CN107081762B - Industrial robot operation trainer - Google Patents
Industrial robot operation trainer Download PDFInfo
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- CN107081762B CN107081762B CN201710404584.2A CN201710404584A CN107081762B CN 107081762 B CN107081762 B CN 107081762B CN 201710404584 A CN201710404584 A CN 201710404584A CN 107081762 B CN107081762 B CN 107081762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The invention relates to an industrial robot operation training device. The device is characterized by comprising a supporting safety mechanism, a speed control training mechanism, a precision control training mechanism, an angle adjustment control training mechanism, a TCP center point control training mechanism and a direction control training mechanism, wherein the supporting safety mechanism is a bottom supporting structure, the speed control training mechanism, the precision control training mechanism, the angle adjustment control training mechanism and the TCP center point control training mechanism are enclosed into a polygonal structure and are arranged above the supporting safety mechanism, and the direction control training mechanism is arranged in the polygonal structure. The training device has remarkable lifting effect on learning industrial robots such as college students and staff newly entering in a factory, is high in universality, can be used by a plurality of types of industrial robots, is of a detachable structure, can be assembled into training devices of different forms independently, is convenient to carry, and is attractive in appearance.
Description
Technical Field
The invention relates to an industrial robot operation training device.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. The robot can be commanded by human beings, can operate according to a preset program, and can also act according to the principle formulated by artificial intelligence technology.
The robot control system is a brain of the robot, is a main factor for determining the functions and performances of the robot, and can control the movement position, the gesture and the track of the industrial robot in the working space, the operation sequence, the action time and the like. However, the robot can only process the less complex program written in the control system, which means that there is a possibility of emergency situations at any time, and the quality and the capacity of the professional operators can determine the unexpected loss. And some trainees who just contact and learn the industrial robot can cause a little situation to appear because of not having specially trained and operated and cause the emotion tension to be unable to normally exert, lead to operating robot error, and cause equipment damage. This error is psychological and equipment-related. Because the device is a mechanical device, the impact is not felt, and the hard alloy is used for casting, the device is damaged difficultly when the device is impacted or rubbed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a technical scheme of an industrial robot operation training device.
An industrial robot operation trainer, its characterized in that including supporting safety mechanism, speed control training mechanism, precision control training mechanism, angle adjustment control training mechanism, TCP central point control training mechanism and direction control training mechanism, support safety mechanism and be bottom sprag structure, speed control training mechanism, precision control training mechanism, angle adjustment control training mechanism and TCP central point control training mechanism enclose into the polygon structure and set up in supporting safety mechanism top, direction control training mechanism sets up in the polygon structure.
The industrial robot operation training device is characterized in that the supporting safety mechanism comprises a supporting rod upper body, a supporting rod lower body, a supporting rod core and a spring, a cylindrical blind hole is formed in the supporting rod upper body, a round groove is formed in the upper portion of the supporting rod lower body, the upper end of the supporting rod core is inserted into the cylindrical blind hole, the spring is sleeved outside the supporting rod core and inserted into the round groove, and the spring is located between the supporting rod upper body and the supporting rod lower body;
the speed control training mechanism comprises a first carrier, a flat belt, a bolt, a roller, an encoder, a pushing block and a square block, wherein a cavity for accommodating the flat belt is formed in the first carrier, the bolt and the roller are arranged at one end of the cavity, the bolt, the roller and the encoder are arranged at the other end of the cavity, and the encoder is matched with the roller through a key; the flat belt is matched with the rollers at the two ends, square holes for installing pushing blocks are formed in the flat belt, and the square blocks are inserted and arranged on the pushing blocks;
the precision control training mechanism comprises a second carrier, a flat block carrier, a hexagonal flat block, a second auxiliary carrier, first infrared sensors and a fixing plate, wherein the two flat block carriers are in scarf joint with each other and are arranged on the second carrier, the hexagonal flat blocks are in scarf joint with each other and are different in installation angle, the second auxiliary carrier is arranged below the second carrier, the two first infrared sensors are correspondingly arranged on the second auxiliary carrier right below the flat block carrier, the fixing plate is clamped with the center of the second carrier, and the fixing plate and the second auxiliary carrier cannot interfere with each other;
the angle adjustment control training mechanism comprises a third carrier, a core block and a core block limiting mechanism, wherein the core block limiting mechanism comprises a spring pin outer shell, a spring pin lower shell, a tightening spring, a spring pin head, a plug block, a first square plug pin and a second square plug pin, an installation groove and a core block installation groove are formed in the third carrier, the spring pin outer shell, the spring pin lower shell, the tightening spring, the spring pin head and the plug block are arranged in the installation groove, the tightening spring and the spring pin head are arranged between the spring pin outer shell and the spring pin lower shell, the plug block is arranged on the left side of the spring pin outer shell and the spring pin lower shell, and first half grooves matched with the first square plug pin and the second square plug pin are formed in the outer walls of the spring pin outer shell and the spring pin lower shell respectively; a core block is arranged in the core block mounting groove, and at least one limiting groove is formed in the side edge of the core block; the side wall of the mounting groove is provided with a second half groove matched with the first square bolt and the second square bolt, the side wall of the mounting groove is also provided with a slot communicated with the mounting groove of the core block, and the head of the spring pin head penetrates through the slot to be matched with a limit groove on the side edge of the core block; the core block and the core block limiting mechanism are at least provided with two groups, and the inclination angles of the core blocks are different;
the TCP center point control training mechanism comprises a fourth carrier and an adjustable rod, wherein a sphere is arranged at the top end of the adjustable rod, at least one group of convex points are further arranged on the adjustable rod, a through hole for installing the adjustable rod is formed in the fourth carrier, a transverse circumferential groove and a vertical groove are formed in the through hole, and the convex points on the adjustable rod are inserted into the through hole along the vertical groove and clamped into the transverse circumferential groove for positioning during rotation;
the directional control training mechanism comprises two crossed fifth carriers, a button switch is arranged at the center of the cross, equidistant button switches and second infrared sensors are respectively arranged on the fifth carriers radiating outwards from the center of the cross, the button switch comprises a button shell, a button head and a reset spring, a partition plate and a metal sheet are arranged in the button shell, the metal sheet is arranged at the bottom of the button shell, a conduction elastic sheet and a baffle are arranged below the button head, the reset spring is arranged between the conduction elastic sheet and the baffle, the conduction elastic sheet and the baffle are respectively arranged on the upper side and the lower side of the partition plate during installation, the push button head can overcome the force of the spring to enable the conduction elastic sheet to be in contact with the metal sheet to conduct the button switches, and the second infrared sensors are arranged on the outer side of the button switch.
The industrial robot operation training device is characterized in that the first carrier, the second carrier, the third carrier and the fourth carrier enclose a square, and two adjacent sides are connected in a matched manner through a support rod upper body, a first connecting piece and a second connecting piece; a convex block is further arranged above the upper body of the supporting rod, and a small hole is formed in the center of the convex block; the first connecting piece is provided with a first plug, a second plug and a third plug, and the second connecting piece is provided with a fourth plug and a fifth plug; the first carrier, the second carrier, the third carrier and the fourth carrier are identical with the upper body connecting end structure of the support rod, the first carrier, the second carrier, the third carrier and the fourth carrier are provided with a first jack, a second jack and a vertical notch, the first plug and the third plug are matched with the adjacent first jack, the second plug is inserted into a small hole of a protruding block of the upper body of the support rod, the vertical notch is matched with the protruding block, and the fourth plug and the fifth plug are matched with the adjacent second jack.
An industrial robot operation trainer, its characterized in that all be provided with the mounting hole on first carrier, third carrier and the fourth carrier, be provided with the arch above the fixed plate on the second auxiliary carrier, four free ends of two fifth carriers set up three protruding muscle and a shrinkage pool, correspond respectively and cooperate the mounting hole on first carrier, third carrier and the fourth carrier and the arch on the fixed plate.
The industrial robot operation training device is characterized in that two ends of the second auxiliary carrier are respectively clamped on the upper body of the support rod and fixedly connected through pins.
The industrial robot operation training device is characterized in that the second carrier is divided into an elastic connector in the middle and rigid connectors at two ends, the flat block carrier is arranged on the elastic connector, and the elastic connector is connected with the rigid connectors through pins.
The industrial robot operation training device is characterized in that a groove body is arranged on the side wall of the upper body of the supporting rod, a slotted hole is formed in the upper part of the supporting rod core, and an arc-shaped groove with the angle larger than 90 degrees is formed in the slotted hole; the supporting rod core is connected with the upper supporting rod body through a pin shaft with a right-angle lug at the end part, the pin shaft with the right-angle lug is sequentially inserted into the groove body and the groove hole, the supporting rod core can be connected with the upper supporting rod body through 90-degree rotation in an arc-shaped groove in the groove hole, and the pin shaft can slide up and down in the groove body.
An industrial robot operation trainer, its characterized in that the below of bracing piece lower part of body sets up the recess, the recess interior cooperation sets up the support base.
The industrial robot operation training device is characterized in that the lower end face of the upper support rod body and the upper end face of the lower support rod body are both provided with arc structures matched with springs.
An industrial robot operation trainer, its characterized in that core piece and core piece stop gear set up into three group, and three group's core piece inclination sets gradually to 15 degrees, 30 degrees and 45 degrees.
The device takes the industrial robot as an object, independently develops a training device for assisting the operation of the industrial robot, and mainly trains the capability of operators of the industrial robot. In operating industrial robots, many operators are unable to respond in time due to unskilled operation or emergency situations, resulting in various irrecoverable losses. The industrial robot training device is used for training the reaction capability of operators in emergency situations and grasping and operating the industrial robot for novice.
The invention has the following advantages:
1. at present, no special device for training an industrial robot exists in the market, and the device has large market space;
2. the method has remarkable lifting effect on learning industrial robots such as college students and staff newly entering in a factory;
3. the device has five functions, and the training directions of each function are different and the pertinence is also different;
4. the universality is high, and a plurality of types of industrial robots can use the training device;
5. all adopt detachable structure, can independently assemble into the trainer of different forms, convenient to carry, the appearance is pleasing to the eye.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of a support safety mechanism;
FIG. 3 is a partial cross-sectional view of the upper body of the support pole;
FIG. 4 is a partial cross-sectional view of a support rod core;
FIG. 5 is a second exploded view of the support safety mechanism;
FIG. 6 is a schematic view of a structure supporting a safety mechanism;
FIG. 7 is a burst diagram of a speed control training mechanism;
FIG. 8 is a schematic diagram of the structure of the speed control training mechanism;
FIG. 9 is a schematic diagram I of a precision control training mechanism;
FIG. 10 is a second schematic diagram of the accuracy control training mechanism;
FIG. 11 is a schematic diagram III of a precision control training mechanism; the method comprises the steps of carrying out a first treatment on the surface of the
FIG. 12 is a schematic diagram of an angle adjustment control training mechanism;
FIG. 13 is an exploded view of the angular adjustment control training mechanism;
FIG. 14 is a partial cross-sectional view of the angular adjustment control training mechanism;
FIG. 15 is a partial view of an angular adjustment control training mechanism;
FIG. 16 is a schematic diagram of a TCP center point control training mechanism;
FIG. 17 is a partial cross-sectional view of a TCP center point control training mechanism;
FIG. 18 is an exploded view of the directional control training mechanism;
FIG. 19 is a schematic view of the structure of the button head;
FIG. 20 is a partial view of a directional control training mechanism;
FIG. 21 is a schematic diagram of a directional control training mechanism;
FIG. 22 is a disassembled view of the mounting of the support rod upper body with the first carrier and the second carrier;
FIG. 23 is a partial cross-sectional view of FIG. 22;
FIG. 24 is a schematic view of the upper body of the support bar after being mounted with the first carrier and the second carrier;
in the figure: and (3) a step of: speed control training mechanism, two: accuracy control training mechanism, three: angle adjustment control training mechanism, four: TCP central point control training mechanism, fifth: directional control training mechanism, six: a supporting safety mechanism, a 1-supporting rod upper body, a 2-spring, a 3-supporting rod core, a 4-pin shaft with right angle convex blocks, a 5-supporting rod lower body, a 6-supporting base, an a 1-round groove, an a 2-groove body, an a 3-cylindrical blind hole, an a 4-groove, an a 5-groove, an a 6-convex block, an 11-first carrier, a 21-flat belt, a 22-pushing block, a 23-square block, a 24-bolt, a 25-roller, a 26-key, a 27-encoder, an e 1-square hole, an e 2-cavity, a 9-rigid connector, a 10-elastic connector, a 14-fixing plate, a 15-second auxiliary carrier, a 45-hexagonal flat block, a 46-flat block carrier, a 47-second carrier and a 12-core block limiting mechanism, 28-core block, 29-second square bolt, 30-spring pin lower shell, 31-spring pin head, 32-pushing spring, 33-plug block, 34-spring pin shell, 35-first square bolt, 36-third carrier, f 1-third carrier on which is arranged a mounting groove, f 2-second half groove, f 3-first half groove, f 4-limit groove, f 5-slot, f 6-core block mounting groove, 43-fourth carrier, 44-adjustable lever, h 1-bump, h 2-vertical groove, h 3-transverse circumferential groove, h 4-through hole, 37-button shell, 38-button head, 39-fifth carrier, 40-return spring, 41-button switch, 42-second infrared sensor, g 1-metal sheets, g 2-partition plates, g 3-conducting elastic sheets, g 4-baffle plates, 7-first connecting pieces, 8-second connecting pieces, b 1-first plugs, b 2-second plugs, b 3-third plugs, b 4-fourth plugs, b 5-fifth plugs, b 6-vertical gaps, b 7-second jacks and b 8-first jacks.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
an industrial robot operation training device is mainly used for training personnel operating the industrial robot in different types so as to facilitate better operation of the industrial robot. The three-dimensional control system mainly comprises a supporting safety mechanism six, a speed control training mechanism one, a precision control training mechanism two, an angle adjustment control training mechanism three, a TCP central point control training mechanism four and a direction control training mechanism five, wherein the supporting safety mechanism is a bottom supporting structure, and the speed control training mechanism, the precision control training mechanism, the angle adjustment control training mechanism and the TCP central point control training mechanism enclose a polygonal structure and are arranged above the supporting safety mechanism, and the direction control training mechanism is arranged in the polygonal structure. Each part is independent, can be used independently, and can also be split and combined.
The following detailed description of the various aspects of the invention is presented in detail.
The support safety mechanism six comprises a support rod upper body 1, a support rod lower body 5, a support rod core 3 and a spring 2, wherein a cylindrical blind hole a3 is formed in the support rod upper body 1, a round groove a1 is formed in the upper portion of the support rod lower body 5, the upper end of the support rod core 3 is inserted into the cylindrical blind hole a3, the spring 2 is sleeved outside the support rod core 3 and inserted into the round groove a1, and the spring 2 is located between the support rod upper body 1 and the support rod lower body 5.
A groove a5 can be arranged below the lower support rod body 5, and a support base 6 is arranged in the groove in a matched manner to play a role in support; the lower end face of the upper support rod body and the upper end face of the lower support rod body are respectively provided with an arc-shaped structure matched with the spring, so that the stability of the arc-shaped structure is ensured.
The side wall of the upper body 1 of the support rod is provided with a groove body a2, the upper part of the support rod core 3 is provided with a groove hole a4, and an arc-shaped groove with an angle greater than 90 degrees is arranged in the groove hole; the supporting rod core 3 is connected with the supporting rod upper body 1 through the pin shaft 4 with the right-angle convex blocks at the end parts, the pin shaft with the right-angle convex blocks is sequentially inserted into the groove body and the groove hole, the supporting rod core can be connected with the supporting rod upper body by rotating 90 degrees in the arc-shaped groove in the groove hole, and the pin shaft can slide in the groove body up and down.
A convex block a6 can be arranged above the upper body of the supporting rod, and a small hole is arranged in the center of the convex block and used for connecting with other parts.
In order to prevent the continuous pressing down of the manipulator caused by carelessness during the operation of the industrial robot and the incapability of timely reacting in the pressing down process, a spring mechanism is particularly added in the supporting structure, and although the telescopic space is smaller, enough reaction time can be provided for stopping the continuous pressing down of the tool hand, so that safety accidents and unnecessary loss are caused.
The speed control training mechanism comprises a first carrier 11, a flat belt 21, a bolt 24, a roller 25, an encoder 27, a pushing block 22 and a square block 23, wherein a cavity e2 for accommodating the flat belt is formed in the first carrier, the bolt and the roller are arranged at one end of the cavity, the bolt, the roller and the encoder are arranged at the other end of the cavity, and the encoder is matched with the roller through a key 26; the flat belt is matched with the rollers at the two ends, square holes e1 for installing the pushing blocks are formed in the flat belt, and the square blocks are inserted and arranged on the pushing blocks.
The precision control training mechanism comprises a second carrier 47, a flat block carrier 46, a hexagonal flat block 45, a second auxiliary carrier 15, first infrared sensors and a fixing plate 14, wherein the two flat block carriers are in scarf joint with each other and are arranged on the second carrier, the hexagonal flat blocks are in scarf joint with each other and are arranged on the flat block carrier, the installation angles of the hexagonal flat blocks are different, the second auxiliary carrier is arranged below the second carrier, the two first infrared sensors are correspondingly arranged on the second auxiliary carrier right below the flat block carrier, the fixing plate 14 is clamped with the center of the second carrier, the fixing plate and the second auxiliary carrier cannot interfere with each other, and a bulge is arranged above the fixing plate.
The angle adjustment control training mechanism comprises a third carrier 36, a core block 28 and a core block limiting mechanism 12, wherein the core block limiting mechanism comprises a spring pin outer shell 34, a spring pin lower outer shell 30, a jacking spring 32, a spring pin head 31, a plug block 33, a first square plug 35 and a second square plug 29, a mounting groove f1 and a core block mounting groove f7 are formed in the third carrier, the spring pin outer shell, the spring pin lower outer shell, the jacking spring, the spring pin head and the plug block are arranged between the spring pin outer shell and the spring pin lower outer shell, the plug block is arranged at the left side of the spring pin outer shell and the spring pin lower outer shell, and a first half groove f3 matched with the first square plug and the second square plug is formed in the outer walls of the spring pin outer shell and the spring pin lower outer shell respectively; a core block is arranged in the core block mounting groove, and at least one limiting groove f4 is formed in the side edge of the core block; the side wall of the mounting groove is provided with a second half groove f2 matched with the first square bolt and the second square bolt, the side wall of the mounting groove is also provided with a slot f5 communicated with the mounting groove of the core block, and the head of the spring pin head penetrates through the slot to be matched with the limit groove on the side edge of the core block; the core block and the core block limiting mechanism are at least provided with two groups, and the core blocks in the two groups are different in inclination angle.
The TCP central point control training mechanism comprises a fourth carrier 43 and an adjustable rod 44, wherein a sphere is arranged at the top end of the adjustable rod, at least one group of convex points h1 are further arranged on the adjustable rod, a through hole h4 for installing the adjustable rod is formed in the fourth carrier, a transverse circumferential groove h3 and a vertical groove h2 are formed in the through hole, and the convex points on the adjustable rod are inserted into the through hole along the vertical groove and clamped into the transverse circumferential groove for positioning during rotation.
The direction control training mechanism consists of two crossed fifth carriers 39, a button switch 41 is arranged at the center of the cross, equidistant button switches 41 and second infrared sensors 42 are respectively arranged on the fifth carriers radiating outwards from the center of the cross, each button switch consists of a button shell 37, a button head 38 and a reset spring 40, a partition plate g2 and a metal sheet g1 are arranged in each button shell, the metal sheet is arranged at the bottom of each button shell, a conducting elastic sheet g3 and a baffle plate g4 are arranged below each button head, the reset springs 40 are arranged between the conducting elastic sheets and the baffle plates, the conducting elastic sheets and the baffle plates are respectively arranged on the upper side and the lower side of the partition plate during installation, the pressing of the button heads overcomes the force of the springs to enable the conducting elastic sheets to be in contact with the metal sheet to conduct the button switches, and the second infrared sensors 42 are arranged on the outer sides of the button switches.
The first carrier, the second carrier, the third carrier and the fourth carrier can be enclosed into a square, and two adjacent sides are connected in a matched manner through the support rod upper body 1, the first connecting piece 7 and the second connecting piece 8; the first connector 7 is provided with a first plug b1, a second plug b2 and a third plug b3, and the second connector 8 is provided with a fourth plug b4 and a fifth plug b5; the first carrier, the second carrier, the third carrier and the fourth carrier are identical to the connecting end structure of the upper body of the support rod, the first carrier, the second carrier, the third carrier and the fourth carrier are provided with a first jack b8, a second jack b7 and a vertical notch b6, the first plug and the third plug are matched with the adjacent first jack, the second plug is inserted into a small hole of a convex block of the upper body of the support rod, the vertical notch is matched with the convex block, and the fourth plug and the fifth plug are matched with the adjacent second jack; the connecting device is used for fixing the connection of the whole frame, so that the portable convenient disassembly and independent assembly are realized.
Two ends of the second auxiliary carrier 15 are respectively clamped on the upper support rod body 1 and fixedly connected through pins; the second carrier is divided into an elastic connector 10 in the middle and rigid connectors 9 at the two ends, the flat block carrier is arranged on the elastic connector, and the elastic connector is connected with the rigid connectors through pins. The elastic connector in the middle mainly aims at ensuring that when the manipulator touches the hexagonal flat block, if the manipulator is not accurately operated, certain deformation can occur, if the manipulator is a rigid piece, the manipulator can be directly damaged, the elastic piece has better elasticity, and when the manipulator is removed, the manipulator can be restored to the initial state.
The core blocks and the core block limiting mechanisms can be arranged into three groups, and the three groups of core block inclination angles are sequentially arranged to be 15 degrees, 30 degrees and 45 degrees and used for controlling angles in training.
The specific functions of each part of the invention are as follows:
speed control
A fixable pushing block is arranged on the flat cloth belt, a groove is formed in the pushing block, a square block is inserted onto the pushing block during training, a manipulator sticks to the square block and slowly slides forwards, the flat cloth belt drives a roller to rotate during moving, an encoder rotates along with the roller, and when the manipulator moves forwards, the encoder outputs pulses, and then the speed can be calculated according to the pulses.
Training purposes:
the model 1410 of the Abb industrial robot is provided with a demonstrator (manipulator) which is a rocker. The larger the pushing amplitude of the rocker is, the faster the running speed of the industrial robot is, when the operating distance from the object to be grabbed is relatively short, the too fast speed can cause direct collision on the object, so that the operating speed of the industrial robot can be freely controlled by operating the rocker.
The industrial robot tool hand (manipulator) pushes the square block and drives the square block to move forward, when the pushing amplitude of the industrial robot demonstrator rocker is overlarge, the industrial robot demonstrator rocker can be output on a display screen in real time through real-time reaction of an encoder, and when the industrial robot demonstrator rocker is larger than a certain speed value, the industrial robot tool hand (manipulator) fails.
Second, precision control
An absorptive and deflatable sucker is arranged on the manipulator. And adjusting the rocker to enable the sucker to be located above the hexagonal flat block, then operating the rocker to enable the sucker to slowly downwards and tightly attach to the hexagonal flat block, and sucking air by using the air cylinder when the sucker is tightly attached, and sucking the hexagonal flat block upwards, and rotating a certain angle in the ascending process so as to conveniently put into another groove beside. If the hexagonal flat block is not attached, the sucker can not grasp the hexagonal flat block, and if the hexagonal flat block is attached and then is pressed down continuously, the infrared sensor can be triggered.
Training purposes:
when the industrial robot is operated, the operation speed of the industrial robot can reach the requirements by properly pushing or rotating the amplitude of the rocker. However, it is sometimes found that the object is not successfully gripped when the object is touched, and then the object must be moved forward, and in this case, the object is too close to the object, which may cause the operation rocker to collide due to insufficient experience or tension, so that loss is caused.
Rubber and other materials are added in the precision control, so that the device or the manipulator is prevented from being damaged during collision, the control force during the micro-distance can be randomly exercised in the precision control, and errors can be prompted if the control force is excessively depressed.
Three angle adjustment control
The sixth axis (the last axis, typically the sixth axis) is used to learn, i.e., the tool hand, because the manipulator can rotate 360 ° in all directions, but often cannot stay at a precise angle during actual operation because of lack of training. Three planes 15 degrees, 30 degrees and 45 degrees are respectively arranged on one plane, the manipulator is adjusted to a specified angle to approach the plane, and if the adjusted manipulator approaches 15 degrees, 30 degrees and 45 degrees, a prompt is sent.
Training purposes:
when using an industrial robot, the most widespread application is to rotate a tool hand by a certain angle and then grasp something. However, the angular adjustment is very power-intensive and is not achieved by a simple rotation.
The two infrared sensors are arranged on the manipulator, the two sensors are arranged on the same plane of the manipulator, and the detection ranges of the adjustment sensors are the same, which means that when the manipulator touches a certain object, if the two sensors detect signals at the same time, the manipulator and the plane are in a parallel state.
The most commonly used angles are set to enable the manipulator to be adjusted to a specified angle to touch the collision surface, the manipulator starts to touch from the first surface and then rotates to touch the second surface, and the angle between the two surfaces is 15 degrees, so that an operator can better judge the rotation range of 15 degrees.
TCP center point control
The robot movements are determined by matrix calculations from the tool coordinate system and the workpiece coordinate system. TCP is a very important link for robots. The manipulator is moved to a ball point, the ball point is set as an A point, the center position of the manipulator is set as a B point, and the B point is used for carrying out continuous change of the positions of six coordinate systems of x, y, z, -x, -y and z around the A point, so that the correct coordinate origin of the tool is determined.
Training purposes:
when an industrial robot tool hand is reinstalled or replaced, etc., TCP (tool center point) needs to be redefined because its shape or size position is not equivalent to that of the tool hand installed last time.
Because redefining the tool hand is a cumbersome process that is time consuming, but also because the operator is very seldom inattentive of redefining the tool hand, only a skilled control robot will have to define tcp coordinates to improve efficiency in some situations.
Fifth, direction control
In the initial state, the manipulator is suspended at the central position, an instruction is given to an operator by taking the central position as the initial position, the manipulator moves in any direction, and an object below the manipulator when moving to the designated position is required to just touch and press the button switch, so that whether the manipulator is in one designated direction is judged. Movement to the push button switch must continue to move forward until the infrared sensor is touched and the next designated point is touched for a period of time. The button switch is an automatic reset switch and can be used repeatedly in experiments.
Training purposes:
since the operation of the industrial robot is a spatial operation, the coordinates of each position (such as east, south, west and north) of the industrial robot are different, so that the directions of the operating industrial robot rockers are different, and many operators have the problem that the direction of the operating industrial robot is wrong due to the change of the spatial coordinates, so that the robot is damaged.
Four button switches and infrared sensors are arranged in the four positive directions of a plane, a display screen randomly designates a direction, an operator must move the industrial robot according to the direction, at the moment, the operator cannot always stand in front of the industrial robot, and the operator needs to stand at all angles to go to the button switches and the infrared sensors.
The present invention provides only one training device, as to what kind of industrial robot to train and how to operate is set by the user.
Claims (7)
1. The industrial robot operation training device is characterized by comprising a supporting safety mechanism, a speed control training mechanism, a precision control training mechanism, an angle adjustment control training mechanism, a TCP center point control training mechanism and a direction control training mechanism, wherein the supporting safety mechanism is a bottom supporting structure, the speed control training mechanism, the precision control training mechanism, the angle adjustment control training mechanism and the TCP center point control training mechanism are enclosed into a polygonal structure and are arranged above the supporting safety mechanism, and the direction control training mechanism is arranged in the polygonal structure;
the support safety mechanism comprises a support rod upper body, a support rod lower body, a support rod core and a spring, wherein a cylindrical blind hole is formed in the support rod upper body, a round groove is formed above the support rod lower body, the upper end of the support rod core is inserted into the cylindrical blind hole, the support rod core is sleeved with the spring and inserted into the round groove, and the spring is positioned between the support rod upper body and the support rod lower body;
the speed control training mechanism comprises a first carrier, a flat belt, a bolt, a roller, an encoder, a pushing block and a square block, wherein a cavity for accommodating the flat belt is formed in the first carrier, the bolt and the roller are arranged at one end of the cavity, the bolt, the roller and the encoder are arranged at the other end of the cavity, and the encoder is matched with the roller through a key; the flat belt is matched with the rollers at the two ends, square holes for installing pushing blocks are formed in the flat belt, and the square blocks are inserted and arranged on the pushing blocks;
the precision control training mechanism comprises a second carrier, a flat block carrier, a hexagonal flat block, a second auxiliary carrier, first infrared sensors and a fixing plate, wherein the two flat block carriers are in scarf joint with each other and are arranged on the second carrier, the hexagonal flat blocks are in scarf joint with each other and are different in installation angle, the second auxiliary carrier is arranged below the second carrier, the two first infrared sensors are correspondingly arranged on the second auxiliary carrier right below the flat block carrier, the fixing plate is clamped with the center of the second carrier, and the fixing plate and the second auxiliary carrier cannot interfere with each other;
the angle adjustment control training mechanism comprises a third carrier, a core block and a core block limiting mechanism, wherein the core block limiting mechanism comprises a spring pin outer shell, a spring pin lower shell, a tightening spring, a spring pin head, a plug block, a first square plug pin and a second square plug pin, an installation groove and a core block installation groove are formed in the third carrier, the spring pin outer shell, the spring pin lower shell, the tightening spring, the spring pin head and the plug block are arranged in the installation groove, the tightening spring and the spring pin head are arranged between the spring pin outer shell and the spring pin lower shell, the plug block is arranged on the left side of the spring pin outer shell and the spring pin lower shell, and first half grooves matched with the first square plug pin and the second square plug pin are formed in the outer walls of the spring pin outer shell and the spring pin lower shell respectively; a core block is arranged in the core block mounting groove, and at least one limiting groove is formed in the side edge of the core block; the side wall of the mounting groove is provided with a second half groove matched with the first square bolt and the second square bolt, the side wall of the mounting groove is also provided with a slot communicated with the mounting groove of the core block, and the head of the spring pin head penetrates through the slot to be matched with a limit groove on the side edge of the core block; the core block and the core block limiting mechanism are at least provided with two groups, and the inclination angles of the core blocks are different;
the TCP center point control training mechanism comprises a fourth carrier and an adjustable rod, wherein a sphere is arranged at the top end of the adjustable rod, at least one group of convex points are further arranged on the adjustable rod, a through hole for installing the adjustable rod is formed in the fourth carrier, a transverse circumferential groove and a vertical groove are formed in the through hole, and the convex points on the adjustable rod are inserted into the through hole along the vertical groove and clamped into the transverse circumferential groove for positioning during rotation;
the direction control training mechanism consists of two crossed fifth carriers, a button switch is arranged at the center of the cross, equidistant button switches and second infrared sensors are respectively arranged on the fifth carriers radiating outwards from the center of the cross, the button switch consists of a button shell, a button head and a reset spring, a partition plate and a metal sheet are arranged in the button shell, the metal sheet is arranged at the bottom of the button shell, a conduction elastic sheet and a baffle are arranged below the button head, the reset spring is arranged between the conduction elastic sheet and the baffle, the conduction elastic sheet and the baffle are respectively arranged at the upper side and the lower side of the partition plate during installation, the button head is pressed down to enable the conduction elastic sheet to be in contact with the metal sheet to conduct the button switch against the force of the spring, and the second infrared sensors are arranged at the outer side of the button switch;
the first carrier, the second carrier, the third carrier and the fourth carrier enclose a square, and two adjacent sides are connected in a matched manner through the upper support rod body, the first connecting piece and the second connecting piece; a convex block is further arranged above the upper body of the supporting rod, and a small hole is formed in the center of the convex block; the first connecting piece is provided with a first plug, a second plug and a third plug, and the second connecting piece is provided with a fourth plug and a fifth plug; the first carrier, the second carrier, the third carrier and the fourth carrier are identical to the connection end structure of the upper body of the support rod, the first carrier, the second carrier, the third carrier and the fourth carrier are provided with a first jack, a second jack and a vertical notch, the first plug and the third plug are matched with the adjacent first jack, the second plug is inserted into a small hole of a convex block of the upper body of the support rod, the vertical notch is matched with the convex block, and the fourth plug and the fifth plug are matched with the adjacent second jack;
the first carrier, the third carrier and the fourth carrier are respectively provided with mounting holes, the protrusions are arranged above the fixing plates on the second auxiliary carriers, the four free ends of the two fifth carriers are provided with three convex ribs and one concave hole, and the mounting holes on the first carrier, the third carrier and the fourth carrier are respectively matched with the protrusions on the fixing plates.
2. The industrial robot operation training apparatus of claim 1, wherein two ends of the second auxiliary carrier are respectively clamped on the upper body of the support rod and fixedly connected through pins.
3. An industrial robot operation training apparatus according to claim 1, wherein the second carrier is divided into an elastic connector in the middle and rigid connectors at both ends, the flat block carrier is provided on the elastic connector, and the elastic connector is connected with the rigid connectors by pins.
4. The industrial robot operation training device according to claim 1, wherein the side wall of the upper body of the support rod is provided with a groove body, the upper part of the support rod core is provided with a groove hole, and an arc-shaped groove with an angle greater than 90 degrees is arranged in the groove hole; the supporting rod core is connected with the upper supporting rod body through a pin shaft with a right-angle lug at the end part, the pin shaft with the right-angle lug is sequentially inserted into the groove body and the groove hole, the supporting rod core can be connected with the upper supporting rod body through 90-degree rotation in an arc-shaped groove in the groove hole, and the pin shaft can slide up and down in the groove body.
5. The industrial robot operation training apparatus of claim 1, wherein a groove is provided below the lower body of the support rod, and a support base is provided in the groove in a matching manner.
6. The industrial robot operation training apparatus according to claim 1, wherein the lower end surface of the upper body of the support rod and the upper end surface of the lower body of the support rod are both provided with arc structures engaged with springs.
7. The industrial robot operation training apparatus according to claim 1, wherein the core blocks and the core block limiting mechanisms are arranged in three groups, and the three groups of core blocks are sequentially arranged at 15 degrees, 30 degrees and 45 degrees.
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| CN201710404584.2A CN107081762B (en) | 2017-06-01 | 2017-06-01 | Industrial robot operation trainer |
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| CN201710404584.2A CN107081762B (en) | 2017-06-01 | 2017-06-01 | Industrial robot operation trainer |
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| CN107081762B true CN107081762B (en) | 2023-10-03 |
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