CN113160649A

CN113160649A - Double-robot practical training platform

Info

Publication number: CN113160649A
Application number: CN202110467601.3A
Authority: CN
Inventors: 殷伯健; 曹俊; 刘彦旭; 刘斌
Original assignee: Suzhou Linkhou Robot Co ltd
Current assignee: Suzhou Linkhou Robot Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2021-07-23

Abstract

The invention relates to the technical field of robots, and discloses a double-robot practical training platform, which comprises a mounting base, wherein the mounting base is provided with: the tail end of at least one manipulator is detachably provided with a machined part, and the two manipulators are respectively a six-axis manipulator and a four-axis manipulator; the pattern recognition module comprises a positioning groove and a positioning bulge; the positioner is used for rotating the cover body so that the machined part performs primary machining on the cover body; the camera module is used for detecting whether the cover body after the primary processing is qualified or not; the radio frequency identification module is configured to perform code scanning identification on the cover body which is qualified after detection; the feeding structure is used for supplying workpieces to be assembled; the assembling device is used for assembling the qualified cover body and the workpiece to be assembled into a product; and the marking module is used for marking the assembled product. The double-robot practical training platform disclosed by the invention has diversified functions, and can enable a student to more comprehensively know the robot with the four-axis manipulator and the six-axis manipulator.

Description

Double-robot practical training platform

Technical Field

The invention relates to the technical field of robots, in particular to a double-robot practical training platform.

Background

Among the prior art, when carrying out the robot training to the student, the student mostly learns through the robot that the six-axis manipulator or the four-axis manipulator that the mill is used for producing certain product, but receives the restriction of production procedure, and current robot function is single for the unable comprehensive understanding robot of student.

Disclosure of Invention

Based on the above, the invention aims to provide the double-robot practical training platform which is diversified in function and can enable a student to know the robot with the four-axis manipulator and the six-axis manipulator more comprehensively.

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

the utility model provides a real standard platform of duplex robot, includes the mounting base, be equipped with on the mounting base: the automatic assembling device comprises two mechanical hands, wherein each mechanical hand is used for transferring a cover body, a workpiece to be assembled and an assembled product, the workpiece is detachably arranged at the tail end of at least one mechanical hand, the two mechanical hands are respectively a six-axis mechanical hand and a four-axis mechanical hand, the six-axis mechanical hand is configured to be capable of moving along the directions of an X axis, a Y axis and a Z axis and further configured to be capable of rotating by taking the X axis, the Y axis and the Z axis as rotating axes, and the four-axis mechanical hand is configured to be capable of moving along the directions of the X axis, the Y axis and the Z axis and further configured to be capable of rotating by taking the Z axis as a rotating axis; the mechanical arm can position the cover bodies with different shapes, the tools to be assembled or the products on the corresponding positioning grooves or the corresponding positioning bulges; the positioner is used for rotating the cover body so that the machined part performs primary machining on the cover body; the camera module is used for detecting whether the cover body after primary processing is qualified or not; the radio frequency identification module is configured to perform code scanning identification on the cover body after the detection is qualified; the feeding structure is used for supplying the workpieces to be assembled; the assembling device is used for assembling the qualified cover body and the workpiece to be assembled into the product; and the marking module is used for marking the assembled product.

As an optimal scheme of the double-robot practical training platform, the machined part is detachably arranged at the tail end of the six-axis manipulator through a first quick-change seat, the machined part is a welded part or a polished part, a first clamping assembly is further arranged on the first quick-change seat, and the first clamping assembly is used for clamping the cover body, the workpiece to be assembled or the product.

As a preferred scheme of the real standard platform of double-robot, the six-axis manipulator includes: a first rotating assembly capable of rotating on a horizontal plane relative to the mounting base; one end of the first joint assembly is rotatably connected with the first rotating assembly on a vertical plane, and the first rotating assembly can drive the first joint assembly to rotate by taking a Z axis as a rotating shaft; a second rotating assembly, a fixed end of which is rotatably connected with the other end of the first joint assembly on a vertical plane, wherein the second rotating assembly can rotate on the cross section of the first joint assembly relative to the first joint assembly; one end of the second joint component is rotatably connected with the second rotating component on a vertical surface, and the other end of the second joint component is detachably connected with the first quick-change seat.

As a preferred scheme of real standard platform of duplex robot, still be equipped with first quick-change coupler on the mounting base, first quick-change coupler includes: the second quick-change seat can be detachably connected with the tail end of the six-axis manipulator; and the screwing assembly is arranged on the second quick-change seat, the cover body comprises an upper cover and a lower cover, and the screwing assembly is used for screwing the fastener penetrating through the upper cover and the lower cover so as to fixedly connect the upper cover and the lower cover.

As the preferred scheme of real standard platform of duplex robot, four-axis manipulator includes: an X-axis motion assembly; the mounting seat is arranged on the X-axis motion assembly, and the X-axis motion assembly can drive the mounting seat to move along the X-axis direction; the third rotating assembly comprises a rotating power piece arranged on the mounting seat, a connecting plate connected with the rotating power piece and an adsorption piece arranged on the connecting plate, and the rotating power piece can drive the connecting plate to drive the adsorption piece to rotate by taking the Z axis as a rotating shaft; and the Z-axis power assembly is arranged on the mounting seat, and the movable end of the Z-axis power assembly can drive the third rotating assembly to move along the Z-axis direction.

As a preferred scheme of the double-robot practical training platform, the mounting base comprises a first base and a second base which are adjacently placed, the six-axis manipulator, the pattern recognition module, the positioner, the radio frequency recognition module and the assembling device are arranged on the first base, and the four-axis manipulator, the positioner and the assembling device are arranged on the second base.

As an optimal scheme of the double-robot practical training platform, the feeding structure comprises: the first transportation assembly is arranged on the first base and is positioned on one side of the six-axis manipulator; the second transportation assembly is arranged on the second base and positioned on one side of the four-axis manipulator, and one of the first transportation assembly and the second transportation assembly can drive the cover body to move to the other one; the pushing assembly comprises a hopper and a pushing member body, the hopper is used for stacking a plurality of workpieces to be assembled, and the pushing member body can push one workpiece to be assembled in the hopper onto the first transportation assembly or the second transportation assembly.

As a preferred scheme of the two-robot practical training platform, the camera module includes: a first camera unit disposed at a distal end of the six-axis robot and adjustable in height at the distal end of the six-axis robot, the first camera unit being configured to detect whether the preliminarily processed lid body is qualified; a second camera unit mounted upstream of the second transport assembly, the second camera unit configured to detect whether the preliminarily processed cover is qualified; a third camera unit located downstream of the second transport assembly, the third camera unit configured to determine a position of the cover qualified for inspection.

As a preferred scheme of the two-robot practical training platform, the assembling device includes: the rotating assembly comprises an assembly power part and a rotary disc, the rotary disc is arranged at the tail end of the assembly power part, the assembly power part can drive the rotary disc to rotate, and a placing groove capable of placing the cover body and the workpiece to be assembled is formed in the rotary disc; the pressing assembly is located above the rotary disc, the movable end of the pressing assembly can move towards the direction close to or far away from the placing groove, the cover body comprises an upper cover and a lower cover, and the pressing assembly can press the upper cover and the lower cover after gluing.

As an optimal scheme of a double-robot practical training platform, a raw material storage frame, a stacking module and a finished product frame are arranged on a mounting base, the raw material storage frame is used for stacking unprocessed covers, a first area and a second area are defined on the stacking module, the first area is used for placing unqualified covers subjected to primary processing, the second area is used for placing qualified covers subjected to primary processing, and the finished product frame is used for placing finished products.

The invention has the beneficial effects that: the double-robot practical training platform disclosed by the invention can realize the learning of a student on the four-axis manipulator through the independent action of the four-axis manipulator, can realize the learning of the student on the six-axis manipulator through the independent action of the six-axis manipulator, can realize the synchronous learning of the two manipulators through the interactive action of the four-axis robot and the six-axis manipulator, simultaneously, a pattern recognition module on the mounting base can distinguish or detect the shapes of the cover body, the workpiece to be assembled or a product, so that the student can more vividly know the transfer of the manipulator on the cover bodies with different shapes, the positioner can rotate the cover body to enable the workpiece to preliminarily process the cover body, the camera module can detect whether the preliminarily processed cover body is qualified or not to improve the qualification rate of the assembled product, and the radio frequency recognition module can perform code scanning recognition on each cover body after the qualified detection, with the identity of every qualified lid of discernment, assembly quality will wait to assemble work piece and lid and assemble into the product after that, beat the mark module at last and beat the mark to the product, the course of working of whole product is more directly perceived, and each processing step all can carry out independent training, makes the better operation process who learns the manipulator of student.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic diagram of a two-robot training platform according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a six-axis robot of a two-robot training platform according to an embodiment of the present invention;

FIG. 3 is a diagram of a pattern recognition module provided in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a positioner provided in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of a six-axis robot and a first camera unit provided by an embodiment of the present invention;

fig. 6 is a schematic illustration of a first quick-change coupler and a second quick-change coupler provided in accordance with an exemplary embodiment of the present invention;

FIG. 7 is a schematic view of an assembly apparatus provided in accordance with an embodiment of the present invention;

FIG. 8 is a schematic view of a first transport assembly provided in accordance with an embodiment of the present invention;

fig. 9 is a schematic diagram of a second transport assembly, a pusher assembly, and a second camera unit according to an embodiment of the present invention;

FIG. 10 is a schematic view of FIG. 9 with the hopper removed;

fig. 11 is a schematic diagram of a four-axis robot of a two-robot training platform according to an embodiment of the present invention;

fig. 12 is a schematic view of a four-axis robot according to an embodiment of the present invention.

In the figure:

1. mounting a base; 11. a first base; 12. a second base;

2. a six-axis manipulator; 21. processing a workpiece; 22. a first quick-change seat; 23. a first clamping assembly; 24. a first rotating assembly; 25. a first joint assembly; 26. a second rotating assembly; 27. a second joint assembly;

3. a four-axis manipulator; 31. an X-axis motion assembly; 32. a mounting seat; 33. a third rotating assembly; 331. a rotary power member; 332. a connecting plate; 333. an adsorbing member; 34. a Z-axis power assembly;

4. a pattern recognition module; 40. positioning a groove; 41. positioning the projection;

5. a position changing machine; 51. a displacement power member; 52. a shifting disk;

6. a camera module; 61. a first camera unit; 62. a second camera unit; 63. a third camera unit;

7. a radio frequency identification module;

8. a feeding structure; 81. a first transport assembly; 811. a first transportation power member; 812. a first conveyor belt; 82. a second transport assembly; 83. a material pushing assembly; 831. a hopper; 832. a pusher body;

9. an assembly device; 91. a rotating assembly; 911. assembling a power part; 912. a turntable; 92. pressing the components;

10. a first quick-change connector; 101. a second quick-change seat; 102. a screwing assembly;

131. a raw material storage rack; 132. a stacking module; 133. a finished product rack;

14. a second quick-change connector; 141. a third quick-change seat; 142. a second clamping assembly.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment provides a two-robot practical training platform, as shown in fig. 1 to 12, the two-robot practical training platform includes a mounting base 1, the mounting base 1 is provided with two manipulators, a pattern recognition module 4, a position changing machine 5, a camera module 6, a radio frequency recognition module 7, a feeding structure 8, an assembling device 9 and a marking module (not shown in the figure), each manipulator is used for transferring a cover, a workpiece to be assembled and an assembled product, a workpiece 21 is detachably provided at a tail end of at least one manipulator, the two manipulators are respectively a six-axis manipulator 2 and a four-axis manipulator 3, the six-axis manipulator 2 is configured to be capable of moving along an X-axis, a Y-axis and a Z-axis direction and is also configured to be capable of rotating around the X-axis, the Y-axis and the Z-axis as rotating axes, the four-axis manipulator 3 is configured to be capable of moving along the X-axis, the Y-axis and the Z-axis and is also configured to be capable of rotating around the Z-axis as rotating axis, wherein, the X axle, Y axle and Z axle are as shown in fig. 1, pattern recognition module 4 includes constant head tank 40 and location arch 41, the manipulator is enough with the lid that has different shapes, treat that assembly tool or product a must be located corresponding constant head tank 40 or location arch 41 on, the constant head tank 40 of this embodiment includes the circular slot, the elliptical trough, triangular groove and rectangular groove, positioner 5 is used for rotatory lid so that machined part 21 carries out the primary processing to the lid, camera module 6 is used for detecting whether qualified lid after the primary processing, radio frequency identification module 7 is configured as sweeping the sign indicating number discernment to the lid after detecting qualified, material loading structure 8, be used for supplying with and treat the assembly work piece, assembly quality control device 9 is used for detecting qualified lid and treating the assembly work piece and assemble the product, beat the mark module and be used for beating the mark to the product after the equipment.

It should be noted that, as shown in fig. 3, the positioning slots 40 with different shapes on the pattern recognition module 4 are respectively used for placing the cover, the workpiece to be assembled, or the product corresponding to the shape of the positioning slot 40, and the positioning protrusion 41 in this embodiment is an S-shaped protrusion to position the cover, the workpiece to be assembled, or the product with an S-shaped slot. In other embodiments, the positioning groove 40 may have other shapes, and the positioning protrusion 41 may have other shapes, which are specifically set according to actual needs.

As shown in fig. 4, the position changing machine 5 of the present embodiment includes a position changing power part 51 and a position changing disc 52, the position changing power part 51 is a rotating motor, and the rotating motor can drive the position changing disc 52 to drive the cover body to rotate, so that the workpiece 21 on the manipulator can perform the primary processing on any position of the cover body.

The double-robot training platform provided by the embodiment can realize the learning of a student on the four-axis manipulator 3 through the independent action of the four-axis manipulator 3, can realize the learning of the student on the six-axis manipulator 2 through the independent action of the six-axis manipulator 2, can realize the synchronous learning of two manipulators through the interactive action of the four-axis robot and the six-axis manipulator 2, meanwhile, the pattern recognition module 4 on the mounting base 1 can distinguish or detect the shapes of the cover body, the workpiece to be assembled or the product, so that the student can more vividly know the transfer of the manipulator to the cover bodies with different shapes, the workpiece to be assembled or the product, the positioner 5 can rotate the cover body to enable the workpiece 21 to preliminarily process the cover body, the camera module 6 can detect whether the preliminarily processed cover body is qualified or not so as to improve the qualification rate of the assembled product, and the radio frequency recognition module 7 can perform code scanning recognition on each cover body after being qualified, with the identity of every qualified lid of discernment, assembly quality 9 will wait to assemble work piece and lid and assemble into the product after that, beat the mark module at last and beat the mark to the product, the course of working of whole product is more directly perceived, and each processing step all can carry out independent training, makes the better operation process of learning the manipulator of student.

As shown in fig. 5, the workpiece 21 of the present embodiment is detachably disposed at the end of the six-axis manipulator 2 through a first quick-change seat 22, the workpiece 21 is a polishing member, and a first clamping assembly 23 is further disposed on the first quick-change seat 22, and the first clamping assembly 23 is used for clamping a cover, a workpiece to be assembled, or a product. Specifically, the welding piece of this embodiment can polish the lid in order to detach the burr on the lid, guarantees the smoothness of lid surface, and first centre gripping subassembly 23 comprises two centre gripping cylinders, and two centre gripping cylinders can move towards the direction that is close to each other simultaneously in order to realize that first centre gripping subassembly 23 is to the lid, treat the centre gripping of assembly work piece or product, and two centre gripping cylinders can move towards the direction that is far away from each other simultaneously so that first centre gripping subassembly 23 loosens the lid, treat assembly work piece or product. In other embodiments, the workpiece 21 may also be a welded part or other parts for primarily machining the lid body, and is specifically configured according to actual requirements.

As shown in fig. 1, the mounting base 1 of the present embodiment includes a first base 11 and a second base 12 which are adjacently disposed, as shown in fig. 1 and fig. 2, the first base 11 is provided with a six-axis manipulator 2, a position changer 5, a radio frequency identification module 7, an assembling device 9 and a pattern recognition module 4, as shown in fig. 1 and fig. 11, the second base 12 is provided with a four-axis manipulator 3, a position changer 5 and an assembling device 9. The first base 11 and the components disposed on the first base 11 are defined as a six-axis robot, and the second base 12 and the components disposed on the second base 12 are defined as a four-axis robot.

As shown in fig. 1, a raw material storage rack 131, a stacking module 132 and a finished product rack 133 are arranged on the mounting base 1 of the present embodiment, the raw material storage rack 131 is used for stacking unprocessed covers, a first area and a second area are defined on the stacking module 132, the first area is used for placing covers that are unqualified for preliminary processing, the second area is used for placing covers that are qualified for preliminary processing, and the finished product rack 133 is used for placing finished products. Specifically, as shown in fig. 1 and 2, the first base 11 is provided with a raw material storage rack 131, a stacking module 132 and a finished product rack 133, and as shown in fig. 1 and 11, the second base 12 is provided with a stacking module 132 and a finished product rack 133.

As shown in fig. 5, the six-axis robot 2 of the present embodiment includes a first rotating assembly 24, a first joint assembly 25, a second rotating assembly 26, and a second joint assembly 27, the first rotating assembly 24 can rotate on a horizontal plane with respect to the mounting base 1, one end of the first joint assembly 25 is rotatably connected to the first rotating assembly 24 on a vertical plane, the first rotating assembly 24 can drive the first joint assembly 25 to rotate around the Z-axis as a rotating axis, a fixed end of the second rotating assembly 26 is rotatably connected to the other end of the first joint assembly 25 on a vertical plane, the second rotating assembly 26 can rotate on a cross section of the first joint assembly 25 with respect to the first joint assembly 25, one end of the second joint assembly 27 is rotatably connected to the second rotating assembly 26 on a vertical plane, and the other end of the second joint assembly 27 is detachably connected to the first quick-change holder 22.

Specifically, the first rotating assembly 24 drives the first joint assembly 25, the second rotating assembly 26, the second joint assembly 27, the first quick-change seat 22, the workpiece 21 and the first clamping assembly 23 to rotate in a horizontal plane, so as to realize rotation with the Z-axis as a rotating axis. If the first joint component 25 rotates and is always directly above the X axis, the first joint component 25 can drive the first joint component 25, the second rotating component 26, the second joint component 27, the first quick-change seat 22, the workpiece 21 and the first clamping component 23 to rotate in a vertical plane, so that the workpiece 21 and the first clamping component 23 can move in the Z axis direction and the X axis direction, and the workpiece 21 and the first clamping component 23 can move in the X axis direction or the Z axis direction through the action of the second joint component 27, and at this time, if the second rotating component 26 moves, the workpiece 21 and the first clamping component 23 rotate by taking the X axis as a rotating axis. If the first joint component 25 rotates and is always directly above the Y axis, the first joint component 25 can drive the first joint component 25, the second rotating component 26, the second joint component 27, the first quick-change seat 22, the workpiece 21 and the first clamping component 23 to rotate in a vertical plane, so that the workpiece 21 and the first clamping component 23 can move in the Z axis direction and the Y axis direction, and the workpiece 21 and the first clamping component 23 can move in the Y axis direction or the Z axis direction through the action of the second joint component 27, and at this time, if the second rotating component 26 moves, the workpiece 21 and the first clamping component 23 rotate by taking the Y axis as a rotating axis.

As shown in fig. 6, the mounting base 1 of the present embodiment is further provided with a first quick-change coupler 10 and a second quick-change coupler 14, the first quick-change coupler 10 includes a second quick-change seat 101 and a screwing assembly 102, the second quick-change seat 101 is detachably connected to a distal end of the six-axis robot 2, the screwing assembly 102 is disposed on the second quick-change seat 101, the cover body includes an upper cover and a lower cover, and the screwing assembly 102 is configured to screw a fastener penetrating through the upper cover and the lower cover so as to fixedly connect the upper cover and the lower cover. The second quick-change coupler 14 comprises a third quick-change seat 141 and a second clamping assembly 142, the third quick-change seat 141 can be detachably connected with the tail end of the six-axis manipulator 2, and the second clamping assembly 142 is used for clamping a cover body and a workpiece or a product to be assembled. The six-shaft manipulator 2 can be replaced by the first quick-change connector 10 or the second quick-change connector 14 according to actual needs, and when the first quick-change connector 10 is installed at the tail end of the six-shaft manipulator 2, the screwing assembly 102 can screw the fastener to realize the fixed connection of the upper cover and the lower cover; when the second quick-change joint 14 is mounted at the end of the six-axis robot 2, the six-axis robot 2 can only be used for transferring a cover, a workpiece to be assembled, or a product.

As shown in fig. 7, the assembling device 9 of this embodiment includes a rotating assembly 91 and a pressing assembly 92, the rotating assembly 91 includes an assembling power component 911 and a rotating disc 912, the assembling power component 911 is a rotating motor, the rotating disc 912 is disposed at an end of the assembling power component 911, the assembling power component 911 can drive the rotating disc 912 to rotate, a placing groove capable of placing a cover body and a workpiece to be assembled is disposed on the rotating disc 912, the pressing assembly 92 is located above the rotating disc 912, a movable end of the pressing assembly 92 can move towards a direction close to or far away from the placing groove, the cover body includes an upper cover and a lower cover, and the pressing assembly 92 can press the upper cover and the lower cover after being glued.

Specifically, if the six-axis robot assembles the product on the assembly device 9 of the first base 11, the specific operation steps are as follows: six-shaft mechanical arm 2 stacks the lower cover and the work piece of waiting to assemble on carousel 912 in proper order respectively, operating personnel coats the glue solution at the lower cover after that, six-shaft mechanical arm 2 places the upper cover in the top of upper cover again, then the direction motion of lamination components 92 orientation near the upper cover and exert the effort to the upper cover, thereby make upper cover and lower cover adhesive connection, after a period of time, lamination components 92 orientation is kept away from the direction motion of upper cover so that the upper cover separates with lamination components 92, last assembly power part 911 drives carousel 912 and drives the upper cover after bonding, the lower cover and the work piece of waiting to assemble rotate to a certain position, six-shaft mechanical arm 2 uses the fastener with upper cover and lower cover fixed connection, and then the assembly forms the product.

As shown in fig. 8, 9 and 10, the feeding structure 8 of the present embodiment includes a first transportation assembly 81, a second transportation assembly 82 and a material pushing assembly 83, the first transportation assembly 81 is disposed on the first base 11 and located at one side of the six-axis robot 2, the second transportation assembly 82 is disposed on the second base 12 and located at one side of the four-axis robot 3, and one of the first transportation assembly 81 and the second transportation assembly 82 can drive the cover body to move to the other. As shown in fig. 9 and 10, the pushing assembly 83 includes a hopper 831 and a pusher body 832, the pusher body 832 is a cylinder, the hopper 831 is used for stacking a plurality of workpieces to be assembled, the pusher body 832 can push one workpiece to be assembled in the hopper 831 onto the second transporting assembly 82, that is, the pusher body 832 can push one workpiece to be assembled onto the second transporting assembly 82 at a time, and when the pusher body 832 is reset, the workpiece to be assembled above the movable end of the pusher body 832 falls down. In other embodiments, the pushing assembly 83 may also be disposed at one side of the first transporting assembly 81, and the pushing member body 832 can push one workpiece to be assembled in the hopper 831 onto the first transporting assembly 81.

Specifically, as shown in fig. 8, the first transporting assembly 81 of the present embodiment includes a first transporting power member 811 and a first transporting belt 812, the first transporting power member 811 being capable of driving the first transporting belt 812 to rotate, and likewise, the second transporting assembly 82 includes a second transporting power member and a second transporting belt, the second transporting power member being capable of driving the second transporting belt to rotate.

The camera module 6 of the present embodiment includes a first camera unit 61, a second camera unit 62, and a third camera unit 63, the first camera unit 61 is disposed at the end of the six-axis robot 2 and is adjustable in height at the end of the six-axis robot 2, the first camera unit 61 is configured to detect whether the preliminarily ground cover is acceptable, the second camera unit 62 is mounted upstream of the second transport assembly 82, the second camera unit 62 is configured to detect whether the preliminarily ground cover is acceptable, the third camera unit 63 is located downstream of the second transport assembly 82, and the third camera unit 63 is configured to determine the position of the cover that is acceptable.

Preferably, the first camera unit 61 includes a first camera body and a first control module, the first camera body is electrically connected to the first control module, the first camera body performs shooting or recording of an image of the primarily polished cover body, the first control module receives and judges the image acquired by the first camera body in real time, and if the image meets the detection standard, the cover body is judged to be qualified; otherwise, it is determined that the cover is not acceptable and the six-axis robot 2 places the cover in the first area of the palletizing module 132 on the first base 11.

Similarly, the second camera unit 62 includes a second camera body and a second control module, the second camera body is electrically connected to the second control module, the second camera body performs shooting or recording of an image of the primarily polished cover body, the second control module receives and judges the image acquired by the second camera body in real time, and if the image meets the detection standard, the cover body is determined to be qualified; otherwise, it is determined that the cover is not acceptable and the six-axis robot 2 places the cover in the first region of the palletizing module 132 on the second base 12.

The third camera unit 63 includes a third camera body and a third control module, the third camera body is electrically connected to the third control module, the third camera body performs shooting or recording of an image of the cover, the third control module calculates a coordinate of the cover on the second base 12 according to a position of the third camera body, and then the four-axis manipulator 3 moves the qualified cover to the second area of the stacking module 132 of the second base 12 according to the position, so as to ensure that the four-axis manipulator 3 can accurately grab the cover.

As shown in fig. 12, the four-axis robot 3 of the present embodiment includes an X-axis moving component 31, a mounting seat 32, a third rotating component 33, and a Z-axis moving component 34, wherein the mounting seat 32 is disposed on the X-axis moving component 31, the X-axis moving component 31 can drive the mounting seat 32 to move along the X-axis direction, the third rotating component 33 includes a rotating power component 331 disposed on the mounting seat 32, a connecting plate 332 connected to the rotating power component 331, and an absorbing component 333 disposed on the connecting plate 332, the rotating power component 331 can drive the connecting plate 332 to drive the absorbing component 333 to rotate around the Z-axis, the Z-axis moving component 34 is disposed on the mounting seat 32, and a moving end of the Z-axis moving component 34 can drive the third rotating component 33 to move along the Z-axis direction.

Specifically, the X-axis moving assembly 31 can drive the mounting base 32, the third rotating assembly 33, and the Z-axis power assembly 34 to move in the X-axis direction, the Z-axis power assembly 34 can drive the third rotating assembly 33 to move in the Z-axis direction, the rotating power member 331 of the third rotating assembly 33 can drive the connecting plate 332 and the suction member 333 to rotate about the Z-axis as a rotating shaft, and simultaneously, the position of the suction member 333 in the Y-axis direction changes.

The product of this embodiment is the wrist-watch, treats that the assembly work piece is the dial plate, and the upper cover of lid is upper housing, and the lower cover is lower housing, and concrete processing step is as follows:

an operator places the upper and lower shells on the raw material storage rack 131;

the six-axis manipulator 2 places the lower shell on the raw material storage rack 131 on the positioner 5 of the first base 11;

the workpiece 21 polishes the lower shell on the positioner 5;

the six-axis manipulator 2 places the polished lower shell on the first transportation assembly 81, and the lower shell is moved to the second transportation assembly 82 from the first transportation assembly 81;

the first camera unit 61 detects whether the lower shell meets the detection standard, and if the lower shell is a qualified product, the radio frequency identification module 7 performs code scanning identification on the lower shell;

when the lower housing is moved to a position flush with the third camera unit 63, the four-axis robot 3 adsorbs the lower housing and places it on the mounting device 9 of the second base 12;

the feeding structure 8 pushes a dial onto the second transport assembly 82;

when the dial plate moves to a position flush with the third camera unit 63, the four-axis manipulator 3 adsorbs the dial plate and stacks it on the lower case;

coating glue solution on the lower shell by an operator;

the six-axis manipulator 2 places the upper shell on the raw material storage rack 131 on the positioner 5 of the first base 11;

the workpiece 21 polishes the upper shell on the positioner 5;

the six-axis manipulator 2 places the polished upper shell on the first transportation assembly 81, and the upper shell is moved to the second transportation assembly 82 from the first transportation assembly 81;

the first camera unit 61 detects whether the upper shell meets the detection standard, and if the upper shell is a qualified product, the radio frequency identification module 7 performs code scanning identification on the upper shell;

when the upper casing is moved to a position flush with the third camera unit 63, the four-axis robot 3 adsorbs the upper casing and places it on the mounting device 9 of the second base 12;

the pressing component 92 moves towards the direction close to the upper shell and applies acting force to the upper shell, so that the upper shell and the lower shell are connected in an adhesion mode;

after a period of time, the press-fit assembly 92 moves away from the upper housing to separate the upper housing from the press-fit assembly 92;

the assembly power piece 911 drives the turntable 912 to drive the bonded upper shell, lower shell and workpiece to be assembled to rotate to a certain position, and the six-axis manipulator 2 fixedly connects the upper cover and the lower cover by using a fastener so as to assemble the upper cover and the lower cover to form a product;

marking the assembled product by the marking module;

the four-axis robot 3 places the marked product on the finished product rack 133.

In other embodiments, the two-robot practical training platform can also be used for processing other products except watches, and specifically performs demonstration according to the actual needs of the trainees.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides a real standard platform of duplex robot which characterized in that, includes mounting base (1), be equipped with on mounting base (1):

the automatic assembling machine comprises two manipulators, wherein each manipulator is used for transferring a cover body, a workpiece to be assembled and an assembled product, a workpiece (21) is detachably arranged at the tail end of at least one manipulator, the two manipulators are respectively a six-axis manipulator (2) and a four-axis manipulator (3), the six-axis manipulator (2) is configured to move along the directions of an X axis, a Y axis and a Z axis and can rotate by taking the X axis, the Y axis and the Z axis as rotating axes, and the four-axis manipulator (3) is configured to move along the directions of the X axis, the Y axis and the Z axis and can rotate by taking the Z axis as a rotating axis;

the pattern recognition module (4) comprises positioning grooves (40) and positioning bulges (41), and the mechanical hand can position the covers with different shapes, the tools to be assembled or the products on the corresponding positioning grooves (40) or the positioning bulges (41) one by one;

the positioner (5) is used for rotating the cover body so that the machined part (21) performs primary machining on the cover body;

the camera module (6) is used for detecting whether the cover body after primary processing is qualified or not;

the radio frequency identification module (7) is configured to perform code scanning identification on the cover body after the detection is qualified;

a feeding structure (8) for feeding the workpiece to be assembled;

the assembling device (9) is used for assembling the cover body and the workpiece to be assembled into the product after the detection is qualified;

and the marking module is used for marking the assembled product.

2. The double-robot practical training platform according to claim 1, wherein the machined part (21) is detachably arranged at the tail end of the six-axis robot (2) through a first quick-change seat (22), the machined part (21) is a welded part or a grinding part, and a first clamping assembly (23) is further arranged on the first quick-change seat (22), and the first clamping assembly (23) is used for clamping the cover body, the workpiece to be assembled or the product.

3. The dual-robot training station according to claim 2, wherein the six-axis robot (2) comprises:

a first rotating assembly (24) capable of rotating on a horizontal plane with respect to the mounting base (1);

a first joint assembly (25), wherein one end of the first joint assembly (25) is rotatably connected with the first rotating assembly (24) on a vertical plane, and the first rotating assembly (24) can drive the first joint assembly (25) to rotate by taking a Z axis as a rotating axis;

a second rotating assembly (26) with a fixed end rotatably connected with the other end of the first joint assembly (25) on a vertical plane, the second rotating assembly (26) being rotatable relative to the first joint assembly (25) on a cross section of the first joint assembly (25);

a second joint component (27), one end of the second joint component (27) is rotatably connected with the second rotating component (26) on a vertical plane, and the other end of the second joint component (27) is detachably connected with the first quick-change seat (22).

4. The two-robot practical training platform according to claim 1, wherein a first quick-change connector (10) is further disposed on the mounting base (1), and the first quick-change connector (10) comprises:

the second quick-change seat (101) can be detachably connected with the tail end of the six-axis manipulator (2);

and the screwing assembly (102) is arranged on the second quick-change seat (101), the cover body comprises an upper cover and a lower cover, and the screwing assembly (102) is used for screwing a fastener penetrating through the upper cover and the lower cover so as to fixedly connect the upper cover and the lower cover.

5. The dual-robot practical training platform according to claim 1, wherein the four-axis robot arm (3) comprises:

an X-axis motion assembly (31);

the mounting seat (32) is arranged on the X-axis movement assembly (31), and the X-axis movement assembly (31) can drive the mounting seat (32) to move along the X-axis direction;

the third rotating assembly (33) comprises a rotating power piece (331) arranged on the mounting seat (32), a connecting plate (332) connected with the rotating power piece (331) and an adsorption piece (333) arranged on the connecting plate (332), wherein the rotating power piece (331) can drive the connecting plate (332) to drive the adsorption piece (333) to rotate by taking the Z axis as a rotating shaft;

and the Z-axis power assembly (34) is arranged on the mounting seat (32), and the movable end of the Z-axis power assembly (34) can drive the third rotating assembly (33) to move along the Z-axis direction.

6. The double-robot practical training platform according to claim 1, wherein the mounting base (1) comprises a first base (11) and a second base (12) which are adjacently arranged, the six-axis manipulator (2), the pattern recognition module (4), the positioner (5), the radio frequency recognition module (7) and the assembling device (9) are arranged on the first base (11), and the four-axis manipulator (3), the positioner (5) and the assembling device (9) are arranged on the second base (12).

7. The double-robot practical training platform according to claim 6, wherein the feeding structure (8) comprises:

a first transport assembly (81) disposed on the first base (11) and located at one side of the six-axis robot (2);

the second transportation assembly (82) is arranged on the second base (12) and located on one side of the four-axis manipulator (3), and one of the first transportation assembly (81) and the second transportation assembly (82) can drive the cover body to move to the other one;

the pushing assembly (83) comprises a hopper (831) and a pushing member body (832), the hopper (831) is used for stacking a plurality of workpieces to be assembled, and the pushing member body (832) can push one workpiece to be assembled in the hopper (831) onto the first conveying assembly (81) or the second conveying assembly (82).

8. The dual-robot training station according to claim 7, wherein the camera module (6) comprises:

a first camera unit (61) provided at a distal end of the six-axis robot (2) and adjustable in height at the distal end of the six-axis robot (2), the first camera unit (61) being configured to detect whether the preliminarily processed lid body is acceptable;

a second camera unit (62) mounted upstream of the second transport assembly (82), the second camera unit (62) being configured to detect whether the cap after primary processing is acceptable;

a third camera unit (63) located downstream of the second transport assembly (82), the third camera unit (63) being configured to determine a position of the cover qualified for inspection.

9. The dual-robot training station according to claim 1, wherein the fitting device (9) comprises:

the rotating assembly (91) comprises an assembling power part (911) and a rotating disc (912), the rotating disc (912) is arranged at the tail end of the assembling power part (911), the assembling power part (911) can drive the rotating disc (912) to rotate, and a placing groove capable of placing the cover body and the workpiece to be assembled is formed in the rotating disc (912);

the pressing component (92) is located above the rotating disc (912), the movable end of the pressing component (92) can move towards the direction close to or far away from the placing groove, the cover body comprises an upper cover and a lower cover, and the pressing component (92) can press the glued upper cover and the glued lower cover.

10. The double-robot practical training platform according to claim 1, wherein a raw material storage rack (131), a stacking module (132) and a finished product rack (133) are arranged on the mounting base (1), the raw material storage rack (131) is used for stacking unprocessed covers, a first area and a second area are defined on the stacking module (132), the first area is used for placing the covers which are unqualified in primary processing, the second area is used for placing the covers which are qualified in primary processing, and the finished product rack (133) is used for placing the finished products.