CN107813295A - A kind of industrial robot operating training unit - Google Patents
A kind of industrial robot operating training unit Download PDFInfo
- Publication number
- CN107813295A CN107813295A CN201711130001.8A CN201711130001A CN107813295A CN 107813295 A CN107813295 A CN 107813295A CN 201711130001 A CN201711130001 A CN 201711130001A CN 107813295 A CN107813295 A CN 107813295A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- mechanical arm
- base
- industrial robot
- training unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005086 pumping Methods 0.000 abstract description 2
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 241000486406 Trachea Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot operating training unit,Including base,Mechanical arm and workbench,The base side is fixedly connected with power supply,The base upper surface is inlaid with control panel,The side of the base upper surface is fixedly connected with fixed seat,The opposite side of the base upper surface is fixedly connected with workbench,Standing groove is provided with the center of the worktable upper surface,The standing groove is internally provided with cylinder thing block,Pressure sensor is fixedly connected with the center of the cylinder thing block upper surface,Encoder is fixedly connected with the inside of described mechanical arm one end,The upper surface of the mechanical arm other end is fixedly connected with aspiration pump,The pumping pump output terminal is fixedly connected with tracheae,The one end of the tracheae away from aspiration pump is fixedly connected with vacuum cup,This industrial robot operating training unit can carry out speed control exercise by adding encoder,Precision control exercise can be carried out by adding pressure sensor.
Description
Technical field
The present invention relates to robotic training engineering device technique field, specially a kind of industrial robot operating training unit.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions, it can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Robot control system is the brain of robot, is the principal element for determining robot function and performance, can control
Time of movement position, posture and track of the industrial robot processed in working space, operation order and action etc., but robot
The less complex program write in control system can only be handled, this also imply that have at any time occur emergency can
Energy property, professional operator's quality and ability can just determine current unexpected loss size, and some rigid connections when this
The trainee of study industrialization robot is touched, occurs some situations due to may result in without special training and operation and draws
Rise it is nervous can not normally play, cause operation robot to be slipped up, and cause device damage.
1. worker begins to operate industrial robot without special training and exercise, due to not holding mechanical arm
Translational speed, it may appear that industrial robot collides the phenomenon of other objects, so easily cause industrial robot damage, cause
Serious economic loss.
2. worker begins to operate industrial robot work without special training and exercise, worker can not determine to carry
The dynamics of goods is played, when vacuum cup pressure is inadequate, can not just hold goods, but can be caused again when vacuum cup pressure is excessive
Goods is damaged, it is therefore desirable to which existing industrial robot operating training unit is improved.
The content of the invention
It is an object of the invention to provide a kind of industrial robot operating training unit, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical scheme：A kind of industrial robot operating training unit, including
Base, mechanical arm and workbench, the base side are fixedly connected with power supply, and the base upper surface is inlaid with control panel,
The side of the base upper surface is fixedly connected with fixed seat, and the opposite side of the base upper surface is fixedly connected with workbench,
Standing groove is provided with the center of the worktable upper surface, the standing groove is internally provided with cylinder thing block, the cylinder
Pressure sensor is fixedly connected with the center of shape thing block upper surface, the both sides of the worktable upper surface are symmetrically arranged with glove
Basket, the fixed seat inner side are fixedly connected with electro hydraulicthruster, and the electro hydraulicthruster output end is fixedly connected with
Connecting rod, side of the connecting rod away from electro hydraulicthruster are fixedly connected with mechanical arm, and the inner side of described mechanical arm one end is fixed
Encoder is connected with, the upper surface of the mechanical arm other end is fixedly connected with aspiration pump, the following table of the mechanical arm other end
Face is fixedly connected with motor, and the motor output end is fixedly connected with electric drive hydraulic thruster, and the electric drive hydraulic thruster is remote
One end from motor is fixedly connected with vacuum cup, and the pumping pump output terminal is fixedly connected with tracheae, and the tracheae is remote
One end of aspiration pump is fixedly connected with vacuum cup, the control panel be electrically connected with power supply, electro hydraulicthruster, encoder,
Motor, aspiration pump and pressure sensor.
Preferably, the mechanical arm bottom is fixedly connected with sliding block, and the side of the base upper surface is provided with cooperation and slided
The chute of block.
Preferably, the base bottom is uniformly bonded with slipmat.
Preferably, the tracheae is diameter 1cm rubber hose.
Preferably, the standing groove be diameter 40cm circle, a diameter of 36cm of cylinder thing block, the storing basket
For diameter 40cm circle.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, the present invention can carry out speed control exercise by adding encoder, when in use, electric power be opened by control panel
Hydraulic driver, electro hydraulicthruster promotes mechanical arm to move by connecting rod, while encoder moves with mechanical arm, and compiles
Code device can export pulse, then according to pulse calculating speed, and speed is sent into control panel, speed is shown by control panel
The size of degree, worker adjusts electro hydraulicthruster further according to the speed of setting by control panel, so as to reach the speed of requirement
Degree, so meets exercise requirement of the worker to mechanical arm translational speed, so as to ensure that work man-hour is not in machinery
Arm collides foreign object, fine to protect industrial robot.
2nd, the present invention can carry out precision control exercise by adding pressure sensor, and corresponding positions are moved in mechanical arm
Postpone, motor, the work of motor driving electric hydraulic push rod are opened by control panel, electric drive hydraulic thruster promotes vacuum to inhale
Disk moves down, and when vacuum cup is moved at the top of cylinder thing block, vacuum cup can touch pressure sensor, and pressure passes
Pressure can be changed into electric signal and be transmitted to control panel by sensor, after waiting on control panel pressure registration to reach regulation requirement, be passed through
Control panel closes motor, then opens aspiration pump by control panel, and aspiration pump will be evacuated by cylinder in vacuum cup,
So vacuum cup can holds cylinder thing block, and the pressure of vacuum cup will not damage cylinder thing block.
Brief description of the drawings
Fig. 1 is industrial robot operating training unit front view of the present invention；
Fig. 2 is industrial robot operating training unit top view of the present invention.
In figure：1- bases；2- mechanical arms；3- workbench；4- power supplys；5- control panels；6- fixed seats；7- power hydraulic pressures push away
Dynamic device；8- connecting rods；9- chutes；10- sliding blocks；11- encoders；12- motor；13- electric drive hydraulic thrusters；14- aspiration pumps；15-
Vacuum cup；16- storing baskets；17- standing grooves；18- cylinder thing blocks；19- pressure sensors；20- slipmat；21- tracheaes.
Embodiment
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
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：A kind of industrial robot operating training unit, including bottom
Seat 1, mechanical arm 2 and workbench 3, the side of base 1 are fixedly connected with power supply 4, and the upper surface of base 1 is inlaid with chain of command
Plate 5, the side of the upper surface of base 1 are fixedly connected with fixed seat 6, and the opposite side of the upper surface of base 1 is fixedly connected with
Workbench 3, standing groove 17 is provided with the center of the upper surface of workbench 3, the standing groove 17 is internally provided with cylinder
Thing block 18, pressure sensor 19, the upper surface of workbench 3 are fixedly connected with the center of the upper surface of cylinder thing block 18
Both sides be symmetrically arranged with storing basket 16, the inner side of fixed seat 6 is fixedly connected with electro hydraulicthruster 7, the electric power liquid
The pressure output end of pusher 7 is fixedly connected with connecting rod 8, and the side of the connecting rod 8 away from electro hydraulicthruster 7 is fixedly connected with machinery
Arm 2, encoder 11 is fixedly connected with the inside of described one end of mechanical arm 2, the upper surface of the other end of mechanical arm 2 is fixedly connected
There is aspiration pump 14, the lower surface of the other end of mechanical arm 2 is fixedly connected with motor 12, and the output end of motor 12 is fixed
Electric drive hydraulic thruster 13 is connected with, the described one end of electric drive hydraulic thruster 13 away from motor 12 is fixedly connected with vacuum cup
15, the output end of aspiration pump 14 is fixedly connected with tracheae 21, and the described one end of tracheae 21 away from aspiration pump 14 is fixedly connected very
Suction disk 14, the control panel 5 are electrically connected with power supply 4, electro hydraulicthruster 7, encoder 11, motor 12, aspiration pump
14 and pressure sensor 19.
The bottom of mechanical arm 2 is fixedly connected with sliding block 10, and the side of the upper surface of base 1, which is provided with, coordinates sliding block 10
Chute 9, by being used cooperatively for chute 9 and sliding block 10, ensure that mechanical arm 2 is equal along rectilinear movement, the bottom of base 1
It is even to be bonded with slipmat 20, contacted by slipmat 20 with ground, it is ensured that when carrying out operation training, device will not be sent out worker
Raw movement, the tracheae 21 are diameter 1cm rubber hose, and tracheae 21 can flexibly be stretched using rubber hose, so as to vacuum
In movement, tracheae 21 will not fall off sucker 15, and the standing groove 17 is diameter 40cm circle, and the cylinder thing block 18 is straight
Footpath is 36cm, and the storing basket 16 is diameter 40cm circle.
Operation principle：When in use, electro hydraulicthruster 7 is opened by control panel 5, electro hydraulicthruster 7 is logical
Crossing connecting rod 8 promotes mechanical arm 2 to move, while encoder 11 moves with mechanical arm 2, and encoder 11 can export pulse, then
Control panel 5 is sent to according to pulse calculating speed, and by speed, shows the size of speed by control panel 5, worker's root again
Electro hydraulicthruster 7 is adjusted by control panel 5 according to the speed of setting, so as to reach the speed of requirement, so meets work
Exercise requirement of the people to the translational speed of mechanical arm 2, so as to ensure that work man-hour is not in that mechanical arm 2 collides foreign object,
Industrial robot is protected very well, after mechanical arm 2 is moved to relevant position, passes through control panel 5 and opens motor 12, electricity
The driving electric hydraulic push rod 13 of motivation 12 works, and electric drive hydraulic thruster 13 promotes vacuum cup 15 to move down, and treats vacuum cup
15 when being moved to cylinder thing 18 top of block, and vacuum cup 15 can touch pressure sensor 19, and pressure sensor 19 will can press
Power changes into electric signal and is transmitted to control panel 5, after waiting on control panel 5 pressure registration to reach regulation requirement, passes through control panel 5
Motor 12 is closed, then aspiration pump 14 is opened by control panel 5, aspiration pump 14 will be pumped into very by tracheae 21 in vacuum cup 15
Sky, such can of vacuum cup 15 holds cylinder thing block 18, and the pressure of vacuum cup 15 will not damage cylinder thing
Block 18, then opens motor 12 by control panel 5, and the driving electric hydraulic push rod 13 of motor 12 works, inhaled by vacuum
Disk 15 lifts cylinder thing block 18, and then opening electro hydraulicthruster 7 by control panel 5 works, and power hydraulic pressure promotes
Mechanical arm 2 is moved to the position of storing basket 16 by connecting rod 8 by device 7, then closes electro hydraulicthruster 7 by control panel 5,
By opening motor 12 by control panel 5, cylinder thing block 18 is placed into by the driving electric hydraulic push rod 13 of motor 12 to be put
In thing basket 16, aspiration pump 14, aspiration pump 14 input air, vacuum cup into vacuum cup 15 are finally opened by control panel 5
Suction between 15 and cylinder thing block 18 disappears, and this completes the operation training of an industrial robot, ensure that work
People preferably can be worked using worker robot.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of industrial robot operating training unit, including base（1）, mechanical arm（2）And workbench（3）, it is characterised in that：
The base（1）Side is fixedly connected with power supply（4）, the base（1）Upper surface is inlaid with control panel（5）, the base
（1）The side of upper surface is fixedly connected with fixed seat（6）, the base（1）The opposite side of upper surface is fixedly connected with workbench
（3）, the workbench（3）Standing groove is provided with the center of upper surface（17）, the standing groove（17）It is internally provided with cylinder
Shape thing block（18）, the cylinder thing block（18）Pressure sensor is fixedly connected with the center of upper surface（19）, the work
Platform（3）The both sides of upper surface are symmetrically arranged with storing basket（16）, the fixed seat（6）Inner side is fixedly connected with power hydraulic pressure promotion
Device（7）, the electro hydraulicthruster（7）Output end is fixedly connected with connecting rod（8）, the connecting rod（8）Pushed away away from power hydraulic pressure
Dynamic device（7）Side be fixedly connected with mechanical arm（2）, the mechanical arm（2）Encoder is fixedly connected with the inside of one end（11）, institute
State mechanical arm（2）The upper surface of the other end is fixedly connected with aspiration pump（14）, the mechanical arm（2）The lower surface of the other end is fixed
It is connected with motor（12）, the motor（12）Output end is fixedly connected with electric drive hydraulic thruster（13）, the electric hydaulic
Push rod（13）Away from motor（12）One end be fixedly connected with vacuum cup（15）, the aspiration pump（14）Output end, which is fixed, to be connected
It is connected to tracheae（21）, the tracheae（21）Away from aspiration pump（14）One end be fixedly connected with vacuum cup（14）, the chain of command
Plate（5）It is electrically connected with power supply（4）, electro hydraulicthruster（7）, encoder（11）, motor（12）, aspiration pump（14）And pressure
Sensor（19）.
A kind of 2. industrial robot operating training unit according to claim 1, it is characterised in that：The mechanical arm（2）
Bottom is fixedly connected with sliding block（10）, the base（1）The side of upper surface is provided with cooperation sliding block（10）Chute（9）.
A kind of 3. industrial robot operating training unit according to claim 1, it is characterised in that：The base（1）Bottom
Portion is uniformly bonded with slipmat（20）.
A kind of 4. industrial robot operating training unit according to claim 1, it is characterised in that：The tracheae（21）For
Diameter 1cm rubber hose.
A kind of 5. industrial robot operating training unit according to claim 1, it is characterised in that：The standing groove（17）
For diameter 40cm circle, the cylinder thing block（18）A diameter of 36cm, the storing basket（16）For diameter 40cm circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711130001.8A CN107813295A (en) | 2017-11-15 | 2017-11-15 | A kind of industrial robot operating training unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711130001.8A CN107813295A (en) | 2017-11-15 | 2017-11-15 | A kind of industrial robot operating training unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813295A true CN107813295A (en) | 2018-03-20 |
Family
ID=61609745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711130001.8A Pending CN107813295A (en) | 2017-11-15 | 2017-11-15 | A kind of industrial robot operating training unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107813295A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116312147A (en) * | 2023-05-11 | 2023-06-23 | 深圳市亚博智能科技有限公司 | Programming teaching method and system based on teaching robot |
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| CN203726482U (en) * | 2013-12-27 | 2014-07-23 | 深圳市亚的斯科技有限公司 | Transferring mechanical hand mechanism of full-automatic backlight membrane folding machine |
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| US20170062263A1 (en) * | 2015-09-01 | 2017-03-02 | Boris Kesil | Universal Gripping and Suction Chuck |
| CN206105841U (en) * | 2016-09-29 | 2017-04-19 | 广东顺德天太机器人技术有限公司 | Industrial robot |
| CN107243573A (en) * | 2017-08-11 | 2017-10-13 | 李汝和 | A kind of electric loading and unloading automatic mechanical hand of punching press |
| CN207736280U (en) * | 2017-11-15 | 2018-08-17 | 纳博特南京科技有限公司 | A kind of industrial robot operating training unit |
-
2017
- 2017-11-15 CN CN201711130001.8A patent/CN107813295A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080103165A (en) * | 2007-05-23 | 2008-11-27 | 삼성중공업 주식회사 | Marking apparatus having multi-axial encoder assembly and signal processing method |
| CN203726482U (en) * | 2013-12-27 | 2014-07-23 | 深圳市亚的斯科技有限公司 | Transferring mechanical hand mechanism of full-automatic backlight membrane folding machine |
| CN204658440U (en) * | 2015-06-10 | 2015-09-23 | 苏州市利来星辰塑业科技有限公司 | A kind of manipulator |
| US20170062263A1 (en) * | 2015-09-01 | 2017-03-02 | Boris Kesil | Universal Gripping and Suction Chuck |
| CN204976644U (en) * | 2015-09-25 | 2016-01-20 | 天津浩翔科技发展有限公司 | Loading and unloading machine people device suitable for on assembly line |
| CN206105841U (en) * | 2016-09-29 | 2017-04-19 | 广东顺德天太机器人技术有限公司 | Industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116312147A (en) * | 2023-05-11 | 2023-06-23 | 深圳市亚博智能科技有限公司 | Programming teaching method and system based on teaching robot |
| CN116312147B (en) * | 2023-05-11 | 2023-07-21 | 深圳市亚博智能科技有限公司 | Programming teaching method and system based on teaching robot |
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| PB01 | Publication | ||
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Application publication date: 20180320 |