WO2021103475A1

WO2021103475A1 - Multifunctional industrial robot technology application practical training platform

Info

Publication number: WO2021103475A1
Application number: PCT/CN2020/094790
Authority: WO
Inventors: 黄麟; 郑贞平; 王海荣; 华旭奋; 商进
Original assignee: 无锡职业技术学院
Priority date: 2019-11-29
Filing date: 2020-06-07
Publication date: 2021-06-03
Also published as: CN110827652A; CN110827652B

Abstract

Disclosed is a multifunctional industrial robot technology application practical training platform, relating to a system platform used in intellectualized production, and in particular to an application practical training platform which is tightly combined with an industrial robot coupler assembly production line (2). The application practical training platform comprises a wall body (1), the coupler assembly production line (2) and a plurality of practical training rooms (3), wherein the wall body (1) surrounds the coupler assembly production line (2) and the practical training rooms (3); the practical training rooms (3) are arranged on one side of the coupler assembly production line (2) in parallel; the coupler assembly production line (2) is composed of a speed chain conveying line (2-1) and six stations (2-2) evenly distributed on one side of the speed chain conveying line (2-1); circulating lifting transfer devices (5) are arranged at two ends of the speed chain conveying line (2-1) in a matching manner and used for removing trays (11-5) from the speed chain conveying line (2-1) or conveying the trays (11-5) to the speed chain conveying line (2-1); and each of the stations (2-2) is provided with a station conveying line (18) and a movable station work table (19). Compared with the prior art, the present application practical training platform is more flexible and practical, and is simple in terms of operation.

Description

Multifunctional industrial robot technology application training platform

Technical field

The multifunctional industrial robot technology application training platform of the present invention relates to a system platform used in intelligent production, especially an application training platform closely integrated with an industrial robot coupling assembly production line.

Background technique

At present, the assembly of bearing seats mostly adopts manual control, which has low production efficiency, unstable and complicated structure. Most of the assembly uses mechanized operations, but the labor intensity is high and the efficiency is low, and it often fails to keep up with the needs of automated continuous production. Coupled with the different shapes and sizes of parts, the assembly accuracy is often not achieved.

There is no fully automatic high-speed production line that can keep up with the development of the times. Technical training for universities and technicians can only be carried out in a single way. There is no training platform that can be intuitive and perceptual. Therefore, there is an urgent need to develop a high level of automation, Simple operation application training platform.

Summary of the invention

The purpose of the present invention is to provide a multifunctional industrial robot technology application training platform in view of the above shortcomings, which has six stations and supporting industrial robots, and several training rooms to realize quick and accurate assembly and stacking of bearing seats. Library.

The present invention is realized by adopting the following technical solutions:

The multi-functional industrial robot technology application training platform includes a wall, a coupling assembly line and several training rooms. The wall is surrounded by the coupling assembly line and the outside of the training room; the training room is set in parallel in the coupling assembly One side of the production line; the training room includes a welding training room and a palletizing training room. The welding training room is used to complete welding training, and the palletizing training room is used to complete industrial robot palletizing training; coupling assembly production line It consists of a double-speed chain conveyor line and six stations evenly distributed on one side of the double-speed chain conveyor line; at both ends of the double-speed chain conveyor line are equipped with a circulating lifting transfer device to remove the pallets from the double-speed chain conveyor line or The pallets are transferred to the double-speed chain conveyor line; the six stations are specifically the first station, the second station, the third station, the fourth station, the fifth station and the sixth station; among them, the first station The second station is used for conveying and assembling the bushings, the third station is used for conveying and assembling the upper cover, and the fourth station is used for feeding the bolts to the vibration plate. And assembly, the fifth station is used for feeding and assembling the vibrating plate of the oil cup holder, and the sixth station is used for the handling and conveying of finished products; each station has a station conveyor line and a movable station work table .

The double-speed chain conveyor line adopts a double-layer double-speed chain conveyor line. The double-speed chain conveyor line is fixed on the ground by the double-speed chain conveyor frame. The double-speed chain conveyor line has an upper conveyor line and a lower conveyor line that are parallel to each other with opposite conveying directions. The inner side of the conveying body corresponding to the station on the conveying line is equipped with a pneumatic positioning device. The pneumatic positioning device has a double-speed chain positioning plate. The four corners of the double-speed chain positioning plate are equipped with positioning pins, and the positioning cylinder is installed under the double-speed chain positioning plate. The plate is fixedly installed with positioning cylinders, and the pallet supports the workpiece to be assembled on the double-speed chain positioning plate; on both sides of the double-speed chain positioning plate, blocking cylinders are installed through the blocking cylinder mounting plate to form a pneumatic blocking device to block neighboring workers. The other pallets in the position are moved over to ensure that each station completes their own assembly work; the lower conveyor line transports the empty pallets back. Two circular lifting transfer devices are arranged side by side at both ends of the double speed chain conveyor line. The circulating lifting transfer device at the right end of the double speed chain conveyor line transfers empty pallets from the lower conveyor line of the double speed chain to the upper conveyor line of the double speed chain; The circulating lifting transfer device at the left end of the double-speed chain conveyor transfers empty pallets from the upper conveyor line of the double-speed chain to the lower conveyor line of the double-speed chain.

Further, the workstation working table realizes the positioning on the coupling assembly production line through the positioning connection device arranged on the side of the double-speed chain conveyor line, and is fixed on the coupling assembly production line. When it is not needed, the working table of the workstation can be moved to the wall by removing the positioning and connecting device.

The positioning and connecting device is fixedly installed on the frame of the double-speed chain conveyor line, and consists of a concave connecting device positioning block and a connecting device positioning pin installed between two protruding plates of the connecting device positioning block.

The circulating lifting transfer device includes a circulating lifting unit frame and a lifting component; the lifting component includes a cylinder bottom plate, a fixed plate, a supporting plate, a middle supporting plate and a lifting transmission transmission component. A pair of symmetrical long fixed plates are fixedly connected to each other. The two sides of the cylinder bottom plate; the inner side of the fixed plate is provided with a guide rail, and two upper and lower sliding blocks that can move up and down along the guide rail are respectively installed in the middle of the guide rail. The supporting plate is L-shaped; the upper part of the symmetrical supporting plate is connected by two supporting rods; the middle supporting plate is fixedly connected to the middle of the supporting plate, and both ends of the middle supporting plate are provided with transfer lifting chain through holes. On the opposite side of the transfer lifting chain through hole, there are transfer lifting chain mounting holes, the first chain mounting piece and the second chain mounting piece respectively pass through the corresponding transfer lifting chain mounting holes and then are fixed on the middle support plate by nuts; A cylinder through hole is opened in the middle of the middle support plate; the bottom of the lifting cylinder is fixed to the middle of the cylinder bottom plate through the cylinder support plate, the end of the cylinder tube of the lifting cylinder passes through the cylinder through hole, and the end of the cylinder piston rod is connected to the cylinder top through a floating joint The upper part of the cylinder top column is provided with a jacking sprocket shaft through hole, the jacking sprocket shaft passes through the jacking sprocket shaft through hole, the two ends of the jacking sprocket shaft are respectively connected with the cylinder jacking sprocket; the cylinder jacking sprocket A transfer lifting chain is engaged on the upper part, one end of the transfer lifting chain is fixedly connected with the first chain mounting member, and the other end of the transfer lifting chain is fixedly connected with the second chain mounting member fixed on the bottom plate of the cylinder; The middle and end parts of the lower transverse part are respectively equipped with a first support plate and a second support plate that are parallel to each other; between the first support plate and the second support plate, a transfer and conveying motor bottom plate is fixedly installed; on the first support plate and The second support plate is equipped with a lifting transmission transmission assembly; the lifting transmission transmission assembly includes a pulley fixed plate, a fixed wheel with a guide groove, and a transfer and conveying system motor; the first support plate and the second support plate are both installed with each other Parallel pulley fixing plate; three fixed pulleys with guide grooves are installed on the opposite inner side of the fixing plate of pulleys, and the distance between the three fixed pulleys with guide grooves is equal; the periphery of the three fixed wheels with guide grooves is installed There is a patterned belt with guide strips; the two fixed wheels with guide grooves on the far right are connected by a steering transmission shaft, and the first driven sprocket is fixed on the steering transmission shaft; the transfer conveying system motor is conveyed through The transfer motor mounting plate is fixed on the bottom plate of the transfer conveying motor, and the output shaft of the transfer conveying system motor is connected with the second driven sprocket of lifting transmission; the first driven sprocket of lifting transmission and the second driven sprocket of lifting transmission It is set horizontally and engages with the same transfer chain.

The circulating lifting unit frame is surrounded by the jacking assembly. The circulating lifting unit frame includes a vertical lifting unit support rod, a horizontal lifting unit crossbar, and a lifting unit frame link connecting the frame support rod and the lifting unit crossbar; the lifting unit supports Support feet are connected to the bottom end of the rod.

The lifting unit support rods include a first lifting unit support rod, a second lifting unit support rod, a third lifting unit support rod, and a fourth lifting unit support rod that are installed on the four sides of the rear frame; the lifting unit cross bar includes a first lifting unit support rod. The unit cross bar, the second lifting unit cross bar, the third lifting unit cross bar, and the fourth lifting unit cross bar; the lifting unit frame link includes two ends of the first lifting unit cross bar and the second lifting unit cross bar The connecting rod of the first lifting unit and the connecting rod of the third lifting unit further includes a second lifting unit connecting rod and a fourth lifting unit installed between the ends of the third lifting unit cross bar and the fourth lifting unit cross bar Connecting rod; a fifth lifting unit support rod is provided in the middle of the first lifting unit connecting rod and the second lifting unit connecting rod, and a sixth lifting unit support rod is provided in the middle of the third lifting unit connecting rod and the fourth lifting unit connecting rod . The front frame has a fifth lifting unit cross bar installed between the first lifting unit support bar and the second lifting unit support bar and parallel to the third lifting unit cross bar; the front frame also has a fifth lifting unit cross bar. The sixth lifting unit cross bar horizontally opposed to the third lifting unit cross bar, the seventh lifting unit cross bar horizontally opposite to the third lifting unit cross bar, and the seventh lifting unit cross bar connected between the sixth lifting unit cross bar and the seventh lifting unit cross bar. The lifting unit support rod and the eighth lifting unit support rod, the fifth lifting unit link and the seventh lifting unit link connected between both ends of the sixth lifting unit cross bar and the fifth lifting unit cross bar, and the fifth lifting unit link connected to the first The sixth lifting unit link and the eighth lifting unit link between the two ends of the third lifting unit cross bar and the seventh lifting unit cross bar.

The components of the frame of the circulating lifting unit are all connected by right-angle pieces.

The front part of the front frame is fixedly equipped with a vertical front sealing plate through corner pieces; the rear part of the rear frame is fixedly equipped with a vertical rear sealing plate through corner pieces.

The structure of the station conveyor line of the first station, the second station, the third station and the sixth station is the same. The station conveyor line adopts a belt conveyor line. The station conveyor line includes the station conveyor line frame and the station Conveying line side plate and conveying motor. Two station conveyor line side plates are installed symmetrically on both sides of the upper part of the station conveyor line frame. At the conveying end of the station conveyor line, a synchronous belt pulley mounting plate is installed symmetrically. The lower part of the belt wheel mounting plate is fixedly provided with a synchronous belt installation support plate. A synchronous belt drive wheel installation connection plate is installed between the two synchronous belt installation support plates. A conveyor motor is installed on one of the synchronous belt installation support plates. The output shaft of the motor passes through the through hole on the synchronous belt installation support plate and is connected to the synchronous belt wheel 1 of the conveying motor; both of the two synchronous belt wheel mounting plates are equipped with an active belt wheel and one of the two active belt wheels. It is connected through the driving wheel shaft; the driving wheel shaft and the end of the same side of the output shaft of the conveying motor, pass through the synchronous belt pulley mounting plate, and then connect to the synchronous belt wheel 2 of the conveying motor; the synchronous belt wheel 1 of the conveying motor and the synchronous belt wheel 2 of the conveying motor Connected by a synchronous belt; at the output end of the station conveyor line is symmetrically equipped with a synchronous belt pulley mounting plate two, on the two synchronous belt pulley mounting plate two are equipped with active pulley two; located in the station conveyor line The driving pulley 1 and the driving pulley 2 on the same side of the side plate are connected by the station conveyor belt; the synchronous belt pulley mounting plate at the output end of the station conveyor line is fixedly installed with the final stop plate at the end of the station , Below the station conveyor belt at the output end of the station conveyor line is equipped with a station positioning blocking device mounting plate fixedly connected to the side plates of the two station conveyor lines, and fixedly installed at the rear of the station positioning blocking device mounting plate Positioning plate, in front of the installation plate of the station positioning blocking device, the station blocking cylinder is fixed by the blocking cylinder mounting plate, which is used to limit the position during training.

The six workstations have the same structure of the workstation working table, and the workstation robot is fixed on the workstation working table through the robot base for conveying and assembling the corresponding parts. The station robot is movably installed on one side of the station work table. On the other side of the station work table, there is an activity training platform positioning block for positioning the activity training platform; in the first station and the second station , There are also tray baffles on the work tables of the third and sixth stations. The tray baffle is a long L-shaped baffle for fixing the tray to be operated; the work table of the station includes a rack and a desktop board. And the cabinet, the desktop board is installed on the rack, the lower part of the desktop board is provided with a hollow cabinet; the cabinet is equipped with front and rear double doors, and the door is equipped with handles; both sides of the cabinet are also equipped with side doors; the bottom of the cabinet is equipped with bottom brackets The cabinet forms a relatively closed space; the cabinet is equipped with a controller, and the side door on one side of the cabinet is fixedly installed with a pneumatic triplex through a pneumatic triplex mounting plate; a work table is installed and fixed on the side of the cabinet near the double-speed chain conveyor line Positioning block, the work table positioning block has several shapes, the middle protruding part of the work table positioning block is matched with the concave positioning block of the positioning connection device, when the work table is used, the protruding part is embedded in the concave positioning block, It is fixed by positioning pins.

The station robot adopts a commercially available ABB industrial robot, and is equipped with a multi-functional hand grip through a connecting flange at the end of the robot arm. According to different training requirements, different multi-functional hand grips are installed. The multifunctional hand grips of the industrial robots at the first station and the sixth station include a pneumatic hand grip and a vacuum suction cup hand grip that are fixed on the end connecting bottom plate at the same time, and the pneumatic hand grip adopts a relatively wide gripper; The vacuum suction cup grip adopts two vertical vacuum to take over the organ-shaped suction cups. The multifunctional hand grips of the industrial robots in the second and third stations include pneumatic hand grips and vacuum suction cup grips that are fixed on the end connecting bottom plate at the same time, and the pneumatic hand grips adopt opposite vertical grippers; vacuum; The suction cup grip uses two vertical vacuum to take over the organ-shaped suction cups. The multifunctional hand grips of the industrial robots on the fourth and fifth stations adopt parallel finger manipulators, which have two-hand grips parallel to each other.

The fourth station and the fifth station also have a vibrating disk feeding device, which includes a vibrating disk frame, a vibrating disk backing plate, a vibrating disk and a linear feeder, and the vibrating disk backing plate is installed on the vibrating disk rack On the upper plane, the vibrating plate is fixed on the right side of the vibrating plate backing plate, and a linear feeder is fixedly installed on the left side of the vibrating plate backing plate. The feeding channel of the linear feeder is connected with the discharge pipe of the vibrating plate. Material, arrange the bolts or oil cup holders one by one, and the industrial robots on the fourth and fifth stations drive the pneumatic hand to grasp and clamp a bolt or oil cup holder at the end, and assemble it at the previous station and transfer it. On the bearing seat.

The welding training room includes a welding robot, a positioner and a control cabinet. The welding robot adopts an industrial robot. The arm end of the welding robot is equipped with a welding gun through a coupling. The positioner adopts a seated positioner or a vertical positioner. The seated positioner adopts a flat welding table, and the vertical positioner adopts a vertical welding table; the control cabinet is connected with the positioner drive motor to control the movement of the positioner.

The palletizing training room includes a palletizing robot. The palletizing robot uses a commercially available six-joint industrial robot. A splint-type fixture is installed at the end of the palletizer robot through a coupling. The splint-type fixture can be replaced according to training needs.

The advantages of the present invention: a multifunctional industrial robot technology application training platform is not only suitable for the coupling assembly in the specific embodiment of the present invention, but also can be moved due to the flexible setting of the workstation and the industrial robot, and also according to the training requirements Make changes to the work station and work table layout, which can adapt to the requirements of multiple directions. By setting up a training room on the platform, the functional requirements of individual training can be met. Therefore, compared with the existing technology, this training platform is more flexible and practical, simple to operate, and suitable for promotion.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings:

Figure 1 is a schematic diagram of the overall structural layout of the platform of the present invention (industrial robots on the coupling assembly production line);

Figure 2 is a schematic diagram of the overall structural layout of the platform of the present invention (industrial robots are not on the coupling assembly production line);

Figure 3 is a schematic diagram of the structure layout of the coupling assembly production line of the platform of the present invention (industrial robots on the production line);

Figure 4 is a partial structural diagram 1 of the double-speed chain conveyor line in the present invention;

Figure 5 is a partial structural diagram 2 of the double-speed chain conveyor line in the present invention;

Figure 6 is a structural schematic diagram of the double-speed chain conveyor line of the present invention connected to the circulating lifting transfer device at the right end (the lifting transmission transmission assembly is on the lower layer);

Figure 7 is a schematic structural diagram of the double-speed chain conveyor line of the present invention connected to the left end of the circulating lifting transfer device;

Figure 8 is a schematic diagram of the industrial robot training table in the present invention fixed to the coupling assembly production line;

Figure 9 is a schematic diagram of the structure of the cyclic lifting and transferring device in the present invention;

Fig. 10 is a structural schematic diagram 1 of the jacking assembly of the circulating lifting transfer device in the present invention;

11 is a schematic diagram 2 of the lifting assembly structure of the circulating lifting transfer device in the present invention;

Figure 12 is a rear view of the lifting assembly structure of the circulating lifting transfer device of the present invention;

13 is a schematic diagram of the frame structure of the circulating lifting unit of the circulating lifting transfer device of the present invention;

14 is a structural schematic diagram 1 of the lifting transmission transmission assembly of the circulating lifting transfer device in the present invention;

15 is a schematic structural diagram 2 of the lifting transmission transmission assembly of the circulating lifting transfer device of the present invention;

16 is a schematic diagram of the structure of the station conveyor line in the present invention;

FIG. 17 is a schematic diagram of the control end structure of the station conveying line in the present invention;

Figure 18 is a schematic diagram of the structure of the working table of the present invention;

Figure 19 is a schematic diagram of the first station layout structure of the present invention;

20 is a schematic diagram of the multifunctional hand grasping structure of the industrial robot on the first station and the sixth station of the present invention;

Figure 21 is a schematic diagram of the second station layout structure of the present invention;

Figure 22 is a schematic diagram of the multifunctional hand grasping structure of the industrial robot at the second and third stations in the present invention;

Figure 23 is a schematic diagram of the third station layout structure of the present invention;

Figure 24 is a schematic diagram of the fourth station layout structure of the present invention;

25 is a schematic diagram of the multifunctional hand grasping structure of the industrial robot on the fourth station and the fifth station in the present invention;

Figure 26 is a schematic view of the structure of the vibrating feeding device in the present invention;

Figure 27 is a schematic diagram of the fifth station layout structure of the present invention;

Figure 28 is a schematic diagram of the sixth station layout structure of the present invention;

Figure 29 is a schematic diagram of the multifunctional hand grasping structure of the industrial robot on the sixth station of the present invention;

Figure 30 is a layout diagram of the welding training room in the present invention (sitting positioner);

Figure 31 is a layout diagram of the welding training room in the present invention (vertical positioner);

Figure 32 is a layout diagram of the stacking training room in the present invention.

In the picture: 1. Wall, 2. Coupling assembly production line, 2-1, double-speed chain conveyor line, 2-2, station; 3. Training room, 3-1, Welding training room, 3-2 , Stacking training room;

4. Double-speed chain conveyor line, 4-1, double-speed chain conveyor line frame, 4-2, double-speed chain positioning plate, 4-3, positioning pin, 4-4, blocking cylinder mounting plate, 4-5, blocking cylinder, 4-6. Positioning block of connecting device, 4-7. Positioning pin of connecting device, 4-8. Positioning connecting device;

5. Circulating lifting and transferring device;

6. Lifting components, 6-1, cylinder bottom plate, 6-2, fixed plate, 6-3, support plate, 6-4, middle support plate, 6-5, guide rail, 6-6, slider, 6 7. Transferring lifting chain through hole, 6-8, first chain mounting part, 6-9, second chain mounting part, 6-10, nut, 6-11, cylinder through hole, 6-12, cylinder support plate , 6-13, cylinder piston rod, 6-14, floating joint, 6-15, cylinder top column, 6-16, lifting sprocket shaft, 6-17, cylinder lifting sprocket, 6-18, shifting and lifting Chain, 6-19, the first supporting plate, 6-20, the second supporting plate, 6-21, the bottom plate of the transfer and conveying motor; 6-22, the lifting transmission transmission assembly, 6-22-1, the pulley fixing plate, 6-22-2, fixed wheel with guide groove, 6-22-3, transfer conveyor system motor, 6-22-4, pattern belt with guide, 6-22-5, steering drive shaft, 6-22- 6. The first driven sprocket for lifting transmission, 6-22-7, the mounting plate of the conveying transfer motor, 6-22-8, the second driven sprocket for lifting transmission, 6-22-9, the transfer chain; 6 -23. Support rod, 6-24. Lifting cylinder;

7. Circulating lifting unit frame, 7-1, lifting unit support rod, 7-2, lifting unit cross bar, 7-3, lifting unit frame connecting rod, 7-4, supporting foot;

8-1, the first lifting unit support rod, 8-2, the second lifting unit support rod, 8-3, the third lifting unit support rod, 8-4, the fourth lifting unit support rod, 8-5, the fifth Lifting unit support rod, 8-6, the sixth lifting unit support rod, 8-7, the seventh lifting unit support rod, 8-8, the eighth lifting unit support rod;

9-1, the first lifting unit cross bar, 9-2, the second lifting unit cross bar, 9-3, the third lifting unit cross bar, 9-4, the fourth lifting unit cross bar, 9-5, the fifth Lifting unit cross bar, 9-6, the sixth lifting unit cross bar, 9-7, the seventh lifting unit cross bar;

10-1, the link of the first lifting unit, 10-2, the link of the second lifting unit, 10-3, the link of the third lifting unit, 10-4, the link of the fourth lifting unit, 10-5, the fifth Lifting unit connecting rod, 10-6, the sixth lifting unit connecting rod, 10-7, the seventh lifting unit connecting rod, 10-8, the eighth lifting unit connecting rod;

11-1. Right-angle pieces, 11-2, corner pieces, 11-3, front sealing plate, 11-4, rear sealing plate, 11-5, tray;

12. The first station, 13, the second station, 14, the third station, 15, the fourth station, 16, the fifth station, 17, and the sixth station;

18. Station conveyor line, 18-1, station conveyor line frame, 18-2, station conveyor line side plate, 18-3, conveyor motor, 18-4, synchronous belt pulley mounting plate 1, 18- 5. Synchronous belt installation support plate, 18-6, synchronous belt driving wheel installation connecting plate, 18-7, conveyor motor synchronous belt wheel one, 18-8, driving belt wheel one, 18-9, driving axle, 18-10 , Conveyor motor synchronous belt wheel two, 18-11, synchronous belt, 18-12, active belt wheel two, 18-13, station conveyor belt, 18-14, station final stop plate, 18-15, station positioning Blocking device mounting plate, 18-16, positioning plate, 18-17, blocking cylinder mounting plate, 18-18, station blocking cylinder, 18-19, timing belt pulley mounting plate two;

19. Work desk, 19-1, rack, 19-2, desktop board, 19-3, cabinet, 19-4, double door, 19-5, handle, 19-6, side door, 19-7, Pneumatic triple parts, 19-8, work table positioning block; 20, workstation robot, 20-1, multifunctional hand grip, 21, active training platform positioning block, 22, tray baffle;

23-1, base, 23-2, bushing, 23-3, upper cover, 23-4, bolts, 23-5, oil cup holder, 23-6, bearing seat (finished product);

24. Pneumatic hand grip, 25. Vacuum suction cup hand grip;

26. Vibration plate feeding device, 26-1, vibration plate frame, 26-2, vibration plate backing plate, 26-3, vibration plate, 26-4, linear feeder;

27. Parallel finger manipulator;

28. The first welding training room, 28-1, welding robot, 28-2, positioner, 28-2-1, sitting positioner, 28-2-2 vertical positioner, 28-3 , Control cabinet; 29, the second welding training room, 30, palletizing training room, 30-1, palletizing robot, 30-2, container.

Detailed ways

Hereinafter, the present invention will be described in detail with reference to FIGS. 1 to 32 and specific embodiments.

Referring to Figures 1 to 3, the multifunctional industrial robot technology application training platform of the present invention includes a wall 1, a coupling assembly line 2 and a number of training rooms 3. The wall 1 is surrounded by the coupling assembly line 2 and the actual The outside of training room 3; the training room 3 is arranged in parallel on the side of the coupling assembly line 2; the training room 3 includes welding training room 3-1 and stacking training room 3-2, and the welding training room is used to complete Welding training, the palletizing training room is used to complete the industrial robot palletizing training, by setting the partition wall to block the harmful strong light generated in the welding training; the coupling assembly line 2 is composed of the double-speed chain conveyor line 2-1 and It consists of six stations 2-2 evenly distributed on one side of the double-speed chain conveyor line 2-1; at both ends of the double-speed chain conveyor line 2-1, a circulating lifting transfer device 5 is provided to transport the pallets from the double-speed chain Take off the line 2-1 or transfer the pallets to the double-speed chain conveyor line 2-1; the six stations are specifically the first station 12, the second station 13, the third station 14, and the fourth station 15, The fifth station 16 and the sixth station 17; the first station 12 is used for conveying and assembling the base 23-1, the second station 13 is used for conveying and assembling the bushing 23-2, and the third Station 14 is used for conveying and assembling the upper cover 23-3, the fourth station 15 is used for loading and assembling the vibration plate of the bolt 23-4, and the fifth station 16 is used for the vibration of the oil cup holder 23-6 Plate loading and assembly, the sixth station 17 is used for the handling and conveying of the bearing seat (finished product) 23-6; each station has a station conveying line 18 and a movable station working table 19.

Referring to Figures 1-8, the double-speed chain conveyor line 2-2 adopts a double-layer double-speed chain conveyor line, the double-speed chain conveyor line 2-2 is fixed on the ground by the double-speed chain conveyor frame 4-1, and the double-speed chain conveyor line 4- 1 It has an upper conveying line and a lower conveying line that are parallel to each other in opposite conveying directions. The inner side of the conveying body corresponding to the station on the upper conveying line is equipped with a pneumatic positioning device. The pneumatic positioning device has a double-speed chain positioning plate 4-2 , Four corners of the double-speed chain positioning plate 4-2 are equipped with positioning pins 4-3, under the double-speed chain positioning plate 4-2, a positioning cylinder is fixedly installed through the positioning cylinder mounting plate, and the tray 11-5 supports the workpiece to be assembled. On the double-speed chain positioning plate 4-2; on both sides of the double-speed chain positioning plate 4-2, a blocking cylinder 4-5 is installed through the blocking cylinder mounting plate 4-4 to form a pneumatic blocking device to block other trays in adjacent stations Move over to ensure that each station completes their own assembly work; the lower conveyor line transports the empty pallets back. Two circular lifting transfer devices 5 are arranged side by side at both ends of the double-speed chain conveyor line 2-1. The circulating lifting transfer device 5 at the right end of the double-speed chain conveyor line 2-1 transfers empty pallets from the lower conveyor line of the double-speed chain To the upper conveying line of the double-speed chain; the circulating lifting transfer device 5 at the left end of the double-speed chain conveying line 2-1 transfers empty pallets from the upper conveying line of the double-speed chain to the lower conveying line of the double-speed chain.

The positioning connecting device 4-8 is fixedly installed on the double-speed chain conveyor frame 4-1, and is positioned by the concave connecting device positioning block 4-6 and the connecting device installed between the two protruding plates of the connecting device positioning block 4-6 Composition of pins 4-7. The workstation working table 19 realizes the positioning on the coupling assembly production line 2 through the positioning connection device 4-8 arranged on the side of the double-speed chain conveyor line 2-1, and is fixed on the coupling assembly production line 2. When the industrial robot needs other training (such as handling, palletizing, assembling and teaching), you can move the working table 19 against the wall by removing the positioning and connecting devices 4-8, and the table top 19- 2 Put the corresponding training props on it to carry out the corresponding training.

In this embodiment, a corresponding station on the double-speed chain conveyor line 2-1 has two pneumatic blocking devices and a pneumatic positioning device, both of which are pneumatically driven. When the tray 11-5 is transported to the rear pneumatic blocking device At this time, the blocking cylinder 4-5 of the pneumatic blocking device rises and blocks the conveying of the tray 11-5. At this time, the positioning cylinder of the pneumatic positioning device rises and is accurately positioned by the positioning pin 4-3. At this time, the corresponding position can be carried out. When the operation is completed (such as assembly, assembly, welding, labeling, etc.), when the operation is completed, the positioning cylinder goes down, blocking the cylinder 4-5 from going down, and the double-speed chain drives the tray 11-5 to move to the next station.

Referring to Figures 9-15, the circulating lifting transfer device 5 includes a circulating lifting unit frame and a jacking assembly 6; the jacking assembly 6 includes a cylinder bottom plate 6-1, a fixed plate 6-2, a support plate 6-3, and a middle support plate 6-4 and the lifting transmission transmission assembly, a pair of symmetrical long fixed plates 6-2 are respectively fixedly connected to the two sides of the cylinder bottom plate 6-1; the inner side of the fixed plate 6-2 is opened with a guide rail 6-5, and the guide rail 6 The middle part of -5 is equipped with two upper and lower sliding blocks 6-6 that can move up and down along the guide rail 6-5. The two sliding blocks 6-6 are respectively fixedly connected to the upper and lower parts of the support plate 6-3. The support The plate 6-3 is L-shaped; the upper part of the symmetrical supporting plate 6-3 is connected by two supporting rods; the middle of the supporting plate 6-3 is fixedly connected with the middle supporting plate 6-4, and the two middle supporting plates 6-4 Both ends are provided with transfer lifting chain through holes 6-7, on the opposite side of the transfer lifting chain through holes 6-7 are opened transfer lifting chain mounting holes, the first chain mounting member 6-8 and the second chain The mounting parts 6-9 respectively pass through the corresponding transfer lifting chain mounting holes and are fixed on the middle support plate 6-4 by nuts 6-10; the middle support plate 6-4 is provided with a cylinder through hole 6-11; The bottom of the cylinder 6-24 is fixed to the middle of the cylinder bottom plate 6-1 through the cylinder support plate 6-12, the end of the cylinder barrel of the lifting cylinder 6-24 passes through the cylinder through hole 6-11, and the end of the cylinder piston rod 6-13 It is connected with the cylinder top column 6-15 through the floating joint 6-14. The upper cylinder top column 6-15 is provided with a jacking sprocket shaft 6-16 through hole, and the jacking sprocket shaft 6-16 passes through the jacking sprocket shaft through hole. Both ends of the jacking sprocket shaft 6-16 are respectively connected with the cylinder jacking sprocket 6-17; the cylinder jacking sprocket 6-17 is engaged with a transfer lifting chain 6-18, and one end of the transfer lifting chain 6-18 It is fixedly connected with the first chain mounting member 6-8, and the other end of the transfer lifting chain 6-18 is fixedly connected with the second chain mounting member 6-9 fixed on the cylinder bottom plate 6-1; on the support plate 6-3 The middle part and the end part of the lower transverse part are respectively equipped with a first supporting plate 6-19 and a second supporting plate 6-20 parallel to each other; fixedly installed between the first supporting plate 6-19 and the second supporting plate 6-20 There is a transfer and conveying motor bottom plate 6-21; the first support plate 6-19 and the second support plate 6-20 are equipped with a lifting transmission transmission assembly 6-22; the lifting transmission transmission assembly 6-22 includes a pulley fixing plate 6-22-1, fixed wheel with guide groove 6-22-2 and transfer conveying system motor 6-22-3; on the first support plate 6-19 and the second support plate 6-20 are installed parallel to each other The pulley fixing plate 6-22-1; on the opposite inner side of the pulley fixing plate 6-22-1 are respectively equipped with three guide groove fixed wheels 6-22-2, these three guide groove fixed wheels 6 The spacing between -22-2 is equal; the three fixed wheels with guide grooves 6-22-2 are equipped with belts with guide strips 6-22-4 on the periphery; the two fixed wheels with guide grooves opposite to each other on the rightmost side 6 Between 22-2 through the steering drive shaft 6-22 -5 is connected, the first driven sprocket 6-22-6 of lifting transmission is fixed on the steering drive shaft 6-22-5; the transfer conveying system motor 6-22-3 passes through the conveying transfer motor mounting plate 6-22 -7 is fixed on the bottom plate 6-21 of the transfer and conveying motor, and the output shaft of the transfer and conveying system motor 6-22-3 is connected with the second driven sprocket 6-22-8 of the lifting transmission; the first driven chain of the lifting transmission The wheel 6-22-6 and the second driven sprocket 6-22-8 of the lifting transmission are arranged horizontally, and are engaged with the same transfer chain 6-22-9.

The circulating lifting unit frame 7 is surrounded by the jacking assembly 6. The circulating lifting unit frame 7 includes a vertical lifting unit support rod 7-1, a horizontal lifting unit crossbar 7-2, and the lifting connecting frame support rod and the lifting unit crossbar. Unit frame connecting rod 7-3; supporting legs 7-4 are connected to the bottom end of the lifting unit support rod 7-1.

The lifting unit support rod 7-1 includes a first lifting unit support rod 8-1, a second lifting unit support rod 8-2, a third lifting unit support rod 8-3, and a fourth lifting unit support installed on the four sides of the rear frame Rod 8-4; the lifting unit crossbar 7-2 includes a first lifting unit crossbar 9-1, a second lifting unit crossbar 9-2, a third lifting unit crossbar 9-3 and a fourth lifting unit crossbar Rod 9-4; the lifting unit frame link 7-3 includes a first lifting unit link 10- installed between the two ends of the first lifting unit cross bar 9-1 and the second lifting unit cross bar 9-2 1 and the third lifting unit link 10-3, further comprising a second lifting unit link 10-2 installed between the ends of the third lifting unit cross bar 9-3 and the fourth lifting unit cross bar 9-4, and The fourth lifting unit link 10-4; a fifth lifting unit support rod 8-5 is provided in the middle of the first lifting unit link 10-1 and the second lifting unit link 10-2, and the third lifting unit link A sixth lifting unit support rod 8-6 is provided in the middle of 10-3 and the fourth lifting unit link 10-4. The front frame has a fifth lifting unit cross bar 9-5 installed between the first lifting unit support bar 8-1 and the second lifting unit support bar 8-2 and parallel to the third lifting unit cross bar 9-3 The front frame also has a sixth lifting unit cross bar 9-6 horizontally opposite to the fifth lifting unit cross bar 9-5, and a seventh lifting unit cross bar 9- horizontally opposite to the third lifting unit cross bar 9-3 7. The seventh lifting unit support rod 8-7 and the eighth lifting unit support rod 8-8 connected between the ends of the sixth lifting unit cross bar 9-6 and the seventh lifting unit cross bar 9-7 are connected to The fifth lifting unit link 10-5 and the seventh lifting unit link 10-7 between the ends of the sixth lifting unit cross bar 9-6 and the fifth lifting unit cross bar 9-5, and connected to the third lifting unit The sixth lifting unit link 10-6 and the eighth lifting unit link 10-8 between the two ends of the unit cross bar 9-3 and the seventh lifting unit cross bar 9-7.

The components of the circulating lifting unit frame 7 are all connected by right-angle pieces 11-1.

A vertical front sealing plate 11-3 is fixed at the front of the front frame through corner pieces 11-2; a vertical rear sealing plate 11-4 is fixed at the rear of the rear frame through corner pieces 11-2.

The lifting cylinder adopts a commercially available standard cylinder.

Referring to Figures 16-28, the station conveyor lines 18 of the first station 12, the second station 13, the third station 14 and the sixth station 17 have the same structure. The station conveyor line 18 adopts a belt conveyor line. The position conveyor line 18 includes a station conveyor line frame 18-1, a station conveyor line side plate 18-2 and a conveyor motor 18-3. The two station conveyor line side plates 18-2 are installed symmetrically on the station conveyor line machine. On both sides of the upper part of the frame 18-1, a synchronous belt pulley mounting plate 18-4 is installed symmetrically at the conveying end of the station conveying line 18, and a synchronous belt installation support is fixed at the bottom of the synchronous belt pulley mounting plate 18-4. Plate 18-5, a synchronous belt drive wheel installation connecting plate 18-6 is installed between the two synchronous belt installation support plates 18-5, and a conveyor motor 18-3 is installed on one of the synchronous belt installation support plates 18-5, The output shaft of the conveying motor 18-3 passes through the through hole on the synchronous belt installation support plate 18-5 and is connected to the conveying motor synchronous belt wheel 18-7; both are installed on the two synchronous belt wheel mounting plates 18-4. There is a driving pulley 18-8, the two driving pulleys 18-8 are connected by the driving axle 18-9; the driving axle 18-9 is on the same side of the output shaft of the conveying motor 18-3, passing through the timing belt After the belt wheel mounting plate 18-4 is connected with the conveyor motor synchronous belt wheel 18-10; the conveyor motor synchronous belt wheel 18-7 and the conveyor motor synchronous belt wheel 18-10 are connected by the synchronous belt 18-11; At the output end of the station conveyor line 18, there are symmetrically installed synchronous belt pulley mounting plates two 18-19, and two synchronous belt pulley mounting plates two 18-19 are equipped with active pulley two 18-12; The driving pulley 18-8 and driving pulley 18-12 on the same side of the side plate 18-2 of the conveyor line are connected by the conveyor belt 18-13 of the station; synchronization at the output end of the conveyor line 18 Mounting plate with pulley II 18-19 The end is fixedly installed with the final stop plate 18-14 of the station. Below the station conveyor belt 18-13 at the output end of the station conveyor line 18 is equipped with two station conveyor lines. The station positioning blocking device mounting plate 18-15 is fixedly connected with the plate 18-2, the positioning plate 18-16 is fixedly installed behind the station positioning blocking device mounting plate 18-15, and the station positioning blocking device mounting plate 18 is fixedly installed at the rear of the station positioning blocking device mounting plate 18-15. The front part of -15 is fixedly equipped with station blocking cylinder 18-18 through the blocking cylinder mounting plate 18-17, which is used to limit the position during training.

The six workstations have the same structure of the workstation working tables 19, and the workstation robots 20 are fixed on the workstation working tables 19 through the robot base for conveying and assembling corresponding parts. The station robot 20 is movably installed on one side of the station work table 19, and on the other side of the station work table 19 is an active training platform positioning block 21 for positioning the active training platform; in the first station 12 , The second station 13, the third station 14 and the sixth station 17 are also provided with a tray baffle 22 on the work table 19, the tray baffle 22 is a long L-shaped baffle, used to fix the tray to be operated The work station 19 includes a rack 19-1, a desktop board 19-2 and a cabinet 19-3. The desktop board 19-2 is installed on the rack 19-1, and the lower part of the desktop board 19-2 is provided with a hollow Cabinet 19-3; the cabinet 19-3 is equipped with front and rear double doors 19-4, and the door is equipped with handles 19-5; the cabinet 19-3 is also equipped with side doors 19-6; the bottom of the cabinet 19-3 is equipped with a bottom The pallet makes the cabinet 19-3 form a relatively closed space; the cabinet 19-3 is equipped with a controller, and the side door 19-6 on one side of the cabinet 19-3 is fixedly installed with the pneumatic triple piece 19- through the pneumatic triple piece mounting plate 7; A work table positioning block 19-8 is installed and fixed on the side of the cabinet 19-3 close to the double-speed chain conveying line 4. The work table positioning block 19-8 has a few shapes, and the middle protruding part of the work table positioning block 19-8 and positioning The concave positioning blocks of the connecting devices 4-8 are matched. When the work station 19 is used, the protruding part is embedded in the concave positioning block and fixed by positioning pins.

The station robot 20 adopts a commercially available ABB industrial robot, and a multifunctional hand grip 20-1 is installed at the end of the robot arm through a connecting flange, and different multifunctional hand grips are installed according to different training requirements. The multifunctional hand grip 20-1 of the industrial robot 20 on the first station 12 and the sixth station 17 includes a pneumatic hand grip 24 and a vacuum suction cup hand grip 25 fixed on the end connecting base plate at the same time, the pneumatic hand grip 24 uses a relatively wide gripper; the vacuum gripper 25 uses two vertical vacuum to take over the organ-shaped suction cup. The multifunctional hand grip 20-1 of the industrial robot 20 at the second station 13 and the third station 14 includes a pneumatic hand grip 24 and a vacuum suction cup grip 25 that are simultaneously fixed on the end connecting base plate. The pneumatic hand grip 24 adopts opposite vertical grippers; vacuum gripper 25 adopts two vertical vacuum takeover organ-type suction cups. The multifunctional hand grip of the industrial robot 20 on the fourth station 15 and the fifth station 16 adopts a parallel finger manipulator 27, which has two-hand grips parallel to each other.

Taking the first station 12 as an example, the working principles of the training stations (the first station 12, the second station 13 and the third station 14) are explained below: the base 23-1 to be assembled is placed on the tray 11- In 5, it is placed on the station conveyor line 18. The station conveyor line 18 moves forward with the tray 11-5 and the base 23-1. When it is about to be transported to the output end of the station conveyor line 18, the station conveyor line 18 The station in the pneumatic positioning device (station positioning blocking device) blocks the movement of the cylinder 18-18, and lifts up to position the tray and the base 23-1; at the same time, the station blocks the cylinder 18-18 from rising, blocking The next pallet comes over; at this time, after the station robot 20 pneumatically grips and clamps the base, it will be transported and placed on the empty pallet on the first station corresponding to the double-speed chain conveyor line 4; after the assembly is completed, the station The pneumatic hand grip 24 of the robot 20 is released; the blocking cylinder 4-5 of the pneumatic blocking device on the double-speed chain conveyor line 4 descends, and the pallet and base are transported to the next station by the double-speed chain conveyor line 4; the vacuum of the station robot 20 The suction cup grip 25 sucks the empty tray on the station conveyor line 18 and transports it to the empty tray placement place on the work table 19 of the station.

The fourth station 15 and the fifth station 16 also have a vibrating disk feeding device 26. The vibrating disk feeding device 26 includes a vibrating disk frame 26-1, a vibrating disk backing plate 26-2, a vibrating disk 26-3 and a straight line. The feeder 26-4, the vibration plate backing plate 26-2 is installed on the plane of the vibration plate frame 26-1, the vibration plate is fixed on the right side of the vibration plate backing plate 26-2, and the vibration plate backing plate 26-2 is fixed on the left side The linear feeder 26-4 is installed. The feeding channel of the linear feeder 26-4 is connected with the discharge pipe of the vibration plate 26-3. When in use, the material is loaded through the vibration plate 26-3, and the bolt 23-4 or the oil cup The seats 23-5 are arranged one by one. The industrial robot 20 on the fourth station 15 and the fifth station 16 drives the pneumatic hand grip 24 to clamp a bolt or oil cup holder at the end, which is assembled at the previous station and transferred. On the bearing seat.

The vibrating plate feeding device adopts a commercially available vibrating plate automatic feeder, such as a vibrating plate feeding mechanism produced by Xinyi Ding Equipment Co., Ltd.

The sixth station 17 is used for the handling and conveying of finished products; the working process of the sixth station 17 is as follows: the vacuum suction cup of the station robot 20 handles the pallet from the pallet placement place of the working table 19 of the sixth station To the lower end of the station conveyor line 18, and then position, the pneumatic hand grip of the station robot 20 transports the finished product on the double-speed chain conveyor line 4 to the pallet (just moved over) on the station conveyor line 18. The position conveyor line 18 drives the pallets to move and convey (the conveying direction is just opposite to the first station 12), and the empty pallets on the double-speed chain conveyor line 4 are conveyed to the lower double-speed chain conveyor line 4 through the circulating lift transfer device 5, so far , The assembly of the coupling on the double-speed chain conveyor line 4 has completed a cycle.

The welding training room 3-1 includes the first welding training room 28 and the second welding training room 29. The welding training room 3-1 is equipped with a welding robot 28-1, a positioner 28-2 and a control cabinet 28- 3. The welding robot 28-1 adopts an industrial robot, the arm end of the welding robot 28-1 is equipped with a welding torch through a coupling, and the positioner 28-2 adopts a seated positioner 28-2-1 or a vertical positioner. Positioner 28-2-2, sitting positioner 28-2-1 adopts plane welding table, vertical positioner 28-2-2 adopts vertical welding table; control cabinet 28-3 and positioner The drive motor is connected to control the action of the positioner.

The palletizing training room 30 includes a palletizing robot 30-1. The palletizing robot 30-1 uses a commercially available six-joint industrial robot. The arm end of the palletizing robot 30-1 is equipped with a splint clamp through a coupling to clamp and take For containers 30-2 that need to be stacked, the splint clamps can be replaced according to training needs.

Claims

A multifunctional industrial robot technology application training platform, which is characterized in that it includes a wall, a coupling assembly production line and several training rooms. The wall is surrounded by the coupling assembly production line and the outside of the training room; the training room It is arranged in parallel on the side of the coupling assembly line; the training room includes a welding training room and a palletizing training room. The welding training room is used to complete welding training, and the palletizing training room is used to complete industrial robot palletizing training. Training; the coupling assembly production line is composed of a double-speed chain conveyor line and six stations evenly distributed on one side of the double-speed chain conveyor line; at both ends of the double-speed chain conveyor line, a circulating lifting transfer device is provided to transfer the pallets from The double-speed chain conveyor line removes or transfers the pallets to the double-speed chain conveyor line.
The multifunctional industrial robot technology application training platform according to claim 1, wherein the six stations are specifically the first station, the second station, the third station, the fourth station, and the fifth station. And the sixth station; the first station is used for conveying and assembling the base, the second station is used for conveying and assembling the bushing, the third station is used for conveying and assembling the upper cover, and the fourth The station is used for loading and assembling the vibrating plate of bolts, the fifth station is used for loading and assembling the vibrating plate of the oil cup holder, and the sixth station is used for handling and conveying finished products; each station has a station Bit conveyor line and movable station work table.
The multifunctional industrial robot technology application training platform according to claim 2, characterized in that: the structure of the station conveyor line of the first station, the second station, the third station and the sixth station is the same, and the station The conveyor line adopts a belt conveyor line. The station conveyor line includes a station conveyor line frame, a station conveyor line side plate and a conveyor motor. The two station conveyor line side plates are symmetrically installed on both sides of the upper part of the station conveyor line frame. Synchronous belt pulley mounting plate 1 is installed symmetrically at the conveying end of the station conveyor line, and a synchronous belt installation support plate is fixed at the bottom of the synchronous belt pulley installation plate. Synchronization is installed between the two synchronous belt installation support plates. The connecting plate is installed with the driving wheel. A conveyor motor is installed on one of the synchronous belt installation support plates. The output shaft of the conveyor motor passes through the through hole on the synchronous belt installation support plate and is connected to the synchronous belt wheel of the conveyor motor; on the two synchronous belts The first pulley mounting plate is equipped with a driving pulley one, and the two driving pulleys are connected by a driving axle; the end of the driving axle and the output shaft of the conveying motor on the same side, passing through the timing belt pulley mounting plate, and Conveyor motor synchronous belt wheel two is connected; Conveyor motor synchronous belt wheel 1 and conveyor motor synchronous belt wheel 2 are connected by a synchronous belt; at the output end of the station conveyor line is symmetrically equipped with a synchronous belt wheel mounting plate two, in the two The two synchronous belt pulleys are equipped with two driving pulleys; the driving pulley 1 and the driving pulley 2 located on the same side of the side plate of the station conveyor line are connected by the station conveyor belt; conveying at the station The two ends of the timing belt pulley mounting plate at the output end of the line are fixedly installed with the final stop plate of the station, and the side plate of the two station conveyor lines is fixedly connected under the station conveyor belt at the output end of the station conveyor line. Station positioning blocking device mounting plate, a positioning plate is fixedly installed at the rear of the station positioning blocking device mounting plate, and a station blocking cylinder is fixedly installed at the front of the station positioning blocking device mounting plate through the blocking cylinder mounting plate, which is used in practice. Training time limit;

The six workstations have the same structure of the workstation working table. The workstation robot is fixed on the workstation working table through the robot base for the transportation and assembly of the corresponding parts; the workstation robot is movably installed on the side of the workstation working table , There is an activity training platform positioning block on the other side of the work table of the station, which is used to position the activity training platform; in the first station, the second station, the third station and the sixth station A pallet baffle is also provided on the work desk, which is a long L-shaped baffle for fixing the tray to be operated; the work desk of the work station includes a rack, a desktop board and a cabinet, and the desktop board is installed on the rack , The lower part of the desktop board is equipped with a hollow cabinet; the cabinet is equipped with front and rear double doors, with handles on the door; side doors are also installed on both sides of the cabinet; bottom brackets are installed at the bottom of the cabinet to make the cabinet form a relatively closed space; the cabinet is installed There is a controller, the side door on one side of the cabinet is fixedly installed with a pneumatic triple piece through a pneumatic triple piece mounting plate; a work table positioning block is installed and fixed on the side of the cabinet close to the double-speed chain conveyor line. The work table positioning block has a few shapes and works. The middle protruding part of the table positioning block is matched with the concave positioning block of the positioning connection device. When the working table is used, the protruding part is embedded in the concave positioning block and fixed by the positioning pin;

The fourth station and the fifth station also have a vibrating disk feeding device, which includes a vibrating disk frame, a vibrating disk backing plate, a vibrating disk and a linear feeder, and the vibrating disk backing plate is installed on the vibrating disk rack On the upper plane, the vibrating plate is fixed on the right side of the vibrating plate backing plate, and a linear feeder is fixedly installed on the left side of the vibrating plate backing plate. The feeding channel of the linear feeder is connected with the discharge pipe of the vibrating plate. Material, arrange the bolts or oil cup holders one by one, and the industrial robots on the fourth and fifth stations drive the pneumatic hand to grasp and clamp a bolt or oil cup holder at the end, and assemble it at the previous station and transfer it. On the bearing seat.
The multifunctional industrial robot technology application training platform according to claim 3, characterized in that: the station robot adopts an ABB industrial robot, and a multifunctional hand grip is installed at the end of the robot arm through a connecting flange. The multifunctional hand grips of the industrial robots on the sixth station and the sixth station include a pneumatic hand grip and a vacuum suction cup grip that are fixed on the end connecting bottom plate at the same time. The pneumatic hand grip uses a relatively wide air claw; the vacuum suction cup hand grip Two vertical vacuum-connected organ-type suction cups are used; the multifunctional hand grip of the industrial robot at the second and third stations includes a pneumatic hand grip and a vacuum suction cup hand grip that are fixed on the end connecting bottom plate at the same time. The hand grip adopts opposite vertical grippers; the vacuum suction cup grip adopts two vertical vacuum pipe organ suction cups; the multifunctional hand grip of the industrial robot on the fourth and fifth stations uses parallel finger manipulators, which are parallel to each other Grabbing with both hands.
The multifunctional industrial robot technology application training platform according to claim 1 or 2, characterized in that: the double-speed chain conveyor line adopts a double-layer double-speed chain conveyor line, and the double-speed chain conveyor line is fixed on the ground through a double-speed chain conveyor frame. The double-speed chain conveying line has an upper conveying line and a lower conveying line that are parallel to each other in opposite conveying directions. The inner side of the conveying body corresponding to the station on the upper conveying line is equipped with a pneumatic positioning device, and the pneumatic positioning device has double-speed chain positioning The plate is equipped with positioning pins at the four corners of the positioning plate of the double-speed chain, and a positioning cylinder is fixedly installed under the positioning plate of the double-speed chain through the positioning cylinder mounting plate. The tray supports the workpiece to be assembled and placed on the positioning plate of the double-speed chain; positioning on the double-speed chain Blocking cylinders are installed on both sides of the plate through the blocking cylinder mounting plate to form a pneumatic blocking device to block other pallets from adjacent stations from moving, so as to ensure that each station completes their own assembly work; the lower conveyor line transports empty pallets back. Two circular lifting transfer devices are arranged side by side at both ends of the double-speed chain conveyor line. The circulating lifting transfer device at the right end of the double-speed chain conveyor line transfers empty pallets from the lower conveyor line of the double-speed chain to the upper conveyor line of the double-speed chain; The circulating lifting transfer device at the left end of the double-speed chain conveyor transfers empty pallets from the upper conveyor line of the double-speed chain to the lower conveyor line of the double-speed chain.
The multifunctional industrial robot technology application training platform according to claim 5, characterized in that: the work station work table realizes the positioning on the coupling assembly production line through the positioning connecting device arranged on the side of the double-speed chain conveyor line, and is fixed On the coupling assembly line.
The multifunctional industrial robot technology application training platform according to claim 6, characterized in that: the positioning connection device is fixedly installed on the frame of the double-speed chain conveyor line, and the concave connection device positioning block is installed on the connection device The connecting device between the two protruding plates of the positioning block is composed of positioning pins.
The multifunctional industrial robot technology application training platform according to claim 1, characterized in that: the circulating lifting transfer device includes a circulating lifting unit frame and a lifting assembly; the lifting assembly includes a cylinder bottom plate, a fixed plate, a supporting plate, and a middle part. The support plate and the lifting transmission transmission assembly, a pair of symmetrical long fixed plates are fixed and connected to the two sides of the cylinder bottom plate; the inner side of the fixed plate is opened with a guide rail, and the upper and lower two can move up and down along the guide rail in the middle of the guide rail. Two sliders, the two sliders are respectively fixedly connected to the upper and lower parts of the support plate, the support plate is L-shaped; the upper part of the symmetrical support plate is connected by two support rods; the middle part of the support plate is fixedly connected with a middle support Plate, both ends of the middle support plate are provided with transfer lifting chain through holes, the transfer lifting chain mounting hole, the first chain mounting part and the second chain mounting part are opened on the opposite side of the transfer lifting chain through hole After passing through the corresponding transfer lifting chain installation holes, they are fixed on the middle support plate by nuts; the middle of the middle support plate is provided with a cylinder through hole; the bottom of the lifting cylinder is fixed to the middle of the cylinder bottom plate through the cylinder support plate, and the cylinder of the lifting cylinder The end of the cylinder passes through the cylinder through hole, and the end of the cylinder piston rod is connected to the cylinder top column through a floating joint. The upper part of the cylinder top column is provided with a jacking sprocket shaft through hole, and the jacking sprocket shaft passes through the jacking sprocket shaft through hole. The two ends of the lifting sprocket shaft are respectively connected with the cylinder lifting sprocket; the cylinder lifting sprocket is engaged with a transfer lifting chain, one end of the transfer lifting chain is fixedly connected with the first chain mounting member, and the transfer lifting chain The other end is fixedly connected to the second chain mounting member fixed on the bottom plate of the cylinder; the first support plate and the second support plate parallel to each other are installed in the middle and the end of the lower transverse part of the support plate; The bottom plate of the transfer conveying motor is fixedly installed between the second support plates; the first support plate and the second support plate are equipped with a lifting transmission transmission assembly; the lifting transmission transmission assembly includes a pulley fixing plate, a fixed wheel with a guide groove and Transfer and conveying system motor; on the first support plate and the second support plate are installed parallel to each other with the pulley fixing plate; on the opposite inner side of the pulley fixing plate are respectively equipped with three fixed wheels with guide grooves, these three The distances between the two fixed wheels with guide grooves are equal; the three fixed wheels with guide grooves are equipped with belts with a pattern on the periphery; the two fixed wheels with guide grooves on the far right are connected by a steering drive shaft. The first driven sprocket for lifting transmission is fixed on the drive shaft; the transfer conveying system motor is fixed on the bottom plate of the shifting conveying motor through the conveying transfer motor mounting plate, and the output shaft of the shifting conveying system motor is connected to the lifting transmission second follower. The sprocket is connected; the first driven sprocket of the lifting transmission and the second driven sprocket of the lifting transmission are arranged horizontally, and are engaged with the same transfer chain;

The circulating lifting unit frame is surrounded by the jacking assembly. The circulating lifting unit frame includes a vertical lifting unit support rod, a horizontal lifting unit crossbar, and a lifting unit frame link connecting the frame support rod and the lifting unit crossbar; the lifting unit supports Support feet are connected to the bottom end of the rod.
The multifunctional industrial robot technology application training platform according to claim 8, wherein the lifting unit support rods include a first lifting unit support rod, a second lifting unit support rod, and a third lifting unit that are installed on the four sides of the rear frame. The unit support rod and the fourth lifting unit support rod; the lifting unit crossbar includes a first lifting unit crossbar, a second lifting unit crossbar, a third lifting unit crossbar, and a fourth lifting unit crossbar; the lifting unit The frame link includes a first lifting unit link and a third lifting unit link installed between the two ends of the first lifting unit cross bar and the second lifting unit cross bar, and also includes the third lifting unit cross bar and the second lifting unit link. The second lifting unit connecting rod and the fourth lifting unit connecting rod between the two ends of the four lifting unit crossbars; the fifth lifting unit support rod is provided in the middle of the first lifting unit connecting rod and the second lifting unit connecting rod. A sixth lifting unit support rod is provided in the middle of the three lifting unit connecting rods and the fourth lifting unit connecting rod; the front frame has a support rod installed between the first lifting unit support rod and the second lifting unit support rod, and is connected to the third lifting unit A fifth lifting unit crossbar parallel to the crossbar; the front frame also has a sixth lifting unit crossbar horizontally opposite to the fifth lifting unit crossbar, a seventh lifting unit crossbar horizontally opposite to the third lifting unit crossbar, The seventh lifting unit support rod and the eighth lifting unit support rod, which are connected between the sixth lifting unit cross bar and the seventh lifting unit cross bar, are connected to the sixth lifting unit cross bar and the fifth lifting unit cross bar. The fifth lifting unit link and the seventh lifting unit link between the ends, and the sixth lifting unit link and the eighth lifting unit connected between the third lifting unit cross bar and the seventh lifting unit cross bar both ends link;

The components of the frame of the circulating lifting unit are all connected by right-angle pieces;

The front part of the front frame is fixedly equipped with a vertical front sealing plate through corner pieces; the rear part of the rear frame is fixedly equipped with a vertical rear sealing plate through corner pieces.
The multifunctional industrial robot technology application training platform according to claim 1, characterized in that: the welding training room includes a welding robot, a positioner and a control cabinet, the welding robot adopts an industrial robot, and the arm end of the welding robot passes The coupling is equipped with a welding gun, the positioner adopts a seated positioner or a vertical positioner, the seated positioner adopts a flat welding table, and the vertical positioner adopts a vertical welding table; the control cabinet and the changer The positioner drive motor is connected to control the action of the positioner;

The palletizing training room includes a palletizing robot. The palletizing robot uses a commercially available six-joint industrial robot. A splint clamp is installed at the palletizing robot arm end through a coupling. The splint clamp can be replaced according to the training needs.