CN113996938A - Integrated automatic marking platform for teaching - Google Patents
Integrated automatic marking platform for teaching Download PDFInfo
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- CN113996938A CN113996938A CN202111286738.5A CN202111286738A CN113996938A CN 113996938 A CN113996938 A CN 113996938A CN 202111286738 A CN202111286738 A CN 202111286738A CN 113996938 A CN113996938 A CN 113996938A
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- 230000008569 process Effects 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 30
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- 238000010330 laser marking Methods 0.000 claims description 42
- 238000001514 detection method Methods 0.000 claims description 39
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
Abstract
The invention belongs to the technical field of professional teaching aids, and particularly relates to an integrated automatic marking platform for teaching. The device comprises a conveying demonstration mechanism, a marking demonstration table, a manipulator, a defective product frame, a control table and other structures, wherein the structures are independent from each other and are matched with each other, so that the demonstration modes of the conveying process and the marking process are more flexible; by utilizing the marking platform, common equipment in engineering application such as laser, conveying/lifting devices, motor/stepping single-machine control, camera equipment, sensors, manipulators, laser, fans, pneumatic devices and the like which are easy to appear in the book content of a university can be comprehensively known, and meanwhile, the knowledge such as application of corresponding software can be mastered through learning of corresponding software programming. Can carry out comparatively comprehensive cover and exercise to the main course of university's study to promote the student and master relevant knowledge.
Description
Technical Field
The invention belongs to the technical field of professional teaching aids, and particularly relates to an integrated automatic marking platform for teaching.
Background
In the course of college teaching, teaching of topics such as industrial production and factory manufacturing is generally demonstrated and explained in a video or drawing mode, and although the mode can play a certain teaching assistance effect on the processes such as automatic production and equipment instrument manufacturing, the teaching effect and the detailed description cannot be well explained, and the inspiring performance and the topic attraction of students are not obvious enough.
Therefore, it is necessary to design a device which has a small floor space and can teach and demonstrate production and operation equipment commonly used in the content of colleges.
Disclosure of Invention
In order to solve the problems that the existing industrial marking production line is large in occupied area and cannot realize function splitting, and the existing industrial marking production line is not suitable for field teaching and demonstration, the scheme provides an integrated automatic marking platform for teaching.
The technical scheme adopted by the invention is as follows:
an integrated automatic marking platform for teaching, comprising:
the conveying demonstration mechanism comprises a feeding conveying line, a discharging conveying line, a station conveying line and a returning conveying line; the discharging conveying line is arranged above the feeding conveying line, and the returning conveying line is arranged above the station conveying line; a first lifting conveying line for transferring is arranged between the feeding conveying line and the station conveying line; a second lifting conveying line for transferring is arranged between the station conveying line and the return conveying line; a third lifting conveying line for transferring is arranged between the return conveying line and the discharge conveying line;
the marking demonstration table comprises a rotary conveying disc, a laser range finder, a laser marking head and a visual detector; the rotary conveying disc is disc-shaped and can horizontally rotate, and a taking and placing station, a distance measuring station, a marking station and a detection station are respectively arranged on the outer side of the circumference of the rotary conveying disc; the laser range finder is arranged at the range finding station and used for measuring the range of the workpiece; the laser marking head is arranged at the marking station and used for marking a workpiece; the visual detector is arranged at the detection station and used for detecting the marked workpiece; a plurality of workpiece placing positions are arranged on the rotary conveying disc, and when the workpieces are placed on the rotary conveying disc, the workpieces can synchronously rotate along with the rotary conveying disc; after the laser range finder measures the distance, feeding data back to the control console, and then sending the data to the control console to control the first lifting cylinder or the second lifting cylinder, and starting marking after the laser marking head moves to the required size;
and the manipulator is arranged at the grabbing station, and can grab the workpiece on the station conveying line to the workpiece placing position, or grab and place the qualified workpiece on the workpiece placing position back to the station conveying line, or grab and move the unqualified workpiece on the workpiece placing position to the unqualified product frame arranged on one side of the marking demonstration table.
Optionally: a bidirectional pneumatic clamp is arranged at each workpiece placing position of the rotary conveying disc and comprises a clamping seat, a movable cylinder, a left clamping arm, an end seat and a right clamping arm; the clamping seat is L-shaped, the movable cylinder is fixed at the upper end of the vertical part of the clamping seat, and the end seat is fixed above the horizontal part of the clamping seat; an end positioning groove for positioning the lower end of the workpiece is arranged on the upper end surface of the end seat; the movable cylinder can control the left clamping arm and the right clamping arm to clamp or loosen the upper end of the workpiece.
Optionally: eight stations are arranged on the outer side of the circumferential direction of the rotary conveying disc, the eight stations are four taking and placing stations, one distance measuring station, two marking stations and one detection station respectively, and the eight stations are arranged along the clockwise direction or the anticlockwise direction; each picking and placing station is provided with a manipulator, the unqualified product frame is positioned at one side of the picking and placing station, and the manipulator at the station can grab and place the workpiece on the station conveying line or grab and move the workpiece into the unqualified product frame; every is beaten mark station department and all is provided with a radium-shine and beats mark head.
Optionally: the two laser marking heads are provided with dust removal air suction pipes, the dust removal air suction pipes are perpendicular to the radial direction of the rotary conveying disc and transversely cover the two laser marking heads, and the dust removal air suction pipes are provided with air suction holes; one side of keeping away from the dust removal breathing pipe at two radium-shine marking heads is provided with the dust collecting opening, and the dust removal breathing pipe communicates with the dust collecting opening and is arranged in blowing in the dust collecting opening with the dust that the work piece was beaten the mark in-process and is produced.
Optionally: the marking demonstration table also comprises a machine table, a marking mounting frame is arranged at a marking station, a first lifting cylinder and a second lifting cylinder are arranged on the marking mounting frame, and the marking mounting frame is fixedly connected with the machine table; two radium-shine mark heads are located and beat two work pieces that the mark station corresponds directly over to on being connected to the mark mounting bracket of beating through first lift cylinder and second lift cylinder respectively, first lift cylinder and second lift cylinder control two radium-shine mark head vertical lift respectively.
Optionally: the visual detection frame is arranged at the detection station, the third lifting cylinder is arranged on the visual detection frame, the visual detector is positioned right above a workpiece corresponding to the detection station and is connected to the visual detection frame through the third lifting cylinder, and the third lifting cylinder is used for controlling the vertical lifting of the visual detector.
Optionally: the first lifting cylinder, the second lifting cylinder and the third lifting cylinder correspondingly control the positions of the laser marking head and the vision detector according to the distance measured by the laser range finder; the lower extreme of vision detector is provided with the shroud, and the shroud is covered on the work piece during the detection.
Optionally: the mechanical claws comprise a first mechanical gripper, a second mechanical gripper, a third mechanical gripper and a fourth mechanical gripper, the four mechanical claws are correspondingly arranged at four taking and placing stations, the second mechanical gripper and the third mechanical gripper are positioned above the station conveying line, and the first mechanical gripper and the fourth mechanical gripper are positioned between the station conveying line and the marking demonstration table; the first mechanical gripper and the second mechanical gripper are used for gripping the workpiece at one end of the station conveying line, and the third mechanical gripper and the fourth mechanical gripper are used for gripping the workpiece at the other end of the station conveying line.
Optionally: the feeding conveying line, the discharging conveying line, the station conveying line, the returning conveying line, the first lifting conveying line, the second lifting conveying line and the third lifting conveying line are mutually independent conveying lines, and each conveying line comprises a rod frame and a plurality of driving rollers; two bar frames are parallel to each other, each driving roller is rotatably connected between the two bar frames, two chain wheels are fixedly connected to the end portions of each driving roller, the adjacent driving rollers are connected through chains, and the chains are meshed with the chain wheels.
Optionally: the operation process comprises a conveying demonstration flow and a marking demonstration flow;
the conveying demonstration process comprises the following steps:
s1: the first lifting conveying line horizontally conveys the material frame with the workpiece to the first lifting conveying line; the first lifting conveying line moves downwards and aligns at the right end of the station conveying line, and the material frame is transferred to the station conveying line by the first lifting conveying line;
s2: the material frame is horizontally conveyed to a second lifting conveying line at the left end of the material frame by the station conveying line; the second lifting conveying line moves upwards and aligns to the left end of the return conveying line, and the material frame is transferred to the return conveying line by the second lifting conveying line;
s3: returning to the conveying line to horizontally convey the material frame to a third lifting conveying line at the right end of the conveying line; the third lifting conveying line moves downwards and is aligned with the discharging conveying line, and the material frame is transferred to the discharging conveying line by the third lifting conveying line;
the marking demonstration process comprises the following steps:
s1: after the material frame is conveyed to the designated position by the station conveying line, the four mechanical hands respectively grab the workpieces at the left end and the right end of the station conveying line and place the workpieces on the rotary conveying disc;
s2: the rotary conveying disc rotates anticlockwise, and the workpiece is returned to the picking and placing station after sequentially moving to the distance measuring station, the marking station and the detection station;
s3: when the workpiece is detected to be qualified, the workpiece is replaced to the initial position of the station conveying line by the corresponding manipulator; and when the workpiece is detected as a defective product, the workpiece is placed into the defective product frame by the fourth mechanical gripper.
The invention has the beneficial effects that:
1. the conveying demonstration mechanism and the marking demonstration platform are independent from each other, the conveying process and the laser marking process of a workpiece can be independently demonstrated, and the conveying demonstration mechanism and the marking demonstration platform are grabbed and released through the manipulator, so that the independence of the operation of the conveying demonstration mechanism and the marking demonstration platform can be ensured, the cooperation between the conveying demonstration mechanism and the marking demonstration platform can be realized, and the demonstration modes of the conveying process and the marking process are more flexible;
2. the conveying demonstration mechanism adopts a circulating conveying mode, and the workpiece taking and placing positions are close to each other, so that the conveying distance of the workpieces in the demonstration process is reduced, and meanwhile, the demonstration of a conveying line is facilitated; in addition, the lifting mechanism is adopted to control the lifting conveying line to convey materials, so that the lifting conveying of the materials at different height positions can be realized, and the space of a teaching place is fully utilized for reasonable combination;
3. the rotary conveying disc is adopted for conveying workpieces in the marking process, so that the space can be effectively saved, the demonstration of the whole process can be completed in a classroom with small space, and the marking processes such as distance measurement, marking and detection can be conveniently realized by matching with components such as a laser range finder, a laser marking head, a visual detector and the like arranged at each station; the marking depth and the marking position accuracy of each part are ensured.
4. In the whole processes of feeding, blanking and marking of the product, the whole process is unmanned, the product is detected through machine vision, and the product percent of pass is greatly improved; marking is whole to be induced drafted and remove dust and handle, filters waste gas and collects the dust, avoids polluting the environment
5. By utilizing the marking platform, common equipment in engineering application such as laser, conveying/lifting devices, motor/stepping motor control, camera equipment, sensors, manipulators, laser, fans, pneumatic devices and the like which are easy to appear in college book contents can be comprehensively known, and meanwhile, knowledge such as application of corresponding software can be mastered through learning of corresponding software programming. Can carry out comparatively comprehensive cover and exercise to the main course of university's study to promote the student and master relevant knowledge.
Drawings
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a three-dimensional structure diagram of an integrated automatic marking platform for teaching in the dark;
FIG. 2 is a block diagram of the transport demonstration mechanism;
FIG. 3 is an internal structural view of a conveying line of the conveying demonstration mechanism;
FIG. 4 is a block diagram of a marking demonstration table;
FIG. 5 is a view of the marking demonstration table with the housing removed;
fig. 6 is a structural view of a bidirectional pneumatic jig.
Description of the drawings: 1-conveying demonstration mechanism; 11-a feeding conveying line; 111-a pole support; 112-a sprocket; 113-a chain; 114-a drive roller; 12-a first lift conveyor line; 13-station conveying line 14-second lifting conveying line; 15-return to the conveying line; 16- -a third lift conveyer line; 17-a discharge conveyor line; 2-a manipulator; 21-a first mechanical gripper; 22-a second mechanical gripper; 23-a third mechanical gripper; 24-a fourth mechanical gripper; 3-marking demonstration table; 31-a machine table; 311-a stent; 312-a lower platform; 313-an upper platform; 32-a vision detector; 321-a third lifting cylinder; 322-vision inspection rack; 33-a housing; 34-a rotating conveyor pan; 35-bidirectional pneumatic gripper; 351-a left clamp arm; 352-right clamp arm; 353-a movable cylinder; 354-a holder; 355-end seat; 356-end positioning slot; 36-dust removal air suction pipe; 361-dust collecting port; 37-laser rangefinder; 38-laser marking head; 381-a first lifting cylinder; 382-a second lifting cylinder; 4-a console; 5-a workpiece; 6-unqualified product frame.
Example 1
As shown in fig. 1 to 3, the conveying demonstration mechanism 1 is designed in the present embodiment, the conveying demonstration mechanism 1 can be independent of the demonstration process of the marking demonstration table 3, and demonstrates the conveying process of the workpieces 5, and the workpieces 5 are put in a material frame in a matrix shape in the demonstration process.
The conveying demonstration mechanism 1 comprises a plurality of supports and a plurality of conveying lines, wherein each conveying line is used for horizontally conveying material frames; the conveying functions of each conveying line are mutually independent, and each conveying line comprises two rod frames 111 and a plurality of driving rollers 114; the two rod frames 111 are parallel to each other, each driving roller 114 is rotatably connected between the two rod frames 111, two chain wheels 112 are fixedly connected to each driving roller 114, adjacent driving rollers 114 are connected with each other through chains 113, and the chains 113 are meshed with the chain wheels 112.
The plurality of supports are respectively a first support, a second support, a third support and a fourth support, the four supports are arranged in a straight line, and the four supports can be connected into a total support structure.
The conveying lines comprise a discharging conveying line 17, a feeding conveying line 11, a station conveying line 13, a returning conveying line 15, a third lifting conveying line 16, a first lifting conveying line 12, a second lifting conveying line 14 and the like, and each conveying line can independently convey the workpieces 5.
The discharging conveyor line 17 and the feeding conveyor line 11 are both arranged on the first support, the discharging conveyor line 17 is located right above the feeding conveyor line 11, the discharging conveyor line 17 is opposite to the feeding conveyor line 11 in conveying direction, and the feeding conveyor line 11 is used for delivering the workpieces 5 to the third lifting conveyor line 16.
The third lifting conveying line 16 and the first lifting conveying line 12 are arranged on the second support, a first cabinet body is arranged on one side of the second support, a third lifting mechanism and a first lifting mechanism are arranged in the first cabinet body, the third lifting mechanism is fixedly connected with the side face of the third lifting conveying line 16, and the vertical lifting of the third lifting conveying line 16 is controlled. The height also varies between the station conveyor line 13 and the feed conveyor line 11, and the first elevation conveyor line 12 functions to transfer the work pieces 5 therebetween. The height differs between the return conveyor line 15 and the outfeed conveyor line 17, while the third elevation conveyor line 16 is used for transferring the work pieces 5 between them. The first lifting mechanism is fixedly connected with the side surface of the first lifting conveying line 12 and controls the first lifting conveying line 12 to vertically lift.
The return conveying line 15 and the station conveying line 13 are both arranged on the third support, the return conveying line 15 is positioned above the station conveying line 13, and the conveying direction of the return conveying line 15 on the station conveying line 13 is opposite.
The second lift transfer chain 14 sets up on the fourth support, is provided with the second cabinet body in one side of fourth support, is provided with second elevating system in this second cabinet body, and second elevating system and the side fixed connection of second lift transfer chain 14 to control the vertical lift of second lift transfer chain 14. The second elevation transport line 14 serves to transport the work pieces 5 between the station transport line 13 and the return transport line 15. And the second elevation conveying line 14 is capable of bidirectional rotation, and when the second elevation conveying line 14 is at the same height position as the station conveying line 13, the workpiece 5 is conveyed onto the second elevation conveying line 14, and when the second elevation conveying line 14 is raised to the same height position as the return conveying line 15, the workpiece 5 is conveyed onto the return conveying line 15.
The workpieces 5 sequentially pass through the feeding conveying line 11, the first lifting conveying line 12, the station conveying line 13, the second lifting conveying line 14, the returning conveying line 15, the third lifting conveying line 16 and the discharging conveying line 17, and the feeding conveying line 11 and the discharging conveying line 17 are located at the same position, so that the workpieces 5 required for conveying demonstration to the workpieces 5 can be conveniently taken and placed. When the workpiece 5 is positioned on the station conveying line 13, the material frames can be stopped at two ends of the workpiece 5 conveying line, so that the manipulator 2 can be conveniently grabbed or put back.
Example 2
As shown in fig. 1 and 4 to 6, the marking demonstration table 3 designed in this embodiment is used for demonstrating a marking process of a workpiece 5, and includes a machine table 31, a housing 33, a rotary conveying disc 34, a laser distance meter 37, a laser marking head 38, a vision detector 32, a dust removal mechanism, a bidirectional pneumatic clamp 35, and the like.
The machine table 31 comprises a support, a lower platform 312 and an upper platform 313, the lower platform 312 and the upper platform 313 are both connected to the support, the upper platform 313 is located right above the lower platform 312, a hole for accommodating the rotary conveying disc 34 is arranged in the middle of the upper platform 313, and the driving mechanism is fixed on the lower platform 312 and used for connecting and supporting the rotary conveying disc 34. The support is a frame structure formed by welding square pipes.
The shell cover 33 is connected with the machine table 31 and covers the laser range finder 37, the laser marking head 38 and the visual detector 32 below the shell cover; an inspection opening is arranged in the middle of the housing 33, and a cover plate is movably connected to the inspection opening. The cover plate is lifted, and the components such as the laser range finder 37, the laser marking head 38, and the vision detector 32 can be inspected or overhauled from the front side of the housing cover 33.
The rotary conveying disc 34 is circular, and the rotary conveying disc 34 is rotatably arranged on the machine table 31; eight bidirectional pneumatic clamps 35 are annularly distributed on the rotary conveying disc 34, the bidirectional pneumatic clamps 35 are used for clamping and fixing the workpiece 5, and the bidirectional pneumatic clamps 35 clamp the workpiece 5 and synchronously rotate along with the rotary conveying disc 34. A driving mechanism is fixed on the lower platform 312, and the driving mechanism is used for connecting and driving the rotary conveying disc 34 to rotate. The bidirectional pneumatic clamp 35 comprises a clamp seat 354, a movable air cylinder 353, a left clamping arm 351, an end seat 355 and a right clamping arm 352; the clamping seat 354 is L-shaped, the movable air cylinder 353 is fixed at the upper end of the vertical part of the clamping seat 354, and the end seat 355 is fixed above the horizontal part of the clamping seat 354; an end positioning groove 356 for positioning the lower end of the workpiece 5 is formed in the upper end surface of the end seat 355; the movable air cylinder 353 can control the left clamping arm 351 and the right clamping arm 352 to clamp or release the upper end of the workpiece 5.
The eight stations are respectively four taking and placing stations, one distance measuring station, two marking stations and one detecting station, and the eight stations are arranged along the anticlockwise direction and can also be designed into a clockwise arrangement mode according to needs.
Two marking stations are positioned on the machine table 31, each marking station is provided with a laser marking head 38, the two laser marking heads 38 are connected to the machine table 31 through a marking mounting frame, the two laser marking heads 38 are positioned at the marking stations, a first lifting cylinder 381 and a second lifting cylinder 382 are arranged on the marking mounting frame, a laser marking head 38 is respectively connected to the first lifting cylinder 381 and the second lifting cylinder 382, the laser marking head 38 extends to the position right above the two workpieces 5 at the marking station, and the laser marking head 38 is arranged downwards, when the marking of the corresponding workpiece 5 is required, the first lifting cylinder 381 or the second lifting cylinder 382 controls the corresponding laser marking head 38 to vertically descend, therefore, the workpiece 5 is marked, and after marking is completed, the first lifting cylinder 381 or the second lifting cylinder 382 controls the corresponding laser marking head 38 to vertically lift to the initial position. In addition, the two laser marking heads 38 can also mark different workpieces 5. Through the regulation of the vertical height position of laser marking head 38, can be so that the marking platform of this embodiment can be compatible with the product of not unidimensional, simultaneously in same product place the position non-uniform to when causing the working face of waiting to mark to laser marking head 38 difference in height inconsistent, also can control laser marking head 38's height according to the measured result of preceding step laser range finder 37, guarantee that the product marks degree of depth uniformity.
The detection station is arranged on the machine table 31, the vision detector 32 is positioned at the detection station and is connected to the machine table 31 through a third lifting cylinder 321 and a vision detection frame 322, the third lifting cylinder 321 is connected between the vision detector 32 and the vision detection frame 322, the third lifting cylinder 321 controls the vertical lifting of the vision detector 32, the detection station is arranged on the machine table 31, and the vision detector 32 is positioned at the detection station and extends to the position right above the workpiece 5 at the detection station. When the marking completion degree of the corresponding workpiece 5 needs to be detected, the third lifting cylinder 321 controls the corresponding visual detector 32 to vertically descend, so that the marking position and the marking pattern of the workpiece 5 are subjected to image acquisition, the marking mark in the acquired image can be detected manually or by using corresponding software, and the detected items comprise whether the mark is clear, whether the marking is completed, whether the marking position is correct, whether the marking shape meets the requirement, whether the mark is missed, and the like; when the image photographing is completed, the third lifting cylinder 321 controls the vision detector 32 to vertically lift to the initial position. Through the regulation of the vertical height position of the visual detector 32, the marking platform of the embodiment is further guaranteed to be compatible with products of different sizes, the positions of the products are not unified, and when the marking depth of the product is inconsistent due to the fact that the height difference of the visual detector 32 from the working surface to be marked is caused, the height of the visual detector 32 can be controlled according to the measuring result of the previous laser range finder, and the consistency of product detection is guaranteed.
The two laser marking heads 38 are provided with dust-removing air suction pipes 36, the dust-removing air suction pipes 36 are perpendicular to the radial direction of the rotary conveying disc 34 and transversely cover the two laser marking heads 38, and the dust-removing air suction pipes 36 are provided with air suction holes; a dust collecting opening 361 is arranged on one side of the two laser marking heads 38 far away from the dust collecting suction pipe 36, and the dust collecting suction pipe 36 is communicated with the dust collecting opening 361 and is used for blowing dust generated in the marking process of the workpiece 5 into the dust collecting opening 361. The dust suction pipe 36 and the dust collection port 361 both belong to a part of the dust removing mechanism,
the first lifting cylinder 381, the second lifting cylinder 382 and the third lifting cylinder 321 correspondingly control the positions of the laser marking head 38 and the visual detector 32 according to the distance measured by the laser range finder 37; the lower end of the visual detector 32 is provided with a cover which covers the workpiece 5 during detection.
Example 3
As shown in fig. 1 to 6, the present embodiment designs an integrated automatic marking platform for teaching, which includes a conveying demonstration mechanism 1 described in embodiment 1, a marking demonstration table 3 described in embodiment 2, a manipulator 2, a defective frame 6, and a control table 4. The manipulator 2 is used for realizing the transfer of a workpiece 5 between the conveying demonstration mechanism 1 and the marking demonstration table 3.
The four picking and placing stations are respectively provided with a manipulator 2, the unqualified product frame 6 is positioned at one picking and placing station and positioned on the right side of the marking demonstration table 3, and the manipulator 2 at the station can grab and place the workpiece 5 on the station conveying line 13 or grab and move the workpiece to the unqualified product frame 6. The mechanical claws comprise a first mechanical claw 21, a second mechanical claw 22, a third mechanical claw 23 and a fourth mechanical claw 24, the four mechanical claws are correspondingly arranged at four taking and placing stations, the second mechanical claw 22 and the third mechanical claw 23 are positioned above the station conveying line 13, and the first mechanical claw 21 and the fourth mechanical claw 24 are positioned between the station conveying line 13 and the marking demonstration table 3; the first and second mechanical grippers 21 and 22 are used to grip the workpiece 5 at one end of the station wire 13, and the third and fourth mechanical grippers 23 and 24 are used to grip the workpiece 5 at the other end of the station wire 13.
The teaching of this embodiment is with automatic mark platform of beating of integrated form in teaching process, can be respectively to carry the demonstration flow and beat the demonstration flow of beating and demonstrate alone demonstration, also can jointly demonstrate to both.
Wherein the conveying demonstration process comprises the following steps:
s1: the first lifting conveying line 12 horizontally conveys the material frame loaded with the workpieces 5 to the first lifting conveying line 12; the first lifting conveying line 12 moves downwards and aligns to the right end of the station conveying line 13, and the material frame is transferred to the station conveying line 13 through the first lifting conveying line 12;
s2: the station conveying line 13 horizontally conveys the material frames to a second lifting conveying line 14 at the left end of the station conveying line; the second lifting conveying line 14 moves upwards and is aligned with the left end of the return conveying line 15, and the material frame is moved to the return conveying line 15 by the second lifting conveying line 14;
s3: the return conveying line 15 horizontally conveys the material frames to a third lifting conveying line 16 at the right end of the return conveying line; the third lifting conveyor line 16 moves downwards and aligns with the discharging conveyor line 17, and the material frame is transferred to the discharging conveyor line 17 by the third lifting conveyor line 16.
The marking demonstration process comprises the following steps:
s1: after the material frame is conveyed to a designated position by the station conveying line 13, the four mechanical hands 2 respectively grab the workpieces 5 at the left end and the right end of the station conveying line 13 and place the workpieces on the rotary conveying disc 34;
s2: the rotary conveying disc 34 rotates anticlockwise, and moves the workpiece 5 to a distance measuring station, a marking station and a detection station in sequence and then returns to a pick-and-place station;
s3: when the workpiece 5 is detected as a qualified product, the workpiece 5 is replaced to the initial position of the station conveying line 13 by the corresponding manipulator 2; when the workpiece 5 is detected as a defective, the workpiece 5 is put into the defective frame 6 by the fourth mechanical gripper 24.
The console 4 is mainly used for controlling and setting parameters of the mechanical arm 2, each conveying line, the lifting mechanism, the laser marking head 38, the laser distance measuring instrument 37, the vision detector 32 and other electrical components, and executing each functional component and process step.
Specifically, in the above steps, when the hammer is used as the workpiece, the demonstration is performed. In the step S1 of the marking demonstration process, the hammer is firstly placed in order in the material frame, so that the manipulator can conveniently and quickly position the hammer when grabbing the hammer, and meanwhile, students can standardize the hammer placement habit;
then, the material frames are conveyed to the manipulator through the corresponding conveying lines, the manipulator clamps the hammers one by one, and then the hammers are placed into the bidirectional pneumatic clamp 35 of the rotary conveying disc 34, so that students can learn programming of the manipulator and how to control the action of the manipulator;
in step S2, when the corresponding sensor detects that the two-way pneumatic clamp 35 has a hammer after being placed, the rotary conveying disc 34 rotates 45 degrees, so that students can know the working principle of the sensor and the support of software and hardware required for the operation of the servo motor used by the rotary conveying disc 34;
when the two-way pneumatic clamp 35 with the hammer reaches the distance measuring station, the laser distance measuring instrument 37 starts to work, the distance between the surface of the hammer and the distance measuring head of the laser distance measuring instrument 37 is measured, then the distance value is fed back to the console, the height of the laser distance measuring instrument 37 is controlled by the console, students can know how to measure the distance by adopting a non-contact mode, and how to transmit the measured value to the console and send a next instruction;
the rotary conveying disc 34 continues to rotate by 45 degrees, the first laser marking head 38 starts to mark characters of a certain student, after the rotation is completed, the rotary conveying disc 34 rotates by 45 degrees again to the second laser marking head 38, after the rotation is completed, the second laser marking head 38 starts to mark characters of a certain student, the marking characters of a certain month and a certain day in a certain year, in the marking process of the two laser marking heads 38, the dust removing mechanism continuously operates to suck dust generated in the marking process into the dust collecting port 361, and if the size is small and the marking depth is shallow, all the characters can be printed at one time; the students can know how to set the characters, how to position the characters, the principle and the process of laser marking, the principle of designing the air duct and the like;
after marking is finished, the rotary conveying disc 34 rotates 45 degrees to the lower part of the visual detector again, whether the size, the shape and the position of the marked characters of the first marking and the second marking are correct or not is detected through a software algorithm, and information is fed back to a control console;
after the completion, the rotary conveying disc 34 continuously rotates for 45 degrees, for the hammer with qualified marking, the hammer is placed back into the object frame after being grabbed by the mechanical arm, for the unqualified product, the hammer is grabbed by the other mechanical arm and placed into the unqualified product frame, and the gain effect is how to sort the unqualified product by using the data collected in the front;
and in the rotating process of the rotary conveying disc 34, the manipulator continuously grabs the hammer into the bidirectional pneumatic fixture 35, the subsequent processes continuously work, and after the qualified products are marked in one box, the material frames are conveyed to the discharging conveying line 17 and are distributed to students.
When utilizing above automatic mark platform of beating of integrated form to use as the teaching aid, for example regard as the work piece with the hammer, put the head neatly in the material frame, then let the student put into the work piece from pay-off transfer line position, not only can standardize the custom that student's material was placed, can also guarantee the security and the convenience of placing, only use transport demonstration mechanism, can help the student to know transport control, the position detects, and the study of processes such as article circulation, be favorable to the student to master the chain drive, the lifting movement, horizontal migration, position sensor triggers, and the knowledge of control process such as motor control.
In the material circulating conveying process, students can be helped to learn relevant knowledge of manipulator control, such as manipulator program control, manipulator operation track control, multi-manipulator cooperation control, manipulator mechanical structure and the like.
The rotary conveying disc is introduced into the rotary disc manipulator, so that students can learn corresponding knowledge of the processes of cylinder control, pneumatic control programming, pneumatic control structure, article cross circulation, stepping motor control, high-precision displacement control and the like.
The laser range finder 37 can help students learn and master corresponding knowledge of partial non-contact distance measurement, sensor technology, sensor data processing and programming and the like; through the laser marking head 38, students can be helped to master relevant knowledge in the fields of corresponding programming control, laser processing, laser technology, laser control and the like; the visual detector 32 can help students to master knowledge of video processing technology, video data conversion, video feature recognition and the like.
Through dust removal mechanism, can help the student to learn knowledge such as master fan control, atmospheric pressure detection and relevant programming control.
Generally speaking, the marking platform can be used for comprehensively knowing common equipment in engineering application such as laser, conveying/lifting devices, motor/stepping single-machine control, camera equipment, sensors, mechanical arms, laser, fans, pneumatic devices and the like which are easy to appear in college book contents, and meanwhile, the knowledge such as application of corresponding software can be mastered through learning of corresponding software programming. Can carry out comparatively comprehensive cover and exercise to the main course of university's study to promote the student and master relevant knowledge.
Example 4
When the visual detector 32 detects the marking mark of the product, the existing deep learning technology can be utilized, the deep learning is a machine learning algorithm developed by the traditional neural network, and a computer absorbs, learns and understands complex information in the real world like a human through a deep learning model similar to a brain neural network, so that a high-difficulty recognition task is completed, and the visual detector can be used for work such as character positioning, recognition, defect detection, image classification, target detection and the like. Deep learning is based on a certain data base, so that a large number of data sets need to be trained before deep learning, the data sets participating in training need to be labeled, the diversity of data needs to be ensured as much as possible, the requirement on resolution is low, and at least 150 picture samples are needed by taking character positioning as an example; therefore, a database for comparison and comparison needs to be built, and a plurality of identification recognition samples for comparison are stored in the database, wherein the larger the number of the samples is, the better the identification recognition samples are. In the console, training of the samples can be performed using a training tool, so that sufficient model samples are obtained; the content of the sample training comprises defect detection sample training, character sample training, image classification sample training, target detection sample training and the like. During the in-service use, can directly compare the detection of accomplishing sign on the work piece through the model, and not only can enrich the model sample through the sample training, can also improve the accuracy that the work piece detected. The foregoing examples are provided for clarity of illustration only and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides an automatic mark platform of beating of integrated form for teaching which characterized in that: the method comprises the following steps:
the conveying demonstration mechanism (1) comprises a feeding conveying line (11), a discharging conveying line (17), a station conveying line (13) and a returning conveying line (15); the discharging conveying line (17) is arranged above the feeding conveying line (11), and the returning conveying line (15) is arranged above the station conveying line (13); a first lifting conveying line (12) for transferring is arranged between the feeding conveying line (11) and the station conveying line (13); a second lifting conveying line (14) for transferring is arranged between the station conveying line (13) and the return conveying line (15); a third lifting conveying line (16) for transferring is arranged between the return conveying line (15) and the discharge conveying line (17);
the marking demonstration table (3) comprises a rotary conveying disc (34), a laser range finder (37), a laser marking head (38) and a visual detector (32); the rotary conveying disc (34) is disc-shaped and can horizontally rotate, and a taking and placing station, a distance measuring station, a marking station and a detection station are respectively arranged on the outer side of the circumferential direction of the rotary conveying disc (34); the laser range finder (37) is arranged at the ranging station and used for ranging the workpiece (5); the laser marking head (38) is arranged at the marking station and is used for marking the workpiece (5); the visual detector (32) is arranged at the detection station and used for detecting the marked workpiece (5); a plurality of workpiece (5) placing positions are arranged on the rotary conveying disc (34), and when the workpieces (5) are placed on the rotary conveying disc (34), the workpieces (5) can synchronously rotate along with the rotary conveying disc (34);
and the manipulator (2) is arranged at the grabbing station, the manipulator (2) can grab the workpiece (5) on the station conveying line (13) to the workpiece (5) placing position, or grab the workpiece (5) which is qualified in detection on the placing position and back to the station conveying line (13), or grab the workpiece (5) which is unqualified in detection on the placing position and move to the unqualified product frame (6) arranged on one side of the marking demonstration table (3).
2. The integrated automatic marking platform for teaching of claim 1, wherein: a bidirectional pneumatic clamp (35) is arranged at the position where each workpiece (5) of the rotary conveying disc (34) is placed, and each bidirectional pneumatic clamp (35) comprises a clamp seat (354), a movable air cylinder (353), a left clamp arm (351), an end seat (355) and a right clamp arm (352); the clamping seat (354) is L-shaped, the movable cylinder (353) is fixed at the upper end of the vertical part of the clamping seat (354), and the end seat (355) is fixed above the horizontal part of the clamping seat (354); an end positioning groove (356) for positioning the lower end of the workpiece (5) is arranged on the upper end surface of the end seat (355); the movable air cylinder (353) can control the left clamping arm (351) and the right clamping arm (352) to clamp or release the upper end of the workpiece (5).
3. The integrated automatic marking platform for teaching according to claim 1 or 2, characterized in that: eight stations are arranged on the outer side of the circumferential direction of the rotary conveying disc (34), the eight stations are four taking and placing stations, one distance measuring station, two marking stations and one detecting station respectively, and the eight stations are arranged along the clockwise direction or the anticlockwise direction; each picking and placing station is provided with a manipulator (2), the unqualified product frame (6) is positioned at one side of the picking and placing station, and the manipulator (2) at the station can grab and place the workpiece (5) back onto the station conveying line (13) or grab and move the workpiece into the unqualified product frame (6); each marking station is provided with a laser marking head (38).
4. The integrated automatic marking platform for teaching of claim 3, wherein: dust removal air suction pipes (36) are arranged at the positions of the two laser marking heads (38), the dust removal air suction pipes (36) are perpendicular to the radial direction of the rotary conveying disc (34) and transversely cover the two laser marking heads (38), and air suction holes are formed in the dust removal air suction pipes (36); and dust collection openings (361) are formed in one sides, away from the dust collection air suction pipe (36), of the two laser marking heads (38), and the dust collection air suction pipe (36) is communicated with the dust collection openings (361) and used for blowing dust generated in the marking process of the workpiece (5) into the dust collection openings (361).
5. The integrated automatic marking platform for teaching of claim 3, wherein: the marking demonstration table (3) further comprises a machine table (31), a marking mounting frame is arranged at the marking station, a first lifting cylinder (381) and a second lifting cylinder (382) are arranged on the marking mounting frame, and the marking mounting frame is fixedly connected with the machine table (31); two radiuses are marked head (38) and are located and mark two work pieces (5) that the station corresponds directly over to be connected to on the mark mounting bracket of beating through first lift cylinder (381) and second lift cylinder (382) respectively, first lift cylinder (381) and second lift cylinder (382) control two radiuses respectively and mark head (38) vertical lift.
6. The integrated automatic marking platform for teaching of claim 5, wherein: the visual detection device is characterized in that a visual detection frame (322) is arranged at the detection station, a third lifting cylinder (321) is arranged on the visual detection frame (322), the visual detector (32) is located right above a workpiece (5) corresponding to the detection station and is connected to the visual detection frame (322) through the third lifting cylinder (321), and the third lifting cylinder (321) is used for controlling vertical lifting of the visual detector (32).
7. The integrated automatic marking platform for teaching of claim 6, wherein: the first lifting cylinder (381), the second lifting cylinder (382) and the third lifting cylinder (321) correspondingly control the positions of the laser marking head (38) and the visual detector (32) according to the distance measured by the laser range finder (37); the lower end of the visual detector (32) is provided with a cover which covers the workpiece (5) during detection.
8. The integrated automatic marking platform for teaching of claim 3, wherein: the mechanical claws comprise a first mechanical claw (21), a second mechanical claw (22), a third mechanical claw (23) and a fourth mechanical claw (24), the four mechanical claws are correspondingly arranged at four taking and placing stations, the second mechanical claw (22) and the third mechanical claw (23) are positioned above the station conveying line (13), and the first mechanical claw (21) and the fourth mechanical claw (24) are positioned between the station conveying line (13) and the marking demonstration table (3); the first mechanical gripper (21) and the second mechanical gripper (22) are used for gripping the workpiece (5) at one end of the station conveying line (13), and the third mechanical gripper (23) and the fourth mechanical gripper (24) are used for gripping the workpiece (5) at the other end of the station conveying line (13).
9. The integrated automatic marking platform for teaching of claim 1, wherein: the feeding conveying line (11), the discharging conveying line (17), the station conveying line (13), the returning conveying line (15), the first lifting conveying line (12), the second lifting conveying line (14) and the third lifting conveying line (16) are mutually independent conveying lines, and each conveying line comprises a rod frame (111) and a plurality of driving rollers (114); the two rod frames (111) are parallel to each other, each driving roller (114) is rotatably connected between the two rod frames (111), two chain wheels (112) are fixedly connected to the end portion of each driving roller (114), adjacent driving rollers (114) are connected with each other through chains (113), and the chains (113) are meshed with the chain wheels (112).
10. The integrated automatic marking platform for teaching of claim 8, wherein: the operation process comprises a conveying demonstration flow and a marking demonstration flow;
the conveying demonstration process comprises the following steps:
s1: the first lifting conveying line (12) horizontally conveys the material frame loaded with the workpieces (5) to the first lifting conveying line (12); the first lifting conveying line (12) moves downwards and aligns to the right end of the station conveying line (13), and the material frame is transferred to the station conveying line (13) through the first lifting conveying line (12);
s2: the work station conveying line (13) horizontally conveys the material frames to a second lifting conveying line (14) at the left end of the work station conveying line; the second lifting conveying line (14) moves upwards and aligns to the left end of the return conveying line (15), and the material frame is transferred onto the return conveying line (15) by the second lifting conveying line (14);
s3: the material frame is horizontally conveyed to a third lifting conveying line (16) at the right end of the material frame by a return conveying line (15); the third lifting conveying line (16) moves downwards and is aligned with the discharging conveying line (17), and the material frame is transferred to the discharging conveying line (17) through the third lifting conveying line (16);
the marking demonstration process comprises the following steps:
s1: after the material frame is conveyed to a designated position by the station conveying line (13), the four mechanical hands (2) respectively grab the workpieces (5) at the left end and the right end of the station conveying line (13) and place the workpieces on the rotary conveying disc (34);
s2: the rotary conveying disc (34) rotates anticlockwise, and moves the workpiece (5) to a distance measuring station, a marking station and a detection station in sequence and then returns to a pick-and-place station;
s3: when the workpiece (5) is detected to be qualified, the workpiece (5) is replaced to the initial position of the station conveying line (13) by the corresponding manipulator (2); when the workpiece (5) is detected as a defective product, the workpiece (5) is placed into the defective product frame (6) by the fourth mechanical gripper (24).
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| CN202111286738.5A CN113996938A (en) | 2021-11-02 | 2021-11-02 | Integrated automatic marking platform for teaching |
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Cited By (3)
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| CN114406486A (en) * | 2022-03-29 | 2022-04-29 | 东莞市永勤精密技术有限公司 | Diversified laser marking machine of alloy structure spare |
| CN114515909A (en) * | 2022-03-10 | 2022-05-20 | 珠海格力电器股份有限公司 | Marking device and air conditioner production line with same |
| CN116922161A (en) * | 2023-09-18 | 2023-10-24 | 意特利（上海）科技有限公司 | Comprehensive detection method and device for appearance deviation of multi-station workpiece and machining center |
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| CN116922161B (en) * | 2023-09-18 | 2023-11-21 | 意特利（上海）科技有限公司 | Comprehensive detection method and device for appearance deviation of multi-station workpiece and machining center |
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