CN109397270B - A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot - Google Patents
A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot Download PDFInfo
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- CN109397270B CN109397270B CN201811590012.9A CN201811590012A CN109397270B CN 109397270 B CN109397270 B CN 109397270B CN 201811590012 A CN201811590012 A CN 201811590012A CN 109397270 B CN109397270 B CN 109397270B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 238000012549 training Methods 0.000 claims abstract description 79
- 238000012546 transfer Methods 0.000 claims abstract description 33
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- 230000005540 biological transmission Effects 0.000 claims description 4
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- 238000013461 design Methods 0.000 abstract description 5
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- 238000004886 process control Methods 0.000 description 3
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- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
Abstract
The invention provides a secondary positioning mechanism for robot practical training, which comprises a robot assembly, a conveying assembly and a positioning 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 is connected with the mechanical arm; the robot training unit comprises a pickup unit; the positioning carrier is used for positioning the workpiece to be positioned; after the workpiece to be positioned is conveyed to a terminal point through the conveying component, the workpiece to be positioned is picked up by the pick-up unit and is conveyed to the positioning carrier, and the positioning carrier positions the workpiece to be positioned. The invention also relates to a practical training teaching platform of the robot. According to the invention, the mechanical carrying and the positioning carrier are combined to realize quick and accurate secondary positioning of the workpiece, so that students can fully exercise and examine the cooperative capacity of the robot and the conveying device. 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.
Description
Technical Field
The invention belongs to the field of practical training teaching, and particularly relates to a secondary positioning mechanism for practical training of a robot and a practical training teaching platform of the robot.
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 the robot has high automation degree and strong programmable control capability, the robot must rely on a precise positioning system, and in industrial application, how to precisely position the workpiece by the robot is a guarantee for ensuring the product quality and the production controllability; 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 secondary positioning mechanism for the robot practical training provided by the invention realizes the rapid and accurate secondary positioning of the workpiece by utilizing mechanical carrying and combining with the positioning carrier, fully exercises and examines the cooperative capability of students on the robot and the conveying device.
The invention provides a secondary positioning mechanism for robot practical training, which comprises a robot assembly, a conveying assembly and a positioning 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 is connected with the mechanical arm;
the robot training unit comprises a pickup unit; the conveying assembly is used for conveying the workpiece to be positioned; the positioning carrier is used for positioning the workpiece to be positioned; the pick-up unit is used for picking up the workpiece;
the robot assembly is controlled by a robot central control machine, the conveying assembly and the positioning carrier are controlled by a PLC device and/or an electrical device, so that after the workpiece to be positioned is conveyed to a terminal point through the conveying assembly, the workpiece to be positioned is picked up by the pickup unit and is conveyed to the positioning carrier, and after the workpiece to be positioned is positioned by the positioning carrier, the pickup unit conveys the positioned workpiece to the workpiece carrier; wherein, be provided with the recess unanimous with work piece size on the work piece carrier.
Preferably, the positioning carrier comprises a positioning plate, a positioning driving device, a positioning block and a positioning detection device; the positioning plate and the positioning block form a workpiece positioning flange to be positioned; the movable end of the positioning driving device is fixedly connected with the positioning block; the positioning driving device drives the positioning block so that the positioning plate and the positioning block jointly abut against the workpiece to be positioned, and the positioning detection device is used for detecting whether the workpiece to be positioned is positioned or not.
Preferably, the positioning detection device is a photoelectric sensor.
Preferably, the positioning plate is provided with a positioning flange and a positioning through hole; the positioning through hole is positioned at the junction of the two positioning flanges; the positioning detection device is arranged at the lower part of the positioning plate, so that detection light of the photoelectric sensor passes through the positioning through hole.
Preferably, the robot training unit further comprises a vision acquisition unit; the vision acquisition unit is used for acquiring the image of the workpiece and positioning the position of the workpiece.
Preferably, the robot assembly further comprises a rotary connector and an assembly connecting plate; the visual acquisition unit and the pickup 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 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 conveying assembly comprises a first conveying unit, a second conveying unit and a linear conveying mechanism; the linear conveying mechanism is used for conveying the workpiece on the first conveying unit to the second conveying unit; the pick-up unit conveys the workpiece on the second conveying unit to the first conveying unit; the linear conveying mechanism comprises a linear driving assembly and a transferring assembly; wherein,
the linear driving assembly comprises a linear driving sliding block, a linear driving rod, a linear guide block, a linear guide rod and a stroke detection device; the linear driving sliding block is matched with the linear driving rod, and the linear guide block is matched with the linear guide rod; the transfer assembly is fixedly connected with the linear driving sliding block; the travel detection device is used for detecting the travel of the transfer assembly;
the transfer assembly comprises a transfer fixing plate, a transfer driving device and a transfer sucker; the transfer fixing plate is fixedly connected with the movable end of the transfer driving device; the transfer sucker is fixed on the transfer fixing plate; the transfer driving device is fixed on the linear driving sliding block; the linear driving sliding block moves along the axial direction of the linear driving rod, so that the transfer assembly moves between the first conveying unit and the second conveying unit, and the transfer sucker is driven by the transfer driving device, so that a workpiece is conveyed from the second conveying unit to the first conveying unit.
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 conveying assembly and a positioning carrier;
the shell is used for wrapping the robot teaching training body base frame and forming a whole; the robot assembly and the conveying assembly 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 conveying assembly, and the auxiliary equipment is used for controlling the conveying assembly to move;
the operation table is horizontally arranged; the auxiliary equipment carrier is accommodated in the shell; and controlling the robot assembly and the conveying assembly to convey the workpiece to be positioned onto the positioning carrier for secondary positioning by debugging the central control machine and auxiliary equipment of the robot.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a secondary positioning mechanism for robot practical training, which comprises a robot assembly, a conveying assembly and a positioning 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 is connected with the mechanical arm; the robot training unit comprises a pickup unit; the conveying assembly is used for conveying the workpiece to be positioned; the positioning carrier is used for positioning the workpiece to be positioned; the pick-up unit is used for picking up the workpiece; the robot assembly is controlled by the robot central control computer, the conveying assembly and the positioning carrier are controlled by the PLC equipment and/or the electrical equipment, so that after the workpiece to be positioned is conveyed to a terminal point through the conveying assembly, the workpiece to be positioned is picked up by the pickup unit and is conveyed to the positioning carrier, and after the workpiece to be positioned is positioned by the positioning carrier, the pickup unit conveys the positioned workpiece to the workpiece carrier. The invention also relates to a practical training teaching platform of the robot. According to the invention, the mechanical carrying and the positioning carrier are combined to realize quick and accurate secondary positioning of the workpiece, so that students can fully exercise and examine the cooperative capacity of the robot and the conveying device. 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 a secondary positioning mechanism for robot training according to the present invention;
FIG. 3 is a top view of a secondary positioning mechanism for robotic training of the present invention;
FIG. 4 is a schematic view of a partial structure of a transport assembly of the present invention;
FIG. 5 is a schematic view of a partial structure of a secondary positioning mechanism for robot training according to the present invention;
FIG. 6 is a schematic diagram of the robot training unit of the present invention;
FIG. 7 is a schematic view of a positioning stage according to the present invention;
FIG. 8 is a second schematic view of a positioning stage according to the present invention;
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:
robot teaching training body 100, housing 10, door panel 11, heat sink 12, robot center controller 18, industrial computer 19, operation table 20, control button 21, speed regulator 22, auxiliary equipment carrier 30, slide link plate 31, slide fixing plate 32, carrier plate, longitudinal fixing hole 331, transverse fixing hole 332, handle 34, interference block 35, side fixing bar 36, base frame 37, robot assembly 40, rotation connector 41, robot training unit 42, vision acquisition unit 421, industrial camera 4211, light source 4212, camera fixing plate 4213, light source connecting plate 4214, transmission interface 4215, pickup unit 422, pickup driving device 4221, pickup fixing plate 4222, suction cup fixing plate 4223, suction cup 4224, and so on. The component connection board 43, the transport component 50, the first transport unit 51, the first belt 511, the first detection device 513, the second transport unit 52, the second belt 521, the second guide 522, the second detection device 523, the linear driving component 53, the linear driving slider 531, the linear driving lever 532, the linear guide 533, the linear guide 534, the stroke detection device 535, the transport component 54, the transport fixing plate 541, the transport driving device 542, the transport chuck 543, the workpiece 702, the workpiece stage 72, the positioning stage 80, the positioning base 81, the positioning plate 82, the positioning flange 821, the positioning through hole 822, the positioning driving device 83, the positioning block 84, the positioning detection device 85, the detection light 851.
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 secondary positioning mechanism for robot training, as shown in fig. 1-13, comprises a robot assembly 40, a conveying assembly 50 and a positioning carrier 80; wherein,
as shown in fig. 2 and 3, the robot assembly 40 includes a robot arm that can be controlled and moved 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 includes a pick-up unit 422; the transport assembly 50 is used to transport a workpiece 702 to be positioned; the positioning carrier 80 is used for positioning a workpiece 702 to be positioned; the pick-up unit 422 is used for picking up the workpiece;
the robot assembly 40 is controlled by the robot central control computer 18, the conveying assembly 50 and the positioning carrier 80 are controlled by the PLC equipment and/or the electrical equipment, so that after the workpiece 702 to be positioned is conveyed to a terminal point through the conveying assembly 50, the workpiece 702 to be positioned is picked up by the pick-up unit 422 and is conveyed to the positioning carrier 80, and after the workpiece 702 to be positioned is positioned by the positioning carrier 80, the pick-up unit 422 conveys the positioned workpiece 702 to the workpiece carrier 72; wherein the workpiece carrier 72 is provided with a recess of a size consistent with the workpiece 702.
In this embodiment, in order to train students to use robots to carry accurately, rectangular blocks with different lengths and widths are selected as the workpieces 702 to be positioned, and correspondingly, grooves with the lengths and widths consistent with those of the workpieces 702 are formed in the workpiece carrier 72, so long as any positions are not aligned or angles are not aligned, the workpieces 702 to be positioned cannot be placed in the grooves accurately; in the present embodiment, since the pick-up unit 422 is a suction cup, the position of the workpiece 702 cannot be precisely positioned, and in the process of carrying, the suction position and the posture of the workpiece 702 cannot be ensured; the positioning carrier 80 solves the problem of accurate positioning, the workpiece 702 is firstly coarsely positioned on the conveying assembly 50, then is placed on the positioning carrier 80 through the pick-up unit 422 for secondary positioning, positioning accuracy is ensured, meanwhile, the part of the positioning carrier 80 for positioning is a standard part, and positioning information of the positioning carrier 80 and the groove of the workpiece carrier 72 is configured in the robot central control computer 18, so that accurate conveying from the positioning carrier 80 to the groove of the workpiece carrier 72 is realized.
In one embodiment, as shown in fig. 7, the positioning stage 80 includes a positioning plate 82, a positioning driving device 83, a positioning block 84, and a positioning detecting device 85; the positioning plate 82 and the positioning block 84 form a positioning flange of the workpiece 702 to be positioned; the movable end of the positioning driving device 83 is fixedly connected with a positioning block 84; the positioning driving device 83 drives the positioning block 84, so that the positioning plate 82 and the positioning block 84 jointly abut against the workpiece 702 to be positioned, and the positioning detecting device 85 is used for detecting whether the workpiece 702 to be positioned is positioned.
In a preferred embodiment, as shown in fig. 7 and 8, the positioning detection device 85 is a photoelectric sensor. The positioning plate 82 is provided with a positioning flange 821 and a positioning through hole 822; the positioning through hole 822 is positioned at the intersection of the two positioning flanges 821; the positioning detection device 85 is installed at the lower portion of the positioning plate 82 such that the detection light 851 of the photosensor passes through the positioning through hole 822. In the present embodiment, the positioning plate 82 is mounted on the console 20 through the positioning base 81, and at the same time, the photoelectric sensor is mounted on the positioning base 81 below the positioning through hole 822 on the positioning plate 82. If and only if the work piece 702 blocks the positioning through hole 822, it can be determined that the positioning of the work piece 702 is completed, at which time the control pick-up unit 422 carries the positioned work piece 702 onto the groove of the work piece carrier 72; further, the groove of the workpiece carrier 72 can also be used for detecting whether the carrying is up to standard by using the photoelectric sensor, so as to evaluate the practical training effect of the students, and particularly, at least three photoelectric sensors can be used for being placed at three corners.
In a preferred embodiment, as shown in fig. 5 and 6, the robot training unit 42 further includes a vision acquisition unit 421; the vision acquisition unit 421 is used for acquiring a workpiece image and locating a workpiece position. It should be understood that in the present embodiment, the vision collecting unit 421 is used for assisting positioning, that is, the workpiece is quickly found in the field of view of the vision collecting unit 421 for rough positioning.
In a preferred embodiment, as shown in fig. 6, the robot assembly 40 further includes a rotational connector 41, an assembly connection plate 43; the vision collecting unit 421 and the pick-up unit 422 are fixedly mounted on the component connection board 43; the component connection plate 43 is rotatably connected to the robot arm via a rotational connection 41. In the present embodiment, the vision collecting unit 421 includes an industrial camera 4211, 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.
In a preferred embodiment, as shown in fig. 2-4, the transport assembly 50 includes a first transport unit 51, a second transport unit 52, a linear handling mechanism; the linear conveying mechanism is used for conveying the workpiece on the first conveying unit 51 to the second conveying unit 52; the pick-up unit 422 carries the workpiece on the second carrying unit 52 onto the first carrying unit 51. In the present embodiment, the first conveying unit 51 is identical in structure to the second conveying unit 52. In the present embodiment, in order to simplify the robot coordinate calculation, the conveyance direction of the first conveyance unit 51 and the conveyance direction of the second conveyance unit 52 are perpendicular to each other.
As shown in fig. 4, the first carrying unit 51 includes a first belt 511 driven by a motor, a first detecting device 513; the first detecting device 513 is configured to detect whether the workpiece on the first belt 511 reaches the transfer position of the linear conveyance mechanism. In this embodiment, the first detecting device 513 is a photoelectric sensor, and detects a change in distance from the first belt 511 to determine whether the workpiece is in place, and if the workpiece is in place, the linear conveying mechanism can be controlled to start conveying. Meanwhile, as shown in fig. 1, motors of the first and second carrying units 51 and 52 are provided with a debugger 22, and the speed of the belt is regulated by the debugger 22.
As shown in fig. 4, to accurately position the workpiece, the first conveying unit 51 includes a first guide 512; the first guide 512 is mounted on the end of the first belt 511; the gap of the first guide 512 is gradually narrowed in the conveying direction of the first belt 511. By the time the workpiece is to be conveyed to the end of the first belt 511, the workpiece is accurately conveyed to the conveyance range of the linear conveyance mechanism by the first guide 512. Correspondingly, as shown in fig. 4 and 5, the second conveying unit 52 includes a second belt 521, a second guide 522, and a second detecting device 523; the second detecting device 523 is configured to detect whether the workpiece is conveyed to the end of the second driving belt 521, and at this time, control the robot assembly 40 to move so that the vision collecting unit 421 searches for the workpiece in the field of view, and control the mechanical arm and the pickup unit 422 to pick up the workpiece after positioning; as shown in fig. 6, after picking, the robot arm and pick-up unit 422 is controlled to convey the workpiece onto the first conveying unit 51. In this embodiment, the coordinates of the mechanical arm, the vision collection unit 421 and the pickup unit 422 adopt a unified coordinate system, and the mechanical arm brings the vision collection unit 421 into the field of view of the target quickly during the movement process, and then uses the vision collection unit 421 to perform accurate positioning.
In a preferred embodiment, as shown in FIG. 3, the linear handling mechanism includes a linear drive assembly 53, a transfer assembly 54; wherein,
as shown in fig. 4, the linear driving assembly 53 includes a linear driving slider 531, a linear driving lever 532, a linear guide block 533, a linear guide rod 534, and a stroke detecting device 535; the linear driving slider 531 is engaged with the linear driving lever 532, and the linear guide block 533 is engaged with the linear guide rod 534; the transfer assembly 54 is fixedly connected with the linear driving slide 531; the stroke detection device 535 is used for detecting the stroke of the transfer assembly 54; in this embodiment, the linear guide 533 and the linear guide 534 perform a stable guiding function, so that the linear driving assembly 53 is stably transported, and the workpiece is prevented from falling in advance.
As shown in fig. 4, the transport assembly 54 includes a transport fixing plate 541, a transport driving device 542, and a transport suction cup 543; the transfer fixing plate 541 is fixedly connected to a movable end of the transfer driving device 542; the transferring sucker 543 is fixed on the transferring fixing plate 541; the transfer driving device 542 is fixed on the linear driving slider 531; the linear driving slider 531 moves along the axial direction of the linear driving lever 532 to move the transfer assembly 54 between the first and second carrying units 51 and 52, and drives the transfer chuck 543 via the transfer driving device 542 to transfer the workpiece from the workpiece on the second carrying unit 52 to the first carrying unit 51.
A robot training teaching platform comprises a robot training body 100; as shown in fig. 1 and 9, the robot teaching training body 100 includes a housing 10, an operation table 20, an auxiliary equipment carrier 30, and a robot central controller 18; the robot teaching training body 100 further comprises a robot assembly 40, a conveying assembly 50 and a positioning carrier 80;
the shell 10 is used for wrapping the base frame of the robot teaching training body 100 and forming a whole; the operation table 20 is fixedly provided with a robot assembly 40 and a conveying assembly 50; 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 conveying assembly 50, and the auxiliary equipment is used for controlling the conveying assembly 50 to move;
the operation table 20 is horizontally arranged; the auxiliary equipment stage 30 is accommodated in the housing 10; the robot assembly 40 and the transport assembly 50 are controlled to transport the workpiece 702 to be positioned onto the positioning stage 80 for secondary positioning by debugging the robot central controller 18 and the auxiliary equipment.
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. A secondary positioning mechanism for real standard of robot, its characterized in that: comprises a robot assembly (40), a conveying assembly (50) and a positioning carrier (80);
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 pick-up unit (422); the conveying assembly (50) is used for conveying a workpiece (702) to be positioned; the positioning carrier (80) is used for positioning a workpiece (702) to be positioned; the pick-up unit (422) is used for picking up a workpiece;
the robot assembly (40) is controlled by the robot central control machine (18), the conveying assembly (50) and the positioning carrier (80) are controlled by PLC equipment and/or electrical equipment, so that after a workpiece (702) to be positioned is conveyed to a terminal point through the conveying assembly (50), the workpiece is picked up by the pickup unit (422) and conveyed to the positioning carrier (80), and after the workpiece (702) to be positioned is positioned by the positioning carrier (80), the pickup unit (422) conveys the positioned workpiece (702) to the workpiece carrier (72); wherein, the workpiece carrying platform (72) is provided with a groove with the same size as the workpiece (702);
the positioning carrier (80) comprises a positioning plate (82), a positioning driving device (83), a positioning block (84) and a positioning detection device (85); the positioning plate (82) and the positioning block (84) form a positioning flange of a workpiece (702) to be positioned; the movable end of the positioning driving device (83) is fixedly connected with the positioning block (84); the positioning driving device (83) drives the positioning block (84) so that the positioning plate (82) and the positioning block (84) jointly abut against the workpiece (702) to be positioned, and the positioning detection device (85) is used for detecting whether the workpiece (702) to be positioned is positioned;
the positioning detection device (85) is a photoelectric sensor;
the positioning plate (82) is provided with a positioning flange (821) and a positioning through hole (822); the positioning through hole (822) is positioned at the intersection of the two positioning flanges (821); the positioning detection device (85) is arranged at the lower part of the positioning plate (82) so that detection light (851) of the photoelectric sensor passes through the positioning through hole (822);
the robot training unit (42) further comprises a vision acquisition unit (421); the vision acquisition unit (421) is used for acquiring a workpiece image and positioning the workpiece;
the robot assembly (40) further comprises a rotary connecting piece (41) and an assembly connecting plate (43); the vision acquisition unit (421) and the pick-up unit (422) 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);
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 conveying assembly (50) comprises a first conveying unit (51), a second conveying unit (52) and a linear conveying mechanism; the linear conveying mechanism is used for conveying the workpiece on the first conveying unit (51) to the second conveying unit (52); the pick-up unit (422) conveys the workpiece on the second conveying unit (52) onto the first conveying unit (51); the linear conveying mechanism comprises a linear driving assembly (53) and a transferring assembly (54); wherein,
the linear driving assembly (53) comprises a linear driving sliding block (531), a linear driving rod (532), a linear guide block (533), a linear guide rod (534) and a stroke detection device (535); the linear driving sliding block (531) is matched with the linear driving rod (532), and the linear guide block (533) is matched with the linear guide rod (534); the transfer assembly (54) is fixedly connected with the linear driving sliding block (531); the travel detection device (535) is used for detecting the travel of the transfer assembly (54);
the transferring assembly (54) comprises a transferring fixing plate (541), a transferring driving device (542) and a transferring sucker (543); the transfer fixing plate (541) is fixedly connected with the movable end of the transfer driving device (542); the transferring sucker (543) is fixed on the transferring fixing plate (541); the transfer driving device (542) is fixed on the linear driving sliding block (531); the linear driving sliding block (531) moves along the axial direction of the linear driving rod (532) so that the transferring assembly (54) moves between the first conveying unit (51) and the second conveying unit (52), and the transferring sucker (543) is driven by the transferring driving device (542) so that a workpiece is conveyed from the second conveying unit (52) to the first conveying unit (51).
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 conveying assembly (50) and the positioning carrier (80) 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) and the conveying assembly (50) 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 conveying assembly (50), and the auxiliary equipment is used for controlling the conveying assembly (50) to move;
the operating table (20) is horizontally arranged; the auxiliary equipment carrier (30) is accommodated in the shell (10); and the robot assembly (40) and the conveying assembly (50) are controlled to convey the workpiece (702) to be positioned onto the positioning carrier (80) for secondary positioning by debugging the robot central control machine (18) and auxiliary equipment.
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| US11679508B2 (en) * | 2019-08-01 | 2023-06-20 | Fanuc Corporation | Robot device controller for controlling position of robot |
| CN110293200A (en) * | 2019-08-08 | 2019-10-01 | 中国矿业大学(北京) | A kind of forging equipment robotization auxiliary device and forging dystopy detection method |
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