and starts sensor and assembly end sensor, the assembly starts sensor and dress
With cylinders, assembly terminates sensor and is connected with another material push cylinder.
Preferably, trace simulation work station includes the trace simulation platform being fixedly linked with workbench, the trace simulation platform
On be fixedly installed trace simulation plate and trace simulation pen, the trace simulation plate, which is bolted, to be arranged in track simulation table
On, trace simulation pen includes grip slipper and simulation nib, and the grip slipper is fixedly linked with simulation nib, is set on trace simulation platform
It is equipped with across hole, one end of the simulation nib is passed through across hole, is stretched out towards workbench, the other end is connected with grip slipper, wears
The diameter of via is less than the width of grip slipper.
A kind of application method of robot training operation bench, which is characterized in that include the following steps：
（1）Rectangular material is placed on rectangular material library, circular material is placed on circular material library, robotic gripper side
Shape material falls on rectangular material conveyer belt one by one to rectangular material automatic feed mechanism, and by rectangular material automatic feed mechanism
On, rectangular material is delivered to rectangular material and kept on platform by rectangular material conveyer belt；
（2）Robotic gripper circular material to circular material automatic feed mechanism, and by circular material automatic feed mechanism by
One falls on circular material conveyer belt, and circular material is delivered to circular material and kept on platform by circular material conveyer belt；
（3）The rectangular material of robotic gripper keeps in the rectangular material on platform to press work station, and stamps out on rectangular material
Assemble blind hole；
（4）Rectangular material in robotic gripper after the completion of step punching polishes to blind hole to automatically grinding work station；
（5）Rectangular material after the completion of polishing is clamped in the rectangular material storage area to mounting work station for robot, machine
Device people grips the circular material being placed on the temporary platform of circular material again, and circular material is assembled to the assembly on rectangular material
In blind hole, and two sliding rail intersections are pushed to by material push cylinder, assembly cylinder is in assembly blind hole
Circular material is squeezed, and assembly, and the rectangular material and roundel for completing assembly by another material push cylinder are completed
Material releases two sliding rail intersections；
（6）Robot by after the completion of assembly rectangular material and circular material by clamping be placed on material stacking platform.
The configuration of the present invention is simple, it is easy to operate, using the rectangular material library and circular material library being arranged on workbench and with
Rectangular material library connected rectangular material automatic feed mechanism, the circular material automatic feed mechanism that is connected with circular material library,
Realize carrying and the feeding of material；Rectangular material conveyer belt and circular material conveyer belt realize the conveying of material, press work station
It realizes the punching press of square shaped material, and is polished the rectangular material after punching press using automatically grinding work station, utilize assembly
Work station square shaped material and circular material are assembled, and stacking processing are carried out after the completion of assembly so that student works at one
Workpiece handling, feeding, assembly, the operation of storage are realized on platform, can make student in Training Room to feel in by real production line
Feeling, deepen student to the understanding of robot application scene, while student can be by robot is online and off-line programing, reaching
It is grasped to skilled.
Description of the drawings
Fig. 1 is robot training operation bench structural schematic diagram.
Fig. 2 is the structural schematic diagram of rectangular material automatic feed mechanism.
Fig. 3 is trace simulation work station structural schematic diagram.
Fig. 4 is mounting work station structural schematic diagram.
Fig. 5 is press work station structure schematic diagram.
Reference numeral：1- circular materials library, the rectangular material libraries of 2-, 3- circular material automatic feed mechanisms, the rectangular materials of 4-
Automatic feed mechanism, the rectangular material conveyer belts of 5-, 6- trace simulation work stations, 7- material stacking platforms, 8- mounting work station, 9- punchings
Work station, 10- automatically grinding work stations, the rectangular materials of 11- is pressed to keep in platform, 12- circular materials keep in platform；
The rectangular material delivery pipes of 41-, the rectangular material guide cylinders of 42-, the rectangular material material loading platforms of 43-, the rectangular material ejection cylinders of 44-,
The rectangular blanking cylinders of 45-, the rectangular Material Sensors of 46-, the rectangular Material Sensor of 47- bottoms, the rectangular material blanking sensings of 48-
Device, 49- through holes；
61- trace simulation platforms, 62- trace simulation plates, 63- simulation nibs, 64- grip slippers；
The rectangular material storage areas 81-, 82- assemble cylinder, and 83- cylinder plummers, 84- material push cylinders, 85- materials are in place
Sensor, 86- assembly terminate sensor, and 87- assembly starts sensor；
91- press machine fixed seats, 92- stamping station, 93- material detection sensors, 94- punching press pedestals, 95- staking punch.
Specific implementation mode
Robot training operation bench of the present invention, including holder and workbench in cradle top is set, which is characterized in that institute
It states and is provided with rectangular material library 2 and circular material library 1 on work top, the rectangular material library 2 and circular material library 1 are set side by side
It sets on one end of workbench；
The rectangular material library 2 is connected with a rectangular material conveyer belt 5 by rectangular material automatic feed mechanism 4, described rectangular
One end of material conveyer belt 5 is connected with rectangular material automatic material loading structure, and the other end is connected with a rectangular material and keeps in platform 11, side
Shape material keeps in and is provided with rectangular temporary sensor on platform 11；
The circular material library 1 is connected with a circular material conveyer belt, the roundel by circular material automatic feed mechanism 3
One end of material conveyer belt is connected with circular material automatic feed mechanism 3, and the other end is connected with a circular material and keeps in platform 12, round
Material, which is kept in, is provided with round temporary sensor on platform 12；
A press work station 9 is additionally provided on the workbench, the press work station 9 is along the operation side of circular material conveyer belt
To setting；
It is additionally provided with a mounting work station 8 and material stacking platform 7, the dress on one end far from rectangular material library 2 on workbench
It is set up in parallel with work station 8 and material stacking platform 7, automatically grinding work is additionally provided between mounting work station 8 and press work station 9
Make station 10；
The material stacking platform 7 and rectangular material are additionally provided with trace simulation work station 6 between keeping in platform 11.
Rectangular material library 2 includes rectangular material placement platform, and the rectangular material placement platform passes through several rectangular objects
Material 2 support column of library is fixedly linked with workbench；
The circular material library 1 includes circular material placement platform, and the circular material placement platform passes through several roundels
Material 1 support column of library is fixedly linked with workbench；
The rectangular material placement platform and circular material placement platform in same level, and rectangular material placement platform and
Material storage groove is both provided on circular material placement platform.
Rectangular material automatic feed mechanism 4 includes rectangular material material loading platform 43, and the rectangular material material loading platform 43 is logical
It crosses rectangular feeding holder to be fixedly linked with workbench, rectangular material material loading platform 43 is connected with one by rectangular material guide cylinder 42
One end of rectangular material delivery pipe 41, the rectangular material delivery pipe 41 is fixedly attached in rectangular material guide cylinder 42, and side
Shape material guide cylinder 42 is fixedly linked with rectangular material material loading platform 43, the rectangular material guide cylinder 42 and the conveying of rectangular material
Pipe 41 is hollow square tubulose；
A rectangular material cylinder fixed seat is additionally provided on the rectangular material material loading platform 43, the rectangular material cylinder is fixed
Seat rectangular 42 length direction of material guide cylinder of upper edge is set gradually from top to bottom there are two cylinder, respectively rectangular material ejection cylinder 44
With rectangular blanking cylinder 45, extension bar, the stretching are both provided on the rectangular material ejection cylinder 44 and rectangular blanking cylinder 45
Bar is arranged towards rectangular material guide cylinder 42, and position corresponding with extension bar is both provided with one in the material guide cylinder of direction
Through hole 49, the central axis upright of the central axis of the through hole 49 and rectangular material guide cylinder 42；
46 fixed seat of a rectangular Material Sensor, the rectangular material sensing are additionally provided on the rectangular material material loading platform 43
46 fixed seat of device is separately positioned on the both sides of rectangular material guide cylinder 42, rectangular Material Sensor with rectangular material cylinder fixed seat
Rectangular Material Sensor 46 and the rectangular Material Sensor 47 of bottom are provided in 46 fixed seats, the rectangular Material Sensor 46 is just
42 top of square shaped material guide cylinder is arranged, and the rectangular material detection mouth of a bottom is provided in the rectangular material guide cylinder 42,
The rectangular material detection mouth of bottom is arranged in rectangular material guide cylinder 42 on the side of 46 fixed seat of rectangular Material Sensor, institute
The rectangular Material Sensor 47 of bottom is stated to be correspondingly arranged with the rectangular material detection mouth of bottom；
The rectangular Material Sensor of bottom 47 is connected with rectangular blanking cylinder 45 and rectangular material ejection cylinder 44 respectively；
A rectangular material discharge hole is provided on the rectangular material material loading platform 43, the setting of rectangular material guide cylinder 42 exists
On rectangular material discharge hole, and it is connected to rectangular material discharge hole；
Rectangular 43 bottom of material material loading platform is provided with a rectangular material blanking sensor 48, rectangular material blanking sensor
48 are connected with rectangular material conveyer belt 5；
The rectangular temporary sensor is connected with rectangular blanking cylinder 45 and rectangular material ejection cylinder 44 respectively；Rectangular Material Sensor
46 and the model of the rectangular Material Sensor 47 of bottom and rectangular material blanking sensor 48 be GZ-D10-P.
Circular material automatic feed mechanism 3 includes circular material material loading platform, and the circular material material loading platform passes through circle
Shape feeding holder is fixedly linked with workbench, and circular material material loading platform is connected with a circular material by circular material guide cylinder
One end of delivery pipe, the circular material delivery pipe is fixedly attached in circular material guide cylinder, and circular material guide cylinder with
Circular material material loading platform is fixedly linked, and the circular material guide cylinder and circular material delivery pipe are hollow circular tubulose；
A circular material cylinder fixed seat, the circular material cylinder fixed seat are additionally provided on the circular material material loading platform
Upper edge circular material guide cylinder length direction is set gradually from top to bottom there are two cylinder, respectively round material ejection cylinder and circle
Extension bar is both provided on blanking cylinder, the circle material ejection cylinder and round blanking cylinder, the extension bar is towards round
Material guide cylinder is arranged, and position corresponding with extension bar is both provided with a through hole 49 on circular material guide cylinder, described
The central axis upright of the central axis and circular material guide cylinder of through hole 49；
A circular material sensor fixed seat is additionally provided on the circular material material loading platform, the circular material sensor is solid
Reservation and circular material cylinder fixed seat are separately positioned on the both sides of circular material guide cylinder, in circular material sensor fixed seat
It is provided with circular material sensor and bottom circular material sensor, the circular material sensor face circular material guide cylinder
Top is arranged, and is provided with a bottom circular material detection mouth on the circular material guide cylinder, bottom circular material detection mouth is leaned on
Subcircular Material Sensor fixed seat is arranged, and the bottom circular material sensor is correspondingly arranged with substrate material detection mouth；
The bottom circular material sensor is connected with round material ejection cylinder and rectangular material ejection cylinder 44；
A circular material discharge hole is provided on the circular material material loading platform, the circular material guide cylinder is arranged in circle
On material discharge hole, and it is connected to circular material discharge hole；
Circular material material loading platform bottom is provided with a circular material blanking sensor, circular material blanking sensor and circle
Shape material conveyer belt is connected；
The round temporary sensor and round blanking cylinder and round liftout cylinders.
Press work station 9 includes stamping station 92 and the punching press pedestal 94 being fixed in stamping station 92, punching press pedestal 94
On be provided with material detection sensor 93, the stamping station 92 is fixedly installed on the table, and the stamping station 92 passes through punching press
Pillar is connected with a press machine fixed seat 91, press machine is provided in press machine fixed seat 91, and press machine is located at punching press pedestal
94 surface, a staking punch 95 is movably set on the press machine, and staking punch 95 is arranged towards punching press pedestal 94；
The material detection sensor 93 is connected with press machine.
Mounting work station 8 includes mounting plate, and a rectangular material storage area 81 and dress are provided on the mounting plate
With region, orthogonal two sliding rails are provided in the assembly area, two sliding rails places of being interconnected are arranged
There are an assembly cylinder 82, the assembly that the assembly cylinder 82 is fixedly linked by cylinder plummer 83 and with cylinder plummer 83 vertical
Column is connected with workbench, and the assembly cylinder 82 is located at the surface of two sliding rail intersections；It is arranged on assembly cylinder 82
There are assembly telescopic rod, the assembly telescopic rod to be stretched out towards two sliding rail intersections；
One end of two sliding rails is respectively arranged with a material push cylinder 84, is both provided on the material push cylinder 84
One pusher telescopic rod, two pusher telescopic rods are arranged towards two sliding rail intersections；
Further include a material sensors in place 85, the material sensors in place 85 is arranged any one in two sliding rails
On sliding rail, the material sensors in place 85 is connected with the material push cylinder 84 on the sliding rail, and material passes in place
The model GR-T11-P of sensor 85；
It is provided with assembly on the assembly column and starts sensor 87 and assembly end sensor 86, the assembly starts sensor
87 are connected with assembly cylinder 82, and assembly terminates sensor 86 and is connected with another material push cylinder 84, and assembly starts sensor 87
The model for terminating sensor 86 with assembly is GR-D15-P.
Trace simulation work station 6 includes the trace simulation platform 61 being fixedly linked with workbench, on the trace simulation platform 61
It is fixedly installed trace simulation plate 62 and trace simulation pen, the trace simulation plate 62, which is bolted, to be arranged in trace simulation
On platform 61, trace simulation pen includes grip slipper 64 and simulation nib 63, and the grip slipper 64 is fixedly linked with simulation nib 63, rail
Hole is provided through in mark simulation table 61, one end of the simulation nib 63 passes through across hole, stretched out towards workbench, the other end
It is connected with grip slipper 64, the diameter in hole is passed through to be less than the width of grip slipper 64.
In use, rectangular material is placed on rectangular material library 2 respectively, circular material is placed on circular material library 1
On, the rectangular material on rectangular material library 2 is first taken using programming Control machine people, is placed into the side on rectangular automatic feed mechanism
In shape material delivery pipe 41, the extension bar of rectangular blanking cylinder 45 is to stretch out shape under rectangular material automatic charging device original state
State, and being stretched in rectangular material guide cylinder 42 from through hole 49, from rectangular material delivery pipe 41 in the rectangular material be sent into
It after entering in rectangular material guide cylinder 42, offsets with the extension bar of rectangular blanking cylinder 45, limits material from rectangular material guide cylinder
The 42 rectangular material discharge port outputs being connected；
When rectangular temporary sensor detects on rectangular temporary platform do not have material, to rectangular material ejection cylinder 44 and rectangular blanking cylinder
45 send out signal, and after rectangular material ejection cylinder 44 receives signal, the extension bar of rectangular material ejection cylinder 44 stretches out, and is threaded through hole 49
It stretches into rectangular material guide cylinder 42, offsets with the rectangular material in rectangular material guide cylinder 42, realize the limit of rectangular material；
After rectangular blanking cylinder 45 receives signal, the telescopic rod of rectangular blanking cylinder 45 is withdrawn, and is located at the bottom in rectangular material feed tube
Layer material is fallen from rectangular material discharge hole, and rectangular material blanking sensor 48 detects to fall behind under material, defeated to rectangular material
Band 5 is sent to send out signal, rectangular material conveyer belt 5 acts, by the rectangular material transportation fallen on rectangular material conveyer belt 5 to rectangular
Material keeps in platform 11, and the rectangular Material Sensor of bottom 47 detects that 42 bottom of rectangular material guide cylinder does not have material, bottom rectangular
First backward rectangular blanking cylinder 45 and rectangular material ejection cylinder 44 send out signal to Material Sensor 47, and rectangular blanking cylinder 45 receives letter
After number, the telescopic rod of rectangular blanking cylinder 45 stretches out, and is stretched in rectangular material guide cylinder 42 from through hole 49；Rectangular liftout
After cylinder 44 receives signal, the telescopic rod of rectangular material ejection cylinder 44 is retracted, and the material for being located at rectangular material guide cylinder 42 declines, and
It falls on the telescopic rod of rectangular blanking cylinder 45；When the material in rectangular material guide cylinder 42 is less than certain altitude, rectangular material
Sensor 46 is connected with robot, and rectangular Material Sensor 46 detects that material up to after not arriving and require height, is sent out to robot
Signal, robot feeding into rectangular material delivery pipe 41, rectangular material automatic feed mechanism 4 reset；
Then robot takes the circular material on circular material library 1, and the circular material being placed on round automatic feed mechanism is defeated
It send in pipe, the extension bar of round blanking cylinder is stretching state under circular material automatic charging device original state, and from passing through
Hole 49 stretches in circular material guide cylinder, and the circular material being sent into out of circular material delivery pipe enters circular material guide cylinder
After interior, offset with the extension bar of round blanking cylinder, the circular material discharging that limitation material is connected from circular material guide cylinder
Mouth output；
There is no material when the temporary sensor of circle detects circle to keep on platform, to round material ejection cylinder and round blanking cylinder hair
Go out signal, after round material ejection cylinder receives signal, the extension bar of round material ejection cylinder stretches out, and is threaded through hole 49 and stretches into circle
It in material guide cylinder, offsets with the circular material in circular material guide cylinder, realizes the limit of circular material；Round blanking cylinder
After receiving signal, the telescopic rod of round blanking cylinder is withdrawn, and is located at substrate material in circular material feed tube from circular material
Discharge hole is fallen, and circular material blanking sensor detects to fall behind under material, and signal, roundel are sent out to circular material conveyer belt
Expect conveyer belt action, the circular material fallen on circular material conveyer belt is transported to circular material and keeps in platform 12, bottom is round
Material Sensor detects that circular material guide cylinder bottom does not have material, the first backward round blanking gas of bottom circular material sensor
Cylinder and round material ejection cylinder send out signal, and after round blanking cylinder receives signal, the telescopic rod of round blanking cylinder stretches out, and from
Through hole 49 stretches in circular material guide cylinder；After round material ejection cylinder receives signal, the telescopic rod of round material ejection cylinder contracts
It returns, the material for being located at circular material guide cylinder declines, and falls on the telescopic rod of round blanking cylinder；When circular material guide cylinder
Interior material is less than certain altitude, and circular material sensor is connected with robot, and circular material sensor detects material up to not
To after requiring height, signal, robot feeding into circular material delivery pipe, circular material automatic charging machine are sent out to robot
Structure 3 resets；
The rectangular material of robotic gripper is kept in the rectangular material on platform 11 and is sent to the punching press pedestal 94 at press work station 9, object
After material detection sensor 93 detects rectangular material, signal is sent out to press machine, the staking punch 95 of press machine is stretched towards rectangular material
Go out, and stamp out assembly blind hole on rectangular material, staking punch 95 is withdrawn after the completion, and the punching press being arranged on punching press pillar terminates
Sensor is connected with robot, and it is GR-D15-P that punching press, which terminates sensor model number, after robot receives signal, takes rectangular material away
And give to automatically grinding work station 10, automatically grinding work station 10 includes polishing table and the sander being arranged on polishing table, beats
Grinding machine polishes to punching press blind hole；After the completion, the rectangular material of robotic gripper is placed into rectangular material storage area 81, machine
Device people grips again to be placed on circular material and keeps in circular material on platform 12, and circular material is assembled to the dress on rectangular material
With in blind hole, rectangular material and shape material after assembly are workpiece, and workpiece is placed into using robot and is equipped with material and arrives
On the sliding rail of level sensor 85, after material sensors in place 85 detects workpiece, sliding where material sensors in place 85
Workpiece is pushed into two sliding rail intersections by the material push cylinder 84 on track, and assembly starts sensor 87 and detects workpiece
Afterwards, assembly starts sensor 87 and is connected with assembly cylinder 82, and assembly starts sensor 87 and sends out signal to assembly cylinder 82, assembles
Telescopic rod on cylinder 82 stretches out, and squeezes the circular material on workpiece so that and workpiece assembly is firm, after the completion, two materials
A material push cylinder 84 in push cylinder 84 is connected with material sensors in place 85, another material push cylinder 84 and dress
With sensor 86 is terminated, assembly terminates sensor 86 and detects that assembly is completed, and signal is sent to another material push cylinder 84, should
After material push cylinder 84 receives signal, the telescopic rod of the material push cylinder 84 stretches out, by workpiece from two sliding rail phases
It is released at friendship；The workpiece of robotic gripper assembly completion is simultaneously placed on material stacking platform 7；It resets after the completion, i.e. a flow
It completes, in the process, the action of robot is by student's programming Control.
Trace simulation work station 6 is the robotic gripper grip slipper 64 in order to make student programming Control machine people, and will simulation
After 63 extraction of nib, the track operation drawn in advance on trace simulation plate 62 on track analog board 62, exercise student '
Program capability.
Claims (8)
1. robot training operation bench, including holder and workbench in cradle top is set, which is characterized in that the workbench
Rectangular material library is provided on face（2）With circular material library（1）, the rectangular material library（2）With circular material library（1）It sets side by side
It sets on one end of workbench；
The rectangular material library（2）Pass through rectangular material automatic feed mechanism（4）It is connected with a rectangular material conveyer belt（5）, institute
State rectangular material conveyer belt（5）One end be connected with rectangular material automatic material loading structure, it is temporary that the other end is connected with a rectangular material
Deposit platform（11）, rectangular material keeps in platform（11）On be provided with rectangular temporary sensor；
The circular material library（1）Pass through circular material automatic feed mechanism（3）It is connected with a circular material conveyer belt, the circle
One end of shape material conveyor belt and circular material automatic feed mechanism（3）It is connected, the other end is connected with a circular material and keeps in platform
（12）, circular material keeps in platform（12）On be provided with round temporary sensor；
A press work station is additionally provided on the workbench（9）, the press work station（9）Along the fortune of circular material conveyer belt
Line direction is arranged；
Far from rectangular material library on workbench（2）One end on be additionally provided with a mounting work station（8）With material stacking platform（7）,
The mounting work station（8）With material stacking platform（7）It is set up in parallel, mounting work station（8）With press work station（9）Between also set
It is equipped with automatically grinding work station（10）；
The material stacking platform（7）Platform is kept in rectangular material（11）Between be additionally provided with trace simulation work station（6）.
2. robot training operation bench as described in claim 1, which is characterized in that the rectangular material library（2）Including rectangular object
Expect that placement platform, the rectangular material placement platform pass through several rectangular material libraries（2）Support column is fixedly linked with workbench；
The circular material library（1）Including circular material placement platform, the circular material placement platform passes through several circles
Material library（1）Support column is fixedly linked with workbench；
The rectangular material placement platform and circular material placement platform in same level, and rectangular material placement platform and
Material storage groove is both provided on circular material placement platform.
3. robot training operation bench as claimed in claim 2, which is characterized in that the rectangular material automatic feed mechanism（4）
Including rectangular material material loading platform（43）, the rectangular material material loading platform（43）It is fixed with workbench by rectangular feeding holder
It is connected, rectangular material material loading platform（43）Pass through rectangular material guide cylinder（42）It is connected with a rectangular material delivery pipe（41）, institute
State rectangular material delivery pipe（41）One end be fixedly attached to rectangular material guide cylinder（42）It is interior, and rectangular material guide cylinder（42）
With rectangular material material loading platform（43）It is fixedly linked, the rectangular material guide cylinder（42）With rectangular material delivery pipe（41）It is
Hollow square tubulose；
The rectangular material material loading platform（43）On be additionally provided with a rectangular material cylinder fixed seat, the rectangular material cylinder is solid
The rectangular material guide cylinder of reservation upper edge（42）Length direction is set gradually from top to bottom there are two cylinder, respectively rectangular liftout gas
Cylinder（44）With rectangular blanking cylinder（45）, the rectangular material ejection cylinder（44）With rectangular blanking cylinder（45）On be both provided with stretching
Bar, the extension bar is towards rectangular material guide cylinder（42）Setting, and it is corresponding with extension bar in the material guide cylinder of direction
Position is both provided with a through hole（49）, the through hole（49）Central axis and rectangular material guide cylinder（42）Central shaft
Line is vertical；
The rectangular material material loading platform（43）On be additionally provided with a rectangular Material Sensor（46）Fixed seat, the rectangular material
Sensor（46）Fixed seat is separately positioned on rectangular material guide cylinder with rectangular material cylinder fixed seat（42）Both sides, rectangular object
Expect sensor（46）Rectangular Material Sensor is provided in fixed seat（46）With the rectangular Material Sensor of bottom（47）, described rectangular
Material Sensor（46）Positive square shaped material guide cylinder（42）Top is arranged, the rectangular material guide cylinder（42）On be provided with one
The rectangular material detection mouth of bottom, the rectangular material detection mouth of bottom are arranged in rectangular material guide cylinder（42）It is sensed close to rectangular material
Device（46）On the side of fixed seat, the rectangular Material Sensor of bottom（47）It is correspondingly arranged with the rectangular material detection mouth of bottom；
The rectangular Material Sensor of bottom（47）Respectively with rectangular blanking cylinder（45）With rectangular material ejection cylinder（44）It is connected；
The rectangular material material loading platform（43）On be provided with a rectangular material discharge hole, the rectangular material guide cylinder（42）If
It sets on rectangular material discharge hole, and is connected to rectangular material discharge hole；
The rectangular material material loading platform（43）Bottom is provided with a rectangular material blanking sensor（48）, rectangular material blanking biography
Sensor（48）With rectangular material conveyer belt（5）It is connected；
The rectangular temporary sensor respectively with rectangular blanking cylinder（45）With rectangular material ejection cylinder（44）It is connected.
4. robot as claimed in claim 3 training operation bench, which is characterized in that the circular material automatic feed mechanism（3）
Including circular material material loading platform, the circular material material loading platform is fixedly linked by round feeding holder with workbench, circle
Shape material material loading platform is connected with a circular material delivery pipe by circular material guide cylinder, and the one of the circular material delivery pipe
End is fixedly attached in circular material guide cylinder, and circular material guide cylinder is fixedly linked with circular material material loading platform, described
Circular material guide cylinder and circular material delivery pipe are hollow circular tubulose；
A circular material cylinder fixed seat, the circular material cylinder fixed seat are additionally provided on the circular material material loading platform
Upper edge circular material guide cylinder length direction is set gradually from top to bottom there are two cylinder, respectively round material ejection cylinder and circle
Extension bar is both provided on blanking cylinder, the circle material ejection cylinder and round blanking cylinder, the extension bar is towards round
Material guide cylinder is arranged, and position corresponding with extension bar is both provided with a through hole on circular material guide cylinder（49）, institute
State through hole（49）Central axis and circular material guide cylinder central axis upright；
A circular material sensor fixed seat is additionally provided on the circular material material loading platform, the circular material sensor is solid
Reservation and circular material cylinder fixed seat are separately positioned on the both sides of circular material guide cylinder, in circular material sensor fixed seat
It is provided with circular material sensor and bottom circular material sensor, the circular material sensor face circular material guide cylinder
Top is arranged, and is provided with a bottom circular material detection mouth on the circular material guide cylinder, bottom circular material detection mouth is leaned on
Subcircular Material Sensor fixed seat is arranged, and the bottom circular material sensor is correspondingly arranged with substrate material detection mouth；
The bottom circular material sensor and round material ejection cylinder and rectangular material ejection cylinder（44）It is connected；
A circular material discharge hole is provided on the circular material material loading platform, the circular material guide cylinder is arranged in circle
On material discharge hole, and it is connected to circular material discharge hole；
Circular material material loading platform bottom is provided with a circular material blanking sensor, circular material blanking sensor and circle
Shape material conveyer belt is connected；
The round temporary sensor and round blanking cylinder and round liftout cylinders.
5. robot training operation bench as claimed in claim 4, which is characterized in that the press work station（9）Including stamping station
（92）And it is fixed at stamping station（92）On punching press pedestal（94）, punching press pedestal（94）On be provided with material detection sensor
（93）, the stamping station（92）It is fixedly installed on the table, the stamping station（92）It is connected with a punching press by punching press pillar
Machine fixed seat（91）, press machine fixed seat（91）On be provided with press machine, and press machine is located at punching press pedestal（94）Surface,
A staking punch is movably set on the press machine（95）, staking punch（95）Towards punching press pedestal（94）Setting；
The material detection sensor（93）It is connected with press machine.
6. a kind of robot training operation bench as claimed in claim 5, which is characterized in that the mounting work station（8）Including dress
With platform, a rectangular material storage area is provided on the mounting plate（81）And assembly area, it sets in the assembly area
Orthogonal two sliding rails are equipped with, the interconnected place of two sliding rails is provided with an assembly cylinder（82）, the dress
With cylinder（82）Pass through cylinder plummer（83）And with cylinder plummer（83）The assembly column being fixedly linked is connected with workbench,
The assembly cylinder（82）Surface positioned at two sliding rail intersections；Assemble cylinder（82）On to be provided with assembly flexible
Bar, the assembly telescopic rod are stretched out towards two sliding rail intersections；
One end of two sliding rails is respectively arranged with a material push cylinder（84）, the material push cylinder（84）On be all provided with
It is equipped with a pusher telescopic rod, two pusher telescopic rods are arranged towards two sliding rail intersections；
It further include a material sensors in place（85）, the material sensors in place（85）What is be arranged in two sliding rails appoints
It anticipates on a sliding rail, the material sensors in place（85）With the material push cylinder on the sliding rail（84）It is connected；
It is provided with assembly on the assembly column and starts sensor（87）Terminate sensor with assembly（86）, the assembly, which starts, to be passed
Sensor（87）With assembly cylinder（82）It is connected, assembly terminates sensor（86）With another material push cylinder（84）It is connected.
7. robot training operation bench as claimed in claim 6, which is characterized in that the trace simulation work station（6）Including with
The trace simulation platform that workbench is fixedly linked（61）, the trace simulation platform（61）On be fixedly installed trace simulation plate（62）With
Trace simulation pen, the trace simulation plate（62）It is bolted and is arranged in track simulation table（61）On, trace simulation pen packet
Include grip slipper（64）With simulation nib（63）, the grip slipper（64）With simulation nib（63）It is fixedly linked, trace simulation platform
（61）On be provided through hole, the simulation nib（63）One end pass through across hole, stretched out towards workbench, the other end and folder
Hold seat（64）It is connected, the diameter in hole is passed through to be less than grip slipper（64）Width.
8. a kind of application method of robot training operation bench as claimed in claim 6, which is characterized in that include the following steps：
（1）Rectangular material is placed on rectangular material library（2）On, circular material is placed on circular material library（1）On, robot
Clamping square material is to rectangular material automatic feed mechanism（4）, and pass through rectangular material automatic feed mechanism（4）The side of falling on one by one
Shape material conveyer belt（5）On, rectangular material conveyer belt（5）Rectangular material is delivered to rectangular material and keeps in platform（11）On；
（2）Robotic gripper circular material is to circular material automatic feed mechanism（3）, and pass through circular material automatic feed mechanism
（3）It falls on one by one on circular material conveyer belt, circular material is delivered to circular material and keeps in platform by circular material conveyer belt（12）
On；
（3）The rectangular material of robotic gripper keeps in platform（11）On rectangular material to press work station（9）, and on rectangular material
Stamp out assembly blind hole；
（4）Rectangular material in robotic gripper after the completion of step punching is to automatically grinding work station（10）, blind hole is beaten
Mill；
（5）Rectangular material after the completion of polishing is clamped to mounting work station for robot（8）On rectangular material storage area
（81）Interior, robot grips again is placed on the temporary platform of circular material（12）On circular material, and by the circular material side of being assembled to
In assembly blind hole on shape material, and pass through material push cylinder（84）Two sliding rail intersections are pushed to, cylinder is assembled
（82）Circular material in assembly blind hole is squeezed, completes assembly, and pass through another material push cylinder（84）It will
It assembles the rectangular material completed and circular material releases two sliding rail intersections；
（6）Robot by after the completion of assembly rectangular material and circular material by clamping be placed into material stacking platform（7）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795421.6A CN108806382A (en) | 2018-07-19 | 2018-07-19 | Robot training operation bench and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810795421.6A CN108806382A (en) | 2018-07-19 | 2018-07-19 | Robot training operation bench and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108806382A true CN108806382A (en) | 2018-11-13 |
Family
ID=64077540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810795421.6A Pending CN108806382A (en) | 2018-07-19 | 2018-07-19 | Robot training operation bench and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108806382A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109377146A (en) * | 2018-12-22 | 2019-02-22 | 山东药品食品职业学院 | A kind of modernization Medical Logistics Training Room |
| CN110992808A (en) * | 2019-12-05 | 2020-04-10 | 配天机器人技术有限公司 | Real device of instructing of robot |
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| CA2584300A1 (en) * | 2007-04-10 | 2008-10-10 | Les Machineries Automatech Inc. | Robotic work cell and method of operation |
| CN101546490A (en) * | 2008-03-26 | 2009-09-30 | 亚龙科技集团有限公司 | Device for practically training and evaluating automatic processing-assembling production lines |
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