CN208256161U - Practical traning platform is used in a kind of teaching of industrial robot - Google Patents
Practical traning platform is used in a kind of teaching of industrial robot Download PDFInfo
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- CN208256161U CN208256161U CN201721903700.7U CN201721903700U CN208256161U CN 208256161 U CN208256161 U CN 208256161U CN 201721903700 U CN201721903700 U CN 201721903700U CN 208256161 U CN208256161 U CN 208256161U
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- 238000005520 cutting process Methods 0.000 claims abstract description 62
- 238000005498 polishing Methods 0.000 claims abstract description 41
- 239000011248 coating agent Substances 0.000 claims abstract description 15
- 238000000576 coating method Methods 0.000 claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 38
- 239000000725 suspension Substances 0.000 claims description 30
- 239000003292 glue Substances 0.000 claims description 18
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- 238000007790 scraping Methods 0.000 claims description 13
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- 229910000838 Al alloy Inorganic materials 0.000 description 3
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- 238000001125 extrusion Methods 0.000 description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
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- 239000003086 colorant Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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Abstract
The utility model creation is related to a kind of industrial robot teaching practical traning platform, practical traning platform includes supply unit, palletized unit, Cutting unit, coating unit, tool unit, sanding unit, robot cell, touch-screen display and the alarm on table top, wherein, supply unit, palletized unit, Cutting unit, coating unit, tool unit, assembly unit are respectively positioned in the working radius of robot cell.It is that the utility model is created the utility model has the advantages that the practical traning platform integrates the functions such as welding, cutting, stacking, gluing, polishing in one, saving equipment cost, saving equipment occupation space.
Description
Technical field
The invention belongs to robot field, more particularly, to a kind of industrial robot teaching practical traning platform.
Background technique
Robot is widely used in fields such as welding, cutting, stacking, gluing, polishings, therefore, for robot
For training, carried out mainly for the above field.And if each application field establishes a kind of practical traning platform, cost is very
It is expensive, the invention be devised on the basis of above-mentioned technical problem it is a can integrate welding, cutting, stacking,
Gluing, assembly simulation and training platform.
Summary of the invention
It is an object of the present invention to provide a kind of multi-functional practical traning platforms, are able to solve the shortcomings of the prior art, are a kind of
Unique structure, easy to operate, convenient for robot application training practical traning platform.
In order to solve the above technical problems, the invention the technical solution adopted is that:
A kind of industrial robot teaching practical traning platform, practical traning platform include the supply unit being located on table top, palletized unit, cut
Cut analogue unit, coating unit, tool unit, sanding unit, robot cell, touch-screen display and alarm, wherein defeated
The work for sending unit, palletized unit, Cutting unit, coating unit, tool unit, assembly unit to be respectively positioned on robot cell
In radius.
Further, the robot cell includes robot, machinery bed and finger cylinder, which passes through machine
Device pedestal is fixedly connected with table top；The robot end is installed with the finger cylinder.
Further, the supply unit includes the pusher portion being fixedly arranged on table top and transport unit, the pusher portion with it is described
Transport unit is vertically arranged；
The pusher portion includes scraping wings, conveying cylinder, conveying air cylinder base, conveys expeller, feed bin and feed bin pedestal,
The conveying cylinder is fixedly arranged on the scraping wings by conveying air cylinder base, the conveying expeller and the conveying cylinder
Drive rod connection, the feed bin pedestal are fixedly arranged on the scraping wings, and the feed bin pedestal includes the pedestal support of integrally connected
Plate and pedestal supporting leg positioned at pedestal support plate two sides are equipped between two pedestal supporting legs and lead to for the conveying expeller
The through slot crossed, the pedestal support plate are equipped with the through-hole that workpiece passes through in feed bin；
The transport unit includes conveyer belt, material blocking block, luminance sensor and photoelectric sensor, and the luminance sensor is by brightness
Degree sensor stand is fixedly arranged on right above the conveyer belt, and the photoelectric sensor is fixedly arranged on described by opto-electronic sensor support
The side of conveyer belt, the material blocking block are fixedly arranged on the top of the transmission tail.
Further, the feed bin includes annular disk and several support columns, the top of several support columns and the annular disk
It is fixedly connected, the bottom of several support columns is fixedly connected with the pedestal support plate, which is located at the pedestal
The periphery of through-hole in support plate.
Further, the conveying expeller two sides are symmetrically arranged with guide post, and the guide post includes column core and is located at described
The bearing of column core periphery, column core bottom are fixedly arranged on the scraping wings.
Further, the palletized unit includes stacking upper backup pad, stacking lower supporting plate and between two support plates
Several stacking support rods, the stacking lower supporting plate is fixedly arranged on the table top, the processing of stacking upper backup pad upper surface
There are several square grids.
Further, the Cutting unit includes cutting upper backup pad, cutting lower supporting plate and supports positioned at this two
Several cutting support rods between plate, the cutting lower supporting plate are fixedly arranged on the table top, the cutting upper backup pad upper surface
It is machined with several trained figures of cutting.
Further, the coating unit includes gluing pedestal, gluing support rod, gluing support plate and the glue equipped with glue
Rifle, gluing support rod bottom are fixedly arranged on the gluing pedestal, and top is vertical with the gluing support plate to be fixedly connected,
The free end of the gluing support plate is equipped with the card slot for fixing the glue rifle.
Further, the sanding unit is including polishing lower supporting plate, polishing upper backup pad and between two support plates
If dry rubbing support column, the polishing lower supporting plate is fixedly connected with the table top, and the polishing upper backup pad is equipped with and beats
Cylinder and polishing expeller are ground, the polishing expeller is connect with the drive rod for cylinder of polishing.
Further, the tool unit includes tool lower supporting plate, tool upper backup pad and between two support plates
Several tool support columns, the tool lower supporting plate is fixedly connected with the table top, if the tool upper backup pad is equipped with
The fluting of dry place tool, the tool include fixture block, upper mounted plate, lower suspension board, guide rod, link block and functor, institute
It states in the supporting table that upper mounted plate is located in the fluting, the fixture block is fixedly arranged on fixed plate, the lower suspension board
Relatively fixed plate is arranged in parallel, and fixed plate is connected with lower suspension board by guide rod, the guide rod top with
Fixed plate is screwed connection, and the guide rod lower part passes through the company that is screwed after spring and lower suspension board with plug
It connects, the link block is fixedly connected with the lower suspension board lower surface, and the functor is set on the link block.
Further, the tool is specially to simulate gluing tool, simulating cut tool and simulation milling tools.
Wherein, the functor of the simulation gluing tool is sucker；The functor of the simulating cut tool is writing pen；
The functor of the simulation milling tools is grinding head.
The invention has the beneficial effect that
(1) practical traning platform integrates the functions such as welding, cutting, stacking, gluing, polishing in one, saves equipment cost, saves
Equipment occupation space；
(2) supply unit pusher portion and transport unit are vertically arranged, and save space；The setting of the feed bin manually can be piled up once
Multiple workpiece reduce the working strength of operator；And the feed bin structure of supply unit can intuitive judgment its interior workpiece number,
Workpiece is added in time convenient for operator, in order to avoid influence real training process；Supply unit luminance sensor can distinguish the color of workpiece,
So that robot can carry out subsequent palletization operations according to different colors；
(3) upper mounted plate of tool unit, lower suspension board, guide rod form suspension structure, which can be used to flexible
Regulatory function part at a distance from objective plane, to meet various real training situations；And the tool unit is by different types of tool
Unified storage is carried out, saves space, and be convenient for the unified management of tool；In addition, the fixture block part size structure phase of each tool
Together, i.e. robot no replacement is required before clamping fixture；
(4) practical traning platform uses modularized design, and welding unit, palletized unit, coating unit, sanding unit etc. can be whole
It is integrated on practical traning platform, can also be matched according to client's specific requirements and budget；
(5) using finger cylinder as diverter tool rather than select it is dedicated change rifle disk, switch speed is fast.It is at low cost
It is honest and clean.
(6) practical traning platform outer dimension is 1.5Mx0.8m, and compact-sized, occupied area is small, conveniently moving；
(7) select robot of the robot as real training of ABB brand, ABB robot as the robot Four Great families it
One manufacturer of robot, the ownership of robot is big, and the complete student of real training can rapidly adapt to market；
(8) model IRB120 robot is selected, IRB120 robot power supply voltage requires to be 220V, therefore uses the real training
When platform, it is no longer necessary in addition connect the power supply of the 380v of industry again.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the practical traning platform in embodiment；
Fig. 2 is the structural schematic diagram of the robot cell in embodiment；
Fig. 3 is the structural schematic diagram of the supply unit in embodiment；
Fig. 4 is the structural schematic diagram of the palletized unit in embodiment；
Fig. 5 is the structural schematic diagram of the Cutting unit in embodiment；
Fig. 6 is the structural schematic diagram of the coating unit in embodiment；
Fig. 7 is the structural schematic diagram of the sanding unit in embodiment；
Fig. 8 is the structural schematic diagram of the tool unit in embodiment；
Fig. 9 is the structural schematic diagram of the simulation gluing tool in embodiment；
Figure 10 is the structural schematic diagram of the simulating cut tool in embodiment；
Figure 11 is the structural schematic diagram of the simulation milling tools in embodiment.
In figure:
A- table top；
B- supply unit, B1- scraping wings, B2- convey cylinder, and B3- conveys air cylinder base, and B4- conveys expeller, B5- material
Storehouse, B51- annular disk, B6- feed bin pedestal, B7- conveyer belt, B8- material blocking block, B9- luminance sensor, B10- photoelectric sensor；
C- palletized unit, C1- stacking upper backup pad, C2- stacking lower supporting plate, C3- stacking support rod；
D- Cutting unit, D1- cut upper backup pad, and D2- cuts lower supporting plate, and D3- cuts support rod；
E- coating unit, E1- gluing pedestal, E2- gluing support rod, E3- gluing support plate, E4- glue rifle；
F- tool unit, F1- tool lower supporting plate, F2- tool upper backup pad, F21- fluting, F22- supporting table, F3- work
Has support column；
G- sanding unit, G1- polishing lower supporting plate, G2- polishing upper backup pad, G21- polishing cylinder, G22- polishing pusher
Block, G23- polishing backgauge column, G3- polishing support column；
H- robot cell, H1- robot, H2- machinery bed, H3- finger cylinder；
J- simulates gluing tool, J1- gluing tool fixture block, and J2- gluing tool upper mounted plate suspends under J3- gluing tool
Plate, J4- gluing tool guide rod, J5- gluing tool link block, J6- sucker；
K- simulating cut tool, K1- cutting tool fixture block, K2- cutting tool upper mounted plate suspend under K3- cutting tool
Plate, K4- cutting tool guide rod, K5- cutting tool link block, K6- writing pen；
L- simulates milling tools, L1- milling tools fixture block, and L2- milling tools upper mounted plate suspends under L3- milling tools
Plate, L4- milling tools guide rod, L5- milling tools link block, L6- grinding head；
M- touch-screen display；
N- alarm；
P- workpiece.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
In some embodiments, which includes the supply unit B on table top A, palletized unit C, Cutting
Cells D, coating unit E, tool unit F, sanding unit G, robot cell H, touch-screen display M and alarm N, wherein
Supply unit B, palletized unit C, Cutting cells D, coating unit E, tool unit F, assembly unit G are respectively positioned on robot list
In the working radius of first H.Each unit can be specifically laid out according to Fig. 1, which is conducive to reduce whole real training
The volume of platform；And the electrical wiring of the practical traning platform is integrated, starts real training convenient for student's wiring, it is easy to operate；In addition, above-mentioned electricity
It is built-in to make line leave with rage, it is not easy to be damaged.
The table top of the practical traning platform is bolted to connection by aluminium alloy extrusions, uses aluminium alloy extrusions as main body
Structure, not only good appearance, but also assemble and be easy, it is only necessary to simple allen wrench can assemble completion.
Wherein, alarm N is specially buzzer siren, which is provided with indicator light, when each equipment of the practical traning platform is normally transported
In the case where row, which is green, and in the case that each equipment of practical traning platform is operating abnormally, which is red, bee
Ring alarm equipment alarm.
Preferably, aluminium alloy extrusions selects two kinds of models of A1 40x40 and A2 40x80.
In addition, robot teaching's system that the practical traning platform is related to is the prior art, it is preferable that its hardware composition includes control
Cabinet, robot, teaching machine, router, touch-screen display and the end PC, above-mentioned each hardware is commercial product, wherein robot
For the final actuating station of robot teaching's system, responsible execution write by program；Teaching machine carries out teaching volume to robot
Journey, the program that teaching passes through can send the end PC to, or the movement of robot is directly controlled by control cabinet, by control cabinet
Controller when controlling robot motion, the program that the touch-screen display that connect with control cabinet selects teaching to pass through can be selected.
Control cabinet is the core of robot teaching's system, is responsible for the movement of control robot；Router is by control cabinet and the end PC group
At network group；The end PC is equipped with robot motion simulation software, and teaching can be sent to by router by emulating the program passed through
Device；It is connected between control cabinet, robot and teaching machine and router by cable, by wirelessly connecting between multiple ends PC and router
It connects, is configured by the network address to each equipment, program can be run in the mutual distribution of machine people of each equipment room.
Preferably, the model DSQC679 of teaching machine.
Preferably, the model of control cabinet are as follows: 120-505490.
In some embodiments, the robot H1 unit H includes robot H1, machinery bed H2 and finger cylinder H3,
The bottom robot H1 is fixedly connected by machinery bed H2 with table top A, and machinery bed H2 is process by aluminium sheet, the aluminium sheet
It is fixedly connected by bolt with table top A, when needing replacing robot H1 model, machinery bed H2 need to be replaced together.Machine
The end device people H1 is fixed with finger cylinder H3, and finger cylinder H3 is used to grab different tools.
Preferably, the IRB120 model robot of ABB manufacturer may be selected in robot H1, which is
580mm。
In some embodiments, the supply unit B is equipped with two groups, and two groups of supply unit structures are identical, respectively defeated
Send the workpiece of different model, the setting of two groups of supply units can allow student operate robot H1 to the workpiece of different model into
Row stacking real training.
The supply unit includes the pusher portion being fixedly arranged on table top A and transport unit, and the pusher portion and the transport unit are hung down
Straight setting.
The pusher portion includes scraping wings B1, conveying cylinder B2, conveying air cylinder base B3, conveying expeller B4, feed bin B5
It is fixedly arranged on the scraping wings B1 with feed bin pedestal B6, the conveying cylinder B2 by conveying air cylinder base B3, the conveying pushes away
Material block B4 is connect with the drive rod of the conveying cylinder B2, and the feed bin pedestal B6 is fixedly arranged on the scraping wings B1, the material
Orlop seat B6 includes the pedestal support plate of integrally connected and the pedestal supporting leg positioned at pedestal support plate two sides, two pedestals
The through slot passed through for the conveying expeller B4 is equipped between supporting leg, it is logical that the pedestal support plate is equipped with workpiece in feed bin B5
The through-hole crossed；The end face that the conveying expeller B4 is contacted with the workpiece is equipped with V-shape gap；
The feed bin B5 includes annular disk B51 and four support columns, the top of four support columns and the annular disk B51
It is fixedly connected, the bottom of four support columns is fixedly connected with the pedestal support plate, which is located at the pedestal
The periphery of through-hole in support plate；Feed bin B5 structure can intuitive judgment its interior workpiece number, add in time convenient for operator
Workpiece, in order to avoid influence real training process；
The two sides the conveying expeller B4 are symmetrically arranged with guide post, and the guide post includes column core and is located at outside the column core
The bearing enclosed, column core bottom are fixedly arranged on the scraping wings B1.
The transport unit includes conveyer belt B7, material blocking block B8, luminance sensor B9 and photoelectric sensor B10, the luminance
Sensor B9 is fixedly arranged on right above the conveyer belt B7 by luminance sensor B9 bracket, and the photoelectric sensor B10 passes through photoelectricity
Sensor stand is fixedly arranged on the side of the conveyer belt B7, and the material blocking block B8 is fixedly arranged on the top of the tail portion the conveyer belt B7,
The end face that the material blocking block B8 is contacted with workpiece is equipped with V-shape gap.
Luminance sensor B9 can distinguish the color of workpiece, so that robot H1 carries out subsequent stacking according to different colors
Operation；The photoelectric sensor can incude the location of workpiece, after which senses that workpiece reaches predetermined position, robot H1
It will start subsequent grasping manipulation.
Preferably, luminance sensor model O5C-500；Photoelectric sensor model PZ-042N.
Preferably, conveyer belt is outsourcing product, using the conveyor product of the existing maturation in market as the conveying of practical traning platform
Unit reduces the life cycle costing of design, has saved fund and the time of design, has increased the stability of practical traning platform.
In some embodiments, the palletized unit C includes stacking upper backup pad C1, stacking lower supporting plate C2 and is located at this
Four stacking support rod C3 between two support plates, the stacking lower supporting plate C2 is fixedly arranged on the table top A, in the stacking
It is decorated with 6x6 square grid on the upper surface support plate C1, when stacking real training, student can clearly complete a stacking sudden peal of thunder.
In some embodiments, the Cutting cells D includes cutting upper backup pad D1, cutting lower supporting plate D2 and position
Four cutting support rod D3 between two support plates, the cutting lower supporting plate D2 is fixedly arranged on the table top A, described to cut
It cuts the upper surface upper backup pad D1 and is machined with triangular form, curve, square, ellipse etc. for student's cutting training figure.
In some embodiments, the coating unit E includes gluing pedestal E1, gluing support rod E2, gluing support plate E3
With the glue rifle E4 that glue is housed, the bottom gluing support rod E2 is fixedly arranged on the gluing pedestal E1, top and the painting
Glue support plate E3 is vertically fixedly connected, and the free end of the gluing support plate E3 is equipped with the card slot for fixing the glue rifle E4.
Wherein, glue rifle E4 can be simple syringe, and the inside is equipped with glue, and the syringe is at low cost, not have to purchase price
The glue rifle of lattice valuableness, and true gluing process can be simulated.
In some embodiments, the sanding unit G include polishing lower supporting plate G1, polishing upper backup pad G2 and be located at should
Four polishing support column G3 between two support plates, the polishing lower supporting plate G1 are fixedly connected with the table top A, the polishing
Upper backup pad G2 be equipped with polishing cylinder G21, polishing expeller G22 and polishing backgauge column G23, the polishing expeller G22 and
The drive rod connection of polishing cylinder G21, the end face that the polishing expeller G22 is contacted with workpiece is equipped with V-shape gap, described to beat
Mill cylinder G21 pushes polishing expeller to push to workpiece and abuts with polishing backgauge column.
In some embodiments, the tool unit F includes tool lower supporting plate F1, tool upper backup pad F2 and is located at this
Four tool support column F3 between two support plates, the tool lower supporting plate F1 are fixedly connected with the table top A, the tool
Set on upper backup pad F2 there are three the F21 that slots, each lower part fluting F21 is equipped with supporting table F22, simulate gluing tool J,
Simulating cut tool K, simulation milling tools L are located in the supporting table in the corresponding fluting.Fluting F21 structure letter
It is single, and to the accurate positioning of workpiece.
In some embodiments, the simulation gluing tool J includes gluing tool fixture block J1, gluing tool upper mounted plate
Suspension board J3, gluing tool guide rod J4, gluing tool link block J5 and two sucker J6, the gluing under J2, gluing tool
Tool upper mounted plate J2 is located in the supporting table in the fluting, and the gluing tool fixture block J1 is fixedly arranged on the gluing tool
On fixed plate J2, the relatively described gluing tool upper mounted plate J2 of suspension board J3 is arranged in parallel under the gluing tool, the gluing
Tool upper mounted plate J2 is connected with suspension board J3 under gluing tool by gluing tool guide rod J4, the gluing tool guide rod J4
Top is screwed with the gluing tool upper mounted plate J2 and connect, and the lower part gluing tool guide rod J4 passes through spring and painting
It is screwed and connect with plug after suspension board J3 under glue tool；It suspends under the gluing tool link block J5 and the gluing tool
Plate J3 is fixedly connected, and two sucker J6 are fixedly arranged on the gluing tool link block J5, and under the relatively described gluing tool
Suspension board J3 is symmetrical arranged.
Wherein, gluing tool fixture block J1 is the crawl position of finger cylinder H3 in robot.
Wherein, suspension board J3, gluing tool guide rod J4 form the knot that suspends under gluing tool upper mounted plate J2, gluing tool
Structure, the structure can be used to the flexible workpiece that adjusts at a distance from glue rifle E4.
The sucker J6 includes the tracheae connecting column being from top to bottom sequentially fixedly connected, sucker J6 fixed column and sucker J6
Portion, wherein tracheae connecting column is to be threadedly coupled fixation with sucker J6 fixed column, which is hollow tube structure, and
It is connected to the suction hole on sucker J6, needs to use with mates such as air intake ducts when sucker J6 is used, the portion sucker J6 material
Optional nitrile rubber is made, the material have biggish breaking tenacity, draw or put down workpiece workpiece will not be caused it is any
Damage.
Preferably, which can be selected ZPT40HN model sucker.
In some embodiments, the simulating cut tool K includes cutting tool fixture block K1, cutting tool upper mounted plate
Suspension board K3, cutting tool guide rod K4, cutting tool link block K5 and writing pen K6, the cutter under K2, cutting tool
Tool upper mounted plate K2 is located in the supporting table in the fluting, and the cutting tool fixture block K1 is fixedly arranged on the cutting tool solid
On fixed board K2, the relatively described cutting tool upper mounted plate K2 of suspension board K3 is arranged in parallel under the cutting tool, the cutter
Tool upper mounted plate K2 is connected with suspension board K3 under cutting tool by cutting tool guide rod K4, on the cutting tool guide rod K4
Portion is screwed with the cutting tool upper mounted plate K2 and connect, and the lower part cutting tool guide rod K4 passes through spring and cutting
It is screwed and connect with plug after suspension board K3 under tool；The cutting tool link block K5 and suspension board under the cutting tool
K3 is fixedly connected, and the writing pen K6 is fixedly arranged on the cutting tool link block K5.
Wherein, cutting tool fixture block K1 is the crawl position of finger cylinder H3 in robot.
Wherein, suspension board K3, cutting tool guide rod K4 form the knot that suspends under cutting tool upper mounted plate K2, cutting tool
Structure, the structure can be used to the flexible writing pen K6 that adjusts at a distance from the cutting upper surface upper backup pad D1.
In some embodiments, the simulation milling tools L includes milling tools fixture block L1, milling tools upper mounted plate
Suspension board L3, milling tools guide rod L4, milling tools link block L5 and grinding head L6, the polishing work under L2, milling tools
Tool upper mounted plate L2 is located in the supporting table in the fluting, and the milling tools fixture block L1 is fixedly arranged on the milling tools solid
On fixed board L2, the relatively described milling tools upper mounted plate L2 of suspension board L3 is arranged in parallel under the milling tools, the polishing work
Tool upper mounted plate L2 is connected with suspension board L3 under milling tools by milling tools guide rod L4, on the milling tools guide rod L4
Portion is screwed with the milling tools upper mounted plate L2 and connect, and the lower part milling tools guide rod L4 passes through spring and polishing
It is screwed and connect with plug after suspension board L3 under tool；The milling tools link block L5 and suspension board under the milling tools
L3 is fixedly connected, and the grinding head L6 is fixedly arranged on the milling tools link block L5.
Wherein, milling tools fixture block L1 is the crawl position of finger cylinder H3 in robot.
Wherein, suspension board L3, milling tools guide rod L4 form the knot that suspends under milling tools upper mounted plate L2, milling tools
Structure, the structure can be used to the flexible grinding head L6 that adjusts at a distance from workpiece.
Real training process in the various embodiments described above is as follows:
(1) stacking real training
Workpiece is stacked in feed bin B5, workpiece is dropped down by gravity in the through slot of feed bin pedestal B6, and cylinder B2 band is conveyed
Unit one is pushed to conveyer belt B7 by dynamic conveying expeller B4, and the communicated band B7 of workpiece is transmitted to designated position；Starting is shown
Device is taught, control robot H1 is moved to the top of unit one；Finger cylinder H3 is opened, and robot H1 grabs first work
Part, will be in first grid of workpiece handling to palletized unit；It completes after grabbing for the first time, due to gravity, second work
Part is fallen, and conveying cylinder B2 shifts second workpiece onto conveyer belt B7 again, and robot H1 completes the crawl of second workpiece, and will
It is put into second box of palletized unit；As above circulation, until the workpiece of feed bin B5 has been grabbed, real training is completed.
(2) real training is cut
Start teaching machine, robot H1 is controlled according to study course and is moved to practical traning platform tool placement unit, finger cylinder H3 is beaten
It opens, the simulating cut tool on gripping tool platform, then moves to above Cutting unit, student is according to requiring to complete track
Teaching, so that the shape track that robot H1 is carved on Cutting unit moves；The place being moved through passes through cutter
Writing pen K6 on tool is drawn, for judging that student programs the accuracy of teaching.
(3) gluing real training
Start teaching machine, robot H1 is controlled according to study course and is moved to practical traning platform tool placement unit, finger cylinder H3 is beaten
Open, the simulation gluing tool on gripping tool platform, simulate gluing tool sucker J6 workpiece is sucked after, robot H1 is moved to painting
The syringe of Jiao Danyuanchu, coating unit are provided with glue, and the top of the syringe is equipped with tracheae, and robot H1 is mobile by workpiece
Immediately below to syringe, teaching movement is carried out according to the track that real training requires using teaching machine control robot H1；Glue is in gas
It is flowed out under the blowing of body by syringe outlet, makes to form rail required for gluing on workpiece by being moved to for robot H1
Mark.
(4) polishing real training
Start teaching machine, robot H1 is controlled according to study course and is moved to practical traning platform tool placement unit, finger cylinder H3 is beaten
It opens, the milling tools on gripping tool platform, then robot H1 is moved to sanding unit, the real training polished.
Above an embodiment of the invention is described in detail, but the content is only the invention
Preferred embodiment should not be considered as limiting the invention the practical range of creation.It is all to be made according to the invention application range
All the changes and improvements etc., shall remain within the patent scope covered by the invention.
Claims (10)
1. a kind of industrial robot teaching practical traning platform, which is characterized in that practical traning platform includes supply unit, code on table top
Pile unit, Cutting unit, coating unit, tool unit, sanding unit, robot cell, touch-screen display and alarm
Device, wherein supply unit, palletized unit, Cutting unit, coating unit, tool unit, assembly unit are respectively positioned on robot
In the working radius of unit.
2. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the robot cell
Including robot, machinery bed and finger cylinder, which is fixedly connected by machinery bed with table top；The machine
People end is installed with the finger cylinder.
3. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the supply unit packet
The pusher portion being fixedly arranged on table top and transport unit are included, the pusher portion is vertically arranged with the transport unit；
The pusher portion includes scraping wings, conveying cylinder, conveying air cylinder base, conveys expeller, feed bin and feed bin pedestal, described
Conveying cylinder is fixedly arranged on the scraping wings by conveying air cylinder base, the transmission of the conveying expeller and the conveying cylinder
Bar connection, the feed bin pedestal is fixedly arranged on the scraping wings, the feed bin pedestal include integrally connected pedestal support plate and
Pedestal supporting leg positioned at pedestal support plate two sides is equipped between two pedestal supporting legs and passes through for the conveying expeller
Through slot, the pedestal support plate are equipped with the through-hole that workpiece passes through in feed bin；
The transport unit includes conveyer belt, material blocking block, luminance sensor and photoelectric sensor, and the luminance sensor is passed by luminance
Sensor bracket is fixedly arranged on right above the conveyer belt, and the photoelectric sensor is fixedly arranged on the transmission by opto-electronic sensor support
The side of band, the material blocking block are fixedly arranged on the top of the transmission tail.
4. a kind of industrial robot teaching practical traning platform according to claim 3, which is characterized in that the feed bin includes ring
Shape disk and several support columns, the top of several support columns are fixedly connected with the annular disk, the bottom of several support columns with
The pedestal support plate is fixedly connected, which is located at the periphery of the through-hole in the pedestal support plate.
5. a kind of industrial robot teaching practical traning platform according to claim 3, which is characterized in that the conveying expeller
Two sides are symmetrically arranged with guide post, and the guide post includes column core and the bearing positioned at the column core periphery, and column core bottom is solid
On the scraping wings.
6. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the palletized unit packet
Stacking upper backup pad, stacking lower supporting plate and several stacking support rods between two support plates are included, are propped up under the stacking
Fagging is fixedly arranged on the table top, and stacking upper backup pad upper surface is machined with several square grids.
7. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the blanking punch is quasi-simple
Member includes cutting upper backup pad, cutting lower supporting plate and several cutting support rods between two support plates, the cutting
Lower supporting plate is fixedly arranged on the table top, and the cutting upper backup pad upper surface is machined with several trained figures of cutting.
8. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the coating unit packet
Gluing pedestal, gluing support rod, gluing support plate and the glue rifle equipped with glue are included, gluing support rod bottom is fixedly arranged on described
On gluing pedestal, top is vertical with the gluing support plate to be fixedly connected, and the free end of the gluing support plate, which is equipped with, to be used for
The card slot of the fixed glue rifle.
9. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the sanding unit packet
If including polishing lower supporting plate, polishing upper backup pad and the dry rubbing support column between two support plates, propped up under the polishing
Fagging is fixedly connected with the table top, and the polishing upper backup pad is equipped with polishing cylinder and polishing expeller, and the polishing pushes away
Material block is connect with the drive rod for cylinder of polishing.
10. a kind of industrial robot teaching practical traning platform according to claim 1, which is characterized in that the tool unit
Including tool lower supporting plate, tool upper backup pad and several tool support columns between two support plates, under the tool
Support plate is fixedly connected with the table top, and the tool upper backup pad is equipped with the fluting of several place tools, the kit
Fixture block, upper mounted plate, lower suspension board, guide rod, link block and functor are included, fixed plate is located at the branch in the fluting
It supports on platform, the fixture block is fixedly arranged on fixed plate, and the relatively fixed plate of lower suspension board is arranged in parallel, described
Upper mounted plate is connected with lower suspension board by guide rod, and the guide rod top is screwed with fixed plate to be connect, described
Guide rod lower part is screwed with plug after spring and lower suspension board and connect, the link block and the lower suspension board following table
Face is fixedly connected, and the functor is set on the link block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721903700.7U CN208256161U (en) | 2017-12-29 | 2017-12-29 | Practical traning platform is used in a kind of teaching of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721903700.7U CN208256161U (en) | 2017-12-29 | 2017-12-29 | Practical traning platform is used in a kind of teaching of industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN208256161U true CN208256161U (en) | 2018-12-18 |
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ID=64619348
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721903700.7U Expired - Fee Related CN208256161U (en) | 2017-12-29 | 2017-12-29 | Practical traning platform is used in a kind of teaching of industrial robot |
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| Country | Link |
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| CN (1) | CN208256161U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172101A (en) * | 2017-12-29 | 2018-06-15 | 中科国技（天津）智能系统工程有限责任公司 | A kind of practical traning platform for industrial robot teaching |
-
2017
- 2017-12-29 CN CN201721903700.7U patent/CN208256161U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172101A (en) * | 2017-12-29 | 2018-06-15 | 中科国技（天津）智能系统工程有限责任公司 | A kind of practical traning platform for industrial robot teaching |
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Granted publication date: 20181218 |