CN207337757U - Industrial robot training device - Google Patents
Industrial robot training device Download PDFInfo
- Publication number
- CN207337757U CN207337757U CN201720660156.1U CN201720660156U CN207337757U CN 207337757 U CN207337757 U CN 207337757U CN 201720660156 U CN201720660156 U CN 201720660156U CN 207337757 U CN207337757 U CN 207337757U
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- CN
- China
- Prior art keywords
- work top
- training device
- robot body
- robot
- disk
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Abstract
The utility model belongs to higher education Mechatronics specialities experimental teaching equipment,Specifically,It is a kind of industrial robot training device,It is composed of robot body and workbench,Further include PLC controller,Servo drive system,Man-machine interface and pneumatic parts,Robot body is bolted on work top,The mechanical arm tail end of robot body is provided with sucker,Object library disk and component library disk are additionally provided with work top,Sensor is provided with object library disk,Object library tray bottom is disposed with transmission mechanism and servomotor,Servomotor is fixed on work top,Pneumatic parts are arranged on the side of robot body,Man-machine interface is additionally provided with work top,Work top extends downward with support leg,Electrical control cabinet and robot controller are provided between support leg,Teaching unit is additionally provided between support leg,The training device further includes attaching plug and key box.
Description
Technical field
The utility model belongs to higher education Mechatronics specialities experimental teaching equipment, is a kind of industrial machine specifically
People's training device.
Background technology
The content of industrial robot kinematics, dynamics and path planning etc., is the weight of robot technology and application
Point and difficult point, simple classroom explanation it is very abstract with it is empty, it is difficult to understand.An industrial robot teaching experiment is provided for student
Platform, understands the knowledge in terms of robot kinematics in which can not only help student image, grasps robot manipulating task path planning
Method, can more excite study and the research interest of student.
The country have also been made many work in terms of the research of robot teaching's experiment porch, but on the whole also in preliminary
Stage.These researchs can be divided into two major classes：One kind is built upon the Simulation Experimental Platform on the basis of virtual robot, this kind of platform
Carry out the motion conditions of demonstration robot by some animation simulation softwares and carry out robot kinematics, dynamic (dynamical) analysis；Separately
One kind is that corresponding experiment porch is designed according to the robot voluntarily developed, this kind of platform is substantially carried out robot body
Research and the planning of simple working path.Domestic robot teaching's experiment porch primarily focuses on the composition knot of robot at present
In terms of structure and principle, the application and development to typical industry robot technology is related to fewer, and student tests in industrial robot
The hands-on chance of platform is few.
Utility model content
In order to solve the above-mentioned technical problem, the utility model discloses a kind of industrial robot training device.
The concrete technical scheme that the utility model uses for：
A kind of industrial robot training device, is composed of robot body and workbench, further include PLC controller,
Servo drive system, man-machine interface and pneumatic parts, PLC controller include high speed substrate, power module, CPU module, input
Module, output module and locating module, servo drive system include servo amplifier, servomotor, signal wiring connector, coding
Device cable and drives line cable, man-machine interface include GOT panels and touch-screen communication cable, and pneumatic parts include pneumatic three
Part, vacuum generator, vacuum filter, sucker, solenoid valve and muffler, robot body are bolted on work top
On, the mechanical arm tail end of robot body is provided with sucker, and object library disk and component library disk, target are additionally provided with work top
Sensor is provided with the disk of storehouse, object library tray bottom is disposed with transmission mechanism and servomotor, and servomotor is fixed on work
Make on table top, pneumatic parts are arranged on the side of robot body, and man-machine interface, work top are additionally provided with work top
Support leg is extended downward with, electrical control cabinet and robot controller are provided between support leg, is also set between support leg
Teaching unit is equipped with, which further includes attaching plug and provide electric power confession for being connected to external power supply for whole device
Should, further include key box and be used for carrying out robot body every button operation.
Further improvement of the utility model, robot body use technical grade Mitsubishi Electric brand RV-2FL-1D-S11
Robot, key box are fixed on work top.
Further improvement of the utility model, the sensor set on object library disk use infrared two-way emission type sensor.
Further improvement of the utility model, is additionally provided with caching on the sucker that the mechanical arm tail end of robot body is set
Device.
Further improvement of the utility model, component library disk center position are distributed 8 circles with one heart for a square blind hole position
Shape blind hole position, object library disk center position are distributed 8 blind round hole positions with one heart for a square blind hole position, and blind hole center is matched somebody with somebody
Diameter 5mm through holes are put, are detected for emission sensor.
Further improvement of the utility model, component library disk are fixed on workbench by 4 3030 section bars, and fixing piece uses
3030 aluminum corner fittings.
Further improvement of the utility model, by object library disk, infrared two-way emission type sensor, transmission mechanism and servomotor
The object library disk position switching mechanism of composition is fixed on work top by 3030 section material frameworks, and fixing piece uses 3030 aluminums
Corner fittings.
Further improvement of the utility model, support leg bottom are provided with universal wheel and brake gear.
The beneficial effects of the utility model：The utility model can carry out the experiment of multinomial robot technology application aspect,
The various actual jobs of dummy robot, can more excite study and the research interest and to the application study of robot technology of student
With certain meaning.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model.
Fig. 2 is the positive structure schematic of the utility model.
In figure, 1- robot bodies, 2- suckers, 3- sensors, 4- object library disks, 5- transmission mechanisms, 6- servomotors, 7-
Pneumatic parts, 8- component library disks, 9- key box, 10- man-machine interfaces, 11- electrical control cabinets, 12- robot controllers, 13-
Teaching unit, 14- attaching plugs, 15- workbench.
Embodiment
In order to deepen the understanding to the utility model, the utility model is done further below in conjunction with drawings and examples
It is described in detail, which is only used for explaining the utility model, and the scope of protection of the utility model is not formed and is limited.
Embodiment：As depicted in figs. 1 and 2, a kind of industrial robot training device, by robot body 1, workbench 15,
Switch board 11 and man-machine interface 10 form, and by the reciprocating motion of mechanical arm, eight circular Curve of a side in component library disk 8 is carried to
Object library disk 4, component library disk 8 are fixed on workbench 15, and object library disk 4 drives rotation by servomotor 6, and rotary speed can basis
It is required that it is adjusted.Component library disk 8 and 4 center of object library disk are a square blind hole position, and component library disk 8 is distributed 8 with one heart
A blind round hole position, object library disk 4 are distributed 8 blind round hole positions with one heart（Blind hole center configures diameter 5mm through holes, is used for
Emission sensor detects.4 centimetres of the rectangular member length of side, 1 centimetre of thickness；4 centimetres of round piece diameter, 1 centimetre of thickness.Element
8 0.05 millimeter of station hole tolerance of storehouse disk, 0.1 millimeter of 4 tolerance of object library disk.
Workbench 15 is the carrier of industrial robot actual training device, and industrial machine human body 1 is secured by bolts in work
Platform 15；Component library disk 8 is fixed on workbench 15 by 4 3030 section bars, and fixing piece uses 3030 aluminum corner fittings；By object library disk
4th, the object library disk position switching mechanism that infrared two-way emission type sensor 3, transmission mechanism 5 and servomotor 6 are formed passes through 3030 types
Material frame is fixed on workbench 15, and fixing piece uses 3030 aluminum corner fittings；Man-machine interface 10 is used for system soft start/stopping, and
The piece count of monitoring element storehouse disk 8 and object library disk 4, servomotor rotary speed, people can be set by man-machine interface 10
Workbench 10 is fixed in machine interface 10 by 3030 section bar supports；Pneumatic parts 7 are used for the filtering of gas, gas in pneumatic system
Pressure is adjusted, vacuum produces and the break-make of gas circuit, and pneumatic triple piece is fixed on work by stainless bracing members in the parts thereof
Platform 15, vacuum generator, muffler and pipeline are fixed on workbench 15 by band, and air valve is fixed on industrial machine by screw
Human body 1；Key box 9 prepare start, stop, hand/adaptive switched, reset and emergency stop button, workbench 15 can be fixed on, also may be used
To move freely；Electrical control cabinet 11 is fixed on workbench 15 by slide, front and rear can twitch, and is driven easy to PLC controller, servo
The installation check of the electrical equipments such as dynamic device；Robot controller 12 and teaching unit 13 are standard configuration, are freely positioned over work
The bottom platform of platform 15；Attaching plug 14 uses aviation socket, for powering for actual training device, is secured by bolts in workbench
15 right sides；Sucker 2 is used to draw workpiece, is fixed on robot body 1 by fixture.
15 size of workbench is high for 1200mm long * 960 wide * 1400；8 size of component library disk is：Disk diameter 20cm, 1
Square blind hole, length of side 4cm, thickness 1cm, 8 blind round hole, diameter 4cm, thickness 1cm；0.05 millimeter of tolerance；4 ruler of object library disk
It is very little to be：Disk diameter 20cm, 1 square blind hole, length of side 4cm, thickness 1cm, 8 blind round hole, diameter 4cm, thickness 1cm are public
Poor 0.1 millimeter, servomotor driving positioning.
The basic principle, main features and advantages of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope
It is defined by the appending claims and its equivalent thereof.
Claims (8)
1. a kind of industrial robot training device, it is characterised in that be composed of, further include robot body and workbench
PLC controller, servo drive system, man-machine interface and pneumatic parts, the PLC controller include high speed substrate, power supply mould
Block, CPU module, input module, output module and locating module, the servo drive system include servo amplifier, servo electricity
Machine, signal wiring connector, encoder cable and drives line cable, the man-machine interface include GOT panels and touch-screen communication electricity
Cable, the pneumatic parts include pneumatic triple piece, vacuum generator, vacuum filter, sucker, solenoid valve and muffler, institute
State robot body to be bolted on the work top, the mechanical arm tail end of the robot body is provided with suction
Disk, is additionally provided with object library disk and component library disk on the work top, sensor, the mesh is provided with the object library disk
Mark storehouse tray bottom is disposed with transmission mechanism and servomotor, and the servomotor is fixed on the work top, described
Pneumatic parts are arranged on the side of the robot body, and man-machine interface, the work are additionally provided with the work top
Table top extends downward with support leg, and electrical control cabinet and robot controller, the branch are provided between the support leg
Teaching unit is additionally provided between support leg, it is whole device which, which further includes attaching plug to be used for being connected to external power supply,
Supply of electric power is provided, key box is further included and is used for carrying out robot body every button operation.
2. industrial robot training device according to claim 1, it is characterised in that the robot body is using industry
Brand RV-2FL-1D-S11 robots of level Mitsubishi Electric, the key box are fixed on the work top.
3. industrial robot training device according to claim 2, it is characterised in that the biography set on the object library disk
Sensor uses infrared two-way emission type sensor.
4. industrial robot training device according to claim 3, it is characterised in that the mechanical arm of the robot body
Buffer storage is additionally provided with the sucker that end is set.
5. according to claim 1-4 any one of them industrial robot training devices, it is characterised in that the component library disk and
Object library disk center position is distributed 8 blind round hole positions with one heart for a square blind hole position.
6. industrial robot training device according to claim 5, it is characterised in that the component library disk passes through 4
3030 section bars are fixed on workbench, and fixing piece uses 3030 aluminum corner fittings.
7. industrial robot training device according to claim 6, it is characterised in that by the object library disk, infrared right
The object library disk position switching mechanism that formula sensor, transmission mechanism and servomotor are formed is penetrated to be fixed on by 3030 section material frameworks
On the work top, fixing piece uses 3030 aluminum corner fittings.
8. industrial robot training device according to claim 7, it is characterised in that the support leg bottom is provided with ten thousand
To wheel and brake gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720660156.1U CN207337757U (en) | 2017-06-08 | 2017-06-08 | Industrial robot training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720660156.1U CN207337757U (en) | 2017-06-08 | 2017-06-08 | Industrial robot training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207337757U true CN207337757U (en) | 2018-05-08 |
Family
ID=62426338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720660156.1U Expired - Fee Related CN207337757U (en) | 2017-06-08 | 2017-06-08 | Industrial robot training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207337757U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN109272849A (en) * | 2018-09-29 | 2019-01-25 | 南京工程学院 | Servo antrol actual training device |
| CN111462607A (en) * | 2020-04-14 | 2020-07-28 | 杭州仪迈科技有限公司 | Mechanical transmission training system and combination method |
-
2017
- 2017-06-08 CN CN201720660156.1U patent/CN207337757U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109166447A (en) * | 2018-09-29 | 2019-01-08 | 南京工程学院 | Three axis aggregate motions control actual training device |
| CN109272849A (en) * | 2018-09-29 | 2019-01-25 | 南京工程学院 | Servo antrol actual training device |
| CN111462607A (en) * | 2020-04-14 | 2020-07-28 | 杭州仪迈科技有限公司 | Mechanical transmission training system and combination method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190925 Address after: 211167 Room 205, 8 Blocks, B District, Yiwu Commodity City, Nanjing, Jiangning District, Jiangsu Province, 388 Tianyuan East Road, Nanjing Patentee after: Nanjing siderite Automation Engineering Co., Ltd. Address before: 1 No. 211167 Jiangsu city of Nanjing province Jiangning Science Park Hongjing Road Patentee before: Nanjing Institute of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180508 Termination date: 20200608 |