CN209388566U - A kind of robot teaching's equipment - Google Patents

Abstract

The utility model discloses a kind of robot teaching's equipment, it includes the feeding sorting unit and storage unit installing board and being installed on installation board, wherein feeding sorting unit includes feed mechanism, vision decision maker, SCARA robot, sorting rotating disk mechanism and sorting charging tray mechanism, and storage unit includes the charging tray transfer device being all set on installation board, charging tray conveying mechanism, charging tray storage mechanism and warehouse shelf.Robot teaching's equipment design of the utility model is simple, it is small in size, so that robot teaching's equipment of the utility model facilitates installation and carrying, greatly save the use space in place, the application range of robot teaching's equipment of the utility model is improved, meanwhile, robot teaching's equipment high-speed cruising of the utility model still will not cause danger to user, security performance is high, further pushes its application in teaching process.

Description

A kind of robot teaching's equipment

Technical field

The utility model relates to fields of automation technology, and in particular, to a kind of robot teaching's equipment.

Background technique

With the development of economy, traditional manufacturing industry gradually passes through the mode of automated production to reduce labour cost Realize enterprise transformation, under this situation, automation industry needs the talent of the application aspect of a large amount of robots, so culture with The robot relevant speciality talent is also the key that major universities and colleges' teaching task instantly.And in current robot teaching's equipment, To be imparted knowledge to students using industrial robot mostly, this industrial robot, volume is big, weight is heavy and operation in exist peace Full hidden danger so that industrial robot training in teaching process can not overall application, limit to the relevant people of robot industry Just play the skills training of Comprehensive.

Utility model content

In view of the deficiencies of the prior art, the utility model provide it is a kind of it is small in size, design is simple, using safe robot Teaching equipment.

A kind of robot teaching's equipment disclosed by the utility model, comprising: install board and be installed on installation board Feeding sorting unit and storage unit；Wherein feeding sorting unit includes: feed mechanism, vision decision maker, SCARA machine Device people, sorting rotating disk mechanism and sorting charging tray mechanism；Feed mechanism, SCARA robot, sorting rotating disk mechanism and sorting Charging tray mechanism is all set on installation board；Wherein feed mechanism is used for transmission workpiece；Vision decision maker is set to feeder On structure, vision decision maker is for shooting workpiece and determining workpiece type；SCARA robot is according to vision decision maker Judgement result by workpiece handling to sorting rotating disk mechanism or sorting charging tray mechanism on；Being put in storage unit includes: to be all set in peace Charging tray transfer device, charging tray conveying mechanism, charging tray storage mechanism and the warehouse shelf installed on platform；Charging tray conveying mechanism is located at The side for sorting rotating disk mechanism, is used to convey charging tray；Charging tray transfer device is located at sorting charging tray mechanism simultaneously and charging tray is defeated The top of mechanism is sent, charging tray transfer device is used to the charging tray sorted on charging tray mechanism being carried to charging tray conveying mechanism；Charging tray Mechanism is put in storage between charging tray conveying mechanism and warehouse shelf, charging tray is put in storage mechanism and is used for the charging tray on charging tray conveying mechanism It is sent into warehouse shelf.

An embodiment according to the present utility model, feed mechanism include that feeding bracket, feeding active roller bearing, feeding are driven Roller bearing, feeding conveyer belt and feeding driving element；Feeding bracket is set on installation board；Feeding active roller bearing and feeding Driven roller bearing is respectively arranged in the both ends of feeding bracket；Feeding conveyer belt is set around feeding active roller bearing simultaneously and feeding is driven On roller bearing；Feeding driving element is located at the side of feeding bracket, and one end of feeding driving element and feeding active roller bearing connect It connects.

An embodiment according to the present utility model, vision decision maker include camera shooting bracket, photographing element and camera shooting Detection sensor；Camera shooting bracket is set to feeding bracket, and photographing element is set to camera shooting bracket and is located at the upper of feeding conveyer belt Side, camera detection sensor are set to feeding bracket and are located at the lower section of photographing element.

An embodiment according to the present utility model, photographing element are CCD camera.

An embodiment according to the present utility model, SCARA robot include: manipulator and are set on manipulator Sucker.

An embodiment according to the present utility model, sorting rotating disk mechanism include: that divider, Work piece rotary disc and turntable drive Dynamic element；Divider be set to installation board on, wherein divider have cabinet, positioned at cabinet top output shaft and be located at Transmission shaft on cabinet；Work piece rotary disc is connected with exporting axis；Turntable driving element is set to the side of cabinet, and turntable drives One end of element and transmission axis connection.

An embodiment according to the present utility model, sorting charging tray mechanism include: the first fixing seat, the second fixing seat, push away Send plate, push sliding rail, push driving element and accommodating baffle；First fixing seat is adjacent with the second fixing seat and the two is all provided with It is placed on installation board；Push driving element and push sliding rail are arranged in parallel in the first fixing seat；Pushing plate is slideably positioned in It pushes on sliding rail, and pushing plate is connect with one end of push driving element；Baffle plate setting is accommodated in the top of the second fixing seat, It is used to stack the multiple charging trays of accommodating；Accommodating has a feeding gap between baffle and the second fixing seat；Driving element is pushed to drive Dynamic pushing plate pushes to the charging tray being located in feeding gap in the second fixing seat.

An embodiment according to the present utility model, charging tray transfer device include: transfer bracket, the first transfer driving member Part, the first connecting plate, the second transfer driving element, the second connecting plate, transfer gas folder and two clamping plates；Shift bracket setting In on installation board；First transfer driving element is set to transfer bracket, and the first transfer driving element is located at sorting charging tray The top of mechanism and charging tray conveying mechanism；First connecting plate is connect with one end of the first transfer driving element；Second transfer is driven Dynamic element is set to the first connecting plate；Second connecting plate is connect with one end of the second transfer driving element；Transfer gas sandwiched is placed in Second connecting plate；Two clamping plates are connect with the output end of transfer gas folder respectively.

An embodiment according to the present utility model, charging tray conveying mechanism include: charging tray transfer gantry, charging tray conveying active Roller bearing, charging tray convey driven roller bearing, charging tray transport conveyer belt and charging tray feed drive element；Charging tray transfer gantry is set to It installs on board；Charging tray conveying active roller bearing and charging tray convey the both ends that driven roller bearing is respectively arranged at charging tray transfer gantry； Winding charging tray conveying active roller bearing and charging tray convey driven roller bearing to charging tray transport conveyer belt simultaneously；Charging tray feed drive element is set It is placed in the side of charging tray transfer gantry, and one end of charging tray feed drive element is connect with charging tray conveying active roller bearing.

An embodiment according to the present utility model, charging tray storage mechanism include: rotary drive element, rotary fixing base, Go up and down driving element, advance and retreat driving element and supporting plate；Rotary drive element is set on installation board, and it is located at material Between disk carrying mechanism and warehouse shelf；Rotary fixing base is set to the top of rotary drive element；It is vertical to go up and down driving element It is set on rotary fixing base；Advance and retreat driving element is vertically installed in lifting driving element；Supporting plate is set to advance and retreat driving On element.

The beneficial effect that the utility model is different from the prior art is: robot teaching's equipment of the utility model designs letter It is single, it is small in size, so that robot teaching's equipment of the utility model facilitates installation and carrying, it is empty to greatly save using for place Between, the application range of robot teaching's equipment of the utility model is improved, meanwhile, robot teaching's equipment of the utility model is high Speed operation will not still cause danger to user, and security performance is high, further push its application in teaching process.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:

Fig. 1 is the structural schematic diagram of robot teaching's equipment in embodiment；

Fig. 2 is the structural schematic diagram of workpiece in embodiment；

Fig. 3 is the stereoscopic schematic diagram and bottom view of charging tray in embodiment；

Fig. 4 is the structural schematic diagram of feed mechanism and vision decision maker in embodiment；

Fig. 5 is the structural schematic diagram of SCARA robot in embodiment；

Fig. 6 is the structural schematic diagram that rotating disk mechanism is sorted in embodiment；

Fig. 7 is the structural schematic diagram that charging tray mechanism is sorted in embodiment；

Fig. 8 is the structural schematic diagram of charging tray transfer device in embodiment；

Fig. 9 is the structural schematic diagram of charging tray conveying mechanism in embodiment；

Figure 10 is the structural schematic diagram that charging tray is put in storage mechanism in embodiment；And

Figure 11 is the structural schematic diagram of warehouse shelf in embodiment.

Description of symbols: 1, board is installed；2, feeding sorting unit；3, it is put in storage unit；4, workpiece；5, charging tray；51, it puts Set slot；21, feed mechanism；22, vision decision maker；23, SCARA robot；24, rotating disk mechanism is sorted；25, charging tray is sorted Mechanism；31, charging tray transfer device；32, charging tray conveying mechanism；33, charging tray is put in storage mechanism；34, warehouse shelf；211, feeding branch Frame；212, feeding active roller bearing；213, the driven roller bearing of feeding；214, feeding conveyer belt；215, feeding driving element；2151, on Expect driving wheel；218, encoder；2181, synchronizing wheel；2141, feeding end；2142, discharging end；216, feeding baffle；2161, on Expect groove；217, sort baffle；2171, sort groove；221, photographing element；222, bracket is imaged；231, manipulator；232, it inhales Disk；241, divider；242, Work piece rotary disc；243, turntable driving element；2411, cabinet；2412, output shaft；2413, it is driven Axis；2421, workpiece placing groove；2414, divider driven wheel；2431, turntable drives driving wheel；244, charging tray detection sensor； 251, the first fixing seat；252, the second fixing seat；253, pushing plate；254, sliding rail is pushed；255, driving element is pushed；256, hold Set baffle；257, feeding gap；258, moving sliding base；2521, empty avoiding groove；2522, fixed stop；2531, fixed groove； 259, charging tray feeding sensor；2561, strip groove；311, bracket is shifted；312, the first transfer driving element；313, the first connection Plate；314, the second transfer driving element；315, the second connecting plate；316, transfer gas folder；317, clamping plate；321, charging tray conveying branch Frame；322, charging tray conveys active roller bearing；323, charging tray conveys driven roller bearing；324, charging tray transport conveyer belt；325, charging tray conveys Driving element；3241, charging tray feeding end；3242, charging tray discharging end；3221, charging tray conveys driving wheel；3251, charging tray conveying is same Step wheel；326, baffle in place；327, driving element is jacked；3271, raising plate；52, groove is jacked；328, sensors in place； 331, rotary drive element；332, rotary fixing base；333, driving element is gone up and down；334, advance and retreat driving element；335, supporting plate； 3331, screw rod；3332, Mobile base；3333, screw drive motor；3351, connecting pin；3352, fixing end；53, groove is held up； 341, shelf body；342, goods shelf plate；3411, shelf riser；3412, shelf transverse slat；343, it is put in storage slot position；344, stroke is opened It closes.

Specific embodiment

Multiple embodiments that the utility model will be disclosed with schema below, as clearly stated, in many practices Details will be explained in the following description.It should be appreciated, however, that the details in these practices does not apply this with limitation practical new Type.That is, the details in these practices is non-essential in some embodiments of the utility model.In addition, for letter For the sake of changing schema, some known usual structures and component will be painted it in the drawings in simply illustrative mode.

It is to be appreciated that institute is directional in the utility model embodiment indicates that such as up, down, left, right, before and after ... is only For explaining relative positional relationship, motion conditions etc. in the case where a certain particular pose is as shown in the picture between each component, if should When particular pose changes, then directionality instruction also correspondingly changes correspondingly.

In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and non-specifically The meaning of order or cis-position is censured, it is also non-to limit the utility model, it is retouched just for the sake of difference with same technique term The component stated or operation are not understood to indicate or imply its relative importance or implicitly indicate indicated technology The quantity of feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy Sign.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution Conjunction is not present, also not within the protection scope of the requires of the utility model.

Embodiment

It please refers to shown in Fig. 1 to 3, the structure of the structural schematic diagram, workpiece of robot teaching's equipment respectively in embodiment The stereoscopic schematic diagram and bottom view of charging tray in schematic diagram and embodiment.

The present embodiment provides a kind of robot teaching's equipment comprising installs board 1 and is installed on installation board 1 Feeding sorting unit 2 and storage unit 3.Installation board 1 in the application is built using aluminum profile by connection aluminum corner brace fixation It forms, the shape for installing board 1 can be changed according to actual use situation, while because it is aluminium, overall weight is light, convenient It carries.Feeding sorting unit 2 is mainly used for that workpiece 4 is transported and sorted, by two kinds of differences of irony and plastics The workpiece 4 of material carries out separated, and the workpiece of one of material is put into charging tray 5, and is put in storage unit 3 and carries out to charging tray 5 It carries and charging tray 5 is subjected to storage and place storage.Robot teaching's equipment of the application needs to use using wherein workpiece 4 Cylindrical structure design, can also be used the design of other shapes structure certainly, and workpiece 4 has two kinds of materials of irony and plastics, material Disk 5 is square structure and has multiple placing grooves 51, can also be used certainly and gives other shapes structure, charging tray 5 is put by multiple It sets slot 51 and contains workpiece,

Wherein feeding sorting unit 2 includes feed mechanism 21, vision decision maker 22, SCARA robot 23, sorting turntable Mechanism 24 and sorting charging tray mechanism 25.Feed mechanism 21, SCARA robot 23, sorting rotating disk mechanism 24 and sorting charging tray Mechanism 25 is all set on installation board 1, and wherein feed mechanism 21 is used for transmission workpiece 4, and vision decision maker 22 is set to Expect in mechanism 21, vision decision maker 22 to workpiece 4 for being shot and being determined 4 type of workpiece, 23 basis of SCARA robot Workpiece 4 is carried on sorting rotating disk mechanism 24 or sorting charging tray mechanism 25 by the judgement result of vision decision maker 22.

And being put in storage unit 3 includes the charging tray transfer device 31, charging tray conveying mechanism 32, material being all set on installation board 1 Disk is put in storage mechanism 33 and warehouse shelf 34, and charging tray conveying mechanism 32 is located at the side of sorting rotating disk mechanism 24, charging tray conveyer Structure 32 is located at sorting charging tray mechanism 25 and charging tray conveying mechanism 32 mainly for delivery of charging tray 5, charging tray transfer device 31 simultaneously Top, charging tray transfer device 31 be used for by sort charging tray mechanism 25 on charging tray 5 be carried to charging tray conveying mechanism 32, charging tray Mechanism 33 is put in storage between charging tray conveying mechanism 32 and warehouse shelf 34, charging tray is put in storage mechanism 33 and is used for charging tray conveyer Charging tray 5 on structure 32 is sent into warehouse shelf 34.

It please refers to shown in Fig. 4, is the structural representation of feed mechanism and vision decision maker in embodiment in embodiment Figure, feed mechanism 21 include feeding bracket 211, feeding active roller bearing 212, the driven roller bearing 213 of feeding, feeding conveyer belt 214 with And feeding driving element 215, feeding bracket 211 be set to along the x axis installation board 1 on, feeding active roller bearing 212 and on Expect that driven roller bearing 213 is respectively arranged in the both ends of feeding bracket 211, wherein one end of feeding active roller bearing 212 extends to feeding For being connect with feeding driving element 215 outside bracket 211, feeding conveyer belt 214 be set around simultaneously feeding active roller bearing 212 and On the driven roller bearing 213 of feeding, feeding driving element 215 is located at the side of feeding bracket 211, and feeding driving element 215 One end is provided with a feeding driving wheel 2151, and feeding driving wheel 2151 and one end of feeding active roller bearing 212 pass through a transmission skin Band connection, feeding driving element 215 drive feeding active roller bearing 212 to rotate, then make 214 band of feeding conveyer belt using frictional force The dynamic driven roller bearing 213 of feeding rotates, to realize the purpose of transmitting workpiece 4.In this embodiment, feed mechanism 21 further includes a volume Code device 218, one end of encoder 218 are provided with synchronizing wheel 2181, the synchronizing wheel 2181 and feeding driving element of encoder 218 215 feeding driving wheel 2151 is attached by a feed belt, the rotation synchronous with feeding driving wheel 2151 of synchronizing wheel 2181 Turn, the operating of feeding driving element 215 is monitored using encoder 218, to monitor the travelling speed of feeding conveyer belt 214.? Feeding driving element 215 in the application is using the threephase asynchronous machine that structure is simple and convenient to operate, cost performance is high, certainly Other driving elements, which can be used, can achieve the purpose that feeding active roller bearing 212 is driven to rotate.

Specifically, feeding conveyer belt 214 has feeding end 2141 and discharging end 2142, the transmission side of feeding conveyer belt 214 To being feeding end 2141 towards discharging end 2142.In order to guarantee in feeding process, feed mechanism 21 is not influenced when putting into workpiece 4 Running, feed mechanism 21 is additionally provided with a feeding baffle 216, and feeding baffle 216 is set to one end of feeding bracket 211, and And feeding baffle 216 is located at the top at the feeding end 2141 of feeding conveyer belt 214, feeding baffle 216 is for limiting workpiece 4 Feeding region, feeding baffle 216 are provided with a feeding groove 2161 corresponding with feeding conveyer belt 214, wherein feeding groove 2161 width is less than the width of feeding conveyer belt 214, so that the workpiece 4 being put by feeding groove 2161 can only fall into feeding On conveyer belt 214, and then control the feeding region of workpiece 4.In addition, in order to guarantee 23 energy of SCARA robot in feeding process Faster clamping workpiece 4 carries out, and feed mechanism 21 is additionally provided with a sequence baffle 217, stops workpiece 4 to move by sequence baffle 217 Dynamic and multiple workpiece sort along straight line, sequence baffle 217 is set to opposite with feeding baffle 216 one on feeding bracket 211 End is provided with a sequence groove 2171 on the baffle 217 that sorts, and the width of rebate for the groove 2171 that sorts in one embodiment Greater than its slot body width, it is more conducive to the sequence of workpiece 4.

Further, it please join and continue to examine shown in Fig. 4, vision decision maker 22 includes camera shooting bracket 222, photographing element 221 And camera detection sensor 223, camera shooting bracket 222 are set to feeding bracket 211, photographing element 221 is set to camera shooting bracket 222 and be located at feeding conveyer belt 214 top, camera detection sensor 223 be set to feeding bracket 211 and be located at camera shooting member The lower section of part 221, particularly, the imaging area of photographing element 221 correspond to the position of feeding groove 2161, in feeding conveyer belt 214 front end portion carry out camera shooting analysis workpiece 4 type, can reserve more production times give SCARA robot 23 carry out Response.When camera detection sensor 223 detects the workpiece 4 on feeding conveyer belt 214, photographing element 221 is imaged.? In the present embodiment, camera shooting bracket 222 is adjustable support, the height of adjustable machine photographing element 221, and photographing element 221 is adopted With characteristic CCD camera that is small in size, light-weight, being unaffected by the magnetic field, there is anti-vibration and shock, camera detection sensor 223 use one of infrared sensor or ultrasonic sensor.

Further, it please refers to shown in Fig. 5, is the structural schematic diagram of SCARA robot in embodiment, SCARA machine The sucker 232 that people 23 has manipulator 231 and is set on manipulator 231, manipulator 231 are liked using model LS3-401S General raw mechanical hand, which has the advantages that stable, crawl is accurate, sorting precision and efficiency can be improved, and it is permanent to be also convenient for Work uses, and sucker 232 is also connect with external vacuum equipment, and sucker 232 utilizes vacsorb workpiece 4.

Further, it please refers to shown in Fig. 6, is the structural schematic diagram for sorting rotating disk mechanism in embodiment, sorts turntable Mechanism 24 includes divider 241, Work piece rotary disc 242 and turntable driving element 243, and divider 241 is set to installation board 1 On, wherein feed mechanism 21, divider 241, sorting charging tray mechanism 25 are set gradually, and can save the work of SCARA robot 23 Stroke.Specifically, divider 241 has cabinet 2411, positioned at the output shaft 2412 on 2411 top of cabinet and positioned at cabinet Transmission shaft 2413 on 2411, when transmission shaft 2413 rotates, output shaft 2412 also and then rotates.In the present embodiment, divide Device 241 three is divided into cutter using model ED2.8's, and with small vibration, noise is low, smooth running characteristic.Work piece rotary disc 242 connect with output shaft 2412, and multiple workpiece placing grooves 2421 for being used to place workpiece 4 are provided on Work piece rotary disc 242, Size, the shape of each workpiece placing groove 2421 are matched with workpiece 4, and multiple workpiece placing grooves 2421 are distributed in same circumference On, it can facilitate SCARA robot 23 that workpiece 4 is placed on Work piece rotary disc 242.Turntable driving element 243 is set to cabinet 2411 side, and one end of turntable driving element 243 is connect with transmission shaft 2413, and the driving of turntable driving element 243 passes The rotation of moving axis 2413 is to drive Work piece rotary disc 242 to be rotated.In one embodiment, a segmentation is provided on output shaft 2412 Device driven wheel 2414, one end of turntable driving element 243 are equipped with turntable and drive driving wheel 2431, turntable drive driving wheel 2431 with Divider driven wheel 2414 by a driving belt connect, by turntable drive driving wheel 2431, divider driven wheel 2414 with And one driving belt transmission process can be made more stable.In this application, turntable driving element 243 equally uses phase asynchronous electricity Machine is not repeating herein.

When concrete application, sorting rotating disk mechanism 24 is additionally provided with a charging tray detection sensor 244, charging tray detection sensor 244 The top of Work piece rotary disc 242 is set to by a metal plate bracket, charging tray detection sensor 244 is for corresponding to workpiece placing groove 2421 whether there is workpiece 4, if it exists workpiece 4, then SCARA robot 23 stops on clamping workpiece 4 to Work piece rotary disc 242, if There is no workpiece 4, then turntable driving element 243 drives Work piece rotary disc 242 to rotate, and move corresponding empty workpiece placing groove 2421 Moving to predeterminated position waits SCARA robot 23 to place workpiece 4.In this application, charging tray detection sensor 244 is using ultrasound Wave sensor, other sensors can also be used certainly can reach the corresponding workpiece 4 of detection whether there is or not the mesh in workpiece placing groove 2421 ?.

Further, it please refers to shown in Fig. 7, is the structural schematic diagram for sorting charging tray mechanism in embodiment, sorts charging tray Mechanism 25 include the first fixing seat 251, the second fixing seat 252, pushing plate 253, push sliding rail 254, push driving element 255 with And accommodating baffle 256.First fixing seat 251 and the second fixing seat 252 abut and the two is all set on fitting machine platform 1, pushes away Driving element 255 and push sliding rail 254 is sent to be arranged in parallel in the first fixing seat 251, pushing plate 253 is slideably positioned in push On sliding rail 254, and pushing plate 253 is connect with one end of push driving element 255, and push driving element 255 drives pushing plate 253 are slided on push sliding rail 254, are accommodated baffle 256 by a metal plate bracket and are set to the upper of the second fixing seat 252 Side, accommodating baffle 256 use rectangular frame structure, other structures can also be used certainly, as long as accommodating 256 overall structure of baffle and material 5 structure of disk matches, and accommodating main its of baffle 256 is used to stack the multiple empty trays 5 of accommodating, accommodates baffle 256 and second There is a feeding gap 257, push driving element 255 drives pushing plate 253 that will be located at feeding gap 257 between fixing seat 252 Interior charging tray 5 pushes in the second fixing seat 252, to make on 5 feeding of charging tray to the second fixing seat 252.It pushes away in this application Send driving element 255 using cylinder, other driving elements can also be used certainly can achieve the purpose that drive pushing plate 253 mobile ?.

Please continue to refer to shown in Fig. 7, in one embodiment, in order to keep the feeding process of charging tray 5 more reliable and more stable, push Plate 253 is set on push sliding rail 254 by a moving sliding base 258, and an empty avoiding groove is provided in the second fixing seat 252 2521, empty avoiding groove 2521 matches with moving sliding base 258, pushes one end of sliding rail 254 by extending in the first fixing seat 251 The lower section of empty avoiding groove 2521, so that pushing plate 253 is by charging tray 5 by pushing to 252 uplink of the second fixing seat on feeding gap 257 Cheng Gengchang makes charging tray 5 that can pushed away from accommodating baffle 256 apart from longer, the feeding to next charging tray 5 is avoided to impact.

Please continue to refer to shown in Fig. 7, in another embodiment, after guaranteeing on 5 feeding of charging tray to the second fixing seat 252 It is more stable, it is provided with a fixed stop 2522 in second fixing seat 252, stops charging tray 5 to exist by fixed stop 2522 It is moved in second fixing seat 252, to be positioned after making 5 feeding of charging tray to the second fixing seat 252, design is simple, positioning effect Fruit is obvious.

Please continue to refer to shown in Fig. 7, in another embodiment, the medium position of pushing plate 253 is equipped with a fixed groove 2531,2531 shape size of fixed groove matches with charging tray 5, pass through in feeding process to charging tray 5 in pushing plate 253 Fixed groove 2531 is fixed, to prevent limitation charging tray 5 from shaking or being detached from pushing plate in by pushing course 253, further strengthen the stability to 5 feeding process of charging tray.

Please continue to refer to shown in Fig. 7, in another embodiment, 5 memory state of charging tray in baffle 256 is accommodated in order to monitor, Sorting charging tray mechanism 25 is additionally provided with a charging tray feeding sensor 259, accommodates corresponding two sides on baffle 256 and sets respectively Have a strip groove 2561, charging tray feeding sensor 259 be set to the side of accommodating baffle 256 and with two strip groove 2561 In on same straight line.When having charging tray 5 in accommodating baffle 256, the detectable signal of charging tray feeding sensor 259 passes through accommodating gear Charging tray 5 in plate 256 is reflected onto the receiving end of charging tray feeding sensor 259, and robot teaching's equipment determines also free at this time Charging tray 5, equipment continue to operate；When accommodating material disc 5 in baffle 256, the detectable signal of charging tray feeding sensor 259 is direct Across two strip grooves 2561, no detectable signal reflection, robot teaching's equipment determines that, without empty tray 5, equipment stops fortune at this time Make.In the present embodiment, charging tray feeding sensor 259 is using a kind of in infrared sensor or ultrasonic sensor.

Further, it please refers to shown in Fig. 8, is the structural schematic diagram of charging tray transfer device in embodiment, charging tray transfer Mechanism 31 shifts driving element 312 including transfer bracket 311, first, the first connecting plate 313, second shifts driving element 314, Second connecting plate 315, transfer gas folder 316 and two clamping plates 317, transfer bracket 311 is along the direction perpendicular to installation board 1 It is set on installation board 1, in the present embodiment, transfer bracket 311 is made of aluminum profile, so that transfer bracket 311 Installation can with installation board 1 more match, first transfer driving element 312 is set to transfer bracket 311 top, and First transfer driving element 312 is located at the top of sorting charging tray mechanism 25 and charging tray conveying mechanism 32, the first connecting plate 313 It is connect with one end of the first transfer driving element 312, the second transfer driving element 314 is set to the first connecting plate 313, and second connects Fishplate bar 315 is connect with one end of the second transfer driving element 314, and transfer gas folder 316 is set to the second connecting plate 315, two folders Tight plate 317 is connect with the output end of transfer gas folder 316 respectively.Charging tray 5 is carried out in transfer process in charging tray transfer device 31, the One transfer driving element 312 drives the first connecting plate 313 to move along the y axis, and the second transfer driving element 314 driving second connects Fishplate bar 315 is moved along Z-direction, and 316 two clamping plates 317 of driving of transfer gas folder are clamped or unclamp to charging tray 5.? In the application, the first transfer driving element 312 and the second transfer driving element 314 are cylinder, can also be certainly other drivings Element is able to achieve the first connecting plate 313 of driving and the second connecting plate 315 and carries out movement by direction noted earlier.

Further, it please refers to shown in Fig. 9, is the structural schematic diagram of charging tray conveying mechanism in embodiment, charging tray conveying Mechanism 32 includes charging tray transfer gantry 321, charging tray conveying active roller bearing 322, charging tray conveys driven roller bearing 323, charging tray conveying passes Band 324 and charging tray feed drive element 325 are sent, charging tray transfer gantry 321 is set on installation board 1, and charging tray conveying is actively Roller bearing 322 and charging tray convey the both ends that driven roller bearing 323 is respectively arranged at charging tray transfer gantry 321, charging tray transport conveyer belt 324 simultaneously winding charging tray conveying active roller bearing 322 and charging tray convey driven roller bearing 323, charging tray feed drive element 325 is arranged In the side of charging tray transfer gantry 321, and one end of charging tray feed drive element 325 and charging tray conveying active roller bearing 322 connect It connects, charging tray transport conveyer belt 324 has charging tray feeding end 3241 and charging tray discharging end 3242, charging tray feed drive element 325 Charging tray conveying active roller bearing 322 is driven to rotate, to drive charging tray to convey driven roller bearing 323 by charging tray transport conveyer belt 324 The mesh that charging tray 5 is transported to charging tray discharging end 3242 by the charging tray feeding end 3241 of charging tray transport conveyer belt 324 is realized in rotation 's.In the present embodiment, one end of charging tray conveying active roller bearing 322 is provided with charging tray conveying driving wheel 3221, charging tray conveying One end of driving element 325 is provided with charging tray conveying synchronizing wheel 3251, and charging tray conveys driving wheel 3221 and charging tray conveys synchronizing wheel 3251 are attached by a driving belt, convey driving wheel 3221 by charging tray, charging tray conveys synchronizing wheel 3251 and one passes Dynamic belt is driven, and the stability that charging tray transport conveyer belt 324 transports charging tray 5 can be improved.In this application, charging tray conveys Driving element 325 uses direct current generator, also can reach driving charging tray conveying active roller bearing 322 using other driving elements certainly and revolve The purpose turned.

Please continue to refer to shown in Fig. 9, in one embodiment, charging tray conveying mechanism 32 is also set up there are two baffle 326 in place, Two in place baffle 326 be respectively arranged at the both ends of charging tray transfer gantry 321, and two in place baffle 326 be respectively positioned on charging tray The top of transport conveyer belt 324, and one of them the corresponding charging tray of baffle 326 conveys active roller bearing 322 in place, another is arrived The position corresponding charging tray of baffle 326 conveys driven roller bearing 323, by two in place baffle 326 stop the movement of charging tray 5 respectively, prevent The traffic coverage of the disengaging charging tray transport conveyer belt 324 of charging tray 5.

Please continue to refer to shown in Fig. 3 and 9, in another embodiment, charging tray conveying mechanism 32 is additionally provided with jacking driving member Part 327, jacking driving element 327 is set on charging tray transfer gantry 321, and is jacked driving element 327 and be located therein one and arrive The lower section of position baffle 326, wherein the corresponding charging tray discharging end 3242 of jacking driving element 327, the top of jacking driving element 327 connect It is connected to a raising plate 3271, jacking driving element 327 is jacked charging tray 5 in midair by raising plate 3271, and more convenient charging tray enters Crawl of the library mechanism 33 to charging tray 5.It is more steady to the jacking process of charging tray 5 in order to make to jack driving element 327, charging tray 5 Bottom is additionally provided with a jacking groove 52, which matches with 3271 shape of raising plate, during jacking, raising plate 3271 Be arranged in jacking groove 52 in, can place charging tray 5 occurs during jacking move cause to fall.In this application, jacking is driven Dynamic element 327 uses cylinder, other driving elements can also be used certainly can achieve the purpose that raising plate 3271 is driven to be jacked ?.

Please continue to refer to shown in Fig. 9, in another embodiment, charging tray conveying mechanism 32 is additionally provided with a sensors in place 328, sensors in place 328 is set on charging tray transfer gantry 321, and sensors in place 328 is located at jacking driving element 327 side, sensors in place 328 is for incuding charging tray, when sensors in place 328 senses charging tray 5, jacks driving element 327 automatic jack-up charging trays 5 jack 327 attonity of driving element if sensors in place 328 does not sense charging tray 5.

Further, it please refers to shown in Figure 10, is the structural schematic diagram that charging tray is put in storage mechanism in embodiment, charging tray storage Mechanism 33 includes rotary drive element 331, rotary fixing base 332, lifting driving element 333, advance and retreat driving element 334 and holds Supporting plate 335, rotary drive element 331 is set on installation board 1, and rotary drive element 331 is located at charging tray conveying mechanism Between 32 and warehouse shelf 34, rotary fixing base 332 is set to the top of rotary drive element 331, goes up and down driving element 333 It is vertically installed on rotary fixing base 332, advance and retreat driving element 334 is vertically installed in lifting driving element 333, supporting plate 335 connect with one end of advance and retreat driving element 334.Rotary drive element 331 drives rotary fixing base 332 enterprising in X/Y plane Row rotation, lifting driving element 333 drive advance and retreat driving element 334 to carry out lifting moving, advance and retreat driving element along Z-direction 334 driving supporting plates 335 are moved along the length direction of advance and retreat driving element 334.In this application, rotary drive element 331 use rotary cylinder, lifting driving element 333 it is identical with 334 structure of advance and retreat driving element, both including screw rod 3331, Mobile base 3332 and screw drive motor 3333, wherein screw drive motor 3333 is connect with screw rod 3331, Mobile base 3332 It is set on screw rod 3331, screw drive motor 3333 then controls Mobile base 3332 in screw rod by the rotation of driving screw rod 3331 It is moved on 3331, wherein advance and retreat driving element 334 is arranged on the Mobile base 3332 of lifting driving element 333, and support Plate 335 is arranged on the Mobile base 3332 of advance and retreat driving element 334, and screw drive motor 3333 uses stepper motor.Tool Body is in application, supporting plate 335 has connecting pin 3351 and fixing end 3352, and wherein fixing end 3352 is in forked, supporting plate 335 It is set in advance and retreat driving element 334 by connecting pin 3351, supporting plate 335 holds up charging tray 5, charging tray 5 by fixing end 3352 Bottom be provided with the multiple picking-up grooves 53 matched with 3352 shape of fixing end, forked fixing end 3352 and hold up groove 53 cooperations can avoid charging tray 5 during holding up and deflect and cause to fall, reinforce the stability of picking-up process.

Further, it please refers to shown in Figure 11, is the structural schematic diagram of warehouse shelf in embodiment, warehouse shelf 34 Including shelf body 341 and multiple goods shelf plates 342；The tool of shelf body 341 is there are two shelf riser 3411 and respectively The shelf transverse slat 3412 for connecting two shelf risers 3411 is made up of two shelf risers 3411 and a shelf transverse slat 3412 Shelf body 341 it is in rectangular configuration, design it is simple, at low cost, along perpendicular to installation on the inner wall of each shelf riser 3411 1 direction of board is uniformly distributed multiple goods shelf plates 342, a goods shelf plate 342 and another shelf riser on each shelf riser 3411 A goods shelf plate 342 on 3411 is corresponding, corresponding two goods shelf plates 342 be located in same level and with two shelf risers 342 inner wall constitutes a storage slot position 343, and storage slot position 343 is for placing charging tray 5, and multiple storage slot positions 343 are in shelf master It is in vertical distribution on body 341, it is corresponding with the charging tray storage actuation process of mechanism 33.

In one embodiment, in order to monitor each storage condition for being put in storage slot position 343, warehouse shelf 34 is additionally provided with and enters The identical multiple travel switches 344 of 343 quantity of library slot position, the corresponding storage slot position 343 of each travel switch 344, and it is each 344 triggering end of travel switch is located in a storage slot position 343.When a charging tray 5 is sent into a storage slot position by charging tray storage mechanism 33 When in 343, which triggers the triggering end of travel switch 343, moves to control the stopping of charging tray storage mechanism 33 and carry out storage Make, guarantees that the placement location of charging tray 5 in predeterminated position, improves the accuracy of storage process.

Robot teaching's equipment is additionally provided with a control system in the present embodiment, which teaches in red robot Learn equipment inside and respectively with feed mechanism 21, SCARA robot 23, sorting rotating disk mechanism 24, sorting charging tray mechanism 25, The driving element connection of charging tray transfer device 31, charging tray conveying mechanism 32 and charging tray storage mechanism 33, control system control pair The driving element answered reach described above described in all actuation processes.Control system also with encoder 218, photographing element 221, charging tray detection sensor 244, charging tray feeding sensor 259, sensors in place 328 and travel switch 344 connect, and realize All control processes described in described above.

The operation principles of robot teaching's equipment of the utility model are described in detail below:

Equipment running before, by multiple charging trays 5 be placed on accommodating baffle 256 in, starting device, then by irony with And the workpiece 4 of two kinds of unlike materials of plastics is put by the feeding end 2141 of feeding conveyer belt 214.

Feeding driving element 215 drives feeding active roller bearing 212 to rotate, and then makes feeding conveyer belt 214 using frictional force It drives the driven roller bearing 213 of feeding to rotate, so that workpiece 4 be made to transport in feeding conveyer belt 214 towards discharging end 2142, is examined by camera shooting When surveying sensor 223, triggering photographing element 221 takes pictures to workpiece 4 and analyzes the material of workpiece 4, the transport of workpiece 4 to feeding After the discharging end 2142 of conveyer belt 214, it is arranged in a straight line under the action of sorting baffle 217；Meanwhile charging tray feeding sensor 259 detect there is charging tray 5 in accommodating baffle 256, and push driving element 255 drives pushing plate 253 that will be located at feeding gap Charging tray 5 in 257 pushes in the second fixing seat 252, to make on 5 feeding of charging tray to the second fixing seat 252.

Then SCARA robot 23 drives sucker 232 mobile and draws workpiece using sucker 232 by manipulator 231 4 are respectively sorted to workpiece 4 in sorting rotating disk mechanism 24 and sorting charging tray mechanism 25.

Wherein irony workpiece 4 is sorted to corresponding workpiece placing groove 2421 on Work piece rotary disc 242 by SCARA robot 23 It is interior, whenever on Work piece rotary disc 242 increase an irony workpiece 4, turntable driving element 243 drive transmission shaft 2413 rotation to It drives Work piece rotary disc 242 to be rotated, so that corresponding sky workpiece placing groove 2421 is moved to predeterminated position, is passed when charging tray detects Sensor 244 detects the presence of workpiece 4, then SCARA robot 23 stops on clamping workpiece 4 to Work piece rotary disc 242.

Wherein plastic workpiece 4 is sorted to the placing groove 51 of the charging tray 5 in the second fixing seat 252 by SCARA robot 23 Interior, after placing preset quantity, the first transfer driving element 312 drives the first connecting plate 313, and movement makes to shift along the y axis Gas folder 316 is located at 5 top of charging tray for being loaded with workpiece 4, and 316 two clamping plates 317 of driving of transfer gas folder open, and then second turn Moving driving element 314 drives the second connecting plate 315 to move the two clamping plates 317 difference position for making to shift gas folder 316 along Z-direction In the two sides of charging tray 5, then shifts 316 two clamping plates 317 of driving of gas folder and charging tray 5 is clamped, then the first transfer is driven Dynamic element 312, second shifts driving element 314 and shifts the charging tray that gas folder 316 will fill workpiece 4 with same operation principles 5 are placed on charging tray transport conveyer belt 324, and charging tray feed drive element 325 drives charging tray conveying active roller bearing 322 to rotate, from And drive charging tray to convey driven roller bearing 323 by charging tray transport conveyer belt 324 and rotate, it realizes to convey charging tray 5 by charging tray and transmit Charging tray feeding end 3241 with 324 is transported to charging tray discharging end 3242, at this point, pushing up when sensors in place 328 senses charging tray 5 It rises driving element 327 and is jacked charging tray 5 in midair by raising plate 3271.At this point, advance and retreat driving element 334 and charging tray 5 are right It answers, advance and retreat driving element 334 drives supporting plate 335 move along the length direction of advance and retreat driving element 334 until supporting plate 335 fixing end 3352 is located at the lower section of charging tray 5, then goes up and down driving element 333 and drives advance and retreat driving element 334 along Z axis side To preset height is risen to make supporting plate 335 hold up charging tray 5 using fixing end 3352, it is multiple then to jack driving element 327 Position, rotary drive element 331 drive rotary fixing base 332 in carrying out rotation predetermined angle on X/Y plane, drive to make to retreat 334 opposite depot shelf 34 of element go up and down driving element 333 at this time and advance and retreat driving element 334 are driven to rise again along Z-direction The storage slot position 343 made at the top of 334 opposite depot shelf 34 of advance and retreat driving element is acted, then advance and retreat driving element 334 Driving supporting plate 335 move along the length direction of advance and retreat driving element 334 until charging tray 5 is sent into storage slot position 343, so Charging tray 5 triggers the triggering end of travel switch 343 afterwards, and advance and retreat driving element 334 stops working, and lifting driving element 333 resets, so Advance and retreat driving element 334 resets afterwards, and rotary drive element 331 resets, and completes the storage of charging tray 5 at this time.

Robot teaching's equipment of the utility model repeats above-mentioned movement, and workpiece 4 is carried out sorting and carries out charging tray 5 Storage.

In conclusion robot teaching's equipment design of the utility model is simple, and it is small in size, so that the machine of the utility model Device people's teaching equipment facilitates installation and carrying, greatlys save the use space in place, improves the robot religion of the utility model The application range of equipment is learned, meanwhile, robot teaching's equipment high-speed cruising of the utility model still will not cause to endanger to user Danger, security performance is high, further pushes its application in teaching process.

Upper is only the embodiments of the present invention, is not intended to limit the utility model.For art technology For personnel, various modifications and changes may be made to the present invention.It is all made in the spirit and principle of the utility model Any modification, equivalent substitution, improvement and etc. should all include within the scope of the claims of the utility model.

Claims (10)

1. a kind of robot teaching's equipment characterized by comprising

It installs board (1)；And

The feeding sorting unit (2) and storage unit (3) being installed on installation board (1)；

Wherein the feeding sorting unit (2) includes: feed mechanism (21), vision decision maker (22), SCARA robot (23), rotating disk mechanism (24) and sorting charging tray mechanism (25) are sorted；The feed mechanism (21), is divided SCARA robot (23) It picks rotating disk mechanism (24) and sorting charging tray mechanism (25) is all set on the installation board (1)；The wherein feed mechanism (21) it is used for transmission workpiece；The vision decision maker (22) is set on the feed mechanism (21), and the vision determines dress (22) are set for being shot to workpiece and determining workpiece type；The SCARA robot (23) is according to vision decision maker (22) judgement result by workpiece handling to sort rotating disk mechanism (24) or sorting charging tray mechanism (25) on；

Storage unit (3) includes: the charging tray transfer device (31) being all set on installation board (1), charging tray conveying Mechanism (32), charging tray storage mechanism (33) and warehouse shelf (34)；The charging tray conveying mechanism (32) is located at the sorting and turns The side of disc mechanism (24), is used to convey charging tray；The charging tray transfer device (31) is located at the sorting charging tray mechanism simultaneously (25) and the top of charging tray conveying mechanism (32), the charging tray transfer device (31) are used to sort on charging tray mechanism (25) Charging tray is carried on charging tray conveying mechanism (32)；Charging tray storage mechanism (33) is located at the charging tray conveying mechanism (32) and storehouse Between library shelf (34), charging tray storage mechanism (33) is used to the charging tray on charging tray conveying mechanism (32) being sent into warehouse shelf (34)。

2. robot teaching's equipment according to claim 1, which is characterized in that the feed mechanism (21) includes feeding branch Frame (211), feeding active roller bearing (212), the driven roller bearing of feeding (213), feeding conveyer belt (214) and feeding driving element (215)；The feeding bracket (211) is set on the installation board (1)；The feeding active roller bearing (212) and feeding Driven roller bearing (213) is respectively arranged in the both ends of the feeding bracket (211)；The feeding conveyer belt (214) is set around simultaneously On the feeding active roller bearing (212) and the driven roller bearing of feeding (213)；The feeding driving element (215) is located on described Expect the side of bracket (211), and one end of feeding driving element (215) is connect with feeding active roller bearing (212).

3. robot teaching's equipment according to claim 2, which is characterized in that the vision decision maker (22) includes: Image bracket (222), photographing element (221) and camera detection sensor (223)；The camera shooting bracket (222) is set to institute It states feeding bracket (211), the photographing element (221) is set to the camera shooting bracket (222) and is located at the feeding conveyer belt (214) top, the camera detection sensor (223) are set to the feeding bracket (211) and are located at the camera shooting member The lower section of part (221).

4. robot teaching's equipment according to claim 3, which is characterized in that the photographing element (221) is CCD camera shooting Head.

5. robot teaching's equipment according to claim 1, which is characterized in that the SCARA robot (23) includes: machine Tool hand (231) and the sucker (232) being set on the manipulator (231).

6. robot teaching's equipment according to claim 1, which is characterized in that sorting rotating disk mechanism (24) includes: segmentation Device (241), Work piece rotary disc (242) and turntable driving element (243)；The divider (241) is set to the installation board (1) on, wherein the output shaft (2412) that the divider (241) has cabinet (2411), is located at the cabinet (2411) top And it is located at the transmission shaft (2413) on the cabinet (2411)；The Work piece rotary disc (242) and the output shaft (2412) are even It connects；The turntable driving element (243) is set to the side of the cabinet (2411), and the turntable driving element (243) One end connect with the transmission shaft (2413).

7. robot teaching's equipment according to claim 1, which is characterized in that the sorting charging tray mechanism (25) includes: First fixing seat (251), the second fixing seat (252), pushing plate (253), push sliding rail (254), push driving element (255) with And accommodating baffle (256)；First fixing seat (251) is adjacent with the second fixing seat (252) and the two is all set in installation On board (1)；The push driving element (255) and push sliding rail (254) are arranged in parallel in first fixing seat (251) On；The pushing plate (253) is slideably positioned on the push sliding rail (254), and the pushing plate (253) and push drive One end of element (255) connects；Accommodating baffle (256) is set to the top of second fixing seat (252), is used for heap The folded multiple charging trays of accommodating；There is a feeding gap (257) between the accommodating baffle (256) and the second fixing seat (252)；It is described Push driving element (255) drives the pushing plate (253) that the charging tray being located in feeding gap (257) is pushed to second and fixes On seat (252).

8. robot teaching's equipment according to claim 1, which is characterized in that the charging tray transfer device (31) includes: Shift bracket (311), the first transfer driving element (312), the first connecting plate (313), the second transfer driving element (314), the Two connecting plates (315), transfer gas folder (316) and two clamping plates (317)；The transfer bracket (311) is set to the peace It installs on platform (1)；First transfer driving element (312) is set to transfer bracket (311), and the first transfer driving Element (312) is located at the top of sorting charging tray mechanism (25) and charging tray conveying mechanism (32)；First connecting plate (313) it is connect with one end of first transfer driving element (312)；Second transfer driving element (314) is set to institute State the first connecting plate (313)；Second connecting plate (315) connect with one end of second transfer driving element (314)；Institute It states transfer gas folder (316) and is set to second connecting plate (315)；Two clamping plates (317) respectively with the transfer gas Press from both sides the output end connection of (316).

9. robot teaching's equipment according to claim 1, which is characterized in that the charging tray conveying mechanism (32) includes: Charging tray transfer gantry (321), charging tray conveying active roller bearing (322), charging tray convey driven roller bearing (323), charging tray transport conveyer belt (324) and charging tray feed drive element (325)；The charging tray transfer gantry (321) is set to the installation board (1) On；Charging tray conveying active roller bearing (322) and charging tray convey driven roller bearing (323) and are respectively arranged at the charging tray conveying branch The both ends of frame (321)；Charging tray conveying active roller bearing (322) described in the charging tray transport conveyer belt (324) winding simultaneously and material Disk conveys driven roller bearing (323)；The charging tray feed drive element (325) is set to the one of the charging tray transfer gantry (321) Side, and one end of the charging tray feed drive element (325) is connect with charging tray conveying active roller bearing (322).

10. robot teaching's equipment according to claim 1, which is characterized in that the charging tray is put in storage mechanism (33) and includes: Rotary drive element (331), rotary fixing base (332), lifting driving element (333), advance and retreat driving element (334) and support Plate (335)；The rotary drive element (331) is set on the installation board (1), and it is located at the charging tray conveyer Between structure (32) and warehouse shelf (34)；The rotary fixing base (332) is set to the top of the rotary drive element (331) End；The lifting driving element (333) is vertically installed on the rotary fixing base (332)；The advance and retreat driving element (334) It is vertically installed on the lifting driving element (333)；The supporting plate (335) is set to the advance and retreat driving element (334) On.