CN208543470U - A kind of robot Multifunctional mobile platform - Google Patents
A kind of robot Multifunctional mobile platform Download PDFInfo
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- CN208543470U CN208543470U CN201820857653.5U CN201820857653U CN208543470U CN 208543470 U CN208543470 U CN 208543470U CN 201820857653 U CN201820857653 U CN 201820857653U CN 208543470 U CN208543470 U CN 208543470U
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Abstract
The utility model provides a kind of robot Multifunctional mobile platform, its with taking into account industrial production and practice-training teaching versatility, content of courses modularization decomposes design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later so that the actual training device content of courses is abundant, examination link is simple, Item Practice Training content relevance is relatively low.It includes movable cabinet, multi-axis robot, demonstration module, transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame, end clamp；The upper surface center of the activity cabinet is provided with the table top of profile composition, the bottom of the multi-axis robot is installed on table top by Universal base, the side perimeter of the table top of the activity cabinet is provided with control and display panel structure, there is turnover platform veneer in remaining side of the table top by hinge/or hinge connection.
Description
Technical field
The utility model relates to the technical field of industrial robot training platform, specially a kind of robot multifunctional movable
Platform.
Background technique
In the current marketplace, the relevant device overall price of industrial automation is higher, and interchangeability is poor.Although electrical
Cabling is clearly regular, and logic is complete, but is not appropriate for beginner and carries out training operation.Electrical phase is more partial in practice teaching setting
The automation of pass, it is more demanding to student, audient's area in student group is significantly limited, and device modeling is simple and crude, it is main
Body structure is mostly that aluminum profile is built, and after equipment conveying or long-time use, structure may deform displacement.
Summary of the invention
In view of the above-mentioned problems, the utility model provides a kind of robot Multifunctional mobile platform, industrial production is taken into account
With practice-training teaching versatility, content of courses modularization decompose design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later,
So that the actual training device content of courses is abundant, examination link is simple, Item Practice Training content relevance is relatively low.
A kind of robot Multifunctional mobile platform, it is characterised in that:
It includes movable cabinet, multi-axis robot, demonstration module, transfer module, workpiece welding module, servo turntable mould
Block, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame, end clamp；
The upper surface center of the activity cabinet is provided with the table top of profile composition, the bottom of the multi-axis robot
It is installed on table top by Universal base, the side perimeter of the table top of the activity cabinet is provided with control and display panel
There is turnover platform veneer in remaining side of structure, the table top by hinge/or hinge connection, and the activity cabinet corresponds to
The region for packing up platform veneer is provided with interior female die block placing chamber, and the platform veneer turns over cloth concordant with the table top under state
It sets, is evenly equipped with threaded mounting hole on the platform veneer；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module,
Tiered warehouse facility module, spare grips frame bottom be respectively arranged with corresponding mounting base, the carrying mould under unused state
It is block, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare
Fixture stand, end clamp are respectively arranged in the corresponding interior female die block placing chamber；
The demonstration module is used to refer to the correspondence that corresponding module is placed on the movable cabinet when not used
Position；
The transfer module is specially the carrier of robot base's carrying movement demonstration；
The workpiece welding module is specially the carrier of robot welding movement demonstration；
The servo turntable module is specially the carrier of robot precise positioning demonstration；
The assembly locating module is specially the carrier of robotic asssembly orientation demonstration；
The feed bin conveying combination module is specially the carrier of robot feed bin conveying demonstration；
The tiered warehouse facility module is specially the carrier of robotic presentation storing and carrying；
The spare grips frame is for placing spare clamp assembly.
It is further characterized by: turnover platform gusset, the mesa corners are provided between adjacent platform veneer
By the turnover platform veneer of hinge/or hinge connection respective side, the platform gusset turns under state and described plate
Face flush arrangement is evenly equipped with threaded mounting hole on the platform gusset；
The bottom four corners position of the activity cabinet is provided with the universal wheel of strap brake；
The frame of the table top is specially square structure, and the side perimeter of the table top is provided with the convex cabinet body in side,
Its excess-three side of the table top is provided with turnover platform veneer, and the upper surface of the convex cabinet body in side is specially to control and show
Panel construction, the control and display panel structure specifically include touch screen, indicator light, button, power switch, emergency stop, described
Both sides of the upper end position of the convex cabinet body in side is provided with handle, manpower push-and-pull force when the handle is mobile convenient for equipment；
The section below of the control and display panel structure is provided with metal plate door, is arranged on the front end face of the metal plate door
There is documents pouch, the documents pouch is respectively arranged with hook, institute on the both side plate of the convex cabinet body in side for placing teachings book
The bottom for stating metal plate door is provided with the first heat release hole, and the bottom of the side plate is provided with the second heat release hole；
Profile on the table top is perpendicular to the convex corresponding frame in the side, and the ontology of the multi-axis robot is about side
The perpendicular bisector face of convex cabinet body is arranged symmetrically, and three pieces of platform veneers are laid around the ontology of the multi-axis robot in concentric rows
It sets；The adjacent two piece platform veneer that two blocks of platform gussets are filled in after expansion is formed by vacant locations region；
The distance between all adjacent threaded mounting holes are identical under the platform veneer, platform gusset unfolded state, it is several to form
A regular hexagon border structure；
More than half disk is formed under the platform veneer, platform gusset unfolded state, it is ensured that the face domain of operation planar is enough
Greatly；
The multi-axis robot is specially six-joint robot；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module,
Tiered warehouse facility module, spare grips frame bottom be respectively arranged on corresponding mounting base and be provided with stubborn screw fastly and right
The serial number answered；
The center of the outer arc side of the platform veneer is provided with raised lock, the corresponding side surface of the activity cabinet
Corresponding position is provided with spherical buckle assembly, and the protrusion of the platform veneer under closed configuration is fastened on the institute of corresponding position
State spherical buckle assembly；
The transfer module specifically includes and carries top plate, carries workpiece, and the carrying top plate is installed on pair by support column
On the mounting base answered, the upper surface for carrying top plate has XY coordinate system and indicates the round deep gouge of number, the carrying
The shape of workpiece is in cylindrical shape, as the demonstration workpiece for carrying teaching；
The workpiece welding module specifically includes demonstration top plate, welding workpiece, and the demonstration top plate is installed by support column
In on corresponding mounting base, the welding workpiece is installed in the demonstration cover top surface, the demonstration as welding teaching
Workpiece；
The servo turntable module specifically includes fixed top plate, rotating disc, demonstration workpiece, and the fixed top plate passes through support
Column is installed on corresponding mounting base, and the fixed top board surface is provided with XY coordinate system, the lower end surface of the fixed top plate
It is connected with servo motor, the output end of the servo motor is connected with speed reducer, and the output end of the speed reducer is vertically to running through
Counter flange is connected with after the fixed top plate, the counter flange is connected with rotating disc, and the rotation panel surface has position
Graduation mark and the round deep gouge for indicating number；Directional beacon is additionally provided on the fixed top plate, the directional beacon is provided with arrow,
The arrow is directed toward the center point of the rotating disc, when the graduation mark of rotating disc is aligned with arrow, as specified waiting work
, servo-driver is additionally provided on the mounting base, the servo-driver is watched for receiving dependent instruction and control
Take the starting, stopping, acceleration and deceleration of motor；The demonstration workpiece includes but is not limited to bearing, cylindrical work；
The assembly locating module specifically includes assembly top plate, workpiece block, and the assembly top plate is installed on by support column
On corresponding mounting base, the upper surface of the assembly top plate is provided with XY coordinate system, and the upper surface of the assembly top plate is also set
It is equipped with pusher cylinder, expeller, gear block, the workpiece block is arranged in the upper surface of the assembly top plate, the pusher cylinder
Driving expeller pushes workpiece block to act towards the gear block, carries out coarse positioning to workpiece block；
The feed bin conveying combination module specifically includes flat belt, and the length direction both ends of the flat belt are respectively disposed with
Mounting rack, the live-roller at the flat belt both ends are respectively arranged in the top of the corresponding mounting rack, the bottom of the mounting rack
Portion is installed in corresponding mounting base, there also is provided bin component on the mounting base, and the bin component includes feed tube
And the clamping plate positioned at two sides below feed tube, two pieces of clamping plates are installed in the fixed block of lower section, the fixed block passes through support
Plate is fixed in the mounting base, and one end of the supporting plate is connected with pusher cylinder, and the piston end of the pusher cylinder is fixed with
Push plate, the push plate arrange that the push plate pushes the product into the upper end of flat belt towards the starting upper surface of the flat belt
Face；The live-roller of starting upper surface position corresponding to the flat belt is specially drive roll, and the side of the drive roll is fixedly mounted with
There is driven pulley, the driven pulley passes through synchronous band connection driving pulley, and the driving pulley is set in the defeated of stepper motor
Outlet, the stepper motor are installed in motor fixing seat, and the bottom of the motor fixing seat is provided with long slot hole, and fastening screw is passed through
It is fixed in mounting base after wearing the long slot hole, tensioning plate, the tensioning plate and the electricity are also connected on the mounting base
The respective side of machine fixing seat is fastenedly connected by soket head cap screw, and the setting of the tensioning plate, long slot hole ensures of synchronous belt
Tightly；The outboard cover of the synchronous belt is equipped with protective cover；Step actuator is additionally provided on the mounting base, step actuator is used
In starting, the stopping, acceleration-deceleration of control stepper motor；The upper surface at the length direction both ends of the mounting base is respectively set
There is handle, easy to carry；The underlying surfaces corresponding to feed tube of the supporting plate are additionally provided with optoelectronic switch, the optoelectronic switch
For detecting in feed tube whether have material；
The tiered warehouse facility module includes mounting base, support side plate, plate, warehouse top plate, optoelectronic switch, fine motion in warehouse
Switch, each square region surrounded there are two deep gouge on plate in the warehouse top plate and warehouse form independent depot area, institute
It states and is respectively provided with microswitch in the slot of the deep gouge of warehouse top plate and is incuded；The two sides the warehouse Zhong Ban are respectively provided with light
Electric switch is incuded；
The spare grips frame ensures freely to replace the fixture of different purposes, the spare grips frame according to teaching demand
The clamp assembly for inside including is monomeric gripper needed for cooperation disparate modules carry out practice teaching, and clamp assembly type covers suction
Disk, laser and pneumatic-finger are provided with interchangeability, replaceable in end clamp；
The end clamp is installed on the terminal surface of robot body, is used cooperatively, is used for relevant presentation module
The relevant function of demonstration robot.
After the structure of the utility model, so that industrial production of the robot in automatic production line and practice teaching are logical
With；(including mechanical, program)；And movable platform versatility, it can have a style of one's own and carry out practice teaching, can directly participate in industrial flowing water
Line production；This outer platform is round outside but spuare inside and platform veneer mounting hole is in wait hexagons distribution, and can freely collapse, open；And
The setting of content of courses decomposing moduleization, each Teaching Module are compact and flexible and interchangeable；It is with taking into account industrial production and practice-training teaching
Versatility, content of courses modularization decompose design, practice teaching project arrangement from the superficial to the deep, it is easy first and difficult later so that actual training device
The content of courses is abundant, examination link is simple, Item Practice Training content relevance is relatively low.
Detailed description of the invention
Fig. 1 be the utility model three-dimensional figure structure schematic representation one (module is placed in the platform veneer of expansion, platform gusset
On)；
Fig. 2 is that the three-dimensional figure structure schematic representation two of the utility model (is unfolded platform veneer and mesa corners plate, module are placed in
In interior female die block placing chamber)；
Fig. 3 is that the three-dimensional figure structure schematic representation three of the utility model (collapses platform veneer and mesa corners plate, module are placed in
In interior female die block placing chamber, it is in industrial production state)；
Fig. 4 is the vertical view figure structure schematic representation of Fig. 3 (arrangement for display thread mounting hole is illustrated)；
Fig. 5 is the three-dimensional figure structure schematic representation of the transfer module of the utility model；
Fig. 6 is the three-dimensional figure structure schematic representation of the workpiece welding module of the utility model；
Fig. 7 is the three-dimensional figure structure schematic representation of the servo turntable module of the utility model；
Fig. 8 is the three-dimensional figure structure schematic representation of the assembly locating module of the utility model；
Fig. 9 is the three-dimensional figure structure schematic representation of the feed bin conveying combination module of the utility model；
Figure 10 is the synchronous belt attachment structure schematic diagram of the feed bin conveying combination module of the utility model；
Figure 11 is the three-dimensional figure structure schematic representation of the tiered warehouse facility module of the utility model；
Figure 12 is the three-dimensional figure structure schematic representation of the spare grips frame of the utility model.
Specific embodiment
A kind of robot Multifunctional mobile platform, is shown in Fig. 1-Figure 12:
It includes multi-axis robot 1, movable cabinet 2, demonstration module, transfer module 6, workpiece welding module 7, servo turntable
Module 8, assembly locating module 9, feed bin conveying combination module 10, tiered warehouse facility module 11, spare grips frame 12, end clamp
13；
The upper surface center of movable cabinet 2 is provided with the table top 203 of profile composition, and the bottom of multi-axis robot 1 is logical
It crosses Universal base 3 to be installed on table top 203, the side perimeter of the table top 203 of movable cabinet 1 is provided with control and display surface
There is turnover platform veneer 4 in remaining side of hardened structure, table top 203 by hinge/or hinge connection, and movable cabinet 2 corresponds to
The region for packing up platform veneer 4 is provided with interior female die block placing chamber 208, and platform veneer 4 turns over cloth concordant with table top 203 under state
It sets, is evenly equipped with threaded mounting hole on platform veneer 4；
Transfer module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module
10, tiered warehouse facility module 11, spare grips frame 12 bottom be respectively arranged with corresponding mounting base, carried under unused state
Module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module 10, tiered warehouse facility mould
Block 11, spare grips frame 12, end clamp 13 are respectively arranged in corresponding interior female die block placing chamber 208；
Demonstration module is used to refer to the corresponding position that corresponding module is placed on movable cabinet 2 when not used；
Transfer module 6 is specially the carrier of robot base's carrying movement demonstration；
Workpiece welding module 7 is specially the carrier of robot welding movement demonstration；
Servo turntable module 8 is specially the carrier of robot precise positioning demonstration；
Assemble the carrier that locating module 9 is specially robotic asssembly orientation demonstration；
Feed bin conveying combination module 10 is specially the carrier of robot feed bin conveying demonstration；
Tiered warehouse facility module 11 is specially the carrier of robotic presentation storing and carrying；
Spare grips frame 12 is for placing spare clamp assembly.
It is further characterized by: turnover platform gusset 5, platform gusset 5 are provided between adjacent platform veneer 4
By hinge/or the turnover platform veneer 4 of hinge connection respective side, platform gusset 5 is turned under state and table top 203 is flat
It is neat to arrange, threaded mounting hole is evenly equipped on platform gusset 5；
The bottom four corners position of movable cabinet 2 is provided with the universal wheel 205 of strap brake；
The frame of table top 203 is specially square structure, and the side perimeter of table top 203 is provided with the convex cabinet body 201 in side,
Its excess-three side of table top 203 is provided with turnover platform veneer 401/402, platform board B 403, the upper end of the convex cabinet body 201 in side
Face 2011 is specially control and display panel structure, and control and display panel structure specifically include touch screen 20111, indicator light
20112, button 20113, power switch 20114, emergency stop 20115,2011 liang of the upper surface side position setting of the convex cabinet body 201 in side
There is handle 20116, manpower push-and-pull force when handle 20116 is mobile convenient for equipment；
The section below of control and display panel structure is provided with metal plate door 202, is provided on the front end face of metal plate door 202
Documents pouch 2021, documents pouch 2021 are respectively arranged with hook on the both side plate of the convex cabinet body 201 in side for placing teachings book
2013, the bottom of metal plate door 202 is provided with the first heat release hole 2014, and the bottom of side plate is provided with the second heat release hole 2015；
Profile on table top 203 perpendicular to frame corresponding to the convex cabinet body 201 in side, the ontology 101 of multi-axis robot 1 about
The perpendicular bisector face of the convex cabinet body 201 in side is arranged symmetrically, and three pieces of platform veneers 4 are in be concentrically arranged around the ontology 101 of multi-axis robot
Setting；The adjacent two piece platform veneer 4 that two blocks of platform gussets 5 are filled in after expansion is formed by vacant locations region；Platform
The distance between all adjacent threaded mounting holes are identical under veneer 4,5 unfolded state of platform gusset, form several positive six
Side shape border structure；
More than half disk is formed under platform veneer 4,5 unfolded state of platform gusset, it is ensured that the face domain of operation planar is sufficiently large；
Multi-axis robot 1 is specially six-joint robot；
Transfer module 6, workpiece welding module 7, servo turntable module 8, assembly locating module 9, feed bin conveying combination module
10, tiered warehouse facility module 11, spare grips frame 12 bottom be respectively arranged on corresponding mounting base and be provided with stubborn spiral shell fastly
Nail 14 and corresponding serial number；
The center of the outer arc side of platform veneer 4 is provided with protrusion lock 41, the correspondence of the corresponding side surface of movable cabinet 2
Position is provided with spherical buckle assembly 405, and the protrusion lock 41 of the platform veneer 4 under closed configuration is fastened on the ball of corresponding position
Shape buckle assembly 405；
Transfer module 6, which specifically includes, to be carried top plate 601, carries workpiece 602, is carried top plate 601 and is installed by support column 603
There is XY coordinate system in the upper surface on corresponding mounting base 604, carrying top plate 601 and indicate the round deep gouge of digital 1-9,
The shape for carrying workpiece 602 is in cylindrical shape, as the demonstration workpiece for carrying teaching；
Workpiece welding module 7 specifically includes demonstration top plate 701, welding workpiece 702, and demonstration top plate 701 passes through support column 703
It is installed on corresponding mounting base 704, welding workpiece 702 is installed in demonstration 701 upper surface of top plate, as welding teaching
Demonstrate workpiece；
Servo turntable module 8 specifically includes fixed top plate 801, rotating disc 802, demonstration workpiece 803, and fixed top plate 801 is logical
It crosses support column 804 to be installed on corresponding mounting base 805, fixed 801 surface of top plate is provided with XY coordinate system, fixed top plate
801 lower end surface is connected with servo motor 806, and the output end of servo motor 806 is connected with speed reducer 807, speed reducer 807
Output end is vertically connected with counter flange 808 to after fixed top plate 801, and counter flange 808 is connected with rotating disc 802, turns
802 surface of Moving plate has position scale line and indicates the round deep gouge of number；It is additionally provided with directional beacon 809 on fixed top plate 801,
Directional beacon is provided with arrow, and arrow is directed toward the center point of rotating disc 802, when the graduation mark of rotating disc 802 is aligned with arrow, i.e.,
For specified waiting station, servo-driver 810 is additionally provided on mounting base 805, servo-driver 810 is for receiving phase
Close starting, stopping, the acceleration and deceleration of instruction and control servo motor；Demonstrating workpiece 803 includes but is not limited to bearing, cylindrical work
Part；
Assembly locating module 9 specifically includes assembly top plate 901, workpiece block 902, and assembly top plate 901 is pacified by support column 903
Loaded on corresponding mounting base 904, the upper surface of assembly top plate 901 is provided with XY coordinate system, assembles the upper table of top plate 901
Face is additionally provided with pusher cylinder 905, expeller 906, gear block 907, and workpiece block 902 is arranged in the upper table of assembly top plate 901
Face, pusher cylinder 905 drive expeller 906 to push workpiece block 902 towards the movement of gear block 907, carry out slightly to workpiece block 902
Positioning；
Feed bin conveying combination module 10 specifically includes flat belt 1001, and the length direction both ends of flat belt 1001 are respectively arranged
There is mounting rack 1002, the live-roller 1003 at 1001 both ends of flat belt is respectively arranged in the top of corresponding mounting rack 1002, installation
The bottom of frame 1002 is installed in corresponding mounting base 1004, there also is provided bin component, bin component on mounting base 1004
Clamping plate 1006 including feed tube 1005 and positioned at two sides below feed tube, two clamping plates 1006 are installed in the fixed block of lower section
1007, fixed block 1007 is fixed in mounting base 1004 by supporting plate 1008, and one end of supporting plate 1008 is connected with pusher cylinder
1009, the piston end of pusher cylinder 1009 is fixed with push plate 1010, starting upper surface cloth of the push plate 1010 towards flat belt 1001
It sets, push plate 1010 pushes the product into the upper surface of flat belt 1001；Starting upper surface position corresponding to flat belt 1001
Live-roller 1003 is specially drive roll, and the side of drive roll is fixed with driven pulley 1011, and driven pulley 1011 passes through synchronous belt
1012 connection driving pulleys 1013, driving pulley 1013 are set in the output end of stepper motor 1014, and stepper motor 1014 is fixedly mounted with
In motor fixing seat 1015, the bottom of motor fixing seat 1015 is provided with long slot hole 1016, and fastening screw runs through long slot hole 1016
After be fixed in mounting base 1004, tensioning plate 1017, tensioning plate 1017 and motor fixing seat are also connected on mounting base 1004
1015 respective side is fastenedly connected by soket head cap screw 1018, and the setting of tensioning plate 1017, long slot hole 1016 ensures synchronous belt
1012 tensioning；The outboard cover of synchronous belt 1012 is equipped with protective cover 1019；Step actuator is additionally provided on mounting base 1004
1020, step actuator 1020 is used to control the starting, stopping, acceleration-deceleration of stepper motor 1014；The length of mounting base 1004
The upper surface at degree direction both ends is respectively arranged with handle 1021, easy to carry；Supporting plate 1008 corresponds under feed tube 1005
Square surface is additionally provided with optoelectronic switch 1022, and optoelectronic switch 1022 is for detecting in feed tube 1005 whether have material；
Tiered warehouse facility module 11 includes plate 1103, warehouse top plate in mounting base 1101, support side plate 1102, warehouse
1104, optoelectronic switch 1105, microswitch (being blocked by workpiece), each on plate 1103 in warehouse top plate 1104 and warehouse there are two heavy
Square region that slot surrounds forms independent depot area, is respectively provided with microswitch in the slot of the deep gouge of warehouse top plate 1104
Incuded；1103 two sides of plate are respectively provided with optoelectronic switch 1105 and are incuded in warehouse.
Spare grips frame 12 ensures freely to replace the fixture of different purposes according to teaching demand, include in spare grips frame
Clamp assembly be cooperation disparate modules carry out practice teaching needed for monomeric gripper, clamp assembly type cover sucker, swash
Light and pneumatic-finger are provided with interchangeability, replaceable in end clamp；
End clamp 13 is installed on the terminal surface of robot body 101, is used cooperatively, is used for relevant presentation module
The relevant function of demonstration robot.
Its course of work is briefly described as follows:
There are 9 (three rows three column) circular troughs on the module top plate of transfer module, each hole slot has position digital label, demonstration
Workpiece is cylindric workpiece.Workpiece is placed in random 6 holes of top plate, carrying universal fixturing, which is picked up, is carried to another finger
Determine in hole.If only putting 1 carrying workpiece at round deep gouge on module top plate, then know there are 9 kinds of riding positions；Such as place 2
When a carrying workpiece, then by having 36 kinds of riding positions known to permutation and combination formula, i.e., not according to carrying workpiece placement number
Together, there are many riding positions and carrying track known to permutation and combination.
The welding demonstration workpiece of workpiece welding module is the weldment as made of thin plate spot welding；With associated clamps along outer
Weldering and the outer surrounding straight angle are fully welded movement demonstration to seam straight down, handle the variation of rifle appearance well in angular position point.Wherein flat fillet weld
Straightway rifle appearance is constant, should at the uniform velocity convert rifle appearance in the taught point of arc section.
Servo turntable module servo-driver controls servo motor with turn disc, and rotating disc divides 6 stations,
Each station is round deep gouge, can place cylindric workpiece, such as bearing, circle handle.The instruction issued according to PLC, on rotating disc
Any station is controlled stop at the arrow direction in directional beacon, this position is off waiting station.When equipment operates normally,
Robot can arrive directional beacon and be directed toward feeding or blowing at position.In addition, this module is combined with vision, it can be achieved that robot and rotation
Disk synchronizes transfer, and completes the task of feeding or blowing.Teaching demand according to robot, servo rotate corresponding angle, can
It allows student to be familiar with and understands that robot and servo cooperate the task of completion, while grasping the relevant knowledge of servo-drive.
Assemble locating module: in operation, workpiece block is carried to assembly top plate corresponding position.After receiving instruction, pusher gas
Cylinder is stretched out with expeller, i.e. promotion workpiece block.Under the mating reaction of gear block and expeller, the clamping to workpiece block is realized
Positioning.Fixture carries corresponding part and starts to assemble, and pusher cylinder, which is unclamped, after the assembly is completed resets.
Feed bin conveying combination module: after powering on, step actuator controls stepper motor rotation, and passes through driving pulley, same
Torque and speed are transmitted on active beaming roller by step band and driven pulley, and driving shaft roller strap moves flat belt 1 and driven beaming roller is same
Step rotation, i.e. conveyer belt normal rotation.Workpiece is neatly deposited at feed tube, receives after instruction workpiece by pusher cylinder from guide
Cylinder is internal to be pushed out on flat belt.Workpiece is run with flat belt to the other end, is sensed and is fed back by end sensor, robot
Take workpiece away.This motor is also changed to asynchronous machine, and the kind of drive can take synchronous belt or sprocket wheel to be driven.
The square region for respectively thering are 2 deep gouges to surround on tiered warehouse facility module warehouse top plate and middle plate, wherein warehouse 1 and warehouse
2 are located at carrying top plate, are respectively provided with microswitch in slot and are incuded；Warehouse 3 and warehouse 4 are located at plate in carrying, middle plate two sides
Injection switch is respectively provided with to be incuded.
Spare grips frame is installed on platform veneer 4, place each spare grips component 1202,1203,1204,1205,
1206,1207, clamp assembly is monomeric gripper needed for cooperation disparate modules carry out practice teaching, and clamp types cover suction
Disk, laser and pneumatic-finger are provided with interchangeability, replaceable in end clamp.
Main structure summary: as shown in Fig. 1-figure, robot body 101 is fixed in 203 table of table top by Universal base 3
On face, and it is symmetrically placed about the convex 201 middle line face of cabinet body in side.Platform veneer A 401/402, platform board B 403 surround machine
Human body 101 places, and is in concentric laid out in parallel；Platform veneer A/B adjacent is supplemented respectively by 2 platform gussets 5, makes it
Structure becomes 1 entirety with fitting together perfectly.Platform veneer A/B is respectively connected by hinge and support rod component 204, is supported, with
Ensure respectively concordant with table top 203.Various training modules are equal or are individually or simultaneously fixed to platform veneer A 401/402, put down
In platform board B 403.It when individual module is fixed in platform veneer A, is computed, optional installation site number are as follows: [(6+
6) × 2 × 3+2 × 2 × 2+2 × 5 × 2+4 × 2] × 3=324 kind.To sum up, individual module is fixed to platform (comprising corner plate
Place) on when, optional total installation site number are as follows: 324+4 × 2 × 2=340 kind.Separately it is found that platform veneer A/B corresponding hole site institute
The angle of composition is 255 °, and 1 stroke range of six-joint robot joint shaft is ± 165 ° (i.e. 330 °), therefore six-joint robot can cover
Lid reaches platform veneer A/B area any point.
Above-mentioned each module has interchangeability, can be used alone, and can also work in coordination use, it is not limited to which certain is single
The demonstration of function, the system for being combined into 1 entire run are come for highly difficult practical item training.Such as: mould will be carried
Block 6, assembly locating module 9, tiered warehouse facility module 11 are mounted on 4 corresponding position region of platform veneer simultaneously, and transfer module 6
On be placed with 4 carrying workpiece, be placed with 4 workpiece blocks in tiered warehouse facility module 11.Equipment normally transports starting, and robot is from three-dimensional storehouse
On library module 11 grabbing workpiece block 908 and be carried to assembly 9 rigging position of locating module at, pusher cylinder stretch out push workpiece
To realize positioning, subsequent robot draws to carry workpiece and move from transfer module 6 to be put to assembly 9 rigging position of locating module block
Top will slowly be carried workpiece and be assembled to inside workpiece block according to workpiece block present position.After the assembly is completed, robot continues
The component movement assembled is clamped to put to 11 vacant station of tiered warehouse facility module.
When movable platform is in rounding state, platform veneer A/B is that and side parallel with platform cabinet body 201 is bonded.?
Under current state, if you need to the brake of universal wheel 205 be unclamped and is pushed into produce into the concerned process steps for participating in industrial production line
In line on corresponding station, flexibly and easily, it can be ensured that with carrying out practice teaching and industrial production without interfering with each other versatility.
It has following the utility model has the advantages that general (including the mechanical, journey of industrial production and practice teaching in automatic production line
Sequence)；Movable platform versatility can have a style of one's own and carry out practice teaching, can directly participate in industrial flow-line production；In platform outer circle
The hexagons distributions such as side and platform veneer mounting hole are in, and can freely collapse, open；The setting of content of courses decomposing moduleization,
Each Teaching Module is compact and flexible and interchangeable.
Compared with other same categories of device, advantage is as follows: 1, it is easy to use: without complicated program service requirement, it is simple easily on
Hand, student can free practices；2, position is optional, modularization, versatility: according to the content of courses, single or multiple modules being selected to set
In platform veneer region, and installation position selection is diversified.
Specific embodiment of the utility model is described in detail above, but content is only what the utility model was created
Preferred embodiment should not be construed as limiting the practical range of the utility model creation.All create according to the utility model is applied
All the changes and improvements made by range etc., shall still fall within the scope of this patent.
Claims (10)
1. a kind of robot Multifunctional mobile platform, it is characterised in that: it include movable cabinet, multi-axis robot, demonstration module,
Transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility mould
Block, spare grips frame, end clamp；
The upper surface center of the activity cabinet is provided with the table top of profile composition, and the bottom of the multi-axis robot passes through
Universal base is installed on table top, and the side perimeter of the table top of the activity cabinet is provided with control and display surface is hardened
There is turnover platform veneer in remaining side of structure, the table top by hinge/or hinge connection, and the activity cabinet, which corresponds to, to be received
The region for playing platform veneer is provided with interior female die block placing chamber, and the platform veneer turns over cloth concordant with the table top under state
It sets, is evenly equipped with threaded mounting hole on the platform veneer；
The transfer module, workpiece welding module, servo turntable module, assembly locating module, feed bin conveying combination module, solid
Warehouse module, spare grips frame bottom be respectively arranged with corresponding mounting base, the transfer module, work under unused state
Part welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips
Frame, end clamp are respectively arranged in the corresponding interior female die block placing chamber；
The demonstration module is used to refer to the corresponding position that corresponding module is placed on the movable cabinet when not used；
The transfer module is specially the carrier of robot base's carrying movement demonstration；
The workpiece welding module is specially the carrier of robot welding movement demonstration；
The servo turntable module is specially the carrier of robot precise positioning demonstration；
The assembly locating module is specially the carrier of robotic asssembly orientation demonstration；
The feed bin conveying combination module is specially the carrier of robot feed bin conveying demonstration；
The tiered warehouse facility module is specially the carrier of robotic presentation storing and carrying；
The spare grips frame is for placing spare clamp assembly.
2. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: between adjacent platform veneer
It is provided with turnover platform gusset, the platform gusset passes through hinge/or the turnover platform list of hinge connection respective side
Plate, the platform gusset turns under state and the table top flush arrangement, is evenly equipped with threaded mounting hole on the platform gusset.
3. a kind of robot Multifunctional mobile platform as claimed in claim 2, it is characterised in that: the bottom of the activity cabinet
Corner location is provided with the universal wheel of strap brake.
4. a kind of robot Multifunctional mobile platform as claimed in claim 3, it is characterised in that: the frame of the table top is specific
It is square structure, the side perimeter of the table top is provided with the convex cabinet body in side, its excess-three side of the table top is provided with can
The platform veneer of overturning, the upper surface of the convex cabinet body in side are specially control and display panel structure, the control and display surface
Hardened structure specifically includes touch screen, indicator light, button, power switch, emergency stop, and both sides of the upper end position of the convex cabinet body in side is set
It is equipped with handle；The section below of the control and display panel structure is provided with metal plate door, sets on the front end face of the metal plate door
It is equipped with documents pouch, the documents pouch is used to place teachings book, it is respectively arranged with hook on the both side plate of the convex cabinet body in side,
The bottom of the metal plate door is provided with the first heat release hole, and the bottom of the side plate is provided with the second heat release hole.
5. a kind of robot Multifunctional mobile platform as claimed in claim 4, it is characterised in that: the profile on the table top hangs down
Directly in the convex corresponding frame in the side, the ontology of the multi-axis robot is arranged symmetrically about the perpendicular bisector face of the convex cabinet body in side,
Three pieces of platform veneers are in that setting is concentrically arranged around the ontology of the multi-axis robot；Two blocks of platform gussets are filled in
The adjacent two piece platform veneer after expansion is formed by vacant locations region；The platform veneer, the expansion of platform gusset
The distance between all adjacent threaded mounting holes are identical under state, form several regular hexagon border structures.
6. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: the transfer module, workpiece
Welding module, servo turntable module, assembly locating module, feed bin conveying combination module, tiered warehouse facility module, spare grips frame
Bottom, which is respectively arranged on corresponding mounting base, is provided with stubborn screw and corresponding serial number fastly.
7. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: the outer arc of the platform veneer
The center on side is provided with raised lock, and the corresponding position of the corresponding side surface of the activity cabinet is provided with spherical buckle assembly,
The protrusion of the platform veneer under closed configuration is fastened on the spherical buckle assembly of corresponding position.
8. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: the servo turntable module tool
Body includes fixed top plate, rotating disc, demonstration workpiece, and the fixed top plate is installed on corresponding mounting base by support column,
The fixed top board surface is provided with XY coordinate system, and the lower end surface of the fixed top plate is connected with servo motor, the servo electricity
The output end of machine is connected with speed reducer, and the output end of the speed reducer is vertically connected with transition method to after the fixed top plate
Orchid, the counter flange are connected with rotating disc, and the rotation panel surface has position scale line and indicates the round deep gouge of number；
Directional beacon is additionally provided on the fixed top plate, the directional beacon is provided with arrow, and the arrow is directed toward the circle of the rotating disc
At the heart, when the graduation mark of rotating disc is aligned with arrow, as specified waiting station is additionally provided on the mounting base and watches
Driver is taken, the servo-driver is used to receive dependent instruction and control starting, stopping, the acceleration and deceleration of servo motor；Institute
Stating demonstration workpiece includes but is not limited to bearing, cylindrical work.
9. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: the assembly locating module tool
Body includes assembly top plate, workpiece block, and the assembly top plate is installed on corresponding mounting base by support column, the assembly top
The upper surface of plate is provided with XY coordinate system, and the upper surface of the assembly top plate is additionally provided with pusher cylinder, expeller, gear block,
The workpiece block is arranged in the upper surface of the assembly top plate, and the pusher cylinder driving expeller pushes workpiece block described in
Gear block movement carries out coarse positioning to workpiece block.
10. a kind of robot Multifunctional mobile platform as described in claim 1, it is characterised in that: the spare grips frame is true
It protects according to teaching demand, freely replaces the fixture of different purposes, the clamp assembly for including in the spare grips frame is cooperation
Monomeric gripper needed for disparate modules carry out practice teaching, clamp assembly type cover sucker, laser and pneumatic-finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820857653.5U CN208543470U (en) | 2018-06-05 | 2018-06-05 | A kind of robot Multifunctional mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820857653.5U CN208543470U (en) | 2018-06-05 | 2018-06-05 | A kind of robot Multifunctional mobile platform |
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| CN208543470U true CN208543470U (en) | 2019-02-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436891A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of robot Multifunctional mobile platform |
| CN111645237A (en) * | 2020-03-12 | 2020-09-11 | 海安迪斯凯瑞探测仪器有限公司 | Mold closing robot system |
-
2018
- 2018-06-05 CN CN201820857653.5U patent/CN208543470U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436891A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of robot Multifunctional mobile platform |
| CN111645237A (en) * | 2020-03-12 | 2020-09-11 | 海安迪斯凯瑞探测仪器有限公司 | Mold closing robot system |
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