CN109397269B - Real device of instructing of robot and real teaching platform of instructing of robot based on vision - Google Patents
Real device of instructing of robot and real teaching platform of instructing of robot based on vision Download PDFInfo
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- CN109397269B CN109397269B CN201811589189.7A CN201811589189A CN109397269B CN 109397269 B CN109397269 B CN 109397269B CN 201811589189 A CN201811589189 A CN 201811589189A CN 109397269 B CN109397269 B CN 109397269B
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- 238000012549 training Methods 0.000 claims abstract description 80
- 230000000007 visual effect Effects 0.000 claims abstract description 18
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 15
- 238000012854 evaluation process Methods 0.000 abstract description 6
- 238000011156 evaluation Methods 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000004886 process control Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
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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
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- 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
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- 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
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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
- B25J9/16—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 invention provides a vision-based robot training device, which comprises a robot assembly, a point-to-point workpiece carrier group and a writing carrier; the robot assembly comprises a mechanical arm capable of being controlled to move in a programmable manner and a robot training unit; the robot training unit comprises a vision acquisition unit, a pickup unit and a writing unit; the vision acquisition unit is used for carrying out one-time positioning, so that the pick-up unit carries a workpiece between the first point-to-point carrying platform and the second point-to-point carrying platform, and the writing unit writes on the bottom plate of the writing carrying platform. The invention also relates to a practical training teaching platform of the robot. According to the invention, two execution processes are continuously controlled through one-time visual positioning, the ability of students to use machine vision is fully examined, and meanwhile, the second execution process is used as practical training evaluation, so that the evaluation process is more visual. The invention has ingenious conception, fully transfers the hands-on ability of students, and is convenient for practical training popularization and application of robot teaching.
Description
Technical Field
The invention belongs to the field of practical training teaching, and particularly relates to a vision-based robot practical training device and a robot practical training teaching platform.
Background
Along with the improvement of the development depth of industry and the industrial intelligent level, the industrial robot has the advantages of high degree of freedom, capability of independently completing a plurality of working procedures, high reliability, convenience in maintenance and the like, is more and more selected in industrial control, so that practical training education for the robot is more and more important, a practical training platform for robot teaching is also generated, and the practical training platform for the robot has good demonstration teaching effect.
Although robots have high automation degree and strong programmable control capability, accurate positioning systems are required, in industrial application, along with the application of machine vision in industrialization, it is urgently required to cultivate the machine vision application capability of students, and simple courses cannot cope with complex industrial situations; on the other hand, the existing robot practical training generally only provides a robot teaching demonstration function, so that a good working condition can not be provided for students to a great extent, and for robot teaching, the robot debugging and wiring capability of the students is also an important training key point; when the real standard platform of global design, present teaching platform just does not consider the robot how to temper the student and actually drive the problem of robot, leads to the demonstration function that the robot realized only, and teaching training effect is fairly limited, and student's reasonable debugging and wiring ability also do not get exercise simultaneously.
In this regard, improvements to existing robot training platforms are urgently needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the vision-based robot training device provided by the invention continuously controls two execution processes through one-time vision positioning, fully investigates the ability of students to use machine vision, and simultaneously takes the second execution process as the realization evaluation, so that the evaluation process is more visual.
The invention provides a vision-based robot training device, which comprises a robot assembly, a point-to-point workpiece carrier group and a writing carrier;
the point-to-point workpiece carrier group comprises a first point-to-point carrier and a second point-to-point carrier; the first point-to-point carrying platform and the second point-to-point carrying platform are provided with the same grooves for placing workpieces; a bottom plate for writing is arranged on the writing carrying platform;
the robot assembly comprises a mechanical arm capable of being controlled to move in a programmable manner and a robot training unit; the robot training unit is connected with the mechanical arm;
the robot training unit comprises a vision acquisition unit, a pickup unit and a writing unit; the vision acquisition unit is used for acquiring a workpiece image and positioning a workpiece position or acquiring the writing stage image and positioning the writing stage position; the pick-up unit is used for picking up the workpiece; the writing unit is used for writing on the bottom plate of the writing carrier;
the robot assembly is controlled by a robot central control unit, PLC equipment and/or electrical equipment, and is positioned once through the vision acquisition unit, so that the pick-up unit carries a workpiece between the first point-to-point carrying platform and the second point-to-point carrying platform, and meanwhile the writing unit writes on the bottom plate of the writing carrying platform.
Preferably, the robot assembly further comprises a rotary connector and an assembly connecting plate; the visual acquisition unit, the pickup unit and the writing unit are fixedly arranged on the component connecting plate; the assembly connecting plate is in rotary connection with the mechanical arm through the rotary connecting piece.
Preferably, the pick-up unit and the writing unit are symmetrical about a rotational axis of the rotational connection.
Preferably, a line connecting the center of the suction cup of the pickup unit and the center of the writing pen of the writing unit is perpendicular to a line connecting the visual center of the visual acquisition unit and the rotation center of the rotation connector.
Preferably, the vision acquisition unit comprises an industrial camera, a light source; the industrial camera is communicated with the robot central control computer through a transmission interface; the industrial camera is fixedly connected with the assembly connecting plate through a camera fixing plate; the light source is fixedly connected with the assembly connecting plate through a light source connecting plate.
Preferably, the pick-up unit comprises a pick-up driving device, a pick-up fixing plate, a sucker fixing plate and a sucker; the pick-up fixing plate is used for fixing the pick-up driving device on the component connecting plate; the sucker is fixed on the sucker fixing plate; the movable end of the pick-up driving device is fixedly connected with the sucker fixing plate; the pick-up driving device drives the sucker fixing plate so that the sucker picks up or is far away from a workpiece.
Preferably, the writing unit comprises a writing pen, a writing pen fixing block and a writing driving device; the writing pen is fixed at the movable end of the writing driving device through the writing pen fixing block; the writing driving device is fixed on the component connecting plate; the writing driving device drives the writing pen fixing block so that the writing pen is close to or far from the bottom plate of the writing carrier along the axial direction.
Preferably, the writing unit further comprises an elasticity adjusting member; the tightness adjusting piece is used for adjusting the gap of the writing pen fixing block.
Preferably, the first point-to-point carrier and the second point-to-point carrier are provided with grooves with at least two profiles, and the number of grooves with the same profile is at least two.
A robot training teaching platform comprises a robot training body; the robot teaching training body comprises a shell, an operation table, an auxiliary equipment carrier and a robot central control machine; the robot teaching training body further comprises a robot assembly, a point-to-point workpiece carrier group and a writing carrier;
the shell is used for wrapping the robot teaching training body base frame and forming a whole; the robot assembly, the point-to-point workpiece carrier group and the writing carrier are fixedly arranged on the operating platform; the robot central control machine is electrically connected with the robot assembly and is used for controlling the robot assembly to move; the auxiliary equipment carrier is provided with auxiliary equipment connected with the pick-up unit and the writing unit, and the auxiliary equipment is used for controlling the pick-up unit and the writing unit to move;
the operation table is horizontally arranged; the auxiliary equipment carrier is accommodated in the shell; the vision acquisition unit is controlled to perform one-time positioning by debugging the central control computer and auxiliary equipment of the robot, so that the pick-up unit carries workpieces between the first point-to-point carrying platform and the second point-to-point carrying platform, and meanwhile, the writing unit writes on the bottom plate of the writing carrying platform.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a vision-based robot training device, which comprises a robot assembly, a point-to-point workpiece carrier group and a writing carrier; the point-to-point workpiece carrier group comprises a first point-to-point carrier and a second point-to-point carrier; the first point-to-point carrying platform and the second point-to-point carrying platform are provided with the same grooves for placing workpieces; a bottom plate for writing is arranged on the writing carrying platform; the robot assembly comprises a mechanical arm capable of being controlled to move in a programmable manner and a robot training unit; the robot training unit is connected with the mechanical arm; the robot training unit comprises a vision acquisition unit, a pickup unit and a writing unit; the visual acquisition unit is used for acquiring a workpiece image and positioning the workpiece position or acquiring a writing stage image and positioning the writing stage position; the pick-up unit is used for picking up the workpiece; the writing unit is used for writing on the bottom plate of the writing carrier; the robot assembly is controlled by the robot central control machine, the PLC equipment and/or the electrical equipment, and is positioned once through the vision acquisition unit, so that the pick-up unit carries the workpiece between the first point-to-point carrying platform and the second point-to-point carrying platform, and meanwhile, the writing unit writes on the bottom plate of the writing carrying platform. The invention also relates to a practical training teaching platform of the robot. According to the invention, two execution processes are continuously controlled through one-time visual positioning, the ability of students to use machine vision is fully examined, and meanwhile, the second execution process is used for realizing evaluation, so that the evaluation process is more visual. The invention has ingenious conception and reasonable design, fully transfers the practical ability of students, and is convenient for practical training popularization and application of robot teaching.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a robot training teaching platform according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the vision-based robot training apparatus of the present invention;
FIG. 3 is a schematic view of a point-to-point workpiece carrier set according to the present invention;
FIG. 4 is a schematic diagram of a training unit of a robot according to the present invention;
FIG. 5 is a schematic diagram of a training unit of a robot according to the present invention;
FIG. 6 is a schematic diagram III of a practical training unit of the robot;
FIG. 7 is a schematic top view of a robotic training unit of the present invention;
FIG. 8 is a schematic diagram of a robot training unit according to the present invention from below;
FIG. 9 is a schematic diagram of the overall structure of a robot training teaching platform according to another embodiment of the present invention;
FIG. 10 is a schematic diagram of a practical training teaching platform of a robot in another embodiment of the present invention;
FIG. 11 is a schematic diagram of the interior of a robot training teaching platform according to another embodiment of the present invention;
FIG. 12 is a schematic view of an auxiliary equipment carrier structure according to the present invention;
fig. 13 is a schematic view of a partial structure of an auxiliary equipment carrier according to the present invention.
The figure shows:
the robot teaching training body 100, the housing 10, the door panel 11, the heat sink 12, the robot center controller 18, the industrial personal computer 19, the operation panel 20, the control button 21, the auxiliary equipment carrier 30, the slide link plate 31, the slide fixing plate 32, the carrier plate 33, the longitudinal fixing hole 331, the transverse fixing hole 332, the handle 34, the interference block 35, the side fixing bar 36, the base frame 37, the robot assembly 40, the rotation connecting piece 41, the robot training unit 42, the vision collecting unit 421, the industrial camera 4211, the light source 4212, the camera fixing plate 4213, the light source connecting plate 4214, the transmission interface 4215, the pickup unit 422, the pickup driving device 4221, the pickup fixing plate 4222, the suction cup fixing plate 4223, the suction cup 4224, the writing unit 424, the writing pen 4241, the writing pen fixing block 4242, the tension adjusting piece 4243, the writing driving device 4244, the assembly connecting plate 43, the hexagonal work piece 703, the round work piece 704, the trapezoidal work piece 705, the first point carrier 91, the second point carrier 92, the carrier plate 93, the first recess 903, the second recess 904, the third recess 905.
Detailed Description
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses a device for practicing the invention. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the top-to-bottom dimension, "width" corresponds to the left-to-right dimension, and "depth" corresponds to the front-to-back dimension. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms (e.g., "connected" and "attached") referring to an attachment, coupling, etc., refer to a relationship wherein these structures are directly or indirectly secured or attached to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.
The vision-based robot training device, as shown in fig. 1, 2 and 4, comprises a robot assembly 40, a point-to-point workpiece carrier group and a writing carrier 93;
the point-to-point workpiece carrier group comprises a first point-to-point carrier 91 and a second point-to-point carrier 92; the first point-to-point carrier 91 and the second point-to-point carrier 92 are provided with the same grooves for placing the workpieces; a bottom plate for writing is arranged on the writing carrying platform 93;
the robot assembly 40 comprises a mechanical arm capable of being controlled to move in a programmable manner and a robot training unit 42; the robot training unit 42 is connected with the mechanical arm;
the robot training unit 42 comprises a vision acquisition unit 421, a pickup unit 422 and a writing unit 424; the vision acquisition unit 421 is used for acquiring a workpiece image and positioning a workpiece position or acquiring a writing stage 93 image and positioning a writing stage 93 position; the pick-up unit 422 is used for picking up the workpiece; the writing unit 424 is used for writing on the bottom plate of the writing stage 93;
the robot assembly 40 is controlled by the robot controller 18, PLC equipment, and/or electrical equipment, and is positioned once by the vision collection unit 421 such that the pick-up unit 422 carries the workpiece between the first and second peer-to-peer stages 91, 92 while the writing unit 424 writes on the floor of the writing stage 93.
In this embodiment, the vision acquisition unit 421 is used to perform vision positioning on any one of the first point-to-point carrier 91, the second point-to-point carrier 92 or the writing carrier 93, and meanwhile, the relative positional relationship between the other two and the relative positional relationship between the vision acquisition unit 421, the pick-up unit 422 and the writing unit 424 are configured in the robot central control computer 18, so that the application of the students to vision positioning can be fully trained by unifying coordinate transformation under the global coordinate system of the mechanical arm; on the other hand, for example, a point-to-point carrying process is used as a visual positioning process, and a writing process is used as an evaluation process for checking whether the visual positioning is accurate; otherwise, the writing process is used as a visual positioning process, and the point-to-point carrying process is used as an evaluation process for checking whether the visual positioning is accurate or not; in the evaluation process, the vision acquisition unit 421 does not perform vision positioning, and the robot training unit 42 is operated to carry or write only by the control instruction obtained by the coordinate conversion, so that the training effect is intuitively evaluated.
In a preferred embodiment, the first point-to-point carrier 91 and the second point-to-point carrier 92 are provided with at least two grooves with different profiles, and the number of grooves with the same profile is at least two; as shown in fig. 3, the first point-to-point stage 91 and the second point-to-point stage 92 are respectively provided with a first groove 903, a circular second groove 904 and a trapezoid third groove 905 which have hexagonal outlines, and correspond to the hexagonal workpiece 703, the circular workpiece 704 and the trapezoid workpiece 705; the number of grooves of each type is three, and the diversity of multiple types and multiple practical training courses is adopted.
As shown in fig. 5 and 6, the robot assembly 40 further includes a rotation connector 41 and an assembly connection plate 43; the vision collecting unit 421, the picking unit 422 and the writing unit 424 are fixedly installed on the component connection plate 43; the component connection plate 43 is rotatably connected to the robot arm via a rotational connection 41. The vision acquisition unit 421 comprises an industrial camera 4211 and a light source 4212; the industrial camera 4211 is in communication with the robot central controller 18 via a transmission interface 4215; the industrial camera 4211 is fixedly connected with the component connection plate 43 through a camera fixing plate 4213; the light source 4212 is fixedly connected to the assembly connection plate 43 through a light source connection plate 4214. The pickup unit 422 includes a pickup driving device 4221, a pickup fixing plate 4222, a suction cup fixing plate 4223, and a suction cup 4224; the pick-up fixing plate 4222 fixes the pick-up driving device 4221 to the assembly connection plate 43; the suction cup 4224 is fixed on the suction cup fixing plate 4223; the movable end of the pick-up driving device 4221 is fixedly connected with a sucker fixing plate 4223; the pickup driving device 4221 drives the suction cup fixing plate 4223 so that the suction cup 4224 picks up or moves away from the workpiece.
As shown in fig. 6 to 8, the writing unit 424 includes a writing pen 4241, a writing pen fixing block 4242, a writing driving device 4244; the writing pen 4241 is fixed to the movable end of the writing driving device 4244 by a writing pen fixing block 4242; the writing driving device 4244 is fixed to the assembly connection plate 43; the writing driving device 4244 drives the writing pen fixing block 4242 so that the writing pen 4241 is brought close to or away from the bottom plate of the writing stage 93 in the axial direction. In a preferred embodiment, writing unit 424 further includes a dancer 4243; the dancer 4243 is used to adjust the pen securing block 4242 clearance.
In the present embodiment, the coordinate conversion relationship is configured by rotation, scaling, and translation, and in order to facilitate determination of the coordinate conversion relationship, as shown in fig. 7, the pickup unit 422 and the writing unit 424 are symmetrical about the rotation axis of the rotation link 41. In another preferred embodiment, as shown in fig. 8, the line connecting the center of the suction cup 4224 of the pick-up unit 422 and the center of the writing pen 4241 of the writing unit 424 is perpendicular to the line connecting the visual center of the visual collection unit 421 and the rotational center of the rotational connection 41. For example, when the vision collecting unit 421, the pick-up unit 422, and the writing unit 424 constitute an isosceles triangle or an isosceles right triangle, the coordinate conversion relationship is simplified. It should be understood that the positional relationship among the vision collecting unit 421, the picking unit 422 and the writing unit 424 can be designed by the students according to the needs, and on the other hand, the understanding and application ability of the students to the robot coordinate system is examined.
A robot training teaching platform comprises a robot training body 100; the robot teaching training body 100 comprises a shell 10, an operation table 20, an auxiliary equipment carrier 30 and a robot central control computer 18; the robot teaching training body 100 further comprises a robot assembly 40, a point-to-point workpiece carrier set and a writing carrier 93;
the shell 10 is used for wrapping the base frame of the robot teaching training body 100 and forming a whole; the robot assembly 40, the point-to-point workpiece carrier set and the writing carrier 93 are fixedly arranged on the operation table 20; the robot central control machine 18 is electrically connected with the robot assembly 40, and the robot central control machine 18 is used for controlling the robot assembly 40 to move; the auxiliary equipment carrier 30 is provided with auxiliary equipment connected with the pick-up unit 422 and the writing unit 424, and the auxiliary equipment is used for controlling the pick-up unit 422 and the writing unit 424 to move;
the operation table 20 is horizontally arranged; the auxiliary equipment stage 30 is accommodated in the housing 10; the vision collecting unit 421 is controlled to perform positioning once by debugging the robot central controller 18 and the auxiliary equipment so that the pick-up unit 422 carries the workpiece between the first point-to-point stage 91 and the second point-to-point stage 92 while the writing unit 424 writes on the bottom plate of the writing stage 93.
The invention adopts the sliding type storage auxiliary equipment carrier, has large internal space, provides convenience for equipment wiring and installation and fixation, fully transfers the practical ability of students, greatly enriches practical training courses, realizes the designability of robot practical training teaching, and can realize the effect of mutual cooperation of each step, so that the students can design the implementation mode by themselves, for example, adopts a stroke control mode, namely, a stroke switch sensor is arranged on a walking track, realizes accurate walking positioning control, can adopt linkage control to continuously execute instructions according to sequence after the single step complete debugging, and debugs whether the design effect is achieved in the whole execution process.
In a preferred embodiment, the console 20 has auxiliary equipment mounted thereon, which is mounted proximate to the positioning stage 80 and the transport assembly 50 for easy debugging and installation.
In an embodiment, the auxiliary device comprises an electrical device; the electrical equipment is used for controlling the positioning carrier 80 and the conveying assembly 50, wherein the electrical equipment comprises an electrical switch and an electrical control device; the electric control device comprises an electromagnetic valve, an air source processing assembly, a vacuum generator and a negative pressure meter; the electrical switch is a common switch including, but not limited to, an air switch, a disconnector, a vacuum circuit breaker, a frame circuit breaker, a molded case circuit breaker, a contactor, a push button switch. In this embodiment, the electrical switch and the electrical control device are connected in series or parallel to each other to realize mechanical process control of the positioning stage 80 and the transport assembly 50, and simultaneously cooperate with the robot central control computer 18 to control the robot assembly 40 to realize cooperative process control of the robot assembly 40, the positioning stage 80 and the transport assembly 50.
In another embodiment, the auxiliary equipment comprises a PLC equipment, and the robot teaching training body 100 further comprises an industrial personal computer 19; the industrial personal computer 19 is connected with the PLC equipment and is used for writing a compiling program into the PLC equipment; the PLC device is used for controlling the positioning carrier 80 and the conveying assembly 50; in this embodiment, students compile executable programs of the PLC device in the industrial personal computer 19 through an input device such as a keyboard and a mouse and a display, and after compiling, the executable programs are written into the PLC device, and the PLC device is various, so the PLC device is not shown in the figure; the PLC equipment is connected with the positioning carrier 80 and the conveying assembly 50, the debugging of a PLC program is realized through the control button 21, meanwhile, the robot assembly 40 is controlled by matching with the robot central control machine 18, and the cooperative process control of the robot assembly 40, the positioning carrier 80 and the conveying assembly 50 is realized. In the present embodiment, the control buttons 21 include click control buttons, interlock control buttons; the click control button is used for controlling the equipment to sequentially execute the instructions once; the linkage control button is used for controlling the equipment to continuously execute instructions in sequence, so that students can debug the equipment according to requirements.
It should be understood that according to different training scenes, the electric equipment and the PLC equipment can be combined, and meanwhile, the cooperative process control facing to electric control, PLC control and robot control is adopted, so that fusion training of multiple control modes is achieved, the training difficulty is improved, and the practical training effect of being more fit is achieved.
As shown in fig. 10-13, in one embodiment, auxiliary equipment carrier 30 includes carrier plate 33, side securing strips 36, base frame 37; the carrier plate 33 is fixed to the base frame 37; two sides of the base frame 37 are connected with the side fixing strips 36 through a plurality of sections of sliding rails; the base frame 37 is fixed inside the housing 10; the carrier plate 33 is provided with mounting holes for mounting auxiliary equipment; as shown in fig. 2, carrier plate 33 may slide out of the interior of housing 10 along the length of side securing straps 36. In this embodiment, the robot central control unit 18 and the industrial personal computer 19 are installed at the lower part of the carrying platform 33, and meanwhile, the door panel 11 of the housing 10 is provided with the heat dissipation groove 12, so that the ventilation of the interior of the housing 10 is ensured, and the electrical fault caused by the overhigh temperature is avoided.
As shown in fig. 12 and 13, the auxiliary equipment carrier 30 further includes a slide link plate 31 and a slide fixing plate 32; the carrier plate 33 is connected with the sliding chain plate 31 through the sliding fixing plate 32; the slide link plate 31 is composed of a plurality of link plates rotatably connected to each other. The chain sheets of the sliding chain plate 31 are rolled up or recovered one by one, so that the carrier plate 33 slides out of the Cheng Yunsu stably, and unnecessary damage caused by pulling the connecting cable through rapid movement is avoided.
In a preferred embodiment, the auxiliary equipment carrier 30 further comprises a sliding drive (not shown in the figures); the movable end of the slide driving device is fixedly connected with the slide fixing plate 32; because of the variety of equipment that can be connected to the carrier plate 33 and the large weight, the automatic unloading of the carrier plate 33 is realized by the sliding driving device, and the manual operation is reduced. In this embodiment, the auxiliary equipment carrier 30 further includes a pull handle 34; the carrying platform plate 33 is pulled out of the shell 10 as the forward direction, and the handles are arranged at the middle part or two sides of the front end of the carrying platform plate 33. As shown in fig. 4, the handle is provided in the middle of the front end of the carrier plate 33; specifically, the auxiliary equipment stage 30 further includes a slide sensor; the sliding sensor is used for detecting whether the carrier plate 33 and the side fixing strip 36 have relative movement, and if the carrier plate 33 and the side fixing strip 36 have relative movement, the sliding driving device is started, and the carrier plate 33 is driven to move to the limit position and locked by the sliding driving device; for example, the sliding sensor adopts a photoelectric sensor, and when the photoelectric sensor on the multi-section sliding rail detects that the carrying platform plate 33 starts to slide, the sliding driving device is started, so that a user only needs to provide an initial force for moving the carrying platform plate 33 out of the photoelectric sensor, and then the sliding sensor can automatically slide out or slide in under the driving of the sliding driving device, and the sliding driving device can adopt a pneumatic actuating element or a hydraulic actuating element.
In a preferred embodiment, as shown in fig. 13, to prevent the carrier plate 33 from moving excessively to collide with the internal equipment, the auxiliary equipment carrier 30 further includes a collision block 35, and the collision block 35 is located at the rear end of the carrier plate 33; the abutting block 35 is used for abutting the base frame 37; the carrying bedplate 33 is provided with a longitudinal fixing hole 331 and a transverse fixing hole 332; the longitudinal fixing holes 331 and the transverse fixing holes 332 are used for fixing auxiliary equipment, and through the fixing holes which are arranged vertically and horizontally, students are provided with a basis for reasonably arranging all the equipment on the carrying table plate 33, and training students are provided with a basis for reasonable planning.
It should be noted that, unlike the traditional robot practical training mode, the invention only plays a role in demonstration, but cannot provide experience of practical operation teaching for students, and more importantly, the traditional practical training teaching cannot provide reasonable practical training courses, and meanwhile, a reasonable means for evaluating practical training effects cannot be adopted; in this embodiment, the sensor is connected to the industrial personal computer through the PLC device, or the sensor is directly connected to the industrial personal computer, so that the sensor collects data of the student training process, so as to evaluate the training effect, for example, the photoelectric sensor is used to collect the stroke of the driving device, so as to determine whether the driving is performed in place, and meanwhile, the time used by each training process is recorded by combining with the internal timing program of the industrial personal computer, so that a comprehensive evaluation system is formed, and the digital teaching of the robot training is realized.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; those skilled in the art can smoothly practice the invention as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present invention are possible in light of the above teachings without departing from the scope of the invention; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present invention still fall within the scope of the present invention.
Claims (2)
1. Real device of instructing of robot based on vision, its characterized in that: comprises a robot assembly (40), a point-to-point workpiece carrier group and a writing carrier (93);
the point-to-point workpiece carrier group comprises a first point-to-point carrier (91) and a second point-to-point carrier (92); the first point-to-point carrying platform (91) and the second point-to-point carrying platform (92) are provided with the same grooves for placing workpieces; a bottom plate for writing is arranged on the writing carrying platform (93);
the robot assembly (40) comprises a mechanical arm capable of being controlled to move in a programmable manner and a robot training unit (42); the robot training unit (42) is connected with the mechanical arm;
the robot training unit (42) comprises a vision acquisition unit (421), a pickup unit (422) and a writing unit (424); wherein the vision acquisition unit (421) is used for acquiring a workpiece image and positioning a workpiece position or acquiring the image of the writing carrier (93) and positioning the writing carrier (93) position; the pick-up unit (422) is used for picking up a workpiece; the writing unit (424) is used for writing on a bottom plate of the writing stage (93);
the robot assembly (40) is controlled by a robot central control machine (18), a PLC device and/or an electrical device, and is positioned once through the vision acquisition unit (421) so that the pick-up unit (422) carries a workpiece between the first point-to-point carrying platform (91) and the second point-to-point carrying platform (92), and the writing unit (424) writes on a bottom plate of the writing carrying platform (93);
the robot assembly (40) further comprises a rotary connecting piece (41) and an assembly connecting plate (43); the visual acquisition unit (421), the pickup unit (422) and the writing unit (424) are fixedly arranged on the component connecting plate (43); the assembly connecting plate (43) is rotationally connected with the mechanical arm through the rotating connecting piece (41);
-said pick-up unit (422) and said writing unit (424) being symmetrical with respect to the rotation axis of said rotary connection (41);
the line connecting the center of the suction cup (4224) of the pick-up unit (422) and the center of the writing pen (4241) of the writing unit (424) is perpendicular to the line connecting the visual center of the visual collection unit (421) and the rotation center of the rotation connecting piece (41);
the vision acquisition unit (421) comprises an industrial camera (4211) and a light source (4212); the industrial camera (4211) is in connection communication with the robot central control machine (18) through a transmission interface (4215); the industrial camera (4211) is fixedly connected with the assembly connecting plate (43) through a camera fixing plate (4213); the light source (4212) is fixedly connected with the assembly connecting plate (43) through a light source connecting plate (4214);
the pick-up unit (422) comprises a pick-up driving device (4221), a pick-up fixing plate (4222), a sucker fixing plate (4223) and a sucker (4224); the pick-up fixing plate (4222) fixes the pick-up driving device (4221) to the component connection plate (43); the sucker (4224) is fixed on the sucker fixing plate (4223); the movable end of the pick-up driving device (4221) is fixedly connected with the sucker fixing plate (4223); the pick-up driving device (4221) drives the suction cup fixing plate (4223) so that the suction cup (4224) picks up or moves away from a workpiece;
the writing unit (424) comprises a writing pen (4241), a writing pen fixing block (4242) and a writing driving device (4244); the writing pen (4241) is fixed to the movable end of the writing driving device (4244) through the writing pen fixing block (4242); the writing drive device (4244) is fixed to the assembly connection plate (43); the writing driving device (4244) drives the writing pen fixing block (4242) so that the writing pen (4241) is close to or far from the bottom plate of the writing stage (93) along the axial direction;
the writing unit (424) further includes a slack adjuster (4243); the tightness adjusting piece (4243) is used for adjusting the gap of the writing pen fixing block (4242);
the first point-to-point carrier (91) and the second point-to-point carrier (92) are provided with grooves with at least two profiles, and the number of grooves with the same profile is at least two.
2. A robot training teaching platform, comprising a robot training body (100); the robot teaching training body (100) comprises a shell (10), an operating platform (20), an auxiliary equipment carrier (30) and a robot central control machine (18); the method is characterized in that: the robot teaching training body (100) further comprises the robot assembly (40), the point-to-point workpiece stage group and the writing stage (93) according to claim 1;
the shell (10) is used for wrapping the base frame of the robot teaching training body (100) and forming a whole; the robot assembly (40), the point-to-point workpiece carrier group and the writing carrier (93) are fixedly arranged on the operating platform (20); the robot central control machine (18) is electrically connected with the robot assembly (40), and the robot central control machine (18) is used for controlling the robot assembly (40) to move; the auxiliary equipment carrier (30) is provided with auxiliary equipment connected with the pick-up unit (422) and the writing unit (424), and the auxiliary equipment is used for controlling the pick-up unit (422) and the writing unit (424) to move;
the operating table (20) is horizontally arranged; the auxiliary equipment carrier (30) is accommodated in the shell (10); the vision acquisition unit (421) is controlled to perform one-time positioning by debugging the robot central control unit (18) and auxiliary equipment, so that the pick-up unit (422) carries a workpiece between the first point-to-point carrying platform (91) and the second point-to-point carrying platform (92), and the writing unit (424) writes on the bottom plate of the writing carrying platform (93).
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109979305A (en) * | 2019-05-09 | 2019-07-05 | 上海洛倍智能科技有限公司 | A kind of industrial robot elementary teaching training work station |
| CN111161623B (en) * | 2020-02-28 | 2024-06-25 | 佛山犀灵机器人技术服务有限公司 | Collaborative robot practical training platform |
| 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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