CN207824891U - A kind of robot training platform - Google Patents
A kind of robot training platform Download PDFInfo
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- CN207824891U CN207824891U CN201820114664.4U CN201820114664U CN207824891U CN 207824891 U CN207824891 U CN 207824891U CN 201820114664 U CN201820114664 U CN 201820114664U CN 207824891 U CN207824891 U CN 207824891U
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- assembling
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Abstract
The utility model discloses a kind of robot training platforms,Belong to experience system technical field,Including proximate matter Practical training table,The upper surface of proximate matter Practical training table is provided with raw material storage,Selection compliance puts together machines arm,Assemble transfer mechanism,Visual identity mechanism,Six-shaft industrial robot,Quick change handgrip library,Finished product mounting table and the electric control system being arranged inside proximate matter installation table,Assembling transfer mechanism is located at selection compliance and puts together machines between arm and six-shaft industrial robot,Visual identity mechanism is located at the side of assembling transfer mechanism,Selection compliance puts together machines arm for carrying material between raw material storage and assembling transfer mechanism,Six-shaft industrial robot is used in quick change handgrip library,Material is carried between assembling transfer mechanism and finished product mounting table,It includes turntable to assemble transfer mechanism,Turntable is driven by motor,Two assembling stations are set on turntable.This training platform can control the ability of robot work compound with training student.
Description
Technical field
The utility model is related to experience system technical fields, specifically industrial robot application experience system.
Background technology
With the raising of depth and the intelligent robot level of industrial machine man-based development, industrial robot is in crowd
Multi-field to be applied, with the popularization that industrial robot is applied, robot teaching also becomes more and more important, robot religion
It learns training platform also to come into being, robot teaching's training platform has good demonstrating effect, while also can training students
Operating ability.
But existing robot teaching's training platform generally includes individual machine people and its corresponding multiple operation is flat
Platform, this kind of training platform make full use of degree of freedom and the operating space of robot to complete the demonstration of various each functions, still, are somebody's turn to do
Kind training platform can not demonstrate different types of robot work compound simultaneously, with, the demand of industrial automation increasingly improves,
Work compound realizes the automated production of multiple processes between different types of robot, is carried to following robot practitioner
Higher requirement is gone out.
Market increases the demand using the talent of industrial robot, is especially engaged in industrial robot maintenance, machine
The skilled talents that the installation and debugging of people's work station, industrial robot system integrate lack application system training in the prior art
Experience system.
Invention content
Utility model device discloses a kind of robot training platform, can realize between two different robots
Synergistic effect, training student control the ability of robot work compound, and by the branch bit-type of industrial robot executing agency
With continuous path type Control function and industrial flow, two kinds of demonstrating model is devised.
A kind of robot training platform includes that proximate matter Practical training table, raw material storage, selection compliance put together machines in arm, assembling
Rotation mechanism, visual identity mechanism, six-shaft industrial robot, quick change handgrip library, finished product mounting table and setting are in proximate matter installation table
Internal electric control system；Raw material storage, selection compliance put together machines arm, assembling transfer mechanism, visual identity mechanism, six
Shaft industrial robot, quick change handgrip library and finished product mounting table are arranged on proximate matter Practical training table, and electric control system is arranged in proximate matter
The inside of Practical training table；Assembling transfer mechanism is located at selection compliance and puts together machines between arm and six-shaft industrial robot, depending on
Feel that identification mechanism is located at the side of assembling transfer mechanism, compliance is selected to put together machines arm in raw material storage and assembling
Material is carried between rotation mechanism, six-shaft industrial robot is used in quick change handgrip library, assembling transfer mechanism and finished product mounting table
Between carry material, assembling transfer mechanism includes turntable, and turntable is driven by motor, and two assembling stations are evenly arranged on turntable.
Preferably, raw material store is provided with places in a groove with the matched various grooves of seven-piece plate shape, seven-piece puzzle, drawing board
On finished product mounting table, drawing paper is fixed on drawing board, be placed in quick change handgrip library installation for drawing the first spare part and
The shape of the mounting base of the second spare part for drawing seven-piece puzzle, the first spare part and the second spare part is identical.
Preferably, assembling station includes mounting table, and staggeredly the groove for matching various seven-piece plate shapes is provided in mounting table.
Preferably, region is pressed in raw material storage and places button ontology, light bulb and button upper cover, button ontology, light bulb and is pressed
Button upper cover forms button, and warehouse for finished product is used to place the button after assembling.
Preferably, assembling station includes placing block, positioning finger cylinder and gripping finger, and positioning finger cylinder is fixed on turntable
On, gripping finger is mounted on the output end of positioning finger cylinder, and the upper surface for placing block is provided with groove, groove for place light bulb with
And button upper cover, it places block and the through-hole for being provided on the side of gripping finger, turntable and placing button ontology is set, gripping finger is located at through-hole
Surface, button socket are mounted on the underface on turntable and positioned at through-hole.
Preferably, the shape of turntable is square or round.
Preferably, the surrounding of the upper surface of proximate matter Practical training table is equipped with shielded frame, and transparent panel is equipped on shielded frame
Material.
Preferably, the side surface of proximate matter Practical training table is equipped with clear sheet.
Preferably, the upper surface of proximate matter Practical training table includes the section material frame that several are laterally arranged, and has between section material frame and supplies
The installation gap that screw passes through.
The beneficial effects of the utility model：This training platform is put together machines arm and six-shaft industrial machine using selection compliance
Device people two distinct types of robot student can learn to control the work compound of robot, between the two using assembling
Transfer mechanism carries out transmission material, and the working space of Liang Ge robots improves the safety of whole device there is no interference；It is anti-
Clear sheet is installed on shield frame and the side surface of proximate matter Practical training table is equipped with clear sheet, student can be facilitated to understand machine
The composition of structure and the movement of observation element；The upper surface of proximate matter Practical training table includes the section material frame that several are laterally arranged, proximate matter
There is the installation gap passed through for screw between frame, it can be in the case where the upper surface of proximate matter Practical training table not be punched, easily
Fixed and mobile each component is in the position of proximate matter Practical training table.
Description of the drawings
Fig. 1 is the dimensional structure diagram of utility model device embodiment one.
Fig. 2 is the dimensional structure diagram that transfer mechanism is assembled in utility model device embodiment one.
Fig. 3 is the dimensional structure diagram in quick change handgrip library in utility model device embodiment one.
Fig. 4 is the dimensional structure diagram of utility model device embodiment two.
Fig. 5 is the dimensional structure diagram that transfer mechanism is assembled in utility model device embodiment two.
Fig. 6 is the partial structural diagram that transfer mechanism is assembled in utility model device embodiment two.
In figure：110. proximate matter Practical training table；120. finished product mounting table；130. handgrip part warehouse；131. the first spare part；132. the
Two spare parts；140. assembling transfer mechanism；141. turntable；142. assembling stations；143. button socket；150. raw material storage；160. choosing
Compliance is selected to put together machines arm；170. visual identity mechanisms；180. six-shaft industrial robot；190. shielded frame.
Specific implementation mode
Embodiment one
As shown in Figure 1-Figure 3, seven-piece puzzle and seven-piece puzzle profile representational role, the training platform are carried in this training platform demonstration
Including proximate matter Practical training table 110, raw material storage 150, selection compliance put together machines arm 160, assembling transfer mechanism 140, vision know
Other mechanism 170, six-shaft industrial robot 180, quick change handgrip library 130, finished product mounting table 120 and electric control system, raw material
Library 150, selection compliance put together machines arm 160, assembling transfer mechanism 140, visual identity mechanism 170, six-shaft industrial machine
People 180, quick change handgrip library 130, finished product mounting table 120 are arranged on proximate matter Practical training table 110, and electric control system is arranged in proximate matter
The inside of Practical training table 110, assembling transfer mechanism 140 are located at selection compliance and put together machines arm 160 and six-shaft industrial machine
Between people 180, visual identity mechanism 170 is located at the side of assembling transfer mechanism 140, and compliance is selected to put together machines arm 160
For carrying material between raw material storage 150 and assembling transfer mechanism 140, six-shaft industrial robot 180 in quick change for grabbing
Material is carried between hand library 130, assembling transfer mechanism 140 and finished product mounting table 120, assembling transfer mechanism 140 includes turntable
141, turntable 141 is driven by motor, and two assembling stations 142 are evenly arranged on turntable 141.
Raw material store 150 is provided with is placed on the recessed of raw material store 150 with the matched various grooves of seven-piece plate shape, seven-piece puzzle
In slot, sucker is fixed on the end effector for selecting compliance to put together machines arm 160 by sucker mounting plate；Preferably, turn
The shape of disk 141 is rectangular or round, assembles in station 142 and is staggeredly provided with the groove for matching various seven-piece plate shapes, is selected
The compliance arm 160 that puts together machines captures the assembling station 142 that seven-piece puzzle is placed into side, turntable 141 from raw material store 150
It is rotated by 90 °, visual identity mechanism 170 is used to detect the shape of seven-piece puzzle in assembling station 142, and turntable 141 continues rotation 90
Degree, assembling station 142 wait for crawl position with what turntable 141 turned to six-shaft industrial robot 180.
Finger cylinder is mounted on the end effector of six-shaft industrial robot 180, and two gripping fingers are symmetrically mounted on finger
The output end of cylinder is placed for the first spare part 131 of drawing in quick change handgrip library 130 and second standby for drawing seven-piece puzzle
Part 132, the first spare part 131 is identical with the shape of the mounting base of the second spare part 132, and the outer surface of mounting base is grabbing for two gripping fingers
Take face.
Further, it is positioned in capturing for convenience, the gripping surface of two gripping fingers is divided into plane and arc surface, mounting base
Outer surface can be bonded completely with the gripping surface of gripping finger, and arc surface can play the role of positioning.
Drawing board is mounted on finished product mounting table 120, and the surrounding of drawing board is provided with drawing paper clip, and drawing paper clamp is being drawn
On plate.
Six-shaft industrial robot 180 drives gripping finger to capture the first spare part 131, and the testing result of visual identity mechanism 170 passes
It is delivered in the controller of six-shaft industrial robot 180, six-shaft industrial machine 180 drives the first spare part 131 to draw inspection on drawing paper
The seven-piece plate shape measured, six-shaft industrial robot 180 put back to the first spare part 131 then the second spare part 132 of crawl, six-shaft industrial
Robot 180 drives the second spare part 132 to draw seven-piece puzzle in mounting table 142 and is placed into the position drawn by drawing paper, seven-piece puzzle and picture
Profile on paper fits like a glove.
The surrounding of the upper surface of proximate matter Practical training table 110 is equipped with shielded frame 190, is equipped on shielded frame 190 transparent
Plank can facilitate structure and the movement of observation of students device, the side surface of proximate matter Practical training table 110 to be equipped with clear sheet,
The electric control system that device can be can be visually seen facilitates breakdown judge and repair；The upper surface of proximate matter Practical training table 110 includes
Several section material frames being laterally arranged have the installation gap passed through for screw between section material frame, in 110 upper end of proximate matter Practical training table
In the case that face is without punching, all parts in the fixed and mobile present apparatus can be facilitated.
It is carried in the present embodiment in seven-piece puzzle and the reproduction of seven-piece puzzle profile, carries seven-piece puzzle and need to select compliance assembly machine
Device arm and six-shaft industrial robot work compound select compliance to put together machines arm control as point bit-type, are suitable for mould
Operations, the six-shaft industrial robots such as quasi- lathe loading and unloading, spot welding, general carrying and handling drive drawing pen to draw seven in drawing paper
The profile of skilful plate is that continuous path type can control executing agency, this kind of control mechanism can the company of simulation according to given track movement
The operations such as continuous welding and application.
Embodiment two
As shown in Figure 4-Figure 6, this training platform demonstration assembling button, which includes proximate matter Practical training table 110, raw material
Library 150, selection compliance put together machines arm 160, assembling transfer mechanism 140, visual identity mechanism 170, six-shaft industrial machine
People 180, quick change handgrip library 130, finished product mounting table 120 and electric control system, raw material storage 150, selection compliance assembly machine
Device arm 160, assembling transfer mechanism 140, visual identity mechanism 170, six-shaft industrial robot 180, quick change handgrip library 130 and
Finished product mounting table 120 is arranged on proximate matter Practical training table 110, and electric control system is arranged in the inside of proximate matter Practical training table 110, group
Dress transfer mechanism 140 is located at selection compliance and puts together machines between arm 160 and six-shaft industrial robot 180, visual identity
Mechanism 170 is located at the side of assembling transfer mechanism 140, select compliance put together machines arm 160 in raw material storage 150 and
Material is carried between assembling transfer mechanism 140, six-shaft industrial robot 180 is used in quick change handgrip library 130, assembling transfer mechanism
Material is carried between 140 and finished product mounting table 120, assembling transfer mechanism 140 includes turntable 141, and turntable 141 is by motor band
It is dynamic, two assembling stations 142 are uniformly arranged on turntable 141.
Button includes button ontology, light bulb and button upper cover, and button ontology, light bulb and button upper cover press region placement
In raw material storage 150, the first handgrip is mounted on the end effector for selecting compliance to put together machines arm 160, the first handgrip
Including two groups of symmetrically arranged clamping jaws, two groups of clamping jaws are driven respectively by two finger cylinders, and one group of clamping jaw is used for gripping button sheet
Body and upper cover, another group of clamping jaw are used for gripping light bulb；Preferably, the shape of turntable 141 is square or round, assembles station
142 include placing block, positioning finger cylinder and gripping finger, and positioning finger cylinder is fixed on turntable 141, and gripping finger is mounted on positioning
On the output end of finger cylinder, the upper surface for placing block is provided with groove, places block further groove and is used for placing button upper cover and lamp
Bubble, place block be arranged be provided on the side of gripping finger, turntable 141 place button ontology through-hole, gripping finger be located at through-hole just on
Side, button socket 143 are mounted on the underface on turntable 141 and positioned at through-hole.
Selection compliance puts together machines, and the first handgrip captures button upper cover to the drive of arm 160 successively, light bulb is placed into placement
On block, select the compliance arm 160 that puts together machines that the first handgrip crawl button ontology is driven to move to the top of gripping finger, gripping finger exists
It positions and is opened under the drive of finger cylinder, select the compliance arm 160 that puts together machines that button ontology is driven to continue traveling downwardly into logical
The contact of Kong Zhong, button ontology are accessed in the hole of button socket 143, and gripping finger clamps button ontology；Second handgrip and the first handgrip
Structure it is identical, the second handgrip be mounted on six-shaft industrial robot 180 end effector on；Quick change handgrip library in the present embodiment
130 do not store spare part；Turntable rotate 180 degree, six-shaft industrial robot 180 drive the second handgrip capture successively light bulb, upper cover with
Button ontology is assembled, and after the completion of button assembly, whether visual identity mechanism 170 is shone to the assembling matter of button by light bulb
Amount is detected, and it is certified products that button, which shines then, is otherwise defective work；Six-shaft industrial robot 180 captures finished product and is placed into
Finished product mounting table 120.
The surrounding of the upper surface of proximate matter Practical training table 110 is equipped with shielded frame 190, is equipped on shielded frame 190 transparent
Plank can facilitate structure and the movement of observation of students device, the side surface of proximate matter Practical training table 110 to be equipped with clear sheet,
The electric control system that device can be can be visually seen facilitates breakdown judge and repair；The upper surface of proximate matter Practical training table 110 includes
Several section material frames being laterally arranged have the installation gap passed through for screw between section material frame, in 110 upper end of proximate matter Practical training table
In the case that face is not punched, all parts in fixed and mobile device can be facilitated.
The embodiment of above-mentioned button assembling is the abstract of assembly line assembling in industry, and button assembling needs to select compliance dress
With robotic arm and six-shaft industrial robot work compound.
Schematically the utility model and embodiments thereof are described above, description is not limiting, attached drawing
Shown in also be the utility model one of embodiment, actual structure is not limited to this.So if this field
Those of ordinary skill enlightened by it, without deviating from the purpose of the present invention, without creatively designing
The frame mode and embodiment similar with the technical solution, all should belong to the protection range of the utility model.
Claims (9)
1. a kind of robot training platform, it is characterised in that the training platform include proximate matter Practical training table (110), raw material storage (150),
Selection compliance put together machines arm (160), assembling transfer mechanism (140), visual identity mechanism (170), six-shaft industrial machine
People (180), quick change handgrip library (130), finished product mounting table (120) and electric control system；The raw material storage (150), selection are suitable
Answering property put together machines arm (160), assembling transfer mechanism (140), visual identity mechanism (170), six-shaft industrial robot
(180), quick change handgrip library (130) and the finished product mounting table (120) are arranged on the proximate matter Practical training table (110), the electricity
Gas set-up of control system is in the inside of the proximate matter Practical training table (110)；It is suitable that the assembling transfer mechanism (140) is located at the selection
Answering property puts together machines between arm (160) and the six-shaft industrial robot (180), and the visual identity mechanism (170) is located at
The side of the assembling transfer mechanism (140), the selection compliance put together machines arm (160) in the raw material storage
(150) and between the assembling transfer mechanism (140) material is carried, the six-shaft industrial robot (180) in quick change for grabbing
Material, the assembling transfer mechanism are carried between hand library (130), assembling transfer mechanism (140) and the finished product mounting table (120)
(140) include turntable (141), the turntable (141) is driven by motor, and two assembling works are evenly arranged on the turntable (141)
Position (142).
2. a kind of robot training platform according to claim 1, it is characterised in that the raw material storage (150) be equipped with it is each
The kind matched groove of seven-piece plate shape, the seven-piece puzzle are placed in a groove, and drawing board is mounted on the finished product mounting table (120)
On, drawing paper is fixed on the drawing board, and the first spare part (131) for drawing is placed in quick change handgrip library (130) and is used for
The shape of the mounting base of the second spare part (132) of absorption seven-piece puzzle, first spare part (131) and second spare part (132)
It is identical.
3. a kind of robot training platform according to claim 2, it is characterised in that the assembling station (142) includes putting
Platform is set, staggeredly the groove for matching various seven-piece plate shapes is provided in the mounting table.
4. a kind of robot training platform according to claim 1, it is characterised in that press region in the raw material storage (150)
Button ontology, light bulb and button upper cover are placed, the button ontology, light bulb and button upper cover form button, and the finished product is placed
Platform (120) is used to place the button after assembling.
5. a kind of robot training platform according to claim 4, it is characterised in that the assembling station (142) includes putting
It sets block, positioning finger cylinder and gripping finger, the positioning finger cylinder to be fixed on the turntable (141), the gripping finger is mounted on
On the output end for positioning finger cylinder, the upper surface for placing block is provided with groove, and the groove is for placing light bulb and pressing
Button upper cover, the placement block are arranged in the side of gripping finger, and the turntable (141) is equipped with for placing the logical of the button ontology
Hole, the gripping finger are located at the surface of through-hole, and button socket (143) is mounted on the turntable (141) and is located at the through-hole
Underface.
6. a kind of robot training platform according to claim 1, it is characterised in that the shape of the turntable (141) is just
It is rectangular or round.
7. a kind of robot training platform according to claim 1, it is characterised in that the proximate matter Practical training table (110) it is upper
The surrounding of end face is equipped with shielded frame (190), and clear sheet is equipped on the shielded frame (190).
8. a kind of robot training platform according to claim 1, it is characterised in that the side of the proximate matter Practical training table (110)
Surface is equipped with clear sheet.
9. a kind of robot training platform according to claim 1, it is characterised in that the proximate matter Practical training table (110) it is upper
End face includes the section material frame that several are laterally arranged, and has the installation gap passed through for screw between the section material frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820114664.4U CN207824891U (en) | 2018-01-24 | 2018-01-24 | A kind of robot training platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820114664.4U CN207824891U (en) | 2018-01-24 | 2018-01-24 | A kind of robot training platform |
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| Publication Number | Publication Date |
|---|---|
| CN207824891U true CN207824891U (en) | 2018-09-07 |
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ID=63394322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820114664.4U Active CN207824891U (en) | 2018-01-24 | 2018-01-24 | A kind of robot training platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN207824891U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247641A (en) * | 2018-01-24 | 2018-07-06 | 安徽海思达机器人有限公司 | A kind of robot training platform |
| CN109014892A (en) * | 2018-08-11 | 2018-12-18 | 山东栋梁科技设备有限公司 | A kind of device and method of Liang Tai robot collaborative assembly mouse |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
-
2018
- 2018-01-24 CN CN201820114664.4U patent/CN207824891U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247641A (en) * | 2018-01-24 | 2018-07-06 | 安徽海思达机器人有限公司 | A kind of robot training platform |
| CN109014892A (en) * | 2018-08-11 | 2018-12-18 | 山东栋梁科技设备有限公司 | A kind of device and method of Liang Tai robot collaborative assembly mouse |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
| CN110315514B (en) * | 2019-08-07 | 2023-12-01 | 江苏汇博机器人技术股份有限公司 | Desktop type double-arm cooperative robot system for practical training |
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