WO2023045015A1 - 一种工业机器人软件开发模拟实验操控工作台 - Google Patents

一种工业机器人软件开发模拟实验操控工作台 Download PDF

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Publication number
WO2023045015A1
WO2023045015A1 PCT/CN2021/126364 CN2021126364W WO2023045015A1 WO 2023045015 A1 WO2023045015 A1 WO 2023045015A1 CN 2021126364 W CN2021126364 W CN 2021126364W WO 2023045015 A1 WO2023045015 A1 WO 2023045015A1
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Prior art keywords
simulation
software development
industrial robot
track
platform
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PCT/CN2021/126364
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English (en)
French (fr)
Inventor
王东
雷玲
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南京轩世琪源软件科技有限公司
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Publication of WO2023045015A1 publication Critical patent/WO2023045015A1/zh

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B21/00—Tables or desks for office equipment, e.g. typewriters, keyboards
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B83/00—Combinations comprising two or more pieces of furniture of different kinds
    • A47B83/04—Tables combined with other pieces of furniture
    • A47B83/045—Tables combined with cabinets
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B88/00—Drawers for tables, cabinets or like furniture; Guides for drawers
    • A47B88/40—Sliding drawers; Slides or guides therefor

Definitions

  • the invention relates to the technical field of industrial robot workbenches, in particular to an industrial robot software development simulation experiment control workbench.
  • Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices for the industrial field.
  • Industrial robots generally consist of three basic parts: the main body, the drive system and the control system.
  • Industrial robots automatically perform work through the programming instructions of CNC software. Power and control capabilities to achieve various functions.
  • the simulation experiment Before the release of the NC software of industrial robots, it is necessary to use the simulation experiment to control the workbench. With the help of the computer on the workbench, input NC instructions to the industrial robot, and measure the operating data of the industrial robot. Verify the feasibility of the software.
  • the existing simulation experiment control workbench usually has a limited simulation range, and it is difficult to store the support platform when not in use, and the use effect is not good.
  • the present invention proposes an industrial robot software development simulation experiment control workbench to overcome the above-mentioned technical problems existing in the related technologies.
  • An industrial robot software development simulation experiment control workbench including a console and a simulation table, the console is located in the middle of one side of the simulation table, and the top of the console is provided with an electronic device connected to the simulation table.
  • display screen an operation panel is provided at the middle position of the top of the console, a support platform is provided at the bottom end inside the simulation table, a hydraulic telescopic rod is provided at the middle position at the top end of the support platform, and a hydraulic telescopic rod is provided at the top end of the simulation table.
  • a support platform that is matched and connected with the hydraulic telescopic rod is provided, a simulation track is provided on the top of the support platform, a miniature simulation robot is provided on the top of the simulation track, and a number of simulation workbenches are provided on the top of the support platform .
  • a cabinet is provided on one side of the front of the console, and several drawers are provided on the other side of the front of the console.
  • a number of supporting rollers are provided at the bottom end inside the simulation table, and bar-shaped through grooves are opened at the bottom ends of both sides of the simulation table.
  • both sides of the inner bottom of the simulation table are provided with a cover plate inserted through the strip-shaped through groove, and the size of the cover plate is the same as that of the top end of the simulation table.
  • the simulated track is composed of a circular track and several branch tracks, and the circular track and the branch tracks are connected structures.
  • the miniature simulated robot is composed of a self-propelled support and a robot body, the self-propelled support is located at the top of the simulation track, and the robot body is fixedly connected to the top of the self-propelled support.
  • simulation table is connected to the rotating shaft, and the bottom end of the support platform is provided with a servo motor connected to the rotating shaft.
  • an industrial robot software development simulation experiment control workbench consisting of a console, a simulation table, an electronic display, an operation panel, a support platform, a hydraulic telescopic rod, a support platform, a simulation track, a miniature simulation robot and a simulation workbench, it is possible to Improve the simulation range of industrial robot software development, enable the robot to simulate walking, realize multi-workpiece simulation processing, and at the same time realize the lifting of the support platform, which can be stored when not in use, easy to place parts, reasonable structure, and wide range of use .
  • Fig. 1 is a schematic structural view of an industrial robot software development simulation experiment control workbench according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a support platform of an industrial robot software development simulation experiment control workbench according to an embodiment of the present invention
  • FIG. 3 is one of the internal partial structure schematic diagrams of an industrial robot software development simulation experiment control workbench according to an embodiment of the present invention
  • Fig. 4 is the second schematic diagram of the internal partial structure of an industrial robot software development simulation experiment manipulation workbench according to an embodiment of the present invention.
  • the present invention provides accompanying drawings, which are part of the disclosure of the present invention, and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments, for reference Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention.
  • the components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.
  • an industrial robot software development simulation experiment control workbench is provided.
  • the industrial robot software development simulation experiment control workbench includes a console 1 and a simulation table 2, the console 1 is located in the middle of one side of the simulation table 2, The top of the console 1 is provided with an electronic display screen 3 connected to the simulation table 2, the middle position of the top of the console 1 is provided with an operation panel 4, and the bottom end of the simulation table 2 is provided with a supporting platform 5.
  • a hydraulic telescopic rod 6 is provided at the middle position of the top of the support platform 5, and a support platform 7 that is matched and connected with the hydraulic telescopic rod 6 is provided at the top of the simulation table 2, and the top of the support platform 7
  • a simulated track 8 is provided, a miniature simulated robot 9 is provided on the top of the simulated track 8 , and several simulated workbenches 10 are provided on the top of the supporting platform 7 .
  • the industrial robot software development simulation experiment control workbench composed of 10 sets can improve the simulation range of industrial robot software development, enable the robot to perform simulated walking, realize multi-workpiece simulated processing, and at the same time realize the lifting of the support platform, which can Storage is convenient for placing parts, the structure is reasonable, and the use range is wide.
  • the console 1 is located in the middle of one side of the simulation table 2, and the top of the console 1 is provided with an electronic display screen 3 connected to the simulation table 2, and the control
  • the middle position of the top of the table 1 is provided with an operation panel 4
  • the bottom end of the simulation table 2 is provided with a support platform 5, and the middle position of the top of the support platform 5 is provided with a hydraulic telescopic rod 6, and the inside of the simulation table 2
  • the top is provided with a support platform 7 that is matched and connected with the hydraulic telescopic rod 6, and the top of the support platform 7 is provided with a simulation track 8, and the top of the simulation track 8 is provided with a miniature simulation robot 9, and the support platform 7
  • the top of the console is provided with several simulation workbenches 10, one side of the front of the console 1 is provided with a cabinet 11, the other side of the front of the console 1 is provided with several drawers 12, and the bottom of the simulation table 2 is A number of support rollers 13 are provided, and the bottom ends of both sides of the simulation table
  • the console 1 is located in the middle of one side of the simulation table 2, and the top of the console 1 is provided with an electronic display screen 3 connected to the simulation table 2, and the control
  • the middle position of the top of the table 1 is provided with an operation panel 4
  • the bottom end of the simulation table 2 is provided with a support platform 5, and the middle position of the top of the support platform 5 is provided with a hydraulic telescopic rod 6, and the inside of the simulation table 2
  • the top is provided with a support platform 7 that is matched and connected with the hydraulic telescopic rod 6, and the top of the support platform 7 is provided with a simulation track 8, and the top of the simulation track 8 is provided with a miniature simulation robot 9, and the support platform 7
  • the top is provided with some simulated workbenches 10, the simulated track 8 is composed of a circular track 16 and a number of branch tracks 17, the circular track 16 and the branch track 17 are connected structures, and the miniature simulated robot 9 consists of Self-driving support 18 and robot body 19 constitute, and described self-driving support
  • the software input is realized through the console 1, the electronic display screen 3, and the operation panel 4, and then the input software program is run through the simulated track 8, the miniature simulated robot 9 and the simulated workbench 10 to realize the simulated work.
  • Type miniature simulation robot 9 and a plurality of simulation workbenches 10, thereby can improve simulation range, can drive support platform 7 to lift by hydraulic expansion rod 6, when not in use, support platform 7 is contained in the inside of simulation platform 2, and then The cover plate 15 is taken out and covered on the top of the simulation table 2, and the components can be placed through the cabinet body 11 and the drawer 12.
  • the industrial robot software development simulation experiment control workbench composed of the miniature simulation robot 9 and the simulation workbench 10, so as to improve the simulation scope of the industrial robot software development, enable the robot to perform simulated walking, realize multi-workpiece simulated processing, and simultaneously realize the support platform
  • the lift can be stored when not in use, it is convenient to place parts, the structure is reasonable, and the use range is wide.

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  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种工业机器人软件开发模拟实验操控工作台，包括控制台（1）和模拟台（2），控制台（1）的顶部设置有电子显示屏（3），控制台（1）顶端的中间位置设置有操作面板（4），模拟台（2）内部的底端设置有支撑平台（5），支撑平台（5）顶端的中间位置设置有液压伸缩杆（6），模拟台（2）内部的顶端设置有支撑平台（7），支撑平台（7）的顶端设置有模拟轨道（8），模拟轨道（8）的顶端设置有微型模拟机器人（9），支撑平台（7）的顶端设置有若干模拟工作台（10）。有益效果：能够提高工业机器人软件开发模拟范围，使得模拟机器人（9）能够进行模拟行走，实现多工件模拟加工，同时可实现支撑平台（7）的升降，在不使用时能够进行收纳，便于对零部件进行放置，结构合理，使用范围广。

Description

一种工业机器人软件开发模拟实验操控工作台 技术领域
本发明涉及工业机器人工作台技术领域，具体来说，涉及一种工业机器人软件开发模拟实验操控工作台。
 背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，工业机器人一般由主体、驱动系统和控制系统三个基本部分组成，工业机器人通过数控软件的编程指令，自动执行工作，靠自身动力和控制能力来实现各种功能，工业机器人的数控软件在发布之前，都需要用到模拟实验操控工作台，借助工作台的计算机给工业机器人输入数控指令，通过测定工业机器人的运行数据，来验证软件的可行性。但是现有的模拟实验操控工作台通常模拟范围受限制，在不使用时难以对支撑平台进行收纳，使用效果不佳。
针对相关技术中的问题，目前尚未提出有效的解决方案。
 技术问题
针对相关技术中的问题，本发明提出一种工业机器人软件开发模拟实验操控工作台，以克服现有相关技术所存在的上述技术问题。
 技术解决方案
一种工业机器人软件开发模拟实验操控工作台，包括控制台和模拟台，所述控制台位于所述模拟台一侧的中间位置，所述控制台的顶部设置有与所述模拟台连接的电子显示屏，所述控制台顶端的中间位置设置有操作面板，所述模拟台内部的底端设置有支撑平台，所述支撑平台顶端的中间位置设置有液压伸缩杆，所述模拟台内部的顶端设置有与所述液压伸缩杆相配合连接的支撑平台，所述支撑平台的顶端设置有模拟轨道，所述模拟轨道的顶端设置有微型模拟机器人，所述支撑平台的顶端设置有若干模拟工作台。
进一步的，所述控制台正面的一侧设置有柜体，所述控制台正面的另一侧设置有若干抽屉。
进一步的，所述模拟台内部的底端设置有若干支撑滚轮，所述模拟台两侧的底端均开设有条形通槽。
进一步的，所述模拟台内部底端的两侧均设置有穿插于所述条形通槽的盖板，所述盖板的尺寸与所述模拟台顶端的尺寸相同。
进一步的，所述模拟轨道由环形轨道和若干支路轨道构成，所述环形轨道与所述支路轨道为连通结构。
进一步的，所述微型模拟机器人由自驱动支座和机器人本体构成，所述自驱动支座位于所述模拟轨道的顶端，所述机器人本体固定连接于所述自驱动支座的顶端。
进一步的，所述模拟工作台与旋转轴连接，所述支撑平台的底端设置有与所述旋转轴连接的伺服电机。
 有益效果
通过设置由控制台、模拟台、电子显示屏、操作面板、支撑平台、液压伸缩杆、支撑平台、模拟轨道、微型模拟机器人和模拟工作台构成的工业机器人软件开发模拟实验操控工作台，从而能够提高工业机器人软件开发模拟范围，使得机器人能够进行模拟行走，实现多工件模拟加工，同时可实现支撑平台的升降，在不使用时能够进行收纳，便于对零部件进行放置，结构合理，使用范围广。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明实施例的一种工业机器人软件开发模拟实验操控工作台的结构示意图；
图2是根据本发明实施例的一种工业机器人软件开发模拟实验操控工作台的支撑平台结构示意图；
图3是根据本发明实施例的一种工业机器人软件开发模拟实验操控工作台的内部局部结构示意图之一；
图4是根据本发明实施例的一种工业机器人软件开发模拟实验操控工作台的内部局部结构示意图之二。
图中：
1、控制台；2、模拟台；3、电子显示屏；4、操作面板；5、支撑平台；6、液压伸缩杆；7、支撑平台；8、模拟轨道；9、微型模拟机器人；10、模拟工作台；11、柜体；12、抽屉；13、支撑滚轮；14、条形通槽；15、盖板；16、环形轨道；17、支路轨道；18、自驱动支座；19、机器人本体；20、旋转轴；21、伺服电机。
 本发明的实施方式
为进一步说明各实施例，本发明提供有附图，这些附图为本发明揭露内容的一部分，其主要用以说明实施例，并可配合说明书的相关描述来解释实施例的运作原理，配合参考这些内容，本领域普通技术人员应能理解其他可能的实施方式以及本发明的优点，图中的组件并未按比例绘制，而类似的组件符号通常用来表示类似的组件。
根据本发明的实施例，提供了一种工业机器人软件开发模拟实验操控工作台。
实施例一：
如图1-4所示，根据本发明实施例的工业机器人软件开发模拟实验操控工作台，包括控制台1和模拟台2，所述控制台1位于所述模拟台2一侧的中间位置，所述控制台1的顶部设置有与所述模拟台2连接的电子显示屏3，所述控制台1顶端的中间位置设置有操作面板4，所述模拟台2内部的底端设置有支撑平台5，所述支撑平台5顶端的中间位置设置有液压伸缩杆6，所述模拟台2内部的顶端设置有与所述液压伸缩杆6相配合连接的支撑平台7，所述支撑平台7的顶端设置有模拟轨道8，所述模拟轨道8的顶端设置有微型模拟机器人9，所述支撑平台7的顶端设置有若干模拟工作台10。
借助于上述技术方案，通过设置由控制台1、模拟台2、电子显示屏3、操作面板4、支撑平台5、液压伸缩杆6、支撑平台7、模拟轨道8、微型模拟机器人9和模拟工作台10构成的工业机器人软件开发模拟实验操控工作台，从而能够提高工业机器人软件开发模拟范围，使得机器人能够进行模拟行走，实现多工件模拟加工，同时可实现支撑平台的升降，在不使用时能够进行收纳，便于对零部件进行放置，结构合理，使用范围广。
实施例二：
如图1-4所示，所述控制台1位于所述模拟台2一侧的中间位置，所述控制台1的顶部设置有与所述模拟台2连接的电子显示屏3，所述控制台1顶端的中间位置设置有操作面板4，所述模拟台2内部的底端设置有支撑平台5，所述支撑平台5顶端的中间位置设置有液压伸缩杆6，所述模拟台2内部的顶端设置有与所述液压伸缩杆6相配合连接的支撑平台7，所述支撑平台7的顶端设置有模拟轨道8，所述模拟轨道8的顶端设置有微型模拟机器人9，所述支撑平台7的顶端设置有若干模拟工作台10，所述控制台1正面的一侧设置有柜体11，所述控制台1正面的另一侧设置有若干抽屉12，所述模拟台2内部的底端设置有若干支撑滚轮13，所述模拟台2两侧的底端均开设有条形通槽14，所述模拟台2内部底端的两侧均设置有穿插于所述条形通槽14的盖板15，所述盖板15的尺寸与所述模拟台2顶端的尺寸相同。
实施例三：
如图1-4所示，所述控制台1位于所述模拟台2一侧的中间位置，所述控制台1的顶部设置有与所述模拟台2连接的电子显示屏3，所述控制台1顶端的中间位置设置有操作面板4，所述模拟台2内部的底端设置有支撑平台5，所述支撑平台5顶端的中间位置设置有液压伸缩杆6，所述模拟台2内部的顶端设置有与所述液压伸缩杆6相配合连接的支撑平台7，所述支撑平台7的顶端设置有模拟轨道8，所述模拟轨道8的顶端设置有微型模拟机器人9，所述支撑平台7的顶端设置有若干模拟工作台10，所述模拟轨道8由环形轨道16和若干支路轨道17构成，所述环形轨道16与所述支路轨道17为连通结构，所述微型模拟机器人9由自驱动支座18和机器人本体19构成，所述自驱动支座18位于所述模拟轨道8的顶端，所述机器人本体19固定连接于所述自驱动支座18的顶端，所述模拟工作台10与旋转轴20连接，所述支撑平台7的底端设置有与所述旋转轴20连接的伺服电机21。
为了方便理解本发明的上述技术方案，以下就本发明在实际过程中的工作原理或者操作方式进行详细说明。
在实际应用时，通过控制台1、电子显示屏3、操作面板4实现软件输入，然后通过模拟轨道8、微型模拟机器人9和模拟工作台10运行输入的软件程序，实现模拟工作，通过可移动式微型模拟机器人9以及多个模拟工作台10，从而能够提高模拟范围，通过液压伸缩杆6能够带动支撑平台7进行升降，在不使用时，将支撑平台7收纳在模拟台2的内部，然后将盖板15取出盖在模拟台2的顶端，通过柜体11和抽屉12能够对零部件进行放置。
综上所述，借助于本发明的上述技术方案，通过设置由控制台1、模拟台2、电子显示屏3、操作面板4、支撑平台5、液压伸缩杆6、支撑平台7、模拟轨道8、微型模拟机器人9和模拟工作台10构成的工业机器人软件开发模拟实验操控工作台，从而能够提高工业机器人软件开发模拟范围，使得机器人能够进行模拟行走，实现多工件模拟加工，同时可实现支撑平台的升降，在不使用时能够进行收纳，便于对零部件进行放置，结构合理，使用范围广。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种工业机器人软件开发模拟实验操控工作台，其特征在于，包括控制台（1）和模拟台（2），所述控制台（1）位于所述模拟台（2）一侧的中间位置，所述控制台（1）的顶部设置有与所述模拟台（2）连接的电子显示屏（3），所述控制台（1）顶端的中间位置设置有操作面板（4），所述模拟台（2）内部的底端设置有支撑平台（5），所述支撑平台（5）顶端的中间位置设置有液压伸缩杆（6），所述模拟台（2）内部的顶端设置有与所述液压伸缩杆（6）相配合连接的支撑平台（7），所述支撑平台（7）的顶端设置有模拟轨道（8），所述模拟轨道（8）的顶端设置有微型模拟机器人（9），所述支撑平台（7）的顶端设置有若干模拟工作台（10）。
  2. 根据权利要求1所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述控制台（1）正面的一侧设置有柜体（11），所述控制台（1）正面的另一侧设置有若干抽屉（12）。
  3. 根据权利要求1所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述模拟台（2）内部的底端设置有若干支撑滚轮（13），所述模拟台（2）两侧的底端均开设有条形通槽（14）。
  4. 根据权利要求3所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述模拟台（2）内部底端的两侧均设置有穿插于所述条形通槽（14）的盖板（15），所述盖板（15）的尺寸与所述模拟台（2）顶端的尺寸相同。
  5. 根据权利要求1所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述模拟轨道（8）由环形轨道（16）和若干支路轨道（17）构成，所述环形轨道（16）与所述支路轨道（17）为连通结构。
  6. 根据权利要求1所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述微型模拟机器人（9）由自驱动支座（18）和机器人本体（19）构成，所述自驱动支座（18）位于所述模拟轨道（8）的顶端，所述机器人本体（19）固定连接于所述自驱动支座（18）的顶端。
  7. 根据权利要求1所述的一种工业机器人软件开发模拟实验操控工作台，其特征在于，所述模拟工作台（10）与旋转轴（20）连接，所述支撑平台（7）的底端设置有与所述旋转轴（20）连接的伺服电机（21）。
PCT/CN2021/126364 2021-09-23 2021-10-26 一种工业机器人软件开发模拟实验操控工作台 WO2023045015A1 (zh)

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