CN206480305U - Six-joint robot comprehensive practical traning platform - Google Patents
Six-joint robot comprehensive practical traning platform Download PDFInfo
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- CN206480305U CN206480305U CN201620977927.5U CN201620977927U CN206480305U CN 206480305 U CN206480305 U CN 206480305U CN 201620977927 U CN201620977927 U CN 201620977927U CN 206480305 U CN206480305 U CN 206480305U
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Abstract
The utility model provides a kind of six-joint robot comprehensive practical traning platform, including practical traning platform cabinet and practical traning platform table top, it also includes six-joint robot, module mounting base, Teaching Module and electrical equipment mainboard module, and six-joint robot can be detachably fixedly arranged at the center of practical traning platform table top；What module mounting base can be moved along sliding groove is fixed on practical traning platform table top；It is multiple that the separate modular that Teaching Module has is designed, and each Teaching Module can be detachably fixedly arranged on module mounting base；The electrical equipment and connection of each Teaching Module are integrated on electrical equipment mainboard module；Electrical equipment mainboard module is electrically connected with robot controller.Comprehensive practical traning platform of the present utility model, it is feature-rich, the design of each Teaching Module standalone module formula, it is simple and practical, should be readily appreciated that and upper quick-moving, student will not produce the sensation having no way of doing it when voluntarily practising, student can be aided in study the various functions of robot in depth, it is intended that the autonomous manipulative ability of training student and the related examination of progress.
Description
Technical field
The utility model belongs to industrial robot practice teaching platform technology field, and in particular to a kind of six-joint robot is comprehensive
Close practical traning platform.
Background technology
Robot practical traning platform is that one kind can be competent at Mechatronics specialities teaching experiment, and relevant speciality vocational skills can be carried out again
Training, the platform of examination.Existing industrial robot training platform includes industrial robot, intelligent vision system, RFID data
System, PLC control system and mechanism, it is possible to achieve the operation such as sorted, detected, carried to the workpiece of high-speed transfer.It can enter
The training such as row mechanical package, electrical design (PLC, intelligent vision), RFID data application, are adapted to the reality of colleges and universities' automation major
Training teaching, engineering training and technical ability match.But, existing robot training platform price is higher, and no modularization simple function is set
Put, interchangeability is poor, higher is required to student, the autonomous learning of student is greatly limit.
The content of the invention
In order to solve the above technical problems, the utility model provides a kind of six-joint robot comprehensive practical traning platform, it is feature-rich,
Each Teaching Module independent design, it is simple and practical, should be readily appreciated that and upper quick-moving, student can be aided in study the various of robot in depth
Function, it is intended that the autonomous manipulative ability of training student and the related examination of progress.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：A kind of six-joint robot comprehensive practical traning platform, including
Practical traning platform cabinet and the practical traning platform table top for being arranged on its top, it is characterised in that：It also includes six-joint robot, module and installs bottom
Sliding groove is provided with along the bearing of trend of its table top on plate, Teaching Module and electrical equipment mainboard module, the practical traning platform table top,
- the six-joint robot, it can be detachably fixedly arranged at the center of the practical traning platform table top, its robot controller
It is arranged in the practical traning platform cabinet；
- module the mounting base, what it can be moved along the sliding groove is fixed on practical traning platform table top；
- the Teaching Module, it is multiple that it has that separate modular designs, and what each Teaching Module can be dismantled consolidates
It is scheduled on the module mounting base, and it is described during being moved with the module mounting base on practical traning platform table top
Teaching Module is always positioned in the stroke range of six-joint robot；
The Teaching Module at least include elementary teaching module, transfer module, stacking module, load module, welding module,
Laser engraving module, gluing module, polishing module, spray module, belt feeder transfer module；
- electrical equipment the mainboard module, its main body is arranged in practical traning platform cabinet, the electric member of each Teaching Module
Part and connection are integrated on the electrical equipment mainboard module；
The electrical equipment mainboard module can carry out corresponding test or real training behaviour after being electrically connected with robot controller
Make.
In a preferred embodiment of the present utility model, further comprise that the module mounting base has three, three
The module mounting base is separately positioned on the outside of three sides of six-joint robot, and three module mounting bases are equal
What can be moved along the sliding groove is fixed on practical traning platform table top.
In a preferred embodiment of the present utility model, further comprise the module mounting base provided with 12 peaces
Hole is filled, each mounting hole is equal with the distance of adjacent mounting hole so that the hole heart of each mounting hole is in two unilateral coincidences
Regular hexagon apex, the bottom of each Teaching Module is equipped with fixing hole, and the Teaching Module is positioned over module peace
Dress bottom plate on after by fastener penetrate after mounting hole and fixing hole by Teaching Module can be detachably fixedly arranged at module install
On bottom plate.
In a preferred embodiment of the present utility model, further comprise that each Teaching Module is each equipped with fixture,
Each fixture can be detachably fixedly arranged at the action executing end of six-joint robot.
In a preferred embodiment of the present utility model, further comprise the top of the practical traning platform cabinet close to practical traning platform
Table top is provided with each instructional template of correspondence and six-joint robot on banana bin panel, the banana bin panel and is equipped with respectively
From independent banana bin.
In a preferred embodiment of the present utility model, further comprise being located at practical traning platform table top in the practical traning platform cabinet
The multiple storing pavilions being arranged right below for individually storing each Teaching Module, the electrical equipment mainboard module is arranged on
In practical traning platform cabinet immediately below the banana bin panel.
In a preferred embodiment of the present utility model, further comprise the practical traning platform cabinet close to placement electrical equipment
Mainboard module side is provided with transparent cabinet door, and the practical traning platform cabinet is provided with metal plate cabinet door close to each Teaching Module side is placed.
The beneficial effects of the utility model are：Six-joint robot comprehensive practical traning platform of the present utility model, feature-rich, each religion
Learn the design of module standalone module formula, it is simple and practical, should be readily appreciated that and upper quick-moving, will not produce and have no way of doing it when student voluntarily practises
Sensation, student can be aided in study the various functions of robot in depth, it is intended that the autonomous manipulative ability of training student and progress
Correlation examination.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the utility model embodiment technology, embodiment technology will be retouched below
The accompanying drawing used required in stating is briefly described, it should be apparent that, drawings in the following description are only the utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model preferred embodiment；
Fig. 2 is to install the structural representation after three class Teaching Modules；
Fig. 3 is that the utility model preferred embodiment each Teaching Module collects structural representation；
Fig. 4 is the structural representation that the fixture that the utility model preferred embodiment coordinates each Teaching Module to use collects.
Wherein, 2- practical traning platforms cabinet, 4- practical traning platform table tops, 6- six-joint robots, 8- module mounting bases, 10- sliding grooves,
12- elementary teaching modules, 14- transfer modules, 16- stacking modules, 18- load modules, 20- welding modules, 22- laser engraving moulds
Block, 24- gluing modules, 26- polishing modules, 28- spray modules, 30- belt feeder modules, 32- mounting holes, 34- elementary teachings folder
Tool, 36- sucker clamps, 38- pneumatic-finger fixtures, the wide type jaw fixtures of 40-, 42- grinding clamps, 44- laser engraving fixtures,
46- weld jigs, 48- coating glue clamps, 50- banana bin panels, 52- banana bins, 54- storings pavilion, the transparent cabinet doors of 56-, 58-
Metal plate cabinet door.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Embodiment
As shown in Figure 1-2, a kind of six-joint robot comprehensive practical traning platform, including practical traning platform cabinet 2 are disclosed in the present embodiment,
The top of practical traning platform cabinet 2 is close to provided with practical traning platform table top 4 and banana bin panel 50, along its table top on the practical traning platform table top 4
Bearing of trend be provided with sliding groove 10；Also include six-joint robot 6, module mounting base 8, Teaching Module and electrical equipment mainboard
Module.
Wherein, the six-joint robot 6 can be detachably fixedly arranged at the center of the practical traning platform table top 4, its robot control
Device processed is arranged in the practical traning platform cabinet 2；
The module mounting base 8 can be fixed on practical traning platform table top 4 along what the sliding groove 10 was moved, and this practicality is new
Type preferred module mounting base 8 has structure identical three, and three module mounting bases 8 are separately positioned on six axle machines
The outside of three sides of people 6, six-joint robot 6 is being separately positioned on just towards 6 three module mounting bases 8 of six-joint robot
Face, the left side and the right side, and three module mounting bases 8 can be fixed on practical traning platform platform along what the sliding groove 10 was moved
On face 4.
It is multiple that the separate modular that the Teaching Module has is designed, and each Teaching Module is fixed on the module and installed
, being capable of quick-detach, and when module mounting base 8 is moved on practical traning platform table top 4 soon, the Teaching Module beginning on bottom plate 8
Final position is in the stroke range of six-joint robot 6.
The main body of the electrical equipment mainboard module is arranged in practical traning platform cabinet 2, the electric member of each Teaching Module
Part and connection are integrated on the electrical equipment mainboard module；
The electrical equipment mainboard module can carry out corresponding test or real training behaviour after being electrically connected with robot controller
Make.
Teaching Module is fixed on module mounting base 8, and the action of programming Control six-joint robot 6 completes each Teaching Module
Teaching and study, the fixed position of module mounting base 8 can in good time be adjusted according to actual use situation, be convenient for multi-party
Position, the teaching and study of multiple displacements.
As shown in Figure 3,4, Teaching Module of the present utility model at least includes elementary teaching module 12, transfer module 14, code
Pile module 16, load module 18, welding module 20, laser engraving module 22, gluing module 24, polishing module 26, spray module
28th, belt feeder transfer module 30, each Teaching Module is each equipped with fixture, and each fixture can be detachably fixedly arranged at
The action executing end of six-joint robot 6.
Each module is specifically described as follows：
1. elementary teaching module 12, it is fixed therein on a module mounting base 8, coordinates basis as shown in Figure 4
Teaching fixture 34, programming Control six-joint robot 6 completes tool coordinates system demarcation, straight line teaching, circular arc teaching, irregular lines
Teaching；
2. transfer module 14, it is fixed therein on a module mounting base 8, coordinates pneumatic-finger as shown in Figure 4
Fixture 38, programming Control six-joint robot 6 completes to carry out workpiece the carrying action of point-to-point；As shown in figure 3, transfer module 14
On have nine holes, each hole has location label, take spark plug demonstrate workpiece, be placed on carrying top plate on random six holes
In hole, it is another that the action of programming Control six-joint robot 6 coordinates pneumatic-finger fixture 38 as shown in Figure 4 to be carried to spark plug gripping
One specifies in hole, is understood by permutation and combination under random case, may occur in which a variety of carrying track actions, is realizing the same of teaching
When, it can also be used as examination item；
3. stacking module 16, it is fixed therein on a module mounting base 8, coordinates sucker clamp as shown in Figure 4
36, programming Control six-joint robot 6 completes the action to work-piece pile, de-stacking；
As shown in figure 3, there is three pieces of square regions on stacking plate, workpiece is cuboid, and the long side of workpiece is approximately equal to squared region
The length of side in domain, workpiece is carefully and neatly overlayed in a square region, in the range of positioning precision, and workpiece is drawn with sucker clamp 36, by
It is secondary to place in another square region, realize stacking；De-stacking is the opposite direction process of stacking.
4. load module 18, it is fixed therein on a module mounting base 8, coordinates sucker clamp as shown in Figure 4
36, programming Control six-joint robot 6 completes the assembling action to workpiece.
As shown in figure 3, the workpiece (nylon material) being placed on assembling top plate is respectively square (containing vee gutter), triangle
Body (containing circular trough), cylinder, in the range of positioning precision, draw workpiece with sucker clamp 36, first move to trigone
On square in vee gutter, then cylinder moved on trigone in circular trough.Different works are filled to by different workpiece
In the corresponding groove of part, assembling teaching is completed.
5. welding module 20, it is fixed therein on a module mounting base 8, coordinates weld jig as shown in Figure 4
46, programming Control six-joint robot 6 completes the welding action to workpiece.
Demonstrated as shown in figure 3, being acted with weld jig 46 along the weldering of out-seam vertical downward and outer surrounding straight angle full weld, in corner
Location point handles the change of rifle appearance well.
6. laser engraving module 22, it is fixed therein on a module mounting base 8, coordinates laser as shown in Figure 4
Carving clamp 44, programming Control six-joint robot 6 completes the laser engraving action to workpiece；
The panel of alphabetical vestige (0.5mm deep) is carved with as shown in figure 3, demonstration workpiece is one piece, is pressed from both sides with clamping jaw laser engraving
Tool 44 (the infrared laser head fixed for a sleeve), runs whole process along the vestige of panel under robotic control, sharp to simulate
The action of light engraving.
7. gluing module 24, it is fixed therein on a module mounting base 8, coordinates coating glue clamp as shown in Figure 4
48, programming Control six-joint robot 6 completes the gluing action to workpiece；
As shown in figure 3, demonstration workpiece is reductor adpting flange or car light, (it can be fixed on using coating glue clamp 48
The mini hand-held glue rifle of robot end), along workpiece gluing track at run one week, painting flow adhesive controllable adjustable.
8. polish module 26, it is fixed therein on a module mounting base 8, coordinates grinding clamp as shown in Figure 4
42, programming Control six-joint robot 6 completes the polishing action to workpiece；
As shown in figure 3, demonstration workpiece is union tee interior inside and outside a bronze medal, it is fixed on panel, using grinding clamp 42
(24V DC brush reducing motor built in sleeve is connected by shaft coupling with Du Pont's silk bowl brush or flat brush), after startup, Du Pont's silk
Bowl brush or flat brush are rotated, slowly close to union tee, simulate the action of polishing.
9. spray module 28, it is fixed therein on a module mounting base 8, and programming Control six-joint robot 6 is completed
Gluing action to workpiece；
As shown in figure 3, workpiece is small size sanitaryware model, fixture for can aerograph band spray gun, after startup, simulation is actual
Spraying is acted, and comprehensive spraying is carried out to workpiece.
10. belt feeder transfer module 30, it is fixed therein on a module mounting base 8, coordinates width as shown in Figure 4
Type jaw fixture 40, programming Control six-joint robot 6 completes the belt carrying action to workpiece；
Belt feeder 60 as shown in Figure 3, material frame 62, using wide type jaw fixture 40, after startup, belt feeder 60 is run,
Wide type jaw fixture 40 grips workpiece (cylinder, nylon material) from material frame 62 and put to belt left end；Belt feeder 60 is transported
Row delivers to right-hand member, and end optoelectronic switch senses and fed back that belt feeder 60 stops, and six-joint robot 6 to right-hand member grabbing workpiece is extremely
Another specified location on material frame, belt carrying action is carried out to workpiece.
As further improvement of the utility model, the module mounting base 8 is provided with 12 mounting holes 32, each institute
State mounting hole 32 equal with the distance of adjacent mounting hole 32 so that the hole heart of each mounting hole 32 in two unilateral coincidences just
The apex of hexagon, the bottom of each Teaching Module is equipped with fixing hole, and the Teaching Module is positioned over module and installs bottom
On plate 8, and installed by plum blossom screw through Teaching Module can be detachably fixedly arranged at into module after mounting hole 32 and fixing hole
On bottom plate 8.The module mounting base 8 of such structure design so that can be combined on same module mounting base 8 a variety of solid
The fixed position of fixed each Teaching Module, is that teaching and study, examination provide a variety of possibilities.
Each instructional template of correspondence and six-joint robot 6 are equipped with each independent banana on the banana bin panel 50
Socket 52, the electrical wiring of practical traning platform is integrated, using the connected mode electrical wiring of banana bin, it is easy to operate, convenient to learn
Raw wiring starts real training.
It is located at as further improvement of the utility model, in the practical traning platform cabinet 2 immediately below practical traning platform table top and sets
Have multiple storing pavilions 54 for individually storing each Teaching Module, Teaching Module without using when all store in storage
In thing pavilion 54, put in order neatly, be easy to maintenance, it is necessary to just take out it from storing pavilion 54 using which Teaching Module, will
Wiring electrifying startup after Teaching Module correspondence is fixed on module mounting base 8.
Teaching Module is stored in the practical traning platform cabinet 2 immediately below practical traning platform table top 4, and the electrical equipment mainboard module is set
Put in the practical traning platform cabinet 2 immediately below the banana bin panel 50, interior layout is compact, beneficial to the whole practical traning platform of reduction
Volume；Meanwhile, electrical traces are built-in, it is not easy to sustain damage.
As further improvement of the utility model, the practical traning platform cabinet 2 is close to placement electrical equipment mainboard module side
Provided with transparent cabinet door 56, the practical traning platform cabinet 2 is provided with metal plate cabinet door 58 close to each Teaching Module side is placed.From transparent cabinet door 56
Place can see the cabling of electrical equipment mainboard module clearly, and with teaching and whether connections can be checked without opening in the case of cabinet door
Accurately.Because each Teaching Module is picked and placeed frequently, from the big metal plate cabinet door 58 of intensity, more folding can be born.
Practical traning platform based on said structure, all parts for being related to electrical wiring, by the way of banana bin, from
Row selection wiring.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (7)
1. a kind of six-joint robot comprehensive practical traning platform, including practical traning platform cabinet and the practical traning platform table top for being arranged on its top, it is special
Levy and be：It also includes six-joint robot, module mounting base, Teaching Module and electrical equipment mainboard module, the practical traning platform
Sliding groove is provided with along the bearing of trend of its table top on table top,
- the six-joint robot, it can be detachably fixedly arranged at the center of the practical traning platform table top, and its robot controller is set
In the practical traning platform cabinet；
- module the mounting base, what it can be moved along the sliding groove is fixed on practical traning platform table top；
- the Teaching Module, it is multiple that it has that separate modular designs, and each Teaching Module can be detachably fixedly arranged at
On the module mounting base, and with the module mounting base on practical traning platform table top move during the teaching
Module is always positioned in the stroke range of six-joint robot；
The Teaching Module at least includes elementary teaching module, transfer module, stacking module, load module, welding module, laser
Carve module, gluing module, polishing module, spray module, belt feeder transfer module；
- electrical equipment the mainboard module, its main body is arranged in practical traning platform cabinet, the electrical equipment of each Teaching Module and
Connection is integrated on the electrical equipment mainboard module；
The electrical equipment mainboard module can carry out corresponding test or training operation after being electrically connected with robot controller.
2. six-joint robot comprehensive practical traning platform according to claim 1, it is characterised in that：The module mounting base has
Three, three module mounting bases are separately positioned on the outside of three sides of six-joint robot, and three modules
What mounting base can be moved along the sliding groove is fixed on practical traning platform table top.
3. six-joint robot comprehensive practical traning platform according to claim 2, it is characterised in that：Set on the module mounting base
There are 12 mounting holes, each mounting hole is equal with the distance of adjacent mounting hole so that the hole heart of each mounting hole exists
The apex of the regular hexagon of two unilateral coincidences, the bottom of each Teaching Module is equipped with fixing hole, and the Teaching Module is put
The fixation that can dismantle Teaching Module after mounting hole and fixing hole is penetrated by fastener after being placed on module mounting base
On module mounting base.
4. six-joint robot comprehensive practical traning platform according to claim 1, it is characterised in that：Each Teaching Module is matched somebody with somebody
Fixture is equipped with, each fixture can be detachably fixedly arranged at the action executing end of six-joint robot.
5. six-joint robot comprehensive practical traning platform according to claim 1, it is characterised in that：The top of the practical traning platform cabinet
Each instructional template of correspondence and six-joint robot on banana bin panel, the banana bin panel are provided with close to practical traning platform table top
It is equipped with each independent banana bin.
6. six-joint robot comprehensive practical traning platform according to claim 1, it is characterised in that：It is located in the practical traning platform cabinet
The multiple storing pavilions being arranged right below for individually storing each Teaching Module of practical traning platform table top, the electrical equipment mainboard
Module is arranged in the practical traning platform cabinet immediately below the banana bin panel.
7. six-joint robot comprehensive practical traning platform according to claim 6, it is characterised in that：The practical traning platform cabinet is close to be put
Electrical equipment mainboard module side is put provided with transparent cabinet door, the practical traning platform cabinet is provided with metal plate cabinet close to each Teaching Module side is placed
Door.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620977927.5U CN206480305U (en) | 2016-08-29 | 2016-08-29 | Six-joint robot comprehensive practical traning platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620977927.5U CN206480305U (en) | 2016-08-29 | 2016-08-29 | Six-joint robot comprehensive practical traning platform |
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| CN206480305U true CN206480305U (en) | 2017-09-08 |
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| CN201620977927.5U Active CN206480305U (en) | 2016-08-29 | 2016-08-29 | Six-joint robot comprehensive practical traning platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106128276A (en) * | 2016-08-29 | 2016-11-16 | 苏州哈工海渡工业机器人有限公司 | Six-joint robot comprehensive practical traning platform |
| CN107717997A (en) * | 2017-11-27 | 2018-02-23 | 安徽工业大学 | A kind of quintet game robot vision application apparatus |
| 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 |
| CN108597290A (en) * | 2018-05-04 | 2018-09-28 | 冯敬新 | Intelligence manufacture training platform |
| CN109192043A (en) * | 2018-08-16 | 2019-01-11 | 合肥永屹智能制造职业培训学校 | A kind of multi-functional training platform of robot debugging |
-
2016
- 2016-08-29 CN CN201620977927.5U patent/CN206480305U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106128276A (en) * | 2016-08-29 | 2016-11-16 | 苏州哈工海渡工业机器人有限公司 | Six-joint robot comprehensive practical traning platform |
| CN107717997A (en) * | 2017-11-27 | 2018-02-23 | 安徽工业大学 | A kind of quintet game robot vision application apparatus |
| 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 |
| CN109192043A (en) * | 2018-08-16 | 2019-01-11 | 合肥永屹智能制造职业培训学校 | A kind of multi-functional training platform of robot debugging |
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