CN208963988U - A kind of automatic feed mechanism of industrial robot teaching equipment - Google Patents
A kind of automatic feed mechanism of industrial robot teaching equipment Download PDFInfo
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- CN208963988U CN208963988U CN201821066413.XU CN201821066413U CN208963988U CN 208963988 U CN208963988 U CN 208963988U CN 201821066413 U CN201821066413 U CN 201821066413U CN 208963988 U CN208963988 U CN 208963988U
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Abstract
The utility model discloses a kind of automatic feed mechanisms of industrial robot teaching equipment, are related to teaching equipment technical field.The utility model includes main body, main body has the pedestal for load-bearing and the material guide part above pedestal, the blanking channel for stacking material is formed in material guide part, the blanking port with blanking channel cooperation is offered on pedestal, it is additionally provided with the multistage sensing component for detecting material signal in main body and controls the multi-stage cylinder component that material falls one by one from blanking port according to the material signal of multistage sensing component, the operation window with the cooperation of multi-stage cylinder component is offered on material guide part, operation window is connected to blanking channel.The utility model can avoid the occurrence of due to material deformation or specification it is nonstandard caused by stuck phenomenon, failure rate is low.
Description
Technical field
The utility model relates to technical field of electric equipment, especially a kind of automatic charging of industrial robot teaching equipment
Mechanism.
Background technique
With the fast development of artificial intelligence, industrial robot gradually replace in the industrial production the mankind do it is certain it is dull,
Frequently and duplicate long working, or operation dangerous, under adverse circumstances, for example, punching press, compression casting, heat treatment,
It is complete in the processes such as welding, coating, plastic products forming, machining and simple assembly, and in departments such as the atomic energy industry
The carrying or technological operation of pairs of human body nocuousness material.However, the development step of industrial robot teaching obviously lags behind industry
The industry development of robot.The education sector emerging as one, industrial robot practice-training teaching are faced with lot of challenges.Due to
There are certain risk, student has no chance to do the contact dismantling real training of short distance, and uninteresting theoretical course is real to student is improved
The help for grasping technical ability is very limited, and can the student after studying be competent at robot technology relevant station or a problem.Industrial machine
Device people's teaching equipment is exactly to grow rapidly in this context.Industrial robot system's maintenance can be competent at by cultivating, and be
System installation and debugging, the comprehensive technician of the applications such as system integration, the maturity of industrial robot practice-training teaching equipment is very
It is important.For student, industrial robot practice-training teaching equipment is the Important Platform of trained practical operation technical ability.
Existing industrial robot teaching equipment is generally delivery module, vision module, transfer module, automatic loading/unloading mould
The integrated operating platform of the nucleus modules such as block, stacking module.Fig. 1 shows a kind of common automatic charging module, material heap
Be stacked in barrel 7, the material of bottom is fallen on feeding platform 8, above material discharging is limited in by positioning cylinder 9
Mouthful, and the material fallen on feeding platform 8 pushes away 7 lower section of barrel by 10 level of pusher cylinder.The material of bottom is due to load-bearing
Maximum, therefore be in close contact with square object material thereon.If material is due to being used for a long time, deformation occurs or presence itself falls short of specifications
The problem of standard, then easily causes the material of bottom stuck, and material can not be pushed away 7 lower section of barrel by pusher cylinder 10.
It is more harsh to can be seen that requirement of the existing automatic charging module to material specification by above-mentioned analysis, and is easy
There is the stuck phenomenon of material.
Utility model content
The goal of the invention of the utility model is: existing automatic charging module there are aiming at the problem that, the utility model mentions
For a kind of automatic feed mechanism of industrial robot teaching equipment, this automatic feed mechanism is lower to material specification requirement, and
Blanking is smooth.
The technical solution adopted in the utility model is as follows: a kind of automatic feed mechanism of industrial robot teaching equipment, packet
Main body is included, the main body has the pedestal for load-bearing and the material guide part above pedestal, formed in the material guide part
There is blanking channel, the blanking channel runs through the material guide part, offers on the pedestal and fall with what blanking channel cooperated
Material mouth is additionally provided with the multistage sensing component for detecting material signal and the material according to multistage sensing component in the main body
Signal controls the multi-stage cylinder component that material falls one by one from blanking port, offers on the material guide part and multi-stage cylinder
The operation window of component cooperation, the operation window are connected to blanking channel.
Due to the setting of above structure, the material in blanking channel is under the cooperation of multi-stage cylinder component, according to Multi-stage transmission
Component is felt to the feedback signal of material state, is slid downwards to conveyer belt or other conveyers one by one from the blanking port of pedestal
Structure.The discharged way slid downwards avoid due to material deformation or specification it is nonstandard caused by stuck phenomenon, can effectively drop
Less trouble ensures the fluency of feed.
Further, the material guide part is transparent material.
Due to the setting of above structure, the material guide part of transparent material can intuitively show material in blanking channel
Situation of movement helps to find the abnormal conditions in blanking channel in time, helps debugging in time.On the other hand, transparent material
The material guide part of matter can make multistage sensing component that can easily detect without other auxiliary settings
Material stacked state in blanking channel.
Further, the multi-stage cylinder component includes material ejection cylinder and the blanking cylinder below material ejection cylinder, institute
The locating part being provided on the piston rod of material ejection cylinder for withstanding material is stated, is arranged on the piston rod of the blanking cylinder useful
In the supporting for accepting material.
Due to the setting of above structure, the whereabouts one by one of material may be implemented.Under original state, the piston rod of blanking cylinder
To stretch out state, the piston rod of material ejection cylinder is retracted state.Operation window and the supporting in blanking channel is protruded into when passing through
If after upper accumulation dry material, the piston rod of material ejection cylinder stretches out, and locating part withstands secondary lower section material, the piston rod of blanking cylinder
Retraction, falls to bottom material naturally on transmission belt or other conveying mechanisms from blanking port.A material whereabouts is completed to make
After industry, the piston rod of blanking cylinder and material ejection cylinder replys original state again.Entire hidden danger of the blanking operation without Caton.
Further, the supporting is L-shaped, is all provided on the side end face that the supporting and locating part are contacted with material
It is equipped with cushion.Due to the setting of above structure, L-shaped supporting can be material under the premise of not influencing blanking and falling
It provides strong support；During material falls, the cushion of supporting and locating part can alleviate the collision to material, keep away
The coating of exempt from customs examination surface of material brings abrasion.
Further, the multistage sensing component includes the first sensor for detecting storing situation in blanking channel,
For detect in blanking channel close to supporting position material situation second sensor and for detecting square object under blanking port
The 3rd sensor of material heap product situation, the first sensor are located above second sensor.First sensor and the second sensing
Device can be embedded into material guide part, can also be arranged by support plate in material guide part side.3rd sensor setting
In base bottom close to the position of blanking port.
Due to the setting of above structure, multistage sensing component can detecte blanking channel top, supporting in blanking channel
Corresponding mobile position and blanking port below this position at three material situation, multi-stage cylinder component can be according to this position at three
The motion change situation of material carrys out precision-fit, completes blanking operation.Under normal conditions, be provided with below blanking port conveyer belt or
Other conveying mechanisms of person.Under original state, the piston rod of blanking cylinder is stretching state, and the piston rod of material ejection cylinder is retraction shape
State.Material is sent into blanking channel by industrial robot by material guide part upper end opening, when first sensor detects material
Signal, and when material signal is not detected in 3rd sensor, secondary lower section material is withstood in the piston rod stretching of material ejection cylinder, blanking
The piston rod of cylinder bounces back and bottom material is made to fall.At this point, the material blackout of second sensor, 3rd sensor inspection
Material signal is measured, the piston rod of blanking cylinder stretches out again, and the piston rod retraction of material ejection cylinder makes top material successively fall
And it is stacked on supporting.So far, automatic feed mechanism completes a blanking operation, when the material signal of 3rd sensor disappears
It loses, and when detecting material signal of first sensor, automatically begins to next round blanking operation.
Further, the vertical range of the first sensor and second sensor is greater than the height of a material.
Due to the setting of above structure, it can be ensured that during completing a blanking operation, in blanking channel at least
It stacks and avoids automatic feed mechanism to dally there are two material and to the other function modular manufacture vacation of industrial robot teaching equipment
Signal.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1, the material of the utility model can be under the precision-fit of multi-stage cylinder component and multistage sensing component glibly
It slides to conveyer belt or other conveying mechanisms downwards, avoids the occurrence of due to material deformation or specification one by one from the blanking port of pedestal
Stuck phenomenon caused by nonstandard, failure rate are low；
2, the material guide part of the utility model transparent material helps to check blanking channel internal fault in time, in addition, thoroughly
The material guide part of bright material can reduce the limitation to multistage sensing component sensors usage type and setting position；
3, the multi-stage cylinder component of the utility model is abutted by material ejection cylinder and blanking cylinder, and/detaching-accepts/bounces back
Circulation cooperation realize material whereabouts one by one, can accomplish entire blanking operation smoothness without Caton, it is simple and practical in structure；
4, the L-shaped supporting of the utility model can provide effectively under the premise of not influencing blanking and falling for material
Support；During material falls, the cushion of supporting and locating part can alleviate the collision to material, avoid to material
The coating on surface causes to wear；
5, the multistage sensing component of the utility model can detecte blanking channel top, in blanking channel supporting correspondence
The material signal of this position at three below mobile position and blanking port, multi-stage cylinder component can be according to this position materials at three
Motion change situation is fitted to each other and completes blanking operation, and multistage sensing component can effectively improve matching for multi-stage cylinder component
Close precision；
6, limiting the vertical range between first sensor and second sensor may insure complete a blanking operation
During, it is at least stacked there are two material in blanking channel, automatic feed mechanism is avoided to dally and impart knowledge to students to industrial robot
The other function modular manufacture glitch of equipment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of existing automatic charging module；
Fig. 2 is the structural schematic diagram of the utility model embodiment 1；
Fig. 3 is the structural schematic diagram of the utility model embodiment 2；
Fig. 4 is the front view of the utility model embodiment 2；
Fig. 5 is the left view of the utility model embodiment 2；
Fig. 6 is the right view of the utility model embodiment 2；
Fig. 7 is the top view of the utility model embodiment 2；
Marked in the figure: 1- pedestal；2- material guide part；3- multistage sensing component；4- multi-stage cylinder component；5- working window
Mouthful；6- blanking channel；7- barrel；8- feeding platform；9- positioning cylinder；10- pusher cylinder；3.1- first sensor；3.2- the
Two sensors；3.3- 3rd sensor；4.1- material ejection cylinder；4.2- blanking cylinder；4.3- locating part；4.4- supporting.
Specific embodiment
With reference to the accompanying drawing, the utility model is described in detail.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment 1
A kind of automatic feed mechanism of industrial robot teaching equipment as shown in Figures 2 and 3, including main body, the master
Body includes pedestal 1 and the material guide part 2 that is vertically arranged on pedestal 1.The pedestal 1 is by bearing platform and is fixed on bearing platform bottom
Two stabilizer blades in portion form.Conveyer belt or other conveying mechanisms are usually provided with below bearing platform.Material guide part 2 can be with base
Seat 1 is integrally formed, and can also be bolted on the bearing platform of pedestal 1.Cross section is formed in the material guide part 2
Square or rectangular blanking channel 6, the blanking channel 6 run through the material guide part 2, the load-bearing of the pedestal 1
The blanking port cooperated with blanking channel 6 is offered on platform.
In the present embodiment, the multistage sensing component 3 for detecting material signal is provided in the main body.The Multi-stage transmission
Sense component 3 include for detect the first sensor 3.1 of storing situation in blanking channel 6, for detect in blanking channel 6 close to
The second sensor 3.2 of the material situation of 4.4 position of supporting and third for detecting material accumulation situation below blanking port
Sensor 3.3, the first sensor 3.1 are located at 3.2 top of second sensor.3rd sensor 3.3 is fixed on holding for pedestal 1
The bottom Chong Tai.In a kind of wherein embodiment, first sensor 3.1 and second sensor 3.2 can be embedded in material guide part 1
In.In another embodiment, material guide part 2 can be set to transparent material, first sensor 3.1 and second sensor
3.2 support plate by being vertically arranged is fixed on 2 side of material guide part.
In the present embodiment, the material signal according to multistage sensing component 3 is additionally provided in the main body come control material from
The multi-stage cylinder component 4 that blanking port falls one by one offers the work cooperated with multi-stage cylinder component 4 on the material guide part 2
Make window 5, the operation window 5 is connected to blanking channel 6.The multi-stage cylinder component 4 is including material ejection cylinder 4.1 and is located at top
Expect the blanking cylinder 4.2 of 4.1 lower section of cylinder, the limit for withstanding material is provided on the piston rod of the material ejection cylinder 4.1
Part 4.3 is provided with the supporting 4.4 for accepting material on the piston rod of the blanking cylinder 4.2.Along with material ejection cylinder
4.1 and blanking cylinder 4.2 it is flexible, locating part 4.3 and supporting 4.4 can pass through operation window 5 and enter blanking channel.
In the present embodiment, under original state, the piston rod of blanking cylinder is stretching state, and the piston rod of material ejection cylinder is back
Contracting state.Industrial robot will be sent into blanking channel in the material of square or cuboid by material guide part upper end opening,
When first sensor detects material signal (when material is stacked to predetermined quantity), and material signal is not detected in 3rd sensor
When (non-stacking material on the conveyer belt or conveying mechanism below blanking port), the piston rod of material ejection cylinder is stretched out secondary lower section material
It withstands, the piston rod of blanking cylinder bounces back and bottom material is made to fall.At this point, the material blackout of second sensor is (most
Lower section material is fallen), 3rd sensor detects that (bottom material falls to conveyer belt or other conveying mechanisms to material signal
On), the piston rod of blanking cylinder stretches out again, and the piston rod retraction of material ejection cylinder makes top material successively fall and be stacked on
On supporting.So far, automatic feed mechanism completes a blanking operation and restPoses.When the material of 3rd sensor is believed
It number disappears (conveyer belt or other conveying mechanisms drive material mobile), and first sensor detects material signal (material heap
When being stacked to predetermined quantity) when, automatically begin to next round blanking operation.
In the present embodiment, the supporting 4.4 is L-shaped, and the structure of L-type can help the better load-bearing of supporting 4.4；Institute
It states and is provided with cushion on the side end face that supporting 4.4 and locating part 4.3 are contacted with material, cushion can alleviate undertaking
The collision of part 4.4 and locating part 4.3 to material avoids the coating to surface of material from causing to wear.
In the present embodiment, the first sensor 3.1 is greater than the height of a material with the vertical range of second sensor 3.2
Degree.Limiting the vertical range between first sensor and second sensor may insure in the process for completing a blanking operation
In, at least there are two materials for stacking in blanking channel, avoid automatic feed mechanism from dallying and to industrial robot teaching equipment
Other function modular manufacture glitch.
Embodiment 2
A kind of automatic feed mechanism of industrial robot teaching equipment as shown in fig. 3 to 7, including main body, the main body packet
The material guide part 2 for including pedestal 1 and being vertically arranged on pedestal 1.The pedestal 1 is flat bearing platform.Below bearing platform
It is usually provided with conveyer belt or other conveying mechanisms.Material guide part 2 can be integrally formed with pedestal 1, can also pass through bolt
It is fixed on the bearing platform of pedestal 1.The blanking channel 6 of circular in cross-section or ellipse is formed in the material guide part 2,
The blanking channel 6 runs through the material guide part 2, offers on the bearing platform of the pedestal 1 and falls with what blanking channel 6 cooperated
Material mouth.
In the present embodiment, the multistage sensing component 3 for detecting material signal is provided in the main body.The Multi-stage transmission
Sense component 3 include for detect the first sensor 3.1 of storing situation in blanking channel 6, for detect in blanking channel 6 close to
The second sensor 3.2 of the material situation of 4.4 position of supporting and third for detecting material accumulation situation below blanking port
Sensor 3.3, the first sensor 3.1 are located at 3.2 top of second sensor.3rd sensor 3.3 is fixed on holding for pedestal 1
The bottom Chong Tai.In a kind of wherein embodiment, first sensor 3.1 and second sensor 3.2 can be embedded in material guide part 1
In.In another embodiment, material guide part 2 can be set to transparent material, first sensor 3.1 and second sensor
3.2 support plate by being vertically arranged is fixed on 2 side of material guide part.
In the present embodiment, the material signal according to multistage sensing component 3 is additionally provided in the main body come control material from
The multi-stage cylinder component 4 that blanking port falls one by one offers the work cooperated with multi-stage cylinder component 4 on the material guide part 2
Make window 5, the operation window 5 is connected to blanking channel 6.The multi-stage cylinder component 4 is including material ejection cylinder 4.1 and is located at top
Expect the blanking cylinder 4.2 of 4.1 lower section of cylinder, the limit for withstanding material is provided on the piston rod of the material ejection cylinder 4.1
Part 4.3 is provided with the supporting 4.4 for accepting material on the piston rod of the blanking cylinder 4.2.Along with material ejection cylinder
4.1 and blanking cylinder 4.2 it is flexible, locating part 4.3 and supporting 4.4 can pass through operation window 5 and enter blanking channel.
In the present embodiment, under original state, the piston rod of blanking cylinder is stretching state, and the piston rod of material ejection cylinder is back
Contracting state.Industrial robot will be sent into blanking channel in the material of square or cuboid by material guide part upper end opening,
When first sensor detects material signal (when material is stacked to predetermined quantity), and material signal is not detected in 3rd sensor
When (non-stacking material on the conveyer belt or conveying mechanism below blanking port), the piston rod of material ejection cylinder is stretched out secondary lower section material
It withstands, the piston rod of blanking cylinder bounces back and bottom material is made to fall.At this point, the material blackout of second sensor is (most
Lower section material is fallen), 3rd sensor detects that (bottom material falls to conveyer belt or other conveying mechanisms to material signal
On), the piston rod of blanking cylinder stretches out again, and the piston rod retraction of material ejection cylinder makes top material successively fall and be stacked on
On supporting.So far, automatic feed mechanism completes a blanking operation and restPoses.When the material of 3rd sensor is believed
It number disappears (conveyer belt or other conveying mechanisms drive material mobile), and first sensor detects material signal (material heap
When being stacked to predetermined quantity) when, automatically begin to next round blanking operation.
In the present embodiment, the supporting 4.4 is L-shaped, and the structure of L-type can help the better load-bearing of supporting 4.4；Institute
It states and is provided with cushion on the side end face that supporting 4.4 and locating part 4.3 are contacted with material, cushion can alleviate undertaking
The collision of part 4.4 and locating part 4.3 to material avoids the coating to surface of material from causing to wear.
In the present embodiment, the first sensor 3.1 is greater than the height of a material with the vertical range of second sensor 3.2
Degree.Limiting the vertical range between first sensor and second sensor may insure in the process for completing a blanking operation
In, at least there are two materials for stacking in blanking channel, avoid automatic feed mechanism from dallying and to industrial robot teaching equipment
Other function modular manufacture glitch.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (5)
1. a kind of automatic feed mechanism of industrial robot teaching equipment, including main body, the main body has the base for load-bearing
Material guide part (2) above seat (1) and pedestal (1), the material guide part (2) is interior to be formed with blanking channel (6), described to fall
Expect that channel (6) run through the material guide part (2), which is characterized in that offer on the pedestal (1) and match with blanking channel (6)
The blanking port of conjunction is additionally provided with multistage sensing component (3) for detecting material signal in the main body and according to multistage sensing
The material signal of component (3) controls the multi-stage cylinder component (4) that material falls one by one from blanking port, the material guide part
(2) operation window (5) with multi-stage cylinder component (4) cooperation is offered on, the operation window (5) and blanking channel (6) are even
It is logical；Wherein, the multi-stage cylinder component (4) includes material ejection cylinder (4.1) and the blanking cylinder below material ejection cylinder (4.1)
(4.2), the locating part (4.3) for withstanding material, the blanking cylinder are provided on the piston rod of the material ejection cylinder (4.1)
(4.2) supporting (4.4) for accepting material is provided on piston rod.
2. the automatic feed mechanism of industrial robot teaching equipment as described in claim 1, which is characterized in that the material is led
It is transparent material to part (2).
3. the automatic feed mechanism of industrial robot teaching equipment as described in claim 1, which is characterized in that the supporting
(4.4) L-shaped, cushion is provided on the side end face that the supporting (4.4) and locating part (4.3) are contacted with material.
4. the automatic feed mechanism of industrial robot teaching equipment as described in claim 1, which is characterized in that the Multi-stage transmission
Sense component (3) includes the first sensor (3.1) for detecting the interior storing situation of blanking channel (6), for detecting blanking channel
(6) in close to supporting (4.4) position material situation second sensor (3.2) and for detecting material heap below blanking port
The 3rd sensor (3.3) of product situation, the first sensor (3.1) are located above second sensor (3.2).
5. the automatic feed mechanism of industrial robot teaching equipment as claimed in claim 4, which is characterized in that described first passes
The vertical range of sensor (3.1) and second sensor (3.2) is greater than the height of a material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821066413.XU CN208963988U (en) | 2018-07-06 | 2018-07-06 | A kind of automatic feed mechanism of industrial robot teaching equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821066413.XU CN208963988U (en) | 2018-07-06 | 2018-07-06 | A kind of automatic feed mechanism of industrial robot teaching equipment |
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| Publication Number | Publication Date |
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| CN208963988U true CN208963988U (en) | 2019-06-11 |
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ID=66748406
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| CN201821066413.XU Active CN208963988U (en) | 2018-07-06 | 2018-07-06 | A kind of automatic feed mechanism of industrial robot teaching equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114669372A (en) * | 2022-02-24 | 2022-06-28 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Grinding equipment, bead separating mechanism and operation method thereof |
-
2018
- 2018-07-06 CN CN201821066413.XU patent/CN208963988U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114669372A (en) * | 2022-02-24 | 2022-06-28 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | Grinding equipment, bead separating mechanism and operation method thereof |
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