CN110867109A

CN110867109A - Real platform of instructing of robot anchor clamps installation and debugging

Info

Publication number: CN110867109A
Application number: CN201810983873.7A
Authority: CN
Inventors: 连昕辉
Original assignee: Zhejiang Ke Xiong Electronic Technology Co Ltd
Current assignee: Zhejiang Ke Xiong Electronic Technology Co Ltd
Priority date: 2018-08-28
Filing date: 2018-08-28
Publication date: 2020-03-06

Abstract

The invention discloses a robot clamp assembling and debugging practical training platform which comprises a practical training table, a robot unit, a plurality of typical practical training clamp units and a test workpiece unit, wherein a robot controller and a PLC (programmable logic controller) control unit are arranged in the practical training table, a control signal output end of the PLC control unit is electrically connected with a control end of the robot controller, a control signal output end of the robot controller is electrically connected with a control end of the robot unit, the robot unit and each practical training clamp unit are quickly assembled and disassembled through a quick-change connecting structure, switching between the robot unit and each practical training clamp unit is realized according to teaching requirements, the test workpiece unit comprises a test bench and a test workpiece arranged on the test bench, and the robot clamp assembling and testing workpiece testing platform can be used for learning the working principle of various typical clamps of robots in universities and colleges and the like, learning the installation, installation and test of the typical, The debugging and the testing can lead the trainees to quickly know the structural characteristics, the control method and the like of various clamps, and lay a foundation for the application of the learning robot and other specialties.

Description

Real platform of instructing of robot anchor clamps installation and debugging

Technical Field

The invention relates to the technical field of robot teaching equipment, in particular to a robot clamp assembling and debugging practical training platform which is an educational or practical training tool.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, realize various functions by means of self power and control capacity, can accept human commands, can be arranged in advance, and are continuously replaced by industrial robots with more and more highly repeated and intensive work along with continuous development and progress of productivity. Therefore, more and more enterprises are beginning to apply industrial robots to work in relation to production. The rapid development of the industry and the shortage of industrial robot application talents enable more and more high-tech schools to start developing industrial robot related specialties. The industrial robot specialty is a specialty needing theory to be connected with reality, and needs gradual theoretical learning and practical manual operation. Therefore, among the prior art, instruct equipment in fact through adopting industrial robot teaching and carry out industrial robot's teaching, however, the real actual operation teaching problem that equipment can only tentatively solve industrial robot is instructed in real to current industrial robot teaching, still has following defect: (1) the teaching of the industrial robot has certain deviation from the actual operation, or the teaching is too heavy, and the teaching is disjointed from the real application; or the weight is too heavy and the reality is over, so that the teaching is difficult; (2) experiment teaching aid is single, and knowledge point covers incompletely.

Disclosure of Invention

The invention aims to provide a robot clamp assembling and adjusting practical training platform to solve the problems in industrial robot teaching in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a robot clamp assembling and debugging training platform comprises a training table, a robot unit, a plurality of typical training clamp units and a test workpiece unit, wherein the robot unit is installed at the top end of the training table, a robot controller and a PLC control unit are arranged inside the training table, the control signal output end of the PLC control unit is electrically connected with the control end of the robot controller, the control signal output end of the robot controller is electrically connected with the control end of the robot unit, the robot unit and each training clamp unit are quickly assembled and disassembled through a quick-change connecting structure, the robot unit and each practical training clamp unit are switched according to teaching requirements, the test workpiece unit comprises a test board and test workpieces arranged on the test board, and the PLC control unit controls the robot unit to select any practical training clamp unit to carry out simulation operation on the test workpieces in the test workpiece unit through the robot controller.

Preferably, the practical training clamp unit comprises a plurality of tool racks arranged on the practical training table, and the practical training clamps are placed on the tool racks.

Preferably, the practical training clamp comprises an electric clamp, a pneumatic clamp, an adsorption clamp and a special clamp.

Preferably, the electric clamp comprises an electric clamp inner clamp and an electric clamp outer clamp; the pneumatic clamp comprises a pneumatic inner clamp and a pneumatic outer clamp; the adsorption clamp comprises a pneumatic sucker and an electromagnetic sucker; the special fixture comprises a fixed seat, wherein a welding gun head used for simulating welding is connected to the fixed seat, or a grinding machine used for simulating grinding is connected to the fixed seat, or a spray head used for simulating spraying is connected to the fixed seat.

Preferably, the test workpiece comprises a sucker workpiece, an outer clamping workpiece, an inner clamping workpiece, a welding workpiece, a polishing workpiece and a spraying workpiece, a workpiece position and a target position are arranged on the test board, each workpiece is in an initial state on the workpiece position, the test workpiece is moved back and forth between the workpiece position and the target position through the operation robot unit, and the test workpiece is correspondingly welded, polished and sprayed.

Preferably, the robot unit is a three-axis robot.

Compared with the prior art, the invention has the beneficial effects that: the multifunctional clamp is provided with various typical clamps and test workpieces, can be used for working principles of various typical clamps of learning robots in colleges and universities, vocational schools, training institutions and the like, can be used for mounting, debugging and testing the typical clamps, can enable students to quickly know structural characteristics, control methods and the like of the various clamps, and lays a foundation for the application and other specialties of the learning robots.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial schematic view of the present invention;

fig. 3 is an enlarged schematic view of the structure of fig. 1A.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the industrial robot clamp changing teaching device is mainly provided with nine tools, namely electric clamp carrying, air clamp carrying, sucker carrying, welding, polishing, spraying and the like; realizing continuous motion positioning by a three-axis motion platform; according to the actual working environment of the industrial robot, the special switching device is used for realizing the rapid butt joint of an air path, a liquid path, a signal power supply and a power supply and realizing the rapid clamping switching of the tool;

specifically, the robot clamp assembling and adjusting training platform comprises a training table 1, a robot unit 2, a plurality of typical training clamp units 3 and a test workpiece unit 4,

wherein, real standard table includes the braced frame 5 that is formed by the aluminum alloy, is provided with aluminum plate platform 6 on the braced frame, and braced frame's side passes through organic glass parcel and forms side observation area, and organic glass formation organic glass back door is passed through at braced frame's the back, and braced frame's front is provided with light curtain protection device, light curtain protection device is prior art, including setting up in the formation switch at braced frame positive top, travel switch is connected with control robot's controller, and during the robot action, inside when the student gets into real standard table of real standard, the robot stops the effect promptly, prevents unexpected the emergence, and braced frame's bottom is provided with storage cabinet and regulator cubicle as required to and the wheel.

The robot unit is arranged on the aluminum plate platform, the robot controller and the PLC control unit are arranged in the practical training table, the control signal output end of the PLC control unit is electrically connected with the control end of the robot controller, the control signal output end of the robot controller is electrically connected with the control end of the robot unit, the robot unit and each practical training fixture unit are quickly disassembled and assembled through a quick change connecting structure, the switching between the robot unit and each practical training fixture unit is realized according to teaching requirements,

the student can automatically control the actions of the robot unit and the installation, debugging and application of the electrical system through PLC programming according to the teaching requirement;

wherein, the robot unit comprises four support rods 7 fixedly connected with the aluminum plate platform, the four support rods are arranged oppositely in pairs, a first guide seat 8 is connected between the two support rods on the left side, a second guide seat 9 is connected between the two support rods on the right side, the robot unit further comprises a transverse seat 10 capable of moving back and forth, two ends of the transverse seat are connected through a slide block 11, tensioning belts 12 are arranged in the first guide seat and the second guide seat, the slide block is connected with the tensioning belts, the tensioning belts are in transmission connection with a first motor 13, specifically, the first motor is connected with a rotating shaft 14, the rotating shaft is connected with two driving wheels 15, a driven wheel 16 is respectively arranged in the first guide seat and the second guide seat, the tensioning belts are connected with the driving wheels and the driven wheel, the robot unit further comprises a quick-dismantling connector, the quick-dismantling connector is connected with the bottom of a connecting plate 17, a screw rod 18 is connected to the transverse direction of the transverse seat and driven by a second motor, a nut 19 is arranged on the longitudinal seat and connected with the screw rod, the longitudinal seat is driven by the second motor to transversely move, a slide rail 20 is arranged on the longitudinal seat, the connecting plate is connected with the slide rail through a slide block, and the connecting plate is connected with an air cylinder 21;

the structure is the prior art, so the structure is only described simply and is not described again;

the training clamp unit comprises a plurality of tool racks 22 arranged on the training table, and the training clamps are placed on the tool racks. The practical training clamp comprises an electric clamp, a pneumatic clamp, an adsorption clamp and a special clamp. The electric clamp comprises an electric clamp inner clamp and an electric clamp outer clamp; the pneumatic clamp comprises a pneumatic inner clamp and a pneumatic outer clamp; the adsorption clamp comprises a pneumatic sucker and an electromagnetic sucker; the special fixture comprises a fixed seat 23, a welding gun head used for simulating welding is connected to the fixed seat, or a grinding machine used for simulating grinding is connected to the fixed seat, or a spray head used for simulating spraying is connected to the fixed seat. The electric clamp inner clamp and the electric clamp outer clamp are arranged; clamping a pneumatic inner clamp and a pneumatic outer clamp; the pneumatic sucker, the electromagnetic sucker and the like are the prior art and are not described herein again, and the tool rack comprises a plurality of support plates fixedly connected with the aluminum plate platform and arranged at intervals, the top of each practical training clamp is connected with a suspension block 25, and the suspension block is provided with a dismounting connecting seat 26 which is connected with a quick dismounting connecting head through the started placement, which is the prior art and is not described herein again; the suspension block is further connected with a first electric connector 27, the side edge of the corresponding quick-release connector is connected with a second electric connector 28, when the practical training clamp needs to use electricity, the connection between the robot unit and the practical training clamp unit circuit is realized through the butt joint of the first electric connector and the second electric connector, which is the prior art and only briefly described herein,

the test workpiece unit is located the place ahead of instructing the anchor clamps unit in fact, makes things convenient for the student to observe, specifically includes the testboard and sets up the test piece on the testboard, is provided with work position and target position on the testboard, and each work piece initial state is located work position, through operating the robot unit with work piece round trip movement between work position and target position and carry out corresponding operation to the work piece, the test piece includes sucking disc work piece, outer clamp work piece, interior clamp work piece, welding workpiece, the work piece of polishing and spouts the way work piece. Wherein the sucking disc work piece is the rectangular block on inclined plane for a surface, and the setting on inclined plane is convenient for the student to know how to adopt suction head adjustable pneumatic chuck to carry out work, presss from both sides the work piece outward, interior clamp work piece is the cylinder physique, and the top of cylinder physique is provided with presss from both sides the groove, presss from both sides in being convenient for, and the work piece of polishing is the rectangular block that is provided with the V-arrangement groove, and above-mentioned work piece shape can be changed wantonly according to the teaching process needs, does not confine.

The PLC control unit controls the robot unit to select any one of the practical training clamp units through the robot controller to carry out simulation operation on the test workpiece in the test workpiece unit.

This application may carry out the teaching of at least the following aspects, including

1. The manipulator rapid tool switching device realizes the structure, principle, clamping step and using method of gas circuit, liquid circuit, signal circuit and power circuit butt joint;

2. familiar with the common manipulator clamps, electric clamps, pneumatic clamps, suction cups, arc welding, grinding, spraying tool execution components and sensing mechanisms;

3. a control method of inching, returning to the original point and positioning of the servo three-axis system;

4. familiar with the common PLC sensors and actuators;

5. mechanical structure of a triaxial system.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Real standard platform of robot anchor clamps debugging, its characterized in that: including instructing table, robot unit, real anchor clamps unit and test workpiece unit of instructing of a plurality of representatives, instruct the installation of table top in fact the robot unit, instruct that table inside is provided with robot controller and PLC the control unit in fact, PLC the control signal output part of control unit and robot controller's control end electricity are connected, robot controller's control signal output part and robot unit's control end electricity are connected, robot unit and each instruct anchor clamps unit in fact and realize quick assembly disassembly through quick change connection structure, instruct switching between the anchor clamps unit according to teaching demand realization robot unit and each, test workpiece unit includes the testboard and sets up the test workpiece on the testboard, PLC the control unit is through robot controller control robot unit select arbitrary real anchor clamps unit of instructing to test workpiece in the test workpiece unit and carry out analog operation.

2. The robot clamp assembly and adjustment practical training platform according to claim 1, characterized in that: the practical training clamp unit comprises a plurality of tool racks arranged on the practical training table, and the practical training clamps are placed on the tool racks.

3. The robot clamp assembly and adjustment practical training platform according to claim 1, characterized in that: the practical training clamp comprises an electric clamp, a pneumatic clamp, an adsorption clamp and a special clamp.

4. The practical training platform for robot clamp assembly and adjustment according to claim 3, characterized in that: the electric clamp comprises an electric clamp inner clamp and an electric clamp outer clamp; the pneumatic clamp comprises a pneumatic inner clamp and a pneumatic outer clamp; the adsorption clamp comprises a pneumatic sucker and an electromagnetic sucker; the special fixture comprises a fixed seat, wherein a welding gun head used for simulating welding is connected to the fixed seat, or a grinding machine used for simulating grinding is connected to the fixed seat, or a spray head used for simulating spraying is connected to the fixed seat.

5. The robot clamp assembly and adjustment practical training platform according to claim 1, characterized in that: the test workpiece comprises a sucker workpiece, an outer clamping workpiece, an inner clamping workpiece, a welding workpiece, a polishing workpiece and a spraying workpiece, a workpiece position and a target position are arranged on the test board, each workpiece is in an initial state on the workpiece position, the test workpiece is moved back and forth between the workpiece position and the target position through the operation robot unit, and corresponding welding, polishing and spraying operations are carried out on the test workpiece.

6. The robot clamp assembly and adjustment practical training platform according to claim 1, characterized in that: the robot unit is a three-axis robot.