CN114067629A - Teaching device for motion principle demonstration and practical operation of multi-axis industrial robot - Google Patents
Teaching device for motion principle demonstration and practical operation of multi-axis industrial robot Download PDFInfo
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- CN114067629A CN114067629A CN202111456042.2A CN202111456042A CN114067629A CN 114067629 A CN114067629 A CN 114067629A CN 202111456042 A CN202111456042 A CN 202111456042A CN 114067629 A CN114067629 A CN 114067629A
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Abstract
The invention provides a motion principle demonstration and practical operation teaching device of a multi-axis industrial robot, which is characterized by comprising a touch display screen, a demonstrator, a servo motor display area, a direct-current power supply, a robot controller, a servo driver, a switch and an equipment main body; this application is to industrial robot motion principle and practical operation teaching system's problem, 4 kinds of teaching environment have been designed, can realize multiaxis industrial robot motion principle demonstration and practical operation teaching, multiaxis industrial robot single joint kinematics demonstration teaching and practice, multiaxis industrial robot multi-joint is synchronous or interpolation motion demonstration teaching and practice, be equipped with outside extension interface simultaneously, realize with PLC control system's integrated control teaching and practice, and the twin demonstration teaching practice function in multiaxis industrial robot virtual reality environment digit, systematic and suitability have.
Description
Technical Field
The invention relates to the technical field of industrial robot control teaching, in particular to a multi-axis industrial robot motion principle demonstration and practical operation teaching device.
Background
Industrial robots have become important production facilities in various fields of industrial production due to their characteristics of high precision, high reliability, high applicability, and the like, and are widely applied to a variety of fields such as automobiles, electronics, food, chemical industry, logistics, and the like. With the popularization of intelligent manufacturing, the market demand of industrial robots continuously increases at a high speed. The demand that then follows is to industrial robot technical talent increases, and the teaching device who is fit for industrial robot relevant knowledge teaching practice can help industrial robot professional knowledge talent's cultivation undoubtedly.
The conventional industrial robot teaching practice platforms of various types have one-sidedness, and the training of professional knowledge and practice capacity required by teaching cannot be well completed. The limiting factors that exist mainly include: the system has the advantages of function solidification, high cost, low efficiency, poor ductility, inconvenience in movement and incapability of completing the system teaching of relevant knowledge of the industrial robot on one platform. The teaching platform which only adopts the virtual simulation technology can only operate according to a pre-designed module, and cannot reflect the complex situation in the actual production and use process; the industrial robot directly using the existing brand has high cost, poor teaching effect and low teaching efficiency; the teaching platform built by the industrial robot and the PLC control system is solidified in structure, simulation construction of various production environments cannot be completed, and ductility is poor. The design of the multi-axis industrial robot motion principle demonstration and practice operation teaching device can systematically realize the demonstration of the joint motion principle and the multi-joint complex motion of the industrial robot on one device, the integrated teaching of the industrial robot and a PLC control system, the digital twin demonstration teaching of the virtual reality environment of the industrial robot, and the practice operation practice of the functions, and the device has systematicness and economy.
Disclosure of Invention
According to the technical problems, the invention provides a multi-axis industrial robot motion principle demonstration and practical operation teaching device which is characterized by comprising a touch display screen, an equipment power supply display lamp, an equipment emergency stop button, a demonstrator support, a demonstrator, a servo motor display area, an external expansion input terminal, an output terminal, an external communication interface, a power switch, a demonstrator interface, a direct current power supply, a robot controller, a servo driver, a switch and an equipment main body; the touch display screen is fixedly arranged at the upper end of the front side of the equipment main body, the equipment power supply display lamp is fixedly arranged at the front side of the equipment main body and is positioned at the right side of the touch display screen, the power switch is arranged between the touch display screen and the equipment power supply display lamp and is fixedly connected with the equipment main body, the servo motor display area is fixedly arranged at the middle part of the front side of the equipment main body, the external extension input, the output terminal, the external communication interface and the equipment emergency stop button are all arranged at the lower side of the servo motor display area and are all fixedly connected with the equipment main body, the direct current power supply, the robot controller, the servo driver and the switch are all sequentially arranged inside the servo motor display area from left to right, a demonstrator support is fixedly arranged at one side of the equipment main body, a demonstrator interface is arranged at the front end of the demonstrator support, and a demonstrator is arranged at the front side of the demonstrator interface, the bottom of equipment main part is fixed and is provided with a plurality of universal wheels, the upside of universal wheel all is provided with buffer gear.
The buffer mechanism comprises a buffer rod and a fixed plate, the fixed plate is fixedly arranged at the upper side of the universal wheel, a mounting frame is movably arranged at the middle part of the fixed plate in a penetrating way, the upper surface of the mounting frame is fixedly connected with the equipment main body, fixed blocks are fixedly arranged at both sides of the upper surface of the fixed plate, a fixed rod is fixedly arranged between the fixed blocks, sliding sleeves are movably sleeved at both ends of the fixed rod, a first spring is arranged between the sliding sleeves and movably sleeved with the fixed rod, both ends of the first spring are fixedly connected with the corresponding sliding sleeves, the buffer rod is arranged at the inner side of the mounting frame, both ends of the buffer rod are fixedly connected with the corresponding mounting frame and the corresponding sliding sleeves through shaft pins, buffer plates are fixedly arranged at both sides of the mounting frame, a slide rod is fixedly arranged at the lower side of the buffer plates, and the lower end of the slide rod penetrates through the fixed plate, and the rod wall of the sliding rod is movably sleeved with a second spring at the upper side of the fixed plate, and the two ends of the second spring are fixedly connected with the corresponding fixed plate and the buffer plate.
The external expansion input/output terminal includes: 16-way input terminal, 16-way transistor output terminal and 8-way relay output terminal.
The external communication interface includes: 2 EtherNet interfaces, 1 serial interface, 1 EtherCAT interface and two USB interfaces.
And a ventilation fan is arranged at the top end inside the equipment main body.
The invention has the beneficial effects that:
1. the teaching device for demonstrating motion principle of the multi-axis industrial robot and practical operation designed by the device can complete 4 kinds of teaching and practice related to the motion principle of the industrial robot, and can transmit real-time running state information of servo motors of all joints of the industrial robot to a display screen;
2. the device is provided with an external expansion interface, can realize integrated control with a PLC control system, is matched with various PLC production control platforms, simulates various actual production environments, and completes related teaching and practice;
3. a virtual reality environment digital twin demonstration control system is arranged in the device, so that virtual reality digital twin teaching and practice of industrial robots of various configurations can be realized;
4. the device is mobile design, and the universal wheel is equipped with to the bottom, conveniently removes and carries.
Drawings
FIG. 1 is a solid diagram of the overall structure of the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is an enlarged view of the structure of the portion A in FIG. 1;
fig. 4 is a diagram of the architecture of a multi-axis motion control system according to the present invention.
As shown in the figure: 1-touch display screen, 2-equipment power indicator lamp, 3-equipment emergency stop button, 4-demonstrator support, 5-demonstrator, 6-servo motor display area, 7-external extension input and output terminal, 8-external communication interface, 9-power switch, 10-demonstrator interface, 11-direct current power supply, 12-robot controller, 13-servo driver, 14-switch, 15-ventilation fan, 16-universal wheel, 17-equipment body, 18-fixing plate, 19-mounting rack, 20-fixing block, 21-fixing rod, 22-buffer rod, 23-sliding sleeve, 24-first spring, 25-buffer plate, 26-sliding rod, 27-second spring.
Detailed Description
Example 1
The invention provides a multi-axis industrial robot motion principle demonstration and practical operation teaching device, which is characterized by comprising a touch display screen 1, an equipment power supply display lamp 2, an equipment emergency stop button 3, a demonstrator support 4, a demonstrator 5, a servo motor display area 6, an external expansion input and output terminal 7, an external communication interface 8, a power switch 9, a demonstrator interface 10, a direct-current power supply 11, a robot controller 12, a servo driver 13, a switch 14 and an equipment main body 17; the touch display screen 1 is fixedly arranged at the upper end of the front side of the equipment main body 17, the equipment power supply display lamp 2 is fixedly arranged at the front side of the equipment main body 1 and is positioned at the right side of the touch display screen 1, the power switch 9 is arranged between the touch display screen 1 and the equipment power supply display lamp 2 and is fixedly connected with the equipment main body 17, the servo motor display area 6 is fixedly arranged at the middle part of the front side of the equipment main body 17, the external extension input and output terminal 7, the external communication interface 8 and the equipment emergency stop button 3 are all arranged at the lower side of the servo motor display area 6 and are all fixedly connected with the equipment main body 17, the direct current power supply 11, the robot controller 12, the servo driver 13 and the switch 14 are all sequentially arranged inside the servo motor display area 6 from left to right, the demonstrator support 4 is fixedly arranged at one side of the equipment main body 17, and the demonstrator interface 10 is arranged at the front end of the demonstrator support 4, the demonstrator 5 is installed on the front side of the demonstrator interface 10, a plurality of universal wheels 16 are fixedly arranged at the bottom of the equipment main body 17, and buffer mechanisms are arranged on the upper sides of the universal wheels 16.
The buffer mechanism comprises a buffer rod 22 and a fixed plate 18, the fixed plate 18 is fixedly arranged on the upper side of the universal wheel 16, a mounting rack 19 is movably arranged in the middle of the fixed plate 16 in a penetrating manner, the upper surface of the mounting rack 19 is fixedly connected with the equipment main body 17, both sides of the upper surface of the fixed plate 18 are fixedly provided with fixed blocks 20, a fixed rod 21 is fixedly arranged between the fixed blocks 20, both ends of the fixed rod 21 are movably sleeved with sliding sleeves 23, a first spring 24 is arranged between the sliding sleeves 23, the first spring 24 is movably sleeved with the fixed rod 21, both ends of the first spring 24 are fixedly connected with the corresponding sliding sleeves 23, the buffer rod 22 is arranged on the inner side of the mounting rack 19, both ends of the buffer rod 22 are fixedly connected with the corresponding mounting rack 19 and the corresponding sliding sleeves 23 through shaft pins, buffer plates 25 are fixedly arranged on both sides of the mounting rack 19, a slide rod 26 is fixedly arranged on the lower sides of the buffer plates 25, and the lower ends of the slide rod 26 penetrate through the fixed plate 18, and a second spring 27 is movably sleeved on the rod wall of the sliding rod 26 and positioned on the upper side of the fixed plate 18, and two ends of the second spring 27 are fixedly connected with the corresponding fixed plate 18 and the buffer plate 25.
The external expansion input/output terminal 7 includes: 16-way input terminal, 16-way transistor output terminal and 8-way relay output terminal.
The external communication interface 8 includes: 2 EtherNet interfaces, 1 serial interface, 1 EtherCAT interface and two USB interfaces.
The ventilation fan 15 is provided at the top end inside the apparatus main body 1, and the heat radiation performance of the apparatus can be improved.
Example 2
When the robot controller is used, a teaching task is selected, the connection between the system and other hardware platforms (used in a PLC integrated experiment) is completed according to the requirement of an actual task, the hardware configuration of the system is completed, then the compiling of a control program is completed according to the task requirement, and the compiled program is downloaded to the robot controller. And (3) running a control program, observing the running condition of the configuration motor in a servo motor display area, monitoring the running parameters and running states of all components of the system in real time through a touch screen, and modifying and perfecting the program according to the running parameters and the running states until the experimental expectation is reached. The device embeds twin demonstration control system of virtual reality environment digit, utilizes the twin technique of virtual reality digit can realize various configuration industrial robot's emulation teaching and practical operation, deepens the understanding to various configuration industrial robot orbit and practical application environment, and simultaneously, the device is portable design, and the universal wheel that has buffer gear is equipped with to the bottom, conveniently removes and carries.
Example 3
The industrial robot motion principle and system integration demonstration practical operation comprises the following specific implementation steps:
step 1: switching on a power supply of the equipment, starting the equipment, and finishing initialization;
step 2: selecting an experimental environment and an experimental task;
and step 3: completing hardware connection of corresponding experiments, hardware configuration and program compiling;
and 4, step 4: the method comprises the following steps of finishing visual verification of a control program by utilizing a servo motor in a servo motor display area of equipment;
and 5: the method comprises the following steps of collecting and monitoring operation parameters and operation states of each motor or integrated system in real time through a touch display screen;
step 6: and adjusting and perfecting the control program according to the acquired data and state to finally obtain an expected experimental result.
The multi-axis motion control system training platform is mainly divided into a control area, a demonstration area, an operation area and an expansion area. The control area mainly comprises a controller and a power supply control module, the power supply control module comprises a power switch, a working and alarming indicator lamp, an emergency stop button, a servo system power supply air switch and other electrical elements, and the main control function of the multi-axis motion control system training platform is realized in the area; 6 servo systems consisting of servo drivers and servo motors are arranged in the demonstration area and are used for actually observing the control effect of the control program; a demonstrator is installed in the operation area so as to operate the development platform conveniently; the extension area is provided with buttons and indicator lamps which can be used in the use process of the multi-axis motion control system practical training platform, a user can be freely connected with the output signal of the controller through a fast plug wire for use, and in addition, the platform can realize the development of programs and the monitoring of experimental effects through a PC.
The controller controls the servo driver according to the program command edited by the user, and indirectly drives the servo motors to complete the motion control of each servo motor. The data instruction transmission between the controller and the servo driver uses EtherCAT network communication, the digital input/output terminal and other interfaces of the controller can be used as external equipment extension of a control system, and all the extension interfaces are arranged around the motion controller in a quick connector mode, so that a user can conveniently and directly use the motion controller in a plug-in mode. The Ether NET interface can realize remote or online control of a user, and the RS232 interface can be connected with a touch screen or a robot demonstrator.
Another important component of the multi-axis motion control system training platform is a servo system. Servo systems are widely used in various fields, such as positioning control and running trajectory control of numerically controlled machine tools, automatic tracking of radars and weapons, joint motion control of industrial robots, and the like, and are indispensable devices in the fields of industry, science and technology, national defense, and the like, and are important components of motion control systems. The servo system consists of four parts, namely a servo motor, a power driver, a controller and a sensor.
1. Servo motor
The servo motor is an actuating mechanism of a servo system, and a permanent magnet type servo motor or a reluctance type servo motor is used in a low-power servo system. In the case of high or comparatively high powers, electrically excited dc or ac servomotors can also be used. From the view of motor structure and mathematical model, the servo motor has no essential difference with the speed regulating motor, the rotational inertia of the servo motor is generally smaller than that of the speed regulating motor, the low-speed and zero-speed loading performance is superior to that of the speed regulating motor, and the current common use is an alternating current servo motor or a direct current brushless servo motor.
2. Servo system power driver
The power driver is mainly used for amplifying power and outputting proper voltage and frequency according to different servo motors, so that the torque and the rotating speed of the servo motors are controlled, the actual requirements of a servo system are met, and the expected performance index is achieved. Since the servo motor needs four-quadrant operation, the Power driver must be reversible, and the medium and low Power servo system usually uses a PWM converter formed by IGBT or Power-MOSFET.
3. Servo system controller
The controller is the key of the servo system, and generates a control signal of the power driver through a necessary control algorithm according to the position deviation signal. Servo system controllers have undergone a progression from analog control to computer digital control.
Early servo control systems employed analog controllers and analog position sensors, which had poor positioning accuracy and performance control. The development of computer control technology changes this phenomenon, and computer digital control technology is applied to servo systems to gradually replace analog control servo systems and gradually becomes the mainstream mode of servo system control. The computer digital control can realize the functions of data communication, complex logic and data processing, fault discrimination and the like, the performance far exceeds that of an analog control mode, and a high-precision digital position sensor is matched, so that the positioning precision and the dynamic performance of a servo system are improved.
4. Servo system sensor
A sensor refers to a device or apparatus that can sense a specified measured quantity and convert it into a usable output signal according to a certain rule. The sensor is an important link for realizing automatic detection and automatic control. In the servo control system, the sensor is a position sensor, which can detect the actual displacement (linear displacement or angular displacement) of the actuator, convert the actual displacement into an analog signal or a digital signal, and calculate the deviation signal between the signal and the input quantity of the controller through a corresponding algorithm and a corresponding circuit. The servo controller executes control according to the deviation signal to eliminate the deviation. Common types of position sensors include: potentiometers, electromagnetic position sensors, photoelectric encoders, magnetic encoders, and the like.
It should be noted that the above-mentioned embodiments are only technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention is not limited thereby. All equivalent changes and modifications made according to the spirit of the present invention are covered within the protection scope of the present invention.
Claims (5)
1. The teaching device for demonstrating motion principle and practical operation of the multi-axis industrial robot is characterized by comprising a touch display screen, an equipment power supply display lamp, an equipment emergency stop button, a demonstrator support, a demonstrator, a servo motor display area, an external extended input and output terminal, an external communication interface, a power switch, a demonstrator interface, a direct-current power supply, a robot controller, a servo driver, a switch and an equipment main body; the touch display screen is fixedly arranged at the upper end of the front side of the equipment main body, the equipment power supply display lamp is fixedly arranged at the front side of the equipment main body and is positioned at the right side of the touch display screen, the power switch is arranged between the touch display screen and the equipment power supply display lamp and is fixedly connected with the equipment main body, the servo motor display area is fixedly arranged at the middle part of the front side of the equipment main body, the external extension input, the output terminal, the external communication interface and the equipment emergency stop button are all arranged at the lower side of the servo motor display area and are all fixedly connected with the equipment main body, the direct current power supply, the robot controller, the servo driver and the switch are all sequentially arranged inside the servo motor display area from left to right, a demonstrator support is fixedly arranged at one side of the equipment main body, a demonstrator interface is arranged at the front end of the demonstrator support, and a demonstrator is arranged at the front side of the demonstrator interface, the bottom of equipment main part is fixed and is provided with a plurality of universal wheels, the upside of universal wheel all is provided with buffer gear.
2. The motion principle demonstration and practical operation teaching device of the multi-axis industrial robot according to claim 1, characterized in that the buffer mechanism comprises a buffer rod and a fixed plate, the fixed plate is fixedly arranged on the upper side of the universal wheel, a mounting rack is movably arranged in the middle of the fixed plate in a penetrating manner, the upper surface of the mounting rack is fixedly connected with the equipment main body, fixed blocks are fixedly arranged on both sides of the upper surface of the fixed plate, a fixed rod is fixedly arranged between the fixed blocks, sliding sleeves are movably sleeved on both ends of the fixed rod, a first spring is arranged between the sliding sleeves and movably sleeved with the fixed rod, both ends of the first spring are fixedly connected with the corresponding sliding sleeves, the buffer rod is arranged on the inner side of the mounting rack, both ends of the buffer rod are fixedly connected with the corresponding mounting rack and sliding sleeves through shaft pins, buffer plates are fixedly arranged on both sides of the mounting rack, the fixed slide bar that is provided with of downside of buffer board, the lower extreme of slide bar runs through the fixed plate, the pole wall of slide bar and the upside activity that is located the fixed plate have cup jointed the second spring, the both ends of second spring all with corresponding fixed plate and buffer board fixed connection.
3. The motion principle demonstration and practical operation teaching device for the multi-axis industrial robot in accordance with claim 1 wherein said external expansion input and output terminals comprise: 16-way input terminal, 16-way transistor output terminal and 8-way relay output terminal.
4. The motion principle demonstration and practical operation teaching device for the multi-axis industrial robot in accordance with claim 1 wherein said external communication interface comprises: 2 Ether Net interfaces, 1 serial interface, 1 Ether CAT interface and two USB interfaces.
5. The motion principle demonstration and practical operation teaching device of the multi-axis industrial robot according to claim 1, wherein an inner top end of the apparatus main body is provided with a ventilation fan.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107492298A (en) * | 2017-08-14 | 2017-12-19 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot teaching station |
| CN208141628U (en) * | 2017-11-30 | 2018-11-23 | 陈德洲 | Cultural relations teaching demonstration device in international relations teaching |
| CN209691121U (en) * | 2018-11-06 | 2019-11-26 | 长沙师范学院 | A kind of portable adult education Multifunctional demonstration equipment |
| CN210574412U (en) * | 2019-07-02 | 2020-05-19 | 成都聚元信息技术有限公司 | Robot comprehensive simulation teaching platform |
-
2021
- 2021-12-01 CN CN202111456042.2A patent/CN114067629A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107492298A (en) * | 2017-08-14 | 2017-12-19 | 北京华航唯实机器人科技股份有限公司 | A kind of industrial robot teaching station |
| CN208141628U (en) * | 2017-11-30 | 2018-11-23 | 陈德洲 | Cultural relations teaching demonstration device in international relations teaching |
| CN209691121U (en) * | 2018-11-06 | 2019-11-26 | 长沙师范学院 | A kind of portable adult education Multifunctional demonstration equipment |
| CN210574412U (en) * | 2019-07-02 | 2020-05-19 | 成都聚元信息技术有限公司 | Robot comprehensive simulation teaching platform |
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