CN214796476U

CN214796476U - Teaching demonstration device

Info

Publication number: CN214796476U
Application number: CN202121002738.3U
Authority: CN
Inventors: 王宏声; 郭占旗; 关仁杰
Original assignee: Beijing Sunt Technology Co ltd
Current assignee: Beijing Sunt Technology Co ltd
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2021-11-19
Anticipated expiration: 2031-05-11

Abstract

The utility model provides a teaching demonstration device. The teaching presentation device includes: a base; the assembly component is arranged on the base and used for assembling the wheels and the vehicle body into a model vehicle; and at least part of the robot assembly is rotatably arranged on the base, the robot assembly is positioned on one side of the assembly, the robot assembly comprises a multi-axis robot and an actuator connected with the tail end of a mechanical arm of the multi-axis robot, and the actuator is used for moving wheels or a vehicle body or a model vehicle. The utility model discloses a teaching presentation device can demonstrate the application of robot in the production line to show the senior application of robot more vividly.

Description

Teaching demonstration device

Technical Field

The utility model relates to a nonstandard automation equipment teaching technical field particularly, relates to a teaching presentation device.

Background

When demonstrating the functions of a multi-axis robot, the teaching demonstration device of the robot known by the inventor generally only demonstrates the simple carrying function of the multi-axis robot or the movement of the multi-axis robot in all directions or the rotation of the multi-axis robot in a plane, so that the application of the multi-axis robot in production cannot be vividly demonstrated.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a teaching demonstration apparatus, which can demonstrate the application of a robot in a production line, thereby more vividly demonstrating the advanced application of the robot.

In order to achieve the above object, the utility model provides a teaching demonstration device, include: a base; the assembly component is arranged on the base and used for assembling the wheels and the vehicle body into a model vehicle; and at least part of the robot assembly is rotatably arranged on the base, the robot assembly is positioned on one side of the assembly, the robot assembly comprises a multi-axis robot and an actuator connected with the tail end of a mechanical arm of the multi-axis robot, and the actuator is used for moving wheels or a vehicle body or a model vehicle.

Further, the fitting assembly includes: the support frame is used for supporting the wheels and the vehicle body and arranged on the base; and the pressing mechanism is positioned on one side of the support frame, the pressing mechanism is used for pressing the wheels onto the vehicle body, and the pressing mechanism and the support frame are positioned on one side of the robot assembly.

Further, the pressing mechanism includes: the supporting part is arranged on the base and is provided with a supporting surface for supporting the wheels and the vehicle body; the driving part is connected with part of the supporting part and is positioned above the supporting surface; the pressure head is located the top of holding surface, and the stiff end and the partial supporting part of drive division are connected, and the flexible end and the pressure head of drive division are connected, and flexible end is for the stiff end along the movably setting of vertical direction to drive the pressure head and remove along vertical direction.

Further, the supporting part includes pillar, first backup pad and second backup pad, along the axis direction of pillar, has the interval between first backup pad and the second backup pad, and first backup pad and second backup pad all are connected with the pillar, and the stiff end and the second backup pad of drive division are connected, and the upper surface of first backup pad forms the holding surface.

Furthermore, hold-down mechanism still includes the connecting plate of being connected with flexible end, and the pressure head passes through the connecting plate to be connected with flexible end, and is equipped with the assembly through-hole on the connecting plate, assembly through-hole and pillar sliding fit.

Further, teaching presentation device is still including setting up in the material loading subassembly of base, and the material loading subassembly includes: the supporting seat is arranged on the base; the conveying belt structure is arranged on the supporting seat and comprises a conveying belt, and the conveying belt extends along a first direction; the separating mechanism is arranged on the supporting seat and used for separating the packing box located at the bottommost layer in the plurality of superposed packing boxes to the conveying belt, so that the conveying belt conveys the packing box to a preset position.

Further, the separating mechanism includes: the lifting part is at least partially positioned below the conveyor belt, and the lifting end of the lifting part is movably arranged along the vertical direction so as to drive the plurality of packaging boxes to move along the vertical direction; the clamping part is arranged above the conveyor belt and comprises two clamping ends moving in the horizontal direction in opposite directions so as to clamp an upper packaging box in the packaging boxes.

Further, the lifting portion includes: the fixed end of the first driving piece is connected with the supporting seat; the stiff end of second driving piece is connected with the flexible end of first driving piece, and the flexible end of second driving piece and the flexible end of first driving piece all follow the movably setting of vertical direction, and the flexible end of second driving piece forms the lift end.

Further, the clamping part includes two third driving pieces, and two third driving pieces set up respectively in the both sides of conveyer belt, and the third driving piece has stiff end and the flexible end that can movably set up along the second direction for the stiff end, and flexible end forms the exposed core, and the second direction is the contained angle setting with the first direction.

Further, the teaching demonstration device further comprises a garage module, the garage module comprises a support arranged on the base and a plurality of support plates arranged on the support, the support is provided with a supporting surface, and the support plates are arranged at intervals in the vertical direction.

Further, teaching presentation device still includes identification mechanism, and identification mechanism includes: the supporting table is used for supporting the packaging box and the model car positioned in the packaging box; the image sensor is positioned above the supporting platform and used for acquiring parameter information of the model car; and the control system is connected with the image sensor and the multi-axis robot and controls the action of the multi-axis robot according to the information transmitted by the image sensor.

Furthermore, the recognition mechanism also comprises a light source which is positioned on one side of the support platform, and light emitted by the light source irradiates the support platform.

Furthermore, the robot assembly further comprises a quick-change main disc, the quick-change main disc is positioned between the actuator and the mechanical arm, and the actuator is connected with the mechanical arm through the quick-change main disc; or, the teaching demonstration device also comprises a support arranged on the base and a plurality of actuators arranged at intervals on the support, the mechanical arm is connected with one of the plurality of actuators, and the plurality of actuators have different structures.

Further, the teaching demonstration device also comprises a track practice assembly, the track practice assembly comprises a track board with a movement track, and the actuator can move along the movement track; or, teaching presentation device still includes the figure and draws the subassembly, and the figure draws the subassembly and includes the drawing board of rotatable setting for the base, and the executor is including the clamping part that can press from both sides the clamp and get the painting brush.

Use the technical scheme of the utility model, can assemble the assembly subassembly of model car with wheel and automobile body and be used for removing the wheel, the robot assembly of automobile body and model car through the setting to robot assembly can mutually support with the assembly subassembly, and like this, can assemble wheel and automobile body, thereby demonstrated the application of multiaxis robot in model car assembly line on the base, and then demonstrate the senior application of robot more vividly, so that let the student can understand the working process of robot assembly more vividly.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic structural diagram of one embodiment of a teaching demonstration apparatus of the present invention;

FIG. 2 shows a schematic structural view of a hold down mechanism of the instructional presentation device of FIG. 1;

FIG. 3 shows a schematic structural view of the support frame, wheels and body of the instructional presentation device of FIG. 1;

FIG. 4 shows a schematic structural view of a feeding assembly of the instructional presentation device of FIG. 1;

FIG. 5 is a schematic diagram showing the construction of the identification mechanism of the instructional presentation device of FIG. 1;

FIG. 6 is a schematic diagram of the structure of the garage module of the instructional presentation device of FIG. 1;

FIG. 7 shows a schematic structural view of a clamping arm manipulator, a clamping jaw manipulator and a suction cup manipulator of the teaching demonstration apparatus of FIG. 1;

FIG. 8 shows a schematic structural diagram of a robotic assembly of the instructional presentation device of FIG. 1;

FIG. 9 is a schematic diagram of another embodiment of the teaching demonstration device of the present invention;

FIG. 10 is a schematic diagram showing the construction of the trajectory practice assembly of the instructional presentation device of FIG. 9;

FIG. 11 is a schematic diagram showing the construction of the graphic drawing assembly of the instructional presentation device of FIG. 9;

FIG. 12 is a schematic diagram showing the construction of a teaching cone, a brush and a spacer of the teaching demonstration apparatus of FIG. 9; and

fig. 13 is a schematic view showing a connection structure of the stand, the positioning plate and the human-machine interface of the teaching demonstration device of fig. 1.

Wherein the figures include the following reference numerals:

10. a base; 11. a rack; 12. positioning a plate; 13. a human-machine interface; 14. an electrical quick-plug connection board; 20. assembling the components; 21. a support frame; 22. a hold-down mechanism; 221. a support portion; 222. a drive section; 223. a pressure head; 224. a pillar; 225. a first support plate; 226. a connecting plate; 227. a second support plate; 30. a robot assembly; 31. a mechanical arm; 32. an actuator; 33. quickly replacing the main disc; 40. a feeding assembly; 41. a supporting seat; 42. a conveyor belt structure; 421. a conveyor belt; 43. a separating mechanism; 432. a clamping portion; 433. a first driving member; 434. a second driving member; 50. an assembly body; 51. packaging boxes; 52. an upper cover; 53. model car; 531. a wheel; 532. a vehicle body; 60. a garage module; 61. a support; 62. a support plate; 70. an identification mechanism; 71. a support table; 72. a light source; 73. an image sensor; 81. a support; 82. a clamping arm manipulator; 83. a jaw manipulator; 84. a sucker manipulator; 91. a trajectory practice component; 92. a track board; 93. a graph drawing component; 94. a drawing board; 95. a teaching cone; 96. painting brushes; 97. a positioning member.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the assembly unit 20 of the teaching demonstration apparatus according to the embodiment of the present invention may be assembled not only with the wheels 531 and the body 532 into the model car 53, but also with other parts into an assembly. For example, the fitting assembly 20 may press the shaft into the bore to form an interference fit with the shaft bore.

It should be noted that the utility model discloses a teaching presentation device of embodiment combines material loading component 40, and assembly component 20 and identification mechanism 70 isotructure have shown the automatic equipment of multiaxis robot, sort and have come in and go out advanced intelligent application such as storehouse completely, can make the student deepen more deeply understand and master more forward positions of robot and use like this when improving student's hands-on ability to make teaching quality and international rail, more one storey.

It should be noted that the utility model discloses a teaching presentation device of embodiment includes the production line of model car, not only can demonstrate multiaxis robot's simple transport equipment function like this, can also demonstrate multiaxis robot's senior application.

It should be noted that, in the embodiment of the present invention, the stacked packing box 51 means that a plurality of packing boxes 51 are stacked together in the vertical direction, that is, a plurality of packing boxes 51 are stacked together in the vertical direction.

In the embodiment of the present invention, the packing box 51 located at the bottom layer refers to the lowest packing box in a stack of packing boxes 51; the upper package 51 refers to a stack of packages 51 except the package 51 positioned at the lowermost layer.

It should be noted that, in the embodiment of the present invention, the track board 92 having the movement track means that the track board 92 is provided with a groove having various shapes or a protrusion having various shapes, so that the circumferential inner wall surface of the groove or the circumferential outer wall surface of the protrusion can form the movement track, that is, the actuator 32 can clamp the teaching cone 95 and move along the movement track. Wherein, the shapes can be round or square or pentagram, etc.

As shown in fig. 1, an embodiment of the present invention provides a teaching demonstration apparatus. The teaching demonstration device comprises a base 10, an assembly component 20 and a robot component 30. Wherein, the assembly component 20 is arranged on the base 10, the assembly component 20 is used for assembling the wheels 531 and the vehicle body 532 into the model car 53; at least part of the robot assembly 30 is rotatably provided to the base 10, the robot assembly 30 is located at one side of the assembly 20, and the robot assembly 30 includes a multi-axis robot and an actuator 32 connected to an end of a robot arm 31 of the multi-axis robot, the actuator 32 being used to move the wheel 531 or the body 532 or the model car 53.

In the above technical solution, by providing the assembly component 20 capable of assembling the wheels 531 and the body 532 into the model car 53 and the robot component 30 for moving the wheels 531, the body 532 and the model car 53, and the robot component 30 and the assembly component 20 can be matched with each other, the wheels 531 and the body 532 can be assembled, so that the application of the multi-axis robot in the model car assembly line is demonstrated on the base 10, and the advanced application of the multi-axis robot is further more vividly demonstrated, so that a student can more vividly understand the working process of the robot component 30.

Preferably, in an embodiment of the present invention, the multi-axis robot may be a six-axis robot.

As shown in fig. 2 and 3, in the embodiment of the present invention, the assembling component 20 includes a supporting frame 21 and a pressing mechanism 22. The support frame 21 is used for supporting the wheels 531 and the vehicle body 532, and the support frame 21 is arranged on the base 10; the pressing mechanism 22 is located on one side of the support frame 21, the pressing mechanism 22 is used for pressing the wheels 531 on the vehicle body 532, and the pressing mechanism 22 and the support frame 21 are located on one side of the robot assembly 30.

With the above arrangement, the actuator 32 of the multi-axis robot can suck the wheel 531 on the support frame 21 and pre-mount the wheel 531 to the corresponding position of the vehicle body 532, and then the actuator 32 can suck the vehicle body 532 and move onto the pressing mechanism 22 with the wheel 531, and press the wheel 531 on the vehicle body 532 by using part of the pressing mechanism 22. Therefore, the application of the multi-axis robot in the model car assembly production line can be demonstrated, and the advanced application of the multi-axis robot can be displayed more vividly, so that a student can understand the working process of the multi-axis robot more vividly.

As shown in fig. 2, in the embodiment of the present invention, the pressing mechanism 22 includes a supporting portion 221, a driving portion 222, and a pressing head 223. Wherein, the supporting part 221 is arranged on the base 10, the supporting part 221 has a supporting surface for supporting the wheel 531 and the vehicle body 532; the driving part 222 is connected with part of the supporting part 221, and the driving part 222 is positioned above the supporting surface; the pressure head 223 is located the top of holding surface, and the stiff end of drive division 222 is connected with partial supporting part 221, and the flexible end of drive division 222 is connected with pressure head 223, and flexible end is for the stiff end along the movably setting of vertical direction to drive pressure head 223 along vertical direction removal.

Through the arrangement, after the actuator 32 of the six-axis robot transfers the vehicle body 532 and the wheel 531 pre-installed on the vehicle body 532 to the supporting surface of the supporting part 221, the telescopic end of the driving part 222 can drive the pressure head 223 to move in the vertical direction, so that the wheel 531 can be pressed on the vehicle body 532, the model car 53 can be assembled, the effect of the multi-axis robot in the assembly of the whole vehicle production line can be demonstrated, a student can master more advanced applications of the robot, and the teaching quality is improved.

As shown in fig. 2, in the embodiment of the present invention, the supporting portion 221 includes a pillar 224, a first supporting plate 225 and a second supporting plate 227, a space is provided between the first supporting plate 225 and the second supporting plate 227 along the axial direction of the pillar 224, the first supporting plate 225 and the second supporting plate 227 are both connected to the pillar 224, the fixed end of the driving portion 222 is connected to the second supporting plate 227, and the upper surface of the first supporting plate 225 forms a supporting surface.

In the above-described embodiment, the vehicle body 532 is supported by the first support plate 225, the driving unit 222 is supported by the second support plate 227, and the first support plate 225 and the second support plate 227 have a gap therebetween, so that the driving head of the driving unit 222 can be more favorably pressed against the vehicle body 532.

As shown in fig. 2, in the embodiment of the present invention, the pressing mechanism 22 further includes a connecting plate 226 connected to the telescopic end, the pressing head 223 is connected to the telescopic end through the connecting plate 226, and the connecting plate 226 is provided with an assembling through hole, which is in sliding fit with the pillar 224.

With the above arrangement, when the telescopic end of the driving portion 222 moves in the vertical direction (the axial direction of the support post 224), the connecting plate 226 can move along the axis of the support post 224, and the connecting plate 226 is in sliding fit with the support post 224, so that the support post 224 can play a role of guiding, so that the pressure head 223 can move in the axial direction of the support post 224, that is, in the vertical direction, so that the pressure head 223 can be aligned with the wheel 531, the wheel 531 is uniformly stressed, and the wheel 531 is further pressed on the vehicle body 532.

As shown in fig. 4, in the embodiment of the present invention, the teaching demonstration apparatus further includes a feeding assembly 40 disposed on the base 10, and the feeding assembly 40 includes a supporting seat 41, a conveying belt structure 42 and a separating mechanism 43. Wherein, the supporting seat 41 is arranged on the base 10; the conveyor belt structure 42 is disposed on the support base 41, the conveyor belt structure 42 includes a conveyor belt 421, and the conveyor belt 421 extends along a first direction; the separating mechanism 43 is disposed on the supporting base 41, and the separating mechanism 43 is configured to separate the packing box 51 located at the bottommost layer of the stacked packing boxes 51 to the conveying belt 421, so that the conveying belt 421 conveys the packing box 51 to a preset position.

Through the arrangement, the separating mechanism 43 separates the packing box 51 at the bottommost layer in the stack of packing boxes 51 stacked in the vertical direction onto the conveyor belt 421, and then the conveyor belt 421 drives the packing box 51 above the conveyor belt 421 to move along the first direction, so that the packing box 51 can be conveyed to the preset position, the actuator 32 of the multi-axis robot can conveniently grab the packing box 51 at the preset position, and the application function of the multi-axis robot in sorting and feeding the packing box 51 can be demonstrated.

It should be noted that, in the embodiment of the present invention, the preset position refers to a position on the conveyor 421 away from the separating mechanism 43, so that the actuator 32 of the multi-axis robot can move the packing box 51 at the preset position more conveniently, and the interference between the actuator 32 of the multi-axis robot and the separating mechanism 43 is avoided.

As shown in fig. 4, in the embodiment of the present invention, the separating mechanism 43 includes a lifting portion and a holding portion 432. At least part of the lifting part is located below the conveyor belt 421, and the lifting end of the lifting part is movably arranged along the vertical direction to drive the plurality of packing boxes 51 to move along the vertical direction; the holding portion 432 is provided on the support base 41, the holding portion 432 is located above the conveyor 421, and the holding portion 432 includes two holding ends that move in the horizontal direction in the opposite direction to hold the upper package 51 among the plurality of packages 51.

With the above arrangement, the lifting portion moves upward in the vertical direction to lift up the plurality of packing boxes 51, then the gripping portion 432 grips the upper packing box 51 to separate the bottommost packing box 51 from the upper packing box 51, and then the lifting portion moves downward in the vertical direction with the bottommost packing box 51 until the bottommost packing box 51 falls onto the conveyor 421, so that the conveyor 421 moves in the first direction with the packing box 51 (i.e., the bottommost packing box 51) thereon to convey the packing box 51 to a preset position. Further, when the lowermost packing box 51 is conveyed to the predetermined position, the lifter may move upward in the vertical direction until it contacts the remaining packing boxes 51 (i.e., the upper packing box 51) located in both grip ends of the grip portion 432, and then the grip ends of the grip portion 432 release the remaining packing boxes 51, so that the lifter may move downward in the vertical direction with the remaining packing boxes 51 to drop the remaining packing boxes 51 back onto the conveyor 421.

As shown in fig. 4, in the embodiment of the present invention, the lifting part includes a first driving member 433 and a second driving member 434. Wherein, the fixed end of the first driving member 433 is connected with the supporting seat 41; the stiff end of second driving piece 434 is connected with the flexible end of first driving piece 433, and the flexible end of second driving piece 434 and the flexible end of first driving piece 433 all set up along vertical direction is movably, and the flexible end of second driving piece 434 forms the lift end.

In the above technical solution, the telescopic end of the second driving member 434 and the telescopic end of the first driving member 433 can both move along the vertical direction, and the fixed end of the second driving member 434 is connected with the telescopic end of the first driving member 433, so that the telescopic end of the second driving member 434 can move along the vertical direction and has a position for jacking up a plurality of stacked packing boxes 51, a position flush with the conveyor belt 421, and a position for avoiding the conveyor belt 421. When the telescopic end of the second driving member 434 pushes up the plurality of stacked packing boxes 51, the packing boxes 51 can be lifted to the position of the clamping portion 432, so that the clamping portion 432 clamps the upper packing box 51; when the telescopic end of the second driving member 434 is located at a position flush with the conveyor 421, the telescopic end of the second driving member 434 can make the package 51 located at the bottommost layer fall onto the conveyor 421; when the telescopic end of the second driving member 434 is located at a position avoiding the conveyor belt 421, the conveyor belt 421 can better convey the bottommost package 51 to the preset position, and the telescopic end of the second driving member 434 is prevented from blocking the movement of the bottommost package 51.

Specifically, in the embodiment of the present invention, when the telescopic ends of the first driving member 433 and the second driving member 434 are both extended, the lifting end is in a position to jack up the plurality of stacked packing boxes 51; when the telescopic end of the first driving member 433 does not extend and the telescopic end of the second driving member 434 extends, or when the telescopic end of the first driving member 433 extends and the telescopic end of the second driving member 434 does not extend, the lifting end is located at a position flush with the conveyor belt 421; when the telescopic ends of the first driving member 433 and the second driving member 434 are not extended, the lifting end is located to avoid the belt 421.

As shown in fig. 4, in an embodiment of the present invention, the clamping portion 432 includes two third driving members, the two third driving members are respectively disposed on two sides of the conveyor belt 421, the third driving member has a fixed end and a telescopic end movably disposed along the second direction relative to the fixed end, the telescopic end forms the clamping end, and the second direction is disposed at an included angle with the first direction.

Through the above arrangement, when the upper packaging box 51 is clamped, the telescopic ends of the two third driving parts are driven, so that the telescopic ends of the two third driving parts extend out to clamp the upper packaging box 51.

As shown in fig. 6, in the embodiment of the present invention, the teaching demonstration apparatus further includes a garage module 60, the garage module 60 includes a bracket 61 disposed on the base 10 and a plurality of support plates 62 disposed on the bracket 61, the bracket 61 has a supporting surface, and the plurality of support plates 62 are spaced apart from each other in the vertical direction.

In the above technical solution, the support plates 62 are arranged at intervals in the vertical direction to support the assemblies 50 of the packing boxes 51 and the model cars 53, and the multi-axis robot grips the assemblies 50 by the actuators 32 to perform warehousing demonstration, so that trainees or customers can more vividly understand the advanced application of the six-axis robot in the production line.

Further, the support 61 may support the upper cover 52 of the packing box 51 and the assembly 50, and cooperate with the actuator 32 of the multi-axis robot to demonstrate that the assembly 50 is clamped for ex-warehouse demonstration.

Specifically, in the embodiment of the present invention, the support plate 62 and the partial support 61 are respectively provided with an avoiding groove corresponding to the assembly body 50, so that the actuator 32 can more conveniently clamp the assembly body 50, and the support plate 62 and the partial support 61 are prevented from interfering with the operation of the actuator 32.

Preferably, in the embodiment of the present invention, the model car 53 is located in the packing box 51, and the upper cover 52 is connected to the packing box 51, so that the assembly body 50 can be formed.

As shown in fig. 5, in the embodiment of the present invention, the teaching demonstration apparatus further includes a recognition mechanism 70, and the recognition mechanism 70 includes a supporting platform 71, an image sensor 73 and a control system. Wherein, the supporting platform 71 is used for supporting the packing box 51 and the model car 53 positioned in the packing box 51; the image sensor 73 is positioned above the support base 71, and the image sensor 73 is used for acquiring parameter information of the model car 53; the control system is connected with both the image sensor 73 and the multi-axis robot, and controls the motion of the multi-axis robot according to the information transmitted by the image sensor 73.

Through the arrangement, the control system can control the action of the multi-axis robot according to the parameter information acquired by the image sensor 73, so that the actuator 32 of the multi-axis robot can be utilized to cover the upper cover 52 on the packing box 51, then the assembly body 50 is grabbed and moved to the garage module 60, and then the assembly body 50 can be moved to different support plates 62 according to different parameter information, so that the intellectualization of the multi-axis robot is embodied, and a student can more deeply understand the application of the multi-axis robot in the sorting and warehousing aspect.

Preferably, in the embodiment of the present invention, the parameter information indicates that the color of the vehicle body 532 may be red, blue and white, and vehicle logos of three brands, namely mitsubishi, gallo and audi, are respectively engraved on the vehicle body 532 to facilitate the recognition by the image sensor 73. Of course, in alternative embodiments, the parameter information may be other parameters that are easily identified.

Preferably, in the embodiment of the present invention, the image sensor 73 may be a CCD camera.

As shown in fig. 5, in the embodiment of the present invention, the recognition mechanism 70 further includes a light source 72, the light source 72 is located at one side of the support base 71, and the light emitted from the light source 72 is irradiated on the support base 71.

Through the arrangement, the parameter information acquired by the image sensor 73 can be clearer, so that the control system can quickly judge the action of the multi-axis robot, and the application efficiency of the multi-axis robot is improved.

As shown in fig. 8, in an embodiment of the present invention, the robot assembly 30 further includes a quick-change main disc 33, the quick-change main disc 33 is located between the actuator 32 and the mechanical arm 31, and the actuator 32 is connected to the mechanical arm 31 through the quick-change main disc 33.

In the above technical solution, the quick-change main disc 33 is installed at the end of the mechanical arm 31, so that the mechanical arm 31 can be quickly connected with the actuator 32 through pneumatic control, the efficiency of replacing the actuator 32 by the multi-axis robot is improved, and the demonstration effect of the multi-axis robot is improved.

As shown in fig. 7, in the embodiment of the present invention, the teaching demonstration device further includes a support 81 disposed on the base 10 and a plurality of actuators 32 disposed on the support 81 at intervals, the mechanical arm 31 is connected to one of the plurality of actuators 32, and the plurality of actuators 32 have different structures.

With the arrangement, the six-axis robot can rapidly replace the actuators 32 with different structures, so that the multi-axis robot can suck and move the model 53 or clamp and move the assembly 50 by using the actuators 32 with different structures.

Specifically, in the embodiment of the present invention, the structure of the plurality of actuators 32 is different, which means that the plurality of actuators 32 include a clamping arm manipulator 82, a clamping jaw manipulator 83 and a suction cup manipulator 84. Wherein, the sucker manipulator 84 is used for sucking the wheels 531, the car body 532, the model car 53, the packing box 51 and the upper cover 52; the clamping arm manipulator 82 is used for clamping the assembly body 50; the gripper robot 83 is used to grasp a paint brush 96 or a teaching cone 95.

Specifically, the utility model discloses an in the embodiment, be equipped with on the support 81 and correspond a plurality of holding tanks that set up with a plurality of executor 32, above-mentioned holding tank is used for placing executor 32.

As shown in fig. 12, in the embodiment of the present invention, the teaching demonstration apparatus further includes a teaching cone 95, a positioning element 97 disposed on the base 10, and a painting brush 96. The teaching cone 95 is clamped by the actuator 32 and moved to the position of the positioning element 97, and the top end of the teaching cone 95 is aligned with the top end of the positioning element 97, so that the coordinate system of the robot assembly can be determined.

As shown in fig. 10, in the embodiment of the present invention, the teaching demonstration device further includes a track practice assembly 91, the track practice assembly 91 includes a track board 92 having a movement track, and the actuator 32 can move along the movement track.

Through the setting, teaching awl 95 can be got to executor 32 of multiaxis robot to control system can drive teaching awl 95's most advanced along the removal orbit through programming control executor 32, thereby demonstrates the basic teaching function of multiaxis robot.

As shown in fig. 11, in the embodiment of the present invention, the teaching demonstration apparatus further includes a drawing assembly 93, the drawing assembly 93 includes a drawing board 94 rotatably disposed relative to the base 10, and the actuator 32 can clamp the painting brush 96 to draw a picture on the drawing board 94.

Through the setting, painting brush 96 can be got to the executor 32 of multiaxis robot to control system can drive painting brush 96 through programming control executor 32 and draw on drawing board 94, can demonstrate the basic teaching function of multiaxis robot like this, thereby demonstrates the flexibility of handling multiaxis robot more directly perceivedly.

Preferably, in the embodiment of the present invention, the drawing board 94 is rotatably disposed relative to the base 10, and the teaching demonstration device further includes a servo motor connected to the drawing board 94, so that the angle of the drawing board 94 relative to the actuator 32 can be adjusted by the servo motor, and the actuator 32 can better draw on the drawing board 94.

As shown in fig. 9, in another embodiment of the present invention, the teaching demonstration apparatus includes a robot assembly 30, a trajectory practice assembly 91 and a figure drawing assembly 93, so that basic teaching functions of the multi-axis robot can be demonstrated.

As shown in fig. 13, in the embodiment of the present invention, the base 10 is composed of a rack 11, a positioning board 12, a man-machine interface 13 and an electrical quick-connect board 14. Wherein, the desktop of rack 11 is formed by the aluminium alloy concatenation, and locating plate 12 sets up in rack 11 to locating plate 12 is equipped with the locating pin, and the supporting seat 41 of material loading subassembly 40, the support frame 21 of assembly 20 and the support 61 isotructure of garage module 60 all are equipped with the locating hole, can suit material loading subassembly 40 like this, assembly 20 etc. and rack 11 high-speed joint.

Specifically, in the embodiment of the present invention, the quick connector on the electrical quick-plugging connecting plate 14 not only has the quick-changing function, but also can be used for electrical wiring teaching.

Specifically, in the embodiment of the present invention, the operator can operate the device through the human-machine interface.

The utility model discloses a teaching presentation device's of embodiment concrete demonstration process as follows:

the first step is as follows: a packing box 51 is separated and conveyed to a preset position by using the feeding assembly 40, the mechanical arm of the multi-axis robot is quickly connected with the sucker manipulator 84, and then the sucker manipulator 84 sucks the packing box 51 and places the packing box on the supporting table 71 of the recognition mechanism 70;

the second step is that: the multi-axis robot rotates to the support frame 21 of the assembly component 20, the suction cup manipulator 84 sucks the two wheels 531 to be pre-installed on the vehicle body 532, and then the suction cup manipulator 84 sucks the pre-installed model car 53 and puts the model car into the pressing mechanism 22;

the third step: the pressing mechanism 22 simulates that two wheels 531 are pressed on the vehicle body 532, and then the suction cup manipulator 84 of the multi-axis robot sucks the model vehicle 53 and puts the model vehicle into the packing box 51 on the recognition mechanism 70;

the fourth step: the image sensor obtains the color or logo of the model car 53, and then the sucker manipulator 84 of the multi-axis robot sucks an upper cover 52 and buckles the upper cover on the packing box 51 to form an assembly body 50;

the fifth step: the multi-axis robot rotates to a support 81 supporting the plurality of actuators 32, unloads the suction cup manipulator 84, then replaces the clamp arm manipulator 82, grips the assembly 50 from the recognition mechanism 70 and places the assembly on the support plate 62 of the garage module 60;

and a sixth step: if the assembly 50 needs to be taken out of the warehouse, the clamping arm manipulator 82 can be used to clamp the assembly 50 and move the assembly 50 to the warehouse-out position on the bracket 61.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the wheel and the vehicle body can be assembled into the assembly component of the model vehicle and the robot component used for moving the wheel, the vehicle body and the model vehicle, and the robot component and the assembly component can be matched with each other, so that the wheel and the vehicle body can be assembled, the application of the multi-axis robot in the assembly line of the model vehicle is demonstrated on the base, the advanced application of the robot is further vividly demonstrated, and a student can understand the working process of the robot component vividly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A teaching demonstration apparatus comprising:

a base (10);

the assembly component (20) is arranged on the base (10), and the assembly component (20) is used for assembling wheels (531) and a vehicle body (532) into a model vehicle (53);

a robot assembly (30), at least a portion of the robot assembly (30) being rotatably disposed to the base (10), the robot assembly (30) being located at one side of the fitting assembly (20), and the robot assembly (30) comprising a multi-axis robot and an actuator (32) connected to an end of a robot arm (31) of the multi-axis robot, the actuator (32) being used to move the wheel (531) or the body (532) or the model car (53).

2. Instructional presentation device according to claim 1, characterized in that said fitting assembly (20) comprises:

a support frame (21) for supporting the wheel (531) and the vehicle body (532), the support frame (21) being provided on the base (10);

the pressing mechanism (22) is located on one side of the support frame (21), the pressing mechanism (22) is used for pressing the wheels (531) on the vehicle body (532), and the pressing mechanism (22) and the support frame (21) are located on one side of the robot assembly (30).

3. Instructional presentation device according to claim 2, characterized in that the hold-down mechanism (22) comprises:

a support portion (221) provided to the base (10), the support portion (221) having a support surface that supports the wheel (531) and the vehicle body (532);

a driving part (222) connected with a part of the supporting part (221), wherein the driving part (222) is positioned above the supporting surface;

the pressure head (223) is located the top of holding surface, the stiff end and the part of drive division (222) support portion (221) are connected, the flexible end of drive division (222) with pressure head (223) are connected, flexible end for the stiff end is along the movably setting of vertical direction, in order to drive pressure head (223) are followed vertical direction removes.

4. An instructional presentation device according to claim 3, wherein the support part (221) comprises a support column (224), a first support plate (225) and a second support plate (227), the first support plate (225) and the second support plate (227) have a space therebetween in the axial direction of the support column (224), and the first support plate (225) and the second support plate (227) are both connected to the support column (224), the fixed end of the driving part (222) is connected to the second support plate (227), and the upper surface of the first support plate (225) forms the support surface.

5. An instructional presentation device according to claim 4, wherein the hold-down mechanism (22) further comprises a connecting plate (226) connected to the telescopic end, the ram (223) is connected to the telescopic end through the connecting plate (226), and the connecting plate (226) is provided with a fitting through hole which is slidably fitted with the pillar (224).

6. Instructional presentation device according to anyone of claims 1 to 5, further comprising a loading assembly (40) provided to said base (10), said loading assembly (40) comprising:

a support base (41) provided to the base (10);

a conveyor belt structure (42) disposed on the support base (41), wherein the conveyor belt structure (42) includes a conveyor belt (421), and the conveyor belt (421) extends in a first direction;

the separating mechanism (43) is arranged on the supporting seat (41), and the separating mechanism (43) is used for separating the packing box (51) located at the bottommost layer in the plurality of stacked packing boxes (51) to the conveying belt (421), so that the conveying belt (421) conveys the packing box (51) to a preset position.

7. Instructional presentation device according to claim 6, characterized in that said detachment mechanism (43) comprises:

the lifting part is at least partially positioned below the conveyor belt (421), and the lifting end of the lifting part is movably arranged along the vertical direction so as to drive the plurality of packaging boxes (51) to move along the vertical direction;

the clamping portion (432) is arranged on the supporting seat (41), the clamping portion (432) is located above the conveying belt (421), and the clamping portion (432) comprises two clamping ends which move in the horizontal direction in the opposite direction so as to clamp the upper packaging box (51) in the packaging boxes (51).

8. An instructional presentation device according to claim 7, wherein the lifting portion comprises:

the fixed end of the first driving piece (433) is connected with the supporting seat (41);

the stiff end of second driving piece (434) with the flexible end of first driving piece (433) is connected, the flexible end of second driving piece (434) with the flexible end of first driving piece (433) all sets up along vertical direction is movably, just the flexible end of second driving piece (434) forms the lift end.

9. A teaching demonstration device according to claim 7 wherein the clamping portion (432) comprises two third driving members, two of the third driving members being respectively arranged at both sides of the conveyor belt (421), the third driving members having a fixed end and a telescopic end movably arranged in a second direction relative to the fixed end, the telescopic end forming the clamping end, and the second direction being arranged at an angle to the first direction.

10. Instructional presentation device according to any one of the claims 1 to 5, further comprising a garage module (60), said garage module (60) comprising a bracket (61) provided to said base (10) and a plurality of brackets (62) provided to said bracket (61), said bracket (61) having a support surface, said plurality of brackets (62) being arranged at a vertical spacing.

11. An instructional presentation device according to claim 6, further comprising an identification mechanism (70), said identification mechanism (70) comprising:

a support table (71) for supporting the packing box (51) and a model car (53) located inside the packing box (51);

an image sensor (73) located above the support base (71), the image sensor (73) being used for acquiring parameter information of the model car (53);

and the control system is connected with the image sensor (73) and the multi-axis robot and controls the action of the multi-axis robot according to the information transmitted by the image sensor (73).

12. An instructional presentation device according to claim 11, wherein said identification means (70) further comprises a light source (72), said light source (72) being located on one side of said support base (71), and light emitted from said light source (72) is shone on said support base (71).

13. Instructional presentation device according to anyone of claims 1 to 5, wherein the robot assembly (30) further comprises a quick-change master (33), the quick-change master (33) being located between the actuator (32) and the robot arm (31), the actuator (32) being connected to the robot arm (31) through the quick-change master (33); or the teaching demonstration device further comprises a support (81) arranged on the base (10) and a plurality of actuators (32) arranged on the support (81) at intervals, the mechanical arm (31) is connected with one of the actuators (32), and the structures of the actuators (32) are different.

14. An instructional presentation device according to any one of claims 1 to 5, further comprising a trajectory practice assembly (91), said trajectory practice assembly (91) comprising a trajectory board (92) having a movement trajectory along which said actuator (32) is movable; or the teaching demonstration device further comprises a graph drawing assembly (93), the graph drawing assembly (93) comprises a drawing board (94) which is rotatably arranged relative to the base (10), and the actuator (32) comprises a clamping part which can clamp the drawing pen (96).