CN109434811A - The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model - Google Patents
The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model Download PDFInfo
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- CN109434811A CN109434811A CN201811590029.4A CN201811590029A CN109434811A CN 109434811 A CN109434811 A CN 109434811A CN 201811590029 A CN201811590029 A CN 201811590029A CN 109434811 A CN109434811 A CN 109434811A
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- charging tray
- storage
- real training
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- 238000012549 training Methods 0.000 title claims abstract description 73
- 238000005516 engineering process Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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 robot that the present invention provides view-based access control model is put in storage real training mechanism, including robot assembly, storage component；Robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit includes vision collecting unit, picking unit；Vision collecting unit is for acquiring workpiece image and positioning the location of workpiece；Storage component includes charging tray, and charging tray is equipped with several grooves to match with workpiece configurations, for storing workpiece；Vision collecting unit captures and positions the workpiece being placed in workpiece stage, picking unit grabbing workpiece.The invention further relates to robot Practical Training Teaching-Platforms.The present invention passes through vision positioning and combines automated warehousing, realizes the quick of workpiece and accurately automates storage, sufficiently take exercise and investigate student to the cooperative ability of robot and storage arrangement.Present inventive concept is ingenious, and design rationally, gives full play to students ' practical ability, promotes and applies convenient for robot teaching's real training.
Description
Technical field
The invention belongs to practice-training teaching fields, and in particular to the storage real training mechanism, robot and robot of view-based access control model are real
Training teaching platform.
Background technique
The raising of depth and industrial intelligent level with the development of industry, industrial robot is because of its freedom degree height, energy
The multiple process of complete independently, high reliablity, while the advantages such as convenient for safeguarding and more and more in Industry Control be chosen
It selects, so far the real training education of object manipulator also becomes more and more important, and robot teaching's training platform also comes into being, machine
People's Practical Training Teaching-Platform has good teaching demonstration effect.
Currently, the application with machine vision in industrialization, urgent need trains the machine vision operational capability of student
It supports, simple course is cannot cope with complicated industrial front；On the other hand, existing robot real training mostly just provides machine
The effect of device people's teaching demonstration, cannot largely be supplied to one condition started well of student, for robot teaching
For, the robot debugging of student and wiring ability are also a critically important training emphasis；In whole design training platform,
Current teaching platform exactly do not account for robot how exercise student ' practical the problem of controlling robot, lead to robot only
The demo function only realized, practice teaching effect is fairly limited, while the reasonable debugging of student is not also obtained with routing capabilities
It takes exercise.
In this regard, being badly in need of improving existing robot training platform.
Summary of the invention
For overcome the deficiencies in the prior art, the robot of view-based access control model proposed by the present invention is put in storage real training mechanism, passes through
Vision positioning simultaneously combines automated warehousing, realizes the quick of workpiece and accurately automates storage, sufficiently take exercise and investigate student
To the cooperative ability of robot and storage arrangement.
The robot that the present invention provides view-based access control model is put in storage real training mechanism, including robot assembly, storage component；
The robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；The robot is real
Instruction unit is connect with the mechanical arm；The robot training unit includes vision collecting unit, picking unit；The vision is adopted
Collection unit is for acquiring workpiece image and positioning the location of workpiece；The picking unit is used for grabbing workpiece；
The storage component includes charging tray, and the charging tray is equipped with several grooves to match with the first workpiece configurations, is used
In storing the first workpiece；The robot assembly is by controlling machine control in robot, the storage component is by PLC device and/or electricity
Gas equipment control, so that the vision collecting unit captures and positions the first workpiece being placed in the first workpiece stage, institute
It states picking unit and grabs first workpiece, and first workpiece is placed on the storage component under the driving of mechanical arm
Charging tray on.
Preferably, the storage component further includes storage shell, charging tray driving device；The storage shell is used to form institute
State the shell of storage component；The charging tray driving device is fixed on the storage shell；The charging tray driving device with it is described
Charging tray is fixedly connected；The charging tray driving device drives the charging tray, so that the charging tray stretches out or retract the storage shell
Body.
Preferably, at least two charging trays are configured in the storage shell；The charging tray of the two charging tray connections drives dress
It sets mutually indepedent.
Preferably, two charging trays are in arrangement up and down.
Preferably, the storage component further includes charging tray fixed plate, conducting bar；The charging tray by the charging tray fixed plate with
The charging tray driving sliding block of the charging tray driving device is fixedly connected；The conducting bar is fixed on charging tray fixed plate two sides.
Preferably, the storage component further includes baffle, charging tray position detecting device；The baffle is fixed on the charging tray
Fixed plate side；The charging tray position detecting device and the baffle cooperate, for detecting the charging tray position.
Preferably, the robot assembly further includes rotating connector, component connecting plate；The vision collecting unit and institute
Picking unit is stated to be fixedly mounted on the component connecting plate；The component connecting plate and the mechanical arm are connected by the rotation
Fitting rotation connection.
Preferably, the vision collecting unit includes industrial camera, light source；The industrial camera passes through coffret and machine
Machine connection communication is controlled in device people；The industrial camera is fixedly connected by camera fixed plate with the component connecting plate；The light
Source is fixedly connected by light source connecting plate with the component connecting plate.
Preferably, the picking unit includes crawl driving device, fixture block fixing piece, fixture block；The fixture block and the folder
Block fixing piece is fixedly connected；The crawl driving device drives the fixture block fixing piece, so that the fixture block clamp or release
First workpiece.
Robot Practical Training Teaching-Platform, including robot teaching's real training ontology；Robot teaching's real training ontology includes
Shell, ancillary equipment microscope carrier, controls machine in robot at station；Robot teaching's real training ontology further includes robot assembly
With storage component, the first workpiece stage；
Simultaneously shape is integral for wrapping up robot practice teaching ontology pedestal for the shell；Fixed peace on the station
Equipped with robot assembly, storage component, the first workpiece stage；Machine is controlled in the robot to be electrically connected with the robot assembly,
Machine is controlled in the robot for controlling robot assembly's movement；It is equipped on the ancillary equipment microscope carrier and the storage
The ancillary equipment of component connection, the ancillary equipment is for controlling the storage component movement；
The station is horizontally disposed；The ancillary equipment microscope carrier is accommodated in the shell；By in debugging machine people
Control machine and ancillary equipment are grabbed so that vision collecting unit captures and position the first workpiece being placed in the first workpiece stage
The first workpiece of unit picks is taken, and the first workpiece is placed on the charging tray of the storage component under the driving of mechanical arm.
Compared with prior art, the beneficial effects of the present invention are:
The robot that the present invention provides view-based access control model is put in storage real training mechanism, including robot assembly, storage component；Robot
Component includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit is connect with mechanical arm；Machine
People's training unit includes vision collecting unit, picking unit；Vision collecting unit is for acquiring workpiece image and positioning workpiece position
It sets；Picking unit is used for grabbing workpiece；Storage component includes charging tray, and charging tray is equipped with what several and the first workpiece configurations matched
Groove, for storing the first workpiece；Robot assembly is by controlling machine control in robot, storage component is by PLC device and/or electrically
Equipment control, so that vision collecting unit captures and positions the first workpiece being placed in the first workpiece stage, picking unit
The first workpiece is grabbed, and the first workpiece is placed on the charging tray of storage component under the driving of mechanical arm.The invention further relates to
Robot Practical Training Teaching-Platform.The present invention passes through vision positioning and combines automated warehousing, realizes the quick and accurate of workpiece
Automation storage, sufficiently takes exercise and investigates student to the cooperative ability of robot and storage arrangement.Present inventive concept is ingenious, design
Rationally, students ' practical ability is given full play to, is promoted and applied convenient for robot teaching's real training.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is robot Practical Training Teaching-Platform overall structure diagram in one embodiment of the invention；
Fig. 2 is that the robot of view-based access control model of the invention is put in storage real training mechanism overall structure diagram；
Fig. 3 is robot training unit decomposition texture schematic diagram figure of the invention；
Fig. 4 is storage component structure diagram one of the invention；
Fig. 5 is storage component structure diagram two of the invention；
Fig. 6 is storage component structure diagram three of the invention；
Fig. 7 is the robot Practical Training Teaching-Platform overall structure diagram of the present invention in another embodiment；
Fig. 8 is the robot Practical Training Teaching-Platform use state diagram of the present invention in another embodiment；
Fig. 9 is the robot Practical Training Teaching-Platform schematic internal view of the present invention in another embodiment；
Figure 10 is ancillary equipment stage structure schematic diagram of the invention；
Figure 11 is the partial structural diagram of ancillary equipment microscope carrier of the invention.
It is as shown in the figure:
Robot teaching's real training ontology 100, shell 10, door-plate 11, radiating groove 12, control in robot machine 18, industrial personal computer 19,
Station 20, ancillary equipment microscope carrier 30, sliding carrier bar 31, sliding fixed plate 32, microscope carrier plate 33, longitudinally fixed hole 331, transverse direction are solid
Determine hole 332, knob 34, conflict block 35, side fixed strip 36, base frame 37, robot assembly 40, rotating connector 41, robot reality
Instruct unit 42, vision collecting unit 421, industrial camera 4211, light source 4212, picking unit 423, crawl driving device 4231,
Fixture block fixing piece 4232, fixture block 4233, component connecting plate 43, storage component 60, storage shell 61, charging tray 62, charging tray driving dress
Set 63, charging tray fixed plate 64, conducting bar 65, baffle 66, charging tray position detecting device 67, the first workpiece stage 70, the first workpiece
701。
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, foregoing end other objects of the invention, feature, side
Face and advantage will be apparent, and so that those skilled in the art can carry out according to the description.In the accompanying drawings,
For clarity, shape and size can be amplified, and will be indicated in all figures using identical appended drawing reference identical
Or similar component.In the following description, such as center, thickness, height, length, front, back, rear portion, the left side, the right, top
The words such as portion, bottom, top, lower part are to be based on the orientation or positional relationship shown in the drawings.Particularly, " height " is equivalent to from top
Portion is to the size of bottom, and " width " is equivalent to size from left to right, and " depth " is equivalent to vertical size.These
Relative terms are to be not intended to need specifically to be orientated for convenience and usually.It is related to the term of attachment, connection etc.
(for example, " connection " and " attachment ") refer to these structures by the relationship that intermediate structure is fixed directly or indirectly to one another or is attached,
And movable or rigidly attached or relationship, unless otherwise clearly stating.
Next, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that
Under the premise of not colliding, new reality can be formed between various embodiments described below or between each technical characteristic in any combination
Apply example.
The robot of view-based access control model is put in storage real training mechanism, as shown in figures 1 to 6, including robot assembly 40, storage component 60；
Robot assembly 40 includes the mobile mechanical arm of PLC technology, robot training unit 42；Robot real training list
Member 42 is connect with mechanical arm；Robot training unit 42 includes vision collecting unit 421, picking unit 423；Vision collecting unit
421 for acquiring workpiece image and positioning the location of workpiece；Picking unit 423 is used for grabbing workpiece；
Component 60 of storing in a warehouse includes charging tray 62, and charging tray 62 is equipped with several grooves to match with 701 shape of the first workpiece, uses
In the first workpiece 701 of storage；Robot assembly 40 is controlled by controlling machine 18 in robot, and component 60 of storing in a warehouse is by PLC device and/or electricity
Gas equipment control, so that vision collecting unit 421 captures and positions the first workpiece being placed in the first workpiece stage 70
701, picking unit 423 grabs the first workpiece 701, and the first workpiece 701 is placed on storage component under the driving of mechanical arm
On 60 charging tray 62.
In the present embodiment, the first workpiece 701 includes at least two parts appearance profile；Wherein, by taking Fig. 4 as an example, the first work
The circular contour on 701 top of part and 4233 in-profile of fixture block of picking unit 423 are consistent, 701 lower part of the first workpiece it is rectangular
Profile is consistent with the groove in the groove of charging tray 62, the first workpiece stage 70, distinguishingly, grabs for convenience of picking unit 423, on
Contouring region is less than profile region, so that 4233 lower surface of fixture block is contradicted 701 lower part upper surface of the first workpiece, plays limit
Effect.The present embodiment sufficiently investigates student and realizes view-based access control model in conjunction with storage component 60 to the application power of robot vision
Robot is put in storage experimenting teaching.
In a preferred embodiment, as Figure 4-Figure 6, storage component 60 further includes storage shell 61, charging tray driving device
63；Storage shell 61 is used to form the shell of storage component 60；Charging tray driving device 63 is fixed on storage shell 61；Charging tray drives
Dynamic device 63 is fixedly connected with charging tray 62；Charging tray driving device 63 drives charging tray 62, so that charging tray 62 stretches out or retract storage
Shell 61.In the present embodiment, charging tray driving device 63 is controlled by PLC device or electrical equipment, cooperates robot assembly 40,
The robot of abundant view-based access control model is put in storage Practice Curriculum.
As shown in figs. 4 and 6, in the present embodiment, to increase Degree of Difficulty of Course, at least two material are configured in storage shell 61
Disk 62；The charging tray driving device 63 of two charging trays 62 connection is mutually indepedent；By the charging tray 62 of independent control, it can be achieved that by simple
Fixed position is transformed into complicated random site.It in a preferred embodiment, will as shown in fig. 6, two charging trays 62 are in arrangement up and down
Simple plane storage is transformed into complicated three-dimensional storage, and the robot for further enriching view-based access control model is put in storage Practice Curriculum.
As shown in figure 5, in one embodiment, storage component 60 further includes charging tray fixed plate 64, conducting bar 65；Charging tray 62 passes through
Charging tray fixed plate 64 is fixedly connected with the charging tray of charging tray driving device 63 driving sliding block 631；Conducting bar 65 is fixed on charging tray fixed plate
64 two sides；Conducting bar 65 can connect more piece rail, realize the guiding of charging tray 62.
As shown in fig. 6, storage component 60 further includes baffle 66, charging tray position detecting device 67；Baffle 66 is fixed on charging tray
64 side of fixed plate；Charging tray position detecting device 67 and baffle 66 cooperate, for detecting 62 position of charging tray.In the present embodiment
In, charging tray position detecting device 67 is photoelectric sensor, by the way that multiple photoelectric sensors are arranged on the stroke that baffle 66 moves,
Realize the positioning of 62 position of charging tray.
As shown in Figure 2 and Figure 3, robot assembly 40 further includes rotating connector 41, component connecting plate 43；Vision collecting list
Member 421 is fixedly mounted on component connecting plate 43 with picking unit 423；Component connecting plate 43 and mechanical arm pass through rotating connector
41 rotation connections.In a preferred embodiment, vision collecting unit 421 includes industrial camera 4211, light source 4212；Industrial camera
4211 by controlling 18 connection communication of machine in coffret and robot；Industrial camera 4211 is connect by camera fixed plate with component
Plate 43 is fixedly connected；Light source 4212 is fixedly connected by light source connecting plate with component connecting plate 43.In the present embodiment, vision is adopted
Collect device of the unit 421 as the first workpiece 701 of capture, it can be by configuring the contour mould of the first workpiece 701, and adopted in image
It is constantly matched during collection, until being matched to the first workpiece 701, realizes the vision positioning of workpiece.
As shown in figure 3, picking unit 423 includes crawl driving device 4231, fixture block fixing piece 4232, fixture block 4233；Folder
Block 4233 is fixedly connected with fixture block fixing piece 4232；It grabs driving device 4231 and drives fixture block fixing piece 4232, so that fixture block
4233 the first workpiece of clamp or release 701.In the present embodiment, crawl driving device 4231 and fixture block fixing piece 4232 are finger
Cylinder, by finger cylinder connect two fixture blocks 4233, it can be achieved that clamp with loosen, vertical operation platform moves on 20 direction；It is special
Ground during crawl, fully considers vision positioning error, the groove of the first workpiece stage 70 is slightly larger than under the first workpiece 701
Contouring, enabling fixture block 4233, the first workpiece 701 avoids error in the groove play of the first workpiece stage 70 in clamping process
Crawl is caused to fail.
Robot Practical Training Teaching-Platform, including robot teaching's real training ontology 100；As shown in Figure 1, Figure 7 shows, robot teaching
Real training ontology 100 is including controlling machine 18, robot assembly 40, storehouse in shell 10, station 20, ancillary equipment microscope carrier 30, robot
Store up component 60, the first workpiece stage 70；Wherein
Simultaneously shape is integral for wrapping up 100 pedestal of robot practice teaching ontology for shell 10；Fixed peace on station 20
Equipped with robot assembly 40, storage component 60, the first workpiece stage 70；Machine 18 is controlled in robot to be electrically connected with robot assembly 40
It connects, machine 18 is controlled in robot for controlling the movement of robot assembly 40；It is equipped on ancillary equipment microscope carrier 30 and storage component 60
The ancillary equipment of connection, ancillary equipment are moved for controlling storage component 60；
Station 20 is horizontally disposed；Ancillary equipment microscope carrier 30 is accommodated in shell 10；By controlling machine 18 in debugging machine people
With ancillary equipment so that vision collecting unit 421 capture and position the first workpiece being placed in the first workpiece stage 70
701, picking unit 423 grabs the first workpiece 701, and the first workpiece 701 is placed on storage component under the driving of mechanical arm
On 60 charging tray 62.
In one embodiment, ancillary equipment includes electrical equipment；Electrical equipment is for controlling storage component 60, wherein electricity
Gas equipment includes electric switch, electrical control gear；Electrical control gear includes solenoid valve, gas source processing component, vacuum generation
Device, vacuum table；Electric switch is common switch, and including but not limited to air switch, disconnecting switch, vacuum circuit breaker, frame is disconnected
Road device, breaker of plastic casing, contactor, button switch.In the present embodiment, it is mutually gone here and there by electric switch with electrical control gear
Connection or parallel connection, realize the mechanical process control of storage component 60, while cooperating and controlling the control robot assembly 40 of machine 18 in robot,
Realize that robot assembly 40 cooperates with process to control with storage component 60.
In another embodiment, ancillary equipment includes PLC device, and robot teaching's real training ontology 100 further includes industrial personal computer
19；Industrial personal computer 19 is connect with PLC device, for compiler to be written in PLC device；PLC device is for controlling storage component
60；In the present embodiment, student compiles PLC device in industrial personal computer 19 for example, by the input equipments such as keyboard and mouse and display
Executable program, compiling after the completion of write-in PLC device in, PLC device is many kinds of, therefore is not shown in the figure；Connect PLC device
With storage component 60, the debugging of PLC program is realized by control button, while being cooperated and being controlled the control robot group of machine 18 in robot
Part 40 realizes that robot assembly 40 cooperates with process to control with storage component 60.In the present embodiment, control button includes crawl control
Button processed, linkage control button；Point operation control button executes once command for controlling equipment in order；Linkage control button is used
Instruction is continuously performed in order in control equipment, is debugged according to demand convenient for student.
It should be appreciated that it is different according to real training scene, electrical equipment and PLC device can be also combined, while using face
The collaboration process control controlled to electrical control, PLC control, robot, reaches the Fusion training of multiple control modes, is promoted real
Difficulty is instructed, is more bonded actual teaching result to reach.
As illustrated in figs. 8-11, in one embodiment, ancillary equipment microscope carrier 30 includes microscope carrier plate 33, side fixed strip 36, base frame
37；Microscope carrier plate 33 is fixed on base frame 37；37 two sides of base frame are connect with side fixed strip 36 by Multi-section sliding rail；Base frame 37 is fixed on
Inside shell 10；Microscope carrier plate 33 is equipped with the mounting hole for installing ancillary equipment；As shown in Fig. 2, microscope carrier plate 33 can be solid along side
Determine 36 length direction of item to skid off inside shell 10.In the present embodiment, machine 18 is controlled in robot, industrial personal computer 19 is installed on microscope carrier plate
33 lower parts, while radiating groove 12 is offered on the door-plate 11 of shell 10, guarantee the circulation of 10 inner air of shell, avoids temperature excessively high
Lead to electric fault.
As shown in Figure 10, Figure 11, ancillary equipment microscope carrier 30 further includes sliding carrier bar 31, sliding fixed plate 32；Microscope carrier plate 33
It is connect with sliding carrier bar 31 by sliding fixed plate 32；Sliding carrier bar 31 is made of several chain pieces being mutually rotatablely connected.Pass through
The chain piece of sliding carrier bar 31 is rolled or is recycled one by one, and skidding off microscope carrier plate 33, process is at the uniform velocity steady, and avoiding fast moving will connect
Cable is pullled, and unnecessary damage is caused.
In a preferred embodiment, ancillary equipment microscope carrier 30 further includes sliding driving device (not shown)；Sliding is driven
The movable terminal of dynamic device is fixedly connected with sliding fixed plate 32；Because on microscope carrier plate 33 may connection device category more than and weight
Greatly, it by sliding driving device, realizes the automation export of microscope carrier plate 33, reduces manual operation.In the present embodiment, auxiliary is set
Standby microscope carrier 30 further includes knob 34；With microscope carrier plate 33 pull out shell 10 be it is preceding to, knob be set to 33 front center of microscope carrier plate or
Front end two sides.As shown in figure 4, knob is set to 33 front center of microscope carrier plate；Distinguishingly, ancillary equipment microscope carrier 30 further includes sliding
Sensor；Slide sensor is for detecting whether microscope carrier plate 33 and side fixed strip 36 have relative motion, if detecting microscope carrier plate 33
There is relative motion with side fixed strip 36, then open sliding driving device, sliding driving device driving microscope carrier plate 33 moves to the limit
Position simultaneously locks；For example, slide sensor uses photoelectric sensor, when the photoelectric sensor on Multi-section sliding rail detects microscope carrier plate
After 33 start sliding, start sliding driving device, initial moves out microscope carrier plate 33 so that user need to only provide one
The power of photoelectric sensor then just can be skidded off or be slid into automatically under the driving of sliding driving device, and sliding driving device can be adopted
With pneumatic apparatus or hydraulic actuator.
In a preferred embodiment, as shown in figure 11, internal unit is collided to prevent 33 hyperkinesia of microscope carrier plate, assisted
Equipment microscope carrier 30 further includes conflict block 35, and conflict block 35 is located at 33 rear end of microscope carrier plate；Conflict block 35 is for contradicting base frame 37；Microscope carrier
Plate 33 is equipped with longitudinally fixed hole 331, lateral fixation hole 332；Longitudinally fixed hole 331 is auxiliary for fixing with lateral fixation hole 332
Equipment is helped, by the fixation hole being arranged in length and breadth, each equipment rationally arranged on microscope carrier plate 33 for student rationally advises training of students
It draws and basis is provided.
It should be noted that the present invention is different from traditional robot practical training reference, demonstration effect is functioned only as, and
The experience that can not be imparted knowledge to students to student's true operation, it is often more important that, traditional practice-training teaching can not provide reasonable Practice Curriculum,
It simultaneously can not be using the means of reasonable evaluation teaching result；In the present embodiment, sensor is connected by PLC device and industrial personal computer
It connects or sensor is directly connected to industrial personal computer, with the data of sensor acquisition student's real training process, real training effect is carried out with this
The evaluation of fruit, for example, using the stroke of light electrical sensor acquisition driving device, to differentiate whether driving executes in place, together
When combine industrial personal computer internal clocking program, record the time used of each real training process, form comprehensive appraisement system, realize machine
The Digital Teaching of device people's real training.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
In protection scope.
Claims (10)
1. the robot of view-based access control model is put in storage real training mechanism, it is characterised in that: including robot assembly (40), storage component
(60)；
The robot assembly (40) includes the mobile mechanical arm of PLC technology, robot training unit (42)；The machine
People's training unit (42) is connect with the mechanical arm；The robot training unit (42) includes vision collecting unit (421), grabs
Take unit (423)；The vision collecting unit (421) is for acquiring workpiece image and positioning the location of workpiece；The picking unit
(423) it is used for grabbing workpiece；
The storage component (60) includes charging tray (62), and the charging tray (62) is equipped with several with the first workpiece (701) shape phase
Matched groove, for storing the first workpiece (701)；The robot assembly (40) is by controlling machine (18) control, institute in robot
It states storage component (60) to be controlled by PLC device and/or electrical equipment, so that the vision collecting unit (421) captures and determines
Position is placed on the first workpiece (701) on the first workpiece stage (70), and the picking unit (423) grabs first workpiece
(701), first workpiece (701) and under the driving of mechanical arm is placed on to the charging tray (62) of storage component (60)
On.
2. the robot of view-based access control model as described in claim 1 is put in storage real training mechanism, it is characterised in that: the storage component
It (60) further include storage shell (61), charging tray driving device (63)；The storage shell (61) is used to form the storage component
(60) shell；The charging tray driving device (63) is fixed on the storage shell (61)；The charging tray driving device (63)
It is fixedly connected with the charging tray (62)；The charging tray driving device (63) drives the charging tray (62), so that the charging tray
(62) stretch out or retract the storage shell (61).
3. the robot of view-based access control model as claimed in claim 2 is put in storage real training mechanism, it is characterised in that: the storage shell
(61) at least two charging trays (62) are configured in；The charging tray driving device (63) of two charging tray (62) connections is mutually indepedent.
4. the robot of view-based access control model as claimed in claim 3 is put in storage real training mechanism, it is characterised in that: two charging trays (62)
In upper and lower arrangement.
5. the robot of view-based access control model as claimed in claim 2 is put in storage real training mechanism, it is characterised in that: the storage component
It (60) further include charging tray fixed plate (64), conducting bar (65)；The charging tray (62) passes through the charging tray fixed plate (64) and the material
Charging tray driving sliding block (631) of disk drive device (63) is fixedly connected；The conducting bar (65) is fixed on the charging tray fixed plate
(64) two sides.
6. the robot of view-based access control model as claimed in claim 5 is put in storage real training mechanism, it is characterised in that: the storage component
It (60) further include baffle (66), charging tray position detecting device (67)；The baffle (66) is fixed on the charging tray fixed plate (64)
Side；The charging tray position detecting device (67) and the baffle (66) cooperate, for detecting the charging tray (62) position.
7. the robot of view-based access control model as described in claim 1 is put in storage real training mechanism, it is characterised in that: the robot assembly
It (40) further include rotating connector (41), component connecting plate (43)；The vision collecting unit (421) and the picking unit
(423) it is fixedly mounted on the component connecting plate (43)；The component connecting plate (43) and the mechanical arm are turned by described
Follower link (41) rotation connection.
8. the robot of view-based access control model as claimed in claim 7 is put in storage real training mechanism, it is characterised in that: the vision collecting list
First (421) include industrial camera (4211), light source (4212)；The industrial camera (4211) passes through in coffret and robot
Control machine (18) connection communication；The industrial camera (4211) connects by the way that camera fixed plate and the component connecting plate (43) are fixed
It connects；The light source (4212) is fixedly connected by light source connecting plate with the component connecting plate (43).
9. the robot of view-based access control model as described in claim 1 is put in storage real training mechanism, it is characterised in that: the picking unit
It (423) include crawl driving device (4231), fixture block fixing piece (4232), fixture block (4233)；The fixture block (4233) with it is described
Fixture block fixing piece (4232) is fixedly connected；The crawl driving device (4231) drives the fixture block fixing piece (4232), so that
Obtain the first workpiece (701) described in fixture block (4233) clamp or release.
10. robot Practical Training Teaching-Platform, including robot teaching's real training ontology (100)；Robot teaching's real training ontology
(100) include shell (10), station (20), ancillary equipment microscope carrier (30), control machine (18) in robot；It is characterized by: institute
State robot teaching's real training ontology (100) further include robot assembly as described in claim 1 (40) and storage component (60),
First workpiece stage (70)；
Simultaneously shape is integral for wrapping up robot practice teaching ontology (100) pedestal for the shell (10)；The station
(20) robot assembly (40), storage component (60), the first workpiece stage (70) are fixedly installed on；Machine is controlled in the robot
(18) it is electrically connected with the robot assembly (40), machine (18) is controlled in the robot for controlling the robot assembly (40)
Movement；The ancillary equipment connecting with storage component (60) is installed, the auxiliary is set on the ancillary equipment microscope carrier (30)
It is ready for use on control storage component (60) movement；
The station (20) is horizontally disposed；The ancillary equipment microscope carrier (30) is accommodated in the shell (10)；Pass through debugging
Machine (18) and ancillary equipment are controlled in robot, so that vision collecting unit (421), which is captured and positioned, is placed on the first workpiece load
The first workpiece (701) on platform (70), picking unit (423) grab the first workpiece (701), and by the under the driving of mechanical arm
One workpiece (701) is placed on the charging tray (62) of storage component (60).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590029.4A CN109434811A (en) | 2018-12-25 | 2018-12-25 | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811590029.4A CN109434811A (en) | 2018-12-25 | 2018-12-25 | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model |
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