CN207852175U - Welding analog work station for teaching - Google Patents
Welding analog work station for teaching Download PDFInfo
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- CN207852175U CN207852175U CN201720583579.8U CN201720583579U CN207852175U CN 207852175 U CN207852175 U CN 207852175U CN 201720583579 U CN201720583579 U CN 201720583579U CN 207852175 U CN207852175 U CN 207852175U
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- teaching
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Abstract
The utility model discloses a kind of welding analog work station for teaching, is related to teaching equipment field.The work station includes six-shaft industrial robot platform, path of welding simulated panel, positioner module and material unit, six-shaft industrial robot platform includes robot, end flange, paintbrush and vacuum cup, paintbrush and vacuum cup are all mounted on robot end's flange, robot drives paintbrush to draw weld seam of the path simulation welding gun on workpiece on workpiece, vacuum cup can carry welding analog workpiece between material unit and positioner, transformation simulation welding workpiece；The robot platform of the equipment is controlled by robot control system, and Shifter structure movement is controlled by PLC, can meet automation integrated teaching task.The utility model features simple structure can simulate a variety of path of welding, fully meet the simulation teching task of robot welding, good economy performance, high degree of automation.
Description
Technical field
The utility model belongs to rote teaching field, especially a kind of welding analog work station for teaching.
Background technology
Currently, industrial robot is integrated in the automation of every profession and trade, application is gradually universal, and robot welding is in industrial machine
It is difficult in people's application, it is very high to the Specialized Quality requirement of user, and actual welding scene is severe, arc light, radiates, makes an uproar
Pitch, air pollution is serious, energy consumption is big, welds the workpiece difficulty processing of selection and is difficult to recycle, exploitation welding training platform
Difficulty is larger.
Although having occurred teaching simulation industrial robot in the prior art, such as number of patent application 201610919601
.1, apply for title《A kind of modularization six-joint robot comprehensive practical traning platform》Utility model patent in disclose a kind of modularization six
Axis robot comprehensive practical traning platform, including six-joint robot, module mounting plate, real training function module and electrical equipment mainboard module,
Module mounting plate is concentric annular sector face structure；Real training function module has multiple, each real training of separate modular design
Function module can be detachably fixedly arranged on module mounting plate, and module mounting plate is fixed on five concentric annular sector structures
Module mounting plate on the real training function module be capable of amplitude peak covering six-joint robot ± 165 ° stroke range.
But this robot can only simulate and the actions such as simply take, takes, the welding larger to difficulty action can not simulate.
For this reason, it is necessary to design a kind of novel welding analog work station, can be used in helping student's study how recruitment
Industry robot is subjected to.
Utility model content
The main purpose of the utility model is to provide a kind of welding analog work station for teaching, for overcoming existing machine
Device people welds the big problem of teaching difficulty.
The utility model is realized in this way a kind of welding analog work station for teaching, including be arranged in workbench
On multi-axis robot module, simulated panel, positioner module and material module, wherein the simulated panel, the positioner
Module and the material module are in the range of the multi-axis robot module can touch.Material module is used for holding stick
Material or bending part；Multi-axis robot module is welded for analog mechanical hand, positioner and multi-axis robot module coordinate into
Row welding；Simulation drawing board is used for providing the masterplate of multi-axis robot study.
The further technical solution of the utility model is：The multi-axis robot module includes multi-axis robot, slide unit gas
Cylinder, vacuum cup and paintbrush；The wherein described slider cylinder be arranged the end of the multi-axis robot and by flange with it is described
Multi-axis robot is connected；The slider cylinder includes the first slider cylinder and the second slider cylinder disposed in parallel, the paintbrush
It is connected with first slider cylinder and carries out back and forth movement under the drive of first slider cylinder；The vacuum cup with
Second slider cylinder is connected and carries out back and forth movement under the drive of second slider cylinder.Paintbrush is used on workpiece
Draw weld seam of the lines simulated welding gun on workpiece；Welding analog workpiece can be included bar and bending part in material by vacuum cup
It is carried between unit and positioner.Pass through the direction position of robot and cylinder Collaborative Control paintbrush and sucker.
The further technical solution of the utility model is：The material module be equipped at least one bar and or at least one
A bending part.Sucker takes bar from material module as needed or bending part gives positioner module.
The further technical solution of the utility model is：The simulated panel is equipped in ripple, circular arc, five jiaos, triangle
One or more of or several combinations.Simulated panel is used for simulating welding track, is used for welding track teaching.On simulated panel
The figure in face is equivalent to the track of welding, and the track for needing to weld is simulated with this panel.Using steps are as follows：1. in mould
One or more of figures are chosen on quasi- panel；2. first carrying out setting coordinate and the calibration of robot by operating personnel；3. operation
By the way of off-line programing or on-line teaching, guided robot carries out simulation according to the edge of selected figure and walks track personnel
And gesture stability；4. robot uses automatic mode, the correctness of verification third step action.Simulated panel can individually make
With, can also with positioner simultaneously using simulated panel be mounted on positioner on, in addition after positioner, can carry out more complicated
With abundant welding track simulated action.
The further technical solution of the utility model is：The positioner module is equipped with section bar support, power part, shaft coupling
Device, rotary shaft and pneumatic-finger；The positioner module is connected by the section bar support with the workbench；The power part
It is connected by shaft coupling between the rotary shaft；One end of the rotary shaft is connected with the shaft coupling, the other end with it is described
Pneumatic-finger is connected.The main control material of positioner module is rotated.
The further technical solution of the utility model is：The pneumatic-finger is equipped with V-type clamping jaw and jacking block, the bar
It is connected with the pneumatic-finger by the V-type clamping jaw；The bending part is connected by the jacking block with the pneumatic-finger.V
Type clamping jaw and jacking block are all disposed within pneumatic-finger junction, and the setting of V-type clamping jaw is outer, and jacking block setting is inner；In this way according to component
The difference of depth can grip different components.
The further technical solution of the utility model is：The section bar support is equipped with first bearing mounting plate and the second axis
Mounting plate is held, first bearing is equipped in the first bearing mounting plate, second bearing is equipped in the second bearing mounting plate；Institute
It states rotary shaft and runs through the first bearing and the second bearing.
The further technical solution of the utility model is：The rotary shaft is equipped with optoelectronic induction disk, the optoelectronic induction
Disk is sleeved on outside the rotary shaft.
The further technical solution of the utility model is：It is additionally provided with optoelectronic switch, the optoelectronic switch setting is described the
It is connected on one bearing mounting plate and with the optoelectronic induction disk.There is label on optoelectronic induction disk, when rotating to certain angle,
Optoelectronic switch can sense the position of this label, then by certain calculating, be converted into bar or the current rotation of bending part
Gyration, so that it is determined that bar and the current location information of bending part.
The further technical solution of the utility model is：The power part is stepper motor.Power part can use other electricity
Machine, but it is best with stepper motor, and comprehensive cost performance is best.
The utility model has the beneficial effects that：The welding analog work station for teaching that this programme provides is simulated with paintbrush
Robotic gun simulates a variety of weld seam paths in conjunction with the movement of robot and positioner, improves student and answered in welding robot
Understanding in meets the simulation teching task of robot welding.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is the schematic diagram for the welding analog work station for teaching that the utility model embodiment provides.
Fig. 2 is the simulated panel schematic diagram for the welding analog work station for teaching that the utility model embodiment provides.
Fig. 3 is the six-joint robot signal for the welding analog work station for teaching that the utility model embodiment provides
Figure.
When Fig. 4 is the positioner connection charge bar for the welding analog work station for teaching that the utility model embodiment provides
The schematic diagram of time.
When Fig. 5 is the positioner connection charge bar for the welding analog work station for teaching that the utility model embodiment provides
The schematic diagram of time.
Fig. 6 is the positioner connection bending part for the welding analog work station for teaching that the utility model embodiment provides
When schematic diagram.
Reference numeral：A. six-joint robot platform；B. path of welding simulated panel；C. positioner module；D. store list
Member；1. six-joint robot；2. slider cylinder；3. vacuum cup；4. paintbrush simulated welding gun；5. stepper motor；6. shaft coupling；7. the
One bearing installs 8. optoelectronic induction disk of version；9. transmission shaft；10. second bearing installs version；11. optoelectronic switch；12. pneumatic-finger；
13.V clevis pawls；14. bar；15. jacking block；16. bending part.
Specific implementation mode
The utility model provides a kind of welding analog work station for teaching.With reference to the accompanying drawings and embodiments to this reality
It is described in detail with novel.
Fig. 1 is the schematic diagram for the welding analog work station for teaching that the utility model embodiment provides.It, should such as Fig. 1
Work station includes six-shaft industrial robot platform A, path of welding simulated panel B, positioner module C and material cells D.
Fig. 3 is the six-joint robot signal for the welding analog work station for teaching that the utility model embodiment provides
Figure.Six-shaft industrial robot platform includes six-joint robot 1, slider cylinder 2, vacuum cup 3 and paintbrush 4 as seen from the figure, very
Suction disk 3 and paintbrush 4 are all mounted in the both ends slider cylinder 2 of 1 end flange of robot, can pass through the upper and lower of slider cylinder 2
Movement controls paintbrush 4 and 3 contact workpiece of vacuum cup respectively, and the drive paintbrush 4 of robot 1 draws path simulation welding gun on workpiece and exists
Welding analog workpiece can be included bar 14 and bending part 16 in material cells D and positioner by the weld seam on workpiece, vacuum cup 3
It is carried between C, switching simulation welding workpiece, six-joint robot 1 is mounted on robot base, path of welding simulated panel B, becomes
Position machine module C and material cells D are all mounted on workstation platform, and the separation of robot base and work station base increases
The flexible application of robot.
Fig. 2 is the simulated panel schematic diagram for the welding analog work station for teaching that the utility model embodiment provides.
As schemed, there are the complex figures such as ripple, circular arc, triangle and complicated mark on path of welding simulated panel B, pass through robot pilot teaching
Straight bead, circular arc weldering and multipath welding are simulated, drives paintbrush to walk out pahtfinder hard by off-line simulation robot.Falseface
Plate is used for simulating welding track, is used for welding track teaching.Simulated panel draw above shape is equivalent to the track of welding, uses this
Panel needs the track welded to simulate.Using steps are as follows：1. choosing one or more of figures on simulated panel；2. by
Operating personnel first carry out setting coordinate and the calibration of robot；3. operating personnel are using the side of off-line programing or on-line teaching
Formula, guided robot carry out simulation according to the edge of selected figure and walk track and gesture stability；4. robot uses automatic mold
Formula, the correctness of verification third step action.Simulated panel can be used alone, and can also use falseface simultaneously with positioner
Plate is mounted on positioner, in addition after positioner, can carry out more complicated and abundant welding track simulated action.
Fig. 4-6 is the schematic diagram of positioner module.It designs positioner module C and workstation platform is mounted on by section bar support
On, it is placed in robot motion region, drives rotary shaft 9 and pneumatic-finger 12 to revolve by shaft coupling 6 using stepper motor 5
Turn, two bearing supports of rotary shaft 9, two bearings are separately mounted to first bearing mounting plate 7 and second bearing mounting plate 10
Among, pneumatic-finger collet is equipped with V-type clamping jaw 13 and jacking block 15, and bar 14 and bending part 16 can be clamped, and pneumatic-finger 12 is clamped
Paintbrush simulated welding gun 4 moves with uniform velocity along 14 generatrix direction of bar when bar 14 rotates, and can simulate helix weld seam such as Fig. 4 figures
Shown in 5, pahtfinder hard which is generated by robot 1 and the positioner C coordinated movements of various economic factors.Fig. 4 and Fig. 5 respectively illustrates change
The different angle of position machine.It can be seen from the figure that V-type clamping jaw and jacking block are all disposed within pneumatic-finger junction, the setting of V-type clamping jaw
Outer, jacking block setting is inner；Different components can be gripped according to the difference of feature depth in this way.
In Fig. 6, bending part 16 is clamped in pneumatic-finger 12, can be by 360 ° of turning-over changed welding positions of bending part, model engineering
The welding of the common same workpiece different sides in.
In addition, being designed with optoelectronic switch 11 and optoelectronic induction disk 8 in the rotary shaft, optoelectronic switch 11 is obtained by PLC
Signal controls the original point position of rotary shaft 9；There is label on optoelectronic induction disk, when rotating to certain angle, optoelectronic switch meeting
It senses the position of this label, then by certain calculating, is converted into bar or the current rotation angle of bending part, to
Determine bar and the current location information of bending part.
Welding analog work station paintbrush dummy robot's welding gun for teaching that this programme provides, in conjunction with robot and
A variety of weld seam paths are simulated in the movement of positioner, improve understanding of the student to robot in welding application, meet robot weldering
The simulation teching task connect.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of welding analog work station for teaching, it is characterised in that：Including multi-axis robot on the table is arranged
Module, simulated panel, positioner module and material module, wherein the simulated panel, the positioner module and the material
Module is in the range of the multi-axis robot module can touch.
2. the welding analog work station according to claim 1 for teaching, it is characterised in that：The multi-axis robot mould
Block includes multi-axis robot, slider cylinder, vacuum cup and paintbrush；The wherein described slider cylinder is arranged in the multi-axis robot
End and be connected with the multi-axis robot by flange；The slider cylinder include the first slider cylinder disposed in parallel and
Second slider cylinder, the paintbrush are connected with first slider cylinder and are carried out under the drive of first slider cylinder past
Return movement；The vacuum cup is connected with second slider cylinder and is carried out under the drive of second slider cylinder round-trip
Movement.
3. the welding analog work station according to claim 2 for teaching, it is characterised in that：The material module is equipped with
At least one bar and or at least one bending part.
4. the welding analog work station according to claim 1 for teaching, it is characterised in that：It is set on the simulated panel
There are ripple, circular arc, five jiaos, one or more of triangle or several combinations.
5. the welding analog work station according to claim 3 for teaching, it is characterised in that：The positioner module is set
There are section bar support, power part, shaft coupling, rotary shaft and pneumatic-finger；The positioner module passes through the section bar support and institute
Workbench is stated to be connected；It is connected by shaft coupling between the power part and the rotary shaft；One end of the rotary shaft with it is described
Shaft coupling is connected, the other end is connected with the pneumatic-finger.
6. the welding analog work station according to claim 5 for teaching, it is characterised in that：It is set on the pneumatic-finger
There are V-type clamping jaw and jacking block, the bar to be connected with the pneumatic-finger by the V-type clamping jaw；The bending part passes through described
Jacking block is connected with the pneumatic-finger.
7. the welding analog work station according to claim 6 for teaching, it is characterised in that：It is set on the section bar support
There are first bearing mounting plate and second bearing mounting plate, first bearing, second axis are equipped in the first bearing mounting plate
It holds and is equipped with second bearing in mounting plate；The rotary shaft runs through the first bearing and the second bearing.
8. the welding analog work station according to claim 7 for teaching, it is characterised in that：The rotary shaft is equipped with
Optoelectronic induction disk, the optoelectronic induction disk are sleeved on outside the rotary shaft.
9. the welding analog work station according to claim 8 for teaching, it is characterised in that：Optoelectronic switch is additionally provided with,
The optoelectronic switch is arranged on the first bearing mounting plate and is connected with the optoelectronic induction disk.
10. the welding analog work station according to claim 5 for teaching, it is characterised in that：The power part is step
Stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720583579.8U CN207852175U (en) | 2017-05-23 | 2017-05-23 | Welding analog work station for teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720583579.8U CN207852175U (en) | 2017-05-23 | 2017-05-23 | Welding analog work station for teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207852175U true CN207852175U (en) | 2018-09-11 |
Family
ID=63424997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720583579.8U Expired - Fee Related CN207852175U (en) | 2017-05-23 | 2017-05-23 | Welding analog work station for teaching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207852175U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107221247A (en) * | 2017-05-23 | 2017-09-29 | 深圳市连硕教育投资管理有限公司 | Welding analog work station for teaching |
| CN110335529A (en) * | 2019-08-13 | 2019-10-15 | 江苏汇博机器人技术股份有限公司 | Robot modularized teaching platform |
| CN110428687A (en) * | 2019-08-08 | 2019-11-08 | 北京赛育达科教有限责任公司 | A kind of real training robot polishing system |
-
2017
- 2017-05-23 CN CN201720583579.8U patent/CN207852175U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107221247A (en) * | 2017-05-23 | 2017-09-29 | 深圳市连硕教育投资管理有限公司 | Welding analog work station for teaching |
| CN110428687A (en) * | 2019-08-08 | 2019-11-08 | 北京赛育达科教有限责任公司 | A kind of real training robot polishing system |
| CN110335529A (en) * | 2019-08-13 | 2019-10-15 | 江苏汇博机器人技术股份有限公司 | Robot modularized teaching platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 Full Floor of 11 Floor, Block B, 10 Building, Shenzhen Bay Science and Technology Eco-Park, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lianshuo Education Technology Co., Ltd. Address before: 518000 Tianli Science and Technology Building 213, Lougang Avenue, Songgang Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lian Shuo education Cci Capital Ltd |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 Termination date: 20210523 |