CN110232858B - Practical training platform of multifunctional robot - Google Patents
Practical training platform of multifunctional robot Download PDFInfo
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- CN110232858B CN110232858B CN201910622910.6A CN201910622910A CN110232858B CN 110232858 B CN110232858 B CN 110232858B CN 201910622910 A CN201910622910 A CN 201910622910A CN 110232858 B CN110232858 B CN 110232858B
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- 238000012549 training Methods 0.000 title claims abstract description 33
- 230000007306 turnover Effects 0.000 claims abstract description 37
- 238000005498 polishing Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000010422 painting Methods 0.000 claims description 39
- 230000007704 transition Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 10
- 239000002893 slag Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims 3
- 230000006870 function Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000000740 bleeding effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000007591 painting process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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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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- Business, Economics & Management (AREA)
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- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional robot training platform, which comprises a control cabinet, a six-degree-of-freedom robot, a visual detection mechanism, a manipulator assembly, a storage platform I, a storage platform II and a turnover workbench, wherein the six-degree-of-freedom robot is positioned on the control cabinet; the overturning workbench is positioned at one side of the object placing platform II and is used for carrying out operation demonstration through the manipulator assembly; the practical training platform is used for carrying, detecting, stacking, writing and demonstrating, polishing and demonstrating and fast changing demonstrating of the grippers by matching with various tools, and has the advantages of simple structure, low cost, concentrated functions, small volume and convenience for students to learn.
Description
Technical Field
The invention relates to the technical field related to teaching robots, in particular to a multifunctional robot practical training platform.
Background
In the current society, along with the development of science and technology, robot courses are developed in a plurality of universities to teach the knowledge of robot structures, control systems and the like, but industrial robots are large in size and high in cost, and are inconvenient to introduce and demonstrate to students during teaching, so that a robot practical training platform is generated.
The robot practical training platform can provide a comprehensive innovation education platform and teaching research platform for students and teachers, guide the students to learn and practice courses such as single-chip microcomputer and microcontroller, digital electronics and analog electronics, digital logic, detection technology and sensors, industrial control, robotics and the like, and innovate experimental teaching contents, methods and means by adopting a systematic method, so that the students can know basic principles and actual measurement and control methods and objects, and the theory is practical and scientific leading engineering. Improving the innovation ability and the manual ability of students, improving the teaching level of the whole specialty, and widely stimulating the interests and enthusiasm of learners.
The existing robot training platforms are various in variety, such as the following patent documents: the utility model patent document with the publication number of CN207824891U discloses a practical training platform of a robot, which adopts double robots to carry materials and write and demonstrate, but the practical training platform has a complex structure, is inconvenient to operate, has slightly deficient functions, plays a certain advantage for teaching, and is inconvenient for students to understand.
Therefore, a novel robot training platform with simpler structure and more complete functions is needed to promote understanding of students, so that the students are clear at a glance, learning and operation are convenient, and the robot training platform achieves the teaching purpose.
Disclosure of Invention
The invention aims to provide a multifunctional robot practical training platform, which is characterized in that a small robot is matched with various tools on a desktop to realize carrying, detection, stacking, writing demonstration, polishing demonstration and quick-change demonstration of a gripper.
The technical scheme adopted by the invention for realizing the technical purposes is as follows: the practical training platform comprises a control cabinet, a detachable six-degree-of-freedom robot, a visual detection mechanism, a manipulator assembly, a storage platform I, a storage platform II and a turnover workbench, wherein the detachable six-degree-of-freedom robot, the visual detection mechanism, the manipulator assembly, the storage platform I, the storage platform II and the turnover workbench are positioned on the upper plane of the control cabinet;
The turnover workbench is positioned on one side of the object placing platform II and is used for carrying out operation demonstration through the manipulator assembly, the turnover workbench comprises a turnover plate, a coupler, a driving shaft, a servo motor, a switch frame and two bearing seats, the switch frame comprises a turnover switch and a travel switch, the turnover plate is arranged between the two bearing seats through a rotating shaft, one side of one bearing seat is connected with the servo motor through the driving shaft and the coupler, the turnover plate is driven to turn under the action of the turnover switch, and the turnover plate is driven to move under the action of the travel switch;
The manipulator assembly comprises a manipulator support, a polishing manipulator, a painting brush manipulator and a sucker manipulator, wherein the manipulator support consists of upright posts, cross beams and a placing plate, the two cross beams are erected between the two upright posts from top to bottom, the placing plate is fixedly arranged on one side of the upper ends of the two upright posts, and three grooves for placing the manipulator are arranged on the placing plate side by side along one side of the placing plate far away from the upright posts;
The grinding machine manipulator comprises a main quick-change chuck, a sub quick-change chuck, a transitional positioning flange, a bracket, a mounting seat and a miniature electric grinder, wherein the transitional positioning flange is arranged at the upper end of the bracket, the mounting seat is arranged at the lower end of the bracket, the sub quick-change chuck is arranged at the upper part of the transitional positioning flange, the main quick-change chuck is arranged on a robot arm, the main quick-change chuck and the sub quick-change chuck can be spliced together, the mounting seat consists of an annular sleeve and a fastening assembly, the outer wall of the annular sleeve is fixedly connected with the inner side of the bracket, the fastening assembly consists of a shell, an adjusting bolt, a jacking rod and a jacking arc plate, the shell is covered on the outer wall of the bracket, the head end of the adjusting bolt extends into the shell through a threaded through hole on the side wall of the shell, the jacking arc plate is arranged in the annular sleeve and is fixed at the head end of the jacking rod through the side wall of the outer arc surface of the shell, the tail end of the jacking rod penetrates through the annular sleeve and is arranged in the shell, the annular sleeve and the annular sleeve is coaxially arranged between the jacking rod and the adjusting bolt, the inner wall opposite to the annular sleeve and the jacking arc plate is provided with a limiting arc plate, the arc plate is internally provided with a cambered surface of the limiting arc plate, the limiting arc plate faces towards the jacking plate, the end face of the annular sleeve is symmetrically provided with two symmetrical wing limit grooves, two L-shaped limiting grooves are symmetrically arranged, and two limit grooves are symmetrically arranged in the two side limiting grooves are respectively;
The painting brush manipulator comprises a female quick-change chuck, a male quick-change chuck, a transitional positioning flange, a support, a spring seat, a movable sleeve and a painting brush, wherein the transitional positioning flange is arranged at the upper end of the support, the spring seat is arranged at the lower end of the support, the male quick-change chuck is arranged at the upper part of the transitional positioning flange, the female quick-change chuck is arranged on a robot arm, the female quick-change chuck and the male quick-change chuck can be inserted together, the spring seat comprises a sleeve body, a diameter-reducing ring and a rear end cover, the diameter-reducing ring is arranged at the lower port of the sleeve body, the rear end cover is arranged at the upper port of the sleeve body, a through hole for the movable sleeve to pass through is formed in the rear end cover, the movable sleeve comprises a sleeve body, a limiting ring, a spring and a painting brush fixing bolt, the sleeve body sequentially passes through the rear end cover, the sleeve body and the diameter-reducing ring, the limiting ring fixing sleeve is arranged on the sleeve body in the sleeve body, the spring sleeve body is arranged on the sleeve body between the limiting ring and the rear end cover, the side wall of the lower end of the sleeve body is provided with a threaded hole, the head end of the painting brush fixing bolt is rotatably arranged in the threaded hole, and the painting brush fixing bolt is fixedly arranged in the sleeve body through the sleeve body;
The sucker manipulator comprises a main quick-change chuck, a sub quick-change chuck, a transition positioning flange, a support, a mounting assembly and a sucker assembly, wherein the support is of a U-shaped structure formed by an upper top plate, a side plate and a lower bottom plate, the transition positioning flange is fixedly connected with the upper top plate of the support, the sub quick-change chuck is arranged on the upper part of the transition positioning flange, the main quick-change chuck is arranged on a robot arm, the main quick-change chuck and the sub quick-change chuck can be spliced together, the mounting assembly consists of a fixing nut, an adjusting screw and a connecting rod, a through hole is formed in the lower bottom plate of the support, the fixing nut is fixedly arranged in the through hole in a penetrating way, the adjusting screw is arranged in the fixing nut in a rotating way, the adjusting screw is a hollow rod body, the connecting rod penetrates through the adjusting screw and is fixedly connected with the adjusting screw, the sucker assembly consists of a connecting column, the sucker and the air nozzle, the upper end face of the connecting column is provided with a threaded blind hole, the side wall of the connecting column is provided with external threads matched with the threaded blind hole, one end of the sucker is arranged at the lower end of the connecting column, one end of the sucking column is communicated with the sucking column, the sucking channel is arranged on the side wall of the connecting column, the sucking rod is provided with the sucking rod, the air body, the air and the air tap.
As a further optimization of the multifunctional robot training platform, the invention: the tail end of the adjusting bolt is provided with a poking wheel convenient to operate.
As a further optimization of the multifunctional robot training platform, the invention: and grooves matched with the tightening arc plates in shape are formed in the butt joint positions of the side walls of the miniature electric mill and the tightening arc plates.
As a further optimization of the multifunctional robot training platform, the invention: and the front surface and the back surface of the turning plate are both provided with leakage grooves.
As a further optimization of the multifunctional robot training platform, the invention: the slag charging groove is arranged below one side of the turning plate which rotates downwards.
As a further optimization of the multifunctional robot training platform, the invention: and a plurality of corresponding workpiece storage areas are arranged on the object placing platform I and the object placing platform II.
As a further optimization of the multifunctional robot training platform, the invention: the upper plane of the control cabinet is provided with a plurality of section bars which are placed in parallel, and a mounting gap for bolts to pass through is arranged between the section bars, so that the control cabinet is prevented from being damaged by punching on the upper plane of the control cabinet.
Compared with the prior art, the invention has the following beneficial effects:
1) Compared with the existing practical training platform, the practical training platform is provided with the manipulator assembly, and the manipulator assembly is provided with three manipulators with different functions, so that the functions of polishing, drawing and sucking disc grabbing can be respectively demonstrated in the practical training process, and the three manipulators are provided with more mechanical assembly structures, so that the manual operation capability of students can be exercised;
2) The training platform has the advantages of simple structure, low cost, concentrated functions and smaller volume, and is more convenient for students to learn;
3) According to the invention, the slag leakage groove on the turning plate can enable slag generated when the polishing manipulator polishes materials to leak below the turning plate, so that the working surface of the turning plate is smooth, errors between the polished materials and required materials are reduced, the slag groove below the turning plate is used for collecting slag after polishing each time, the pollution of a tabletop is reduced, and the tabletop is cleaner;
4) The polishing manipulator in the training platform manipulator assembly is provided with the miniature electric mill which can be quickly assembled/disassembled, when the miniature electric mill is required to be installed, the head end of the electric mill is downwards inserted into the installation seat, two wing rods on the side wall of the electric mill are respectively arranged in the limit grooves of the two annular sleeves, then the miniature electric mill is rotated, the wing rods slide into the bottoms of the limit grooves, finally, the adjusting bolts are axially moved by rotating the thumb wheel, so that the jacking rod is driven to axially move, finally, the jacking arc plate is extruded towards the miniature electric mill, finally, the fixation of the miniature electric mill is realized under the combined action of the jacking arc plate and the limit arc plate, and the control circuit interface of the miniature electric mill is arranged at the position corresponding to the jacking arc plate, and the circuit interface of the robot arm is arranged on the surface of the jacking arc plate, which is contacted with the miniature electric mill, so that after the miniature electric mill is fixed, the control circuit is also communicated;
5) The painting brush manipulator in the practical training platform manipulator assembly is provided with the painting brush capable of flexibly moving up and down, the painting brush is arranged in the spring seat through the movable sleeve, and in the process of painting by the manipulator, if the surface of the painting plate is protruded, the painting brush can move upwards with the movable sleeve, and after the painting brush passes over the protrusion, the movable sleeve can move downwards with the painting brush under the extrusion action of the spring so as to keep the pen point of the painting brush in close contact with the painting plate.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the overall structure of the turnover table;
FIG. 4 is a schematic diagram I of a manipulator assembly;
FIG. 5 is a schematic structural view II of a manipulator assembly;
FIG. 6 is a schematic diagram I of a polishing manipulator;
FIG. 7 is a schematic structural view II of a polishing manipulator;
FIG. 8 is a schematic view of a fastening assembly of the sanding robot;
FIG. 9 is a schematic diagram of the mating relationship of the limit slot and the wing lever of the grinding manipulator;
FIG. 10 is a schematic diagram I of a painting brush manipulator;
FIG. 11 is a schematic diagram II of a painting brush manipulator;
FIG. 12 is a schematic cross-sectional view of FIG. 11 taken along line B-B;
FIG. 13 is a schematic diagram I of a chuck manipulator;
FIG. 14 is a schematic structural view II of a chuck manipulator;
The marks in the figure: 1. the mechanical arm support, 2, the polishing mechanical arm, 3, the painting brush mechanical arm, 4, the sucking disc mechanical arm, 5, the control cabinet, 6, the six-degree-of-freedom robot, 7, the visual detection mechanism, 8, the conveying belt, 9, the turnover workbench, 10, the object placing platform I, 11, the object placing platform II, 12, the workpiece, 13, the profile frame, 1-1, the upright post, 1-2, the cross beam, 1-3, the placing plate, 2-1, the micro electric grinder, 2-2, the annular sleeve, 2-3, the shell, 2-4, the adjusting bolt, 2-5, the jacking rod, 2-6, the jacking arc plate, 2-7, the limiting arc plate, 2-8 and the limiting groove, 2-9 parts of wing rods, 3-1 parts of painting brushes, 3-2 parts of sleeve bodies, 3-3 parts of diameter-reducing rings, 3-4 parts of rear end covers, 3-5 parts of sleeve bodies, 3-6 parts of limiting rings, 3-7 parts of springs, 3-8 parts of painting brush fixing bolts, 4-1 parts of upper top plates, 4-2 parts of side plates, 4-3 parts of lower bottom plates, 4-4 parts of fixing nuts, 4-5 parts of adjusting screws, 4-6 parts of connecting rods, 4-7 parts of connecting columns, 4-8 parts of suckers, 4-9 parts of air nozzles, 9-1 parts of turning plates, 9-2 parts of couplings, 9-3 parts of driving shafts, 9-4 parts of servo motors, 9-5 parts of switch frames, 9-6 parts of bearing blocks, 9-7 parts of leakage grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
As shown in fig. 1, a practical training platform for a multifunctional robot, the practical training platform comprises a control cabinet 5, a detachable six-degree-of-freedom robot 6, a visual detection mechanism 7, a manipulator assembly and a placement platform set, which are positioned on the upper plane of the control cabinet 5, wherein the placement platform set comprises a placement platform i 10 and a placement platform ii 11, a plurality of corresponding workpiece storage areas are respectively arranged on the placement platform i 10 and the placement platform ii 11, a conveying belt 8 is arranged between the placement platform i 10 and the placement platform ii 11, workpieces 12 with different colors are placed on the placement platform i 10, the six-degree-of-freedom robot 6 places the workpieces 12 on the conveying belt 8 through the manipulator assembly, and the color of the workpieces 12 on the conveying belt 8 is transferred to the six-degree-of-freedom robot 6 through the visual detection mechanism 7 positioned on one side of the conveying belt 8, so that the workpieces 12 on the conveying belt 8 are placed at the corresponding positions of the placement platform ii 11.
The training platform further comprises a turnover workbench 9, the turnover workbench 9 is located on one side of the object placing platform II 11, operation demonstration is carried out on the turnover workbench through a mechanical arm assembly, the turnover workbench 9 comprises a turnover plate 9-1, a coupler 9-2, a driving shaft 9-3, a servo motor 9-4, a switch frame 9-5 and two bearing seats 9-6, the switch frame 9-5 comprises a turnover switch and a travel switch, the turnover plate 9-1 is arranged between the two bearing seats 9-6 through a rotating shaft, one side of one bearing seat 9-6 is connected with the servo motor 9-4 through the driving shaft 9-3 and the coupler 9-2, the turnover plate 9-1 is driven to turn under the action of the turnover switch, and the turnover plate 9-1 is driven to move under the action of the travel switch.
As shown in fig. 4 and 5, the manipulator assembly comprises a manipulator support 1, a polishing manipulator 2, a painting brush manipulator 3 and a sucker manipulator 4, wherein the manipulator support consists of upright posts 1-1, cross beams 1-2 and placing plates 1-3, the two cross beams 1-2 are erected between the two upright posts 1-1 from top to bottom, the placing plates 1-3 are fixedly arranged on one sides of the upper ends of the two upright posts 1-1, and three grooves for placing the manipulator are arranged on the placing plates 1-3 side by side along one sides of the placing plates away from the upright posts 1-1.
As shown in fig. 6 and 7, the polishing manipulator 2 comprises a main quick-change chuck, a sub quick-change chuck, a transitional positioning flange, a bracket, a mounting seat and a miniature electric grinder 2-1. The transition positioning flange is arranged at the upper end of the support, the mounting seat is arranged at the lower end of the support, the sub quick-change chucks are arranged at the upper part of the transition positioning flange, the female quick-change chucks are arranged on the robot arm, the female quick-change chucks and the sub quick-change chucks can be spliced together, and the female quick-change chucks and the sub quick-change chucks are of the prior art and are not described in detail. The mount pad comprises annular sleeve 2-2 and fastening assembly, and annular sleeve 2-2's outer wall and the inboard fixed connection of support, and the lateral wall of support is provided with the screw thread through-hole that runs through support and annular sleeve 2-2, and fastening assembly comprises casing 2-3, adjusting bolt 2-4, tight pole 2-5 and tight arc board 2-6 in top, as shown in FIG. 8, casing 2-3 covers the outer wall of establishing at the support, and the head end of adjusting bolt 2-4 stretches into the setting in the casing 2-3 by the screw thread through-hole of casing 2-3 lateral wall, and the tail end of adjusting bolt 2-4 is provided with the thumb wheel of being convenient for operate. The tightening arc plate 2-6 is arranged in the annular sleeve 2-2 and is fixed at the head end of the tightening rod 2-5 through the side wall of the outer cambered surface, the tail end of the tightening rod 2-5 passes through the annular sleeve 2-2 and is arranged in the shell 2-3, the tightening rod 2-5 and the adjusting bolt 2-4 are coaxially arranged, and a groove matched with the tightening arc plate 2-6 in shape is formed in the butt joint position of the side wall of the miniature electric mill 2-1 and the tightening arc plate 2-6. The inner wall of the annular sleeve 2-2 opposite to the jacking arc plate 2-6 is provided with a limiting arc plate 2-7, the inner cambered surface of the limiting arc plate 2-7 faces the jacking arc plate 2-6, two limiting grooves 2-8 are symmetrically formed in the upper end face of the annular sleeve 2-2, the limiting grooves 2-8 are of L-shaped structures, as shown in fig. 9, the side wall of the miniature electric mill 2-1 is symmetrically provided with two wing rods 2-9, the two wing rods 2-9 are respectively inserted into the two limiting grooves 2-8 to be arranged, in order to realize the control of the miniature electric mill 2-1, a connector lug of a control circuit of the miniature electric mill 2-1 is arranged in a groove matched with the jacking arc plate 2-6, a control circuit connector of a robot arm is arranged on the inner cambered surface of the jacking arc plate 2-6, when the jacking arc plate 2-6 stretches into the groove and jacks, the control circuit of the robot arm is communicated, the control circuit of the robot arm is arranged in a bracket in a penetrating manner, and a power supply of the miniature electric mill 2-1 is a battery with the battery.
When the miniature electric mill 2-1 is required to be installed, the head end of the electric mill is downwards inserted into the installation seat, two wing rods 2-9 on the side wall of the electric mill are respectively arranged in limit grooves 2-8 of the two annular sleeves 2-2, then the miniature electric mill 2-1 is rotated, the wing rods 2-9 slide into the bottoms of the limit grooves 2-8, finally, through rotating the deflector wheel, the adjusting bolts 2-4 move along the axial direction, the deflector rod 2-5 is driven to move axially, finally, the deflector plate 2-6 is extruded towards the miniature electric mill 2-1, finally, under the combined action of the deflector plate 2-6 and the limit arc plate 2-7, the miniature electric mill 2-1 is fixed, and a control circuit interface of the miniature electric mill 2-1 is arranged at a position corresponding to the deflector plate 2-6, so that after the miniature electric mill 2-1 is fixed, a control circuit of the miniature electric mill is also communicated, when the miniature electric mill 2-1 is required to be taken down, the electric mill 2-1 is enabled to be vertically pulled down, and then, the miniature electric mill 2-1 is enabled to be kept away from the miniature electric mill 2-1 through rotating the deflector plate 2-6, and finally, the miniature electric mill 2-1 is enabled to be kept away from the miniature electric mill 2-1.
As shown in fig. 10, 11 and 12, the brush manipulator 3 includes a main quick-change chuck, a sub quick-change chuck, a transitional positioning flange, a bracket, a spring seat, a movable sleeve, and a brush 3-1. The transition positioning flange is arranged at the upper end of the support, the spring seat is arranged at the lower end of the support, the sub quick-change chuck is arranged at the upper part of the transition positioning flange, and the sub quick-change chuck is detachably connected with the transition positioning flange through bolts. The female quick-change chuck is arranged on the robot arm, the female quick-change chuck and the sub-quick-change chuck can be spliced together, and the female quick-change chuck and the sub-quick-change chuck are of the prior art and are not described in detail. The spring seat comprises a sleeve body 3-2, a reducing ring 3-3 and a rear end cover 3-4, and the sleeve body 3-2 of the spring seat is detachably connected with the bracket through bolts. The diameter-reducing ring 3-3 is arranged at the lower port of the sleeve body 3-2, and the diameter-reducing ring 3-3 has the function of preventing the movable sleeve from being separated from the spring seat. The rear end cover 3-4 is arranged at the upper port of the sleeve body 3-2, and a through hole through which the movable sleeve can pass is arranged on the rear end cover 3-4. The movable sleeve comprises a sleeve body 3-5, a limiting ring 3-6, a spring 3-7 and a painting brush fixing bolt 3-8, wherein the sleeve body 3-5 sequentially penetrates through a rear end cover 3-4, a sleeve body 3-2 and a reducing ring 3-3, the limiting ring 3-6 is fixedly sleeved on the sleeve body 3-5 positioned in the sleeve body 3-2, the reducing ring 3-3 is matched with the limiting ring 3-6 to prevent the movable sleeve from being separated from a spring seat, the spring 3-7 is sleeved on the sleeve body 3-5 positioned between the limiting ring 3-6 and the rear end cover 3-4, a threaded hole is formed in the side wall of the lower end of the sleeve body 3-5, the head end of the painting brush fixing bolt 3-8 is rotatably arranged in the threaded hole, and the painting brush 3-1 penetrates through the sleeve body 3-5 and is fixed through the painting brush fixing bolt 3-8.
When the painting brush 3-1 is installed, the painting brush 3-1 is adjusted to a proper height from top to bottom through the rear end cover 3-4 and the sleeve body 3-5, and then the painting brush fixing bolt 3-8 is rotated to enable the painting brush fixing bolt 3-8 to prop against the painting brush 3-1, so that the fixing of the painting brush 3-1 is completed. In the painting process, when the surface of the drawing board is protruded, the drawing pen 3-1 can move upwards with the movable sleeve, and after the drawing pen passes over the protruded part, the movable sleeve can move downwards with the drawing pen 3-1 under the extrusion action of the spring so as to keep the pen point of the drawing pen 3-1 in close contact with the drawing board.
As shown in fig. 13 and 14: the sucker manipulator 4 comprises a main quick-change chuck, a sub quick-change chuck, a transition positioning flange, a bracket, a mounting assembly and a sucker assembly, wherein the bracket is of a U-shaped structure formed by an upper top plate 4-1, a side plate 4-2 and a lower bottom plate 4-3, the transition positioning flange is fixedly connected with the upper top plate 4-1 of the bracket, the sub quick-change chuck is arranged on the upper part of the transition positioning flange, and the sub quick-change chuck is detachably connected with the transition positioning flange through bolts. The female quick-change chuck is arranged on the robot arm, the female quick-change chuck and the sub-quick-change chuck can be inserted together, and the female quick-change chuck and the sub-quick-change chuck are of the prior art and are not described in detail. The installation component comprises fixation nut 4-4, adjusting screw 4-5 and connecting rod 4-6, has seted up the through-hole on the lower plate 4-3 of support, and fixation nut 4-4 is fixed to be worn to establish in this through-hole, and adjusting screw 4-5 is established soon in fixation nut 4-4, and adjusting screw 4-5 is the cavity body of rod, and connecting rod 4-6 passes adjusting screw 4-5 setting and with adjusting screw 4-5 fixed connection, when the height of connecting rod needs to be adjusted, the upper end of rotating the connecting rod can. The sucking disc subassembly comprises spliced pole 4-7, sucking disc 4-8 and air cock 4-9, and the up end of spliced pole 4-7 is provided with the screw thread blind hole, and the lower extreme lateral wall of connecting rod 4-6 is provided with the external screw thread with this screw thread blind hole matched with, sucking disc 4-8 set up the lower extreme at spliced pole 4-7, be provided with the passageway of bleeding in the spliced pole 4-7, the one end and the sucking disc 4-8 intercommunication of passageway of bleeding, the other end setting of passageway of bleeding is at the lateral wall of spliced pole 4-7 and is connected with air cock 4-9. In order to realize intelligent control of the sucker 4-8, a valve is arranged at the air tap 4-9, a controller connecting contact of the valve is arranged at the bottom of a threaded blind hole of the connecting column 4-7, a contact connected with the training platform is arranged on the lower end face of the connecting rod 4-6, and after the connecting rod 4-6 is screwed into the threaded blind hole of the connecting column 4-7, the two contacts are communicated, so that intelligent control of the valve is realized.
Example 2
As shown in fig. 3, this embodiment is a further optimization of embodiment 1: the front and back surfaces of the turning plate 9-1 are provided with a leakage groove 9-7, and a slag groove is arranged below one side of the turning plate 9-1 which rotates downwards; the leakage groove 9-7 on the turning plate 9-1 can enable slag generated when the polishing manipulator 2 polishes materials to leak below the turning plate 9-1, so that the working surface of the turning plate 9-1 is smooth, and errors between the polished materials and required materials are reduced; the slag groove below the turning plate 9-1 is used for collecting residues after polishing each time, so that the pollution of the tabletop is reduced, and the tabletop is cleaner.
Example 3
As shown in fig. 2, this embodiment is a further optimization of embodiment 1: the upper plane of the control cabinet 5 is provided with a plurality of section bars 13 which are arranged in parallel, and installation gaps for bolts to pass through are arranged between the section bars 13 so as to avoid punching holes on the upper plane of the control cabinet 5 to damage the control cabinet 5.
Claims (3)
1. The utility model provides a real standard platform of multifunctional robot which characterized in that: the training platform comprises a control cabinet (5), a detachable six-degree-of-freedom robot (6), a visual detection mechanism (7), a manipulator assembly, a storage platform I (10), a storage platform II (11) and a turnover workbench (9), wherein the detachable six-degree-of-freedom robot (6), the visual detection mechanism (7), the manipulator assembly, the storage platform I (10) and the turnover workbench (9) are arranged on the upper plane of the control cabinet (5), a conveying belt (8) is arranged between the storage platform I (10) and the storage platform II (11), workpieces (12) with different colors are placed on the storage platform I (10), the six-degree-of-freedom robot (6) places the workpieces (12) on the conveying belt (8) through the manipulator assembly, and the color of the workpieces (12) on one side of the conveying belt (8) is transferred to the six-degree-of-freedom robot (6) through the visual detection mechanism (7) arranged on one side of the conveying belt (8), so that the workpieces (12) on the conveying belt (8) are placed on the corresponding positions of the storage platform II (11);
The turnover workbench (9) is positioned on one side of the object placing platform II (11), operation demonstration is carried out on the turnover workbench through a mechanical arm assembly, the turnover workbench (9) comprises a turnover plate (9-1), a coupler (9-2), a driving shaft (9-3), a servo motor (9-4), a switch frame (9-5) and two bearing seats (9-6), the switch frame (9-5) comprises a turnover switch and a travel switch, the turnover plate (9-1) is arranged between the two bearing seats (9-6) through a rotating shaft, one side of one bearing seat (9-6) is connected with the servo motor (9-4) through the driving shaft (9-3) and the coupler (9-2), the turnover plate (9-1) is driven to turn over under the action of the turnover switch, the turnover plate (9-1) is driven to move under the action of the travel switch, leakage grooves (9-7) are formed in the front and back surfaces of the turnover plate (9-1), and slag grooves are formed in the lower portion of one side of the turnover plate (9-1) which rotates downwards;
The manipulator assembly comprises a manipulator support (1), a polishing manipulator (2), a painting brush manipulator (3) and a sucker manipulator (4), wherein the manipulator support consists of upright posts (1-1), cross beams (1-2) and placing plates (1-3), the two cross beams (1-2) are erected between the two upright posts (1-1) from top to bottom, the placing plates (1-3) are fixedly arranged on one sides of the upper ends of the two upright posts (1-1), and three grooves for placing the manipulator are arranged on the placing plates (1-3) side away from the upright posts (1-1) side by side along the side of the placing plates away from the upright posts;
The polishing manipulator (2) comprises a main quick-change chuck, a sub quick-change chuck, a transitional positioning flange, a bracket, a mounting seat and a miniature electric mill (2-1), wherein the transitional positioning flange is arranged at the upper end of the bracket, the mounting seat is arranged at the lower end of the bracket, the sub quick-change chuck is arranged at the upper part of the transitional positioning flange, the main quick-change chuck is arranged on a robot arm, the main quick-change chuck and the sub quick-change chuck can be spliced together, the mounting seat is composed of an annular sleeve (2-2) and a fastening assembly, the outer wall of the annular sleeve (2-2) is fixedly connected with the inner side of the bracket, the fastening assembly is composed of a shell (2-3), an adjusting bolt (2-4), a jacking rod (2-5) and a jacking arc plate (2-6), the shell (2-3) is covered on the outer wall of the bracket, the head end of the adjusting bolt (2-4) is arranged in the shell (2-3) by a threaded through hole on the side wall of the shell (2-3), the tail end of the adjusting bolt (2-4) is provided with a wheel convenient to operate, the jacking rod (2-6) is fixedly arranged between the outer end of the annular sleeve (2-2) and the jacking rod (2-5) through the outer arc plate, the annular sleeve (2-2) is provided with a limiting arc plate (2-7) on the inner wall opposite to the jacking arc plate (2-6), the inner cambered surface of the limiting arc plate (2-7) faces the jacking arc plate (2-6), two limiting grooves (2-8) are symmetrically formed in the upper end face of the annular sleeve (2-2), the limiting grooves (2-8) are of an L-shaped structure, two wing rods (2-9) are symmetrically arranged on the side wall of the miniature electric mill (2-1), the two wing rods (2-9) are respectively inserted into the two limiting grooves (2-8), and grooves matched with the jacking arc plate (2-6) in shape are formed in the butt joint position of the side wall of the miniature electric mill (2-1) and the jacking arc plate (2-6);
The painting brush manipulator (3) comprises a main quick-change chuck, a sub quick-change chuck, a transition positioning flange, a bracket, a spring seat, a movable sleeve and a painting brush (3-1), wherein the transition positioning flange is arranged at the upper end of the bracket, the spring seat is arranged at the lower end of the bracket, a sub quick-change chuck is arranged at the upper part of the transition positioning flange, the main quick-change chuck is arranged on a robot arm, the main quick-change chuck and the sub quick-change chuck can be inserted together, the spring seat comprises a sleeve body (3-2), a diameter-reducing ring (3-3) and a rear end cover (3-4), the diameter-reducing ring (3-3) is arranged at the lower port of the sleeve body (3-2), the rear end cover (3-4) is arranged at the upper port of the sleeve body (3-2), a through hole through which the movable sleeve can pass is arranged on the rear end cover (3-4), the movable sleeve comprises a sleeve body (3-5), a limiting ring (3-6), a spring (3-7) and a painting brush fixing bolt (3-8), the sleeve body (3-5) sequentially passes through the sleeve body (3-4), the sleeve body (3-4) and the sleeve body (3-5) and the sleeve body (3-2) which is arranged on the sleeve body (3-2), the spring (3-7) is sleeved on the sleeve body (3-5) between the limiting ring (3-6) and the rear end cover (3-4), a threaded hole is formed in the side wall of the lower end of the sleeve body (3-5), the head end of the painting brush fixing bolt (3-8) is rotatably arranged in the threaded hole, and the painting brush (3-1) is arranged in the sleeve body (3-5) in a penetrating mode and is fixed through the painting brush fixing bolt (3-8);
The sucker manipulator (4) comprises a female quick-change chuck, a sub-quick-change chuck, a transitional positioning flange, a bracket, a mounting component and a sucker component, wherein the bracket is of a U-shaped structure formed by an upper top plate (4-1), a side plate (4-2) and a lower bottom plate (4-3), the transitional positioning flange is fixedly connected with the upper top plate (4-1) of the bracket, the sub-quick-change chuck is arranged on the upper part of the transitional positioning flange, the female quick-change chuck is arranged on a robot arm, the female quick-change chuck and the sub-quick-change chuck can be spliced together, the mounting component consists of a fixing nut (4-4), an adjusting screw (4-5) and a connecting rod (4-6), a through hole is formed in the lower bottom plate (4-3) of the bracket, the fixing nut (4-4) is fixedly arranged in the through hole in a penetrating way, the adjusting screw (4-5) is rotatably arranged in the fixing nut (4-4), the connecting rod (4-6) passes through the adjusting screw (4-5) and is fixedly connected with the adjusting screw, the sucker component consists of a connecting rod (4-7) and an air tap (4-8) and an air tap (4-4) which are in threaded connection with the upper end face of the connecting rod (4-6), the sucking disc (4-8) is arranged at the lower end of the connecting column (4-7), an air extraction channel is arranged in the connecting column (4-7), one end of the air extraction channel is communicated with the sucking disc (4-8), and the other end of the air extraction channel is arranged on the side wall of the connecting column (4-7) and connected with the air tap (4-9).
2. The multi-purpose robot training platform of claim 1, wherein: and a plurality of corresponding workpiece storage areas are arranged on the object placing platform I (10) and the object placing platform II (11).
3. The multi-purpose robot training platform of claim 1, wherein: the upper plane of the control cabinet (5) is provided with a plurality of section bars frames (13) which are placed in parallel, and installation gaps for bolts to pass through are formed between the section bars frames (13) so as to avoid punching holes on the upper plane of the control cabinet (5) to damage the control cabinet (5).
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| CN110788709A (en) * | 2019-12-10 | 2020-02-14 | 江苏汇博机器人技术股份有限公司 | Multifunctional automatic grinding device for practical training |
| CN114279291B (en) * | 2021-12-20 | 2024-04-26 | 金平 | Automatic thread quick-change detection system and detection method thereof |
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