CN109397269A - The robot actual training device and robot Practical Training Teaching-Platform of view-based access control model - Google Patents
The robot actual training device and robot Practical Training Teaching-Platform of view-based access control model Download PDFInfo
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- CN109397269A CN109397269A CN201811589189.7A CN201811589189A CN109397269A CN 109397269 A CN109397269 A CN 109397269A CN 201811589189 A CN201811589189 A CN 201811589189A CN 109397269 A CN109397269 A CN 109397269A
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- 238000012549 training Methods 0.000 title claims abstract description 82
- 238000005516 engineering process Methods 0.000 claims abstract description 7
- 230000001276 controlling effect Effects 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 24
- 238000011156 evaluation Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 230000032258 transport Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000004886 process control Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the robot actual training device of view-based access control model, including robot assembly, point-to-point workpiece stage group, writing microscope carrier；Robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit includes vision collecting unit, pickup unit, writing unit；It is once positioned by vision collecting unit, so that pickup unit carries workpiece between the first point-to-point microscope carrier and the second point-to-point microscope carrier, writing unit is write on the bottom plate for writing microscope carrier.The invention further relates to robot Practical Training Teaching-Platforms.The present invention sufficiently investigates the ability that student uses machine vision by two implementation procedures of a vision positioning continuous control, while being evaluated using second implementation procedure as real training, keeps evaluation procedure more intuitive.Present inventive concept is ingenious, gives full play to students ' practical ability, promotes and applies convenient for robot teaching's real training.
Description
Technical field
The invention belongs to practice-training teaching fields, and in particular to the robot actual training device and robot real training of view-based access control model are taught
Learn platform.
Background technique
The raising of depth and industrial intelligent level with the development of industry, industrial robot is because of its freedom degree height, energy
The multiple process of complete independently, high reliablity, while the advantages such as convenient for safeguarding and more and more in Industry Control be chosen
It selects, so far the real training education of object manipulator also becomes more and more important, and robot teaching's training platform also comes into being, machine
People's Practical Training Teaching-Platform has good teaching demonstration effect.
Though robot high degree of automation, PLC technology ability is strong, must be by accurately positioning system, in industry
In, currently, the application with machine vision in industrialization, urgent need trains the machine vision operational capability of student
It supports, simple course is cannot cope with complicated industrial front；On the other hand, existing robot real training mostly just provides machine
The effect of device people's teaching demonstration, cannot largely be supplied to one condition started well of student, for robot teaching
For, the robot debugging of student and wiring ability are also a critically important training emphasis；In whole design training platform,
Current teaching platform exactly do not account for robot how exercise student ' practical the problem of controlling robot, lead to robot only
The demo function only realized, practice teaching effect is fairly limited, while the reasonable debugging of student is not also obtained with routing capabilities
It takes exercise.
In this regard, being badly in need of improving existing robot training platform.
Summary of the invention
For overcome the deficiencies in the prior art, the robot actual training device of view-based access control model proposed by the present invention, a vision
Two implementation procedures of continuous control are positioned, investigate the ability that student uses machine vision, while sufficiently with second implementation procedure
It is evaluated as realizing, keeps evaluation procedure more intuitive.
The present invention provides the robot actual training device of view-based access control model, including robot assembly, point-to-point workpiece stage group, book
Write microscope carrier；
The point-to-point workpiece stage group includes the first point-to-point microscope carrier, the second point-to-point microscope carrier；Described first is point-to-point
It is provided on microscope carrier and the described second point-to-point microscope carrier identical for placing the groove of workpiece；The writing microscope carrier, which is equipped with, to be used
In the bottom plate of writing；
The robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；The robot is real
Instruction unit is connect with the mechanical arm；
The robot training unit includes vision collecting unit, pickup unit, writing unit；Wherein, the vision is adopted
Collection unit is used to acquire workpiece image and position the location of workpiece or the acquisition writing microscope carrier image and positions the writing microscope carrier
Position；The pickup unit is used for picking up work piece；The writing unit is used on the bottom plate for writing microscope carrier write；
The robot assembly is controlled by controlling machine, PLC device and/or electrical equipment in robot, is adopted by the vision
Collection unit is once positioned, so that the pickup unit is in the described first point-to-point microscope carrier and the described second point-to-point microscope carrier
Between carry workpiece, while the writing unit is write on the bottom plate for writing microscope carrier.
Preferably, the robot assembly further includes rotating connector, component connecting plate；The vision collecting unit, institute
It states pickup unit and the writing unit is fixedly mounted on the component connecting plate；The component connecting plate and the mechanical arm
It is rotatablely connected by the rotating connector.
Preferably, the pickup unit and the writing unit are symmetrical about the pivot center of the rotating connector.
Preferably, the center of the sucker of the pickup unit is vertical with the line at the center of the lettering pen of the writing unit
In the line of the center of rotation of the optic centre and rotating connector of the vision collecting unit.
Preferably, the vision collecting unit includes industrial camera, light source；The industrial camera passes through coffret and machine
Machine connection communication is controlled in device people；The industrial camera is fixedly connected by camera fixed plate with the component connecting plate；The light
Source is fixedly connected by light source connecting plate with the component connecting plate.
Preferably, the pickup unit includes picking up driving device, picking up fixed plate, sucker fixed plate, sucker；It is described to pick up
Take fixed plate that the pickup driving device is fixed on the component connecting plate；The sucker is fixed on the sucker fixed plate
On；The movable terminal for picking up driving device is fixedly connected with the sucker fixed plate；Described in the pickup driving device driving
Sucker fixed plate, so that the sucker picks up or far from workpiece.
Preferably, the writing unit includes lettering pen, lettering pen fixed block, writes driving device；The lettering pen is logical
It crosses the lettering pen fixed block and is fixed on the movable terminal for writing driving device；The writing driving device is fixed on described
On component connecting plate；The writing driving device drives the lettering pen fixed block, so that the lettering pen is in the axial direction
On close to or far from it is described write microscope carrier bottom plate.
Preferably, the writing unit further includes elastic regulating part；The elastic regulating part is for adjusting the lettering pen
Fixed block gap.
Preferably, the described first point-to-point microscope carrier and the described second point-to-point microscope carrier are equipped at least two appearance profiles
Groove, at least two or more the number of recesses of appearance profile of the same race.
A kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology；Robot teaching's real training ontology
Including controlling machine in shell, station, ancillary equipment microscope carrier, robot；Robot teaching's real training ontology further includes robot
Component, point-to-point workpiece stage group and writing microscope carrier；
Simultaneously shape is integral for wrapping up robot practice teaching ontology pedestal for the shell；Fixed peace on the station
Equipped with robot assembly, point-to-point workpiece stage group and write microscope carrier；Machine and robot assembly electricity are controlled in the robot
It connects, control machine is for controlling robot assembly's movement in the robot；It is equipped with and picks up on the ancillary equipment microscope carrier
The ancillary equipment of unit, writing unit connection is taken, the ancillary equipment is for controlling pickup unit, writing unit movement；
The station is horizontally disposed；The ancillary equipment microscope carrier is accommodated in the shell；By in debugging machine people
Control machine and ancillary equipment, control vision collecting unit are once positioned so that pickup unit in the first point-to-point microscope carrier and
Workpiece is carried between second point-to-point microscope carrier, while writing unit is write on the bottom plate for writing microscope carrier.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides the robot actual training device of view-based access control model, including robot assembly, point-to-point workpiece stage group, book
Write microscope carrier；Point-to-point workpiece stage group includes the first point-to-point microscope carrier, the second point-to-point microscope carrier；First point-to-point microscope carrier and second
It is provided on point-to-point microscope carrier identical for placing the groove of workpiece；It writes microscope carrier and is equipped with the bottom plate for being used for writing；Machine
People's component includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit is connect with mechanical arm；Machine
Device people's training unit includes vision collecting unit, pickup unit, writing unit；Wherein, vision collecting unit is for acquiring workpiece
Image simultaneously positions the location of workpiece or acquisition writing microscope carrier image and positions writing microscope carrier position；Pickup unit is used for picking up work piece；
Writing unit is used on the bottom plate for writing microscope carrier write；Robot assembly is by controlling machine, PLC device and/or electrical in robot
Equipment control, is once positioned by vision collecting unit, so that pickup unit is in the first point-to-point microscope carrier and second point
Between carrying workpiece microscope carrier, while writing unit is write on the bottom plate for writing microscope carrier.The invention further relates to robot real trainings
Teaching platform.The present invention sufficiently investigates student and uses machine vision by two implementation procedures of a vision positioning continuous control
Ability, while using second implementation procedure as realize evaluate, keep evaluation procedure more intuitive.Present inventive concept is ingenious, design
Rationally, students ' practical ability is given full play to, is promoted and applied convenient for robot teaching's real training.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is robot Practical Training Teaching-Platform overall structure diagram in one embodiment of the invention；
Fig. 2 is the robot actual training device overall structure diagram of view-based access control model of the invention；
Fig. 3 is point-to-point workpiece stage group structural schematic diagram of the invention；
Fig. 4 is robot training unit structural schematic diagram one of the invention；
Fig. 5 is robot training unit structural schematic diagram two of the invention；
Fig. 6 is robot training unit structural schematic diagram three of the invention；
Fig. 7 is robot training unit schematic top plan view of the invention；
Fig. 8 is robot training unit elevational schematic view of the invention；
Fig. 9 is the robot Practical Training Teaching-Platform overall structure diagram of the present invention in another embodiment；
Figure 10 is the robot Practical Training Teaching-Platform use state diagram of the present invention in another embodiment；
Figure 11 is the robot Practical Training Teaching-Platform schematic internal view of the present invention in another embodiment；
Figure 12 is ancillary equipment stage structure schematic diagram of the invention；
Figure 13 is the partial structural diagram of ancillary equipment microscope carrier of the invention.
It is as shown in the figure:
Robot teaching's real training ontology 100, shell 10, door-plate 11, radiating groove 12, control in robot machine 18, industrial personal computer 19,
It is station 20, control button 21, ancillary equipment microscope carrier 30, sliding carrier bar 31, sliding fixed plate 32, microscope carrier plate 33, longitudinally fixed
Hole 331, lateral fixation hole 332, knob 34, conflict block 35, side fixed strip 36, base frame 37, robot assembly 40, rotating connector
41, robot training unit 42, vision collecting unit 421, industrial camera 4211, light source 4212, camera fixed plate 4213, light source
Connecting plate 4214, coffret 4215, pickup unit 422, pickup driving device 4221, pickup fixed plate 4222, sucker are fixed
Plate 4223, writing unit 424, lettering pen 4241, lettering pen fixed block 4242, elastic regulating part 4243, is write and is driven sucker 4224
Dynamic device 4244, component connecting plate 43, hexagon workpiece 703, round piece 704, trapezoidal workpiece 705, the first point-to-point microscope carrier
91, the second point-to-point microscope carrier 92, writing microscope carrier 93, the first groove 903, the second groove 904, third groove 905.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, foregoing end other objects of the invention, feature, side
Face and advantage will be apparent, and so that those skilled in the art can carry out according to the description.In the accompanying drawings,
For clarity, shape and size can be amplified, and will be indicated in all figures using identical appended drawing reference identical
Or similar component.In the following description, such as center, thickness, height, length, front, back, rear portion, the left side, the right, top
The words such as portion, bottom, top, lower part are to be based on the orientation or positional relationship shown in the drawings.Particularly, " height " is equivalent to from top
Portion is to the size of bottom, and " width " is equivalent to size from left to right, and " depth " is equivalent to vertical size.These
Relative terms are to be not intended to need specifically to be orientated for convenience and usually.It is related to the term of attachment, connection etc.
(for example, " connection " and " attachment ") refer to these structures by the relationship that intermediate structure is fixed directly or indirectly to one another or is attached,
And movable or rigidly attached or relationship, unless otherwise clearly stating.
Next, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that
Under the premise of not colliding, new reality can be formed between various embodiments described below or between each technical characteristic in any combination
Apply example.
The robot actual training device of view-based access control model, as shown in Figure 1, Figure 2, Figure 4 shows, including robot assembly 40, point-to-point work
Part microscope carrier group writes microscope carrier 93；
Point-to-point workpiece stage group includes the first point-to-point microscope carrier 91, the second point-to-point microscope carrier 92；First point-to-point microscope carrier
91 and second be provided on point-to-point microscope carrier 92 it is identical for placing the groove of workpiece；Microscope carrier 93 is write to be equipped with for writing
Bottom plate；
Robot assembly 40 includes the mobile mechanical arm of PLC technology, robot training unit 42；Robot real training list
Member 42 is connect with mechanical arm；
Robot training unit 42 includes vision collecting unit 421, pickup unit 422, writing unit 424；Wherein, vision
Acquisition unit 421 writes microscope carrier 93 for acquiring workpiece image and positioning the location of workpiece or acquisition writing 93 image of microscope carrier and position
Position；Pickup unit 422 is used for picking up work piece；Writing unit 424 is used on the bottom plate for writing microscope carrier 93 write；
Robot assembly 40 is controlled by controlling machine 18, PLC device and/or electrical equipment in robot, passes through vision collecting list
Member 421 is once positioned, so that pickup unit 422 is carried between the first point-to-point microscope carrier 91 and the second point-to-point microscope carrier 92
Workpiece, while writing unit 424 is write on the bottom plate for writing microscope carrier 93.
In the present embodiment, using vision collecting unit 421 to the first point-to-point microscope carrier 91, the second point-to-point microscope carrier 92 or
It writes any one in 93 three of microscope carrier and carries out vision positioning, meanwhile, it is controlled in robot in machine 18 configured with both other
The relative positional relationship of relative positional relationship, vision collecting unit 421 and pickup unit 422, writing unit 424, can pass through seat
Under the unified global coordinate system for arriving mechanical arm of mark conversion, utilization of the student to vision positioning is trained up；It on the other hand, such as will
Process of the point-to-point handling process as vision positioning, writing process is as the verification whether accurate evaluation procedure of vision positioning；
Otherwise similarly, using writing process as the process of vision positioning, whether point-to-point handling process is accurate as verification vision positioning
Evaluation procedure；In evaluation procedure, vision collecting unit 421 is without vision positioning, the control that is only converted to by coordinate
System instruction is carried or is write to operate robot training unit 42, carrys out visual evaluation teaching result with this.
In a preferred embodiment, the first point-to-point microscope carrier 91 and the second point-to-point microscope carrier 92 are equipped at least two shapes
The groove of profile, at least two or more the number of recesses of appearance profile of the same race；As shown in figure 3, the first point-to-point microscope carrier 91,
It is the first groove 903 of hexagon, circular second groove 904, trapezoidal that two point-to-point microscope carriers 92, which are designed with appearance profile,
Three grooves 905 respectively correspond hexagon workpiece 703, round piece 704, trapezoidal workpiece 705；Wherein every class number of recesses is three
It is a, the diversity of Practice Curriculum is realized using polymorphic type and multi-quantity.
Such as Fig. 5, Fig. 6, robot assembly 40 further includes rotating connector 41, component connecting plate 43；Vision collecting unit
421, pickup unit 422 and writing unit 424 are fixedly mounted on component connecting plate 43；Component connecting plate 43 passes through with mechanical arm
Rotating connector 41 is rotatablely connected.Wherein, vision collecting unit 421 includes industrial camera 4211, light source 4212；Industrial camera
4211 by controlling 18 connection communication of machine in coffret 4215 and robot；Industrial camera 4211 by camera fixed plate 4213 with
Component connecting plate 43 is fixedly connected；Light source 4212 is fixedly connected by light source connecting plate 4214 with component connecting plate 43.It picks up single
Member 422 includes picking up driving device 4221, picking up fixed plate 4222, sucker fixed plate 4223, sucker 4224；Pick up fixed plate
4222 are fixed on driving device 4221 is picked up on component connecting plate 43；Sucker 4224 is fixed in sucker fixed plate 4223；It picks up
The movable terminal of driving device 4221 is taken to be fixedly connected with sucker fixed plate 4223；It picks up driving device 4221 and drives sucker fixed plate
4223, so that sucker 4224 picks up or far from workpiece.
As shown in figs 6-8, writing unit 424 includes lettering pen 4241, lettering pen fixed block 4242, writes driving device
4244；Lettering pen 4241 is fixed on the movable terminal for writing driving device 4244 by lettering pen fixed block 4242；Write driving
Device 4244 is fixed on component connecting plate 43；It writes driving device 4244 and drives lettering pen fixed block 4242, so that writing
The upper bottom plate close to or far from writing microscope carrier 93 in the axial direction of pen 4241.In a preferred embodiment, writing unit 424 also wraps
Include elastic regulating part 4243；Elastic regulating part 4243 is used for 4242 gap of regulating writing fixed block.
In the present embodiment, configuration coordinate transformation relation is carried out by rotation, scaling, translation, to turn convenient for determining coordinate
Relationship is changed, as shown in fig. 7, pickup unit 422 is symmetrical about the pivot center of rotating connector 41 with writing unit 424.Another
In one preferred embodiment, as shown in figure 8, the lettering pen 4241 at the center of the sucker 4224 of pickup unit 422 and writing unit 424
Center line perpendicular to the optic centre of vision collecting unit 421 and the center of rotation of rotating connector 41 line.Example
Such as, when vision collecting unit 421, pickup unit 422, writing unit 424 constitute an equilateral triangle or isosceles right triangle,
To simplify coordinate transformation relation.It should be appreciated that vision collecting unit 421, pickup unit 422,424 three of writing unit position
Relationship can be student's designed, designed according to demand, investigate student from another point of view to the understanding of robot coordinate system and use energy
Power.
A kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology 100；Robot teaching's real training ontology
100 including controlling machine 18 in shell 10, station 20, ancillary equipment microscope carrier 30, robot；Robot teaching's real training ontology 100 is also
Including robot assembly 40, point-to-point workpiece stage group and write microscope carrier 93；
Simultaneously shape is integral for wrapping up 100 pedestal of robot practice teaching ontology for shell 10；Fixed peace on station 20
Equipped with robot assembly 40, point-to-point workpiece stage group and write microscope carrier 93；40 electricity of machine 18 and robot assembly is controlled in robot
It connects, control machine 18 is for controlling the movement of robot assembly 40 in robot；It is equipped on ancillary equipment microscope carrier 30 and pickup unit
422, the ancillary equipment that writing unit 424 connects, ancillary equipment is for controlling pickup unit 422, the movement of writing unit 424；
Station 20 is horizontally disposed；Ancillary equipment microscope carrier 30 is accommodated in shell 10；By controlling machine 18 in debugging machine people
With ancillary equipment, controls vision collecting unit 421 and once positioned, so that pickup unit 422 is in the first point-to-point microscope carrier
91 and second carry workpiece between point-to-point microscope carrier 92, while writing unit 424 is write on the bottom plate for writing microscope carrier 93.
The present invention uses the ancillary equipment microscope carrier of slidingtype storage, and inner space is big, mentions for equipment wiring and installation fixation
For convenient, students ' practical ability is given full play to, extreme enrichment Practice Curriculum realizes the designability of robot practice-training teaching, is
Achieve the effect that the mutual cooperation of each step mutually cooperates with, student can designed, designed implementation, for example, by using stroke control mode,
Travel switch class sensor is set i.e. in run trace, realizes accurate walking location control, when all debugging is completed for single step
Afterwards, linkage control can be used and continuously perform instruction in order, debug in entire implementation procedure whether reach design effect.
In a preferred embodiment, ancillary equipment is installed, ancillary equipment is mounted on positioning microscope carrier nearby on station 20
80, with by transport component 50, are convenient for debugging and installation.
In one embodiment, ancillary equipment includes electrical equipment；Electrical equipment is for controlling positioning microscope carrier 80 and transport group
Part 50, wherein electrical equipment includes electric switch, electrical control gear；Electrical control gear includes solenoid valve, gas source processing group
Part, vacuum generator, vacuum table；Electric switch is common switch, and including but not limited to air switch, disconnecting switch, vacuum is disconnected
Road device, frame circuit breaker, breaker of plastic casing, contactor, button switch.In the present embodiment, pass through electric switch and electric-controlled
Device processed is in series or in parallel with each other, realizes positioning microscope carrier 80 and transports the mechanical process control of component 50, while cooperating robot
Middle control machine 18 controls robot assembly 40, realizes that robot assembly 40 cooperates with process control with positioning microscope carrier 80 with component 50 is transported
System.
In another embodiment, ancillary equipment includes PLC device, and robot teaching's real training ontology 100 further includes industrial personal computer
19；Industrial personal computer 19 is connect with PLC device, for compiler to be written in PLC device；PLC device is for controlling positioning microscope carrier
80 with transport component 50；In the present embodiment, student is for example, by the input equipments such as keyboard and mouse and display in industrial personal computer 19
The executable program of interior compiling PLC device, after the completion of compiling in write-in PLC device, PLC device is many kinds of, and Gu Tuzhong does not show
Out；It connects PLC device and positioning microscope carrier 80 and transports component 50, the debugging of PLC program is realized by control button 21, is matched simultaneously
It closes control machine 18 in robot and controls robot assembly 40, realize that robot assembly 40 cooperates with positioning microscope carrier 80 with component 50 is transported
Process control.In the present embodiment, control button 21 includes point operation control button, linkage control button；Point operation control button is used
Once command is executed in order in control equipment；Linkage control button continuously performs instruction for controlling equipment in order, is convenient for
Student debugs according to demand.
It should be appreciated that it is different according to real training scene, electrical equipment and PLC device can be also combined, while using face
The collaboration process control controlled to electrical control, PLC control, robot, reaches the Fusion training of multiple control modes, is promoted real
Difficulty is instructed, is more bonded actual teaching result to reach.
As shown in figures 10-13, in one embodiment, ancillary equipment microscope carrier 30 includes microscope carrier plate 33, side fixed strip 36, base frame
37；Microscope carrier plate 33 is fixed on base frame 37；37 two sides of base frame are connect with side fixed strip 36 by Multi-section sliding rail；Base frame 37 is fixed on
Inside shell 10；Microscope carrier plate 33 is equipped with the mounting hole for installing ancillary equipment；As shown in Fig. 2, microscope carrier plate 33 can be solid along side
Determine 36 length direction of item to skid off inside shell 10.In the present embodiment, machine 18 is controlled in robot, industrial personal computer 19 is installed on microscope carrier plate
33 lower parts, while radiating groove 12 is offered on the door-plate 11 of shell 10, guarantee the circulation of 10 inner air of shell, avoids temperature excessively high
Lead to electric fault.
As shown in Figure 12 and Figure 13, ancillary equipment microscope carrier 30 further includes sliding carrier bar 31, sliding fixed plate 32；Microscope carrier plate 33
It is connect with sliding carrier bar 31 by sliding fixed plate 32；Sliding carrier bar 31 is made of several chain pieces being mutually rotatablely connected.Pass through
The chain piece of sliding carrier bar 31 is rolled or is recycled one by one, and skidding off microscope carrier plate 33, process is at the uniform velocity steady, and avoiding fast moving will connect
Cable is pullled, and unnecessary damage is caused.
In a preferred embodiment, ancillary equipment microscope carrier 30 further includes sliding driving device (not shown)；Sliding is driven
The movable terminal of dynamic device is fixedly connected with sliding fixed plate 32；Because on microscope carrier plate 33 may connection device category more than and weight
Greatly, it by sliding driving device, realizes the automation export of microscope carrier plate 33, reduces manual operation.In the present embodiment, auxiliary is set
Standby microscope carrier 30 further includes knob 34；With microscope carrier plate 33 pull out shell 10 be it is preceding to, knob be set to 33 front center of microscope carrier plate or
Front end two sides.As shown in figure 4, knob is set to 33 front center of microscope carrier plate；Distinguishingly, ancillary equipment microscope carrier 30 further includes sliding
Sensor；Slide sensor is for detecting whether microscope carrier plate 33 and side fixed strip 36 have relative motion, if detecting microscope carrier plate 33
There is relative motion with side fixed strip 36, then open sliding driving device, sliding driving device driving microscope carrier plate 33 moves to the limit
Position simultaneously locks；For example, slide sensor uses photoelectric sensor, when the photoelectric sensor on Multi-section sliding rail detects microscope carrier plate
After 33 start sliding, start sliding driving device, initial moves out microscope carrier plate 33 so that user need to only provide one
The power of photoelectric sensor then just can be skidded off or be slid into automatically under the driving of sliding driving device, and sliding driving device can be adopted
With pneumatic apparatus or hydraulic actuator.
In a preferred embodiment, as shown in figure 13, internal unit is collided to prevent 33 hyperkinesia of microscope carrier plate, assisted
Equipment microscope carrier 30 further includes conflict block 35, and conflict block 35 is located at 33 rear end of microscope carrier plate；Conflict block 35 is for contradicting base frame 37；Microscope carrier
Plate 33 is equipped with longitudinally fixed hole 331, lateral fixation hole 332；Longitudinally fixed hole 331 is auxiliary for fixing with lateral fixation hole 332
Equipment is helped, by the fixation hole being arranged in length and breadth, each equipment rationally arranged on microscope carrier plate 33 for student rationally advises training of students
It draws and basis is provided.
It should be noted that the present invention is different from traditional robot practical training reference, demonstration effect is functioned only as, and
The experience that can not be imparted knowledge to students to student's true operation, it is often more important that, traditional practice-training teaching can not provide reasonable Practice Curriculum,
It simultaneously can not be using the means of reasonable evaluation teaching result；In the present embodiment, sensor is connected by PLC device and industrial personal computer
It connects or sensor is directly connected to industrial personal computer, with the data of sensor acquisition student's real training process, real training effect is carried out with this
The evaluation of fruit, for example, using the stroke of light electrical sensor acquisition driving device, to differentiate whether driving executes in place, together
When combine industrial personal computer internal clocking program, record the time used of each real training process, form comprehensive appraisement system, realize machine
The Digital Teaching of device people's real training.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (10)
1. the robot actual training device of view-based access control model, it is characterised in that: including robot assembly (40), point-to-point workpiece stage
Group writes microscope carrier (93)；
The point-to-point workpiece stage group includes the first point-to-point microscope carrier (91), the second point-to-point microscope carrier (92)；Described first point
It is identical for placing the groove of workpiece to being provided on a microscope carrier (91) and the described second point-to-point microscope carrier (92)；The writing
Microscope carrier (93) is equipped with the bottom plate for writing；
The robot assembly (40) includes the mobile mechanical arm of PLC technology, robot training unit (42)；The machine
People's training unit (42) is connect with the mechanical arm；
The robot training unit (42) includes vision collecting unit (421), pickup unit (422), writing unit (424)；
Wherein, the vision collecting unit (421) is for acquiring workpiece image and positioning the location of workpiece or the acquisition writing microscope carrier
(93) image and writing microscope carrier (93) position is positioned；The pickup unit (422) is used for picking up work piece；The writing unit
(424) for being write on the bottom plate for writing microscope carrier (93)；
The robot assembly (40) is controlled by controlling machine (18), PLC device and/or electrical equipment in robot, passes through the view
Feel that acquisition unit (421) are once positioned so that the pickup unit (422) in the described first point-to-point microscope carrier (91) and
Workpiece is carried between the second point-to-point microscope carrier (92), the writing unit (424) is on the bottom plate for writing microscope carrier (93)
It writes.
2. the robot actual training device of view-based access control model as described in claim 1, it is characterised in that: the robot assembly (40)
It further include rotating connector (41), component connecting plate (43)；The vision collecting unit (421), the pickup unit (422) with
The writing unit (424) is fixedly mounted on the component connecting plate (43)；The component connecting plate (43) and the machinery
Arm is rotatablely connected by the rotating connector (41).
3. the robot actual training device of view-based access control model as claimed in claim 2, it is characterised in that: the pickup unit (422)
It is symmetrical about the pivot center of the rotating connector (41) with the writing unit (424).
4. the robot actual training device of view-based access control model as claimed in claim 2, it is characterised in that: the pickup unit (422)
Sucker (4224) center and the writing unit (424) lettering pen (4241) center line perpendicular to the vision
The line of the optic centre of acquisition unit (421) and the center of rotation of the rotating connector (41).
5. such as the robot actual training device of the described in any item view-based access control models of claim 2-4, it is characterised in that: the vision is adopted
Collecting unit (421) includes industrial camera (4211), light source (4212)；The industrial camera (4211) passes through coffret (4215)
With control machine (18) connection communication in robot；The industrial camera (4211) is connected by camera fixed plate (4213) and the component
Fishplate bar (43) is fixedly connected；The light source (4212) connects by the way that light source connecting plate (4214) and the component connecting plate (43) are fixed
It connects.
6. such as the robot actual training device of the described in any item view-based access control models of claim 2-4, it is characterised in that: the pickup is single
First (422) include picking up driving device (4221), picking up fixed plate (4222), sucker fixed plate (4223), sucker (4224)；Institute
It states pickup fixed plate (4222) the pickup driving device (4221) is fixed on the component connecting plate (43)；The sucker
(4224) it is fixed on the sucker fixed plate (4223)；The movable terminal for picking up driving device (4221) is fixedly connected with institute
State sucker fixed plate (4223)；The pickup driving device (4221) drives the sucker fixed plate (4223), so that described
Sucker (4224) picks up or far from workpiece.
7. such as the robot actual training device of the described in any item view-based access control models of claim 2-4, it is characterised in that: the writing is single
First (424) include lettering pen (4241), lettering pen fixed block (4242), write driving device (4244)；The lettering pen
(4241) movable terminal for writing driving device (4244) is fixed on by the lettering pen fixed block (4242)；The book
Driving device (4244) is write to be fixed on the component connecting plate (43)；The writing driving device (4244) drives the writing
Fixed block (4242) so that the lettering pen (4241) in the axial direction on close to or far from write microscope carrier (93)
Bottom plate.
8. the robot actual training device of view-based access control model as claimed in claim 7, it is characterised in that: the writing unit (424)
It further include elastic regulating part (4243)；The elastic regulating part (4243) is used to adjust between the lettering pen fixed block (4242)
Gap.
9. the robot actual training device of view-based access control model as described in claim 1, it is characterised in that: the first point-to-point microscope carrier
(91) groove of at least two appearance profiles, the groove number of appearance profile of the same race are equipped with the described second point-to-point microscope carrier (92)
At least two or more amounts.
10. a kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology (100)；Robot teaching's real training
Ontology (100) includes shell (10), station (20), ancillary equipment microscope carrier (30), controls machine (18) in robot；Its feature exists
In: robot teaching's real training ontology (100) further includes robot assembly as described in claim 1 (40), point-to-point work
Part microscope carrier group and writing microscope carrier (93)；
Simultaneously shape is integral for wrapping up robot practice teaching ontology (100) pedestal for the shell (10)；The station
(20) it is fixedly installed with robot assembly (40), point-to-point workpiece stage group on and writes microscope carrier (93)；It is controlled in the robot
Machine (18) is electrically connected with the robot assembly (40), and machine (18) are controlled in the robot for controlling the robot assembly
(40) it moves；The auxiliary connecting with pickup unit (422), writing unit (424) is installed on the ancillary equipment microscope carrier (30)
Equipment, the ancillary equipment is for controlling pickup unit (422), writing unit (424) movement；
The station (20) is horizontally disposed；The ancillary equipment microscope carrier (30) is accommodated in the shell (10)；Pass through debugging
Machine (18) and ancillary equipment are controlled in robot, control vision collecting unit (421) is once positioned, so that pickup unit
(422) workpiece is carried between the first point-to-point microscope carrier (91) and the second point-to-point microscope carrier (92), writing unit (424) is writing load
It is write on the bottom plate of platform (93).
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| CN201811589189.7A CN109397269B (en) | 2018-12-25 | 2018-12-25 | Real device of instructing of robot and real teaching platform of instructing of robot based on vision |
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|---|---|---|---|
| CN201811589189.7A CN109397269B (en) | 2018-12-25 | 2018-12-25 | Real device of instructing of robot and real teaching platform of instructing of robot based on vision |
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| CN111583747A (en) * | 2020-05-20 | 2020-08-25 | 安徽海思达机器人有限公司 | Robot teaching training platform |
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