CN106297526A - A kind of modularity six-joint robot comprehensive practical traning platform - Google Patents
A kind of modularity six-joint robot comprehensive practical traning platform Download PDFInfo
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- CN106297526A CN106297526A CN201610919601.1A CN201610919601A CN106297526A CN 106297526 A CN106297526 A CN 106297526A CN 201610919601 A CN201610919601 A CN 201610919601A CN 106297526 A CN106297526 A CN 106297526A
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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
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The present invention provides a kind of modularity six-joint robot comprehensive practical traning platform, and including six-joint robot, module mounting plate, real training functional module and electrical equipment mainboard module, module mounting plate is concentric annular sector face structure；Real training functional module has the multiple of separate modular design, each real training functional module all can be detachably fixedly arranged on module mounting plate, the described real training functional module that module mounting plate is fixed on the module mounting plate of five concentric annular sector structures can amplitude peak cover six-joint robot ± 165 ° stroke range.A kind of modularity six-joint robot comprehensive practical traning platform of the present invention, each real training functional module independent design, function splits, each module is convenient replaces, function setting is from the superficial to the deep and simple easily left-hand seat, overcome the defect that teaching product function singleness, nothing examine link to arrange, it is possible to auxiliary student studies the various functions of six-joint robot in depth, it is intended that the autonomous manipulative ability of training student is examined with carrying out being correlated with.
Description
Technical field
The invention belongs to industrial robot practice teaching platform technology field, be specifically related to a kind of modularity six-joint robot
Comprehensive practical traning platform.
Background technology
Robot practical traning platform is that one can be competent at Mechatronics specialities education experiment, can carry out again relevant speciality vocational skills
Training, the platform of examination.Existing industrial robot training platform comprises industrial robot, intelligent vision system, RFID data
System, PLC control system and mechanism, it is possible to achieve the workpiece of high-speed transfer is sorted, detect, the operation such as carrying.Can enter
Row mechanical package, electrical design (PLC, intelligent vision), RFID data application etc. are trained, and are suitable for the reality of colleges and universities' automation major
Training teaching, engineering training and technical ability match.
Automatic assembly line dismounting and debugging actual training device are the most typical dynamo-electric and automated productions of one, melt Machinery Ministry
Part installation and debugging, the installation and debugging of pneumatic system, the installation of electric control circuit and PLC programming, mechanical and electric equipment installation with
Debugging, automatic control system installation and debugging, in one, meet practice-training teaching, engineering training and the needs of professional competition；Should be certainly
Dynamic production line dismounting uses profile structure with debugging actual training device, and it is provided with well formula feed, machining, multistation dress
Join, Pneumatic manipulator is carried, belt transmits the work stations such as sorting and corresponding power module, button module, PLC module, frequency conversion
Device and alternating current generator module, step motor drive module, driven by servomotor module and various industrial sensors etc. control detection
Unit.System uses PLC industrial network communication technology to realize system interlink, feed in true reappearance industry automatic assembly line,
Detection, carrying, machining, assemble, carry, sort process.It is manufacturing on field basic again for religion close to commercial production
Learn and real training purpose has carried out specialized designs, enhance the installation and debugging ability of automatic production line, can preferably meet work
Learn and combine, with work process for the item teaching method guided, its abundant in content, function integration；But, price is higher, does not all have
Modularity simple function is arranged, and interchangeability is poor, function setting excessively electric automatization, requires higher to student, significantly limits
Raw autonomic learning.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of modularity six-joint robot comprehensive practical traning platform, each real training
Functional module independent design, function splits, easy to learn, it is possible to auxiliary student studies the various functions of robot in depth, it is intended that
The autonomous manipulative ability of training student is examined with carrying out being correlated with；Meanwhile, it is capable to covering six-joint robot joint shaft ± 165 °
Stroke range, without changing the installation site of robot during field research, time saving and energy saving；On the other hand, optimize structure to set
Meter and optimize the module mounting plate of position, hole design, individual module installing plate is at best able to convert thirties kinds of fixed positions, five
The module mounting plate being bolted together is at best able to convert more than 180 kind of assigned position, has fabulous interchangeability, is suitable for
The installation of multiple functional modules or independence or merging is shown, the interest of raising robot teaching and the participation of student are interactive.
For reaching above-mentioned purpose, technical scheme is as follows: a kind of modularity six-joint robot comprehensive practical traning platform, bag
Include practical traning platform cabinet and be arranged on the practical traning platform table top on its top, it is characterised in that: it also includes that six-joint robot, module are installed
Plate, real training functional module and electrical equipment mainboard module, on described practical traning platform table top, the length bearing of trend along its table top is provided with
Sliding tray,
-described six-joint robot, it can be detachably fixedly arranged on described practical traning platform table top by robot installing plate, its
Robot controller is arranged in described practical traning platform cabinet；
-described module mounting plate, it can be fixed on practical traning platform table top along what described sliding tray moved, and it is concentric
Annular sector face structure, it has five be disposed proximate to successively, and described robot installing plate is arranged on and is disposed proximate to successively
The center of five module mounting plates；
-described real training functional module, its have separate modular design multiple, each described real training functional module all can
It is detachably fixedly arranged on described module mounting plate, and described real training during sliding in sliding tray with described module mounting plate
Functional module can move freely in the stroke range of six-joint robot, and is fixed on five concentric annular sector structures
Described real training functional module on module mounting plate can cover the stroke range of six-joint robot ± 165 °；
Described real training functional module at least include basic module, load module, piling module, gluing module, transfer module,
Laser engraving module, welding module, conveyer belt transfer module；
-described electrical equipment mainboard module, its main body is arranged in practical traning platform cabinet, the electricity of each described real training functional module
Gas element and connection are all integrated on described electrical equipment mainboard module；
Described electrical equipment mainboard module can carry out corresponding teaching operation, real training after electrically connecting with robot controller
Operation and skill examination；
The zone line of described module mounting plate is provided with several screwed holes, and the aperture of each described screwed hole is identical, and two
The hole heart of two adjacent screw holes, away from identical, is appeased the border area the vertical of the hole heart of screwed hole of edge and module mounting plate edge near module
Straight distance be adjacent screw holes two-by-two the hole heart away from half.
In one preferred embodiment of the present invention, farther include to be equipped with on each described module mounting plate nine screw threads
Hole, the hole heart line of six of which screwed hole forms regular hexagon, and one of them screwed hole is arranged on the orthohexagonal of formation
In in the heart, two screwed holes therein are separately positioned on the orthohexagonal monolateral Bidirectional extension line of formation.
In one preferred embodiment of the present invention, farther include the central angle of the module mounting plate of annular sector face structure
Being 60 °, the central angle after the described module mounting plate of five annular sector face structures is disposed proximate to successively is 300 °.
In one preferred embodiment of the present invention, farther include to be additionally provided with center line scaling board on described practical traning platform table top,
Described center line scaling board is arranged between module mounting plate and robot installing plate, described center line scaling board, robot installing plate
Be equipped with centering line on each module mounting plate, described centering line is straight line, and described center line scaling board during installation, robot are installed
Described centering line on plate and module mounting plate three's plate face is on same straight line.
In one preferred embodiment of the present invention, farther include each described real training functional module and be each equipped with function mould
Block, the action executing end of described six-joint robot is provided with common flange, and each described function fixture can by high head stepped screw
It is detachably fixedly arranged in described common flange, or/and each described function fixture can be detachably fixedly arranged at institute by composite fixture
State in common flange；
Described composite fixture includes connecting post and clamping fixture seat, and one end of described connection post is connected with clamping fixture seat, its other end
Being connected with described common flange, described clamping fixture seat is polyhedral structure, its have with described be connected post connect base plate and with institute
Stating several side panels that base plate connects, each described function fixture can be detachably fixedly arranged on side panel, described side panel phase
Being obliquely installed for base plate, described side panel at least has two；
-described function fixture, it at least has base jig, sucker clamp, laser engraving fixture, weld jig and carrying
Universal fixturing.
In one preferred embodiment of the present invention, farther include top next-door neighbour's practical traning platform table top of described practical traning platform cabinet
Being provided with banana bin panel, on described banana bin panel, each instructional template corresponding and six-joint robot are equipped with respective independence
Banana bin, described six-joint robot, fixture and the cabling involved by each real training functional module are all on banana bin panel
Connect voluntarily.
In one preferred embodiment of the present invention, in farther including described practical traning platform cabinet, just it is being positioned at practical traning platform table top
Lower section is provided with the multiple storing pavilions for individually storing each described Teaching Module.
In one preferred embodiment of the present invention, farther include described electrical equipment mainboard module and be arranged on real training cabinet
The internal underface being positioned at banana bin panel.
In one preferred embodiment of the present invention, farther include described practical traning platform cabinet near placing electrical equipment mainboard
Module side is provided with transparent cabinet door, and described practical traning platform cabinet is provided with panel beating cabinet door near placing each Teaching Module side.
The invention has the beneficial effects as follows:
One, a kind of modularity six-joint robot comprehensive practical traning platform of the present invention, each real training functional module independent design, merit
Can split, each module is convenient replaces, and function setting from the superficial to the deep and simple easily left-hand seat, overcomes teaching product function singleness, without examining
The defect that nuclear ring joint is arranged, it is possible to auxiliary student studies the various functions of six-joint robot in depth, it is intended that training student autonomous
Manipulative ability is examined with carrying out being correlated with；
Two, can amplitude peak cover six-joint robot joint shaft ± stroke range of 165 °, field research process
In without changing the installation site of robot, time saving and energy saving；On the other hand, optimized Structure Design and the module of optimization position, hole design
Installing plate, individual module installing plate is at best able to convert thirties kinds of fixed positions, five module mounting plates being bolted together
It is at best able to convert more than 180 kind of assigned position, there is fabulous interchangeability, be suitable for multiple functional modules or independence or conjunction
And installation show, the participation improving the interest of robot teaching and student is interactive；
Three, coordinate the composite fixture of six-joint robot action executing end, various of monomer fixture can be installed simultaneously, and
Can arbitrarily exchange installation, reduce the use cost of fixture with this and improve machine task efficiency；
Four, by disparate modules, the function of robot being split, student can learn by free operant, selects disparate modules
The feature operation that study is corresponding；Meanwhile, the position of each real training functional module is optional, according to the content of courses, selects single or multiple
Module mounting plate region, can avoid dry teaching model by the switching of diverse location, preferably reach teaching efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below
The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention
Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the structural representation of the practical traning platform not assembling real training functional module；
Fig. 2 is the practical traning platform plan structure schematic diagram after being assembled with real training functional module；
Fig. 3 is the structural representation of the module mounting plate after preferred embodiment of the present invention assembly；
Fig. 4 is the structural representation of preferred embodiment of the present invention module mounting plate；
Fig. 5 is the structural representation that the preferred embodiment of the present invention fixes the composite fixture after function fixture.
Wherein: 1-module mounting plate one, 11,12,13,14,15,16,17,18,19-screwed hole；
2-module mounting plate two, 21,22,23,24,25,26,27,28,29-screwed hole；
3-module mounting plate three, 31,32,33,34,35,36,37,38,39-screwed hole；
4-module mounting plate four, 41,42,43,44,45,46,47,48,49-screwed hole；
5-module mounting plate five, 51,52,53,54,55,56,57,58,59-screwed hole；
61-practical traning platform cabinet, 62-practical traning platform table top, 63-six-joint robot, 64-sliding tray, 65-center line scaling board, 66-
Centering line, 67-composite fixture, 671-connects post, 672-base plate, 673-side panel；68-banana bin panel, 69-banana plug
Seat, 70-storing pavilion, 71-transparent cabinet door, 72-panel beating cabinet door, 73-robot installing plate, 74-electrical equipment mainboard module；
6-Inner arc limit, 7-first connects limit, 8-external arc limit, and 9-second connects limit.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
As shown in Figure 1, 2, the present embodiment discloses a kind of modularity six-joint robot comprehensive practical traning platform, including practical traning platform
Cabinet 61, practical traning platform cabinet 61 top is provided with practical traning platform table top 62 and banana bin panel 68, edge on described practical traning platform table top 62
The length bearing of trend of its table top is provided with sliding tray 64, and practical traning platform table top 4 is assembled by aluminium section bar, aluminium section bar is formed and slides
Groove 64；Also include six-joint robot 63, module mounting plate, real training functional module and electrical equipment mainboard module.
Wherein, six-joint robot 63 can be detachably fixedly arranged at described practical traning platform table top 62 by robot installing plate 73
On, specifically: robot installing plate 73 is provided with installing hole, by fillister head screw and the T-nut on practical traning platform table top 62
Connect, robot installing plate 73 is fixed on practical traning platform table top 62, subsequently six-joint robot 63 is fixed on robot and installs
On plate 73；Its robot controller is arranged in described practical traning platform cabinet 61.
Described module mounting plate can be fixed on practical traning platform table top 62 along what described sliding tray 64 moved, such as Fig. 3,4 institutes
Show, the module mounting plate of the present invention have five be disposed proximate to successively, respectively module mounting plate with 1, module mounting plate two
2, module mounting plate 33, module mounting plate 44, module mounting plate 55, the structure of each described module mounting plate is identical, specifically ties
Structure is as follows: each module mounting plate is concentric annular sector face structure, its have head and the tail connect successively Inner arc limit 6, the
One connects limit 7, external arc limit 8 and second connects limit 9, and described first connects limit 7 or second connects limit 9 and the installation of adjacent module
Plate is close to arrange, and the central angle on the Inner arc limit 6 of modules installing plate is 60 °, and the central angle on external arc limit 8 is 60 °, and interior
Circular arc is arranged concentrically with external arc；The arc chord angle that the Inner arc limit 6 of each module mounting plate is formed after being close to successively arrange is 300 °,
The arc chord angle that the external arc limit of each module mounting plate is formed after being close to successively arrange is 300 °, and Inner arc is concentric with external arc sets
Put.After so five module mounting plates of structure are sequentially connected with, six-joint robot 63 is arranged on concentrically ringed home position so that
Five module mounting plates after assembly can cover six-joint robot 63 joint shaft ± stroke range of 165 ° (i.e. 330 °), real
Without changing the installation site of robot in the teaching process of border, time saving and energy saving.
Being additionally provided with center line scaling board 65 on the practical traning platform table top 62 of the present invention, described center line scaling board 65 is arranged on module peace
Between dress plate and robot installing plate 73, described center line scaling board 65, robot installing plate 73 and each module mounting plate are all provided with
Having centering line 66, described centering line 66 is straight line, by center line scaling board 65, robot installing plate 73 and module mounting plate during installation
Described centering line 66 on three's plate face aligns, and enables to connect into straight line, now may insure that five pieces of modules are installed
The working range of 5/6 circle, center line scaling board 65 and the six-joint robot 63 of plate composition is concentric.
As a further improvement on the present invention, the preferred each module mounting plate of the present invention is equipped with nine screwed holes, its
In the hole heart line of six screwed holes form regular hexagon, as a example by module mounting plate 1, for screwed hole 11,12,13,15,
17、18；One of them screwed hole be arranged on formation orthohexagonal in the heart, as a example by module mounting plate 1, for screwed hole
14；Two screwed holes therein are separately positioned on the orthohexagonal monolateral Bidirectional extension line of formation, with module mounting plate 1
As a example by, for screwed hole 16,19；Heart spacing module installing plate 1 edge, screwed hole 12,15,19,11,13,16 respective hole vertical
Distance d is the hole heart of the adjacent screw holes two-by-two half away from D, i.e. d=1/2D.The screwed hole being so designed that, at module mounting plate
When being used for fixing functional module, a module mounting plate can convert 32 kinds of fixed positions, five moulds being bolted together
Block installing plate at most can convert fixed position in 184.
Specific as follows: two adjacent screwed holes are fixed as a kind of fixed position, (6+6+4) * 2=32, install with module
As a example by plate 1, (screwed hole 14, screwed hole 11), (screwed hole 14, screwed hole 12), (screwed hole 14, screwed hole 13), (screwed hole
14, screwed hole 15), (screwed hole 14, screwed hole 17), (screwed hole 14, screwed hole 18) formed 6 kinds；
(screwed hole 11, screwed hole 12), (screwed hole 11, screwed hole 13), (screwed hole 13, screwed hole 17), (screwed hole
17, screwed hole 18), (screwed hole 1, screwed hole 15), (screwed hole 15, screwed hole 12) formed 6 kinds；
(screwed hole 8, screwed hole 19), (screwed hole 19, screwed hole 15), (screwed hole 17, screwed hole 16), (screwed hole 16,
Screwed hole 13) form 4 kinds.
If the fixture being fixed on module mounting plate is the fixture of symmetrical structure, the most be up to 6+6+4=16 kind position
Change；If the fixture being fixed on module mounting plate is the fixture of unsymmetric structure, the fixture of unsymmetric structure, above often group
Screwed hole combines to change and 2 kinds of change in location, is i.e. up to (6+6+4) * 2=32 kind change in location.
Five module mounting plates have (6+6+4) * 2*5+3*2*4=184 kind after being bolted together:
One module mounting plate forms (6+6+4) * 2 kinds, and five module mounting plates form (6+6+4) * 2*5 kinds；
Due on each module mounting plate, the hole heart of the screwed hole near module mounting plate edge and module mounting plate edge
The hole heart that vertical dimension is adjacent screw holes two-by-two away from half so that peace can be coordinated between adjacent two module mounting plates
Dress, as a example by module mounting plate 1 and module mounting plate 22, (screwed hole 16, screwed hole 29), (screwed hole 13, screwed hole
25), (screwed hole 11, screwed hole 22) formed three kinds, five module mounting plate assembly can form four above-mentioned cooperations, is considered as 3*
4 kinds；
If the fixture being fixed on module mounting plate is the fixture of unsymmetric structure, 3*4*2 kind at most can be converted.
Thus, a module mounting plate at most can convert 32 kinds of fixed positions, five modules being bolted together
Installing plate at most can convert fixed position in 184, has fabulous interchangeability, is suitable for multiple functional modules or only
Installation that is vertical or that merge is shown, the interest of raising robot teaching and the participation of student are interactive.
Described real training functional module its have separate modular design multiple, each described real training functional module all can be torn open
That unloads is fixed on described module mounting plate, after real training functional module is fixed on module mounting plate, on the one hand with described mould
During sliding in sliding tray 64, described real training functional module can be in the stroke range of six-joint robot 63 for block installing plate
Inside move freely；Another aspect and the described real training function being fixed on the module mounting plate of five concentric annular sector structures
Module can cover the stroke range of six-joint robot 63 ± 165 ° (i.e. 330 °), so, without changing during field research
The installation site of robot, time saving and energy saving.
Described electrical equipment mainboard module main body is arranged in practical traning platform cabinet 61, each described real training functional module electric
Element and connection are all integrated on described electrical equipment mainboard module；
Described electrical equipment mainboard module can carry out corresponding teaching operation, real training after electrically connecting with robot controller
Operation and skill examination.
Real training functional module is arranged on module mounting plate, and programming Control six-joint robot 63 action completes each real training function
The teaching of module and study, the fixed position of real training functional module can adjust according to actually used situation in good time, it is simple to enters
The multi-faceted teaching of row, learn and examine, the abundant interest operated.
The real training functional module of the present invention at least includes basic module, load module, piling module, gluing module, carrying
Module, laser engraving module, welding module, conveyer belt transfer module, each real training functional module is each equipped with function fixture, respectively
Function fixture all can be detachably fixedly arranged at the action executing end of six-joint robot 636, it is considered to changes real training functional module time-frequency
The impact on six-joint robot 63 action executing end of numerous displacement fixture, optimizes the action executing end at six-joint robot 63 and installs logical
With flange, the fixture corresponding to each real training functional module all can be fixed on common flange by high caster bed rank screw disassembling
On, it is preferred to use high headgear connect screw, can the most quickly dismount.
In order to improve the installation effectiveness of each real training functional module, the function fixture of the present invention can also pass through composite fixture 67
Can be detachably fixedly arranged in described common flange, concrete: as it is shown in figure 5, described composite fixture 67 includes connecting post 671 He
Clamping fixture seat, one end of described connection post 671 is connected with clamping fixture seat, and its other end is connected with described common flange, described clamping fixture seat
For polyhedral structure, it has and the described base plate 672 being connected post connection and several side panels being connected with described base plate
673, each described function fixture can be detachably fixedly arranged on side panel 673.The clamping fixture seat of the present invention forms multiple function fixture
The adaptor being simultaneously attached in common flange, installs and once can complete multiple feature operation with auxiliary robot, drop with this
The use cost of low fixture and the installation effectiveness of real training functional module, the beneficially raising of robot work efficiency.
Concrete, the side panel 673 of the present invention is obliquely installed relative to base plate 672, is so designed that and on the one hand facilitates each merit
The installation of energy fixture, is on the other hand beneficial to quickly carrying out of each function fixture coordinate system demarcation.Side panel 673 at least has two
Individual, the most at least switching can be installed by two function fixtures with this, the present invention according to actual needs, is preferably provided with four sides
Panel 673, is connected on four limits of square floor 672.Certainly, according to the needs used, it is also possible to design is more
Multiple side panels 673, the quantity of side panel 673 is not restricted.
It is general that described function fixture at least has base jig, sucker clamp, laser engraving fixture, weld jig and carrying
Fixture, is arranged in robot and coordinates each real training functional module to use.
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of basic module and six-joint robot 63 is had:
The demarcation of tool coordinates system, workpiece coordinate system demarcation, straight line teaching, circular arc teaching, irregular lines track teaching etc.；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of load module and six-joint robot 63 is had:
Workpiece assembling demonstration teaching；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of piling module and six-joint robot 63 is had:
To work-piece pile, de-stacking demonstration teaching；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of gluing module and six-joint robot 63 is had:
Simulation gluing action teaching；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of transfer module and six-joint robot 63 is had:
Workpiece is carried out the carrying teaching of point-to-point；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of laser engraving module and six-joint robot 63
Have: simulated laser engraving action teaching；
The practical traning platform of the present invention, the instructional function that can be completed by the cooperation of welding module and six-joint robot 63 is had:
Simulation welding machine action teaching；
The practical traning platform of the present invention, the teaching merit that can be completed by the cooperation of conveyer belt transfer module and six-joint robot 63
Can have: the carrying teaching that workpiece is carried out point-to-point that conveyer belt participates in.
As shown in Figure 1, 2, on described banana bin panel 68, each instructional template corresponding and six-joint robot 63 are equipped with
The most independent banana bin 69, described six-joint robot 63, fixture and the cabling involved by each real training functional module are all at perfume (or spice)
Connect voluntarily on any of several broadleaf plants socket panel 68.The electrical wiring of practical traning platform is integrated, uses the connected mode of banana bin 69 electrically to connect
Line, it is easy to operation, facilitates student's wiring to start real training.
As a further improvement on the present invention, as it is shown in figure 1, be just positioned at practical traning platform table top in described practical traning platform cabinet 61
Lower section is provided with the multiple storing pavilions 70 for individually storing each described Teaching Module.Real training functional module is complete not using when
Portion stores in storing pavilion 70, puts in order neat, it is simple to safeguard, need to use which Teaching Module just by it from storing pavilion 70
Take out, wiring electrifying startup after Teaching Module correspondence is fixed on module mounting base.
Described electrical equipment mainboard module is positioned at the back side of banana bin panel 68 in being arranged on practical traning platform cabinet 61, electrically
Cabling is built-in, it is not easy to sustain damage.
Described practical traning platform cabinet 61 is provided with transparent cabinet door 71, described real training cabinet near placing electrical equipment mainboard module side
Body 61 is provided with panel beating cabinet door 72 near placing each Teaching Module side.Electrical equipment mainboard module can be seen clearly at transparent cabinet door 71
Cabling, not opening in the case of cabinet door just can be with teaching with check that connections is the most accurate.Owing to each Teaching Module picks and places frequency
Numerous, select the panel beating cabinet door 72 that intensity is big, more folding can be born.
Practical traning platform based on said structure, all parts relating to electrical wiring, all use the mode of banana bin, from
Row selects wiring.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (9)
1. a modularity six-joint robot comprehensive practical traning platform, including practical traning platform cabinet and the practical traning platform platform being arranged on its top
Face, it is characterised in that: it also includes six-joint robot, module mounting plate, real training functional module and electrical equipment mainboard module, institute
State on practical traning platform table top the length bearing of trend along its table top and be provided with sliding tray,
-described six-joint robot, it can be detachably fixedly arranged on described practical traning platform table top by robot installing plate, its machine
People's controller is arranged in described practical traning platform cabinet；
-described module mounting plate, it can be fixed on practical traning platform table top along what described sliding tray moved, and it is concentric ring-type
Sector structure, it has five be disposed proximate to successively, and described robot installing plate is arranged on five be disposed proximate to successively
The center of module mounting plate；
-described real training functional module, its have separate modular design multiple, each described real training functional module all can be dismantled
Be fixed on described module mounting plate, and described real training function during sliding in sliding tray with described module mounting plate
Module can move freely in the stroke range of six-joint robot, and is fixed on the module of five concentric annular sector structures
Described real training functional module on installing plate can cover the stroke range of six-joint robot ± 165 °；
Described real training functional module at least includes basic module, load module, piling module, gluing module, transfer module, laser
Engraving module, welding module, conveyer belt transfer module；
-described electrical equipment mainboard module, its main body is arranged in practical traning platform cabinet, the electric unit of each described real training functional module
Part and connection are all integrated on described electrical equipment mainboard module；
Described electrical equipment mainboard module can carry out corresponding teaching operation, training operation after electrically connecting with robot controller
And skill examination；
The zone line of described module mounting plate is provided with several screwed holes, and the aperture of each described screwed hole is identical, and two is biphase
The hole heart of adjacent screwed hole away from identical, near module appease the border area the hole heart of screwed hole of edge and the vertical of module mounting plate edge away from
From for adjacent screw holes two-by-two the hole heart away from half.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: each described module
Being equipped with nine screwed holes on installing plate, the hole heart line of six of which screwed hole forms regular hexagon, one of them screwed hole
Be arranged on formation orthohexagonal in the heart, two screwed holes therein are separately positioned on the orthohexagonal monolateral double of formation
On extended line.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: annular sector face
The central angle of the module mounting plate of structure is 60 °, and the described module mounting plate of five annular sector face structures is disposed proximate to successively
After central angle be 300 °.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: described practical traning platform
Being additionally provided with center line scaling board on table top, described center line scaling board is arranged between module mounting plate and robot installing plate, described
Being equipped with centering line on center line scaling board, robot installing plate and each module mounting plate, described centering line is straight line, institute during installation
State the described centering line on center line scaling board, robot installing plate and module mounting plate three's plate face on same straight line.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: each described reality
Instruction functional module is each equipped with functional module, and the action executing end of described six-joint robot is provided with common flange, each described function
Fixture can be detachably fixedly arranged in described common flange by high head stepped screw, or/and each described function fixture is by multiple
Co-clip tool can be detachably fixedly arranged in described common flange；
Described composite fixture includes connecting post and clamping fixture seat, and one end of described connection post is connected with clamping fixture seat, its other end and institute
State common flange connect, described clamping fixture seat is polyhedral structure, its have with described be connected post connect base plate and with the described end
Plate connect several side panels, each described function fixture can be detachably fixedly arranged on side panel, described side panel relative to
Base plate is obliquely installed, and described side panel at least has two；
-described function fixture, it is general that it at least has base jig, sucker clamp, laser engraving fixture, weld jig and carrying
Fixture.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: described practical traning platform
Top next-door neighbour's practical traning platform table top of cabinet is provided with banana bin panel, on described banana bin panel each instructional template corresponding and
Six-joint robot is equipped with the most independent banana bin, involved by described six-joint robot, fixture and each real training functional module
Cabling all connect voluntarily on banana bin panel.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: described practical traning platform
The multiple storing pavilions being arranged right below for individually storing each described Teaching Module of practical traning platform table top it are positioned in cabinet.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: described electric unit
Part mainboard module is positioned at the underface of banana bin panel in being arranged on practical traning platform cabinet.
A kind of modularity six-joint robot comprehensive practical traning platform the most according to claim 1, it is characterised in that: described practical traning platform
Cabinet is provided with transparent cabinet door near placing electrical equipment mainboard module side, and described practical traning platform cabinet is near placing each Teaching Module side
It is provided with panel beating cabinet door.
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| CN201610919601.1A CN106297526A (en) | 2016-10-21 | 2016-10-21 | A kind of modularity six-joint robot comprehensive practical traning platform |
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| CN201610919601.1A CN106297526A (en) | 2016-10-21 | 2016-10-21 | A kind of modularity six-joint robot comprehensive practical traning platform |
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| CN201610919601.1A Pending CN106297526A (en) | 2016-10-21 | 2016-10-21 | A kind of modularity six-joint robot comprehensive practical traning platform |
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| CN106847061A (en) * | 2017-04-14 | 2017-06-13 | 成都福莫斯佰龙智能科技有限公司 | For the control system of intelligent robot teaching |
| CN106847060A (en) * | 2017-04-14 | 2017-06-13 | 成都福莫斯佰龙智能科技有限公司 | A kind of experimental technique of intelligent robot teaching |
| CN106875817A (en) * | 2017-04-14 | 2017-06-20 | 成都福莫斯佰龙智能科技有限公司 | Intelligent robot instructional device easy to use |
| CN106914898A (en) * | 2017-04-14 | 2017-07-04 | 成都福莫斯佰龙智能科技有限公司 | The control method of foldable intelligent robot instructional device |
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| CN107230408A (en) * | 2017-07-28 | 2017-10-03 | 合肥哈工海渡工业机器人有限公司 | A kind of interchangeable bottom plate group of polygon multiposition |
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| CN108436891A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of robot Multifunctional mobile platform |
| CN108447378A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of movable cabinet being used in robot Multifunctional mobile platform |
| CN108597290A (en) * | 2018-05-04 | 2018-09-28 | 冯敬新 | Intelligence manufacture training platform |
| CN108877469A (en) * | 2018-07-24 | 2018-11-23 | 苏州博达特机电科技有限公司 | A kind of integrated basic training platform of industrial robot |
| CN110370319A (en) * | 2019-08-07 | 2019-10-25 | 江苏汇博机器人技术股份有限公司 | A kind of dual robot calibration system and method for real training |
| CN110517552A (en) * | 2019-09-18 | 2019-11-29 | 江苏汇博机器人技术股份有限公司 | A kind of industrial robot skills practice training apparatus for checking |
| CN112652204A (en) * | 2020-12-23 | 2021-04-13 | 南京稻子菱机电设备有限公司 | Welding workstation based on six industrial robot |
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| CN106847061A (en) * | 2017-04-14 | 2017-06-13 | 成都福莫斯佰龙智能科技有限公司 | For the control system of intelligent robot teaching |
| CN106847060A (en) * | 2017-04-14 | 2017-06-13 | 成都福莫斯佰龙智能科技有限公司 | A kind of experimental technique of intelligent robot teaching |
| CN106875817A (en) * | 2017-04-14 | 2017-06-20 | 成都福莫斯佰龙智能科技有限公司 | Intelligent robot instructional device easy to use |
| CN106914898A (en) * | 2017-04-14 | 2017-07-04 | 成都福莫斯佰龙智能科技有限公司 | The control method of foldable intelligent robot instructional device |
| CN106985151A (en) * | 2017-04-14 | 2017-07-28 | 成都福莫斯佰龙智能科技有限公司 | The novel robot control system acted on storage |
| CN107230408A (en) * | 2017-07-28 | 2017-10-03 | 合肥哈工海渡工业机器人有限公司 | A kind of interchangeable bottom plate group of polygon multiposition |
| CN107248363A (en) * | 2017-07-28 | 2017-10-13 | 合肥哈工海渡工业机器人有限公司 | A kind of trapezoidal combined robot practical traning platform |
| CN107577237A (en) * | 2017-10-10 | 2018-01-12 | 深圳市普渡科技有限公司 | A kind of modular dispensing machine people |
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| CN108010430A (en) * | 2017-10-27 | 2018-05-08 | 力帆实业(集团)股份有限公司 | Motorcycle plasticine model split instrument |
| CN107900765A (en) * | 2017-11-22 | 2018-04-13 | 广东利迅达机器人***股份有限公司 | A kind of primary and secondary fixture loading and unloading equipment and its application method with robot |
| CN107909877A (en) * | 2017-12-15 | 2018-04-13 | 南京康尼电气技术有限公司 | A kind of automatic sorting actual training device and method |
| CN108597290A (en) * | 2018-05-04 | 2018-09-28 | 冯敬新 | Intelligence manufacture training platform |
| CN108436891A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of robot Multifunctional mobile platform |
| CN108447378A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of movable cabinet being used in robot Multifunctional mobile platform |
| CN108877469A (en) * | 2018-07-24 | 2018-11-23 | 苏州博达特机电科技有限公司 | A kind of integrated basic training platform of industrial robot |
| CN110370319A (en) * | 2019-08-07 | 2019-10-25 | 江苏汇博机器人技术股份有限公司 | A kind of dual robot calibration system and method for real training |
| CN110517552A (en) * | 2019-09-18 | 2019-11-29 | 江苏汇博机器人技术股份有限公司 | A kind of industrial robot skills practice training apparatus for checking |
| CN112652204A (en) * | 2020-12-23 | 2021-04-13 | 南京稻子菱机电设备有限公司 | Welding workstation based on six industrial robot |
| CN114495620A (en) * | 2022-01-21 | 2022-05-13 | 亚龙智能装备集团股份有限公司 | Intelligent rotatable real teaching platform of instructing |
| CN114495620B (en) * | 2022-01-21 | 2024-04-26 | 亚龙智能装备集团股份有限公司 | Intelligent rotatable practical training teaching platform |
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Address after: 215000 Suzhou Industrial Park, Jiangsu, Suzhou Exhibition Road, No. 8 Applicant after: JIANGSU HIT EDUBOT INDUSTRIAL ROBOT CO.,LTD. Address before: 215000 Suzhou science and Technology Industrial Park, Jiangsu Industrial Park, No. 8 in the new science and Technology Industrial Park, building 3 Applicant before: SUZHOU HIT HAIDU INDUSTRIAL ROBOT CO.,LTD. |
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Application publication date: 20170104 |
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