CN209533388U - Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training - Google Patents

Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training Download PDF

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Publication number
CN209533388U
CN209533388U CN201822194492.9U CN201822194492U CN209533388U CN 209533388 U CN209533388 U CN 209533388U CN 201822194492 U CN201822194492 U CN 201822194492U CN 209533388 U CN209533388 U CN 209533388U
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robot
component
transhipment
unit
workpiece
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CN201822194492.9U
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吴加富
郑永俊
孙青海
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Suzhou Eyre Technology Co Ltd
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Suzhou Eyre Technology Co Ltd
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Abstract

The utility model provides the circulation carrying mechanism for being used for robot real training, including robot assembly, transport component;Robot assembly includes the mobile mechanical arm of PLC technology, robot training unit;Robot training unit is connect with mechanical arm;Robot training unit includes vision collecting unit, pickup unit;Component is transported for transporting workpiece;Vision collecting unit is for acquiring workpiece image and positioning the location of workpiece.The invention further relates to robot Practical Training Teaching-Platforms.The utility model passes through the process for utilizing circulation to carry, and combines vision collecting device, realizes that the quick positioning of workpiece is precisely other with knowledge, sufficiently takes exercise and investigate student to the cooperative ability of robot and conveyer.The utility model is skillfully constructed, and design rationally, gives full play to students ' practical ability, promotes and applies convenient for robot teaching's real training.

Description

Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training
Technical field
The invention belongs to practice-training teaching fields, and in particular to the circulation carrying mechanism and robot for robot real training are real Training teaching platform.
Background technique
The raising of depth and industrial intelligent level with the development of industry, industrial robot is because of its freedom degree height, energy The multiple process of complete independently, high reliablity, while the advantages such as convenient for safeguarding and more and more in Industry Control be chosen It selects, so far the real training education of object manipulator also becomes more and more important, and robot teaching's training platform also comes into being, machine People's Practical Training Teaching-Platform has good teaching demonstration effect.
But existing robot real training mostly just provides robot teaching's demonstration effect, cannot largely mention One condition started well of student is supplied, for robot teaching, the robot debugging of student and wiring ability It is a critically important training emphasis;In whole design training platform, current teaching platform does not exactly account for robot How exercise student ' practical the problem of controlling robot, the demo function for causing robot only to realize, practice teaching effect phase When limited, while the reasonable debugging of student is not also taken exercise with routing capabilities.
In this regard, being badly in need of improving existing robot training platform.
Summary of the invention
For overcome the deficiencies in the prior art, the circulation carrying mechanism proposed by the present invention for robot real training, passes through The process carried using circulation, and vision collecting device is combined, it realizes that the quick positioning of workpiece and knowledge are precisely other, sufficiently takes exercise simultaneously Student is investigated to the cooperative ability of robot and conveyer.
The present invention is provided to the circulation carrying mechanisms of robot real training, including robot assembly, transport component;The machine Device people's component includes the mobile mechanical arm of PLC technology, robot training unit;The robot training unit and the machine The connection of tool arm;The robot training unit includes vision collecting unit, pickup unit;The transport component is for transporting work Part;The vision collecting unit is for acquiring workpiece image and positioning the location of workpiece;The pickup unit is used for picking up work piece;Institute It states robot assembly and is controlled by controlling machine control, the transport component in robot by PLC device and/or electrical equipment, so that Workpiece carries out vision positioning by the vision collecting unit again after transporting to terminal by the transport component, and the pickup is single Member is placed back into the starting point for transporting component according to positioning picking up work piece and by workpiece under the driving of mechanical arm.
Preferably, the robot assembly further includes rotating connector, component connecting plate;The vision collecting unit and institute Pickup unit is stated to be fixedly mounted on the component connecting plate;The component connecting plate and the mechanical arm are connected by the rotation Fitting rotation connection.
Preferably, the vision collecting unit includes industrial camera, light source;The industrial camera passes through coffret and machine Machine connection communication is controlled in device people;The industrial camera is fixedly connected by camera fixed plate with the component connecting plate;The light Source is fixedly connected by light source connecting plate with the component connecting plate.
Preferably, the pickup unit includes picking up driving device, picking up fixed plate, sucker fixed plate, sucker;It is described to pick up Take fixed plate that the pickup driving device is fixed on the component connecting plate;The sucker is fixed on the sucker fixed plate On;The movable terminal for picking up driving device is fixedly connected with the sucker fixed plate;Described in the pickup driving device driving Sucker fixed plate, so that the sucker picks up or far from workpiece.
Preferably, the transport component includes the first delivery unit, the second delivery unit, linear carrying mechanism;The line Property carrying mechanism be used for the workpiece handling on first delivery unit to second delivery unit;The pickup unit It will be on the workpiece handling on second delivery unit to first delivery unit.
Preferably, first delivery unit is identical as the second delivery unit structure;First delivery unit The carriage direction of carriage direction and second delivery unit is mutually perpendicular to.
Preferably, first delivery unit includes the first transmission belt being driven by motor, the first detection device;Described One detection device is used to detect the transhipment the position whether workpiece on first transmission belt reaches the linear carrying mechanism.
Preferably, first delivery unit includes the first guide part;First guide part is installed on described first and passes On the end of dynamic band;It is gradually narrowed along the carriage direction of first transmission belt in the gap of first guide part.
Preferably, the linear carrying mechanism includes linear drives component, transhipment component;Wherein,
The linear drives component includes linear drives sliding block, linear drives bar, straight line guide block, linear guide, stroke inspection Survey device;The linear drives sliding block and the linear drives bar cooperate, the straight line guide block and the linear guide phase Mutually cooperation;The transhipment component is fixedly connected with the linear drives sliding block;The device for detecting distance of travel is for detecting described turn Transport the stroke of component;
The transhipment component includes transhipment fixed plate, transhipment driving device, transhipment sucker;The transhipment fixed plate with it is described The movable terminal of transhipment driving device is fixedly connected;The transhipment sucker is fixed in the transhipment fixed plate;The transhipment is driven Dynamic device is fixed on the linear drives sliding block;The linear drives sliding block is moved along linear drives rod axis direction, So that the transhipment component moves between first delivery unit and second delivery unit, and driven by the transhipment Dynamic device drives the transhipment sucker, so that by workpiece from the workpiece handling on second delivery unit to first fortune It send on unit.
A kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology;Robot teaching's real training ontology Including controlling machine in robot assembly and transport component, shell, station, ancillary equipment microscope carrier, robot;
Simultaneously shape is integral for wrapping up robot practice teaching ontology pedestal for the shell;Fixed peace on the station Equipped with robot assembly, transport component;Machine is controlled in the robot to be electrically connected with the robot assembly, is controlled in the robot Machine is for controlling robot assembly's movement;The auxiliary connecting with the transport component is installed on the ancillary equipment microscope carrier Equipment, the ancillary equipment is for controlling the transport component movement;
The station is horizontally disposed;The ancillary equipment microscope carrier is accommodated in the shell;By in debugging machine people Control machine and ancillary equipment control the robot assembly and transport assembly synergistic movement.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is provided to the circulation carrying mechanisms of robot real training, including robot assembly, transport component;Robot Component includes the mobile mechanical arm of PLC technology, robot training unit;Robot training unit is connect with mechanical arm;Machine People's training unit includes vision collecting unit, pickup unit;Component is transported for transporting workpiece;Vision collecting unit is for acquiring Workpiece image simultaneously positions the location of workpiece;Pickup unit is used for picking up work piece;Robot assembly is transported by controlling machine control in robot Component is controlled by PLC device and/or electrical equipment, so that workpiece by vision by being adopted again after transporting component transport to terminal Collect unit and carry out vision positioning, workpiece according to positioning picking up work piece and is placed back into transport under the driving of mechanical arm by pickup unit The starting point of component.The invention further relates to robot Practical Training Teaching-Platforms.The present invention passes through the process carried using circulation, and combines Vision collecting device, realize workpiece it is quick positioning with know precisely it is other, sufficiently take exercise and investigate student to robot and transport dress The cooperative ability set.Present inventive concept is ingenious, and design rationally, gives full play to students ' practical ability, is convenient for robot teaching's real training It promotes and applies.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings. A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is robot Practical Training Teaching-Platform overall structure diagram in one embodiment of the invention;
Fig. 2 is the circulation carrying mechanism overall structure diagram for robot real training of the invention;
Fig. 3 is the partial structural diagram of transport component of the invention;
Fig. 4 is the partial structural diagram of the circulation carrying mechanism for robot real training of the invention;
Fig. 5 is the structural schematic diagram of robot training unit of the invention;
Fig. 6 is the operating status signal of the circulation carrying mechanism for robot real training of the present invention in one embodiment Figure;
Fig. 7 is the robot Practical Training Teaching-Platform overall structure diagram of the present invention in another embodiment;
Fig. 8 is the robot Practical Training Teaching-Platform use state diagram of the present invention in another embodiment;
Fig. 9 is the robot Practical Training Teaching-Platform schematic internal view of the present invention in another embodiment;
Figure 10 is ancillary equipment stage structure schematic diagram of the invention;
Figure 11 is the partial structural diagram of ancillary equipment microscope carrier of the invention.
It is as shown in the figure:
Robot teaching's real training ontology 100, shell 10, door-plate 11, radiating groove 12, control in robot machine 18, industrial personal computer 19, Station 20, control button 21, governor 22, ancillary equipment microscope carrier 30, sliding carrier bar 31, sliding fixed plate 32, microscope carrier plate 33, Longitudinally fixed hole 331, knob 34, conflict block 35, side fixed strip 36, base frame 37, robot assembly 40, turns lateral fixation hole 332 Follower link 41, robot training unit 42, vision collecting unit 421, industrial camera 4211, light source 4212, camera fixed plate 4213, light source connecting plate 4214, coffret 4215, pickup unit 422, pick up driving device 4221, pick up fixed plate 4222, Sucker fixed plate 4223, sucker 4224, component connecting plate 43, transport component 50, the first delivery unit 51, the first transmission belt 511, It is first detection device 513, the second delivery unit 52, the second transmission belt 521, the second guide part 522, second detection device 523, straight Line driving assembly 53, linear drives sliding block 531, linear drives bar 532, straight line guide block 533, linear guide 534, stroke detection dress Set 535, transhipment component 54, transhipment fixed plate 541, transhipment driving device 542, transhipment sucker 543.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, foregoing end other objects of the invention, feature, side Face and advantage will be apparent, and so that those skilled in the art can carry out according to the description.In the accompanying drawings, For clarity, shape and size can be amplified, and will be indicated in all figures using identical appended drawing reference identical Or similar component.In the following description, such as center, thickness, height, length, front, back, rear portion, the left side, the right, top The words such as portion, bottom, top, lower part are to be based on the orientation or positional relationship shown in the drawings.Particularly, " height " is equivalent to from top Portion is to the size of bottom, and " width " is equivalent to size from left to right, and " depth " is equivalent to vertical size.These Relative terms are to be not intended to need specifically to be orientated for convenience and usually.It is related to the term of attachment, connection etc. (for example, " connection " and " attachment ") refer to these structures by the relationship that intermediate structure is fixed directly or indirectly to one another or is attached, And movable or rigidly attached or relationship, unless otherwise clearly stating.
Next, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that Under the premise of not colliding, new reality can be formed between various embodiments described below or between each technical characteristic in any combination Apply example.
For the circulation carrying mechanism of robot real training, as shown in figs. 1-11, including robot assembly 40, transport component 50;Robot assembly 40 includes the mobile mechanical arm of PLC technology, robot training unit 42;Robot training unit 42 with Mechanical arm connection;Robot training unit 42 includes vision collecting unit 421, pickup unit 422;Component 50 is transported for transporting Workpiece;Vision collecting unit 421 is for acquiring workpiece image and positioning the location of workpiece;Pickup unit 422 is used for picking up work piece;Machine Device people component 40 is controlled by controlling machine 18 in robot, is transported component 50 and is controlled by PLC device and/or electrical equipment, so that work Part is by carrying out vision positioning, 422 basis of pickup unit by vision collecting unit 421 again after transporting the transport to terminal of component 50 Workpiece is simultaneously placed back into the starting point for transporting component 50 by positioning picking up work piece under the driving of mechanical arm.In the present embodiment, pass through The process carried using circulation, and vision collecting device is combined, it realizes that the quick positioning of workpiece and knowledge are precisely other, sufficiently takes exercise simultaneously Student is investigated to the cooperative ability of robot and conveyer.
In a preferred embodiment, as shown in figure 5, robot assembly 40 further includes rotating connector 41, component connecting plate 43;Vision collecting unit 421 and pickup unit 422 are fixedly mounted on component connecting plate 43;Component connecting plate 43 and mechanical arm It is rotatablely connected by rotating connector 41.In the present embodiment, vision collecting unit 421 includes industrial camera 4211, light source 4212;Industrial camera 4211 is by controlling 18 connection communication of machine in coffret 4215 and robot;Industrial camera 4211 passes through phase Machine fixed plate 4213 is fixedly connected with component connecting plate 43;Light source 4212 is solid by light source connecting plate 4214 and component connecting plate 43 Fixed connection.Pickup unit 422 includes picking up driving device 4221, picking up fixed plate 4222, sucker fixed plate 4223, sucker 4224;It picks up fixed plate 4222 and is fixed on driving device 4221 is picked up on component connecting plate 43;Sucker 4224 is fixed on sucker In fixed plate 4223;The movable terminal for picking up driving device 4221 is fixedly connected with sucker fixed plate 4223;Pick up driving device 4221 driving sucker fixed plates 4223, so that sucker 4224 picks up or far from workpiece.
In a preferred embodiment, as shown in Figure 2 and Figure 3, component 50 is transported to transport including the first delivery unit 51, second Unit 52, linear carrying mechanism;Linear carrying mechanism is used for the workpiece handling on the first delivery unit 51 to the second transportation list In member 52;Pickup unit 422 will be on the workpiece handling on the second delivery unit 52 to the first delivery unit 51.In the present embodiment In, the first delivery unit 51 is identical as 52 structure of the second delivery unit.In the present embodiment, it is transported to simplify robot internal coordinate It calculates, the carriage direction of the first delivery unit 51 and the carriage direction of the second delivery unit 52 are mutually perpendicular to.
As shown in figure 3, the first delivery unit 51 includes the first transmission belt 511 being driven by motor, the first detection device 513;First detection device 513 is used to detect the transhipment the position whether workpiece on the first transmission belt 511 reaches linear carrying mechanism It sets.In the present embodiment, the first detection device 513 is photoelectric sensor, passes through the change of distance between detection and the first transmission belt 511 Change, judge whether workpiece transport in place, if workpiece in place after, controllable producing linear carrying mechanism starts to carry.Meanwhile such as Fig. 1 institute Show, the motor of the first delivery unit 51 and the second delivery unit 52 is equipped with debugger 22, adjusts transmission belt by debugger 22 Speed.
As shown in figure 3, the first delivery unit 51 includes the first guide part 512 for by accurate work piece positioning;First guide part 512 are installed on the end of the first transmission belt 511;The gap of first guide part 512 along the first transmission belt 511 carriage direction by It tapers narrow.To workpiece i.e. be transmitted to the end of the first transmission belt 511 when, under the action of the first guide part 512, precisely send to Linear carrying mechanism is carried in range.Accordingly, such as Fig. 3, Fig. 4, the second delivery unit 52 include the second transmission belt 521, Second guide part 522, second detection device 523;Wherein, second detection device 523 is for detecting whether workpiece is transported to second The end of transmission belt 521, at this point, the control movement of robot assembly 40 makes vision collecting unit 421 find workpiece in the visual field, it is fixed Control mechanical arm is picked up workpiece with pickup unit 422 behind position;As shown in fig. 6, control mechanical arm and pickup are single after picking up Workpiece is transported on the first delivery unit 51 by member 422.In the present embodiment, the coordinate of mechanical arm and vision collecting unit 421, Pickup unit 422 uses unified coordinate system, and mechanical arm first quickly takes vision collecting unit 421 to target during the motion Within sweep of the eye, vision collecting unit 421 is recycled to carry out precise positioning.
In a preferred embodiment, as shown in figure 3, linear carrying mechanism includes linear drives component 53, transhipment component 54; Wherein,
Linear drives component 53 includes linear drives sliding block 531, linear drives bar 532, straight line guide block 533, linear guide 534, device for detecting distance of travel 535;Linear drives sliding block 531 and linear drives bar 532 cooperate, straight line guide block 533 and straight line Guide rod 534 cooperates;Transhipment component 54 is fixedly connected with linear drives sliding block 531;Device for detecting distance of travel 535 turns for detecting Transport the stroke of component 54;In the present embodiment, straight line guide block 533 and linear guide 534 play stable guiding role, guarantee straight line Driving assembly 53 transports steadily, prevents workpiece from falling in advance.
Transporting component 54 includes transhipment fixed plate 541, transhipment driving device 542, transhipment sucker 543;Transport fixed plate 541 It is fixedly connected with the movable terminal of transhipment driving device 542;Transhipment sucker 543 is fixed in transhipment fixed plate 541;Transhipment driving Device 542 is fixed on linear drives sliding block 531;Linear drives sliding block 531 is moved along 532 axis direction of linear drives bar, with So that transhipment component 54 moves between the first delivery unit 51 and the second delivery unit 52, and driven by transhipment driving device 542 Turn transports sucker 543, so that by workpiece on from the workpiece handling on the second delivery unit 52 to the first delivery unit 51.
A kind of robot Practical Training Teaching-Platform, as shown in Figure 1, Figure 7 shows, including robot teaching's real training ontology 100;Robot Practice teaching ontology 100 includes robot assembly 40 and transport component 50, shell 10, station 20, ancillary equipment microscope carrier 30, machine Machine 18 is controlled in device people;
Simultaneously shape is integral for wrapping up 100 pedestal of robot practice teaching ontology for shell 10;Fixed peace on station 20 Equipped with robot assembly 40, transport component 50;Machine 18 is controlled in robot to be electrically connected with robot assembly 40, and machine 18 is controlled in robot It is moved for controlling robot assembly 40;The ancillary equipment connecting with transport component 50 is installed on ancillary equipment microscope carrier 30, it is auxiliary Help equipment for control transport component 50 movement;
Station 20 is horizontally disposed;Ancillary equipment microscope carrier 30 is accommodated in shell 10;By controlling machine 18 in debugging machine people With ancillary equipment, controls robot assembly 40 and transport 50 cooperative motion of component.
The present invention uses the ancillary equipment microscope carrier of slidingtype storage, and inner space is big, mentions for equipment wiring and installation fixation For convenient, students ' practical ability is given full play to, extreme enrichment Practice Curriculum realizes the designability of robot practice-training teaching, is Achieve the effect that the mutual cooperation of each step mutually cooperates with, student can designed, designed implementation, for example, by using stroke control mode, Travel switch class sensor is set i.e. in run trace, realizes accurate walking location control, when all debugging is completed for single step Afterwards, linkage control can be used and continuously perform instruction in order, debug in entire implementation procedure whether reach design effect.
In a preferred embodiment, ancillary equipment is installed, ancillary equipment is mounted on real training mechanism nearby on station 20 Side, convenient for debugging and installation.
In one embodiment, ancillary equipment includes electrical equipment;Electrical equipment is for controlling real training mechanism, wherein electrical Equipment includes electric switch, electrical control gear;Electrical control gear include solenoid valve, gas source processing component, vacuum generator, Vacuum table;Electric switch is common switch, including but not limited to air switch, disconnecting switch, vacuum circuit breaker, frame open circuit Device, breaker of plastic casing, contactor, button switch.In the present embodiment, it is serially connected by electric switch and electrical control gear Or it is in parallel, it realizes the mechanical process control of real training mechanism, while cooperating and controlling the control robot assembly 40 of machine 18 in robot, realizes Robot assembly 40 cooperates with process to control with real training mechanism.
In another embodiment, ancillary equipment includes PLC device, and robot teaching's real training ontology 100 further includes industrial personal computer 19;Industrial personal computer 19 is connect with PLC device, for compiler to be written in PLC device;PLC device is for controlling real training mechanism; In the present embodiment, student compiles PLC device for example, by the input equipments such as keyboard and mouse and display in industrial personal computer 19 Executable program, after the completion of compiling in write-in PLC device, PLC device is many kinds of, therefore is not shown in the figure;Connect PLC device with Real training mechanism, the debugging of PLC program is realized by control button 21, while being cooperated and being controlled the control robot assembly of machine 18 in robot 40, realize that robot assembly 40 cooperates with process to control with real training mechanism.In the present embodiment, control button 21 includes point operation control Button, linkage control button;Point operation control button executes once command for controlling equipment in order;Linkage control button is used for Control equipment continuously performs instruction in order, debugs according to demand convenient for student.
It should be appreciated that it is different according to real training scene, electrical equipment and PLC device can be also combined, while using face The collaboration process control controlled to electrical control, PLC control, robot, reaches the Fusion training of multiple control modes, is promoted real Difficulty is instructed, is more bonded actual teaching result to reach.
As illustrated in figs. 8-11, in one embodiment, ancillary equipment microscope carrier 30 includes microscope carrier plate 33, side fixed strip 36, base frame 37;Microscope carrier plate 33 is fixed on base frame 37;37 two sides of base frame are connect with side fixed strip 36 by Multi-section sliding rail;Base frame 37 is fixed on Inside shell 10;Microscope carrier plate 33 is equipped with the mounting hole for installing ancillary equipment;As shown in Fig. 2, microscope carrier plate 33 can be solid along side Determine 36 length direction of item to skid off inside shell 10.In the present embodiment, machine 18 is controlled in robot, industrial personal computer 19 is installed on microscope carrier plate 33 lower parts, while radiating groove 12 is offered on the door-plate 11 of shell 10, guarantee the circulation of 10 inner air of shell, avoids temperature excessively high Lead to electric fault.
As shown in Figure 10, Figure 11, ancillary equipment microscope carrier 30 further includes sliding carrier bar 31, sliding fixed plate 32;Microscope carrier plate 33 It is connect with sliding carrier bar 31 by sliding fixed plate 32;Sliding carrier bar 31 is made of several chain pieces being mutually rotatablely connected.Pass through The chain piece of sliding carrier bar 31 is rolled or is recycled one by one, and skidding off microscope carrier plate 33, process is at the uniform velocity steady, and avoiding fast moving will connect Cable is pullled, and unnecessary damage is caused.
In a preferred embodiment, ancillary equipment microscope carrier 30 further includes sliding driving device (not shown);Sliding is driven The movable terminal of dynamic device is fixedly connected with sliding fixed plate 32;Because on microscope carrier plate 33 may connection device category more than and weight Greatly, it by sliding driving device, realizes the automation export of microscope carrier plate 33, reduces manual operation.In the present embodiment, auxiliary is set Standby microscope carrier 30 further includes knob 34;With microscope carrier plate 33 pull out shell 10 be it is preceding to, knob be set to 33 front center of microscope carrier plate or Front end two sides.As shown in figure 4, knob is set to 33 front center of microscope carrier plate;Distinguishingly, ancillary equipment microscope carrier 30 further includes sliding Sensor;Slide sensor is for detecting whether microscope carrier plate 33 and side fixed strip 36 have relative motion, if detecting microscope carrier plate 33 There is relative motion with side fixed strip 36, then open sliding driving device, sliding driving device driving microscope carrier plate 33 moves to the limit Position simultaneously locks;For example, slide sensor uses photoelectric sensor, when the photoelectric sensor on Multi-section sliding rail detects microscope carrier plate After 33 start sliding, start sliding driving device, initial moves out microscope carrier plate 33 so that user need to only provide one The power of photoelectric sensor then just can be skidded off or be slid into automatically under the driving of sliding driving device, and sliding driving device can be adopted With pneumatic apparatus or hydraulic actuator.
In a preferred embodiment, as shown in figure 11, internal unit is collided to prevent 33 hyperkinesia of microscope carrier plate, assisted Equipment microscope carrier 30 further includes conflict block 35, and conflict block 35 is located at 33 rear end of microscope carrier plate;Conflict block 35 is for contradicting base frame 37;Microscope carrier Plate 33 is equipped with longitudinally fixed hole 331, lateral fixation hole 332;Longitudinally fixed hole 331 is auxiliary for fixing with lateral fixation hole 332 Equipment is helped, by the fixation hole being arranged in length and breadth, each equipment rationally arranged on microscope carrier plate 33 for student rationally advises training of students It draws and basis is provided.
It should be noted that the present invention is different from traditional robot practical training reference, demonstration effect is functioned only as, and The experience that can not be imparted knowledge to students to student's true operation, it is often more important that, traditional practice-training teaching can not provide reasonable Practice Curriculum, It simultaneously can not be using the means of reasonable evaluation teaching result;In the present embodiment, sensor is connected by PLC device and industrial personal computer It connects or sensor is directly connected to industrial personal computer, with the data of sensor acquisition student's real training process, real training effect is carried out with this The evaluation of fruit, for example, using the stroke of light electrical sensor acquisition driving device, to differentiate whether driving executes in place, together When combine industrial personal computer internal clocking program, record the time used of each real training process, form comprehensive appraisement system, realize machine The Digital Teaching of device people's real training.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form;All current rows The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention;But all to be familiar with sheet special The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention;Meanwhile all substantial technologicals according to the present invention The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention Within protection scope.

Claims (10)

1. being used for the circulation carrying mechanism of robot real training, it is characterised in that: including robot assembly (40), transport component (50);The robot assembly (40) includes the mobile mechanical arm of PLC technology, robot training unit (42);The machine People's training unit (42) is connect with the mechanical arm;The robot training unit (42) includes vision collecting unit (421), picks up Take unit (422);The transport component (50) is for transporting workpiece;The vision collecting unit (421) is for acquiring workpiece figure Picture simultaneously positions the location of workpiece;The pickup unit (422) is used for picking up work piece;The robot assembly (40) in robot by controlling Machine (18) control, the transport component (50) is controlled by PLC device and/or electrical equipment, so that workpiece passes through the transport Component (50) carries out vision positioning, the pickup unit (422) by the vision collecting unit (421) again after transporting to terminal The starting point for transporting component (50) is placed back into according to positioning picking up work piece and by workpiece under the driving of mechanical arm.
2. being used for the circulation carrying mechanism of robot real training as described in claim 1, it is characterised in that: the robot assembly It (40) further include rotating connector (41), component connecting plate (43);The vision collecting unit (421) and the pickup unit (422) it is fixedly mounted on the component connecting plate (43);The component connecting plate (43) and the mechanical arm are turned by described Follower link (41) rotation connection.
3. being used for the circulation carrying mechanism of robot real training as claimed in claim 2, it is characterised in that: the vision collecting list First (421) include industrial camera (4211), light source (4212);The industrial camera (4211) passes through coffret (4215) and machine Machine (18) connection communication is controlled in device people;The industrial camera (4211) passes through camera fixed plate (4213) and the component connecting plate (43) it is fixedly connected;The light source (4212) is fixedly connected by light source connecting plate (4214) with the component connecting plate (43).
4. being used for the circulation carrying mechanism of robot real training as claimed in claim 2, it is characterised in that: the pickup unit It (422) include picking up driving device (4221), picking up fixed plate (4222), sucker fixed plate (4223), sucker (4224);It is described It picks up fixed plate (4222) the pickup driving device (4221) is fixed on the component connecting plate (43);The sucker (4224) it is fixed on the sucker fixed plate (4223);The movable terminal for picking up driving device (4221) is fixedly connected with institute State sucker fixed plate (4223);The pickup driving device (4221) drives the sucker fixed plate (4223), so that described Sucker (4224) picks up or far from workpiece.
5. being used for the circulation carrying mechanism of robot real training as described in claim 1, it is characterised in that: the transport component It (50) include the first delivery unit (51), the second delivery unit (52), linear carrying mechanism;The linear carrying mechanism is used for will On workpiece handling to second delivery unit (52) on first delivery unit (51);The pickup unit (422) will On workpiece handling to first delivery unit (51) on second delivery unit (52).
6. being used for the circulation carrying mechanism of robot real training as claimed in claim 5, it is characterised in that: first transportation list First (51) are identical as the second delivery unit (52) structure;The carriage direction and described second of first delivery unit (51) The carriage direction of delivery unit (52) is mutually perpendicular to.
7. being used for the circulation carrying mechanism of robot real training as claimed in claim 5, it is characterised in that: first transportation list First (51) include the first transmission belt (511) being driven by motor, the first detection device (513);First detection device (513) The transhipment position of the linear carrying mechanism whether is reached for detecting the workpiece on first transmission belt (511).
8. being used for the circulation carrying mechanism of robot real training as claimed in claim 7, it is characterised in that: first transportation list First (51) include the first guide part (512);First guide part (512) is installed on the end of first transmission belt (511) On;It is gradually narrowed along the carriage direction of first transmission belt (511) in the gap of first guide part (512).
9. being used for the circulation carrying mechanism of robot real training as claimed in claim 5, it is characterised in that: the linear carrying implement Structure includes linear drives component (53), transhipment component (54);Wherein,
The linear drives component (53) include linear drives sliding block (531), linear drives bar (532), straight line guide block (533), Linear guide (534), device for detecting distance of travel (535);The linear drives sliding block (531) and linear drives bar (532) phase Mutually cooperation, the straight line guide block (533) and the linear guide (534) cooperate;The transhipment component (54) and described straight Line driving sliding block (531) is fixedly connected;The device for detecting distance of travel (535) is used to detect the stroke of transhipment component (54);
The transhipment component (54) includes transhipment fixed plate (541), transhipment driving device (542), transhipment sucker (543);It is described Transhipment fixed plate (541) is fixedly connected with the movable terminal of transhipment driving device (542);The transhipment sucker (543) is solid Due on the transhipment fixed plate (541);The transhipment driving device (542) is fixed on the linear drives sliding block (531); The linear drives sliding block (531) moves along linear drives bar (532) axis direction, so that the transhipment component (54) It is moved between first delivery unit (51) and second delivery unit (52), and passes through the transhipment driving device (542) the transhipment sucker (543) is driven, so that by workpiece from the workpiece handling on second delivery unit (52) to institute It states on the first delivery unit (51).
10. a kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology (100);It is characterized by: the machine People's practice teaching ontology (100) includes robot assembly as described in claim 1 (40) and transport component (50), shell (10), station (20), ancillary equipment microscope carrier (30), control machine (18) in robot;
Simultaneously shape is integral for wrapping up robot practice teaching ontology (100) pedestal for the shell (10);The station (20) it is fixedly installed with robot assembly (40) on, transports component (50);Machine (18) and the robot are controlled in the robot Component (40) is electrically connected, and control machine (18) is for controlling the robot assembly (40) movement in the robot;The auxiliary is set The ancillary equipment connecting with transport component (50) is installed, the ancillary equipment is for controlling the fortune on standby microscope carrier (30) Sending component (50) movement;
The station (20) is horizontally disposed;The ancillary equipment microscope carrier (30) is accommodated in the shell (10);Pass through debugging Machine (18) and ancillary equipment are controlled in robot, control the robot assembly (40) and transport component (50) cooperative motion.
CN201822194492.9U 2018-12-25 2018-12-25 Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training Active CN209533388U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109382814A (en) * 2018-12-25 2019-02-26 苏州富纳艾尔科技有限公司 Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training
US11565400B2 (en) 2021-02-17 2023-01-31 Toyota Motor Engineering & Manufacturing North America, Inc. Robot base assemblies

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109382814A (en) * 2018-12-25 2019-02-26 苏州富纳艾尔科技有限公司 Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training
CN109382814B (en) * 2018-12-25 2024-03-22 苏州富纳艾尔科技有限公司 A real teaching platform of instructing of circulation transport mechanism and robot for real standard of robot
US11565400B2 (en) 2021-02-17 2023-01-31 Toyota Motor Engineering & Manufacturing North America, Inc. Robot base assemblies

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