CN208861506U - A kind of industrial robot practice teaching table palletized unit - Google Patents
A kind of industrial robot practice teaching table palletized unit Download PDFInfo
- Publication number
- CN208861506U CN208861506U CN201820870684.4U CN201820870684U CN208861506U CN 208861506 U CN208861506 U CN 208861506U CN 201820870684 U CN201820870684 U CN 201820870684U CN 208861506 U CN208861506 U CN 208861506U
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- China
- Prior art keywords
- sucker
- slide rail
- industrial robot
- linear slide
- sliding block
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- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000007723 transport mechanism Effects 0.000 claims description 12
- 239000002184 metal Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012549 training Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- KVNRLNFWIYMESJ-UHFFFAOYSA-N butyronitrile Chemical compound CCCC#N KVNRLNFWIYMESJ-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model relates to a kind of industrial robot practice teaching table palletized unit, which includes gripping tool；The gripping tool changes rifle disk, upper plate, connecting column and lower plate including sequentially connected from top to bottom, and the rifle disk that changes is fixedly arranged in the middle part of the upper plate, is respectively provided with a sucker on four angles of the lower plate；The sucker includes from top to bottom sequentially be screwed tracheae connecting column, folded tube and the sucker fixed column of connection, and the fixed column bottom of the sucker is installed with sucking disk part, and the tracheae connecting column, folded tube and sucker fixed column are hollow tube structure, and are sequentially connected to.The utility model has the beneficial effects that in sucker folded tube setting, buffer function can be played to the suction process of sucker, damage of the sucker to magazine is effectively prevented, and reduces the fatigue strength of sucking disk part, and can be with flexible modulation sucker at a distance from target part or objective plane.
Description
Technical field
The utility model belongs to robot field, more particularly, to a kind of industrial robot practice teaching table stacking list
Member.
Background technique
For the training of robot, before carrying out real training function, robot needs to clamp corresponding work by fixture
After tool, then go to carry out corresponding real training, for can flexible modulation tool between target part or target face at a distance from, in the prior art can
Spring and guide post are set on tool construction, made troubles to processing early period of tool, the invention is in above-mentioned skill
The improvement carried out on the basis of art problem.
Summary of the invention
The utility model aim is to provide a kind of industrial robot practice teaching table palletized unit, directly in sucker structure
Middle addition folded tube, to realize the flexible modulation between adjusting tool and target part or target face.
In order to solve the above technical problems, the technical solution adopted in the utility model is:
A kind of industrial robot practice teaching table palletized unit, the palletized unit include gripping tool, transport mechanism and
Shelf, robot is sent magazine to transport mechanism by gripping tool, and magazine is transmitted on shelf by transport mechanism；
The gripping tool changes rifle disk, upper plate, connecting column and lower plate including sequentially connected from top to bottom, and the upper plate is
Ellipsoidal structure, the rifle disk that changes are fixedly arranged in the middle part of the upper plate, and the lower plate is rectangle structure, on four angles of the lower plate
It is respectively provided with a sucker；
The sucker includes from top to bottom sequentially be screwed tracheae connecting column, folded tube and the sucker fixed column of connection,
The fixed column bottom of the sucker is installed with sucking disk part, and the tracheae connecting column, folded tube and sucker fixed column are hollow tube knot
Structure, and be sequentially connected to.
Further, the folded tube includes foldable rubber pipe portion and positioned at the metal threaded of the foldable rubber pipe portion both ends
Portion.
Further, the transport mechanism includes X to transmission module, Y-direction transmission module and Z-direction transmission module, and the X is to biography
Sending mould group includes X to motor, X to linear slide rail and X to sliding block, the X to motor drive the X to sliding block in X to linear slide rail
Upper running fix, the Y-direction transmission module include Y-direction motor, Y-direction linear slide rail, Y-direction sliding block and support frame, Y-direction linear slide rail
The X is fixedly arranged on on sliding block, support frame as described above is fixedly arranged on the Y-direction sliding block, which drives the Y-direction sliding block in Y
The running fix on linear slide rail, the Z-direction transmission module include cylinder and yoke, and the cylinder is fixedly arranged on support frame as described above
On.
Further, the yoke includes interconnecting piece and two arms being fixedly arranged on the interconnecting piece, described in cylinder drives
Interconnecting piece is pointed structures in Z-direction running fix, the free end of the arm.
Further, the corresponding position of the shelf is equipped with the groove for protruding into and extracting out for the arm.
Further, the X is all made of convex rail to linear slide rail, Y-direction linear slide rail, the convex rail and shoe contact
Part be globoidal structure.
The utility model has the following beneficial effects:
The setting of folded tube in sucker can play buffer function to the suction process of sucker, effectively prevent sucker to material
The damage of box, and the fatigue strength of sucking disk part is reduced, and can be with flexible modulation sucker at a distance from target part or objective plane.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the practical traning platform in embodiment；
Fig. 2 is the overall structure diagram of supply unit in embodiment；
Fig. 3 is the structural schematic diagram of the first feed bin split shed in embodiment；
Fig. 4 is the status diagram for holding box body in embodiment in the first feed bin；
Fig. 5 is the structural schematic diagram of magazine in embodiment；
Fig. 6 is the structural schematic diagram of gripping tool in embodiment；
Fig. 7 is the structural schematic diagram of sucker in embodiment；
Fig. 8 is the matching relationship schematic diagram of transport mechanism and shelf in embodiment；
Fig. 9 is the structural schematic diagram of Z-direction transmission module in embodiment.
In figure:
A- table top, B- supply unit, C- palletized unit, 1- magazine, 11- box body, 12- box cover, 13- bracket, 14- expect hole,
2- material block, the first feed bin of 3-, the first collet of 31-, 311- bottom plate, 312- upper plate, 313- support column, 32- first support bar,
321- opening, 33- pusher cylinder, 34- air cylinder base, the second feed bin of 4-, the second collet of 41-, 42- second support bar, 5- transmission
Band, 6- gripping tool, 61- change rifle disk, 62- upper plate, 63- connecting column, 64- lower plate, 65- sucker, 651- tracheae connecting column, 652-
Folded tube, 653- sucker fixed column, 654- sucking disk part, 7- transport mechanism, 71-X is to transmission module, and 711-X is to motor, 712-X
To linear slide rail, 713-X is to sliding block, and 72-Y is to transmission module, and 721-Y is to motor, and 722-Y is to linear slide rail, and 723-Y is to cunning
Block, 724- support frame, 73-Z is to transmission module, 731- cylinder, 732- yoke, 8- shelf.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should 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 describing the present invention and simplifying the 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 limitations of the present 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.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
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 the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
In some embodiments, a kind of industrial robot teaching practical traning platform, the practical traning platform include defeated on table top A
Send unit B, palletized unit C and robot, wherein supply unit B, palletized unit C, supply unit B, the equal position palletized unit C
In in the working radius of robot.The robot model is preferably IRB1200.The robot is furnished with DSQC652 communication board, convenient
Robot and external equipment carry out point-to-point communication；Robot be furnished with DSQC688 communication board, meet robot and external equipment into
The needs of row Profinet bus communication.The off-line programming software RobotStudio that the practical traning platform is selected can be used for production work
It stands simulation, sets optimum position for robot；It can also carry out off-line programing, avoid that production disruption of a high price occurs or prolong
Accidentally.
Every set robot comprehensive practical traning platform takes up an area about 3 square meters, and general construction includes 2 sets of robot comprehensive practical traning platforms, at most
Receive real training simultaneously for 20 students.
Practical traning platform scheme be based on school teachers and students for industrial robot study, real training, teaching, scientific research and design, there are fill
The communication interface and process software packet option of foot, convenient expansion and raising to industrial robot Premium Features.
In some embodiments, the simple supply unit of a kind of industrial robot practice teaching table, supply unit B are used for
Magazine 1 is conveyed, the magazine includes box body 11 and box cover 12, is equipped with bracket 13 in the box body 11, the bracket 13 is equipped with
Several material holes 14 for being used to place material block 2.
The magazine 1 is cube structure, and four angles of 11 upper surface of box body are equipped with threaded hole, the box cover 12 4
A angle is equipped with the through-hole cooperated with the threaded hole, and screw consolidates box body 11 and box cover 12 after passing through the through-hole and threaded hole
It is fixed.
The supply unit B includes the first feed bin 3, the second feed bin 4 and conveyer belt 5, and the box body 11 is located at described first
In feed bin 2, the box cover 12 is located in second feed bin 3；
First feed bin 3 includes the first collet 31, several first support bars positioned at 31 upper surface of the first collet
32 and the pusher cylinder 33 positioned at 31 side of the first collet, 31 front end of the first collet is equipped with the conveyer belt 5, the pusher
Cylinder 33 is fixedly arranged on first collet 31 by air cylinder base 34, and the magazine 1 can be pushed to by the pusher cylinder 33
On the conveyer belt 5；
Specifically, the first support bar 32 is 4, which is steel angle structure, wherein two are outer
Support rod, in addition two are inner bracing piece, which is arranged close to the conveyer belt 5, and the outer support bar is far from described
Conveyer belt 5 is arranged, and the bottom of the inner bracing piece is equipped with the opening 321 released for the box body 11.
321 height of the opening are 1.5 times of 11 height of box body.
Second feed bin 4 includes the second collet 41 and several second support bars positioned at 41 upper surface of the second collet
42。
First collet 31 is identical with the structure of the second collet 41, which includes lower plate 311, upper plate
312 and several support columns 313 between two bottom plates, the first support bar 32 be welded in the upper of the upper plate 312
On surface.
In some embodiments, a kind of industrial robot practice teaching table palletized unit, palletized unit C include crawl
Tool 6, transport mechanism 7 and shelf 8, robot are sent magazine 1 to transport mechanism 7 by gripping tool 6, and by transport mechanism 7
Magazine 1 is transmitted on shelf 8；
The gripping tool 6 changes rifle disk 61, upper plate 62, connecting column 63 and lower plate 64 including sequentially connected from top to bottom,
Upper 62 plate is ellipsoidal structure, and the rifle disk 61 that changes is fixedly arranged on 62 middle part of upper plate, and the lower plate 64 is rectangle knot
Structure is respectively provided with a sucker 65 on four angles of the lower plate 64；
Tracheae connecting column 651, folded tube 652 and sucker of the sucker 65 including the connection that is from top to bottom sequentially screwed
Fixed column 653,653 bottom of sucker fixed column are installed with sucking disk part 654, the tracheae connecting column 651, folded tube 652 and suction
Disk fixed column 653 is hollow tube structure, and is sequentially connected to, and the folded tube 652 includes foldable rubber pipe portion and is located at this
The metal threaded portion at foldable rubber pipe portion both ends, the threaded portion are used for and tracheae connecting column lower part and sucker fixed column top screw thread
Connection needs to use with mates such as air intake ducts when the sucker uses, and butyronitrile can be selected in sucking disk part and foldable rubber pipe portion
Rubber is made, which has biggish breaking tenacity, and any damage will not be caused to workpiece by drawing or put down workpiece, and be resisted tired
Lao Xingqiang.In addition, the setting of the folded tube, can play buffer function to the suction process of sucker, effectively prevent sucker to magazine
Damage, and reduce the fatigue strength of sucking disk part, and can be with flexible modulation sucker at a distance from target part or objective plane.
The transport mechanism 7 includes X to transmission module 71, Y-direction transmission module 72 and Z-direction transmission module 73, and the X is to biography
Sending mould group 71 includes X to motor 711, X to linear slide rail 712 and X to sliding block 713, which drives the X to sliding block to motor 711
713 in X running fix on linear slide rail 712, the Y-direction transmission module 72 include Y-direction motor 721, Y-direction linear slide rail 722,
Y-direction sliding block 723 and support frame 724, Y-direction linear slide rail 722 are fixedly arranged on the X on sliding block 713, and support frame as described above 724 is fixed
In on the Y-direction sliding block 723, which drives Y-direction sliding block running fix on Y-direction linear slide rail, and the Z-direction passes
Sending mould group 73 includes cylinder 731 and yoke 732, and the cylinder 731 is fixedly arranged on support frame as described above 724.
The yoke 732 includes interconnecting piece and two arms being fixedly arranged on the interconnecting piece, and cylinder 731 drives the company
For socket part in Z-direction running fix, the free end of the arm is pointed structures, and the corresponding position of the shelf 8, which is equipped with, supplies the arm
The groove for protruding into and extracting out, the setting of the groove is so that magazine is smoothly placed on shelf 8 by yoke.
Magazine is placed on yoke by robot, and is divided by X to transmission module, Y-direction transmission module and Z-direction transmission module
To, the transmission of Y-direction and Z-direction magazine is not transmitted to the corresponding position of shelf finally in X.
To keep the X more stable to transmission module and Y-direction transmission module, the X of the application is to linear slide rail, Y-direction linear slide rail
Common T-type rail is not used, but uses convex rail, the part of the convex rail and shoe contact is globoidal structure, such as
Shown in Fig. 8, Fig. 9.
In some embodiments, practical traning platform use process is as follows:
(1) transmission and carrying: box body, box cover are respectively placed in the first feed bin and the second feed bin by staff, starting
Box body is pushed out to conveyer belt by the opening of inner bracing piece by the pusher cylinder in supply unit, pusher cylinder, and by conveyer belt
It is sent to robot and grabs position, then magazine is transported to intermediate station by robot；
(2) box body, box cover cooperation: after the material block completed the process is piled a box body by robot, robot is by the second material
Box cover in storehouse, which is put into above box body, forms magazine entirety；
(3) automatic screw-driving: the screw electric screw driver that robot will spue in screw vibrating disc (model: HSF-30)
It draws, is put into threaded hole, Bian Xuanzhuan, while feeding down, finally by magazine integral locking；
(4) stacking: magazine is placed on yoke by robot by the sucker of gripping tool, and by X to transmission module,
Magazine is finally transmitted to the corresponding positions of shelf respectively in X to, the transmission of Y-direction and Z-direction by Y-direction transmission module and Z-direction transmission module
It sets.
One embodiment of the utility model is described in detail above, but the content is only the utility model
Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model
All the changes and improvements etc., should still belong within the patent covering scope of the utility model.
Claims (6)
1. a kind of industrial robot practice teaching table palletized unit, which is characterized in that the palletized unit includes gripping tool, passes
Mechanism and shelf are sent, robot is sent magazine to transport mechanism by gripping tool, and magazine is transmitted arrival by transport mechanism
On frame；
The gripping tool changes rifle disk, upper plate, connecting column and lower plate including sequentially connected from top to bottom, and the upper plate is ellipse
Shape structure, the rifle disk that changes are fixedly arranged in the middle part of the upper plate, and the lower plate is rectangle structure, is respectively set on four angles of the lower plate
There is a sucker；
The sucker includes from top to bottom sequentially be screwed tracheae connecting column, folded tube and the sucker fixed column of connection, described
The fixed column bottom of sucker is installed with sucking disk part, and the tracheae connecting column, folded tube and sucker fixed column are hollow tube structure, and
Sequentially it is connected to.
2. a kind of industrial robot practice teaching table palletized unit according to claim 1, which is characterized in that the folding
Folded pipe includes foldable rubber pipe portion and the metal threaded portion positioned at the foldable rubber pipe portion both ends.
3. a kind of industrial robot practice teaching table palletized unit according to claim 1, which is characterized in that the biography
Sending mechanism includes X to transmission module, Y-direction transmission module and Z-direction transmission module, the X to transmission module include X to motor, X to
To sliding block, which drives the X to sliding block running fix on linear slide rail in X, the Y-direction transmission to motor by linear slide rail and X
Mould group includes Y-direction motor, Y-direction linear slide rail, Y-direction sliding block and support frame, and Y-direction linear slide rail is fixedly arranged on the X on sliding block, institute
Support frame is stated to be fixedly arranged on the Y-direction sliding block, which drives Y-direction sliding block running fix on Y-direction linear slide rail,
The Z-direction transmission module includes cylinder and yoke, and the cylinder is fixedly arranged on support frame as described above.
4. a kind of industrial robot practice teaching table palletized unit according to claim 3, which is characterized in that the fork
Arm includes interconnecting piece and two arms being fixedly arranged on the interconnecting piece, and cylinder drives the interconnecting piece in Z-direction running fix, institute
The free end for stating arm is pointed structures.
5. a kind of industrial robot practice teaching table palletized unit according to claim 4, which is characterized in that the goods
The corresponding position of frame is equipped with the groove for protruding into and extracting out for the arm.
6. a kind of industrial robot practice teaching table palletized unit according to claim 3, which is characterized in that the X
It is all made of convex rail to linear slide rail, Y-direction linear slide rail, the part of the convex rail and shoe contact is globoidal structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820870684.4U CN208861506U (en) | 2018-06-06 | 2018-06-06 | A kind of industrial robot practice teaching table palletized unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820870684.4U CN208861506U (en) | 2018-06-06 | 2018-06-06 | A kind of industrial robot practice teaching table palletized unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208861506U true CN208861506U (en) | 2019-05-14 |
Family
ID=66411670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820870684.4U Expired - Fee Related CN208861506U (en) | 2018-06-06 | 2018-06-06 | A kind of industrial robot practice teaching table palletized unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208861506U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510322A (en) * | 2019-09-29 | 2019-11-29 | 深圳赛动生物自动化有限公司 | Culture bottle automatic stacking mechanism and clamp method |
-
2018
- 2018-06-06 CN CN201820870684.4U patent/CN208861506U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510322A (en) * | 2019-09-29 | 2019-11-29 | 深圳赛动生物自动化有限公司 | Culture bottle automatic stacking mechanism and clamp method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190514 |