CN106373482A - Experiment table based on robot and experiment method thereof - Google Patents
Experiment table based on robot and experiment method thereof Download PDFInfo
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- CN106373482A CN106373482A CN201611078385.9A CN201611078385A CN106373482A CN 106373482 A CN106373482 A CN 106373482A CN 201611078385 A CN201611078385 A CN 201611078385A CN 106373482 A CN106373482 A CN 106373482A
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- robot
- experiment
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- conveyer belt
- laboratory table
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention relates to an automatic experiment table, in particular to an experiment table based on a robot and an experiment method thereof. The experiment table comprises a tabletop, wherein the robot, a controller, a material rack, a material table, an assembly table, a laser detection device and a conveying table are arranged on the tabletop; the controller is connected with the robot, the material rack is used for storing a material, the material table is used for placing and stacking the material, the assembly table is used for assembling the material grabbed by the robot, and the laser detection device is used for detecting the size tolerance of the material; a conveying mechanism and a detection sensor are arranged on the conveying table; an automatic material feeding device is arranged at one side of the conveying table; a liquid crystal touch display screen and a pin punching device are arranged on the tabletop, and the liquid crystal touch display screen is used for monitoring and controlling the motion of the robot. The experiment table has the advantage that a robot demonstrator is used for programming the robot to directly control the action of the robot, and the simple actions are completed, so that a student can primarily acknowledge the programming control of the robot demonstrator, and interest is developed to lay a foundation for the later robot learning.
Description
Technical field
The present invention relates to a kind of automation experiment platform, particularly to a kind of laboratory table based on robot and its experiment side
Method.
Background technology
The professional of electromechanical integration is very urgent, particularly to understanding roboticses, plc, converter technique, numerical control
The professional of technology is in great demand.Each enterprise is required for the professional people of organic electrical integrated maintenance and repair
Member.With the continuous improvement of the constantly progressive of commercial production levels and living standards of the people, substantial amounts of more advanced electromechanics sets
Standby input has become as the fact.The development of industry necessarily brings the growth to demand for talent, and the progress of technology must be asked for help
The raising of member's quality.Enterprise's one side simplifies the redundant worker lacking professional skill to improve personnel's efficiency, on the other hand
A large amount of professional and technical personnel introducing urgent need again.Robot has particularly important in following intelligence manufacture of China and development
Status, and set up a multi-function experimental rig based on robot, student not only can be learnt to know to the theory of books
Know, more can allow student by using and understand to testing stand, allow student's function of understanding robot as much as possible, exploitation
Robot, makes student from the relevant knowledge of perception and learning robot and electromechanical integration in practice, direct feel is to modern section
The achievement of technology and development trend, cultivate the talent of high-quality for Chinese intelligence manufacture.
Laboratory table based on six-shaft industrial robot is also fewer at present, and the laboratory table based on robot can
The experiment carrying out is also more single, can not meet the needs of kinds of experiments, the experiment ratio of the function for robot and research
Less, communication for robot, host computer and plc and control the student can not be from low level development and debugging, existing machine at present
The experimental facilitiess of device people are also expensive than relatively large, and floor space is than larger it is impossible to the various electromechanical integration of compact set
Knowledge and experiment impart to student.
Content of the invention
In order to solve prior art presence the experiment porch based on robot more single it is impossible to meet kinds of experiments
The problem of demand, the present invention provides a kind of multi-function experimental rig based on robot and its experimental technique, meets various experiments
Requirement, the cognition to robot for the suitable student.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of laboratory table based on robot, including table top, described table top is provided with robot, is connected with robot
Controller, for storing the material frame of material, for placing the material table of material and piling, for the thing capturing robot
Expect the assembly bench being assembled, for detecting laser detector and the transport platform of material dimensional tolerance, in described transport platform
It is provided with conveying mechanism and detection sensor, the side of described transport platform is provided with automatic feeding device, described table top also sets
Have for monitoring and controlling the liquid crystal touch display screen of robot motion and beat pin assembly.
Further, described material frame is provided with three layers, and every layer is provided with six material lattice.
Further, described laser detector includes laser detection platform, and described laser detection platform is provided with detection
Cylinder, the described piston head of detection cylinder is connected with the pneumatic-finger for clamping material, and described pneumatic-finger is provided with
For detect material dimensional tolerance laser displacement sensor.
Further, described material table includes first material platform and second material platform.
Further, described assembly bench is provided with location-plate, the first cylinder and the second cylinder.
Further, the AC gear motor that described conveying mechanism includes conveyer belt and drives conveyer belt motion, described
Conveyer belt be connected with variable-frequency governor.
Further, described automatic feeding device includes guide rail, and described guide rail one end is provided with for placing material
Material trough on guide rail, the other end of described guide rail is provided with material trough falls and pushes on conveyer belt in the material on guide rail
Feed cylinder.
Further, described detection sensor includes photoelectric sensor, inductance approach switch, color sensor, work
Industry photographic head.
A kind of experimental technique based on robot, it is adaptable to the laboratory table based on robot as above, includes below
Step:
Step one: electricity gone up respectively by controller, liquid crystal touch display screen, robot, carries out program initialization；
Step 2: start the experiment of laboratory table, can automatically be tested or test manually；
Step 3: terminate experiment, deenergization；
Described automatic experiment comprises the following steps:
Automatically experimental procedure one: carry out needing the project of experiment from the program of typing in touch screen by user,
Start to test, experiment content includes storage, piling, automatic loading/unloading, dimensional tolerance detection, color detection, wood properly test, assembling
Deng making robot start action；
Automatically experimental procedure two: observe the testing result of each sensor and the state of whole laboratory table by touch screen；
Described manual experiment comprises the following steps:
Manual experimental procedure one: oneself exploitation program, typing controller, liquid crystal touch display screen, machine are carried out by user
In device people, XOR directly controls robot motion on liquid crystal touch display screen；
Manual experimental procedure two: run and debugging routine；
Manual experimental procedure three: if running problematic, re-start experiment manual step two.
Experiment content in above-mentioned automatic experimental procedure one specifically includes following automatic step:
Automatically step one: robot captures material from selected material rack location and is placed on laser detection platform；
Automatically step 2: by laser displacement sensor, material is carried out with the measurement of dimensional tolerance, if unqualified, straight
Connect and be placed on the underproof first material platform of special placement and carry out piling, qualified, robot crawl material is placed on conveyer belt
On；
Automatically step 3: it is parked in before color sensor with material by conveyer belt on the conveyor belt, detect material color,
If red material, directly it is placed on the underproof material table of special placement by robot by transmission end of tape and carries out code
Buttress, if the material of blueness, then passes through inductance approach switch by conveyer belt with material, is detected；
Automatically step 4: if nonmetallic, special placement on underproof first material platform is placed on by robot crawl
And carry out piling, if metal then robot crawl be placed on beat pin assembly on beat pin；
Automatically step 5: make robot after pin terminates and capture material from conveyer belt, be placed on second material platform, and carry out
Piling, terminates rear robot and returns to initial position.
Beneficial effect:
(1) pass through robot demonstrator, robotic programming is directly controlled with the action of robot, completes some simply dynamic
Make, make student have preliminary cognition to the programming Control of robot demonstrator, the robot learning that culture interest is later is laid
Certain basis；
(2) this laboratory table can pass through cc-link bussing technique, so that robot, host computer and plc is communicated, sensing
Device can send signal and by plc, the action of robot is controlled, and directly controlled and monitoring machine by host computer interface
The various actions of device people and state, allow the various actions of student programming Control machine people on host computer, and students' union is to robot
Study have and further understand；
(3) this laboratory table also has multiple detection functions, can detect the face of material by tcs3200 color sensor
Color, detects the size of material with ccd laser displacement sensor, with the position of photoelectric sensor detectable substance material, close with inductance type
Switch sensor judges material material, gathers image by industry camera and captures by robot.This laboratory table can allow student
Recognize simple robotic programming, plc controls, the bussing technique of cc-link, and various sensor function and should
With.
Brief description
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the general structure schematic diagram of the laboratory table based on robot of the present invention；
Fig. 2 is the structural representation of the laser detector of the present invention；
Fig. 3 is the structural representation of the automatic feeding device of the present invention；
Fig. 4 is the structural representation of the assembly bench of the present invention.
Wherein, 1, table top, 2, robot, 3, controller, 4, material frame, 5, first material platform, 6, second material platform, 7, dress
Join platform, 71, location-plate, the 72, first cylinder 73, the second cylinder, 8, laser detector, 81, monitor station, 82, detection cylinder,
83rd, pneumatic-finger, 84, laser displacement sensor, 9, transport platform, 91, conveying mechanism, 911, conveyer belt, 912, exchange slows down electricity
Machine, 10, automatic feeding device, 101, guide rail, 102, material trough, 103, feed cylinder, 11, liquid crystal touch display screen, 12, photoelectricity
Sensor, 13, inductance approach switch, 14, color sensor.
Specific embodiment
As Fig. 1-4, a kind of laboratory table based on robot, including table top 1, table top 1 is provided with robot 2, with machine
The controller 3 that people 2 connects, for storing the material frame 4 of material, for placing the material table of material and piling, for by machine
The assembly bench 7 that the material of people 2 crawl is assembled, for detecting laser detector 8 and the transport platform 9 of material dimensional tolerance,
Transport platform 9 is provided with conveying mechanism 91 and detection sensor, and the side of transport platform 9 is provided with automatic feeding device 10, on table top 1 also
It is provided with the liquid crystal touch display screen 11 for monitoring and controlling robot 2 motion.
In the present embodiment, robot selects Xin Shida sd500 robot, this robot low-profile, small volume, weight
Gently, it is the robot being best suitable for for setting up small units, all cables of sd500 robot are built-in simultaneously, can be narrow and small
Flexibly carry out operation in space, mounting means can be chosen as ground install, mount, upside-down mounting.Can at a high speed, high-precision complete
Become the work in everies such as loading and unloading, sorting, assembling, and mounting industrial photographic head can carry out image acquisition in robot.Pass through
Cc-link bussing technique, makes robot, host computer and plc be communicated.
In the present embodiment, controller is the plc of Rhizoma Sparganii fx2n model, is communicated with robot and sensor, control machine
The various actions of device people.
Material frame 4 is provided with three layers, and every layer is provided with six material lattice.
Laser detector 8 includes laser detection platform 81, and laser detection platform 81 is provided with detection cylinder 82, detects cylinder 82
Piston head on be connected with pneumatic-finger 83 for clamping material, pneumatic-finger 83 is provided with for detecting material dimensional tolerance
Laser displacement sensor 84.Detection cylinder 82 is double-rod cylinder.Laser displacement sensor 84 is ccd laser displacement sensor.
Material table includes first material platform 5 and second material platform 6.
Assembly bench 7 is provided with location-plate 71, the first cylinder 72 and the second cylinder 73.First cylinder 72 and the second cylinder 73 are equal
For double-rod cylinder, material can be captured by robot 2 and be placed on the enterprising luggage of assembly bench and join.
The AC gear motor 912 that conveying mechanism 91 includes conveyer belt 911 and drives conveyer belt 911 motion, conveyer belt 911
It is connected with variable-frequency governor.
Automatic feeding device 10 includes guide rail 101, and guide rail 101 one end is provided with for being placed on material on guide rail 101
Material trough 102, the other end of guide rail 101 be provided with the material that material trough 102 falls on guide rail 101 push on conveyer belt to
Material cylinder 103.
Detection sensor includes photoelectric sensor 12, inductance approach switch 13, color sensor 14 and industry camera.
Color sensor is tcs3200 color sensor.
This laboratory table can meet following functions:
(1) warehousing system
Laboratory table can be by robot 2, material frame 4, and material table realizes the function of storage.Robot captures from material table
Material is placed on the position that material frame 4 gives, and the position selected also or from material frame 4 carries out crawl material and is placed on thing
On material platform or other operating positions.
(2) automatic loading/unloading
Laboratory table can be by robot 2, material frame 4, and transport platform 9 realizes the action of automatic loading/unloading.By robot 2 in thing
On bin 4, crawl material is placed on conveying mechanism 91, or directly promotes material by the feed cylinder 103 of automatic charging device 10
Material in groove 102 is on conveyer belt 911.
(3) detect material dimensional tolerance
Can be by robot 2 in laboratory table, and laser detector 84 carries out the detection of dimensional tolerance, machine to material
People captures the material position that material is placed on monitor station 81, promotes pneumatic-finger 83 forward by detection cylinder 82, pneumatic-finger 83
Clamp material to carry out detecting material size by laser displacement inspecting device 84.
(4) colour recognition, Material Identification
Laboratory table can be by transport platform 9, automatic feeding device 10, color sensor 14, and inductance approach switch 13 is to thing
Material carries out the identification of color and material.Feeding is carried out by robot 2 or automatic feeding device 10, then is carried out by conveyer belt 911
Conveying, by carrying out the identification of color during color sensor 14, by carrying out the identification of material during inductance approach switch 13.
(5) assemble
Laboratory table can be by robot 2, material frame 4, and assembly bench 7 carries out assembly manipulation, and robot 2 divides from material frame 4
Do not capture big part material, and smallclothes material, smallclothes material is assemblied in big part material in assembly bench 7, two on assembly bench 7
Individual cylinder plays positioning action.
(6) piling
Laboratory table can be by robot 2, material frame 4, and material table realizes piling function, and robot 2 captures thing from material frame 4
Material carries out piling on material table.
A kind of experimental technique based on robot, it is adaptable to laboratory table above based on robot, comprises the following steps:
Step one: electricity gone up respectively by controller 3, liquid crystal touch display screen 11, robot 2, carries out program initialization；
Step 2: start the experiment of laboratory table, can automatically be tested or test manually；
Step 3: terminate experiment, deenergization；
Described automatic experiment comprises the following steps:
Automatically experimental procedure one: carry out needing the project of experiment from the program of typing in touch screen by user,
Start to test, experiment content includes storage, piling, automatic loading/unloading, dimensional tolerance detection, color detection, wood properly test, assembling
Deng making robot 2 beginning action；
Automatically experimental procedure two: observe the testing result of each sensor and the state of whole laboratory table by touch screen；
Described manual experiment comprises the following steps:
Manual experimental procedure one: oneself exploitation program is carried out by user, typing controller 3, liquid crystal touch display screen 11,
In robot 2, XOR directly controls robot 2 action on liquid crystal touch display screen 11；
Manual experimental procedure two: run and debugging routine；
Manual experimental procedure three: if running problematic, re-start experiment manual step two.
Automatically the experiment content in experimental procedure one specifically includes following automatic step:
Automatically step one: robot 2 captures material from the selected sub- position of material frame 4 and is placed on laser detection platform 81；
Automatically step 2: by laser displacement sensor 84, material is carried out with the measurement of dimensional tolerance, if unqualified,
It is placed directly on the underproof first material platform 5 of special placement and carries out piling, qualified, robot 2 crawl material is placed on conveying
On band 911；
Automatically step 3: be parked in material before color sensor 14 by conveyer belt on conveyer belt 911, detect material
Color, if red material, is directly placed on special placement to go forward side by side on underproof material table by transmission end of tape by robot 2
Row piling, if the material of blueness, then passes through inductance approach switch 13 by conveyer belt with material, is detected；
Automatically step 4: if nonmetallic, the underproof first material platform 5 of special placement is placed on by robot 2 crawl
Go up and carry out piling, if metal then robot 2 crawl be placed on beat pin assembly on beat pin；
Automatically step 5: make robot 2 after pin terminates and capture material from conveyer belt 911, be placed on second material platform 6,
And carry out piling, terminate rear robot 2 and return to initial position.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
Obvious change that the spirit of the present invention is extended out or change among still in protection scope of the present invention.
Claims (10)
1. a kind of laboratory table based on robot it is characterised in that: include table top (1), described table top (1) is provided with machine
People (2), the controller (3) being connected with robot (2), for storing the material frame (4) of material, for placing material and piling
Material table, the assembly bench (7) that the material for capturing robot (2) is assembled, for detecting swashing of material dimensional tolerance
Optical detection device (8) and transport platform (9), described transport platform (9) is provided with conveying mechanism (91) and detection sensor, described
The side of transport platform (9) is provided with automatic feeding device (10), and described table top (1) is additionally provided with for monitoring and controlling robot
(2) liquid crystal touch display screen (11) that moves and beat pin assembly.
2. a kind of laboratory table based on robot according to claim 1 it is characterised in that: described material frame (4) sets
There are three layers, every layer is provided with six material lattice.
3. a kind of laboratory table based on robot according to claim 1 it is characterised in that: described laser detector
(8) include laser detection platform (81), described laser detection platform (81) is provided with detection cylinder (82), described detection cylinder
(82) pneumatic-finger (83) for clamping material is connected with piston head, described pneumatic-finger (83) is provided with for detecting
Material size tolerance laser displacement sensor (84).
4. a kind of laboratory table based on robot according to claim 1 it is characterised in that: described material table includes
One material table (5) and second material platform (6).
5. a kind of laboratory table based on robot according to claim 1 it is characterised in that: on described assembly bench (7)
It is provided with location-plate (71), the first cylinder (72) and the second cylinder (73).
6. a kind of laboratory table based on robot according to claim 1 it is characterised in that: described conveying mechanism (91)
The AC gear motor (912) moved including conveyer belt (911) and driving conveyer belt (911), described conveyer belt (911) connects
There is variable-frequency governor.
7. a kind of laboratory table based on robot according to claim 5 it is characterised in that: described automatic feeding device
(10) include guide rail (101), described guide rail (101) one end is provided with the material trough for being placed on material on guide rail (101)
(102), the other end of described guide rail (101) is provided with and for material trough (102) material on guide rail (101) that falls to push to conveying
Feed cylinder (103) on band (911).
8. a kind of laboratory table based on robot according to claim 1 it is characterised in that: described detection sensor bag
Include photoelectric sensor (12), inductance approach switch (13), color sensor (14) and industry camera.
9. a kind of experimental technique based on robot is it is adaptable to the reality based on robot as described in any one of claim 1～8
Test platform it is characterised in that: comprise the following steps:
Step one: electricity gone up respectively by controller (3), liquid crystal touch display screen (11), robot (2), carries out program initialization；
Step 2: start the experiment of laboratory table, can automatically be tested or test manually；
Step 3: terminate experiment, deenergization；
Described automatic experiment comprises the following steps:
Automatically experimental procedure one: carry out needing the project of experiment from the program of typing in touch screen by user, start
Experiment, experiment content includes storage, piling, automatic loading/unloading, dimensional tolerance detection, color detection, wood properly test, assembling etc.,
Make robot (2) beginning action；
Automatically experimental procedure two: observe the testing result of each sensor and the state of whole laboratory table by touch screen；
Described manual experiment comprises the following steps:
Manual experimental procedure one: oneself exploitation program is carried out by user, typing controller (3), liquid crystal touch display screen (11),
In robot (2), XOR is directly in liquid crystal touch display screen (11) upper control robot (2) action；
Manual experimental procedure two: run and debugging routine；
Manual experimental procedure three: if running problematic, re-start experiment manual step two.
10. a kind of experimental technique based on robot according to claim 9 it is characterised in that: described automatic experiment
Experiment content in step one specifically includes following automatic step:
Automatically step one: robot (2) captures material from the selected sub- position of material frame (4) and is placed on laser detection platform (81)
On；
Automatically step 2: by laser displacement sensor (84), material is carried out with the measurement of dimensional tolerance, if unqualified, straight
Connect and be placed on the underproof first material platform (5) of special placement upper and carry out piling, qualified, robot (2) crawl material is placed on defeated
Send on band (911)；
Automatically step 3: be parked in material before color sensor (14) by conveyer belt on conveyer belt (911), detect material
Color, if red material, is directly placed on special placement on underproof material table simultaneously by transmission end of tape by robot (2)
Carry out piling, if the material of blueness, then inductance approach switch (13) is passed through with material by conveyer belt, detected；
Automatically step 4: if nonmetallic, the underproof first material platform (5) of special placement is placed on by robot (2) crawl
Go up and carry out piling, if metal then robot (2) crawl be placed on beat pin assembly on beat pin；
Automatically step 5: make robot after pin terminates (2) and capture material from conveyer belt (911), be placed on second material platform (6)
On, and carry out piling, terminate rear robot (2) and return to initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611078385.9A CN106373482A (en) | 2016-11-30 | 2016-11-30 | Experiment table based on robot and experiment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078385.9A CN106373482A (en) | 2016-11-30 | 2016-11-30 | Experiment table based on robot and experiment method thereof |
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| CN106373482A true CN106373482A (en) | 2017-02-01 |
Family
ID=57892357
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| CN201611078385.9A Pending CN106373482A (en) | 2016-11-30 | 2016-11-30 | Experiment table based on robot and experiment method thereof |
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| CN107154195A (en) * | 2017-07-03 | 2017-09-12 | 武汉金石兴机器人自动化工程有限公司 | A kind of industrial robot practicing teaching system |
| CN107248362A (en) * | 2017-07-03 | 2017-10-13 | 武汉金石兴机器人自动化工程有限公司 | A kind of industrial robot vision is with line tracing teaching module |
| CN110587482A (en) * | 2019-10-14 | 2019-12-20 | 重庆机电智能制造有限公司 | Casting type recognition device based on multi-sensor combination |
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| CN110587482A (en) * | 2019-10-14 | 2019-12-20 | 重庆机电智能制造有限公司 | Casting type recognition device based on multi-sensor combination |
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Application publication date: 20170201 |