CN110315514A - Desktop type both arms cooperation robot system for real training - Google Patents
Desktop type both arms cooperation robot system for real training Download PDFInfo
- Publication number
- CN110315514A CN110315514A CN201910727229.8A CN201910727229A CN110315514A CN 110315514 A CN110315514 A CN 110315514A CN 201910727229 A CN201910727229 A CN 201910727229A CN 110315514 A CN110315514 A CN 110315514A
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- China
- Prior art keywords
- robot
- workbench
- clamper
- sliding groove
- visual collaboration
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- 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.)
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Links
- 238000012549 training Methods 0.000 title claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 18
- 238000010586 diagram Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the desktop type both arms cooperation robot system for real training, using flexible can meet the functional requirement to the various work of complex part；It includes robot, workbench, the robot is divided into visual collaboration robot, assembly cooperation robot, the visual collaboration robot, assembly cooperation robot are installed on the workbench relatively, sliding groove is provided on the workbench between the visual collaboration robot, assembly cooperation robot, the frock clamp for placing workpiece is slidably mounted in the sliding groove, it is additionally provided with touch screen on the workbench, the material frame of storage plug-in unit is equipped on the workbench of the sliding groove end；The visual collaboration robot, assembly cooperation robot end are respectively arranged with clamper, and the clamper uses the clamping jaw type clamper of cylinder driving, and the clamper bottom end of the visual collaboration robot end is equipped with camera.
Description
Technical field
The present invention relates to robot cooperated technical fields, particularly for the desktop type both arms cooperation system, robot of real training
System.
Background technique
Robot is widely used in auto parts and components, 3C electronics, metal machinery, hardware bathroom, food and drink, service rows
Industries such as industry, scientific research and testing, medical treatment and pharmacy, and in recent years, to allowing robot to obtain in human environment to the operation of object
Extensive concern, robot can complete the big work of difficulty, such as it can be seen that operator uses on auto production line
More than 100 kilograms of soldering turret completes thousands of solder joint tasks, and working strength and work difficulty are all very big, and are grasped by robot
Work can facilitate the task of completion, this is also robot to be promoted the major reason in classroom why, but robot real training does not have at present
There is corresponding assembly experience system, general experience system is unable to satisfy robot and wants to the function of the various work of complex part
It asks, therefore, the experience system that development machines people completes complex part assembly is meaningful.
Summary of the invention
In view of the above-mentioned problems, using spirit the present invention provides the desktop type both arms cooperation robot system for real training
It is living, the functional requirement to the various work of complex part can be met.
Its technical solution is such that it includes robot, it is characterised in that: it further includes workbench, the robot
It is divided into visual collaboration robot, assembly cooperation robot, the visual collaboration robot, assembly cooperation robot are installed on relatively
On the workbench, it is provided with sliding groove on the workbench between the visual collaboration robot, assembly cooperation robot,
The frock clamp for placing workpiece is slidably mounted in the sliding groove, touch screen is additionally provided on the workbench, in the sliding
The workbench of slot end is equipped with the material frame of storage plug-in unit；The visual collaboration robot, assembly cooperation robot end
It is respectively arranged with clamper, the clamper uses clamping jaw type clamper, the clamper bottom of the visual collaboration robot end
End is equipped with camera.
It is further characterized by:
The sliding groove is provided with two, and the frock clamp includes the first L-shaped tooling base, the second tooling base,
First tooling base, the second tooling base are assemblied in respectively in the sliding groove, are equipped on the outside of first tooling base
Servo motor, inside are equipped with hollow turntable, and the servo motor is connected with the hollow turntable, the hollow turntable and support plate
One end be connected, the other end of the support plate is connected with rotating plate, between the rotating plate and second tooling base rotate connect
It connects, the support plate is equipped with microscope carrier, and the microscope carrier is equipped with gripping block, the gripping block and the clamping being set on the microscope carrier
Cylinder is connected；
The microscope carrier of the gripping block opposite side is equipped with positioning column, and the gripping block and the coupled folder
There are two tight cylinder is all provided with；
The material is provided with multiple, and is arranged side by side on the workbench, the material frame is in H-type, in the material frame phase
The frame body of opposite side is equipped with protrusion, and the material of the protrusion is rubber.
The invention has the advantages that visual collaboration robot goes out the designated mounting position of workpiece by camera scanning, dress
Plug-in unit is taken out from material frame with cooperation robot, and plug-in unit is installed to according to the position data of visual collaboration Robot Scanning by work
The existing manual assembly advantage high with assembly precision height and assembly efficiency is then compared in designated mounting position on part, using
Compare flexibly, so as to meet the functional requirement to the various work of complex part, there is preferable application and popularizations value.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of visual collaboration robot；
Fig. 3 is the structural schematic diagram of assembly cooperation robot；
Fig. 4 is the structural schematic diagram of frock clamp；
Fig. 5 is the partial structural diagram of multiple rows of material frame.
Specific embodiment
As shown in fig. 1~fig. 5, the present invention includes robot, workbench 1, and robot is divided into visual collaboration robot 2, dress
With cooperation robot 3, visual collaboration robot 2, assembly cooperation robot 3 are installed on workbench 1 relatively, in visual collaboration machine
It is provided with sliding groove 8 on workbench 1 between device people 2, assembly cooperation robot 3, frock clamp 4 can the free skating in sliding groove 8
It is dynamic, convenient for meeting matching requirements；The frock clamp 4 for placing workpiece 7 is slidably mounted in sliding groove 8, and touching is additionally provided on workbench 1
Screen 6 is touched, real-time operation, display can be carried out；The material frame 5 of storage plug-in unit is equipped on the workbench 1 of 8 end of sliding groove；Vision association
Make robot 2, assembly cooperation 3 end of robot is respectively arranged with clamper 9, the clamping jaw type that clamper 9 is driven using existing cylinder
9 bottom end of clamper of clamper 9,2 end of visual collaboration robot is equipped with camera 10.
Sliding groove 8 is provided with two, and frock clamp 4 includes the first L-shaped tooling base 4-1, the second tooling base 4-2,
First tooling base 4-1, the second tooling base 4-2 are assemblied in respectively in sliding groove 8, are equipped with and are watched on the outside of the first tooling base 4-1
Motor 4-3 is taken, inside is equipped with hollow turntable 4-4, and servo motor 4-3 is connected with hollow turntable 4-4, hollow turntable 4-4 and load
One end of plate 4-5 is connected, and the other end of support plate 4-5 is connected with rotating plate 4-10, between rotating plate 4-10 and the second tooling base 4-2
Rotation connection, support plate 4-5 are equipped with microscope carrier 4-6, and microscope carrier 4-6 is equipped with gripping block 4-7, gripping block 4-7 and is set to microscope carrier 4-6
On clamping cylinder 4-8 be connected；The microscope carrier 4-6 of the opposite side gripping block 4-7 be equipped with positioning column 4-9, and gripping block 4-7 and with
There are two its clamping cylinder 4-8 that is connected is all provided with；It is multiple to expect that frame 5 is equipped with, and is connected on workbench 1 side by side, material frame 5 is in
H-type is equipped with protrusion 11 on the frame body of material 5 opposite side of frame, and the material of protrusion 11 is rubber, provide protection against wear plug-in unit.
In the present invention, visual collaboration robot 2 scans designated mounting position (such as card slots of workpiece 7 by camera 10
Position), assembly cooperation robot 3 takes out plug-in unit, and the position data handle scanned according to visual collaboration robot 2 from material frame 5
Plug-in unit is installed on the designated mounting position on workpiece 7, when if necessary to angled inclination assembly demand, can pass through servo motor
4-3 drives hollow turntable 4-4 that microscope carrier 4-6 is made to rotate to the angle that suitable plug-in unit assembles, and (i.e. workpiece is rotated to suitable dress together
The angle matched), so as to convenient for assembly, then the existing manual assembly advantage high with assembly precision height and assembly efficiency is compared,
Using also comparing flexibly, so as to meet the functional requirement to the various work of complex part, there is preferable application and popularizations value.
Claims (4)
- The robot system 1. the desktop type both arms for real training cooperate comprising robot, it is characterised in that: it further includes work Platform, the robot are divided into visual collaboration robot, assembly cooperation robot, the visual collaboration robot, assembly cooperation machine Device people is opposite to be installed on the workbench, the work between the visual collaboration robot, assembly cooperation robot Sliding groove is provided on platform, the frock clamp for placing workpiece is slidably mounted in the sliding groove, and touching is additionally provided on the workbench Screen is touched, the material frame of storage plug-in unit is equipped on the workbench of the sliding groove end；The visual collaboration robot, assembly Cooperation robot end is respectively arranged with clamper, and the clamper uses clamping jaw type clamper, the visual collaboration robot end The clamper bottom end be equipped with camera.
- The robot system 2. the desktop type both arms according to claim 1 for real training cooperate, it is characterised in that: the cunning Dynamic slot is provided with two, and the frock clamp includes the first L-shaped tooling base, the second tooling base, first tooling bottom Seat, the second tooling base are assemblied in respectively in the sliding groove, servo motor are housed, inside is set on the outside of first tooling base There is hollow turntable, the servo motor is connected with the hollow turntable, and the hollow turntable is connected with one end of support plate, institute The other end for stating support plate is connected with rotating plate, is rotatablely connected between the rotating plate and second tooling base, sets on the support plate There is microscope carrier, the microscope carrier is equipped with gripping block, and the gripping block is connected with the clamping cylinder being set on the microscope carrier.
- The robot system 3. the desktop type both arms according to claim 2 for real training cooperate, it is characterised in that: the folder The microscope carrier of tight block opposite side is equipped with positioning column, and the gripping block and the coupled clamping cylinder are equipped with two It is a.
- The robot system 4. the desktop type both arms according to claim 1 for real training cooperate, it is characterised in that: the material It is provided with multiple, and is arranged side by side on the workbench, the material frame is in H-type, is set on the frame body of material frame opposite side There is protrusion, the material of the protrusion is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727229.8A CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727229.8A CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110315514A true CN110315514A (en) | 2019-10-11 |
| CN110315514B CN110315514B (en) | 2023-12-01 |
Family
ID=68125678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910727229.8A Active CN110315514B (en) | 2019-08-07 | 2019-08-07 | Desktop type double-arm cooperative robot system for practical training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110315514B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113093356A (en) * | 2021-03-18 | 2021-07-09 | 北京空间机电研究所 | Large-scale block optical component assembling method based on mechanical arm |
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| CN107186696A (en) * | 2017-06-02 | 2017-09-22 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
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| CN108942944A (en) * | 2018-08-17 | 2018-12-07 | 山东栋梁科技设备有限公司 | A kind of USB flash disk assembly equipment and method |
| CN209035901U (en) * | 2018-09-19 | 2019-06-28 | 湖南同惠智能科技有限公司 | A kind of automatic assembling device of mobile phone rear camera |
| CN210589269U (en) * | 2019-08-07 | 2020-05-22 | 江苏汇博机器人技术股份有限公司 | Desktop type double-arm cooperative robot system for practical training |
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2019
- 2019-08-07 CN CN201910727229.8A patent/CN110315514B/en active Active
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| US20120197438A1 (en) * | 2009-12-02 | 2012-08-02 | Canon Kabushiki Kaisha | Dual arm robot |
| CN205764655U (en) * | 2016-05-19 | 2016-12-07 | 北京航天光华电子技术有限公司 | A kind of electric connector manual welding crimps adjustable clamping tooling |
| CN107186696A (en) * | 2017-06-02 | 2017-09-22 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001142A (en) * | 2021-03-18 | 2021-06-22 | 北京空间机电研究所 | Automatic double-mechanical-arm assembling system for large-scale block optical assembly |
| CN113093356A (en) * | 2021-03-18 | 2021-07-09 | 北京空间机电研究所 | Large-scale block optical component assembling method based on mechanical arm |
| CN113093356B (en) * | 2021-03-18 | 2022-08-12 | 北京空间机电研究所 | Large-scale block optical component assembling method based on mechanical arm |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110315514B (en) | 2023-12-01 |
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