CN206840099U - A kind of industrial robot operating training unit - Google Patents
A kind of industrial robot operating training unit Download PDFInfo
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- CN206840099U CN206840099U CN201720627492.6U CN201720627492U CN206840099U CN 206840099 U CN206840099 U CN 206840099U CN 201720627492 U CN201720627492 U CN 201720627492U CN 206840099 U CN206840099 U CN 206840099U
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Abstract
It the utility model is related to a kind of industrial robot operating training unit.It is characterized in that including support safety mechanism, speed control training institution, precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction controlling training institution, support safety mechanism is lower support structure, speed control training institution, precision controlled training mechanism, angle adjustment controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on above support safety mechanism, and direction controlling training institution is arranged in polygonized structure.The utility model newly enters the study industrial robot such as office worker for college student and workshop and is obviously improved effect, versatility is high, many style industrial robots can use this trainer, all using Demountable, can autonomous assembling into various forms of trainers, it is easy to carry, good appearance.
Description
Technical field
It the utility model is related to a kind of industrial robot operating training unit.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Robot control system is the brain of robot, is the principal element for determining robot function and performance, can control
Time of movement position, posture and track of the industrial robot processed in working space, operation order and action etc..But robot
The less complex program write in control system can only be handled, this also imply that have at any time occur emergency can
Energy property, professional operator's quality and ability can just determine current unexpected loss size when this.And some rigid connections
The trainee of study industrialization robot is touched, occurs some situations due to may result in without special training and operation and draws
Rise it is nervous can not normally play, cause operation robot to be slipped up, and cause device damage.The reason for causing this error exists
In in psychological and equipment.Because equipment is mechanical equipment, collision is not felt, during casting is again hard alloy, institute
When equipment is collided or is rubbed, can all cause to be difficult to the damage retrieved to equipment.
Utility model content
For problems of the prior art, the purpose of this utility model is to provide a kind of industrial robot operation instruction
Practice the technical scheme of device.
Described a kind of industrial robot operating training unit, it is characterised in that including support safety mechanism, speed control
Training institution, precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction
Controlled training mechanism, support safety mechanism are lower support structure, speed control training institution, precision controlled training mechanism,
Angle adjustment controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on support safety mechanism
Top, direction controlling training institution are arranged in polygonized structure.
Described a kind of industrial robot operating training unit, it is characterised in that the support safety mechanism includes support bar
Upper body, support bar lower body, support bar core and spring, cylindric blind hole is provided with support bar in vivo, is set above support bar lower body
Circular groove is equipped with, support bar core upper end is inserted in cylindric blind hole, is socketed outside support bar core and is set spring and insert in circular groove, spring
Between support bar upper body and support bar lower body；
The speed control training institution includes first vector, flat step band, latch, roller, encoder, pushing block and square
Block, the cavity for accommodating flat step band, cavity one end installation latch and roller are provided with first vector, and the installation of the cavity other end is inserted
Pin, roller and encoder, encoder are engaged by key with roller；Flat step band is engaged with the roller at both ends, and flat step, which takes, to be set
The square hole of installation pushing block is equipped with, square block grafting is arranged on pushing block；
The precision controlled training mechanism include Second support, flat block of carrier, flat piece of hexagon, the second assistant carrier,
First infrared sensor and fixed plate, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is arranged on
On flat block of carrier, and the setting angle of flat piece of hexagon is different, and the second assistant carrier is arranged on the lower section of Second support, two the
One infrared sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and fixed plate clamping is arranged on Second support
Center, fixed plate will not interfere with the second assistant carrier；
The angle adjustment controlled training mechanism includes the 3rd carrier, core block and core block position-limit mechanism, core block limit
Position mechanism includes shell on bullet formula pin, plays formula pin lower casing, hold out against spring, play formula plunger, chock, the first square latch and second
Square latch, mounting groove and core block mounting groove are set on the 3rd carrier, shell on bullet formula pin is set in mounting groove, played under formula pin
Shell, hold out against spring, play formula plunger and chock, holding out against spring, bullet formula plunger is arranged on shell on bullet formula pin and plays outer under formula pin
Between shell, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays shell on formula pin and plays formula pin lower casing
Outer wall outer wall offers the first half grooves coordinated with the first square latch, the second square latch respectively；In core block mounting groove
Core block is set, and the side of core block is provided with least one stopper slot；Installation groove sidewall offer with the first square latch and
The second half grooves that second square latch coordinates, installation groove sidewall are further opened with connecting the slit of core block mounting groove, play formula plunger
Head be engaged through slit with the stopper slot of core block side；Core block and core block position-limit mechanism at least provided with two groups,
And core block angle of inclination is different；
The TCP central points controlled training mechanism includes the 4th carrier and adjustable lever, and adjustable lever top is provided with ball
Body, at least one set of salient point is additionally provided with adjustable lever, the through hole of installation adjustable lever is provided with the 4th carrier, is set in through hole
It is equipped with lateral circumferential groove and vertical slot, the vertically groove insertion through hole of the salient point on adjustable lever, is caught in lateral circumferential groove during rotation
Positioning；
The direction controlling training institution is made up of two the 5th carriers of right-angled intersection, is provided with cross searching
Button switch, cross searching is to being respectively arranged with equidistant button switch and the second infrared sensing on the 5th carrier of external radiation
Device, button switch are made up of button shell, button head and back-moving spring, and dividing plate and sheet metal, metal are provided with button shell
Piece is located at button outer casing bottom, and conducting shell fragment and baffle plate are provided with below button head, turns on described in being set between shell fragment and baffle plate
Back-moving spring, the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively are turned on during installation, and push button head can overcome the power of spring
Conducting shell fragment is set to contact conducting button switch with sheet metal, the second infrared sensor is arranged on the outside of button switch.
Described a kind of industrial robot operating training unit, it is characterised in that the first vector, Second support, the 3rd
Carrier and the 4th carrier surround a square, pass through support bar upper body, the first connector and the second connection between adjacent both sides
Part, which coordinates, to be connected；Projection is additionally provided with above the support bar upper body, projection is provided centrally with aperture；Set on first connector
First the second plug of plug and the 3rd plug, the 4th plug and the 5th plug are set on the second connector；First vector, second carry
Body, the 3rd carrier and the 4th carrier and support bar upper body connection end structure are identical, first vector, Second support, the 3rd carrier and
4th carrier is provided with the first jack, the second jack and vertical cut (V. cut), and the first plug and the 3rd plug are inserted with adjacent first
Hole coordinates, and in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the 4th plug and the
Five plugs coordinate with the second adjacent jack.
Described a kind of industrial robot operating training unit, it is characterised in that the first vector, the 3rd carrier and
It is provided with mounting hole on four carriers, is provided with projection above the fixed plate on the second assistant carrier, the four of two the 5th carriers
Individual free end sets three convex tendons and a shrinkage pool, respectively the peace on corresponding matching first vector, the 3rd carrier and the 4th carrier
Fill the projection in hole and fixed plate.
Described a kind of industrial robot operating training unit, it is characterised in that block respectively at the second assistant carrier both ends
It is connected on support bar upper body and is fixedly connected by pin.
Described a kind of industrial robot operating training unit, it is characterised in that the Second support is divided into the elasticity of centre
Connector and the rigid connection body at both ends, flat block of carrier are arranged on nonrigid connector, and nonrigid connector leads to rigid connection body
Pin is crossed to be connected.
Described a kind of industrial robot operating training unit, it is characterised in that body sidewall is provided with groove on the support bar
Body, support bar core top set grooved hole, a deep-slotted chip breaker for being more than 90 degree are set in slotted eye；On the support bar core and support bar
Body is connected by bearing pin of the end with right angle projection, and the bearing pin with right angle projection is sequentially inserted into cell body and slotted eye, and in groove
It is rotated by 90 ° and support bar core can be connected with support bar upper body in deep-slotted chip breaker in hole, and bearing pin can be slided up and down in cell body
It is interior.
Described a kind of industrial robot operating training unit, it is characterised in that the lower section of the support bar lower body sets recessed
Groove, support base is equipped with groove.
Described a kind of industrial robot operating training unit, it is characterised in that the lower surface of the support bar upper body and branch
The upper surface of strut lower body is provided with the arcuate structure coordinated with spring.
A kind of described industrial robot operating training unit, it is characterised in that core block and the core block position-limit mechanism
Three groups are arranged to, three groups of core block angles of inclination are set gradually as 15 degree, 30 degree and 45 degree.
The present apparatus trainer of independent research support industry robot manipulation, is led with industrializing machine artificial object
If the ability training for industrializing robot operator.When operation industrializes robot, many operators are due to operation
It can not in time react when unskilled or generation emergency and cause the various losses that can not be retrieved.Industrialize robotic training dress
Put be train operating personnel to emergency when respond and to new hand grasp operation industrialization robot.
The advantages of the utility model, is as follows：
1. existing market does not occur the device specifically for industrialization robotic training also, the present apparatus market space is big；
Effect is obviously improved 2. newly entering office worker etc. for college student and workshop and learning industrial robot；
3. the present apparatus shares five functional, the training direction difference specific aim that every kind of function is played is also different；
4. versatility is high, many style industrial robots can use this trainer；
5. all using Demountable, can autonomous assembling into various forms of trainers, easy to carry, beautiful outline form
See.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the explosive view one of support safety mechanism；
Fig. 3 is the partial sectional view of support bar upper body；
Fig. 4 is the partial sectional view of support bar core；
Fig. 5 is the explosive view two of support safety mechanism；
Fig. 6 is the structural representation of support safety mechanism；
Fig. 7 is the quick-fried according to figure of speed control training institution；
Fig. 8 is the structural representation of speed control training institution；
Fig. 9 is the schematic diagram one of precision controlled training mechanism；
Figure 10 is the schematic diagram two of precision controlled training mechanism；
Figure 11 is the schematic diagram three of precision controlled training mechanism；；
Figure 12 is the schematic diagram of angle adjustment controlled training mechanism；
Figure 13 is the explosive view of angle adjustment controlled training mechanism；
Figure 14 is the partial sectional view of angle adjustment controlled training mechanism；
Figure 15 is the Local map of angle adjustment controlled training mechanism；
Figure 16 is the schematic diagram of TCP central point controlled trainings mechanism；
Figure 17 is the partial sectional view of TCP central point controlled trainings mechanism；
Figure 18 is the explosive view of direction controlling training institution；
Figure 19 is the structural representation of button head；
Figure 20 is the Local map of direction controlling training institution；
Figure 21 is the schematic diagram of direction controlling training institution；
Figure 22 is the disassembly diagram that support bar upper body is installed with first vector and Second support；
Figure 23 is Figure 22 partial sectional view；
Figure 24 is support bar upper body and the schematic diagram after first vector and Second support installation；
In figure：One：Speed control training institution, two：Precision controlled training mechanism, three：Angle adjustment controlled training machine
Structure, four：TCP central point controlled trainings mechanism, five：Direction controlling training institution, six：Support safety mechanism, 1- support bars upper body,
2- springs, 3- support bar cores, 4- carry the bearing pin of right angle projection, 5- support bar lower bodies, 6- support bases, a1- circular grooves, a2- grooves
Body, the cylindric blind holes of a3-, a4- slotted eyes, a5- grooves, a6- projections, 11- first vectors, the flat step bands of 21-, 22- pushing blocks, 23-
Square block, 24- latches, 25- rollers, 26- keys, 27- encoders, e1- square holes, e2- cavitys, 9- rigid connection bodies, 10- elasticity is even
Junctor, 14- fixed plates, the assistant carriers of 15- second, flat piece of 45- hexagons, flat block of carrier of 46-, 47- Second supports, 12- cores
Block position-limit mechanism, 28- core blocks, the second square latches of 29-, 30- bullet formula pin lower casings, 31- bullet formula plungers, 32- hold out against spring,
33- chocks, shell on 34- bullet formula pins, the first square latches of 35-, the carriers of 36- the 3rd, mounting groove is set on the carriers of f1- the 3rd,
The grooves of f2- the second half, the grooves of f3- the first half, f4- stopper slots, f5- slits, f6- core block mounting grooves, the carriers of 43- the 4th, 44- is adjustable
Pole, h1- salient points, h2- vertical slots, h3- lateral circumferential grooves, h4- through holes, 37- button shells, 38- button heads, 39- the 5th are carried
Body, 40- back-moving springs, 41- button switches, the infrared sensors of 42- second, g1- sheet metals, g2- dividing plates, g3- conducting shell fragments,
G4- baffle plates, the connectors of 7- first, the connectors of 8- second, the plugs of b1- first, the plugs of b2- second, the plugs of b3- the 3rd, b4- the 4th
Plug, the plugs of b5- the 5th, b6- vertical cut (V. cut)s, the jacks of b7- second, the jacks of b8- first.
Embodiment
With reference to Figure of description, the utility model is described in further detail：
A kind of industrial robot operating training unit, it is mainly used in carrying out different type to the personnel for operating industrial robot
Training, in order to more preferable operation robot work.Mainly include support safety mechanism six, speed control training institution one,
Precision controlled training mechanism two, angle adjustment controlled training mechanism three, TCP central point controlled trainings mechanism four and direction controlling
Training institution five, support safety mechanism are lower support structure, speed control training institution, precision controlled training mechanism, angle
Degree adjustment controlled training mechanism and TCP central point controlled trainings mechanism surround polygonized structure and are arranged in support safety mechanism
Side, direction controlling training institution are arranged in polygonized structure.Each part is independent, and can be independently operated, can also
Carry out fractionation combination.
Lower mask body introduces the embodiment of the utility model various pieces.
Support safety mechanism six includes support bar upper body 1, support bar lower body 5, support bar core 3 and spring 2, support bar upper body
Cylindric blind hole a3 is provided with 1, the top of support bar lower body 5 is provided with circular groove a1, and cylindric blind hole is inserted in the upper end of support bar core 3
It is socketed in a3, outside support bar core 3 and spring 2 is set and inserted in circular groove a1, spring 2 is located at support bar upper body 1 and support bar lower body 5
Between.
Groove a5 can be set in the lower section of support bar lower body 5, support base 6 is equipped with groove, support is played and make
With；The lower surface of support bar upper body and the upper surface of support bar lower body are provided with the arcuate structure coordinated with spring, ensure it
Stability.
The side wall of support bar upper body 1 is provided with cell body a2, and the top of support bar core 3 sets grooved hole a4, is set in slotted eye one big
In 90 degree of deep-slotted chip breaker；Support bar core 3 is connected with support bar upper body 1 by bearing pin 4 of the end with right angle projection, with right angle
The bearing pin of projection is sequentially inserted into cell body and slotted eye, and be rotated by 90 ° in the deep-slotted chip breaker in slotted eye can by support bar core with support
Bar upper body is connected, and bearing pin can be slided up and down in cell body, and this is ingenious in design, simple and practical.
Projection a6 can be set above support bar upper body, projection is provided centrally with aperture, for other several parts
Between connect and be used.
In order to which imprudence causes manipulator constantly to push when preventing operation industrialization robot, and can not during pushing
React in time, spy adds spring mechanism in supporting construction, although extendable room is smaller, can have enough anti-
Go stopping instrument hand to continue to push between seasonable, cause security incident and unnecessary loss.
Speed control training institution includes first vector 11, flat step band 21, latch 24, roller 25, encoder 27, pushing block
22 and square block 23, the cavity e2 for accommodating flat step band is provided with first vector, and cavity one end installation latch and roller, cavity are another
One end installation latch, roller and encoder, encoder are engaged by key 26 with roller；Flat step band and the roller at both ends match
Close, flat step takes the square hole e1 for being provided with installation pushing block, and square block grafting is arranged on pushing block.
Precision controlled training mechanism includes flat piece of Second support 47, flat block of carrier 46, hexagon the 45, second assistant carrier
15th, the first infrared sensor and fixed plate 14, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is set
To put on flat block of carrier, and the setting angle of flat piece of hexagon is different, the second assistant carrier is arranged on the lower section of Second support, and two
Individual first infrared sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and the clamping of fixed plate 14 is arranged on
The center of two carriers, fixed plate be will not interfere with the second assistant carrier, and projection is provided with above fixed plate.
Angle adjustment controlled training mechanism includes the 3rd carrier 36, core block 28 and core block position-limit mechanism 12, core block
Position-limit mechanism includes shell 34 on bullet formula pin, plays formula pin lower casing 30, hold out against spring 32, play formula plunger 31, chock 33, first party
35 and second square latch 29 of shape latch, mounting groove f1 and core block mounting groove f7 is set on the 3rd carrier, set in mounting groove
Shell on bullet formula pin, formula pin lower casing is played, spring is held out against, plays formula plunger and chock, held out against spring, play formula plunger and be arranged on bullet formula
On pin between shell and bullet formula pin lower casing, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays formula pin
Outer wall offers first coordinated with the first square latch, the second square latch to the outer wall of upper shell and bullet formula pin lower casing respectively
Half groove f3；Core block is set in core block mounting groove, and the side of core block is provided with least one stopper slot f4；Groove sidewall is installed
The second half groove f2 coordinated with the first square latch and the second square latch are offered, installation groove sidewall is further opened with connecting core
The slit f5 of block mounting groove, the head for playing formula plunger are engaged through slit with the stopper slot of core block side；Core block and core
Heart block position-limit mechanism is at least provided with two groups, and the core block angle of inclination in two groups is different.
TCP central point controlled trainings mechanism includes the 4th carrier 43 and adjustable lever 44, and adjustable lever top is provided with ball
Body, at least one set of salient point h1 is additionally provided with adjustable lever, the through hole h4 of installation adjustable lever, through hole are provided with the 4th carrier
Inside it is provided with lateral circumferential groove h3 and vertical slot h2, the vertically groove insertion through hole of the salient point on adjustable lever, is caught in horizontal stroke during rotation
Positioned to circumferential groove.
Direction controlling training institution is made up of two the 5th carriers 39 of right-angled intersection, be provided with cross searching by
Button switch 41, cross searching is to being respectively arranged with equidistant 41 and second infrared biography of button switch on the 5th carrier of external radiation
Sensor 42, button switch are made up of button shell 37, button head 38 and back-moving spring 40, be provided with button shell dividing plate g2 and
Sheet metal g1, sheet metal are located at button outer casing bottom, are provided with conducting shell fragment g3 and baffle plate g4 below button head, conducting shell fragment and
The back-moving spring 40 is set between baffle plate, turns on the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively during installation, push by
Button head can overcome the power of spring make conducting shell fragment contacted with sheet metal conducting button switch, the second infrared sensor 42 be arranged on by
The outside of button switch.
First vector, Second support, the 3rd carrier and the 4th carrier can be surrounded to a square, between adjacent both sides
Coordinated by support bar upper body 1, the first connector 7 and the second connector 8 and be connected；First plug b1 is set on the first connector 7
Second plug b2 and the 3rd plug b3, the 4th plug b4 and the 5th plug b5 is set on the second connector 8；First vector, second
Carrier, the 3rd carrier and the 4th carrier are identical with support bar upper body connection end structure, first vector, Second support, the 3rd carrier
Be provided with the first jack b8, the second jack b7 and vertical cut (V. cut) b6 with the 4th carrier, the first plug and the 3rd plug with it is adjacent
The first jack coordinate, in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the 4th
Plug and the 5th plug coordinate with the second adjacent jack；For fixing the connection of whole framework, portable convenient dismounting is realized
And autonomous assembling.
The both ends of second assistant carrier 15 are respectively engaged with support bar upper body 1 and are fixedly connected by pin；Second support
It is divided into the nonrigid connector 10 of centre and the rigid connection body 9 at both ends, flat block of carrier is arranged on nonrigid connector, elastic connection
Body is connected with rigid connection body by pin.Middle nonrigid connector main function is when manipulator touches flat piece of hexagon
When, if operation is not accurate, certain deformation can occur, if rigid member, then may directly damage, elastic component has preferably
Elasticity, when manipulator is removed, can restPose again.
Core block and core block position-limit mechanism can be arranged to three groups, three groups of core block angles of inclination are set gradually as 15
Spend, 30 degree and 45 degree, for training the control to angle.
The concrete function of the utility model various pieces is as follows：
One, speed controls
One fixable pushing block is housed on plain cloth band, pushing block is provided with groove, inserts a square block during training
On pushing block, manipulator touch square block and slowly slided forward, roller rotation is driven during plain cloth Tape movement, encoder is with rolling
Wheel rotates, and when manipulator moves forward, encoder will export pulse, then can calculating speed according to pulse.
The purpose of training：
The teaching machine that Abb industrialization robot 1410 model is matched somebody with somebody（Executor）For rocker-type.The amplitude that rocking bar promotes is bigger
Then industrialize robot the speed of service can be faster, when distance crawl object manipulation apart from it is closer when, too fast speed meeting
Cause direct collision on object, so it is the most important thing to manipulate rocking bar can freely control the industrialization robot speed of service.
Industrialize robot tool hand（Manipulator）Promote square block and drive and run forward, when industrialization robot teaching
When device rocking bar promotes amplitude excessive, then it can be exported on a display screen by encoder real time reaction, during more than certain speed value, then not
It is qualified.
Two, precisions control
One absorbable gas escape type sucker is installed on a robotic arm.Rocking bar is adjusted, sucker is located at flat piece of top of hexagon,
Then operation rocking bar makes sucker slowly down and be adjacent to flat piece of hexagon, when being adjacent to, uses cylinder air-breathing, draws flat piece of hexagon
Upwards, rotated a certain angle during rising, in order to be put into another groove on side.It is such as flat without fitting hexagon
Block then rises, and sucker can not then capture flat piece of hexagon, and infrared sensor can be triggered if continuing to push after being adjacent to.
The purpose of training：
During operation industrialization robot, suitable promotion or pivots rocker amplitude, then it can make industrialization robot operation speed
Degree reaches our requirement.But sometimes we think that having touched object carries out just discovery when capturing, and does not capture
Success, then must advance towards object, when this because too near apart from object, probably due to lacking experience or tightly
, cause operation rocking bar to collide, cause damage.
The materials such as rubber are added in precision control, in order to cause to damage to device or manipulator when preventing collision,
Manipulation dynamics when arbitrarily can temper distance element in precision control, mistake can be prompted if undue push.
Three, angle adjustments control
For learning the 6th axle（The axle at end, generally the 6th axle）Namely instrument hand because manipulator can 360 ° it is complete
Orientation rotation, but can not often be rested in practical operation in an accurate angle because lacking in training.In a plane
It is respectively 15 °, 30 °, 45 ° provided with three planes, manipulator is adjusted to predetermined angular and gone close to plane, if the machinery of adjustment
Hand then sends prompting close to 15 °, 30 °, 45 °.
The purpose of training：
During using industrialization robot, most widely apply to instrument hand and rotate some angle and then capture some object.
But the very exquisite power of angle adjustment, it is not that simple rotation can reaches.
Two infrared sensors are housed on a robotic arm, two sensors are in the approximately the same plane of manipulator, adjustment
Sensor detection range is identical, if also implying that, when manipulator meets some object, two sensors are detected simultaneously by letter
Number, represent that manipulator and this plane are in parastate.
If 3 angles most often applied to, allow manipulator to be adjusted to defined angle and go touch surface, since first face
Touching, then rotate and go to touch second face again, because the angle between two faces is 15 °, operator can preferably sentence
15 ° of amplitudes to be rotated of breaking are how many.
Four .TCP central points control
Robot movement is to be determined by tool coordinates system with workpiece coordinate system by matrix computations.So TCP is machine
The very important link of device people.Manipulator is by being moved on ball point, if ball point is A points, if manipulator centre bit
B points are set to, six every trade x, y, z ,-x ,-y ,-z coordinate systems around A points are entered with B points carries out positions and constantly change, it has been determined that correctly
Tool coordinates origin.
The purpose of training：
When industrializing robot tool hand and reinstalling or change instrument hand etc., because its shape or size position are not
The equivalent instrument hand with last installation, then need to redefine TCP（Tool center point）.
It is time-consuming long because the instrument hand of redefining is a pretty troublesome process, but it is seldom to be also due to operating personnel
Redefine carelessness caused by instrument hand, only skilled control machine hand to tcp coordinate definitions, can just make in some occasions
Improve efficiency.
Five, direction controllings
During original state, manipulator stops being suspended in center, and using center as original position, finger is assigned to operating personnel
Order, to any one party to movement, when being moved to specified location the object of mechanical subordinate side must just touch button switch and
It is pushed, is judged whether in the direction that we specify.Be moved to after button switch must continue to move forward until
Infrared sensor is touched, and next point specified is touched within a period of time.Button switch is automatically reset switch, real
It can be used for multiple times when testing.
The purpose of training：
Because operation industrialization robot is a spatial operation, in each position of industrialization robot（Such as：
East, south, west, north）To because coordinate it is all different, then the direction of operation industrialization robot rocking bar is also different, many operations
Person be exactly because spatially the change of coordinate and cause operation industrialization robot anisotropy to damaging robot.
Four button switches and infrared sensor are set in four positive directions of a plane, display screen is randomly assigned a side
To, operator then must direction motion industry robot as indicated, now operator can not always stand in industrialization machine
Button switch and infrared sensor are removed in the front of people, it is necessary to stand in all angles.
The utility model only provides a kind of trainer, as the operation of which kind of industrial robot of training, and how to grasp
Work is voluntarily set by user.
Claims (10)
- A kind of 1. industrial robot operating training unit, it is characterised in that including support safety mechanism, speed control training institution, Precision controlled training mechanism, angle adjustment controlled training mechanism, TCP central point controlled training mechanisms and direction controlling training airplane Structure, support safety mechanism are lower support structure, speed control training institution, precision controlled training mechanism, angle adjustment control Training institution processed and TCP central point controlled trainings mechanism surround polygonized structure and are arranged on above support safety mechanism, direction Controlled training mechanism is arranged in polygonized structure.
- A kind of 2. industrial robot operating training unit according to claim 1, it is characterised in that the support safety machine Structure includes support bar upper body, support bar lower body, support bar core and spring, and cylindric blind hole is provided with vivo on support bar, support Circular groove is provided with above bar lower body, support bar core upper end is inserted in cylindric blind hole, is socketed outside support bar core and is set spring and insert Enter in circular groove, spring is between support bar upper body and support bar lower body；The speed control training institution includes first vector, flat step band, latch, roller, encoder, pushing block and square block, The cavity for accommodating flat step band, cavity one end installation latch and roller, cavity other end installation latch, rolling are provided with first vector Wheel and encoder, encoder are engaged by key with roller；Flat step band is engaged with the roller at both ends, and flat step, which takes, is provided with peace The square hole of pushing block is filled, square block grafting is arranged on pushing block；The precision controlled training mechanism includes Second support, flat block of carrier, flat piece of hexagon, the second assistant carrier, first Infrared sensor and fixed plate, two flat block of carrier interlockings are set on a second carrier, and flat piece of interlocking of hexagon is arranged on flat piece On carrier, and the setting angle of flat piece of hexagon is different, and the second assistant carrier is arranged on the lower section of Second support, and two first red Outer sensor is correspondingly arranged on the second assistant carrier immediately below flat block of carrier, and fixed plate clamping is arranged in Second support The heart, fixed plate will not interfere with the second assistant carrier；The angle adjustment controlled training mechanism includes the 3rd carrier, core block and core block position-limit mechanism, core block position restrainer Structure include shell on bullet formula pin, play formula pin lower casing, hold out against spring, to play formula plunger, chock, the first square latch and second square Latch, mounting groove and core block mounting groove are set on the 3rd carrier, set in mounting groove shell on bullet formula pin, play it is outer under formula pin Shell, hold out against spring, play formula plunger and chock, holding out against spring, bullet formula plunger is arranged on shell and bullet formula pin lower casing on bullet formula pin Between, chock is arranged on left side of the shell with playing formula pin lower casing on bullet formula pin, plays shell on formula pin and plays formula pin lower casing Outer wall offers the first half grooves coordinated with the first square latch, the second square latch to outer wall respectively；Set in core block mounting groove Core block is put, the side of core block is provided with least one stopper slot；Installation groove sidewall offers and the first square latch and the The second half grooves that two square latches coordinate, installation groove sidewall are further opened with connecting the slit of core block mounting groove, play formula plunger Head is engaged through slit with the stopper slot of core block side；Core block and core block position-limit mechanism at least provided with two groups, and Core block angle of inclination is different；The TCP central points controlled training mechanism includes the 4th carrier and adjustable lever, and adjustable lever top is provided with spheroid, can At least one set of salient point is additionally provided with adjusting rod, the through hole of installation adjustable lever is provided with the 4th carrier, is provided with through hole Lateral circumferential groove and vertical slot, salient point on adjustable lever vertically groove insertion through hole, the positioning of lateral circumferential groove are caught in during rotation；The direction controlling training institution is made up of two the 5th carriers of right-angled intersection, and button is provided with cross searching Switch, cross searching to being respectively arranged with equidistant button switch and the second infrared sensor on the 5th carrier of external radiation, Button switch is made up of button shell, button head and back-moving spring, and dividing plate and sheet metal, sheet metal position are provided with button shell Conducting shell fragment and baffle plate are provided with below button outer casing bottom, button head, turns on and the reset is set between shell fragment and baffle plate Spring, the both sides up and down that shell fragment and baffle plate are located at dividing plate respectively are turned on during installation, and push button head can overcome the power of spring to make to lead Logical shell fragment contacts conducting button switch with sheet metal, and the second infrared sensor is arranged on the outside of button switch.
- 3. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the first vector, Two carriers, the 3rd carrier and the 4th carrier surround a square, pass through support bar upper body, the first connector between adjacent both sides Coordinate with the second connector and be connected；Projection is additionally provided with above the support bar upper body, projection is provided centrally with aperture；First connects First the second plug of plug and the 3rd plug are set on fitting, the 4th plug and the 5th plug are set on the second connector；First Carrier, Second support, the 3rd carrier and the 4th carrier and support bar upper body connection end structure are identical, first vector, Second support, 3rd carrier and the 4th carrier are provided with the first jack, the second jack and vertical cut (V. cut), the first plug and the 3rd plug and phase The first adjacent jack coordinates, and in the aperture of the projection of the second plug insertion support bar upper body, vertical cut (V. cut) is engaged with projection, the Four plugs and the 5th plug coordinate with the second adjacent jack.
- 4. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the first vector, It is provided with mounting hole on three carriers and the 4th carrier, is provided with projection above the fixed plate on the second assistant carrier, two the Four free ends of five carriers set three convex tendons and a shrinkage pool, respectively corresponding matching first vector, the 3rd carrier and the 4th The projection on mounting hole and fixed plate on carrier.
- 5. a kind of industrial robot operating training unit according to claim 2, it is characterised in that second auxiliary carries Body both ends are respectively engaged with support bar upper body and are fixedly connected by pin.
- A kind of 6. industrial robot operating training unit according to claim 2, it is characterised in that the Second support point The rigid connection body of nonrigid connector and both ends for centre, flat block of carrier be arranged on nonrigid connector, nonrigid connector with Rigid connection body is connected by pin.
- A kind of 7. industrial robot operating training unit according to claim 2, it is characterised in that the support bar upper body Side wall is provided with cell body, and support bar core top sets grooved hole, a deep-slotted chip breaker for being more than 90 degree is set in slotted eye；The support bar Core and support bar upper body are connected by bearing pin of the end with right angle projection, the bearing pin with right angle projection be sequentially inserted into cell body and Slotted eye, and be rotated by 90 ° and support bar core can be connected with support bar upper body in the deep-slotted chip breaker in slotted eye, and bearing pin can on Lower slider is in cell body.
- A kind of 8. industrial robot operating training unit according to claim 2, it is characterised in that the support bar lower body Lower section groove is set, be equipped with support base in groove.
- A kind of 9. industrial robot operating training unit according to claim 2, it is characterised in that the support bar upper body Lower surface and support bar lower body upper surface be provided with spring coordinate arcuate structure.
- 10. a kind of industrial robot operating training unit according to claim 2, it is characterised in that the core block and core Heart block position-limit mechanism is arranged to three groups, and three groups of core block angles of inclination are set gradually as 15 degree, 30 degree and 45 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720627492.6U CN206840099U (en) | 2017-06-01 | 2017-06-01 | A kind of industrial robot operating training unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720627492.6U CN206840099U (en) | 2017-06-01 | 2017-06-01 | A kind of industrial robot operating training unit |
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| Publication Number | Publication Date |
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| CN206840099U true CN206840099U (en) | 2018-01-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081762A (en) * | 2017-06-01 | 2017-08-22 | 湖州职业技术学院 | A kind of industrial robot operating training unit |
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2017
- 2017-06-01 CN CN201720627492.6U patent/CN206840099U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081762A (en) * | 2017-06-01 | 2017-08-22 | 湖州职业技术学院 | A kind of industrial robot operating training unit |
| CN107081762B (en) * | 2017-06-01 | 2023-10-03 | 湖州职业技术学院 | Industrial robot operation trainer |
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Granted publication date: 20180105 Termination date: 20200601 |