CN206340267U - Robot teaching's device with gluing and stacking function - Google Patents
Robot teaching's device with gluing and stacking function Download PDFInfo
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- CN206340267U CN206340267U CN201621418018.4U CN201621418018U CN206340267U CN 206340267 U CN206340267 U CN 206340267U CN 201621418018 U CN201621418018 U CN 201621418018U CN 206340267 U CN206340267 U CN 206340267U
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- gluing
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Abstract
The utility model discloses a kind of robot teaching's device with gluing and stacking function, is related to teaching equipment field.It includes the workbench for being provided with gluing station, controller, robot body, piling platform, gluing tool and clamping jaw instrument are installed on workbench, it is provided with to be sticked on arch gluing panel, arch gluing panel at gluing station and has track paster, gluing track is printed with the paster of track；Several sensors are provided with below arch gluing panel, the upper surface of arch gluing panel, which is provided with several gluing test point positions, each gluing test point position, is provided with the indicator lamp being connected with respective sensor；When sensor detects gluing tool along gluing track gluing and process gluing test point position, the corresponding indicator lamp connected to sensor is lighted.Whether the application can not only meet teaching demand, and point out operator's gluing correct by detecting the glue sites of gluing tool, so as to improve the precision and automaticity of gluing.
Description
Technical field
The utility model is related to teaching equipment field, more particularly to a kind of robot teaching with gluing and stacking function
Device.
Background technology
As application of the robot in industrial system is gradually popularized, need of the robot manipulation programming personnel in manufacturing
Ask and gradually lifted.Ge Zhong School of High Profession Technology carries conveying and culture robot uses the substantial responsibility of the talent, and robot is used
Education also increasingly pay attention to.
At present, in teaching, there is the robotic asssembly teaching equipment using parts such as robotic asssembly chips,
But in actual production field, after production comes out, in addition it is also necessary to carry out a series of machining and can be only achieved client most
The size and dimension required eventually, for example, gluing and stacking manufacturing procedure, and also include gluing and code without a kind of in imparting knowledge to students now
Robot teaching's equipment of pile function, therefore, it is impossible to meet teaching demand.
In summary, being badly in need of one kind has gluing and stacking function, can fully meet the robot teaching of teaching demand
Device.
Utility model content
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art, the utility model provides a kind of with gluing and stacking function, can
Fully meet teaching demand, the high robot teaching's device of automation integrated level.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the utility model is used include：
It is provided with a kind of robot teaching's device with gluing and stacking function, including workbench, the workbench
Controller, robot body, piling platform, gluing tool and clamping jaw instrument are installed on gluing station, the workbench, it is described
It is provided with to be sticked on arch gluing panel, the arch gluing panel at gluing station and has track paster, on the track paster
It is printed with gluing track；
Several stacked sensors, the upper table of the arch gluing panel are provided with below the arch gluing panel
Face is provided with several gluing test point positions, each gluing test point position and is provided with the indicator lamp being connected with respective sensor；
The sensor is connected with controller, for detecting position of the gluing tool by gluing test point position；
When sensor detects gluing tool along gluing track gluing and process gluing test point position, it is connected with sensor
Corresponding indicator lamp light；
The piling platform is used for the material for placing stacking；
The controller is connected with robot body, and the robot body is detachably connected with gluing tool, the machine
Device human body is detachably connected with clamping jaw instrument.
As a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function, also wrap
Lowering or hoisting gear is included, the lowering or hoisting gear is connected with piling platform, the height for adjusting piling platform.
As a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function, also wrap
Include the pressing plate for compressing the good material of stacking.
It is described as a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function
Piling platform includes stacking starting platform and stacking to terminate and be placed with stacking material on platform, stacking starting platform.
It is described as a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function
Material storage tank is provided with piling platform, the periphery of the material storage tank is symmetrically arranged with several limiting components.
It is described as a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function
Limiting component is locating dowel.
It is described as a kind of improvement project of robot teaching's device of the present utility model with gluing and stacking function
Limiting component includes extension sleeve and the expansion link being set in extension sleeve.
(3) beneficial effect
The beneficial effects of the utility model are：
The utility model proposes a kind of robot teaching's equipment comprising gluing and stacking function, teaching can not only be met
Demand, and point out operator's gluing whether correct by detecting glue sites of the gluing tool on gluing track, so that
The precision of gluing is improved, automaticity is further increased.
Brief description of the drawings
Fig. 1 is the vertical of robot teaching's device with gluing and stacking function that the utility model preferred embodiment is provided
Body one；
Fig. 2 is the vertical of robot teaching's device with gluing and stacking function that the utility model preferred embodiment is provided
Body figure two；
Fig. 3 is the structural representation for the arch gluing panel that the utility model preferred embodiment is provided；
Fig. 4 is the structural representation for the stacking starting platform that the utility model preferred embodiment is provided.
In figure：
1st, workbench；2nd, door；3rd, wire casing；4th, universal rolling wheel；5th, robot connection end；6th, instrument connection end；7th, gluing work
Tool；8th, clamping jaw instrument；9th, sensor；11st, tool holder；12nd, arch gluing panel；14th, stacking starting platform；15th, stacking is whole
Only platform；16th, stacking material；20th, detection means；29th, camera is monitored；30th, camera bracket；31st, monitor；32nd, monitor
Device support；33rd, robot body；34th, display device.
Embodiment
It is below in conjunction with the accompanying drawings, right by embodiment in order to understand in order to preferably explain the utility model
The utility model is described in detail.
The present embodiment proposes a kind of preferred robot teaching's device with gluing and stacking function, as shown in Figure 1 to Figure 4 institute
Show should have gluing and robot teaching's device of stacking function to include the workbench 1 with work top, the platform of workbench 1
Robot body 33, controller, robot demonstrator, gluing station, piling platform, instrument quick-change system, painting are installed on face
The components such as glue instrument 7, detection means 20 and monitoring system.
The side of the workbench 1 of the present embodiment offers door 2, and the inside of workbench 1 can storing.The upper surface of workbench 1
Work top periphery is provided with wire casing 3, can facilitate the layout of each cable.Workbench 1 is moved integrally for convenience, is worked
The bottom of platform 1 is provided with several universal rolling wheels 4, can make the structure and the course of work of instructor's more fully facilities for observation,
Lift quality of instruction and teaching efficiency.Controller is arranged on the inside of workbench 1.Controller respectively with robot body 33 and inspection
Device 20 is surveyed to connect.Robot body 33 completes required movement by controller control.Robot demonstrator and controller communication link
Connect, indirect control robot body 33 is moved.Robot demonstrator has the storage for the action command of robot body 33 that is stored with
Module, can achieve a certain movement instruction into controller, and can transfer the movement instruction of archive repeatedly and make robot body
33 perform corresponding sports.
Specifically, achieving a series of action command text for having robot bodies 33 in the memory module of robot demonstrator
Part, action command file can directly input and be edited by robot demonstrator, can also be by running in a computer
Off-line programming software is worked out, and by the storage mediums such as USB flash disk or network transmission into controller, control machine human body 33
Complete required movement.Robot body 33 is acted at gluing station, piling platform, to be respectively completed material gluing and stacking work
Skill.
Instrument quick-change system includes robot connection end 5, quick-change tool and instrument connection end 6.The one of robot connection end 5
End is detachably connected to the end of robot body 33.Quick-change tool includes gluing tool 7 and the two pieces robot of clamping jaw instrument 8
Operation instrument, above two pieces operation instrument is respectively utilized to complete dummy robot's gluing, the operation of stacking material gripping, and leads to
Tool holder 11 is crossed on work top.One end of instrument connection end 6 is fixedly connected with quick-change tool, instrument connection end 6
The other end be detachably connected to the other end of robot connection end 5, so realize the end different operating of robot body 33
The replacing of instrument, it is convenient and practical.
It is provided with to be sticked on arch gluing panel 12, arch gluing panel 12 at gluing station and has track paster, track patch
Gluing track is printed with paper.Because gluing track includes product casing figure of different shapes, therefore, arch gluing panel 12
Entirety simulates variously-shaped 3D contour lines, applied widely.
The lower section of arch gluing panel 12 is provided with several stacked sensors 9, the upper surface of arch gluing panel 12
It is provided with several gluing test point positions (not shown in accompanying drawing), each gluing test point position and is provided with and respective sensor 9
The indicator lamp of connection.Sensor 9 is connected with controller, for detecting position of the gluing tool 7 by gluing test point position.Work as biography
When sensor 9 detects gluing tool 7 along gluing track gluing and process gluing test point position, the corresponding finger connected to sensor 9
Show that lamp is lighted.Point out operator's gluing whether correct by detecting glue sites of the gluing tool on gluing track, so that
The precision of gluing is improved, automaticity is further increased.
Piling platform includes stacking starting platform 14 and stacking terminates platform 15, and stacking starting platform 14 and stacking terminate flat
Material storage tank (not shown in accompanying drawing) is provided with platform 15, material storage tank can be used to place stacking material 16.
The lowering or hoisting gear for also including being connected with stacking starting platform 14 and stacking termination platform 15 respectively (does not show in accompanying drawing
Go out), terminate the height of platform 15 for adjusting stacking starting platform 14 and stacking.
In order to prevent that the material of stacking from misplacing, the periphery of material storage tank is symmetrically arranged with several limiting components.It is spacing
Part can select the low locating dowel of simple in construction, processing cost.In order that the excessive material of stacking skews and fallen down, limiting section
Part is also designed to following structure：Limiting component includes extension sleeve and the expansion link being set in extension sleeve, passes through expansion link
It is flexible, realize the regulation of limiting component height, must be completely crooked so as to ensure the regularity of the excessive material of stacking.
After the completion of all materials stacking, clamping jaw instrument is connected by robot body 33, pressing plate stacking is pressed on good
Above material, follow-up further packing and binding.
Detection means 20 can be used to detect color, profile, sized data and the position of material to be palletized, and by data message
And positional information is transmitted to controller, controller receives testing result and exported to display device 34, while according to detection signal
Whether control machine human body 33 carries out stacking to material.Display device 34 shows testing result, for the mesh of operating personnel one
Right checks, convenient and swift.
Monitoring system includes monitoring camera 29 and the monitor 31 electrically connected with monitoring camera 29.Monitor 31 passes through
Monitor stand 32 is arranged on work top.Monitor that camera 29 is arranged on work top by camera bracket 30, can
Workbench 1 and a range of personnel in periphery and equipment operation situation are shot, and is real-time transmitted to monitor 31 and is shown.
The present embodiment is applied as background with the typical technique of 3C industries, it would be preferable to support robot completes point of special-shaped chip
Pick, assembling of the special-shaped chip on pcb board 23 and assemble the follow-up gluing of product, stacking process operations, realize that robot is grasped
The teaching of the technical ability main points such as work, fitter assembly, electrotechnical, electronic, PLC applications, pneumatic control, vision-based detection.
Three functional modules can be formed by the interaction of control signal between said modules altogether：Gluing functional module, stacking work(
Can module and operation monitoring module.Each module method of work is as follows：
1st, gluing functional module
A, the gluing action command of robot can be generated program documentaion by off-line programming software programming and be deposited by pluggable
Storage media (USB flash disk) imported into controller and achieved；
Gluing tool 7 is attached to machine by the action command control machine human body 33 that B, controller are imported according to off-line programing
The end of device human body 33；
The action command control machine human body 33 that C, controller are imported according to off-line programing drives gluing tool 7 according to painting
The gluing track of glue unit is advanced along track, simulates coating technique；
After D, all actions along gluing track traveling of completion, the action command control machine that controller is imported according to off-line programing
Gluing tool 7 is put back on tool holder 11 and resetted by device human body 33.
2nd, stacking functional module
A, the stacking action command of robot can be generated program documentaion by off-line programming software programming and be deposited by pluggable
Storage media (USB flash disk) imported into controller and achieved；
Clamping jaw instrument 8 is attached to machine by the action command robot body 33 that B, controller control are imported according to off-line programing
The end of device human body 33；
The action command control machine human body 33 that C, controller are imported according to off-line programing uses clamping jaw instrument 13 by code
The crawl of stacking material 16 on pile starting platform 14 is moved to stacking and terminates platform 15, simulates stacking and stacking technology；
After D, all stackings actions of completion, the action command control machine human body 33 that controller is imported according to off-line programing
Clamping jaw instrument 8 is put back on tool holder 11 and resetted.
3rd, monitoring module is operated
Monitor that camera 29 shoots workbench 1 and a range of personnel in periphery and equipment operation situation, transmission in real time
It has been shown that, checked for faculty to monitor 31.
Robot teaching's equipment of the present embodiment can not only meet teaching demand, and by detecting gluing tool in painting
Whether glue sites on glue track point out operator's gluing correct, so as to improve the precision of gluing, further increase
Automaticity.
Know-why of the present utility model is described above in association with embodiment.These descriptions are intended merely to explain this
The principle of utility model, and the limitation to the utility model protection domain can not be construed in any way.Based on solution herein
Release, those skilled in the art, which need not pay creative work, can associate other embodiments of the present utility model,
These modes are fallen within protection domain of the present utility model.
Claims (7)
1. a kind of robot teaching's device with gluing and stacking function, it is characterised in that including workbench (1), the work
Make to be provided with gluing station on platform (1), be provided with the workbench (1) controller, robot body (33), piling platform,
Arch gluing panel (12), the arch coated face are provided with gluing tool (7) and clamping jaw instrument (8), the gluing station
Being sticked on plate (12) has track paster, and gluing track is printed with the track paster；
Several stacked sensors (9), the arch gluing panel are provided with below the arch gluing panel (12)
(12) upper surface is provided with several gluing test point positions, each gluing test point position and is provided with and respective sensor (9)
The indicator lamp of connection；
The sensor (9) is connected with controller, for detecting position of the gluing tool (7) by gluing test point position；
When sensor (9) detects gluing tool (7) along gluing track gluing and process gluing test point position, with sensor
(9) the corresponding indicator lamp of connection is lighted；
The piling platform is used for the material for placing stacking；
The controller is connected with robot body (33), and the robot body (33) is detachably connected with gluing tool (7),
The robot body (33) is detachably connected with clamping jaw instrument (8).
2. robot teaching's device according to claim 1 with gluing and stacking function, it is characterised in that：Also include
Lowering or hoisting gear, the lowering or hoisting gear is connected with piling platform, the height for adjusting piling platform.
3. robot teaching's device according to claim 1 with gluing and stacking function, it is characterised in that：Also include
Pressing plate for compressing the good material of stacking.
4. robot teaching's device according to claim 1 with gluing and stacking function, it is characterised in that：The code
Pile platform includes stacking starting platform (14) and stacking terminates platform (15), and stacking starting platform is placed with stacking material on (14)
(16)。
5. robot teaching's device according to claim 1 with gluing and stacking function, it is characterised in that：The code
Material storage tank is provided with pile platform, the periphery of the material storage tank is symmetrically arranged with several limiting components.
6. robot teaching's device according to claim 5 with gluing and stacking function, it is characterised in that：The limit
Position part is locating dowel.
7. robot teaching's device according to claim 5 with gluing and stacking function, it is characterised in that：The limit
Position part includes extension sleeve and the expansion link being set in extension sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418018.4U CN206340267U (en) | 2016-12-22 | 2016-12-22 | Robot teaching's device with gluing and stacking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621418018.4U CN206340267U (en) | 2016-12-22 | 2016-12-22 | Robot teaching's device with gluing and stacking function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206340267U true CN206340267U (en) | 2017-07-18 |
Family
ID=59301806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621418018.4U Active CN206340267U (en) | 2016-12-22 | 2016-12-22 | Robot teaching's device with gluing and stacking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206340267U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530941A (en) * | 2016-12-22 | 2017-03-22 | 北京华航唯实机器人科技有限公司 | Robot teaching apparatus possessing gumming and stacking functions |
| CN107449783A (en) * | 2017-08-30 | 2017-12-08 | 红云红河烟草(集团)有限责任公司 | A kind of case packing machine case paper glue spots vision inspection apparatus |
-
2016
- 2016-12-22 CN CN201621418018.4U patent/CN206340267U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530941A (en) * | 2016-12-22 | 2017-03-22 | 北京华航唯实机器人科技有限公司 | Robot teaching apparatus possessing gumming and stacking functions |
| CN107449783A (en) * | 2017-08-30 | 2017-12-08 | 红云红河烟草(集团)有限责任公司 | A kind of case packing machine case paper glue spots vision inspection apparatus |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
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Address after: 102209 Beijing city Changping District town of Beiqijia Hongfu science and Technology Park Patentee after: Beijing Airlines only robot Polytron Technologies Inc Address before: 102209 Beijing city Changping District town of Beiqijia Hongfu science and Technology Park Patentee before: BEIJING HUAHANG WEISHI JIQIREN KEJI YOUXIANGONGSI |