CN109166444A - A kind of Multifunctional desktop type robot training work station - Google Patents
A kind of Multifunctional desktop type robot training work station Download PDFInfo
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- CN109166444A CN109166444A CN201811022337.7A CN201811022337A CN109166444A CN 109166444 A CN109166444 A CN 109166444A CN 201811022337 A CN201811022337 A CN 201811022337A CN 109166444 A CN109166444 A CN 109166444A
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- 238000012549 training Methods 0.000 title claims abstract description 44
- 239000000463 material Substances 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 210000005069 ears Anatomy 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 9
- 230000007257 malfunction Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Multifunctional desktop type robot training work station, including base cabinet, robotic arm, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet, emergency stop operation box and touch screen.The Multifunctional desktop type robot training work station controls robotic arm using PLC controller, to complete stacking and carry real training, loading and unloading real training, color identification dynamic crawl real training, assembly workpiece real training and detection workpiece size tolerance real training, to meet Table top type robot real training and teaching needs.
Description
Technical field
The invention is related to a kind of robot training work station, especially a kind of Multifunctional desktop type robot real training work
It stands.
Background technique
The existing industrial robot teaching equipment of school is only for a certain process function or process, automation collection at present
At spend it is low, in addition with the presence of work station security risk, cannot sufficiently meet teaching demand, and cost is more expensive, use
It is higher with maintenance cost.It gathers multi -function in integral whole in conclusion being badly in need of one kind, can sufficiently meet teaching demand, structure is whole
Property and compactedness are good, the high Multifunctional desktop type industrial robot training work station of automated integration degree.
Since PLC control system has strong high reliablity, stability, comprehensive, perfect in shape and function, easy to maintain, easy
The advantages that transformation, so PLC is a good solution as the control system of robot workstation's ancillary equipment.Both
It can stablize, lasting work, and have very powerful adaptability, and design, install and program all very convenient and simple
It is single.It is therefore desirable to design a kind of Multifunctional desktop type robot training work station based on PLC control, to meet table
Mian Shi robot real training and teaching need.
Summary of the invention
Innovation and creation purpose: providing a kind of Multifunctional desktop type robot training work station based on PLC control, thus full
Sufficient Table top type robot real training and teaching need.
Technical solution: Multifunctional desktop type robot training work station described in the invention, including base cabinet, machine
Arm, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet, emergency stop operation box and touch screen；In base cabinet
Head clearance is arranged in parallel with card slot；Robotic arm, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet and
Emergency stop operation box is mounted on the card slot of base cabinet top surface；Robotic arm is located at the middle position of top surface, material table, assembly bench,
Laser detection mechanism, conveying mechanism, control cabinet and emergency stop operation box are arranged around the edge of base cabinet top surface, and in machine
In the extending range of arm；PLC controller and power module are equipped in control cabinet；On emergency stop operation box be equipped with power switch,
Emergency stop switch, run indicator and malfunction indicator lamp；Touch screen is installed on the top of control cabinet；PLC controller respectively with touching
Touch the color of screen, emergency stop switch, run indicator, malfunction indicator lamp, the laser sensor of laser detection mechanism, conveying mechanism
Identification sensor and the electrical connection of the control driving mechanism of robotic arm；Power switch is serially connected on the supply lines of power module；Electricity
Source module be respectively touch screen, PLC controller, run indicator, malfunction indicator lamp, laser detection mechanism laser sensor,
The control driving mechanism power supply of the Tansducer For Color Distiguishing and robotic arm of conveying mechanism.
Further, conveying mechanism includes conveyor belt support, conveyer belt, driven roller, feed drive motor, feed drive skin
Band and color detection bracket；Conveyor belt support is fixedly mounted on the card slot of base cabinet top surface；Each driven roller is rotatably installed
On conveyor belt support, conveyer belt is around setting in each driven roller；Feed drive motor is mounted on conveyor belt support,
And one of driven roller rotation is driven by feed drive belt；Color detection bracket is L bracket, and is fixedly mounted on
On the card slot of base cabinet top surface；Tansducer For Color Distiguishing is fixedly mounted on the upper end of color detection bracket, and is directed toward conveyer belt
Top；PLC controller is electrically connected with the driver of feed drive motor；Power module is the power supply of feed drive motor.Using defeated
Send mechanism convenient transportation workpiece to be detected.
It further, further include a feeder；Feeder include material cylinder, driving cylinder, feed bracket with
And air pump；Feed bracket is mounted on the card slot of base cabinet top surface；Material cylinder is mounted vertically on horizontal mounting plate, level peace
Loading board is horizontally arranged on feed bracket, and the lower end of material cylinder is open and runs through horizontal mounting plate；Feed bracket on and position
Bearing plate is equipped in the lower section of material cylinder；Driving cylinder is fixedly mounted on feed bracket, and in the piston rod of driving cylinder
End is provided with push plate；Push plate is close to bearing plate and parallel with bearing plate, and push plate is located at the lower end of bearing plate and material cylinder
Between；The lower end of material cylinder and the upside interplanar distance of bearing plate are greater than the thickness of one block of material and less than the thickness of two blocks of materials
Degree；Bearing plate is located at the top of conveyer belt one end；PLC controller is electrically connected with the driver of air pump；Air pump and driving cylinder tube
Road connection；Power module is air pump power supply.It can be realized using feeder and place detection workpiece automatically on conveyer belt.
Further, laser detection mechanism includes laser sensing bracket, laser detection table top and surface rack；Table top branch
Frame and laser sensing bracket are fixedly mounted on the card slot of base cabinet top surface；Laser detection table-surface level is mounted on surface rack
On, and limit hole is equipped at the center of laser detection table top；Laser sensor is fixedly mounted on the upper end of laser sensing bracket
Portion, and it is directed toward the limit hole at laser detection table top center.The position that positioning workpiece can be facilitated using limit hole, thus really
Protect measurement accuracy.
It further, further include a material storage rack；Material storage rack is deposited by two vertical upright columns and three blocks of materials
Plate is stored up to constitute；Two vertical upright columns are mounted vertically on the card slot of base cabinet top surface；It is parallel in the lower section of every piece of material memory plane
It is provided with two support beams；Two support beams below every piece of material memory plane are separately mounted on two vertical upright columns,
And the interval between neighbouring two pieces of material memory planes is equal.It can be facilitated required for storage real training using material storage rack
The workpiece used.
Further, material table includes upside table top and underlying holder；Underlying holder is fixedly mounted on the card of base cabinet top surface
On slot；Upside table top is fixedly mounted on underlying holder, and is equipped with material on the table top of upside and is limited circular groove.It is limited using material
Circle of position slot can facilitate manipulator according to setting positioned in sequence clamping workpiece.
Further, assembly bench includes assembly table top and assembly bench bracket；Assembly bench bracket is fixedly mounted on base cabinet top surface
Card slot on；Assembly table top is fixedly mounted on assembly bench bracket, and assembly limit circular groove is equipped on assembly table top.It utilizes
Assembly limit circular groove can facilitate manipulator according to setting positioned in sequence clamping workpiece.
Further, robotic arm includes bottom mounting plate, pedestal, bottom turntable, bottom rotary drive motor, large arm branch
Seat, large arm, large arm wobble drive motor, middle arm support, middle arm, middle arm swing driving motor, rotating seat, end rotation driving
Motor, forearm, end rotary drive motor, end wobble drive motor and manipulator；Mounting plate is fixedly mounted on base cabinet top
On the card slot in face；Pedestal is fixedly mounted on bottom mounting plate；Bottom turntable is rotatably mounted on bottom mounting plate, and by
Bottom rotary drive motor drives the rotation of bottom turntable；Large arm support is fixedly mounted on the turntable of bottom；The lower end of large arm is swung
Formula is hingedly mounted on large arm support, and by the big arm swing of large arm wobble drive motor driven；The middle tilting articulated peace of arm support
It is swung on the upper end of large arm, and by arm support in the driving of middle arm swing driving motor；During one end of middle arm is fixedly mounted on
On arm support；Rotating seat is rotatably mounted on the other end of middle arm, and by the driving rotating seat rotation of end rotary drive motor
Turn；Forearm is fixedly mounted on rotating seat；The shell of end rotary drive motor is tilting articulated to be mounted on forearm, and by
End wobble drive motor driven end rotary drive motor is swung；Manipulator is fixedly mounted on end rotary drive motor
On output shaft；It is equipped in the top surface of base cabinet for the threading hole through control line；Bottom rotary drive motor, big arm swing are driven
Dynamic motor, middle arm swing driving motor, end rotary drive motor, end rotary drive motor and end wobble drive electricity
The driver of machine passes through controlling cable and is electrically connected with PLC controller；Power module is bottom rotation driving by power cable
Motor, large arm wobble drive motor, middle arm swing driving motor, end rotary drive motor, end rotary drive motor and
The power supply of end wobble drive motor；Controlling cable and power cable run through threading hole and are connected internally to control cabinet by base cabinet.Benefit
It can satisfy Multi-angle working requirement with the robotic arm of the structure.
Further, manipulator includes disk, four support rods, end panel, two sliding blocks, two pieces of strip-shaped baffles, clamping
Driving motor, two pull rods and two clamp arm；Disk is fixedly mounted on the output shaft of end rotary drive motor；Two pieces
Strip-shaped baffle and four support rods are supported and are mounted between disk and end panel, and the plate face of two pieces of strip-shaped baffles is mutual
In parallel；Clamping driving motor is fixedly mounted on disk, and abutting joint has rotation on the output shaft of clamping driving motor
Axis；Shaft fixed plate is fixedly installed between four support rods；Rotation axle is mounted in shaft fixed plate, and is revolved
Shaft and shaft fixed plate are perpendicular；External screw thread is equipped in the free end of rotary shaft；Threaded engagement has driving on external screw thread
Block；It is equipped with T shape sliding slot in the side plate face of end panel, and is equipped with strip-shaped hole in the trench bottom of T shape sliding slot；Two sliding blocks are equal
It is slidably mounted on T shape sliding slot, and is equipped on sliding block and picks up the ears through strip-shaped hole projecting end another lateral plates of plate；Two
The lower end of root pull rod be respectively articulated be mounted on two pick up the ears on, the equal oblique pull in the upper end of two pull rods is hinged on drive block；Two
It picks up the ears symmetrical about the axis centre of rotary shaft；The axis of one with rotary shaft are equipped in the relative inner of two pieces of strip-shaped baffles
The parallel guide chute of line；The guide runner there are two difference slidingtype in guide chute is set in the side of drive block；
An installation bar blocks are equipped in two sliding blocks；Two clamp arm are respectively and fixedly installed in two installation bar blocks；At two
The end of clamp arm is respectively equipped with an arc-shaped claws, and the overbending direction of two arc-shaped claws is opposite；PLC controller and clamping
The driver of driving motor is electrically connected；Power module is clamping driving motor power supply.The robot manipulator structure of the structure is stablized, and grabs
It is not easy loose or dislocation after taking object, clamping force is controllable, and the torque for clamping the bigger clamping of object is also bigger.
Further, the bottom of base cabinet four, vertex is equipped with a foot support plate, in each foot support plate
Downside on be equipped with an idler wheel and a studdle；Threaded engagement has support bottom on the lower end of studdle
Foot；Cabinet door is hingedly installed in the leading flank of base cabinet, and door handle is installed in cabinet door.Utilize setting for cabinet door and door handle
Meter can open base cabinet convenient for user and use；It can be moved easily using the design of idler wheel and studdle and positioning support.
The invention compared with prior art, the beneficial effect is that: the invention can using PLC controller to machine
Device arm is controlled, to complete stacking and carry real training, loading and unloading real training, color identification dynamic crawl real training, assembly workpiece
Real training and detection workpiece size tolerance real training, to meet Table top type robot real training and teaching needs.
Detailed description of the invention
Fig. 1 is the entirety perspective view of the invention；
Fig. 2 is the whole forward sight structural schematic diagram of the invention；
Fig. 3 is the whole overlooking structure diagram of the invention；
Fig. 4 is the robotic structure schematic diagram of the invention；
Fig. 5 is the manipulator mounting structure schematic diagram of the invention；
Fig. 6 is the manipulator overall structure diagram of the invention.
Specific embodiment
The invention technical solution is described in detail with reference to the accompanying drawing, but the protection scope of the invention
It is not limited to the embodiment.
Embodiment 1:
As shown in figures 1 to 6, it includes: base cabinet that the invention, which provides a kind of Multifunctional desktop type robot training work station,
1, robotic arm 23, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet 28, emergency stop operation box 27 and touch
Screen 38；Card slot 12 is arranged in parallel in the head clearance of base cabinet 1；Robotic arm 23, material table, assembly bench, laser detection mechanism,
Conveying mechanism, control cabinet 28 and emergency stop operation box 27 are mounted on the card slot 12 of 1 top surface of base cabinet；Robotic arm 23 is located at top
The middle position in face, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet 28 and emergency stop operation box 27
Edge around 1 top surface of base cabinet is arranged, and in the extending range of robotic arm 23；PLC controller is equipped in control cabinet 28
And power module；Power switch 34, emergency stop switch 35, run indicator 36 and failure is equipped on emergency stop operation box 27 to refer to
Show lamp 37；Touch screen 38 is installed on the top of control cabinet 28；PLC controller respectively with touch screen 38, emergency stop switch 35, operation
Indicator light 36, malfunction indicator lamp 37, the laser sensor 19 of laser detection mechanism, conveying mechanism Tansducer For Color Distiguishing 22
And the control driving mechanism electrical connection of robotic arm 23；Power switch 34 is serially connected on the supply lines of power module；Power module
The respectively laser sensor of touch screen 38, PLC controller, run indicator 36, malfunction indicator lamp 37, laser detection mechanism
19, the control driving mechanism of the Tansducer For Color Distiguishing 22 of conveying mechanism and robotic arm 23 is powered.
Further, conveying mechanism includes conveyor belt support, conveyer belt 20, driven roller 29, feed drive motor 40, conveying
Drive belt 41 and color detection bracket 21；Conveyor belt support is fixedly mounted on the card slot 12 of 1 top surface of base cabinet by corner brace 24
On；Each driven roller 29 is rotatably mounted on conveyor belt support, and conveyer belt 20 is around setting in each driven roller 29；It is defeated
It send driving motor 40 to be mounted on conveyor belt support, and drives one of driven roller 29 to rotate by feed drive belt 41；
Color detection bracket 21 is L bracket, and is fixedly mounted on the card slot 12 of 1 top surface of base cabinet by corner brace 24；Color identification passes
Sensor 22 is fixedly mounted on the upper end of color detection bracket 21, and is directed toward the top of conveyer belt 20；PLC controller and conveying
The driver of driving motor 40 is electrically connected；Power module is the power supply of feed drive motor 40.
It further, further include a feeder；Feeder includes material cylinder 31, driving cylinder 32, feed branch
Frame 30 and air pump；Feed bracket 30 is mounted on the card slot 12 of 1 top surface of base cabinet by corner brace 24；Material cylinder 31 is vertically pacified
On horizontal mounting plate 33, horizontal mounting plate 33 is horizontally arranged on feed bracket 30, and the lower end opening of material cylinder 31 is simultaneously
Through horizontal mounting plate 33；On feed bracket 30 and it is located at the lower section of material cylinder 31 equipped with bearing plate；Drive cylinder 32 solid
Dingan County is provided with push plate on feed bracket 30, and in the piston rod end of driving cylinder 32；Push plate close to bearing plate and with
Bearing plate is parallel, and push plate is between bearing plate and the lower end of material cylinder 31；The lower end of material cylinder 31 and bearing plate
Upside interplanar distance is greater than the thickness of one block of material and less than the thickness of two blocks of materials；Bearing plate is located at the upper of 20 one end of conveyer belt
Side；PLC controller is electrically connected with the driver of air pump；Air pump and driving 32 piping connection of cylinder；Power module is air pump confession
Electricity.
Further, laser detection mechanism includes laser sensing bracket 18, laser detection table top 17 and surface rack 16；
Surface rack 16 and laser sensing bracket 18 are fixedly mounted on the card slot 12 of 1 top surface of base cabinet by corner brace 24；Laser detection
Table top 17 is horizontally arranged on surface rack 16, and limit hole is equipped at the center of laser detection table top 17；Laser sensor
19 are fixedly mounted on the upper end of laser sensing bracket 18, and are directed toward the limit hole at 17 center of laser detection table top.
It further, further include a material storage rack；Material storage rack is deposited by two vertical upright columns 7 and three blocks of materials
Plate 6 is stored up to constitute；Two vertical upright columns 7 are mounted vertically on the card slot 12 of 1 top surface of base cabinet by corner brace 24；It is deposited in every block of material
The lower section of storage plate 6 is arranged in parallel with two support beams 8；Two support beams 8 difference of every piece of 6 lower section of material memory plane
It is mounted on two vertical upright columns 7, and the interval between neighbouring two pieces of material memory planes 6 is equal.
Further, material table includes upside table top 10 and underlying holder 9；Underlying holder 9 is fixedly mounted by corner brace 24
On the card slot 12 of 1 top surface of base cabinet；Upside table top 10 is fixedly mounted on underlying holder 9, and object is equipped on upside table top 10
Material limit circular groove 11.
Further, assembly bench includes assembly table top 14 and assembly bench bracket 13；Assembly bench bracket 13 is solid by corner brace 24
Dingan County is on the card slot 12 of 1 top surface of base cabinet；Assembly table top 14 is fixedly mounted on assembly bench bracket 13, and in assembly table top
14 are equipped with assembly limit circular groove 15.
Further, robotic arm 23 include bottom mounting plate 42, pedestal 43, bottom turntable 44, bottom rotary drive motor,
Large arm support 45, large arm 46, large arm wobble drive motor, middle arm support 47, middle arm 48, middle arm swing driving motor, rotating seat
49, end rotary drive motor, forearm 50, end rotary drive motor 51, end wobble drive motor and manipulator；Peace
Loading board 42 is fixedly mounted on the card slot 12 of 1 top surface of base cabinet by corner brace 24；Pedestal 43 is fixedly mounted on bottom mounting plate 42
On；Bottom turntable 44 is rotatably mounted on bottom mounting plate 42, and is revolved by bottom rotary drive motor driving bottom turntable 44
Turn；Large arm support 45 is fixedly mounted on bottom turntable 44；The lower end of large arm 46 is tilting articulated to be mounted on large arm support 45
On, and swung by large arm wobble drive motor driven large arm 46；The middle tilting articulated upper end for being mounted on large arm 46 of arm support 47
On, and swung by arm support 47 in the driving of middle arm swing driving motor；One end of middle arm 48 is fixedly mounted on middle arm support 47
On；Rotating seat 49 is rotatably mounted on the other end of middle arm 48, and is revolved by end rotary drive motor driving rotating seat 49
Turn；Forearm 50 is fixedly mounted on rotating seat 49；The shell of end rotary drive motor 51 is tilting articulated to be mounted on forearm 50
On, and swung by end wobble drive motor driven end rotary drive motor 51；Manipulator is fixedly mounted on end rotation and drives
On the output shaft of dynamic motor 51；It is equipped in the top surface of base cabinet 1 for the threading hole 39 through control line；Bottom rotation driving electricity
Machine, large arm wobble drive motor, middle arm swing driving motor, end rotary drive motor, end rotary drive motor 51 and
The driver of end wobble drive motor passes through controlling cable and is electrically connected with PLC controller；Power module passes through power cable
For bottom rotary drive motor, large arm wobble drive motor, middle arm swing driving motor, end rotary drive motor, end rotation
Turn driving motor 51 and the power supply of end wobble drive motor；Controlling cable and power cable run through threading hole 39 by base cabinet 1
It is connected internally to control cabinet 28.
Further, manipulator includes 52, four support rods 53 of disk, 57, two pieces of the sliding block bar shaped of end panel 54, two gear
Plate 60, clamping 61, two pull rods 66 of driving motor and two clamp arm 58；Disk 52 is fixedly mounted on end rotation driving electricity
On the output shaft of machine 51；Two pieces of strip-shaped baffles 60 and four support rods 53 support be mounted on disk 52 and end panel 54 it
Between, and the plate face of two pieces of strip-shaped baffles 60 is parallel to each other；Clamping driving motor 61 is fixedly mounted on disk 52, and is being clamped
Abutting joint has rotary shaft 63 on the output shaft of driving motor 61；Shaft is fixedly installed between four support rods 53 to fix
Plate 62；Rotary shaft 63 is rotatably mounted in shaft fixed plate 62, and rotary shaft 63 and shaft fixed plate 62 are perpendicular；It is revolving
The free end of shaft 63 is equipped with external screw thread 64；Threaded engagement has drive block 65 on external screw thread 64；In the side plate of end panel 54
Face is equipped with T shape sliding slot 55, and is equipped with strip-shaped hole in the trench bottom of T shape sliding slot 55；Two sliding blocks 57 are slidably mounted at T
On shape sliding slot 55, and it is equipped on sliding block 57 and picks up the ears 67 through another lateral plates of strip-shaped hole projecting end plate 54；Two pull rods
66 lower end, which is respectively articulated with, to be mounted on two and picks up the ears on 67, and the equal oblique pull in the upper end of two pull rods 66 is hinged on drive block 65；Two
It is a pick up the ears 67 about rotary shaft 63 axis centre it is symmetrical；One and rotation are equipped in the relative inner of two pieces of strip-shaped baffles 60
The parallel guide chute 68 of the axis of shaft 63；It sets to be embedded in be oriented to there are two slidingtype respectively in the side of drive block 65 and slide
Guide runner 69 in slot 68；An installation bar blocks 56 are equipped in two sliding blocks 57；Two clamp arm 58 are fixedly mounted respectively
In two installation bar blocks 56；An arc-shaped claws 59, and two arc-shaped claws are respectively equipped in the end of two clamp arm 58
59 overbending direction is opposite；PLC controller is electrically connected with the driver of clamping driving motor 61；Power module is clamping driving
Motor 61 is powered.
Further, the bottom of base cabinet 1 four, vertex is equipped with a foot support plate 2, in each foot support
An idler wheel 3 and a studdle 4 are equipped on the downside of plate 2；Idler wheel 3 is universal wheel, utilizes universal wheel and support
The support adjustment mechanism that screw rod 4 and support footing 5 are constituted can maintain balance and all-around mobile；In the lower end of studdle 4
Upper threaded engagement has support footing 5；Cabinet door 25 is hingedly installed in the leading flank of base cabinet 1, and door knob is installed in cabinet door 25
Hand 26.
For the Multifunctional desktop type robot training work station of the invention in production, PLC controller is using existing
Conventional PLC controller；Touch screen 38 is inputted for showing with control instruction, to be run by PLC controller pre-set
Real training program, real training program complete set movement for controlling each motor；Emergency stop switch 35 in the process of running to
PLC controller sends emergency stop control command；Run indicator 36 and malfunction indicator lamp 37 are issued for PLC controller runs shape
State signal；Laser sensor 19 is for sending and acquiring laser detection signal；The material face for identification of Tansducer For Color Distiguishing 22
Color；Feed drive motor 40, bottom rotary drive motor, large arm wobble drive motor, middle arm swing driving motor, end rotation
Turn driving motor, end rotary drive motor 51, end wobble drive motor and clamping driving motor 61 and is all made of stepping electricity
Machine.
The Multifunctional desktop type robot training work station of the invention can complete following several Practice Curriculums:
(1) stacking and carrying real training: a part of product is manually taken to be placed on the upper side stage of material table from material storage rack
On face 10, using touch screen 38 select stacking, carry program, by PLC controller control robotic arm 23 according to setting sequence into
Row crawl, and be placed on the corresponding position of upside table top 10 according to the stacking shape of setting, user can also be by simple
Self-programming, the shape in path and stacking that planning robotic arm 23 grabs.
(2) loading and unloading real training: automatic loading/unloading is completed for simulating robotic arm 23 and numerically-controlled machine tool cooperation.Manually from material
It takes a part of product to be placed on a region on the upside table top 10 of material table in storage rack, is set as raw material area, robotic arm 23
Manipulator grab and be moved to some position after a workpiece and carry out feeding, the manipulator operation of robotic arm 23 after the completion of feeding
It is waited to some position, after the completion of machine tooling, the manipulator of robotic arm 23 will be placed on after the workpiece grabbing processed
In the finished product area being arranged on upside table top 10, the manipulator of robotic arm 23 continues to grab in sequence, can thus complete pair
The process of 23 loading and unloading of robotic arm carries out simulation and training.
(3) color identification dynamic crawl real training: mainly robotic arm 23 is completed under the guidance of Tansducer For Color Distiguishing 22
Dynamic crawl product.Manually from taking a part of product to be placed in material cylinder 31 on material storage rack, in driving cylinder 32
Under promotion, product is shifted on conveyer belt 20, workpiece when running to the lower section of Tansducer For Color Distiguishing 22 on conveyer belt 20,
Tansducer For Color Distiguishing 22 carries out color of image identification, and recognition result information is sent to PLC controller, by PLC controller
Product dynamic is grabbed the corresponding position on the table top 10 of upside by control robotic arm 23.
(4) assemble workpiece real training: main analog robotic arm 23 assembles the process of some industrial parts.Manually deposited from material
Take a part of product component on storage frame, be placed on the corresponding position of upside table top 10, the manipulator of robotic arm 23 according still further to
Sequence crawl components, components are put on assembly table top 14 in the mounting hole of global facility, to complete the dress of components
With work.
(5) it detects workpiece size tolerance real training: being cooperated by robotic arm 23 and laser sensor 19, completed to product work
The dimensional tolerance of part measures.A part of product workpiece is manually taken from material storage rack, as workpiece to be checked, is placed on upside
10 corresponding position of table top, robotic arm 23 grab workpiece to be checked, are placed at the limit hole on laser detection table top 17, PLC control
Device triggers laser sensor 19, is detected by laser sensor 19 to workpiece size tolerance, and will test result and be sent to
PLC controller, PLC controller pass through touch screen 38 again, and such testing result can be presented on the touch screen 38；PLC controller
The acquisition data and normal data of laser sensor 19 are compared to, are judged judge whether the tolerance of mounted item is qualified；
If qualified, control robotic arm 23 and pick up mounted item from laser detection table top 17, be placed into the corresponding positions of assembly section
It sets；If unqualified, control robotic arm 23 and pick up mounted item from laser detection table top 17, be placed into substandard product
Area.
As described above, although the invention has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the invention itself.In the spirit and model for not departing from the invention that appended claims define
It, can various changes can be made in the form and details to it under the premise of enclosing.
Claims (10)
1. a kind of Multifunctional desktop type robot training work station, it is characterised in that: including base cabinet (1), robotic arm (23), material
Platform, assembly bench, laser detection mechanism, conveying mechanism, control cabinet (28), emergency stop operation box (27) and touch screen (38)；The bottom of at
The head clearance of cabinet (1) is arranged in parallel with card slot (12)；Robotic arm (23), material table, assembly bench, laser detection mechanism, conveying
Mechanism, control cabinet (28) and emergency stop operation box (27) are mounted on the card slot (12) of base cabinet (1) top surface；Robotic arm (23) position
Middle position in top surface, material table, assembly bench, laser detection mechanism, conveying mechanism, control cabinet (28) and emergency stop operation
Box (27) is arranged around the edge of base cabinet (1) top surface, and in the extending range of robotic arm (23)；It is set in control cabinet (28)
There are PLC controller and power module；Refer on emergency stop operation box (27) equipped with power switch (34), emergency stop switch (35), operation
Show lamp (36) and malfunction indicator lamp (37)；Touch screen (38) is installed on the top of control cabinet (28)；PLC controller respectively with touching
Touch the laser sensor of screen (38), emergency stop switch (35), run indicator (36), malfunction indicator lamp (37), laser detection mechanism
(19), the control driving mechanism of the Tansducer For Color Distiguishing (22) of conveying mechanism and robotic arm (23) is electrically connected；Power switch
(34) it is serially connected on the supply lines of power module；Power module is respectively touch screen (38), PLC controller, run indicator
(36), malfunction indicator lamp (37), the laser sensor (19) of laser detection mechanism, conveying mechanism Tansducer For Color Distiguishing (22)
And the control driving mechanism power supply of robotic arm (23).
2. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: conveying mechanism includes
Conveyor belt support, conveyer belt (20), driven roller (29), feed drive motor (40), feed drive belt (41) and color inspection
It surveys bracket (21)；Conveyor belt support is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Each driven roller (29) is rotatably pacified
On conveyor belt support, conveyer belt (20) is around setting on each driven roller (29)；Feed drive motor (40) is mounted on
On conveyor belt support, and one of driven roller (29) rotation is driven by feed drive belt (41)；Color detection bracket
(21) it is L bracket, and is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Tansducer For Color Distiguishing (22) is fixedly mounted
In the upper end of color detection bracket (21), and it is directed toward the top of conveyer belt (20)；PLC controller and feed drive motor (40)
Driver electrical connection；Power module is feed drive motor (40) power supply.
3. Multifunctional desktop type robot according to claim 2 training work station, it is characterised in that: further include one to
Expect mechanism；Feeder includes material cylinder (31), driving cylinder (32), feed bracket (30) and air pump；It is fed bracket
(30) it is mounted on the card slot (12) of base cabinet (1) top surface；Material cylinder (31) is mounted vertically on horizontal mounting plate (33), horizontal
Mounting plate (33) is horizontally arranged on feed bracket (30), and the lower end of material cylinder (31) is open and runs through horizontal mounting plate
(33)；On feed bracket (30) and it is located at the lower section of material cylinder (31) equipped with bearing plate；Cylinder (32) are driven to be fixedly mounted
Push plate is provided on feed bracket (30), and in the piston rod end of driving cylinder (32)；Push plate close to bearing plate and with hold
Fishplate bar is parallel, and push plate is located between bearing plate and the lower end of material cylinder (31)；The lower end of material cylinder (31) and bearing plate
Upside interplanar distance be greater than one block of material thickness and less than the thickness of two blocks of materials；Bearing plate is located at conveyer belt (20) one end
Top；PLC controller is electrically connected with the driver of air pump；Air pump and driving cylinder (32) piping connection；Power module is air pump
Power supply.
4. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: laser detection mechanism
Including laser sensing bracket (18), laser detection table top (17) and surface rack (16)；Surface rack (16) and laser sensing
Bracket (18) is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Laser detection table top (17) is horizontally arranged at table top branch
On frame (16), and limit hole is equipped at the center of laser detection table top (17)；Laser sensor (19) is fixedly mounted on laser
The upper end of bracket (18) is sensed, and is directed toward the limit hole at laser detection table top (17) center.
5. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: further include an object
Expect storage rack；Material storage rack is made of two vertical upright columns (7) and three pieces of material memory planes (6)；Two vertical upright columns (7)
It is mounted vertically on the card slot (12) of base cabinet (1) top surface；Two branch are arranged in parallel in the lower section of every piece of material memory plane (6)
It supports crossbeam (8)；Two support beams (8) below every piece of material memory plane (6) are separately mounted on two vertical upright columns (7),
And the interval between neighbouring two pieces of material memory planes (6) is equal.
6. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: material table includes upper
Side stage face (10) and underlying holder (9)；Underlying holder (9) is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Upside table top
(10) it is fixedly mounted on underlying holder (9), and is equipped with material limit circular groove (11) on upside table top (10).
7. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: assembly bench includes dress
With table top (14) and assembly bench bracket (13)；Assembly bench bracket (13) is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Dress
It is fixedly mounted on assembly bench bracket (13) with table top (14), and is equipped with assembly limit circular groove (15) in assembly table top (14).
8. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: robotic arm (23) packet
Include bottom mounting plate (42), pedestal (43), bottom turntable (44), bottom rotary drive motor, large arm support (45), large arm
(46), large arm wobble drive motor, middle arm support (47), middle arm (48), middle arm swing driving motor, rotating seat (49), end
Rotary drive motor, forearm (50), end rotary drive motor (51), end wobble drive motor and manipulator；Mounting plate
(42) it is fixedly mounted on the card slot (12) of base cabinet (1) top surface；Pedestal (43) is fixedly mounted on bottom mounting plate (42)；Bottom
Turntable (44) is rotatably mounted on bottom mounting plate (42), and by bottom rotary drive motor driving bottom turntable (44) rotation
Turn；Large arm support (45) is fixedly mounted on bottom turntable (44)；The lower end of large arm (46) is tilting articulated to be mounted on large arm branch
On seat (45), and swung by large arm wobble drive motor driven large arm (46)；Middle arm support (47) is tilting articulated to be mounted on greatly
On the upper end of arm (46), and swung by arm support (47) in the driving of middle arm swing driving motor；The fixed peace in one end of middle arm (48)
On middle arm support (47)；Rotating seat (49) is rotatably mounted on the other end of middle arm (48), and is rotated and driven by end
Motor driven rotating seat (49) rotation；Forearm (50) is fixedly mounted on rotating seat (49)；End rotary drive motor (51)
Shell is tilting articulated to be mounted on forearm (50), and is put by end wobble drive motor driven end rotary drive motor (51)
It is dynamic；Manipulator is fixedly mounted on the output shaft of end rotary drive motor (51)；It is equipped in the top surface of base cabinet (1) for running through
The threading hole (39) of control line；Bottom rotary drive motor, large arm wobble drive motor, middle arm swing driving motor, end rotation
Turn driving motor, end rotary drive motor (51) and end wobble drive motor driver pass through controlling cable with
PLC controller electrical connection；Power module is bottom rotary drive motor, large arm wobble drive motor, middle arm by power cable
Wobble drive motor, end rotary drive motor, end rotary drive motor (51) and the power supply of end wobble drive motor；Control
Cable and power cable processed run through threading hole (39) and are connected internally to control cabinet (28) by base cabinet (1).
9. Multifunctional desktop type robot according to claim 8 training work station, it is characterised in that: manipulator includes circle
Disk (52), four support rods (53), end panel (54), two sliding blocks (57), two pieces of strip-shaped baffles (60), clamping driving motor
(61), two pull rods (66) and two clamp arm (58)；Disk (52) is fixedly mounted on the defeated of end rotary drive motor (51)
On shaft；Two pieces of strip-shaped baffles (60) and four support rods (53) support be mounted on disk (52) and end panel (54) it
Between, and the plate face of two pieces of strip-shaped baffles (60) is parallel to each other；Clamping driving motor (61) is fixedly mounted on disk (52), and
Clamping abutting joint on the output shaft of driving motor (61) has rotary shaft (63)；It is fixedly installed between four support rods (53)
Shaft fixed plate (62)；Rotary shaft (63) is rotatably mounted on shaft fixed plate (62), and rotary shaft (63) is fixed with shaft
Plate (62) is perpendicular；External screw thread (64) are equipped in the free end of rotary shaft (63)；Threaded engagement has driving on external screw thread (64)
Block (65)；It is equipped with T shape sliding slot (55) in the side plate face of end panel (54), and is equipped with item in the trench bottom of T shape sliding slot (55)
Shape hole；Two sliding blocks (57) are slidably mounted on T shape sliding slot (55), and are equipped on sliding block (57) and stretch out through strip-shaped hole
End panel (54) another lateral plates pick up the ears (67)；The lower end of two pull rods (66), which is respectively articulated with, to be mounted on two and picks up the ears (67)
On, the equal oblique pull in upper end of two pull rods (66) is hinged on drive block (65)；Two axis of (67) about rotary shaft (63) of picking up the ears
Line central symmetry；The relative inner of two pieces of strip-shaped baffles (60) be equipped with one with the axis of rotary shaft (63) is parallel leads
To sliding slot (68)；The guide runner there are two difference slidingtype in guide chute (68) is set in the side of drive block (65)
(69)；An installation bar blocks (56) is equipped in two sliding blocks (57)；Two clamp arm (58) are respectively and fixedly installed to two peaces
It fills on bar blocks (56)；An arc-shaped claws (59), and two arc-shaped claws are respectively equipped in the end of two clamp arm (58)
(59) overbending direction is opposite；PLC controller is electrically connected with the driver of clamping driving motor (61)；Power module is that clamping is driven
Dynamic motor (61) power supply.
10. Multifunctional desktop type robot according to claim 1 training work station, it is characterised in that: in base cabinet (1)
The vertex of bottom four is equipped with a foot support plate (2), is equipped with one on the downside of each foot support plate (2)
Idler wheel (3) and a studdle (4)；Threaded engagement has support footing (5) on the lower end of studdle (4)；In base cabinet
(1) leading flank is hingedly equipped with cabinet door (25), and door handle (26) are equipped on cabinet door (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811022337.7A CN109166444B (en) | 2018-09-02 | 2018-09-02 | Multi-functional desktop type robot practical training workstation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811022337.7A CN109166444B (en) | 2018-09-02 | 2018-09-02 | Multi-functional desktop type robot practical training workstation |
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| CN109166444B CN109166444B (en) | 2024-02-20 |
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| CN112258968A (en) * | 2020-11-03 | 2021-01-22 | 威海赛威智能科技有限公司 | Numerical control machine tool |
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| CN112258968A (en) * | 2020-11-03 | 2021-01-22 | 威海赛威智能科技有限公司 | Numerical control machine tool |
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|---|---|
| CN109166444B (en) | 2024-02-20 |
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