CN206236362U - A kind of track reproducing industrial robot experience system - Google Patents
A kind of track reproducing industrial robot experience system Download PDFInfo
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- CN206236362U CN206236362U CN201621119168.5U CN201621119168U CN206236362U CN 206236362 U CN206236362 U CN 206236362U CN 201621119168 U CN201621119168 U CN 201621119168U CN 206236362 U CN206236362 U CN 206236362U
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Abstract
A kind of track reproducing industrial robot experience system of the utility model is related to Industrial Robot Technology field, particularly a kind of track reproducing industrial robot experience system used suitable for teaching, experiment.Including support and switch board, support is arranged on switch board；Support is provided with adjacent the first work top and the second work top, and installing arm is additionally provided with by the first work top, and the smart camera with light source is housed in installing arm end；Second work top is robotic workstation；Mesh plate is provided with inside switch board, discrete device is installed on mesh plate, control panel is set in switch board side, display screen and control button are provided with the control panel.The features such as the system complicated in mechanical structure degree is low, space tracking is easy to solve and positioning precision is high, its study threshold is relatively low, is suitable as the industrial robot training platform of entry level.
Description
Technical field
A kind of track reproducing industrial robot experience system of the utility model is related to Industrial Robot Technology field, particularly
A kind of track reproducing industrial robot experience system used suitable for teaching, experiment.
Background technology
In the modern job education of industrial robot specialty, in order to excite student for the learning interest of industrial robot
With the power studied in depth, it usually needs carry out professional skill culture to student using some typical Practical training equipments, make
Life grasps operation, the dimension of industrial robot during a series of experimental real-trainings for meeting enterprise's real operating environments and requiring
The vocational skills of the aspect such as shield and programming, are the compound professional of enterprise cultivation.
The training platform of existing industrial robot, study content and theme are excessively uninteresting, and mechanical structure is complex, opens
Putting property is not strong, it is difficult to meet the study requirement of specialized courses, is unfavorable for the innovation motivated students' interest in learning with training student
Consciousness.
Utility model content
The purpose of this utility model is directed to above-mentioned weak point and provides a kind of track reproducing industrial robot experience system,
The intention of drawing of writing is incorporated the real training process of three axle rectangular co-ordinate industrial robots, experience system structure is solved more multiple
The miscellaneous and excessively uninteresting problem of study content.
The utility model is realized using following technical scheme：
Track reproducing industrial robot experience system includes support and switch board, and support is arranged on switch board；
Support is provided with adjacent the first work top and the second work top, and installation is additionally provided with by the first work top
Arm, the smart camera with light source is equipped with installing arm end, is connected with rotating shaft mode between the installing arm and support, installing arm
Can be rotated on support；
Second work top is robotic workstation, a pair of parallel straight line is provided with the second work top and is led
Rail, is arranged on the second mounting bracket at this to being provided with the second mounting bracket, the second ball screw between line slideway, in the second peace
The end shelved is provided with the second servomotor, and the output shaft of the second servomotor is connected with the second ball screw, realizes machine
Movement of the people in Y direction；Monoblock type stepping electric platforms are also vertically provided with the second mounting bracket, in monoblock type stepping electricity
Centre position on the outside of moving platform is provided with water-color paintbrush, and the water-color paintbrush is moved in the Z-direction parallel with monoblock type stepping electric platforms
It is dynamic, realize the lift of water-color paintbrush, fall, so as to realize movement of the robot in Z-direction；
The first mounting bracket parallel to line slideway is provided with by line slideway, the first ball wire is housed on the first mounting bracket
Bar, the first servomotor is provided with rail end, and the output shaft of the first servomotor is connected with the first ball screw, and described first
Ball screw is driven by the first servomotor, realizes movement of the robot in X-direction；First ball screw and the second rolling
Ballscrew is perpendicular；
Mesh plate is provided with inside switch board, mesh plate discrete device, the mesh plate deviding device are installed on mesh plate
Part includes air switch, contactor, power-supply filter, Switching Power Supply, servo-driver, step actuator, light source controller, machine
Device people controller and binding post etc., robot controller are driven by industrial field bus with Industrial PC, servo-driver, stepping
The device talks such as dynamic device and light source controller, realize the teaching and monitoring of robot, can be according to reality teaches pattern requirement certainly when using
By assembling device and wiring；
Prominent control panel is additionally provided with switch board side, display screen and control button, institute are provided with the control panel
State display screen to be connected with robot controller with control button, display screen is used to show the working condition of robot, control is pressed
Key is used for transfer control instruction to robot controller；The control button is including startup, enable, study, crawl and jerk etc.
Conventional control function.
The installing arm includes mutually perpendicular vertical arm and transverse arm, and vertical arm is perpendicular to support, the smart camera dress with light source
In transverse arm end.
Travel switch is additionally provided with line slideway end, for detecting that industrial robot is rolled in the first ball screw and second
Advanced positions on ballscrew direction.
First servomotor, the second servomotor, monoblock type stepping electric platforms, travel switch, smart camera and
Light source is connected by binding post with the aviation plug in switch board respectively, and aviation plug is again by the control on wire and mesh plate
Control equipment is connected, and the control device includes air switch, contactor, power-supply filter, Switching Power Supply, servo-driver, step
Enter driver, light source controller, robot controller, binding post etc., the control device is discrete device.
Advantage of the present utility model：The features such as complicated in mechanical structure degree is low, space tracking is easy to solve and positioning precision is high,
Its study threshold is relatively low, is suitable as the industrial robot training platform of entry level, and simple to operate, easy to maintenance,
Cost is relatively low, can be used for the experimental real-training link of the correlated curriculums such as Industrial Robot Technology, servo control technique, machine vision,
Can be combined and realize servo system control, step-by-step system control, field bus communication, machine vision manipulation, rectangular co-ordinate industrial machine
Multiple practical training projects such as device people manipulation.The existing illustrative of practical training project and replication experiment, also there is design and comprehensive experiment,
Experiment content set science, rationally, the learning enthusiasm and subjective initiative of student can be excited, be conducive to students industrial machine
The operation principle of people and the Operation and Maintenance technical ability of hoisting machine people, with preferable promotional value.
Brief description of the drawings
Below with reference to accompanying drawing, the utility model is described in further detail：
Fig. 1 is the structural representation of the utility model track reproducing industrial robot experience system；
Fig. 2 is the control principle drawing of the utility model smart camera；
Fig. 3 is the operation principle block diagram of track reproducing industrial robot experience system in embodiment of the present utility model 2；
Fig. 4 is the specific control process figure of Fig. 3.
In figure：1st, support, the 2, first work top, the 3, second work top, the 4, first servomotor, the 5, second servo electricity
Machine, the 6, first ball screw, the 7, second ball screw, 8, line slideway, 9, monoblock type stepping electric platforms, 10, travel switch,
11st, smart camera, 12, light source, 13, switch board, 14, installing arm, 14-1, vertical arm, 14-2, transverse arm, 15, control panel, 16, aobvious
Display screen, 17, control button.
Specific embodiment
Referring to the drawings 1 ~ 2, the utility model track reproducing industrial robot experience system includes support 1 and switch board 13,
Support 1 is arranged on switch board 13；
Support 1 is provided with adjacent the first work top 2 and the second work top 3, is additionally provided with by the first work top 2
Installing arm 14, is equipped with the smart camera 11 with light source, with rotating shaft side between the installing arm 14 and support 1 in the end of installing arm 14
Formula is connected, and installing arm 14 can be rotated on support 1；
Second work top 3 is robotic workstation, and a pair of parallel straight line is provided with the second work top 3
Guide rail 8, is arranged on the second mounting bracket at this to being provided with the second mounting bracket, the second ball screw 7 between line slideway 8,
The end of the second mounting bracket is provided with the second servomotor 5, and the output shaft of the second servomotor 5 is connected with the second ball screw 7,
Realize movement of the robot in Y direction；Monoblock type stepping electric platforms 9 are also vertically provided with the second mounting bracket, whole
The centre position in the outside of body formula stepping electric platforms 9 is provided with water-color paintbrush, and the water-color paintbrush is parallel with monoblock type stepping electric platforms 9
Z-direction movement, realize the lift of water-color paintbrush, fall, so as to realize movement of the robot in Z-direction；
The first mounting bracket parallel to line slideway is provided with by line slideway 8, the first ball is housed on the first mounting bracket
Screw mandrel 6, the first servomotor 4 is provided with rail end, and the output shaft of the first servomotor 4 is connected with the first ball screw 6, institute
State the first ball screw 6 to be driven by the first servomotor 4, realize movement of the robot in X-direction；First ball screw
6 is perpendicular with the second ball screw 7；
Mesh plate is provided with inside switch board 13, having air switch, contactor is installed on mesh plate, power-supply filter, is opened
The discrete devices such as powered-down source, servo-driver, step actuator, light source controller, robot controller, binding post, machine
People's controller passes through the device talks such as industrial field bus and Industrial PC, servo-driver, step actuator and light source controller,
The teaching and monitoring of robot are realized, can be according to reality teaches pattern requirement independent assortment device and wiring when using；
Prominent control panel 15 is additionally provided with the side of switch board 13, display screen 16 and control are provided with control panel 15
Button 17, the display screen 16 and control button 17 are connected with robot controller, and display screen 16 is used to show robot
Working condition, control button 17 is used for transfer control instruction to robot controller；The control button 17 includes starting, makes
The conventional control functions such as energy, study, crawl and jerk.
The installing arm 14 includes mutually perpendicular vertical arm 14-1 and transverse arm 14-2, and vertical arm 14-1 is perpendicular to support 1, band light
The smart camera 11 in source is mounted in transverse arm 14-2 ends.
Travel switch 10 is additionally provided with the end of line slideway 8, for detecting industrial robot in the first ball screw 6 and
Advanced positions on the direction of two ball screw 7.
First servomotor 4, the second servomotor 5, monoblock type stepping electric platforms 9, travel switch 10, intelligent phase
Machine 11 and light source are connected by binding post with the aviation plug in switch board 13 respectively, and aviation plug passes through wire and mesh again
Control device on plate is connected, and the control device includes that air switch, contactor, power-supply filter, Switching Power Supply, servo are driven
The discrete devices such as dynamic device, step actuator, light source controller, robot controller, binding post.
The track reproducing industrial robot experience system can realize servomotor, stepping electricity in industrial robot Practice Curriculum
The basic practice teaching such as machine motion, while coordinating ball screw 6 and 7, travel switch 10, the combined realization of the grade of smart camera 11 is watched
Dress system control, step-by-step system control, field bus communication, machine vision manipulation, the manipulation of rectangular co-ordinate industrial robot etc. are more
Individual practical training project, practical training project sets scientific and reasonable, and every skill set requirements of Industrial Robot Technology are covered substantially.
Embodiment 1：
Referring to the drawings 2, the smart camera 11 in track reproducing industrial robot experience system passes through serial ports and ether respectively
Network interface is connected with robot controller and PC, and advance programming is carried out by image processing software in PC, and by profile
Positioning instrument and wscript.exe identification target pattern, while by download program to smart camera 11, when robot controller is obtained
Start the shooting image of smart camera 11 after to photographing instruction, obtain profile and pixel of the respective objects pattern under camera coordinates system
Coordinate, then data are transmitted to by robot controller with Modbus communication modes by serial ports are analyzed and process.
Embodiment 2：
Referring to the drawings 3~4, before the operation of track reproducing industrial robot experience system, by the control on control panel
Button selects control function, and relevant parameter is set in display screen, and the pixel coordinate data of target pattern are set in smart camera；
The movement locus of relative program control robot X-axis, Y-axis and Z-direction that robot controller is downloaded using host computer, specifically
Control process is as shown in Figure 4：The pixel coordinate data of the target pattern under camera coordinates system are converted to machine by robot controller
Base coordinate data under device people's coordinate system, further according to Robot kinematics equations planning robot X-axis and the motion rail of Y direction
Mark, while robot controller provides the control signal of Z-direction, realizes lift pen and function of starting to write.
Claims (4)
1. a kind of track reproducing industrial robot experience system, it is characterised in that：Including support and switch board, support is arranged on control
On cabinet processed；
Support is provided with adjacent the first work top and the second work top, and installing arm is additionally provided with by the first work top,
The smart camera with light source is housed in installing arm end, is connected with rotating shaft mode between the installing arm and support, installing arm energy
Rotated on support；
Second work top is robotic workstation, and a pair of parallel line slideway is provided with the second work top,
It is arranged on the second mounting bracket to being provided with the second mounting bracket, the second ball screw between line slideway at this, is installed second
The end of frame is provided with the second servomotor, and the output shaft of the second servomotor is connected with the second ball screw, realizes robot
In the movement of Y direction；Monoblock type stepping electric platforms are also vertically provided with the second mounting bracket, it is electronic in monoblock type stepping
Centre position on the outside of platform is provided with water-color paintbrush, and the water-color paintbrush is moved in the Z-direction parallel with monoblock type stepping electric platforms,
Realize the lift of water-color paintbrush, fall, so as to realize movement of the robot in Z-direction；
The first mounting bracket parallel to line slideway is provided with by line slideway, the first ball screw is housed on the first mounting bracket,
The first servomotor is provided with rail end, the output shaft of the first servomotor is connected with the first ball screw, first rolling
Ballscrew is driven by the first servomotor, realizes movement of the robot in X-direction；First ball screw and the second ball
Screw mandrel is perpendicular；
Mesh plate is provided with inside switch board, mesh plate discrete device, the mesh plate discrete device bag are installed on mesh plate
Include air switch, contactor, power-supply filter, Switching Power Supply, servo-driver, step actuator, light source controller, robot
Controller and binding post, robot controller by industrial field bus and Industrial PC, servo-driver, step actuator and
Light source controller device talk, realizes the teaching and monitoring of robot, according to reality teaches pattern requirement independent assortment device when using
And wiring；
Prominent control panel is additionally provided with switch board side, display screen and control button are provided with the control panel, it is described aobvious
Display screen is connected with control button with robot controller, and display screen is used to show the working condition of robot, and control button is used
In transfer control instruction to robot controller；The control button includes startup, enable, study, crawl and the conventional control of jerk
Function processed.
2. track reproducing industrial robot experience system according to claim 1, it is characterised in that：The installing arm includes
Mutually perpendicular vertical arm and transverse arm, vertical arm are mounted in transverse arm end perpendicular to support, the smart camera with light source.
3. track reproducing industrial robot experience system according to claim 1, it is characterised in that：In line slideway end
Travel switch is additionally provided with, for detecting traveling position of the industrial robot on the first ball screw and the second ball screw direction
Put.
4. track reproducing industrial robot experience system according to claim 1, it is characterised in that：The first servo electricity
Machine, the second servomotor, monoblock type stepping electric platforms, travel switch, smart camera and light source respectively by binding post with
Aviation plug in switch board is connected, and aviation plug is connected by wire with the control device on mesh plate again, and the control sets
It is standby to include air switch, contactor, power-supply filter, Switching Power Supply, servo-driver, step actuator, light source controller, machine
Device people controller and binding post, the control device are discrete device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119168.5U CN206236362U (en) | 2016-10-13 | 2016-10-13 | A kind of track reproducing industrial robot experience system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621119168.5U CN206236362U (en) | 2016-10-13 | 2016-10-13 | A kind of track reproducing industrial robot experience system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206236362U true CN206236362U (en) | 2017-06-09 |
Family
ID=58982359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621119168.5U Expired - Fee Related CN206236362U (en) | 2016-10-13 | 2016-10-13 | A kind of track reproducing industrial robot experience system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206236362U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108062904A (en) * | 2018-01-23 | 2018-05-22 | 北京华航唯实机器人科技股份有限公司 | A kind of robot teaching's equipment |
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN109360483A (en) * | 2018-12-25 | 2019-02-19 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for robot real training |
| CN109410686A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for PLC real training |
| CN109461339A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | A kind of electrical real training control mechanism and electrical teaching training platform |
| CN109461338A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | Real training mechanism and PLC Practical Training Teaching-Platform for PLC teaching |
| CN111210703A (en) * | 2020-03-04 | 2020-05-29 | 淮安信息职业技术学院 | Multi-type motor comprehensive training platform |
| CN112156992A (en) * | 2020-09-02 | 2021-01-01 | 天津博诺智创机器人技术有限公司 | Machine vision teaching innovation platform |
-
2016
- 2016-10-13 CN CN201621119168.5U patent/CN206236362U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108062904A (en) * | 2018-01-23 | 2018-05-22 | 北京华航唯实机器人科技股份有限公司 | A kind of robot teaching's equipment |
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN109360483A (en) * | 2018-12-25 | 2019-02-19 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for robot real training |
| CN109410686A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for PLC real training |
| CN109461339A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | A kind of electrical real training control mechanism and electrical teaching training platform |
| CN109461338A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | Real training mechanism and PLC Practical Training Teaching-Platform for PLC teaching |
| CN111210703A (en) * | 2020-03-04 | 2020-05-29 | 淮安信息职业技术学院 | Multi-type motor comprehensive training platform |
| CN112156992A (en) * | 2020-09-02 | 2021-01-01 | 天津博诺智创机器人技术有限公司 | Machine vision teaching innovation platform |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20211013 |