CN110232858A - A kind of multi-function robot training platform - Google Patents
A kind of multi-function robot training platform Download PDFInfo
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- CN110232858A CN110232858A CN201910622910.6A CN201910622910A CN110232858A CN 110232858 A CN110232858 A CN 110232858A CN 201910622910 A CN201910622910 A CN 201910622910A CN 110232858 A CN110232858 A CN 110232858A
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- 238000012549 training Methods 0.000 title claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims abstract description 3
- 230000007704 transition Effects 0.000 claims description 28
- 230000007306 turnover Effects 0.000 claims description 27
- 230000009471 action Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 210000003813 thumb Anatomy 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 244000273618 Sphenoclea zeylanica Species 0.000 claims 1
- 230000006378 damage Effects 0.000 claims 1
- 238000005498 polishing Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 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
Abstract
The invention discloses a kind of multi-function robot training platforms, including control cabinet and positioned at the upper six-DOF robot of control cabinet, vision-based detection mechanism, mechanical arm assembly, object disposing platform I, object disposing platform II and overturning workbench, a conveyer belt is equipped between object disposing platform I and object disposing platform II, six-DOF robot is placed the workpiece on object disposing platform I on the conveyor belt by mechanical arm assembly, and pass through vision-based detection mechanism for the workpiece color transfer on conveyer belt to six-DOF robot, make it that workpiece on conveyer belt to be placed on to the corresponding position of object disposing platform II；Overturning workbench is located at the side of object disposing platform II, carries out operation demonstration on it by mechanical arm assembly；The training platform small scale robot cooperates various toolings to realize carrying, detection, stacking, writing demonstration, polishing demonstration and the quick change demonstration of handgrip of material, and of simple structure and low cost, function concentration, small volume easily facilitate the study of student.
Description
Technical field
The present invention relates to teaching robot's correlative technology field, a kind of particularly multi-function robot training platform.
Background technique
In today's society, with the development of science and technology, many colleges and universities have all carried out robot course, to teach robot knot
The knowledge such as structure, control system, and industrial robot volume is larger, and higher cost, introduces and demonstrates to student in teaching
Extremely inconvenient, robot training platform comes into being as a result,.
Robot training platform can provide comprehensive a creative teaching platform and teaching research and put down for student and teacher
Platform, guidance student progress single-chip microcontroller and microcontroller, digital and electronic and simulation electronic, Digital Logic, detection technique and sensor,
The study and practice of the courses such as Industry Control, robotics, and by using the method for system to experimental teaching content, method and
Means are innovated, and student is made not only to will appreciate that basic principle, but also will appreciate that actual investigating method and object, and theory connection is real
Border, the leading engineering of science.The innovation ability and manipulative ability of student are improved, the teaching level of entire profession is promoted, popularity
Excite the interest and passion of learner.
Existing robot training platform is many kinds of, such as following patent document: the reality of Publication No. CN207824891U
Disclose a kind of robot training platform with new patent file, the training platform use dual robot carry out the carrying of material with
And writing demonstration, structure is complicated for this training platform, and inconvenience operation, function is also slightly short of, although playing for teaching
Certain advantage, but it is not easy to student's understanding.
Therefore the novel robot training platform that a kind of structure is simpler, function is more complete is just needed to promote to learn
Raw understanding keeps student very clear, convenient for study and operation, so that robot training platform realizes teaching purpose.
Summary of the invention
The object of the present invention is to provide a kind of multi-function robot training platforms, are cooperated on the table with small scale robot each
Kind tooling realizes carrying, detection, stacking, writing demonstration, polishing demonstration and the quick change demonstration of handgrip of material, the training platform
Of simple structure and low cost, function concentration, small volume, easily facilitate the study of student.
The present invention to realize the above-mentioned technical purpose used by technical solution are as follows: a kind of multi-function robot training platform,
The training platform includes control cabinet and the removable six-DOF robot in the upper plane of control cabinet, vision inspection
Survey mechanism, mechanical arm assembly, object disposing platform I, object disposing platform II and overturning workbench, and object disposing platform I and object disposing platform II it
Between be equipped with a conveyer belt, the workpiece of different colours is placed on object disposing platform I, the six-DOF robot passes through mechanical arm assembly
Workpiece is placed on the conveyor belt, and the vision-based detection mechanism by being located at conveyer belt side passes the workpiece color on conveyer belt
Six-DOF robot is passed, makes it that workpiece on conveyer belt to be placed on to the corresponding position of object disposing platform II；
The overturning workbench is located at the side of object disposing platform II, carries out operation demonstration on it by mechanical arm assembly, overturns
Workbench includes turnover panel, shaft coupling, drive shaft, servo motor, switch frame and two bearing blocks, and the switch frame includes rotating
It closes and travel switch, the turnover panel is arranged between two bearing blocks by shaft, the side of one of bearing block passes through drive
Moving axis and shaft coupling are connected with servo motor, under the action of overturning switch, drive turnover panel to be overturn, in the work of travel switch
Under, turnover panel is driven to be moved；
The mechanical arm assembly includes manipulator support, grinding machine hand, paintbrush manipulator and sucker manipulator, the machinery
Hand bracket is made of column, crossbeam and placement plate, and two crossbeams are from top to bottom erected between two root posts, and placement plate is fixed
The upper end side of two root posts is set, is arranged side by side along its side far from column that there are three for placing machinery in placement plate
The slot of hand；
The grinding machine hand includes female quick chuck, sub- quick chuck, transition locating flange, bracket, mounting base and micro electric
The upper end of bracket is arranged in mill, the transition locating flange, and the lower end of bracket, the sub- quick chuck setting is arranged in mounting base
On the top of transition locating flange, female quick chuck is arranged on robot arm, and female quick chuck and sub- quick chuck can be inserted
It being connected together, the mounting base is made of annulus and fastening assembly, it is fixedly connected on the inside of the outer wall and bracket of annulus,
Fastening assembly is by shell, adjusting bolt, top-fastening rod and holds out against arc board group at the shell is located at the outer wall of bracket, adjusts spiral shell
The head end of bolt is protruded into shell by the tapped through hole of housing sidewall to be arranged, and is held out against arc plate and is placed in annulus and by its outer arc
Surface side wall, which is fixed on, holds out against rod head end, and the tail end of top-fastening rod passes through annulus and is placed in shell, and top-fastening rod and adjusting bolt
Between be coaxially disposed, the annulus inner wall opposite with arc plate is held out against is provided with position stopping arch plate, the intrados of position stopping arch plate
Towards the setting of arc plate is held out against, the upper surface of the annulus is symmetrically opened up there are two limiting slot, and the L-shaped structure of limiting slot is micro-
There are two wing bar, two wing bars are inserted into setting in two limiting slots respectively for the sidewall symmetry setting of type electric mill；
The paintbrush manipulator include female quick chuck, sub- quick chuck, transition locating flange, bracket, spring base, movable sleeve and
The upper end of bracket is arranged in paintbrush, the transition locating flange, and the lower end of bracket is arranged in spring base, and sub- quick chuck setting exists
The top of transition locating flange, female quick chuck are arranged on robot arm, and female quick chuck and sub- quick chuck are pluggable
Together, the spring base includes sleeve body, undergauge ring and rear end cap, and the lower port of sleeve body is arranged in undergauge ring, after
The upper port of sleeve body is arranged in end cap, and the through-hole passed through for movable sleeve is provided on rear end cap, the movable sleeve packet
Sleeve body, stop collar, spring and paintbrush fixing bolt are included, sleeve body sequentially passes through rear end cap, sleeve body and undergauge ring
Setting, stop collar fixing sleeve are provided in the sleeve body in sleeve body, and spring pocket is provided at stop collar and rear end cap
Between sleeve body on, the bottom side of the wall of described sleeve pipe ontology is provided with threaded hole, and the head end rotation of paintbrush fixing bolt is located at
In threaded hole, the paintbrush is threaded through in sleeve body and is fixed by paintbrush fixing bolt；
The sucker machinery hand includes female quick chuck, sub- quick chuck, transition locating flange, bracket, mounting assembly and sucker
The upper plate of component, the U-shaped structure that the bracket is upper plate, side plate and lower plate are constituted, transition locating flange and bracket is solid
The top of transition locating flange is arranged in fixed connection, sub- quick chuck, and female quick chuck is arranged on robot arm, female quick change
Together with collet is pluggable with sub- quick chuck, the mounting assembly is made of fixture nut, adjusting screw rod and connecting rod, branch
Through-hole is offered on the lower plate of frame, fixture nut fixation is worn in the through hole, and adjusting screw rod rotation is located in fixture nut, is adjusted
Section screw rod is hollow lever, and connecting rod is passed through and adjusting screw rod and is fixedly connected with adjusting screw rod, the Suction cup assembly by connecting column,
Sucker and gas nozzle composition, the upper surface of connecting column are provided with tapped blind hole, and the bottom side of the wall of connecting rod is provided with blind with the screw thread
The external screw thread that hole matches, sucker are arranged in the lower end of connecting column, bleed-off passage are provided in the connecting column, bleed-off passage
One end is connected to sucker, and the other end of bleed-off passage is arranged in the side wall of connecting column and connect with gas nozzle.
As a kind of advanced optimizing for multi-function robot training platform of the invention: the tail end setting for adjusting bolt
There is the thumb wheel convenient for operation.
As a kind of advanced optimizing for multi-function robot training platform of the invention: the side wall of the miniature electric mill and top
The position of tight arc plate docking is provided with shape and holds out against the groove that arc plate matches.
As a kind of advanced optimizing for multi-function robot training platform of the invention: the tow sides of the turnover panel are opened
Equipped with bakie.
As a kind of advanced optimizing for multi-function robot training platform of the invention: the side that the turnover panel rotates down
Lower section be equipped with material residue slot.
As a kind of advanced optimizing for multi-function robot training platform of the invention: the object disposing platform I and glove are flat
Several corresponding Workpiece storage areas are equipped on platform II.
As a kind of advanced optimizing for multi-function robot training platform of the invention: being set in the upper plane of the control cabinet
There are several section material frames being placed in parallel, there is the installation gap passed through for bolt between the section material frame, to avoid in control cabinet
Upper plane on punching destroy control cabinet.
Compared with prior art, the invention has the following beneficial effects:
1) training platform of the invention increases mechanical arm assembly compared with existing training platform, and has in mechanical arm assembly
There are three types of the manipulators of different function, and polishing, drawing and sucker can be demonstrated respectively during real training and grabs object function, and three
Kind manipulator all has more mechanical package structure, can temper the operating ability of students；
2) training platform of the invention is of simple structure and low cost, function is concentrated, small volume, easily facilitates the study of student；
3) bakie on turnover panel of the invention enables to generated material residue when grinding machine hand polishing material to leak out to turnover panel
Hereinafter, guaranteeing the smooth of turnover panel working face, to reduce the error between the material and required material that polish and, below turnover panel
Material residue slot reduces the pollution of desktop, so that desktop more cleans to the residue after collecting polishing every time；
4) the grinding machine hand in training platform mechanical arm assembly of the present invention is had and can be needed with the miniature electric mill of fast-assembling/quick-release
When miniature electric mill is installed, the head end of electric mill is inserted in mounting base downwards, and two wing bars of electric mill side wall is made to be respectively placed in two
In the limiting slot of a annulus, miniature electric mill is then rotated, wing bar is made to slide into the bottom of limiting slot, is dialled finally by turn
Wheel, makes to adjust bolt and is axially moveable, and then drives top-fastening rod axial movement, finally to hold out against arc plate and squeezes towards miniature electric mill
Pressure, finally in the case where holding out against the collective effect of arc plate and position stopping arch plate, realizes the fixation of miniature electric mill, also, the control of miniature electric mill
Line interface processed is holding out against the corresponding position of arc plate, holds out against and is provided with robot arm on the face that arc plate is contacted with miniature electric mill
Line interface, so that control route is also connected to after miniature electric mill is fixed；
5) the paintbrush manipulator in training platform mechanical arm assembly of the present invention has the paintbrush that can flexibly move up and down, and paintbrush is logical
It crosses movable sleeve to be mounted in spring base, during manipulator drawing, if protrusion occurs in the surface for drawing plate, paintbrush can band
Movable sleeve move up, after crossing protrusion, under the squeezing action of spring, movable sleeve can be moved down with paintbrush, with
It keeps brush tip and draws the close contact of plate.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is overlooking structure diagram of the invention；
Fig. 3 is the overall structure diagram for overturning workbench；
Fig. 4 is the structural schematic diagram I of mechanical arm assembly；
Fig. 5 is the structural schematic diagram II of mechanical arm assembly；
Fig. 6 is the structural schematic diagram I of grinding machine hand；
Fig. 7 is the structural schematic diagram II of grinding machine hand；
Fig. 8 is the fastening assembly structural schematic diagram of grinding machine hand；
Fig. 9 is the limiting slot of grinding machine hand and the matching relationship schematic diagram of wing bar；
Figure 10 is the structural schematic diagram I of paintbrush manipulator；
Figure 11 is the structural schematic diagram II of paintbrush manipulator；
Figure 12 is schematic cross-sectional view of the Figure 11 along line B-B；
Figure 13 is the structural schematic diagram I of sucker manipulator；
Figure 14 is the structural schematic diagram II of sucker manipulator；
Marked in the figure: 1, manipulator support, 2, grinding machine hand, 3, paintbrush manipulator, 4, sucker manipulator, 5, control cabinet, 6,
Six-DOF robot, 7, vision-based detection mechanism, 8, conveyer belt, 9, overturning workbench, 10, object disposing platform I, 11, glove it is flat
Platform II, 12, workpiece, 13, section material frame, 1-1, column, 1-2, crossbeam, 1-3, placement plate, 2-1, miniature electric mill, 2-2, annular sleeve
2-4, cylinder, 2-3, shell adjust bolt, 2-6,2-5, top-fastening rod hold out against arc plate, 2-7, position stopping arch plate, 2-8, limiting slot, 2-9,
Wing bar, 3-1, paintbrush, 3-2, sleeve body, 3-3, undergauge ring, 3-4, rear end cap, 3-5, sleeve body, 3-6, stop collar, 3-7,
4-5, spring, 3-8, paintbrush fixing bolt, 4-1, upper plate, 4-2, side plate, 4-3, lower plate, 4-4, fixture nut adjust spiral shell
Bar, 4-6, connecting rod, 4-7, connecting column, 4-8, sucker, 4-9, gas nozzle, 9-1, turnover panel, 9-2, shaft coupling, 9-3, drive shaft, 9-
4, servo motor, 9-5, switch frame, 9-6, bearing block, 9-7, bakie.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment 1
As shown in Figure 1, a kind of multi-function robot training platform, the training platform includes control cabinet 5 and is located at control cabinet 5
Upper plane on removable six-DOF robot 6, vision-based detection mechanism 7, mechanical arm assembly and object disposing platform group,
In, object disposing platform group includes object disposing platform I 10 and object disposing platform II 11, on the object disposing platform I 10 and object disposing platform II 11
Equipped with several corresponding Workpiece storage areas, and a conveyer belt 8, glove are equipped between object disposing platform I 10 and object disposing platform II 11
The workpiece 12 of different colours is placed on platform I 10, workpiece 12 is placed on by the six-DOF robot 6 by mechanical arm assembly
On conveyer belt 8, and 12 color transfer of workpiece on conveyer belt 8 is given six by the vision-based detection mechanism 7 by being located at 8 side of conveyer belt
Degree of freedom robot 6 makes it that workpiece 12 on conveyer belt 8 to be placed on to the corresponding position of object disposing platform II 11.
The training platform further include further include overturning workbench 9, the overturning workbench 9 is located at object disposing platform II 11
Side carries out operation demonstration by mechanical arm assembly on it, and overturning workbench 9 includes turnover panel 9-1, shaft coupling 9-2, drive shaft
9-3, servo motor 9-4, switch frame 9-5 and two bearing blocks 9-6, the switch frame 9-5 include overturning switch and travel switch,
The turnover panel 9-1 is arranged between two bearing block 9-6 by shaft, and the side of one of bearing block 9-6 passes through drive shaft
9-3 and shaft coupling 9-2 are connected with servo motor 9-4, under the action of overturning switch, drive turnover panel 9-1 to be overturn, in stroke
Under the action of switch, turnover panel 9-1 is driven to be moved.
As shown in Figure 4 and Figure 5, the mechanical arm assembly includes manipulator support 1, grinding machine hand 2, paintbrush manipulator 3
And sucker manipulator 4, the manipulator support are made of column 1-1, crossbeam 1-2 and placement plate 1-3, two crossbeam 1-2
It is from top to bottom erected between two root posts 1-1, placement plate 1-3 is fixed at the upper end side of two root posts 1-1, placement plate
1-3 is upper along its side far from column 1-1 slot arranged side by side there are three for placing manipulator.
As shown in Figure 6 and Figure 7, grinding machine hand 2 includes female quick chuck, sub- quick chuck, transition locating flange, branch
Frame, mounting base and miniature electric mill 2-1.The upper end of bracket is arranged in the transition locating flange, and mounting base is arranged under bracket
The top of transition locating flange is arranged in end, the sub- quick chuck, and female quick chuck is arranged on robot arm, female quick change
Together with collet is pluggable with sub- quick chuck, female quick chuck and sub- quick chuck are the prior art, and applicant is in manipulator
In manufacturing process, the quick chuck directly bought from market, and where the innovation of non-present invention, no longer it is described in detail.Mounting base
It is made of, is fixedly connected on the inside of the outer wall and bracket of annulus 2-2, the side wall of bracket is set annulus 2-2 and fastening assembly
Be equipped with the tapped through hole through bracket and annulus 2-2, fastening assembly by shell 2-3, adjust bolt 2-4, top-fastening rod 2-5 and
Arc plate 2-6 composition is held out against, as shown in figure 8, the shell 2-3 is located at the outer wall of bracket, adjusts the head end of bolt 2-4 by shell
The tapped through hole of 2-3 side wall protrudes into setting in shell 2-3, and the tail end for adjusting bolt 2-4 is provided with the thumb wheel for being convenient for operation.It holds out against
Arc plate 2-6 is placed in annulus 2-2 and is fixed on top-fastening rod 2-5 head end, the tail end of top-fastening rod 2-5 by its extrados side wall
It is placed in shell 2-3, and is coaxially disposed between top-fastening rod 2-5 and adjusting bolt 2-4, the micro electric across annulus 2-2
Grind the side wall of 2-1 with hold out against the position that arc plate 2-6 is docked and be provided with shape and hold out against the groove that arc plate 2-6 matches.Annular sleeve
Inner wall cylinder 2-2 opposite with arc plate 2-6 is held out against is provided with position stopping arch plate 2-7, and the intrados direction of position stopping arch plate 2-7 holds out against arc plate
2-6 setting, the upper surface of the annulus 2-2 are symmetrically opened up there are two limiting slot 2-8, the L-shaped structure of limiting slot 2-8, such as
Shown in Fig. 9, there are two wing bar 2-9, two wing bar 2-9 to be inserted into two limiting slots respectively for the sidewall symmetry setting of miniature electric mill 2-1
Setting in 2-8, in order to realize the control of miniature electric mill 2-1, by the connector lug setting of the control route of miniature electric mill 2-1 with top
In the groove that tight arc plate 2-6 matches, and the intrados for holding out against arc plate 2-6 is arranged in the control line joint of robot arm
On, when holding out against arc plate 2-6 and protruding into groove and hold out against, realize the connection of control route, the control route of robot arm
It is threaded through setting in bracket, the power supply of miniature electric mill 2-1 is included battery.
When needing to install miniature electric mill 2-1, the head end of electric mill is inserted in mounting base downwards, and makes two of electric mill side wall
Wing bar 2-9 is respectively placed in the limiting slot 2-8 of two annulus 2-2, then rotates miniature electric mill 2-1, slides into wing bar 2-9
The bottom of limiting slot 2-8 is axially moveable adjusting bolt 2-4 finally by turn thumb wheel, and then drives top-fastening rod 2-5 axis
To movement, finally to hold out against arc plate 2-6 and squeezed towards miniature electric mill 2-1, is finally holding out against arc plate 2-6 and position stopping arch plate 2-7
Collective effect under, realize the fixation of miniature electric mill 2-1, also, the control line interface of miniature electric mill 2-1 is holding out against arc plate 2-
6 corresponding positions hold out against the line interface that robot arm is provided on the face that arc plate 2-6 is contacted with miniature electric mill 2-1, so that
After miniature electric mill 2-1 is fixed, control route is also connected to, and when needing to remove miniature electric mill 2-1, first passes through turn thumb wheel,
Make to hold out against arc plate 2-6 far from miniature electric mill 2-1 movement, make no longer to hold out against miniature electric mill 2-1, then rotate miniature electric mill 2-1,
It slides into wing bar 2-9 in vertical slots, finally lifts miniature electric mill 2-1 upwards, miniature electric mill 2-1 can be removed.
As shown in Figure 10,11 and 12, paintbrush manipulator 3 include female quick chuck, sub- quick chuck, transition locating flange,
Bracket, spring base, movable sleeve and paintbrush 3-1.The upper end of bracket is arranged in transition locating flange, and spring base is arranged under bracket
The top of transition locating flange is arranged in end, sub- quick chuck, and sub- quick chuck is detachable by bolt and transition locating flange
Connection.Female quick chuck is arranged on robot arm, together with female quick chuck is pluggable with sub- quick chuck, female quick change folder
Head and sub- quick chuck are the prior art, and applicant is in manipulator manufacturing process, the quick chuck directly bought from market, and
Where the innovation of non-present invention, no longer it is described in detail.Spring base includes sleeve body 3-2, undergauge ring 3-3 and rear end cap 3-4, bullet
The sleeve body 3-2 of spring abutment is detachably connected by bolt and bracket.The lower port of sleeve body 3-2 is arranged in undergauge ring 3-3,
The effect of undergauge ring 3-3 is that movable sleeve is prevented to be detached from from spring base.The upper port of sleeve body 3-2 is arranged in rear end cap 3-4,
And the through-hole passed through for movable sleeve is provided on rear end cap 3-4.Movable sleeve includes sleeve body 3-5, stop collar 3-6, spring
3-7 and paintbrush fixing bolt 3-8, sleeve body 3-5 sequentially pass through rear end cap 3-4, sleeve body 3-2 and undergauge ring 3-3 setting,
Stop collar 3-6 fixing sleeve is provided on the sleeve body 3-5 in sleeve body 3-2, and the effect of stop collar 3-6 is undergauge ring 3-
To prevent movable sleeve to be detached from from spring base, spring 3-7 is set in the set between stop collar 3-6 and rear end cap 3-4 for 3 cooperations
On tube body 3-5, the bottom side of the wall of described sleeve pipe ontology 3-5 is provided with threaded hole, and the head end rotation of paintbrush fixing bolt 3-8 is located at
In threaded hole, the paintbrush 3-1 is threaded through in sleeve body 3-5 and is fixed by paintbrush fixing bolt 3-8.
When installing paintbrush 3-1, paintbrush 3-1 from top to bottom rear end cap 3-4 and sleeve body 3-5 is adjusted to suitable height
After degree, rotation paintbrush fixing bolt 3-8 makes paintbrush fixing bolt 3-8 hold out against paintbrush 3-1, completes the fixation of paintbrush 3-1.It is painting
In the process, when protrusion occurs in the surface for drawing plate, paintbrush 3-1 can be moved up with movable sleeve, after crossing protrusion, in spring
Squeezing action under, movable sleeve can be moved down with paintbrush 3-1, with the close contact for keeping paintbrush 3-1 pen tip Yu drawing plate.
As shown in Figure 13 and Figure 14: sucker manipulator 4 includes female quick chuck, sub- quick chuck, transition locating flange, branch
Frame, mounting assembly and Suction cup assembly, the bracket are the U-shaped structure that upper plate 4-1, side plate 4-2 and lower plate 4-3 are constituted, mistake
It crosses locating flange to be fixedly connected with the upper plate 4-1 of bracket, the top of transition locating flange, sub- quick change is arranged in sub- quick chuck
Collet is detachably connected by bolt and transition locating flange.Female quick chuck is arranged on robot arm, female quick chuck
Together with pluggable with sub- quick chuck, together with female quick chuck is pluggable with sub- quick chuck, female quick chuck and son are fast
Changing collet is the prior art, and applicant is in manipulator manufacturing process, the quick chuck directly bought from market, and non-present invention
Innovation where, be no longer described in detail.Mounting assembly is made of fixture nut 4-4, adjusting screw rod 4-5 and connecting rod 4-6, branch
Through-hole is offered on the lower plate 4-3 of frame, fixture nut 4-4 fixation is worn in the through hole, and adjusting screw rod 4-5 rotation is located at fixation
In nut 4-4, adjusting screw rod 4-5 is hollow lever, and connecting rod 4-6 passes through adjusting screw rod 4-5 and is arranged and consolidates with adjusting screw rod 4-5
Fixed connection, when needing to adjust the height of connecting rod, the upper end of turn connecting rod.The Suction cup assembly by connecting column 4-7,
Sucker 4-8 and gas nozzle 4-9 composition, the upper surface of connecting column 4-7 are provided with tapped blind hole, the bottom side of the wall setting of connecting rod 4-6
There is the external screw thread matched with the tapped blind hole, the lower end of connecting column 4-7, setting in the connecting column 4-7 is arranged in sucker 4-8
There is bleed-off passage, one end of bleed-off passage is connected to sucker 4-8, and the side wall of connecting column 4-7 is arranged in the other end of bleed-off passage
And it is connect with gas nozzle 4-9.In order to realize the intelligent control of sucker 4-8, valve, the controller of valve are provided at gas nozzle 4-9
The tapped blind hole bottom of connecting column 4-7 is arranged in connection contact, and the contact connecting with training platform is arranged under connecting rod 4-6
End face, after connecting rod 4-6 is screwed in the tapped blind hole of connecting column 4-7, two contact connections realize the intelligence control of valve
System.
Embodiment 2
As shown in figure 3, the present embodiment is advanced optimizing to embodiment 1: the tow sides of the turnover panel 9-1 offer leakage
The lower section of slot 9-7, the side that turnover panel 9-1 is rotated down are equipped with material residue slot；Bakie 9-7 on turnover panel 9-1 enables to sander
Generated material residue leaks out to turnover panel 9-1 hereinafter, guaranteeing the smooth of turnover panel 9-1 working face when the polishing material of tool hand 2, is beaten with reducing
Grind the error between the material and required material come；Material residue slot below turnover panel 9-1 to the residue after collecting polishing every time,
The pollution for reducing desktop, so that desktop more cleans.
Embodiment 3
As shown in Fig. 2, the present embodiment is advanced optimizing to embodiment 1: the upper plane of the control cabinet 5 is equipped with several flat
The section material frame 13 that row is placed has the installation gap passed through for bolt between the section material frame 13, to avoid in the upper of control cabinet 5
Punching destroys control cabinet 5 in plane.
Claims (7)
1. a kind of multi-function robot training platform, it is characterised in that: the training platform include control cabinet (5) and be located at control
Removable six-DOF robot (6), vision-based detection mechanism (7), mechanical arm assembly, glove in the upper plane of cabinet (5) processed
Platform I (10), object disposing platform II (11) and overturning workbench (9), and set between object disposing platform I (10) and object disposing platform II (11)
Have a conveyer belt (8), the workpiece (12) of different colours is placed on object disposing platform I (10), the six-DOF robot (6) passes through
Workpiece (12) is placed on conveyer belt (8) by mechanical arm assembly, and the vision-based detection mechanism by being located at conveyer belt (8) side
(7) it gives workpiece (12) color transfer on conveyer belt (8) to six-DOF robot (6), makes it by the workpiece on conveyer belt (8)
(12) it is placed on the corresponding position of object disposing platform II (11)；
Overturning workbench (9) is located at the side of object disposing platform II (11), carries out operation on it by mechanical arm assembly and drills
Show, overturning workbench (9) includes turnover panel (9-1), shaft coupling (9-2), drive shaft (9-3), servo motor (9-4), switch frame (9-
5) and two bearing blocks (9-6), the switch frame (9-5) include overturning switch and travel switch, and the turnover panel (9-1) is by turning
Axis is arranged between two bearing blocks (9-6), and the side of one of bearing block (9-6) passes through drive shaft (9-3) and shaft coupling
(9-2) is connected with servo motor (9-4), under the action of overturning switch, drives turnover panel (9-1) to be overturn, in travel switch
Under the action of, drive turnover panel (9-1) to be moved；
The mechanical arm assembly includes manipulator support (1), grinding machine hand (2), paintbrush manipulator (3) and sucker manipulator
(4), the manipulator support is made of column (1-1), crossbeam (1-2) and placement plate (1-3), and two crossbeams (1-2) are by upper
It is erected under between two root posts (1-1), placement plate (1-3) is fixed at the upper end side of two root posts (1-1), places
Along its side far from column (1-1) slot arranged side by side there are three for placing manipulator on plate (1-3)；
The grinding machine hand (2) includes female quick chuck, sub- quick chuck, transition locating flange, bracket, mounting base and miniature
The upper end of bracket is arranged in electric mill (2-1), the transition locating flange, and the lower end of bracket, the sub- quick change is arranged in mounting base
The top of transition locating flange is arranged in collet, and female quick chuck is arranged on robot arm, female quick chuck and sub- quick change
Collet is pluggable together, and the mounting base is made of annulus (2-2) and fastening assembly, the outer wall of annulus (2-2)
It is fixedly connected with bracket inside, fastening assembly is by shell (2-3), adjusting bolt (2-4), top-fastening rod (2-5) and holds out against arc plate (2-
6) it forms, the shell (2-3) is located at the outer wall of bracket, adjusts the head end of bolt (2-4) by the screw thread of shell (2-3) side wall
Through-hole protrudes into setting in shell (2-3), holds out against arc plate (2-6) and is placed in annulus (2-2) and is consolidated by its extrados side wall
It is scheduled on top-fastening rod (2-5) head end, the tail end of top-fastening rod (2-5) passes through annulus (2-2) and is placed in shell (2-3), and holds out against
Bar (2-5) and adjusting is coaxially disposed between bolt (2-4), the annulus (2-2) and holds out against the opposite inner wall of arc plate (2-6)
It is provided with position stopping arch plate (2-7), the intrados of position stopping arch plate (2-7) is arranged towards arc plate (2-6) is held out against, the annulus
The upper surface of (2-2) is symmetrically opened up there are two limiting slot (2-8), limiting slot (2-8) L-shaped structure, the side of miniature electric mill (2-1)
Wall is symmetrical arranged there are two wing bar (2-9), and two wing bars (2-9) are inserted into setting in two limiting slots (2-8) respectively；
The paintbrush manipulator (3) includes female quick chuck, sub- quick chuck, transition locating flange, bracket, spring base, activity
The upper end of bracket is arranged in set and paintbrush (3-1), the transition locating flange, and the lower end of bracket, sub- quick change is arranged in spring base
The top of transition locating flange is arranged in collet, and female quick chuck is arranged on robot arm, female quick chuck and sub- quick change
Collet is pluggable together, and the spring base includes sleeve body (3-2), undergauge ring (3-3) and rear end cap (3-4), undergauge ring
(3-3) be arranged sleeve body (3-2) lower port, rear end cap (3-4) be arranged sleeve body (3-2) upper port, and after
The through-hole passed through for movable sleeve is provided on end cap (3-4), the movable sleeve includes sleeve body (3-5), stop collar (3-
6), spring (3-7) and paintbrush fixing bolt (3-8), sleeve body (3-5) sequentially pass through rear end cap (3-4), sleeve body (3-
2) and undergauge ring (3-3) setting, stop collar (3-6) fixing sleeve are provided at the sleeve body (3-5) in sleeve body (3-2)
On, spring (3-7) is set in the sleeve body (3-5) between stop collar (3-6) and rear end cap (3-4), described sleeve pipe
The bottom side of the wall of ontology (3-5) is provided with threaded hole, and the head end rotation of paintbrush fixing bolt (3-8) is located in threaded hole, the picture
Pen (3-1) is threaded through in sleeve body (3-5) and is fixed by paintbrush fixing bolt (3-8)；
The sucker manipulator (4) includes female quick chuck, sub- quick chuck, transition locating flange, bracket, mounting assembly and suction
Disk component, the U-shaped structure that the bracket is upper plate (4-1), side plate (4-2) and lower plate (4-3) are constituted, transition locating flange
It is fixedly connected with the upper plate (4-1) of bracket, the top of transition locating flange, female quick chuck setting is arranged in sub- quick chuck
On robot arm, together with female quick chuck is pluggable with sub- quick chuck, the mounting assembly is by fixture nut (4-
4), adjusting screw rod (4-5) and connecting rod (4-6) form, and offer through-hole, fixture nut (4- on the lower plate (4-3) of bracket
4) fixation is worn in the through hole, and adjusting screw rod (4-5) rotation is located in fixture nut (4-4), and adjusting screw rod (4-5) is hollow stem
Body, connecting rod (4-6) pass through adjusting screw rod (4-5) and are fixedly connected with adjusting screw rod, and the Suction cup assembly is by connecting column (4-
7), sucker (4-8) and gas nozzle (4-9) composition, the upper surface of connecting column (4-7) are provided with tapped blind hole, under connecting rod (4-6)
End side wall is provided with the external screw thread matched with the tapped blind hole, and sucker (4-8) setting is described in the lower end of connecting column (4-7)
It is provided with bleed-off passage in connecting column (4-7), one end of bleed-off passage is connected to sucker (4-8), and the other end of bleed-off passage is set
It sets the side wall in connecting column (4-7) and is connect with gas nozzle (4-9).
2. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the adjusting bolt (2-4)
Tail end be provided with convenient for operation thumb wheel.
3. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the miniature electric mill (2-1)
Side wall with hold out against the position that arc plate (2-6) docks and be provided with shape and hold out against the groove that arc plate (2-6) matches.
4. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the turnover panel (9-1)
Tow sides offer bakie (9-7).
5. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the turnover panel (9-1) to
The lower section of the side of lower rotation is equipped with material residue slot.
6. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the object disposing platform I
(10) and on object disposing platform II (11) several corresponding Workpiece storage areas are equipped with.
7. a kind of multi-function robot training platform according to claim 1, it is characterised in that: the control cabinet (5)
Upper plane is equipped with several section material frames (13) being placed in parallel, and has the clipping room passed through for bolt between the section material frame (13)
Gap, to avoid punching destruction control cabinet (5) in the upper plane of control cabinet (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910622910.6A CN110232858A (en) | 2019-07-11 | 2019-07-11 | A kind of multi-function robot training platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910622910.6A CN110232858A (en) | 2019-07-11 | 2019-07-11 | A kind of multi-function robot training platform |
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Cited By (1)
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| CN114279291A (en) * | 2021-12-20 | 2022-04-05 | 金平 | Automatic thread quick-change detection system and detection method thereof |
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