CN206471055U - A kind of industrial robot deburring real training station - Google Patents
A kind of industrial robot deburring real training station Download PDFInfo
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- CN206471055U CN206471055U CN201720101965.9U CN201720101965U CN206471055U CN 206471055 U CN206471055 U CN 206471055U CN 201720101965 U CN201720101965 U CN 201720101965U CN 206471055 U CN206471055 U CN 206471055U
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- robot
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- mounting seat
- real training
- connecting rod
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Abstract
The utility model provides a kind of industrial robot deburring real training station, including bottom plate, positioning table, and act the milling robot coordinated and pick and place positioning robot, milling robot, pick and place positioning robot and positioning table is installed on bottom plate, the action executing end of milling robot is provided with floating grinding head, the action executing end of positioning robot is picked and placeed provided with picking and placeing fixture, positioning table is provided with the station one and station two for being respectively used to place workpiece to be polished and polishing end workpiece, the cylinder one for positioning clamping workpiece is equipped with station one and station two, milling robot at least has two joint arms with positioning robot's both of which is picked and placeed.Industrial robot deburring real training station of the present utility model, teaching is combined with real training, realizes automatically grinding, circulation polishing, it is intended to which training student, in the practice ability in grinding workpieces field, is that student is engaged in relevant industries and laid the foundation future.
Description
Technical field
The utility model belongs to industrial robot practice teaching technical field, and in particular to a kind of industrial robot deburring
Real training station.
Background technology
Robot real training station (platform) is that one kind can be competent at Mechatronics specialities teaching experiment, and relevant speciality occupation can be carried out again
Skill training, the platform of examination, the need for the design concept at real training station comes from industrial production, wherein, turbocharger profile is answered
Miscellaneous, material is generally high hardness nodular iron casting, heat resisting casting, and the burr after turbine case, turbocharger housing casting is sharp
Polishing is needed, artificial deburring is extremely inefficient, and be extremely difficult to related required precision, in order to improve grinding efficiency and polishing precision
Set and polished using specialty polishing in industrial production, the real training station that the utility model is provided is intended to training student and beaten in workpiece
The practice ability in mill field, be future student be engaged in relevant industries and lay the foundation, and real training on the market also without correlation at present
Platform.
The content of the invention
In order to solve the above technical problems, the utility model provide a kind of industrial robot deburring real training station, teaching with
Real training is combined, and realizes automatically grinding, circulation polishing, it is intended to which training student, in the practice ability in grinding workpieces field, is student
In the future relevant industries are engaged in lay the foundation.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：A kind of industrial robot deburring real training station, its
It is characterised by：Including bottom plate, positioning table and action coordinate milling robot and pick and place positioning robot, the sander
Device people, pick and place positioning robot and positioning table is installed on bottom plate, the action executing end of the milling robot is provided with floating
Grinding head, the action executing end for picking and placeing positioning robot is provided with fixture is picked and placeed, and the floating grinding head, which is arranged on to pick and place, to be determined
In the stroke range of position robot, the fixture that picks and places is arranged in the stroke range of milling robot, is set on the positioning table
Have on the station one and station two for being respectively used to place workpiece to be polished and polishing end workpiece, the station one and station two
Provided with the cylinder one for positioning clamping workpiece, the milling robot at least has two with positioning robot's both of which is picked and placeed
Joint arm.
In one preferred embodiment of the utility model, further comprise that it also includes safe fence, the safety fence
On bottom plate and its by positioning table, milling robot, pick and place in positioning robot is enclosed in.
In one preferred embodiment of the utility model, further comprise that the safe fence is provided with safe grating.
In one preferred embodiment of the utility model, further comprise that the fixture that picks and places includes chuck one, the and of chuck two
Both clampings of driving or the cylinder two of release workpiece, both structures of the chuck one and chuck two are identical, including connection
The installation portion and clamping part being integrated, the clamping part are contacted with arc holding tank of the end face provided with indent of workpiece.
In one preferred embodiment of the utility model, further comprise that the inwall of the arc holding tank is provided with rubber blanket
Piece.
In one preferred embodiment of the utility model, further comprise that the bottom plate is provided with mounting seat one, mounting seat two,
Connected between the mounting seat one and mounting seat two by connecting rod one, prolonging along connecting rod one in the mounting seat one and mounting seat two
Stretch direction and be equipped with through hole one, the connecting rod one is located in through hole one, and mounting seat one, the both of which of mounting seat two can
It is arranged on along what connecting rod one was moved on connecting rod one, the milling robot is arranged in mounting seat one, it is described to pick and place positioning machine
People is arranged in mounting seat two.
In one preferred embodiment of the utility model, further comprise that the bottom of the mounting seat one and mounting seat two is all provided with
There is universal wheel.
In one preferred embodiment of the utility model, further comprise between the mounting seat two and positioning table by connecting rod
Through hole two is provided with along the bearing of trend of connecting rod two in two connections, the mounting seat two, the connecting rod two is located in through hole two
What interior and mounting seat two can be moved along connecting rod two is arranged on connecting rod two.
In one preferred embodiment of the utility model, further comprise corresponding to each station on the positioning table and being equipped with determining
Position post.
The beneficial effects of the utility model are：
One, a kind of industrial robot deburring real training station of the present utility model, teaching are combined with real training, are realized automatic
Polishing, circulation polishing, it is intended to which training student, in the practice ability in grinding workpieces field, is that student is engaged in relevant industries and established in the future
Basis；
2nd, dual robot cooperates with each other, clamped one time, without tool changing, realizes quickly continuous circulation polishing.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the utility model embodiment technology, embodiment technology will be retouched below
The accompanying drawing used required in stating is briefly described, it should be apparent that, drawings in the following description are only the utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model preferred embodiment；
Fig. 2 is Fig. 1 overlooking the structure diagram；
Fig. 3 is the enlarged diagram of Figure 1A parts；
Fig. 4 is the structural representation of the utility model preferred embodiment positioning table.
Wherein：1- workpiece (turbocharger), 2- bottom plates, 4- positioning tables, 6- milling robots, 8- picks and places positioning machine
People, 10- floating polishing balls, 12- picks and places fixture, 14- stations one, 16- stations two, 18- cylinders one, 20- safe fences, 22- folders
It is first, 24- chucks two, 26- cylinders two, 28- installation portions, 30- clamping parts, 32- holding tanks, 34- mounting seats one, 36- mounting seats
Two, 38- connecting rod one, 40- universal wheels, 42- connecting rods two, 44- locating dowels.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Embodiment
As shown in Figure 1, 2, a kind of industrial robot deburring real training station, including bottom plate 2, positioning are disclosed in the present embodiment
Milling robot 6 and pick and place positioning robot 8 that platform 4, action coordinate, and safe fence 20, take above-mentioned milling robot 6
Put positioning robot 8 and positioning table 4 is respectively mounted on a base plate 2, above-mentioned safety fence 20 is installed on a base plate 2 and it will be fixed
Position platform 4, milling robot 6, pick and place in positioning robot 8 is enclosed in, form the operating area of a safety.Above-mentioned polishing machine
The action executing end of people 6 is provided with floating grinding head 10, and the above-mentioned action executing end for picking and placeing positioning robot 8 is provided with and picks and places fixture
12, above-mentioned floating grinding head 10 is arranged on the action executing end of milling robot 6 and positioned at the stroke for picking and placeing positioning robot 8
In the range of, the above-mentioned fixture 12 that picks and places is arranged on the action executing end for picking and placeing positioning robot 8 and is located at the row of milling robot 6
In the range of journey, above-mentioned positioning table 4 is provided with the station 1 and work for being respectively used to place workpiece to be polished and polishing end workpiece
The cylinder 1 for positioning clamping workpiece is equipped with position 2 16, above-mentioned station 1 and station 2 16.It is of the present utility model
Milling robot 6 at least has two joint arms with the both of which of positioning robot 8 is picked and placeed, and can complete at least two frees degree
Action.
Action process is as follows on the practical traning platform of above structure：
A. workpiece to be polished is positioned over station 1, and the cylinder 1 for starting station 1 is to be polished to be accurately positioned
Workpiece；
B. it is electric in two robots, the surface that positioning robot 8 is moved to the station 1 of positioning table 4 is picked and placeed, fixture is picked and placeed
12 open and close to the relevant position of alignment pieces 1, and clamp workpiece 1, then pick and place the action of positioning robot 8 and drive the work clamped
Part 1 is displaced to the orientation where milling robot 6；
C. milling robot 6 is started, with being fixed on the floating grinding head 10 of action executing end to picking and placeing localization machine
Azimuth motion residing for device people 8, after precisely recognizing and picking and placeing the action executing end present position of positioning robot 8, starts and floats
Grinding head 10 and close workpiece 1, deburring is carried out by the action with setting；In addition, during deburring, Liang Tai robots according to
The diverse location of deburring needed for workpiece carries out the adjustment of corresponding pose, all the time in can accurate stable deburring work it is dynamic
In state balance；
D. workpiece goes after flash removed terminates, to pick and place the action retraction of positioning robot 8, and acts and deliver to the workpiece polished
At the station 2 16 of positioning table 4, workpiece is placed on the cylinder 1 started when at station 2 16 at station 2 16, by cylinder one
18 are accurately positioned the workpiece after polishing terminates；
E. pick and place robot 8 and turn to station 1, the deburring into next workpiece is acted, the stream of action of circulation as above
Journey, completes polishing teaching and the real training of the circulation of multiple workpiece or same workpiece.
Thus, dual robot cooperates with each other, clamped one time, without tool changing, realizes quickly continuous circulation polishing, teaching with
Real training is combined, it is intended to which training student, in the practice ability in grinding workpieces field, is that be engaged in relevant industries establishes base to student in the future
Plinth.
In order to ensure processing safety, above-mentioned safe fence 20 is provided with safe grating, safe grating and Liang Ge robots
Controller connection, safe grating when people is monitored close to safe fence 20 feedback signal to robot controller, control
Device control machine people processed stops current action, it is to avoid robot motion and the safety for jeopardizing operator.
As shown in figure 3, the above-mentioned fixture 12 that picks and places includes both clampings of chuck 1, chuck 2 24 and driving or release work
Both structures of the cylinder 2 26 of part, above-mentioned chuck 1 and chuck 2 24 are identical, the installation portion 28 including connecting as one
With clamping part 30, the action executing end for picking and placeing positioning robot 8 is fixed on by installation portion 28, above-mentioned clamping part 30 is contacted with
The end face of workpiece is provided with the arc holding tank 32 of indent.During for workpiece for turbocharger, arc holding tank 32 is beneficial to more steady
The volute of fixed, firm clamping turbocharger, in order to avoid damaging volute in clamping process, above-mentioned arc holding tank 32 it is interior
Wall is provided with rubber sheet gasket.
As shown in Figure 1, 2, above-mentioned bottom plate 2 is provided with mounting seat 1, mounting seat 2 36, above-mentioned mounting seat 1 and installation
Connected between seat 2 36 by connecting rod 1, it is equal along the bearing of trend of connecting rod 1 in above-mentioned mounting seat 1 and mounting seat 2 36
Provided with through hole one, above-mentioned connecting rod 1 is located in through hole one, and mounting seat 1, the both of which of mounting seat 2 36 being capable of edges
What connecting rod 1 was moved is arranged on connecting rod 1, and above-mentioned milling robot 6 is arranged in mounting seat 1, above-mentioned to pick and place positioning
Robot 8 is arranged in mounting seat 2 36；Connected between above-mentioned mounting seat 2 36 and positioning table 4 by connecting rod 2 42, above-mentioned peace
Fill in seat 2 36 along the bearing of trend of connecting rod 2 42 provided with through hole two, above-mentioned connecting rod 2 42 is located in through hole two and peace
The fixed form energy for being arranged on the such structure design of the robots of two on connecting rod 2 42 that dress seat 2 36 can be moved along connecting rod 2 42
The stroke range of two robots of enough flexible adjustment so that more kinds of programming controls can be changed in the case of using identical equipment
Mode processed, meets the use needs of more kinds of teaching and real training, can be also used for student's examination and uses.
Moved for convenience in robot in connecting rod 1, connecting rod 2 42, above-mentioned mounting seat 1 and mounting seat two
36 bottom is equipped with universal wheel 40.
As shown in figure 4, when being turbocharger for workpiece, correspondence station 1 and station 2 16 are all provided with positioning table 4
There is locating dowel 14, for carrying out Primary Location to turbocharger.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (9)
1. a kind of industrial robot deburring real training station, it is characterised in that：Including beating that bottom plate, positioning table and action coordinate
Mill robot and pick and place positioning robot, the milling robot, pick and place positioning robot and positioning table is installed on bottom plate,
The action executing end of the milling robot is provided with floating grinding head, and the action executing end for picking and placeing positioning robot is provided with and taken
Fixture is put, the floating grinding head is arranged in the stroke range for picking and placeing positioning robot, the fixture that picks and places is arranged on polishing
In the stroke range of robot, the positioning table is provided with the station for being respectively used to place workpiece to be polished and polishing end workpiece
One and station two, the cylinder one for positioning clamping workpiece, the milling robot are equipped with the station one and station two
At least there are two joint arms with positioning robot's both of which is picked and placeed.
2. a kind of industrial robot deburring real training station according to claim 1, it is characterised in that：It also includes safety and enclosed
Column, the safe fence be arranged on bottom plate and its by positioning table, milling robot, pick and place in positioning robot is enclosed in.
3. a kind of industrial robot deburring real training station according to claim 2, it is characterised in that：On the safe fence
Provided with safe grating.
4. a kind of industrial robot deburring real training station according to claim 1, it is characterised in that：It is described to pick and place fixture bag
Include the cylinder two of both clampings of chuck one, chuck two and driving or release workpiece, both knots of the chuck one and chuck two
Structure is identical, including the installation portion and clamping part that connect as one, and the end face that the clamping part is contacted with workpiece is provided with indent
Arc holding tank.
5. a kind of industrial robot deburring real training station according to claim 4, it is characterised in that：The arc holding tank
Inwall be provided with rubber sheet gasket.
6. a kind of industrial robot deburring real training station according to claim 1, it is characterised in that：The bottom plate is provided with
Mounting seat one, mounting seat two, are connected between the mounting seat one and mounting seat two by connecting rod one, the mounting seat one and installation
Through hole one is equipped with along the bearing of trend of connecting rod one in seat two, the connecting rod one is located in through hole one, and mounting seat one,
What the both of which of mounting seat two can be moved along connecting rod one is arranged on connecting rod one, and the milling robot is arranged on mounting seat one
On, it is described to pick and place positioning robot and be arranged in mounting seat two.
7. a kind of industrial robot deburring real training station according to claim 6, it is characterised in that：The He of mounting seat one
The bottom of mounting seat two is equipped with universal wheel.
8. a kind of industrial robot deburring real training station according to claim 6, it is characterised in that：The He of mounting seat two
Connected between positioning table by connecting rod two, through hole two, the company are provided with along the bearing of trend of connecting rod two in the mounting seat two
Bar two, which is located in through hole two, and mounting seat two can be moved along connecting rod two is arranged on connecting rod two.
9. a kind of industrial robot deburring real training station according to claim 1, it is characterised in that：It is right on the positioning table
Each station is answered to be equipped with locating dowel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101965.9U CN206471055U (en) | 2017-01-26 | 2017-01-26 | A kind of industrial robot deburring real training station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101965.9U CN206471055U (en) | 2017-01-26 | 2017-01-26 | A kind of industrial robot deburring real training station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206471055U true CN206471055U (en) | 2017-09-05 |
Family
ID=59703124
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720101965.9U Active CN206471055U (en) | 2017-01-26 | 2017-01-26 | A kind of industrial robot deburring real training station |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748211A (en) * | 2018-07-19 | 2018-11-06 | 陕西大中科技发展有限公司 | A kind of numerical control deburring system and burr removing method |
| CN109202592A (en) * | 2018-11-27 | 2019-01-15 | 北京奇步自动化控制设备有限公司 | Connecting rod deburring equipment |
| CN110164220A (en) * | 2018-03-14 | 2019-08-23 | 淄博职业学院 | A kind of robot assembly line training platform |
-
2017
- 2017-01-26 CN CN201720101965.9U patent/CN206471055U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110164220A (en) * | 2018-03-14 | 2019-08-23 | 淄博职业学院 | A kind of robot assembly line training platform |
| CN108748211A (en) * | 2018-07-19 | 2018-11-06 | 陕西大中科技发展有限公司 | A kind of numerical control deburring system and burr removing method |
| CN109202592A (en) * | 2018-11-27 | 2019-01-15 | 北京奇步自动化控制设备有限公司 | Connecting rod deburring equipment |
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