CN110767067A - Self-adaptive modular industrial robot teaching training system and teaching method - Google Patents
Self-adaptive modular industrial robot teaching training system and teaching method Download PDFInfo
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- CN110767067A CN110767067A CN201911220700.0A CN201911220700A CN110767067A CN 110767067 A CN110767067 A CN 110767067A CN 201911220700 A CN201911220700 A CN 201911220700A CN 110767067 A CN110767067 A CN 110767067A
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- 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 relates to a self-adaptive modular industrial robot teaching training system, which comprises a training module library: the training module is used for storing all training modules; training an operation platform: the practical training module is used for placing a practical training module selected by a student according to specific practical training contents; the sensor of the internet of things: the practical training module is arranged on the practical training operation platform and used for identifying the practical training module selected by the student according to specific practical training content and obtaining an identification result; a PLC control system: and the practical training content is matched according to the identification result. The invention perfectly combines the technology of the Internet of things and the practical training module, realizes the self-adaptive function of the hardware, software and teaching resources of the practical training module, realizes remote teaching and improves the teaching efficiency.
Description
Technical Field
The invention relates to the technical field of industrial robot teaching, in particular to a self-adaptive modular industrial robot teaching practical training system and a using method thereof.
Background
With the wide application of industrial robots in various industries, industrial robot education also becomes more and more important, and industrial robot teaching practical training platform comes up to now. The industrial robot teaching training platform has a good demonstration effect, and meanwhile, the practical operation ability of students can be also cultivated.
Chinese patent with the publication number of CN208061527U discloses an industrial robot comprehensive practical training device, which comprises a basic rack, a practical training operation platform is arranged above the basic rack, an operation panel module, an industrial robot, a basic training module, a feeding module, a conveying module, a stacking platform, a clamp support, a simulation injection module, a detection module, a relay terminal board, an electromagnetic valve seat and an air source processing module are arranged on the practical training operation platform, the feeding module comprises 2 groups, two groups of conveying modules are arranged between the 2 groups of feeding modules side by side, the two groups of conveying modules are respectively butted with the stacking platform and the clamp support, the industrial robot is positioned at one side of the stacking platform, the basic training module is positioned between the industrial robot and the air source processing module, the electromagnetic valve seat, the relay terminal board, the detection module and the simulation injection module are sequentially arranged in front of the air source processing module, a, an electric control module for controlling each module is arranged in the drawer, and a robot control module is arranged below the drawer.
The above prior art solutions have the following drawbacks: all the training modules are fixedly installed, and students cannot independently design and assemble; the training of each module is basically independent training of a certain skill or function, and the construction of a training system is difficult to realize through the flexible combination of a plurality of modules; the complex structure and the module easily disperse the attention of students, the effect to be demonstrated cannot be achieved within limited teaching time, the complex structure easily breaks down, and the maintenance cost is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an adaptive modular industrial robot teaching training system and a using method thereof.
The above object of the present invention is achieved by the following technical solutions:
the utility model provides a real standard system of industrial robot teaching of self-adaptation modularization, includes:
a training module library: the training module is used for storing all training modules;
training an operation platform: the practical training module is used for placing a practical training module selected by a student according to specific practical training contents;
the sensor of the internet of things: the practical training module is arranged on the practical training operation platform and used for identifying the practical training module selected by the student according to specific practical training content and obtaining an identification result;
a PLC control system: and the practical training content is matched according to the identification result.
By adopting the technical scheme, the RFID technology and the practical training module are perfectly combined, the self-adaptive function of the hardware, the software and the teaching resources of the practical training module is realized, the remote teaching is realized, and the teaching efficiency is improved.
The present invention in a preferred example may be further configured to: the practical training module comprises a six-degree-of-freedom industrial robot, a human-computer interaction module, a visual detection module, a feeding module, a tray module, a conveyor belt module, a stacking area module, a waste recovery module, a quick change module, a dividing disc module, a pigment detection module, a TCP (transmission control protocol) simulation module and a trajectory planning module.
By adopting the technical scheme, the multifunctional robot can be used for performing various exercises such as workpiece processing, visual detection, workpiece position detection, electric circuit design and wiring, PLC programming and debugging, robot programming and debugging and the like.
The present invention in a preferred example may be further configured to: the training content comprises cognitive training of the robot, entry and simple operation training of the robot, robot carrying training, robot stacking training, robot track training, workpiece processing training, automobile glass simulated installation training, simulated welding training, robot TCP training, robot control wiring training, PLC programming training, sensor cognitive and understanding training, sensor application training, pneumatic element principle and application training, communication training between the robot and the visual detection module and data exchange training between the PLC control system and the visual detection module.
By adopting the technical scheme, the multifunctional training robot can be used for performing various training such as workpiece processing, visual detection, workpiece position detection, electric circuit design and wiring, PLC programming and debugging, robot programming and debugging and the like, is suitable for practical training teaching of courses such as industrial robots and control techniques, automation techniques and the like of automation-related major of vocational schools and technical schools, and is suitable for engineering training and skill competition of automation technicians.
The present invention in a preferred example may be further configured to: the sensor of the internet of things is a plurality of RFID readers, and the RFID readers are arranged on the practical training operation platform at intervals, so that the practical training module placed on the practical training operation platform can be identified by the RFID readers.
By adopting the technical scheme, the RFID tags are installed on each practical training module, each tag has a unique ID number, and the RFID readers are installed on the practical training operation platform at intervals so as to cover and detect all the practical training modules placed on the practical training operation platform.
The present invention in a preferred example may be further configured to: the PLC control system comprises a PLC control unit, a pulse generator and a plurality of optional interface modules, wherein the optional interface modules comprise a leakage switch, an air switch, a servo driver, a contactor, a switching power supply, a relay and a socket.
By adopting the technical scheme, the PLC control system is provided with the optional interface modules, so that the PLC control system is favorable for adapting to various practical training contents and achieves higher adaptability.
The second aim of the invention is realized by the following technical scheme:
the use method of the self-adaptive modular industrial robot teaching practical training system is characterized in that the sensor of the Internet of things identifies one or more practical training modules selected by students in the practical training module library and placed on the practical training operation platform, and sends an identification result to the PLC control system to match related practical training contents.
By adopting the technical scheme, the RFID technology and the practical training module are perfectly combined, the self-adaptive function of the hardware, the software and the teaching resources of the practical training module is realized, the remote teaching is realized, and the teaching efficiency is improved.
The present invention in a preferred example may be further configured to: the practical training module comprises a six-degree-of-freedom industrial robot, a human-computer interaction module, a visual detection module, a feeding module, a tray module, a conveyor belt module, a stacking area module, a waste recovery module, a quick change module, a dividing disc module, a pigment detection module, a TCP (transmission control protocol) simulation module and a trajectory planning module.
By adopting the technical scheme, the multifunctional robot can be used for performing various exercises such as workpiece processing, visual detection, workpiece position detection, electric circuit design and wiring, PLC programming and debugging, robot programming and debugging and the like.
The present invention in a preferred example may be further configured to: the training content comprises cognitive training of the robot, entry and simple operation training of the robot, robot carrying training, robot stacking training, robot track training, workpiece processing training, automobile glass simulated installation training, simulated welding training, robot TCP training, robot control wiring training, PLC programming training, sensor cognitive and understanding training, sensor application training, pneumatic element principle and application training, communication training between the robot and the visual detection module and data exchange training between the PLC control system and the visual detection module.
By adopting the technical scheme, the multifunctional training robot can be used for performing various training such as workpiece processing, visual detection, workpiece position detection, electric circuit design and wiring, PLC programming and debugging, robot programming and debugging and the like, is suitable for practical training teaching of courses such as industrial robots and control techniques, automation techniques and the like of automation-related major of vocational schools and technical schools, and is suitable for engineering training and skill competition of automation technicians.
The present invention in a preferred example may be further configured to: the sensor of the internet of things is a plurality of RFID readers, and the RFID readers are arranged on the practical training operation platform at intervals, so that the practical training module placed on the practical training operation platform can be identified by the RFID readers.
By adopting the technical scheme, the RFID tags are installed on each practical training module, each tag has a unique ID number, and the RFID readers are installed on the practical training operation platform at intervals so as to cover and detect all the practical training modules placed on the practical training operation platform.
The present invention in a preferred example may be further configured to: the PLC control system comprises a PLC control unit, a pulse generator and a plurality of optional interface modules, wherein the optional interface modules comprise a leakage switch, an air switch, a servo driver, a contactor, a switching power supply, a relay and a socket.
By adopting the technical scheme, the PLC control system is provided with the optional interface modules, so that the PLC control system is favorable for adapting to various practical training contents and achieves higher adaptability.
In summary, the invention includes at least one of the following beneficial technical effects:
1. the RFID technology is perfectly combined with the practical training module, the self-adaptive function of the practical training module hardware, software and teaching resources is realized, remote teaching is realized, and the teaching efficiency is improved;
2. through the modularized combination, schools do not need to purchase different practical training products for different production process teaching, the practical training system can realize the learning of a plurality of production processes in a modularized combination mode, the cost is reduced, and the innovative design learning of students is realized;
3. through secondary development and integratable, the student can easily master the integrated butt joint of the industrial robot system and other systems, and the learning efficiency and the innovative thinking are improved.
Drawings
Fig. 1 is a block diagram of an industrial robot teaching training system with adaptive modularization.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the invention discloses a self-adaptive modular industrial robot teaching training system, which comprises:
a training module: the system is used for finishing teaching and practical training contents of various industrial robots;
a training module library: the training module is used for storing all training modules;
training an operation platform: the practical training module is used for placing a practical training module selected by a student according to specific practical training contents;
the sensor of the internet of things: the practical training module is arranged on the practical training operation platform and used for identifying the practical training module selected by the student according to specific practical training content and obtaining an identification result;
a PLC control system: and the practical training content is matched according to the identification result.
The use method of the self-adaptive modular industrial robot teaching practical training system is characterized in that the sensor of the Internet of things identifies one or more practical training modules selected by students in the practical training module library and placed on the practical training operation platform, and sends an identification result to the PLC control system to match related practical training contents.
The practical training module comprises a six-degree-of-freedom industrial robot, a human-computer interaction module, a visual detection module, a feeding module, a tray module, a conveyor belt module, a stacking area module, a waste recovery module, a quick change module, a dividing disc module, a pigment detection module, a TCP (transmission control protocol) simulation module and a trajectory planning module.
The training content comprises cognitive training of the robot, entry and simple operation training of the robot, robot carrying training, robot stacking training, robot track training, workpiece processing training, automobile glass simulated installation training, simulated welding training, robot TCP training, robot control wiring training, PLC programming training, sensor cognitive and understanding training, sensor application training, pneumatic element principle and application training, communication training between the robot and the visual detection module and data exchange training between the PLC control system and the visual detection module.
The sensor of the internet of things comprises information sensing equipment such as Radio Frequency Identification (RFID) and a laser scanner, and in the embodiment, the sensor of the internet of things is a plurality of RFID readers, and the plurality of RFID readers are arranged on the practical training operating platform at intervals so as to be beneficial to the fact that the plurality of RFID readers can identify and place on the practical training module on the practical training operating platform, and each practical training module is provided with an RFID label.
The PLC control system comprises a PLC control unit, a pulse generator and a plurality of optional interface modules, wherein the optional interface modules comprise a leakage switch, an air switch, a servo driver, a contactor, a switching power supply, a relay and a socket.
In the initial stage, only one practical training operation platform is provided, and no practical training module is provided. When a student trains, the student can select which specific modules to learn according to personal ability and basis in the practical training module library, after the selection is finished, the practical training module is automatically and flexibly installed on the practical training operation platform, at the moment, the RFID detector can automatically detect the RFID label on the practical training module, and relevant teaching contents are automatically matched on the PLC control system, so that the self-adaption function of the practical training system is realized.
Each training module can be used for training and learning independently, but students can select a plurality of training modules to be flexibly combined according to the requirements of the students.
For example, workpiece processing training: selecting a six-degree-of-freedom industrial robot, a feeding module, a conveyor belt module, a visual detection module, a waste recovery module, a pigment detection module, a stacking area module and a quick change module to place on a practical training operation platform; the sensor of the internet of things identifies the training modules and sends an identification result to the PLC control system to be matched for workpiece processing training. Feeding the workpiece to a conveyor belt module through a feeding module, and conveying the workpiece to the position of a visual detection module by a conveyor belt in the conveyor belt module; the six-degree-of-freedom industrial robot (ABB IRB 1200) triggers a vision detection module (Kangnai vision system) to detect whether the workpiece is qualified or not and acquires the coordinate and the angle of the position of the workpiece; the six-degree-of-freedom industrial robot grabs workpieces through coordinates and angles, unqualified workpieces are directly placed in the waste recovery module, qualified workpieces are subjected to color and weighing detection through a color detection module (comprising a color sensor and a weighing device), and the unqualified workpieces are placed in different waste recovery modules according to different attributes according to whether the weight detection is qualified or not; and processing qualified workpieces, and placing different warehouses (for example, the warehouses can be placed in a stacking area module) according to different workpieces after the processing is finished.
Simulation installation training of automobile glass: selecting a six-degree-of-freedom industrial robot, a feeding module, a tray module (front and rear window glass and an automobile model), a visual detection module, a waste recovery module, a dividing disc module, a stacking area module and a quick-change module to place on a practical training operation platform; the sensor of the internet of things identifies the training modules and sends an identification result to the PLC control system to be matched for automobile glass simulation installation training. The feeding module conveys the tray module for storing the front and rear window glasses to the position of the visual detection module, the six-degree-of-freedom industrial robot triggers the visual detection module to detect whether the window glasses exist in the tray module, and if the tray module does not directly grab and place the tray in the waste recovery module; if the window glass is stored in the tray, the visual detection module judges whether the front window glass or the rear window glass is stored in the current tray module, and stores the front window glass and the rear window glass at specified positions (for example, the front window glass and the rear window glass can be placed in the stacking area module); the six-degree-of-freedom industrial robot changes a dispensing gun (one of the quick-change modules) and controls the dispensing gun to glue along the edge of the window glass (simulation); after the gluing is finished, replacing a sucker clamp (one of quick change modules), installing the front window glass on the automobile model through the sucker clamp, wherein the rear window glass is the same as the front window glass; after the front window glass and the rear window glass are installed, the robot gives a plc signal, the plc controls the index plate to rotate 90 degrees, and then the next automobile model is installed; and repeating the actions until the installation is completed.
Simulation welding training: the six-degree-of-freedom industrial robot grabs a three-jaw clamp (one of quick change modules) and grabs the tracing pen through the three-jaw clamp; the six-degree-of-freedom industrial robot carries out simulated welding along the track of the welding disc, and the dividing disc rotates 180 degrees after one side is welded; after the rotation is finished, the six-degree-of-freedom industrial robot continues to simulate the other side of the welding disc; after welding, rotating the disc by 90 degrees, and then performing spot welding; the welding-completed disc returns to the initial position.
Therefore, the invention has the function of modular combination learning.
Each training module is provided with an open interface, and different training modules can be secondarily integrated and can also be secondarily developed and integrated with an external numerical control machine tool, a mobile phone terminal and the like, so that more multifunctional learning and application are realized. Therefore, the invention has good secondary development and integration.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. The utility model provides a real standard system of industrial robot teaching of self-adaptation modularization which characterized in that includes:
a training module library: the training module is used for storing all training modules;
training an operation platform: the practical training module is used for placing a practical training module selected by a student according to specific practical training contents;
the sensor of the internet of things: the practical training module is arranged on the practical training operation platform and used for identifying the practical training module selected by the student according to specific practical training content and obtaining an identification result;
a PLC control system: and the practical training content is matched according to the identification result.
2. The adaptive modular industrial robot teaching training system of claim 1, characterized in that: the practical training module comprises a six-degree-of-freedom industrial robot, a human-computer interaction module, a visual detection module, a feeding module, a tray module, a conveyor belt module, a stacking area module, a waste recovery module, a quick change module, a dividing disc module, a pigment detection module, a TCP (transmission control protocol) simulation module and a trajectory planning module.
3. The adaptive modular industrial robot teaching training system of claim 1, characterized in that: the training content comprises cognitive training of the robot, entry and simple operation training of the robot, robot carrying training, robot stacking training, robot track training, workpiece processing training, automobile glass simulated installation training, simulated welding training, robot TCP training, robot control wiring training, PLC programming training, sensor cognitive and understanding training, sensor application training, pneumatic element principle and application training, communication training between the robot and the visual detection module and data exchange training between the PLC control system and the visual detection module.
4. The adaptive modular industrial robot teaching training system of claim 1, characterized in that: the sensor of the internet of things is a plurality of RFID readers, and the RFID readers are arranged on the practical training operation platform at intervals, so that the practical training module placed on the practical training operation platform can be identified by the RFID readers.
5. The adaptive modular industrial robot teaching training system of claim 1, characterized in that: the PLC control system comprises a PLC control unit, a pulse generator and a plurality of optional interface modules, wherein the optional interface modules comprise a leakage switch, an air switch, a servo driver, a contactor, a switching power supply, a relay and a socket.
6. Use of an adaptive modular industrial robot teaching training system according to any of claims 1-5, characterized in that: the sensor of the internet of things identifies one or more training modules selected by students from the training module library and placed on the training operation platform, and sends the identification result to the PLC control system to match the relevant training content.
7. The use method of the adaptive modular industrial robot teaching training system according to claim 6, characterized in that: the practical training module comprises a six-degree-of-freedom industrial robot, a human-computer interaction module, a visual detection module, a feeding module, a tray module, a conveyor belt module, a stacking area module, a waste recovery module, a quick change module, a dividing disc module, a pigment detection module, a TCP (transmission control protocol) simulation module and a trajectory planning module.
8. The use method of the adaptive modular industrial robot teaching training system according to claim 6, characterized in that: the training content comprises cognitive training of the robot, entry and simple operation training of the robot, robot carrying training, robot stacking training, robot track training, workpiece processing training, automobile glass simulated installation training, simulated welding training, robot TCP training, robot control wiring training, PLC programming training, sensor cognitive and understanding training, sensor application training, pneumatic element principle and application training, communication training between the robot and the visual detection module and data exchange training between the PLC control system and the visual detection module.
9. The use method of the adaptive modular industrial robot teaching training system according to claim 6, characterized in that: the sensor of the internet of things is a plurality of RFID readers, and the RFID readers are arranged on the practical training operation platform at intervals, so that the practical training module placed on the practical training operation platform can be identified by the RFID readers.
10. The use method of the adaptive modular industrial robot teaching training system according to claim 6, characterized in that: the PLC control system comprises a PLC control unit, a pulse generator and a plurality of optional interface modules, wherein the optional interface modules comprise a leakage switch, an air switch, a servo driver, a contactor, a switching power supply, a relay and a socket.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114550570A (en) * | 2022-02-28 | 2022-05-27 | 柳州铁道职业技术学院 | Intelligent manufacturing practical training platform and practical training method |
| CN114633260A (en) * | 2022-05-20 | 2022-06-17 | 广东科佩克机器人有限公司 | Method and system for remotely controlling operation of industrial robot |
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Application publication date: 20200207 |