CN106782008A - A kind of industrial robot teaching station - Google Patents
A kind of industrial robot teaching station Download PDFInfo
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- CN106782008A CN106782008A CN201611200067.5A CN201611200067A CN106782008A CN 106782008 A CN106782008 A CN 106782008A CN 201611200067 A CN201611200067 A CN 201611200067A CN 106782008 A CN106782008 A CN 106782008A
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- industrial robot
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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
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Abstract
The present invention discloses a kind of industrial robot teaching station, is related to teaching equipment field.It includes industrial machine human body, vision-based detection controller, material assembling bit platform, drive device, slide rail, PLC, detection means and testing result suggestion device, vision-based detection controller detects the position of color, profile, sized data and the material of material, and data and positional information are transmitted to industrial robot controller；The bottom of material assembling bit platform is provided with the chute coordinated with slide rail；Whether the material of the detectable test position of detection means assembles correctly；PLC control drive device drives material assembling bit platform to move to test position, the detection signal that receiving detection device is detected along slide rail, and transmits to industrial robot controller；PLC controls testing result suggestion device to open according to the testing result of detection means.The application structural integrity and compactedness are good, and Automated assembly precision and integrated level are high, fully meet teaching demand.
Description
Technical field
The present invention relates to teaching equipment field, more particularly to a kind of industrial robot teaching station.
Background technology
Industrial robot assembly system with its high degree of automation, assembly precision high, good stability, adapt to extreme environment
The features such as and be widely used in the every field such as automobile making, aviation, Electronic products manufacturing.Robotic assembly system has had
More ripe development, it is small to micron-sized electronic components fabrication, greatly to the production of large industry equipment, robot is embodied invariably
Critical role of the assembly system in modern industry production.
As application of the robot in industrial system is gradually popularized, in particular with《Made in China 2025》Planning is comprehensive
Spread out, robot manipulation programming personnel is gradually lifted in the demand of manufacturing.Ge Zhong School of High Profession Technology carries conveying and cultivates
Robot uses the substantial responsibility of the talent, and the education used industrial robot is also increasingly paid attention to.For example, China Patent No. is
The patent of CN201410247340.4 discloses a kind of industrial robot experience system, and the industrial robot experience system includes tool
The master controller for having the industrial robot of paw and being electrically connected with industrial robot, although be available for student to practise by master controller control
The technology of industrial machine human action processed, grasps industrial robot and is combined to complete knowing such as Assembling Production task with master controller
Know, but the experience system structural integrity and compactedness are poor, while being not introduced into the detection means such as vision, laser, it is impossible to realize
The AUTONOMOUS TASK of industrial robot, and cannot learn whether material assembles correctly in the assembling process of different material, easily make
The situation for being unsatisfactory for product requirement is there may be into the product after assembly material, so as to reduce material Automated assembly precision and
The qualification rate of product, it is impossible to fully meet teaching demand.
In sum, it is badly in need of a kind of structural integrity and compactedness is good, Automated assembly high precision can fully meets religion
The industrial robot teaching station of demand.
The content of the invention
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art, the present invention provides a kind of structural integrity and compactedness is good, automation
Assembly precision is high, can fully meet the industrial robot teaching station of teaching demand.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the present invention is used include：
A kind of industrial robot teaching station, including the workbench cabinet with work top, the workbench cabinet it is interior
Portion is provided with industrial robot controller, and feed unit, industrial machine human body, vision-based detection are provided with the work top
Controller, material assembling bit platform, drive device, slide rail, PLC and detection means；
The vision-based detection controller is connected with industrial robot controller, color, profile, size for detecting material
Data and the position to sucker instrument absorbing material, and data message and positional information are transmitted to industrial robot controller；
The detection means is used to detect whether the material positioned at test position assembles correctly；
The material assembling bit platform is connected with drive device, and the bottom symmetrical of the material assembling bit platform is provided with two
The chute that bar coordinates with slide rail；
The PLC is connected with drive device, detection means and industrial robot controller respectively, the PLC controls
Device control drive device processed drives material assembling bit platform to move to test position, the inspection that receiving detection device is detected along slide rail
Signal is surveyed, and is transmitted to industrial robot controller；
The industrial robot controller is connected with industrial machine human body, for controlling industrial machine human body in material
Assembly material on assembling bit platform；
Also include testing result suggestion device, the testing result suggestion device is connected with PLC, the PLC controls
Device processed controls testing result suggestion device to open according to the testing result of detection means.
Used as a kind of improvement project at industrial robot teaching station of the invention, the drive device is Rodless cylinder
Drive system, the Rodless cylinder drive system includes Rodless cylinder, and the Rodless cylinder is arranged on work by cylinder mount frame
Make on table top.
Used as a kind of improvement project at industrial robot teaching station of the invention, the testing result suggestion device is
Buzzer.
Used as a kind of improvement project at industrial robot teaching station of the invention, the testing result suggestion device is
Testing result indicator lamp.
It is described also including sensors in place as a kind of improvement project at industrial robot teaching station of the invention
Sensors in place is connected with PLC, for detecting whether material assembling bit platform pushes to test position.
As a kind of improvement project at industrial robot teaching station of the invention, also including vision-based detection display screen,
The vision-based detection display screen is connected with vision-based detection controller；
The industrial robot controller receives the vision-based detection result that vision-based detection controller detects and exports to regarding
Feel that detection display screen is shown.
Used as a kind of improvement project at industrial robot teaching station of the invention, the vision-based detection display device is
LCDs.
As a kind of improvement project at industrial robot teaching station of the invention, also including industrial robot teaching
Device, the industrial robot teaching device is communicated to connect with industrial robot controller.
(3) beneficial effect
The beneficial effects of the invention are as follows：
The invention provides a kind of industrial robot teaching station, the teaching station by industrial robot controller,
Industrial machine human body, material assembling bit platform, vision-based detection controller, drive device, slide rail, PLC, detection means
Install concentratedly on a workbench cabinet, the true application by practical operation simulating industry robot in 3C industries makes religion
Learn content to be integrated with employment content, fully meet the demand that school carries out industrial robot education to student, whole industrial machine
Not only structural integrity and compactedness are good at people's teaching station, can realize the AUTONOMOUS TASK of industrial robot, automatic makeup
With high precision, automation integrated level is high.
Brief description of the drawings
Fig. 1 is three-dimensional the one of the industrial robot teaching station that the preferred embodiment of the present invention is provided；
Fig. 2 is the stereogram two at the industrial robot teaching station that the preferred embodiment of the present invention is provided；
Fig. 3 is the assembling structure schematic diagram of the chip assembling bit platform that the preferred embodiment of the present invention is provided and slide rail；
Fig. 4 is the assembling structure schematic diagram of the Rodless cylinder drive system that the preferred embodiment of the present invention is provided；
Fig. 5 is the structural representation of the vision-based detection controller that the preferred embodiment of the present invention is provided；
Fig. 6 is that the sensors in place that the preferred embodiment of the present invention is provided is illustrated with the assembling structure of testing result indicator lamp
Figure.
In figure：
1st, workbench cabinet；2nd, door；3rd, wire casing；4th, universal rolling wheel；5th, robot connection end；6th, instrument connection end；9th, sucker
Instrument；10th, screw tool is locked；11st, tool holder；13rd, chute；17th, raw material platform；18th, chip material；19th, cover plate material；
20th, visual detection unit；21st, vision-based detection controller；22nd, chip assembling bit platform；23rd, pcb board；24th, slide rail；25th, without bar
Air cylinder driven system；26th, detection means；27th, sensors in place；28th, testing result indicator lamp；29th, camera is monitored；30th, take the photograph
As head bracket；31st, monitor；32nd, monitor stand；33rd, industrial machine human body；34th, LCDs；35th, PLC controls
Device；36th, screw feed unit；37th, Rodless cylinder；38th, cylinder mount frame.
Specific embodiment
In order to preferably explain the present invention, in order to understand, below in conjunction with the accompanying drawings, by specific embodiment, to this hair
It is bright to be described in detail.
The present embodiment proposes a kind of preferred industrial robot teaching station, as shown in Figures 1 to 6, the industrial machine
People's teaching station includes workbench cabinet 1, industrial machine human body 33, industrial robot controller, work with work top
Industry robot demonstrator, instrument quick-change system, special-shaped chip material unit, visual detection unit 20, special-shaped chip assembly unit,
The components such as screw feed unit 36, monitoring system.
The side of the workbench cabinet 1 of the present embodiment offers door 2, and the inside of workbench cabinet 1 can storing.On workbench cabinet 1
The work top periphery on surface is provided with wire casing 3, can facilitate the layout of each cable.The entirety of workbench cabinet 1 for convenience
Mobile, the bottom of workbench cabinet 1 is provided with several universal rolling wheels 4, can make the structure of instructor's more fully facilities for observation
And the course of work, lift quality of instruction and teaching efficiency.Above-mentioned industrial machine human body 33, instrument quick-change system, vision inspection
Unit 20, special-shaped chip assembly unit, screw feed unit 36 and monitoring system is surveyed to be installed on work top.Industrial machine
People's controller is arranged on the inside of workbench cabinet 1.Industrial robot controller respectively with industrial machine human body 33, vision-based detection
Unit 20 and special-shaped chip assembly unit connection.Industrial machine human body 33 is completed to specify dynamic by industrial robot controller control
Make.Industrial robot teaching device is communicated to connect with industrial robot controller, and indirect control industrial machine human body 33 moves.Work
Industry robot demonstrator has the memory module of the action command of industrial machine human body 33 that is stored with, and can achieve a certain motion and refer to
In making industrial robot controller, and can repeatedly transfer the movement instruction of archive makes industrial machine human body 33 perform accordingly
Motion.
Specifically, achieving a series of action for having industrial machine human bodies 33 in the memory module of industrial robot teaching device
Command file, action command file can be directly inputted and edited by industrial robot teaching device, it is also possible to by calculating
The off-line programming software run in machine is worked out, and by the storage mediums such as USB flash disk or network transmission to industrial robot control
In device, control industrial machine human body 33 completes required movement.Industrial machine human body 33 acts at assembly unit, to complete
Material assembly technology.
Instrument quick-change system includes robot connection end 5, quick-change tool and instrument connection end 6.The one of robot connection end 5
End is detachably connected to the end of industrial machine human body 33.Quick-change tool includes sucker instrument 9 and lock screw tool 10 4
Part robot manipulation's instrument, four operation instruments of the above be respectively utilized to complete industrial robot absorption chip and cover plate material, with
And draw screw and assemble the operation of locking, and be arranged on work top by tool holder 11.The one of instrument connection end 6
End is fixedly connected with quick-change tool, and the other end of instrument connection end 6 is detachably connected to the other end of robot connection end 5,
The replacing of the end different operating instrument of industrial machine human body 33 is so realized, it is convenient and practical.
The industrial robot teaching station also includes special-shaped chip material unit, and special-shaped chip material unit includes raw material
Platform 17, chip material 18 and cover plate material 19, raw material platform 17 are arranged on work top.Color, profile, size and function
Different special-shaped chip materials 18 and cover plate material 19 are positioned on raw material platform 17.
Visual detection unit 20 is technical grade intelligent vision system, and it includes vision-based detection controller 21 and LCDs
34, vision-based detection controller 21 and LCDs 34 are connected with industrial robot controller.Vision-based detection controller 21 can
For detecting the data such as color, profile, size of special-shaped chip and cover plate material 19, while can be to the absorbing material of sucker instrument 9
Position judged, and vision-based detection result is transmitted to industrial robot controller.Industrial robot controller is received and regarded
Feel testing result and export to LCDs 34, while whether control industrial machine human body 33 to enter according to detection signal different
Shape chip assembling function module carries out assembly work.Wherein, the display of LCDs 34 vision-based detection result, for operating personnel
It is open-and-shut to check, it is convenient and swift.
Special-shaped chip assembly unit includes PLC 35 and multiple chip assembly stations, each chip assembly station bag
Include chip assembling bit platform 22, pcb board 23, slide rail 24, drive device, detection means 26, sensors in place 27 and testing result
Indicator lamp 28.Wherein, pcb board 23 is placed on chip assembling bit platform 22.Chip assembling bit platform 22 is slidably connected with slide rail 24.
Further, the bottom symmetrical of chip assembling bit platform 22 is provided with two chutes 13 coordinated with slide rail 24, and drive device can
Driving chip assembling bit platform 22 is moved along slide rail 24.In order to save installing space, drive device uses Rodless cylinder drivetrain
System 25, it includes Rodless cylinder 37, and Rodless cylinder 37 is arranged on work top by cylinder mount frame 38.Sensors in place 27
It is connected with PLC 35, sensors in place 27 can detect whether chip assembling bit platform 22 has been pushed to test position.Detection
Device 26 is fixed on the end of slide rail 24, and whether the chip of detectable test position assembles correctly.Testing result indicator lamp 28 with
PLC 35 is connected, and the chip that testing result indicator lamp 28 is detected according to detection means 26 is assembled correctly or incorrectly, respectively
Indicate green and red.Testing result indicator lamp 28 be convenient to operation personnel it is open-and-shut find out chip assembling it is correct with
It is no, so as to amendment in time.PLC 35 is connected with industrial robot controller, can receive the detection letter of sensors in place 27
Number, the driving chip assembling bit platform 22 of control Rodless cylinder drive system 25 is slided, controls detection means 26 to detect assembling chip
Whether pcb board 23 afterwards meets product requirement, the testing result of the transmission of receiving detection device 26 and controls testing result indicator lamp
28 light.Because the assembly unit at the teaching station has detection means 26, sensors in place 27 and testing result indicator lamp
28, therefore, the high-precision automatic assembling of material, and convenient operation are not only realized, fully meet teaching demand.
Certainly, above-mentioned testing result indicator lamp 28 can also be replaced using buzzer, can equally point out operator
Whether chip correctly assembles.
Screw feed unit 36 be arranged on work top on, screw feed unit 36 power after can by one piece of screw eject to
Screw position is taken, after lock screw tool 10 takes out screw, is automatically again ejected to taking screw position one piece of screw.
Monitoring system includes monitoring camera 29 and the monitor 31 electrically connected with monitoring camera 29.Monitor 31 passes through
Monitor stand 32 is arranged on work top.Monitoring camera 29 is arranged on work top by camera bracket 30, can
Workbench cabinet 1 and a range of personnel in periphery and equipment operation situation are shot, and is real-time transmitted to monitor 31 and shown
Show.
The present embodiment is with the typical technique application of 3C industries as background, it would be preferable to support industrial robot completes special-shaped chip
The assembling of sorting, special-shaped chip on pcb board 23, realize industrial robot operation, fitter assembly, electrotechnical, electronic, PLC apply,
The teaching of the technical ability main points such as pneumatic control, vision-based detection.
Three functional modules can be formed by the interaction of control signal between said modules altogether：It is vision-based detection functional module, different
Shape chip assembling function module and operation monitoring module.Each module method of work is as follows：
1st, vision-based detection functional module
A, the action command of industrial robot cooperation visual detection unit 20 can be input to work by industrial robot teaching device
Achieved in industry robot controller；
Sucker instrument 9 is attached to industrial machine human body by B, industrial robot controller control industrial machine human body 33
33 end；
C, industrial robot controller control industrial machine human body 33 use sucker instrument 9 by the core on raw material platform 17
Sheet material 18 is drawn, and being moved to intelligent vision system position carries out vision-based detection, and industrial machine human body 33 exists in detection process
Test position waits testing result；
The data information transfers such as die colors, profile, the size that D, vision-based detection controller 21 will be detected are to liquid crystal
Display screen 34；
E, vision-based detection controller 21 transmit to work the position signalling of chip features information and the absorption chip of sucker instrument 9
Industry robot controller, industrial robot controller judges that next step is acted according to detection signal；
If F, detection signal display pcb board 23 need to assemble this chip, industrial robot controller control industrial machine
Human body 33 enters special-shaped chip assembling function module carries out assembly work；
If G, detection signal display pcb board 23 need not assemble this chip, industrial robot controller control industrial machine
Human body 33 abandons this chip, C-E steps is re-executed, until chip sorting is correct.
2nd, special-shaped chip assembling function module
A, the action command of industrial robot assembling chip can be input to industrial robot control by industrial robot teaching device
Achieved in device processed；
B, industrial robot controller control industrial machine human body 33 are moved to chip assembling position by vision-based detection position
The position of platform 22, the positional information calculation sucker instrument drop point according to sucker absorption chip, so that chip is assembled into PCB exactly
In the chip slot of plate 23；
C, industrial robot controller need to judge on pcb board 23 whether all assembling is finished multiple different abnormity chips；
D, as unfinished all chip assembly works, industrial robot controller control industrial machine human body 33 by chip
Assembling bit platform 22 position is moved to the position of raw material platform 17, repeats C-G steps and this function mould in vision-based detection functional module
The B-C steps of block, until completing the sorting assembling of all chips；
E, all chip assembly works are such as completed, industrial robot controller transmits signals to PLC 35, PLC
The driving chip assembling bit platform 22 of the control Rodless cylinder of controller 35 drive system 25 slides into test position；
F, slide into test position after, sensors in place 27 transmits signals to PLC 35, and PLC 35 is controlled
Whether the pcb board 23 after the detection assembling of detection means 26 meets product requirement；
If G, satisfaction are required, the bright green of the control testing result of PLC 35 indicator lamp 28, and will detection qualifying signal biography
It is defeated to industrial robot controller；
If H, being unsatisfactory for requiring, the shiny red of the control of PLC 35 testing result indicator lamp 28, and will detect underproof
Chip information is transferred to industrial robot controller；
I, the driving chip assembling bit platform 22 of the control Rodless cylinder of PLC 35 drive system 25 slide back to assembling position；
If J, industrial robot controller receive the unqualified chip information of detection, draw problem chip and abandon, weight
The B-F steps of C-G steps and this functional module in double vision detection functional module, until Product checking is qualified；
If K, industrial robot controller receive detection qualifying signal, industrial robot controller control industrial machine
Human body 33 is moved to the position of raw material platform 17 and draws cover plate；Cover plate enters vision-based detection module, and vision-based detection controller 21 will
The position signalling that sucker instrument 9 draws cover plate is transmitted to industrial robot controller；
L, industrial robot controller control industrial machine human body 33 are moved to chip assembling position by vision-based detection position
The position of platform 22, the positional information calculation sucker instrument drop point of cover plate is drawn according to sucker, so that cover plate is dropped down onto into pcb board exactly
On 23；
M, industrial robot controller control industrial machine human body 33 put back on tool holder 11 sucker instrument 9, fill
Lock screw tool 10, be moved to the picking screw of screw feed unit 36；
Screw is assembled to cover plate and urgent by N, industrial robot controller control industrial machine human body 33, is finally completed
Product installment work；
After O, all assemblings actions of completion, industrial robot controller control industrial machine human body 33 will lock screw tool
10 put back on tool holder 11 and reset.
3rd, monitoring module is operated
Monitoring camera 29 shoots workbench cabinet 1 and a range of personnel in periphery and equipment operation situation, passes in real time
It is delivered to monitor 31 to be shown, is checked for faculty.
The teaching station of the present embodiment is by industrial robot controller, industrial machine human body, visual detection unit, different
Shape chip assembly unit, screw feed unit and monitoring system etc. are installed concentratedly on a workbench cabinet, by industrial machine
True application of people's teaching machine practical operation simulating industry robot in 3C industries, makes the content of courses be integrated with employment content,
Fully meet the demand that school carries out industrial robot education to student, not only structure is whole at whole industrial robot teaching station
Body and compactedness are good, and can realize the AUTONOMOUS TASK of industrial robot, and Automated assembly high precision is automated integrated
Degree is high.
Know-why of the invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention
Principle, and can not by any way be construed to limiting the scope of the invention.Based on explanation herein, art technology
Personnel associate other specific embodiments of the invention by need not paying creative work, these modes fall within this
Within the protection domain of invention.
Claims (8)
1. a kind of industrial robot teaching station, it is characterised in that described including the workbench cabinet (1) with work top
The inside of workbench cabinet (1) is provided with industrial robot controller, and feed unit, industrial machine are provided with the work top
Human body (33), vision-based detection controller (21), material assembling bit platform, drive device, slide rail (24), PLC (35)
With detection means (26)；
The vision-based detection controller (21) is connected with industrial robot controller, color, profile, size for detecting material
Data and the position to sucker instrument absorbing material, and data message and positional information are transmitted to industrial robot controller；
The detection means (26) is for detecting whether the material positioned at test position assembles correctly；
The material assembles bit platform (22) and is connected with drive device, and the bottom symmetrical of material assembling bit platform (22) is set
There are two chutes (13) coordinated with slide rail (24)；
The PLC (35) is connected with drive device, detection means (26) and industrial robot controller respectively, described
PLC (35) control drive device drives material assembling bit platform to move to test position along slide rail (24), receives detection
The detection signal that device (26) is detected, and transmit to industrial robot controller；
The industrial robot controller is connected with industrial machine human body (33), for controlling industrial machine human body (33) to exist
Assembly material on material assembling bit platform；
Also include testing result suggestion device, the testing result suggestion device is connected with PLC (35), the PLC controls
Device (35) processed controls testing result suggestion device to open according to the testing result of detection means (26).
2. industrial robot teaching station according to claim 1, it is characterised in that：The drive device is without bar gas
Cylinder drive system, the Rodless cylinder drive system includes Rodless cylinder (37), and the Rodless cylinder (37) is installed by cylinder
Frame (38) is on work top.
3. industrial robot teaching station according to claim 1, it is characterised in that：The testing result suggestion device
It is buzzer.
4. industrial robot teaching station according to claim 1, it is characterised in that：The testing result suggestion device
It is testing result indicator lamp (28).
5. industrial robot teaching station according to claim 1, it is characterised in that：Also include sensors in place
(27), the sensors in place (27) is connected with PLC (35), for detecting whether material assembling bit platform pushes to inspection
Location is put.
6. industrial robot teaching station according to claim 1, it is characterised in that：Also shown including vision-based detection
Screen, the vision-based detection display screen is connected with vision-based detection controller (21)；
The industrial robot controller receives the vision-based detection result that vision-based detection controller (21) detects and exports to regarding
Feel that detection display screen is shown.
7. industrial robot teaching station according to claim 6, it is characterised in that：The vision-based detection display device
It is LCDs (34).
8. industrial robot teaching station according to claim 1, it is characterised in that：Also include industrial robot teaching
Device, the industrial robot teaching device is communicated to connect with industrial robot controller.
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| CN201611200067.5A CN106782008A (en) | 2016-12-22 | 2016-12-22 | A kind of industrial robot teaching station |
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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 |
| CN107992032A (en) * | 2017-12-27 | 2018-05-04 | 郑州精益达汽车零部件有限公司 | A kind of online full-automatic assembling detection device of automobile vehicle body controller |
| CN108062904A (en) * | 2018-01-23 | 2018-05-22 | 北京华航唯实机器人科技股份有限公司 | A kind of robot teaching's equipment |
| CN109166444A (en) * | 2018-09-02 | 2019-01-08 | 南京吉目希自动化科技有限公司 | A kind of Multifunctional desktop type robot training work station |
| CN109703961A (en) * | 2018-12-26 | 2019-05-03 | 山东莱茵科技设备有限公司 | Simulate " intelligent plant " training system of industrial 4.0 production processes |
| CN110415598A (en) * | 2019-07-26 | 2019-11-05 | 北京华晟智造科技有限公司 | A kind of visual packaging work system |
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