CN111445776A - Industrial robot synthesizes real standard platform - Google Patents
Industrial robot synthesizes real standard platform Download PDFInfo
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- CN111445776A CN111445776A CN202010258641.2A CN202010258641A CN111445776A CN 111445776 A CN111445776 A CN 111445776A CN 202010258641 A CN202010258641 A CN 202010258641A CN 111445776 A CN111445776 A CN 111445776A
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- 238000012549 training Methods 0.000 claims abstract description 42
- 238000003466 welding Methods 0.000 claims abstract description 28
- 238000010147 laser engraving Methods 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 74
- 238000003860 storage Methods 0.000 claims description 57
- 229910052782 aluminium Inorganic materials 0.000 claims description 37
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 37
- 238000004088 simulation Methods 0.000 claims description 21
- 230000000007 visual effect Effects 0.000 claims description 19
- 230000006870 function Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000005498 polishing Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
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- 239000003086 colorant Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
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- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention relates to the field of robot teaching, in particular to an industrial robot comprehensive practical training platform, which comprises an industrial robot, a basic practical training module, a simulated laser engraving module, a simulated welding module, a simulated polishing module, a robot assembling module, a master control cabinet, a computer, a control system and a robot control cabinet, wherein the basic practical training module, the simulated laser engraving module, the simulated welding module, the simulated polishing module, the robot assembling module, the master control cabinet, the computer, the control system and the robot control cabinet are circumferentially distributed on the periphery of: the industrial robot comprehensive basic teaching platform integrates a platform to integrate common application cases of the industrial robot into the design and layout of the practical training platform in a scene reproduction mode, can meet basic teaching requirements, can integrate multiple applications, and is centralized in modules and powerful in function; anchor clamps increase anticollision sensor on traditional basis, increase safe light curtain on the security fence, and dual guarantee satisfies the real standard requirement of industrial robot technical type talent.
Description
Technical Field
The invention relates to the field of robot teaching, in particular to an industrial robot comprehensive practical training platform.
Background
The manufacturing industry is the main body of national economy, and is the basis of the foundational country, the prosperous apparatus and the strong country.
Along with the gradual maturity of industrial automation, industrial robots are facing the wave, more and more production enterprises begin to adopt the industrial robots for operation on a large scale, and the talent demand in the robot field is increased by 20% -30% every year. Because related specialties of robots are not established at the home level of China for a while, a special talent culture system is not provided. With the trend of rapid development of robots, talent supply around the entire industrial chain of robots is problematic. The strategic emerging industries represented by industrial robots are positively and fully established in China, and talents become one of the key factors restricting the development of the industries.
Disclosure of Invention
In order to solve the problems, the invention provides an industrial robot comprehensive training platform.
The utility model provides an industrial robot synthesizes real standard platform, includes industrial robot, is the real module of instructing of basis, simulation laser engraving module, simulation welding module, the simulation of circumference form distribution at industrial robot periphery and polishes module, robot assembly module, master control cabinet, computer, control system, robot control cabinet, still includes:
the quick-change clamp module is matched with the industrial robot to realize the quick-change function of the industrial robot clamp on the industrial site and realize the protection of gas and power failure;
the robot vision module is used for identifying the color and the shape of the teaching professional part, positioning the teaching professional part and guiding the industrial robot to grab the teaching professional part;
the intelligent storage module detects whether materials exist in the storage bin or not and whether the materials are put into the storage bin or not through a detector on the fixed storage bin and is used as an anti-collision switch;
the conveying and sorting module is used for realizing the functions of simulating the sorting, carrying and warehousing of the industrial robot by matching different sensors with the industrial robot clamp and the intelligent warehousing module;
the comprehensive training platform is used for placing the conveying and sorting module, the quick-change clamp module, the robot vision module and the intelligent storage module and carrying out power-on control on the modules.
The conveying and sorting module is provided with a belt line body, a sorting outlet bottom plate arranged on the belt line body, a sorting outlet matched with the sorting outlet bottom plate, a sorting flange arranged on the belt line body and positioned at the downstream of the sorting outlet, a color sensor arranged on the sorting flange through a sensor support, a photoelectric sensor, a material pushing cylinder arranged on the sorting outlet bottom plate, a material pushing cylinder push head connected with the material pushing cylinder, a material pushing cylinder sensor arranged on the sorting outlet bottom plate and matched with the material pushing cylinder, a sorting guide arranged on the sorting outlet bottom plate, a correlation photoelectric switch arranged on the sorting outlet, a material sensor support arranged at the end part of the sorting outlet bottom plate far away from the belt line body, a material sensor arranged on the sorting flange through the material sensor support, and a material block.
The left side of the sorting outlet bin and the side are both fixed with a correlation photoelectric switch through threads.
The quick-change fixture module comprises a module aluminum profile, a quick-change fixture module bottom plate, a module top plate, a quick-change fixture female head, a quick-change male head, a quick-change fixture I and a quick-change fixture II, wherein the quick-change fixture module bottom plate and the module top plate are respectively arranged at two ends of the module aluminum profile, the quick-change fixture female head is arranged on the module top plate, the quick-change male head is installed at the tail end of the industrial robot, and the quick-change fixture I and the.
The quick-change fixture I comprises a quick-change adapter plate I connected with a quick-change fixture female head, a cylinder adapter plate connected with the quick-change adapter plate I, a cylinder and a cylinder sensor arranged on the cylinder adapter plate, and a clamping jaw connected with the cylinder.
The quick-change fixture II comprises a quick-change adapter plate II, a TCP pen, a laser pen mounting rack, a sucker mounting rack, a laser pen and a vacuum sucker, wherein the TCP pen, the laser pen mounting rack and the sucker mounting rack are arranged on the quick-change adapter plate II and distributed in the circumferential direction, and the laser pen and the vacuum sucker are respectively arranged on the laser pen mounting rack and the sucker mounting rack.
The robot vision module comprises a vision system, a vision module platform and teaching professional parts arranged on the vision module platform, wherein the vision system comprises a vision system mounting base plate, a vision system aluminum material arranged on the vision system mounting base plate, a vision camera mounting plate and a light source bracket arranged on the vision system aluminum material, and a vision camera and a vision light source which are respectively arranged on the vision camera mounting plate and the light source bracket; the visual module platform comprises a visual module platform bottom plate, a visual module platform aluminum profile arranged on the visual module platform bottom plate and a visual module platform top plate arranged on the visual module platform aluminum profile.
The intelligent storage module comprises a storage module bottom plate, two storage module side plates, a storage module middle layer plate, a storage module top plate, a micro switch support, a micro switch and a storage module correlation photoelectric sensor, wherein the two storage module side plates are arranged on two sides of the storage module bottom plate, the storage module middle layer plate and the storage module top plate are arranged on the two storage module side plates, the micro switch support is arranged on the micro switch support, the storage module correlation photoelectric sensor is arranged on the storage module top plate, four bin positions are arranged on the storage module middle layer plate and the storage module top plate, and the four bin positions correspond to black aluminum, red aluminum I, black ABS and red aluminum II of a stored material block respectively.
The comprehensive practical training platform is provided with a practical training platform installation area aluminum profile for placing the profile, a demonstrator hook and a correlation light curtain convenient for practical training operation, a pneumatic two-way piece installation support and an electromagnetic valve group installation plate, a pneumatic two-way piece and an electromagnetic valve group which are respectively arranged on the pneumatic two-way piece installation support and the electromagnetic valve group installation plate, and a quick-change air inlet connector.
Synthesize real standard bench and still have closed correlation light curtain group, including correlation light curtain and correlation light curtain installation aluminium alloy, industrial robot, the real module of instructing of basis, simulation laser sculpture module, simulation welding module, carry letter sorting module, quick change anchor clamps module, robot vision module, the module of polishing of simulation, robot assembly module, intelligent storage module set up in correlation light curtain group, master control cabinet, computer, control system and robot control cabinet set up outside correlation light curtain group.
The comprehensive basic teaching platform has the advantages that the comprehensive basic teaching platform of the industrial robot integrates a platform to integrate common application cases of the industrial robot into the design and layout of a practical training platform in a scene reappearing mode, and the comprehensive basic teaching platform comprises coordinate system calibration, track teaching, simulated carving, simulated polishing, simulated welding, conveying and sorting, robot tool quick changing, a robot visual system, a robot assembling module, robot programming, a P L C master control system and an offline programming unit, can meet basic teaching requirements, can integrate multiple applications, is centralized in modules and powerful in function, is provided with an anti-collision sensor on the traditional basis, is provided with a safety light curtain on a safety fence, is double-guaranteed, is safer for the teaching platform, is rich in functions, provides more help for teaching scenes and teaching resources for practical training, and meets the practical training requirements of industrial robot skill type talents.
Figure illustrates the drawings
The invention is further illustrated below with reference to figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a perspective view of an industrial robot according to the invention;
FIG. 3 is a perspective view of a basic training module of the present invention;
FIG. 4 is a perspective view of a simulated laser engraving module of the present invention;
FIG. 5 is a perspective view of a mock welding module according to the present invention;
FIG. 6 is a perspective view of the transport sortation module of the present invention;
fig. 7 is a perspective view of a robotic quick-change gripper module of the present invention;
FIG. 8 is a perspective view of a first quick-change robot gripper of the present invention;
FIG. 9 is a perspective view of a second robot quick-change clamp of the present invention;
FIG. 10 is a perspective view of the robot vision module of the present invention;
FIG. 11 is a perspective view of a robotic assembly module of the present invention;
FIG. 12 is a perspective view of a smart warehousing module according to the present invention;
FIG. 13 is a perspective view of the integrated training platform of the present invention;
FIG. 14 is a perspective view II of the integrated training platform of the present invention;
fig. 15 is a perspective view of the master control cabinet of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to fig. 15, an industrial robot synthesizes real standard platform, including industrial robot 1, the basic real standard module 2 that is the circumference form distribution at industrial robot 1 periphery, simulation laser engraving module 3, simulation welding module 4, the simulation module 11 of polishing, robot assembly module 8, total control cabinet 12, computer 13, control system 14, robot control cabinet 15, its characterized in that: further comprising:
the quick-change clamp module 6 is matched with the industrial robot 1 to realize the quick-change function of the clamp of the industrial robot 1 on the industrial site, and different end effectors can be quickly changed within a few seconds, so that the industrial robot 1 is more flexible and efficient; the communication between the main disc and the tool disc is completed by utilizing the electric signals and the compressed air, the integration level is higher than that of robot quick-change modules of other platforms, the cost and the space are saved, and the robot quick-change module has the gas-off and power-off protection which is not provided by other platform modules, and a clamp of the industrial robot 1 cannot fall off due to sudden electrical power-off in the using process, so that the safety performance is higher, and the equipment and the personal safety are protected;
the robot vision module 7 is used for identifying the color and the shape of the teaching professional part 703, positioning the teaching professional part 703 and guiding the industrial robot 1 to grab, has rich and various functions compared with the vision modules of robots of other platforms, fully applies the image acquisition, image processing and motion control functions of a vision system, is closer to practical production application, only singly applies the vision identification capability of the vision modules of the robots of other platforms, does not deeply explore the positioning function of the vision system, integrates the identification and the positioning of the vision system into a whole, well develops the functions of the vision system, and enables a user to clearly recognize the functions of the vision system and the application of the vision system in practical production;
the intelligent storage module 9 is used for detecting whether materials exist in the storage bin or not and whether the materials are placed in the storage bin or not through a detector on a fixed storage bin and is used as an anti-collision switch, the detector is arranged on each storage bin, whether the materials exist in the storage bin can be detected and identified, and the counter-emitting photoelectricity exists, so that whether the materials are placed in place or not can be fed back;
the conveying and sorting module 5 is used for realizing the functions of sorting, carrying and warehousing of the simulated industrial robot 1 by matching different sensors with the industrial robot 1 clamp and the intelligent warehousing module 9, has the functions of color identification and material identification compared with the conveying module of a common platform module, uses a light borer and an amplifier for color identification, uses numerical values to define colors after multiple tests, and records and feeds back the colors to the system; material identification uses sensors to distinguish material properties;
and the comprehensive training platform 10 is used for placing the conveying and sorting module 5, the quick-change clamp module 6, the robot vision module 7 and the intelligent storage module 9 and carrying out power-on control on the modules.
The modules are all arranged in a flat mode.
The simulation laser engraving module 3 comprises a laser engraving module bottom plate 301, a laser engraving module aluminum profile 302, an oblique angle block 1303a, an oblique angle block 2303b and a laser engraving module engraving panel 304, the module panel is a 15-degree oblique angle, the laser engraving module aluminum profile 302 is a 20 × 20 European standard industrial profile, and the module can be matched with a laser pen to realize a simulation laser engraving process.
The industrial robot comprehensive basic teaching platform integrates a platform to integrate common application cases of the industrial robot into the design and layout of a practical training platform in a scene reappearing mode, and comprises coordinate system calibration, track teaching, simulated carving, simulated polishing, simulated welding, conveying and sorting, robot tool quick changing, a robot vision system, a robot assembling module, robot programming, a P L C master control system and an offline programming unit.
The simulation welding module 4 comprises a welding module bottom plate 401, a welding module aluminum profile 402, a welding module top plate 403 and a welding module welding piece 404, wherein the welding piece 404 is blackened steel, the welding module aluminum profile 402 is a 20 × 20 European standard industrial profile, and the module can simulate various welding processes such as linear welding, arc welding, internal and external welding, fillet welding and the like, and accords with the mainstream welding process of industrial production.
The display screen, the keyboard and the mouse of the master control cabinet 12 and the computer 13 are placed on the comprehensive practical training platform 10, and the control system 14, the robot control cabinet 15 and the host computer of the computer 13 are placed inside the comprehensive practical training platform 10.
The operation panel of the master control cabinet 12 comprises a power supply indication, a basic training mode, a simulated laser engraving mode, a simulated welding mode, a conveying and sorting mode, a robot vision mode, a simulated grinding mode, a robot assembly mode, a power supply start/stop/reset mode, an alarm buzzer, a mode selection and a system emergency stop type operation button.
The conveying and sorting module 5 is provided with a belt line body 505, a sorting outlet bin bottom plate 502a arranged on the belt line body 505, a sorting outlet bin 502b matched with the sorting outlet bin bottom plate 502a, a sorting baffle 506 arranged on the belt line body 505 and positioned at the downstream of the sorting outlet bin 502b, a color sensor 509 arranged on the sorting baffle 506 through a sensor support 510, a photoelectric sensor 508, a material pushing cylinder 501a arranged on the sorting outlet bin bottom plate 502a, a material pushing cylinder push head 501b connected with the material pushing cylinder 501a, a material pushing cylinder sensor 501c arranged on the sorting outlet bin bottom plate 502a and matched with the material pushing cylinder 501a, a sorting guide 504 arranged on the sorting outlet bin bottom plate 502a, a pair-emitting photoelectric switch 503 arranged on the sorting outlet bin 502b, a material sensor support 507b arranged on the end of the belt line body 505 far away from the sorting outlet bin bottom plate 502a, a, The material sensor 507a and the material block 511 are arranged on the sorting flange 506 through a material sensor bracket 507 b.
Whether the sorting bin 502b has materials or not is detected through the photoelectric switch 503, the material pushing cylinder 501a pushes out the materials 511 sorted out of the bin 502b, the materials are conveyed to the sorting baffle through the belt line 505, the photoelectric sensor 508 always detects the materials 511 or not, the tail end material sensor 507a and the color sensor 509 detect and judge the materials 511, detection results are fed back to the P L C, and functions of simulating sorting, carrying and warehousing of the industrial robot are achieved through the cooperation of different sensors and the fixture of the industrial robot 1 and the intelligent storage module 9.
The belt color of the belt line body 505 is green, and black and red of materials are distinguished.
The left side and the side of the sorting outlet 502b are both fixed with a correlation photoelectric switch 503 through screw thread.
The quick-change clamp module 6 comprises a module aluminum profile 1602, a quick-change clamp module bottom plate 601 and a module top plate 603 which are respectively arranged at two ends of the module aluminum profile 1602, a quick-change clamp female head 605 arranged on the module top plate 603, a quick-change male head 604 arranged at the tail end of the industrial robot 1, a quick-change clamp I606 and a quick-change clamp II 607 arranged on the module top plate 603, wherein the quick-change clamp I606 and the quick-change clamp II 607 are both provided with the quick-change female head 605.
The anti-collision component 102 at the front end of the industrial robot 1 is matched with the quick-change male head 604 of the robot, so that the rapid and automatic switching of the multiple tool machines of the industrial robot 1 can be realized, the anti-collision component 101 comprises an anti-collision sensor and a switching plate, and when the quick-change male head 604 of the robot collides, the industrial robot 1 can automatically start and scram.
The first quick-change clamp 606 comprises a first quick-change adapter plate 606a connected with the female head 605 of the quick-change clamp, a cylinder adapter plate 606b connected with the first quick-change adapter plate 606a, a cylinder 606c and a cylinder sensor 606e arranged on the cylinder adapter plate 606b, and a clamping jaw 606d connected with the cylinder 606 c.
The second quick-change clamp 607 comprises a second quick-change adapter plate 607a, a TCP pen 607b, a laser pen mounting rack 607c, a suction cup mounting rack 607e, a laser pen 607d and a vacuum suction cup 607f, wherein the TCP pen 607b, the laser pen mounting rack 607c, the suction cup mounting rack 607e are arranged on the second quick-change adapter plate 607a and distributed in the circumferential direction, and the laser pen 607d and the vacuum suction cup 607f are respectively arranged on the laser pen mounting rack 607c and the.
The robot vision module 7 comprises a vision system 701, a vision module platform 702 and teaching professional parts 703 arranged on the vision module platform 702, wherein the vision system 701 comprises a vision system mounting base plate 701a, a vision system aluminum material 701b arranged on the vision system mounting base plate 701a, a vision camera mounting plate 701c and a light source bracket 701e arranged on the vision system aluminum material 701b, and a vision camera 701d and a vision light source 701f respectively arranged on the vision camera mounting plate 701c and the light source bracket 701 e; the visual module platform 702 comprises a visual module platform bottom plate 702a, a visual module platform aluminum profile 702b arranged on the visual module platform bottom plate 702a, and a visual module platform top plate 702c arranged on the visual module platform aluminum profile 702 b.
The vision system 701 identifies and calibrates the colors and shapes of teaching professional parts 703 on the vision module platform 702, performs area positioning, and feeds back signals to the P L C.
The vision camera 701d in the robot vision module 7 can identify the color and shape of the teaching professional part 703, and can position the teaching professional part 703 to guide the robot 1 to grab.
The teaching professional parts 703 comprise special teaching parts 1703a, 2703b, 3703c, 4703d, 5703e, 6703f, 7703g, 8703h and 9703 i.
The robot assembly module 8 comprises an assembly module bottom plate 801, an assembly module aluminum profile 802, an assembly module top plate 803, an assembly positioning clamping cylinder 804, an assembly positioning clamp 805, an assembly positioning rib 806 and an assembly positioning clamping cylinder sensor 807, and is matched with a sucker clamp and a clamping jaw to realize simulated assembly to transportation.
The intelligent warehousing module 9 comprises a warehousing module bottom plate 901, warehousing module two-side plates 902 arranged on two sides of the warehousing module bottom plate 901, a warehousing module middle layer plate 905 and a warehousing module top plate 906 which are arranged on the warehousing module two-side plates 902, a micro-switch support 903 arranged on the warehousing module middle layer plate 905 and the warehousing module top plate 906, a micro-switch 904 arranged on the micro-switch support 903, and a warehousing module correlation photoelectric sensor 907 arranged on the warehousing module top plate 906, wherein four bin positions are arranged on the warehousing module middle layer plate 905 and the warehousing module top plate 906, and the four bin positions respectively correspond to black aluminum 511a, red aluminum 511b, black ABS511c and red aluminum 511d of a stored material block.
The micro switch 903 of the intelligent storage module 9 is installed on the bin positions of a storage module middle layer plate 905 and a storage module top plate 906 through a micro switch support 903 and used for detecting whether materials exist in the bin or not and whether the materials are put into the bin, and the storage module correlation photoelectric sensor 907 is installed on the storage module top plate 906 and used as an anti-collision switch.
The comprehensive practical training platform 10 is provided with a practical training platform installation area aluminum section 1001 used for placing a section, a demonstrator hook 1002 convenient for practical training operation, a correlation light curtain 1006, a pneumatic duplex piece installation bracket 1008, an electromagnetic valve group installation plate 1010, a pneumatic duplex piece 1009, an electromagnetic valve group 1011 and a quick-change air inlet connector 1016 which are respectively arranged on the pneumatic duplex piece installation bracket 1008 and the electromagnetic valve group installation plate 1010.
The demonstrator hook 1002 is arranged on the left side and the right side of the comprehensive practical training platform 10.
Synthesize real standard platform 10 on still have closed correlation light curtain group, including correlation light curtain 1006 and correlation light curtain installation aluminium alloy 1007, industrial robot 1, the real module 2 of instructing of basis, simulation laser sculpture module 3, simulation welding module 4, carry letter sorting module 5, quick change anchor clamps module 6, robot vision module 7, the simulation module 11 of polishing, robot assembly module 8, intelligent storage module 9 sets up in the correlation light curtain group, total control cabinet 12, computer 13, control system 14 and robot control cabinet 15 set up outside the correlation light curtain group.
When the opposite light curtain group shields opposite light, the whole equipment can automatically stop running.
The door on the front side and the right side of the comprehensive practical training platform 10 is made of metal materials, and toughened glass is arranged in the middle of the door in a hollow mode, so that the monitoring and control system 14 and the robot control cabinet 15 can be conveniently monitored in the operation process of the equipment.
Synthesize real standard platform inside have the memory cell check, make things convenient for in the transportation or when idle, can place all teaching modules beyond industrial robot 1 in the memory cell.
The comprehensive practical training platform 10 is further provided with a main control cabinet mounting hole 1003, a main control cabinet wire passing hole 1004, a computer wire passing hole 1005, a robot power line wire passing groove 1012, a sheet metal door 1013, an embedded transparent acrylic plate 1014, a cooling fan assembly 1015, a quick-change air inlet connector 1016, a power switch socket 1017 and an adjusting caster 1018.
The caster 1018 has an adjustment block to adjust the levelness during use.
Selecting a corresponding mode on an operation panel of a master control cabinet 12 to select a basic training mode, a simulated laser engraving mode and a simulated welding mode, sending an instruction to an industrial robot 1 by P L C in the master control cabinet 12 according to the selected mode to pick up a quick change adapter plate 2, selecting a TCP pen 607b to finish the basic training mode, carrying out TCP calibration and robot track teaching, selecting and calling a laser pen 607d to finish the simulated laser engraving mode and the simulated welding mode, and integrating a gas circuit and a circuit for quick change of the robot in a navigation plug;
the quick-change male head 604 is installed at the tail end of the industrial robot 1, the module can realize the quick-change function of an industrial field industrial robot clamp, a photoelectric switch 503 detects that materials are in a sorting bin 502b, signals are fed back to a P L C, a P L C sends out instructions, a stepping motor 505a obtains signals to start to operate, meanwhile, an electromagnetic valve obtains signals, a material pushing cylinder 501a pushes out the materials to push the materials 511 out of the sorting bin 502b, the materials 511 are transported to a material sensor 507a through a belt line body 505, the materials are judged by the material sensor 507a and fed back to a P L C, the belt line body 505 continues to transport the materials 511 to a sorting baffle edge 506, the sorting baffle edge 506 is in a horn shape, the materials 511 can be well positioned, the photoelectric sensor 508 detects the materials 511, the signals are fed back to the P L C, the P L C gives signals to a color sensor 509, the color sensor 509 starts to judge colors of the materials, the materials are fed back to a judgment result, the P L C, the P L C synthesizes the judgment result given by the material sensor 509 and calls a judgment result given by a marking a corresponding to a material placing clamp claw to a of the intelligent aluminum pick up a, and the corresponding to a of a material sorting bin, the material sorting module, the corresponding to be set a corresponding to a of the aluminum storage bin, and to a of the intelligent storage clamp module, the intelligent storage bin for finishing the storage;
setting the parts selected for assembly as a special teaching part 2703b, a special teaching part 4703d, a special teaching part 6703f and a P L C to send instructions, picking up the quick-change adapter plate 2607 by the industrial robot and selecting the vacuum chuck 607f to put the special teaching part 2703b at a calibration position on the assembly module top plate 803 according to a calibration result given by the vision system 701, releasing the chuck, lifting the robot, pushing out a signal by the assembly positioning clamping cylinder 804, positioning and clamping the special teaching part 2703b by matching with the assembly positioning clamp 805, and then sequentially sucking the special teaching part 4703d and the special teaching part 6703f by the industrial robot to assemble on the robot assembly module 8.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an industrial robot synthesizes real standard platform, includes industrial robot (1), is the real standard module (2) of basis that the circumference form distributes at industrial robot (1) periphery, simulation laser engraving module (3), simulation welding module (4), simulation module (11), robot assembly module (8), total control cabinet (12), computer (13), control system (14), robot control cabinet (15), its characterized in that: further comprising:
the quick-change clamp module (6) is matched with the industrial robot (1) to realize the function of quickly changing the clamp of the industrial robot (1) on the industrial site, and can realize gas-break and power-off protection;
the robot vision module (7) is used for identifying the color and the shape of the teaching professional part (703), positioning the teaching professional part (703) and guiding the industrial robot (1) to grab;
the intelligent storage module (9) detects whether materials exist in the storage bin or not and whether the materials are put into the storage bin or not through a detector on the fixed storage bin and is used as an anti-collision switch;
the conveying and sorting module (5) is used for realizing the functions of simulating sorting, carrying and warehousing of the industrial robot (1) by matching different sensors with the industrial robot (1) clamp and the intelligent warehousing module (9);
the comprehensive training platform (10) is used for placing the conveying and sorting module (5), the quick-change clamp module (6), the robot vision module (7) and the intelligent storage module (9) and controlling the modules in a power-on mode.
2. The industrial robot comprehensive practical training platform according to claim 1, characterized in that: the conveying and sorting module (5) is provided with a belt line body (505), a sorting outlet bin bottom plate (502a) arranged on the belt line body (505), a sorting outlet bin (502b) matched with the sorting outlet bin bottom plate (502a), a sorting baffle edge (506) arranged on the belt line body (505) and positioned at the downstream of the sorting outlet bin (502b), a color sensor (509) arranged on the sorting baffle edge (506) through a sensor support (510), a photoelectric sensor (508), a material pushing cylinder (501a) arranged on the sorting outlet bin bottom plate (502a), a material pushing cylinder push head (501b) connected with the material pushing cylinder (501a), a material pushing cylinder sensor (501c) arranged on the sorting outlet bin bottom plate (502a) and matched with the material pushing cylinder (501a), a sorting guide (504) arranged on the sorting outlet bin bottom plate (502a), a correlation photoelectric switch (503) arranged on the sorting outlet bin (502b), The material sensor bracket (507b) is arranged on the end part of the belt line body (505) far away from the sorting outlet bin bottom plate (502a), and the material sensor (507a) and the material block (511) are arranged on the sorting retaining edge (506) through the material sensor bracket (507 b).
3. The comprehensive practical training platform for the industrial robot according to claim 2, characterized in that: and opposite photoelectric switches (503) are fixed on the left side surface and the side surface of the sorting outlet bin (502b) through threads.
4. The industrial robot comprehensive practical training platform according to claim 1, characterized in that: the quick-change clamp module (6) comprises a module aluminum profile 1(602), a quick-change clamp module bottom plate (601) and a module top plate (603) which are respectively arranged at two ends of the module aluminum profile 1(602), a quick-change clamp female head (605) arranged on the module top plate (603), a quick-change male head (604) arranged at the tail end of the industrial robot (1), a quick-change clamp I (606) and a quick-change clamp II (607) arranged on the module top plate (603), wherein the quick-change clamp I (606) and the quick-change clamp II (607) are respectively provided with the quick-change female head (605).
5. The industrial robot comprehensive practical training platform according to claim 4, characterized in that: the quick-change clamp I (606) comprises a quick-change adapter plate I (606a) connected with a quick-change clamp female head (605), a cylinder adapter plate (606b) connected with the quick-change adapter plate I (606a), a cylinder (606c) and a cylinder sensor (606e) arranged on the cylinder adapter plate (606b), and a clamping jaw (606d) connected with the cylinder (606 c).
6. The industrial robot comprehensive practical training platform according to claim 4, characterized in that: the quick-change fixture II (607) comprises a quick-change adapter plate II (607a), a TCP (607b), a laser pen mounting frame (607c), a sucker mounting frame (607e), a laser pen (607d) and a vacuum sucker (607f), wherein the TCP pen (607b), the laser pen mounting frame (607c), the sucker mounting frame (607e) are arranged on the quick-change adapter plate II (607a) and distributed in the circumferential direction, and the laser pen (607d) and the vacuum sucker (607f) are respectively arranged on the laser pen mounting frame (607 c.
7. The industrial robot comprehensive practical training platform according to claim 1, characterized in that: the robot vision module (7) comprises a vision system (701), a vision module platform (702) and a teaching professional part (703) arranged on the vision module platform (702), wherein the vision system (701) comprises a vision system mounting base plate (701a), a vision system aluminum material (701b) arranged on the vision system mounting base plate (701a), a vision camera mounting plate (701c) and a light source bracket (701e) arranged on the vision system aluminum material (701b), and a vision camera (701d) and a vision light source (701f) respectively arranged on the vision camera mounting plate (701c) and the light source bracket (701 e); the visual module platform (702) comprises a visual module platform bottom plate (702a), a visual module platform aluminum profile (702b) arranged on the visual module platform bottom plate (702a), and a visual module platform top plate (702c) arranged on the visual module platform aluminum profile (702 b).
8. The industrial robot comprehensive practical training platform according to claim 1, characterized in that: the intelligent storage module (9) comprises a storage module bottom plate (901), two storage module side plates (902) arranged on two sides of the storage module bottom plate (901), a storage module middle layer plate (905) and a storage module top plate (906) arranged on the two storage module side plates (902), microswitch brackets (903) arranged on the storage module middle layer plate (905) and the storage module top plate (906), a microswitch (904) arranged on the microswitch bracket (903), and a storage module correlation photoelectric sensor (907) arranged on the storage module top plate (906), the warehouse module middle layer plate (905) and the warehouse module top plate (906) are provided with four bin positions, and the four bin positions respectively correspond to black aluminum (511a), red aluminum I (511b), black ABS (511c) and red aluminum II (511d) of a material storage block.
9. The industrial robot comprehensive practical training platform according to claim 1, characterized in that: the comprehensive practical training platform (10) is provided with a practical training platform installation area aluminum profile (1001) for placing the profile, a demonstrator hook (1002) convenient for practical training operation, a correlation light curtain (1006), a pneumatic duplex mounting bracket (1008) and an electromagnetic valve group mounting plate (1010), a pneumatic duplex piece (1009) and an electromagnetic valve group (1011) which are respectively arranged on the pneumatic duplex mounting bracket (1008) and the electromagnetic valve group mounting plate (1010), and a quick-change air inlet connector (1016).
10. The industrial robot comprehensive practical training platform according to claim 9, characterized in that: synthesize real standard platform (10) on still have closed correlation light curtain group, including correlation light curtain (1006) and correlation light curtain installation aluminium alloy (1007), industrial robot (1), real module (2) of instructing of basis, simulation laser sculpture module (3), simulation welding module (4), carry letter sorting module (5), quick change anchor clamps module (6), robot vision module (7), the module (11) is polished in the simulation, robot assembly module (8), intelligent storage module (9) set up in correlation light curtain group, total accuse cabinet (12), computer (13), control system (14) and robot control cabinet (15) set up outside correlation light curtain group.
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| CN111915976A (en) * | 2020-09-01 | 2020-11-10 | 芜湖固高自动化技术有限公司 | Industrial robot application programming platform |
| CN112156992A (en) * | 2020-09-02 | 2021-01-01 | 天津博诺智创机器人技术有限公司 | Machine vision teaching innovation platform |
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| CN114831290A (en) * | 2022-05-25 | 2022-08-02 | 安徽工程大学 | Automatic vegetable pickling system and method |
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