CN110315514B - Desktop type double-arm cooperative robot system for practical training - Google Patents
Desktop type double-arm cooperative robot system for practical training Download PDFInfo
- Publication number
- CN110315514B CN110315514B CN201910727229.8A CN201910727229A CN110315514B CN 110315514 B CN110315514 B CN 110315514B CN 201910727229 A CN201910727229 A CN 201910727229A CN 110315514 B CN110315514 B CN 110315514B
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- robot
- cooperation robot
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- workbench
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- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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
- G09B9/00—Simulators for teaching or training purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a desktop double-arm cooperative robot system for practical training, which is flexible to use and can meet the functional requirements of various works on complex workpieces; the robot comprises a visual cooperation robot and an assembly cooperation robot, wherein the visual cooperation robot and the assembly cooperation robot are relatively arranged on the workbench, a sliding groove is formed in the workbench between the visual cooperation robot and the assembly cooperation robot, a tool clamp for placing a workpiece is slidably arranged in the sliding groove, a touch screen is further arranged on the workbench, and a material rack for storing plug-ins is arranged on the workbench at the tail end of the sliding groove; the tail ends of the visual cooperation robot and the assembly cooperation robot are respectively provided with a clamp, the clamp is a clamping jaw type clamp driven by an air cylinder, and the bottom end of the clamp at the tail end of the visual cooperation robot is provided with a camera.
Description
Technical Field
The invention relates to the technical field of robot cooperation, in particular to a desktop double-arm cooperation robot system for practical training.
Background
The robot is widely applied to the industries of automobile parts, 3C electronics, metal machinery, hardware and bathroom, food and beverage, service industry, scientific research test, medical pharmacy and the like, and in recent years, the robot is widely focused on the operation of objects in human environment, the robot can finish difficult work, for example, an operator can see on an automobile production line that the operator uses one hundred kilograms of welding tongs to finish thousands of welding spot tasks, the working strength and the working difficulty are very high, the task can be conveniently finished through the robot operation, which is an important reason why the robot needs to be pushed into a classroom, but the conventional robot is not provided with a corresponding assembly training system, and therefore, the development of the practical training system for assembling complex workpieces by the robot is significant.
Disclosure of Invention
Aiming at the problems, the invention provides a desktop double-arm cooperative robot system for practical training, which is flexible to use and can meet the functional requirements of various works on complex workpieces.
The technical scheme is as follows: it includes the robot, its characterized in that: the robot is divided into a visual cooperation robot and an assembly cooperation robot, the visual cooperation robot and the assembly cooperation robot are relatively arranged on the workbench, a sliding groove is formed in the workbench between the visual cooperation robot and the assembly cooperation robot, a tool clamp for placing a workpiece is slidably arranged in the sliding groove, a touch screen is further arranged on the workbench, and a material rack for storing plug-ins is arranged on the workbench at the tail end of the sliding groove; the clamp holders are arranged at the tail ends of the visual cooperation robot and the assembly cooperation robot, the clamp holders are clamping jaw type clamp holders, and a camera is arranged at the bottom end of the clamp holders at the tail end of the visual cooperation robot.
It is further characterized by:
the two sliding grooves are formed in the sliding groove, the tool clamp comprises a first L-shaped tool base and a second L-shaped tool base, the first tool base and the second tool base are respectively assembled in the sliding groove, a servo motor is arranged on the outer side of the first tool base, a hollow rotary table is arranged on the inner side of the first tool base, the servo motor is connected with the hollow rotary table, the hollow rotary table is connected with one end of a carrier plate, the other end of the carrier plate is connected with a rotary plate, the rotary plate is in rotary connection with the second tool base, a carrier plate is arranged on the carrier plate, a clamping block is arranged on the carrier plate, and the clamping block is connected with a clamping cylinder arranged on the carrier plate;
positioning columns are arranged on the carrier at the opposite sides of the clamping blocks, and two clamping blocks and two clamping cylinders connected with the clamping blocks are arranged;
the material rest is provided with a plurality of material rest, and set up side by side on the workstation, the material rest is H type be equipped with the arch on the support body of material rest opposite side, bellied material is rubber.
The invention has the advantages that the visual cooperation robot scans the appointed installation position of the workpiece through the camera, the assembly cooperation robot takes out the plug-in unit from the material rack, and the plug-in unit is installed at the appointed installation position on the workpiece according to the position data scanned by the visual cooperation robot, so that the invention has the advantages of high assembly precision and high assembly efficiency compared with the existing manual assembly, and is more flexible to use, thereby meeting the functional requirements on various works of complex workpieces and having better use popularization value.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a vision cooperative robot;
fig. 3 is a schematic view of a structure for assembling a cooperative robot;
FIG. 4 is a schematic structural view of a tooling fixture;
fig. 5 is a partial schematic view of a multi-row rack.
Detailed Description
As shown in fig. 1 to 5, the invention comprises a robot and a workbench 1, wherein the robot is divided into a visual cooperative robot 2 and an assembling cooperative robot 3, the visual cooperative robot 2 and the assembling cooperative robot 3 are relatively arranged on the workbench 1, a sliding groove 8 is formed on the workbench 1 between the visual cooperative robot 2 and the assembling cooperative robot 3, and a tool clamp 4 can freely slide in the sliding groove 8, so that the assembling requirement is conveniently met; the fixture 4 for placing the workpiece 7 is slidably arranged in the sliding groove 8, and the workbench 1 is also provided with a touch screen 6 which can be operated and displayed in real time; a work table 1 at the tail end of the sliding groove 8 is provided with a work rest 5 for storing plug-in components; the tail ends of the vision cooperative robot 2 and the assembly cooperative robot 3 are respectively provided with a clamp 9, the clamp 9 adopts a clamp jaw type clamp 9 driven by the existing air cylinder, and the bottom end of the clamp 9 at the tail end of the vision cooperative robot 2 is provided with a camera 10.
The two sliding grooves 8 are formed, the tooling fixture 4 comprises a first tooling base 4-1 and a second tooling base 4-2 which are L-shaped, the first tooling base 4-1 and the second tooling base 4-2 are respectively assembled in the sliding grooves 8, a servo motor 4-3 is arranged on the outer side of the first tooling base 4-1, a hollow rotary table 4-4 is arranged on the inner side of the first tooling base, the servo motor 4-3 is connected with the hollow rotary table 4-4, the hollow rotary table 4-4 is connected with one end of a carrier plate 4-5, the other end of the carrier plate 4-5 is connected with a rotary plate 4-10, the rotary plate 4-10 is rotationally connected with the second tooling base 4-2, a carrier plate 4-6 is arranged on the carrier plate 4-5, a clamping block 4-7 is arranged on the carrier plate 4-6, and the clamping block 4-7 is connected with a clamping cylinder 4-8 arranged on the carrier plate 4-6; the carrier 4-6 on the opposite side of the clamping block 4-7 is provided with a positioning column 4-9, and the clamping block 4-7 and a clamping cylinder 4-8 connected with the clamping block 4-7 are provided with two positioning columns; the work or material rest 5 is equipped with a plurality of, and connects side by side and set up on workstation 1, and work or material rest 5 is the H type, is equipped with protruding 11 on the support body of work or material rest 5 opposite side, and protruding 11's material is rubber, can prevent wearing and tearing plug-in components.
In the invention, the visual cooperation robot 2 scans the appointed installation position (such as the position of the card slot) of the workpiece 7 through the camera 10, the assembly cooperation robot 3 takes out the card from the material rack 5, and installs the card on the appointed installation position of the workpiece 7 according to the position data scanned by the visual cooperation robot 2, if the requirement of angular inclined assembly is needed, the hollow turntable 4-4 can be driven by the servo motor 4-3 to enable the carrying platform 4-6 to rotate to an angle suitable for the assembly of the card (namely, the workpiece is rotated to an angle suitable for the assembly together), so that the assembly can be convenient, and compared with the existing manual assembly, the assembly has the advantages of high assembly precision and high assembly efficiency, the use is more flexible, thereby meeting the functional requirements on various works of complex workpieces, and having better use and popularization values.
Claims (1)
1. A desktop type double arm cooperation robot system for training, it includes robot, its characterized in that: the robot is divided into a visual cooperation robot and an assembly cooperation robot, the visual cooperation robot and the assembly cooperation robot are relatively arranged on the workbench, a sliding groove is formed in the workbench between the visual cooperation robot and the assembly cooperation robot, a tool clamp for placing a workpiece is slidably arranged in the sliding groove, a touch screen is further arranged on the workbench, and a material rack for storing plug-ins is arranged on the workbench at the tail end of the sliding groove; the tail ends of the visual cooperative robot and the assembly cooperative robot are respectively provided with a clamp holder, the clamp holders adopt clamping jaw type clamp holders, and the bottom ends of the clamp holders at the tail ends of the visual cooperative robot are provided with cameras; the two sliding grooves are formed in the sliding groove, the tool clamp comprises a first L-shaped tool base and a second L-shaped tool base, the first tool base and the second tool base are respectively assembled in the sliding groove, a servo motor is arranged on the outer side of the first tool base, a hollow rotary table is arranged on the inner side of the first tool base, the servo motor is connected with the hollow rotary table, the hollow rotary table is connected with one end of a carrier plate, the other end of the carrier plate is connected with a rotary plate, the rotary plate is in rotary connection with the second tool base, a carrier plate is arranged on the carrier plate, a clamping block is arranged on the carrier plate, and the clamping block is connected with a clamping cylinder arranged on the carrier plate; positioning columns are arranged on the carrier at the opposite sides of the clamping blocks, and two clamping blocks and two clamping cylinders connected with the clamping blocks are arranged; the material rest is provided with a plurality of material rest, and set up side by side on the workstation, the material rest is H type be equipped with the arch on the support body of material rest opposite side, bellied material is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727229.8A CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727229.8A CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110315514A CN110315514A (en) | 2019-10-11 |
| CN110315514B true CN110315514B (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910727229.8A Active CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001142B (en) * | 2021-03-18 | 2023-02-03 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113093356B (en) * | 2021-03-18 | 2022-08-12 | 北京空间机电研究所 | Large-scale block optical component assembling method based on mechanical arm |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
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| CN209035901U (en) * | 2018-09-19 | 2019-06-28 | 湖南同惠智能科技有限公司 | A kind of automatic assembling device of mobile phone rear camera |
| CN210589269U (en) * | 2019-08-07 | 2020-05-22 | 江苏汇博机器人技术股份有限公司 | Desktop type double-arm cooperative robot system for practical training |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011115877A (en) * | 2009-12-02 | 2011-06-16 | Canon Inc | Double arm robot |
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2019
- 2019-08-07 CN CN201910727229.8A patent/CN110315514B/en active Active
Patent Citations (9)
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|---|---|---|---|---|
| CN205764655U (en) * | 2016-05-19 | 2016-12-07 | 北京航天光华电子技术有限公司 | A kind of electric connector manual welding crimps adjustable clamping tooling |
| CN107186696A (en) * | 2017-06-02 | 2017-09-22 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
| CN207165091U (en) * | 2017-07-03 | 2018-03-30 | 武汉金石兴机器人自动化工程有限公司 | A kind of industrial robot vision is with line tracing teaching module |
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| CN108393870A (en) * | 2018-03-05 | 2018-08-14 | 江南大学 | A kind of asymmetric both arms cooperation robot |
| CN108877462A (en) * | 2018-06-27 | 2018-11-23 | 上海慧程工程技术服务有限公司 | A kind of intelligence manufacture simulation training system based on cooperation robot |
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| CN110315514A (en) | 2019-10-11 |
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