CN206236307U - A kind of multirobot practice teaching platform - Google Patents
A kind of multirobot practice teaching platform Download PDFInfo
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- CN206236307U CN206236307U CN201621053671.5U CN201621053671U CN206236307U CN 206236307 U CN206236307 U CN 206236307U CN 201621053671 U CN201621053671 U CN 201621053671U CN 206236307 U CN206236307 U CN 206236307U
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Abstract
The utility model discloses a kind of multirobot practice teaching platform, including Practical training table, logic control element and the feeding unit material on Practical training table, sorting unit and handling unit；The feeding unit material, sorting unit and handling unit are set gradually, and the logic control element is arranged in Practical training table, is connected with feeding unit material, sorting unit and handling unit respectively；The utility model includes feeding unit material, sorting unit and the handling unit of the pipeline system on Practical training table, and these three units complete arrangement feeding, detection and sorting and are transported to the work of given place to material respectively；In addition, logic control element is there is also mounted in Practical training table, by collecting the feedback information of feeding photoelectric sensor, machine vision device and feeding photoelectric sensor, for controlling and coordinating feeding unit material, sorting unit and handling unit cooperating.It is simple structure of the present utility model, small volume, lightweight, it is very suitable for teaching displaying and training operation.
Description
Technical field
The utility model is related to robot and teaching equipment field, more particularly to a kind of is used for student's displaying and can be real
The multirobot combined teaching method training platform of border operation.
Background technology
With the lifting of Chinese labour force cost, traditional manufacture urgently by way of the production automation come realize transition
Upgrading, and various regions government also puts into effect the policy for supporting " machine substitute human labor " in succession.Meanwhile, turn into the world most in China in 2014
Big robot market, and in the trend of sustainable growth.Based on this, automation industry to grasp robot development, using, safeguard
There is great demand etc. the talent of technology, and corresponding teaching training apparatus play an important role to cultivating such talent.
Electromechanical integration training platform on the market only has an industrial robot for six degree of freedom, this industrial robot mostly at present
Volume is big, weight is heavy, inertia is big, is not particularly suited in practice teaching, but also has lacked conventional in the tasks such as production, assembling
Delta parallel robots and SCARA robots, it is difficult to robot industry, the related talent plays the knowledge skill of Comprehensive
Can training.Therefore, the robot for developing a set of various various configurations of application realizes the teaching reality of the tasks such as feeding, sorting, carrying
Instruction stage apparatus have actual meaning to the culture of the talent, the demand of industry.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of small volume, lightweight integration
Multirobot combined teaching method training platform.
The purpose of this utility model is achieved through the following technical solutions：
A kind of multirobot practice teaching platform, mainly including Practical training table, logic control element and installed in Practical training table
On feeding unit material, sorting unit and handling unit.The feeding unit material, sorting unit and handling unit set gradually, and are formed
Streamline.The logic control element is arranged in Practical training table, is connected with feeding unit material, sorting unit and handling unit respectively,
Working condition for adjusting each unit, is allowed to cooperate.
Specifically, the feeding unit material includes that stock shelf and the vibrating disk on stock shelf, level are moved forward and backward
First straight line cylinder, the second straight line cylinder, discharging location-plate, the first vacuum cup and the feeding photoelectric transfer that move up and down vertically
Sensor.The first straight line cylinder is fixed on the top of vibrating disk, and second straight line cylinder is arranged on the slide unit of first straight line cylinder
On, the first vacuum cup is arranged on the piston-rod end of second straight line cylinder.The feeding photoelectric sensor and discharging are positioned
Plate is arranged at the discharge outlet of vibrating disk, for detection and positioning materials.During work, the material in vibrating disk is arrived under vibrations
Up to discharge outlet, blocked by discharging location-plate, discharging photoelectric sensor detects discharging opening material, feeds back information to logic
Control unit, logic control element passes through first straight line cylinder and the vacuum cup of second straight line air cylinder driven first to discharge outlet
Absorbing material, and material is put on conveying mechanism.
Specifically, the sorting unit is including being used for the Delta robots of the four-degree-of-freedom of Material Sorting, for catch
The machine vision device and conveying mechanism of material size and attitude.Connect at one end of the conveying mechanism and the discharging of feeding unit material
Connect, the other end is connected with handling unit.The machine vision device and Delta robots are arranged on conveying mechanism top, are used for
Catch the attitude of material and sorted.
Wherein, the conveying mechanism includes conveying motor, sprocket gear speed reducer, belt pulley, conveyer belt, material-dividing groove and feeding light
Electric transducer.The input of the sprocket gear speed reducer is connected with conveying motor connection, output end with pulley drive, conveys motor
By sprocket gear speed reducer with pulley rotation.The belt pulley at least installs two, respectively positioned at the front and back end of conveying mechanism,
The conveyer belt is installed over pulleys carried, and material is transported by belt wheel drive.The material-dividing groove is located at the end of conveyer belt, material
Enter corresponding hopper after being sorted.The feeding photoelectric sensor is arranged on material-dividing groove, the position for determining material.It is excellent
Choosing, the conveying motor uses simple structure, the threephase asynchronous that easily manufactured, runnability is good, cost performance is higher.
The Delta robots include the first frame and the Delta robot bodies in the first frame, use
In first controller and the second vacuum cup of control Delta robot bodies.First frame is set on the conveyor,
Delta robot bodies are located at conveying mechanism top as execution unit, and supplied materials is sorted.First controller is set
In Practical training table, it is connected with Delta robot bodies and the second vacuum cup respectively, one is inhaled by controlling the second vacuum cup one
The form put carries out Material Sorting.In order to mitigate the weight of robot, inertia is reduced, it is to avoid security incident, the Delta occur
Robot body is driven using simple structure, lightweight steering wheel.Second vacuum cup is arranged on Delta robots sheet
On the steering wheel of the 4th axle (four-degree-of-freedom) of body.
The machine vision device includes catching the image processing module of image, vision controller, industrial phase for processing
Machine and camera lens.The industrial camera is arranged in the first frame, and the camera lens are arranged on industrial camera, described to regard
Feel that controller is connected with industrial camera, image processing module and logic control element respectively, view data is fed back at image
Reason resume module.
Specifically, the handling unit includes the SCARA robots of the four-degree-of-freedom for carrying material and for placing
The slew gear of material.The SCARA robots are located at the end of conveying mechanism, the material handling that will have been sorted to slew gear
On.
Wherein, the SCARA robots include the second robot body, second controller and the second vacuum cup.It is described
Second robot body is arranged on the end of conveying mechanism, is connected with second controller, controls it to act by second controller.Institute
Second controller is stated in Practical training table, is connected with logic control element.Second vacuum cup is arranged on the second machine
On human body, as the execution unit of the second robot body absorbing material.
The slew gear includes stepper motor, shaft coupling, revolving dial, pedestal and the 3rd controller.The stepping electricity
Machine is arranged on pedestal, and the revolving dial is connected by shaft coupling with the output shaft of stepper motor；3rd controller sets
Put in pedestal, be connected with stepper motor, drive revolving dial to rotate by Driving Stepping Motor.
Further, the logic control element is main by Programmable Logic Controller, breaker, contactor, relay, wiring
Terminal board is constituted, and the Programmable Logic Controller, breaker, contactor, relay and coupling terminal block are connected respectively, and concentrate peace
On mesh plate.
Working process and principle of the present utility model are：The utility model includes the pipeline system on Practical training table
Feeding unit material, sorting unit and handling unit, these three units respectively to material complete arrangement feeding, detection and sorting and
It is transported to the work of given place；In addition, logic control element is there is also mounted in Practical training table, by collecting feeding photoelectric sensing
The feedback information of device, machine vision device and feeding photoelectric sensor, for controlling and coordinating feeding unit material, sorting unit and remove
Transportation unit cooperating.It is simple structure of the present utility model, small volume, lightweight, it is very suitable for teaching displaying and real training behaviour
Make.
Compared with prior art, the utility model has further the advantage that：
(1) the utility model contains two four-freedom degree industrial robots, i.e. Delta parallel robots and SCARA machines
Device people, compensate for electrical category training platform on the market and lacks Duo Tai robots or the only deficiency of six-DOF robot, allow
Typical case's application of many industrial robots of raw visual understanding.
(2) the utility model is designed using modularization idea, both can simultaneously run whole modules, simulates an automation
Production line, can independently be arranged in pairs or groups and be constituted different teaching experiments with isolated operation module again.
(3) two machines that the utility model is included are per capita small scale robots, even if at high speeds also will not be right
User causes danger, safe.
(4) the utility model is provided and enriches friendly man-machine interface, facilitates student to enter the control of each module of training platform.
(5) the utility model includes feeding, sorting, transportation process, can fast culture student robot motion control comprehensively
Knowledge in terms of the industrial automations such as system, machine vision, electric automatization, pneumatic control, advanced language programming.
Brief description of the drawings
Fig. 1 is the overall structure diagram of multirobot practice teaching platform provided by the utility model.
Fig. 2 is the stereogram of feeding unit material provided by the utility model.
Fig. 3 is the stereogram of sorting unit provided by the utility model.
Fig. 4 is the stereogram of handling unit provided by the utility model.
Label declaration in above-mentioned accompanying drawing：
1- feeding unit materials, 2- sorting units, 3- handling unit, 4- Practical training tables, 1.1- vibrating disks, 1.2- fore-and-aft direction straight lines
Cylinder, 1.3- above-below directions straight line cylinder, 1.4- vacuum cups, 1.5- dischargings location-plate, 1.6- feedings photoelectric sensor, 2.1-
Delta parallel robots, 2.2- industrial cameras, 2.3- camera lens, 2.4- conveyer belts, 2.5- feedings photoelectric sensor, 2.6-
Material-dividing groove, 3.1-SCARA robots, 3.2- pedestals, 3.3- revolving dials.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is described in further detail for example.
Embodiment 1：
As shown in figure 1, the utility model is related to a kind of multirobot practice teaching platform, including feeding unit material 1, sorting list
Unit 2, handling unit 3, logic control element and Practical training table 4, the logic control element are arranged on inside Practical training table 4, remaining list
Unit is sequentially arranged on Practical training table 4, forms streamline.
As shown in Fig. 2 the feeding unit material 1 is by vibrating disk 1.1, fore-and-aft direction straight line cylinder 1.2, above-below direction straight line gas
Cylinder 1.3, the first vacuum cup 1.4, discharging location-plate 1.5, feeding photoelectric sensor 1.6 are constituted.The discharging location-plate 1.5 is pacified
Mounted in the discharge outlet of vibrating disk 1.1, the feeding photoelectric sensor 1.6 is arranged on discharging location-plate 1.5, the fore-and-aft direction
Straight line cylinder 1.2 is arranged on the top of discharging location-plate 1.6, and the above-below direction straight line cylinder 1.3 is arranged on fore-and-aft direction straight line
On the slide unit of cylinder 1.2, first vacuum cup 1.4 is arranged on the piston-rod end of above-below direction straight line cylinder.Vibrating disk
1.1 be used for weed out erect attitude workpiece, and remaining workpiece it is in good order be aligned to discharge outlet.Fore-and-aft direction straight line
Cylinder 1.2 and above-below direction straight line cylinder 1.3 arrive discharging opening feeding with the first vacuum cup 1.4, and are put on conveyer belt.
As shown in figure 3, the sorting unit 2 is by the Delta parallel robots 2.1 with four-degree-of-freedom, machine vision system
System, conveying mechanism composition.The Delta parallel robots 2.1 are main by Delta robot bodies, robot controller, end
Vacuum cup is constituted, and the end vacuum cup is arranged on the 4th axle (four-degree-of-freedom) of the Delta parallel robots.Institute
NI Vision Builder for Automated Inspection is stated to be made up of vision software, vision controller, industrial camera 2.2, camera lens 2.3.The straight line conveying
Mechanism is by threephase asynchronous, sprocket gear speed reducer, belt pulley, conveyer belt 2.4, feeding photoelectric sensor 2.5, material-dividing groove 2.6
Composition, the feeding photoelectric sensor 2.5 is arranged on material-dividing groove 2.6, and the material-dividing groove 2.6 is arranged under conveyer belt 2.4
Trip.The straight line conveyer structure is arranged at the discharging of the feeding unit material 1, and the Delta parallel robots 2 are arranged on described defeated
Mechanism top is sent, the industrial camera 2.2 is arranged in the frame of Delta parallel robots.Material on conveyer belt 2.4 forward
Conveying, NI Vision Builder for Automated Inspection is analyzed to the size of material and position, and feedback result is to logic control element, logic control
Unit processed controls Delta robots to be sorted again, and material eventually enters into material-dividing groove 2.6, and feeding photoelectric sensor 2.5 is detected
Notify that SCARA robots are carried after material.
As shown in figure 4, the handling unit 3 is made up of four-degree-of-freedom SCARA robots 3.1 and slew gear.Described four
Free degree SCARA robots 3.1 are made up of SCARA robot bodies, robot control cabinet, end sucker.The SCARA machines
The body of people is arranged on the downstream of sorting unit 2, and the robot control cabinet is arranged on inside the Practical training table 4.The turn-around machine
Structure is made up of stepper motor, shaft coupling, revolving dial 3.3, pedestal 3.2, controller, and the stepper motor is arranged on pedestal 3.2
Interior, the shaft coupling is connected with the stepper motor output shaft, and the revolving dial 3.3 is arranged on the flange of the shaft coupling
On disk, the controller is arranged on the inside of the pedestal 3.2.Logic control element is received from feeding photoelectric sensor
After 2.5 signal, drive SCARA robot bodies to the feeding of material-dividing groove 2.6, then material is put on revolving dial 3.3, and
According to material number and the density put the angle that controls revolving dial 3.3 to rotate.
The logic control element, mainly by Programmable Logic Controller, breaker, contactor, relay, coupling terminal block group
Into and mesh plate composition, the above electrical equipment is integrated on the mesh plate, and mesh plate is arranged in the Practical training table 4
Portion.
The course of work of this platform is：Workpiece (Chinese chess) is arbitrarily positioned in the vibrating disk 1.1 of the feeding unit material 1,
Then it is neatly arranged in the discharge outlet of vibrating disk 1.1, it is front and rear after the feeding photoelectric sensor 1.6 detects workpiece
The setting in motion of piston rod 2 of direction cylinder 1.2 and above-below direction cylinder 1.3 so that sucker moves to the top of workpiece, then inhales
Disk has adsorbed workpiece, and the aggregate motion again of described two cylinders causes that workpiece is carried to the conveyer of the sorting unit 2
On structure.Workpiece is moved in the visual field of the industrial camera 2.2 on conveying mechanism, and the vision software calculates the position of workpiece
Put, attitude and type, then guide the dynamic of the Delta parallel robots 2.1 to draw workpiece, and workpiece is placed on into material-dividing groove
In 2.6 corresponding material roads.After feeding photoelectric sensor 2.5 on material-dividing groove 2.6 detects workpiece, the four of the handling unit 3
Free degree SCARA robots 3.1 are placed on workpiece (Chinese chess) on the revolving dial 3.3 (chess manual) of slew gear.The revolution
Platform 3.3 is rotated according to the display case of workpiece.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (7)
1. a kind of multirobot practice teaching platform, it is characterised in that including Practical training table, logic control element and be arranged on
Feeding unit material, sorting unit and handling unit on Practical training table；The feeding unit material, sorting unit and handling unit set successively
Put, the logic control element is arranged in Practical training table, is connected with feeding unit material, sorting unit and handling unit respectively；
The feeding unit material includes the first straight line that stock shelf and the vibrating disk on stock shelf, level are moved forward and backward
Cylinder, the second straight line cylinder for moving up and down vertically, discharging location-plate, the first vacuum cup and feeding photoelectric sensor；It is described
First straight line cylinder is fixed on the top of vibrating disk, and second straight line cylinder is arranged on the slide unit of first straight line cylinder, and first is true
Suction disk is arranged on the piston-rod end of second straight line cylinder；The feeding photoelectric sensor and discharging location-plate are arranged at shaking
The discharge outlet of Moving plate, for detection and positioning materials；
The sorting unit includes Delta robots, machine vision device and the conveyer of the four-degree-of-freedom for Material Sorting
Structure；One end of the conveying mechanism is connected with the discharging of feeding unit material, and the other end is connected with handling unit；The machine vision
Device and Delta robots are arranged on conveying mechanism top, for catching the attitude of material and being sorted；
The handling unit includes the SCARA robots and slew gear of the four-degree-of-freedom for carrying material；The SCARA machines
Device people is located at the end of conveying mechanism, in the material handling that will have been sorted to slew gear.
2. multirobot practice teaching platform according to claim 1, it is characterised in that the Delta robots include the
One frame and the Delta robot bodies in the first frame, the first controller and the second vacuum cup；Described
One frame is set on the conveyor, and Delta robot bodies are located at conveying mechanism top；First controller is arranged on reality
In instruction table, it is connected with Delta robot bodies and the second vacuum cup respectively；The Delta robot bodies are driven using steering wheel
It is dynamic；Second vacuum cup is arranged on the 4th axle steering wheel of Delta robot bodies.
3. multirobot practice teaching platform according to claim 2, it is characterised in that the conveying mechanism includes conveying electricity
Machine, sprocket gear speed reducer, belt pulley, conveyer belt, material-dividing groove and feeding photoelectric sensor；The input of the sprocket gear speed reducer with it is defeated
Motor connection, output end is sent to be connected with pulley drive, the conveyer belt is installed over pulleys carried, and the material-dividing groove is located at conveying
The end of band, the feeding photoelectric sensor is arranged on material-dividing groove, the position for determining material.
4. multirobot practice teaching platform according to claim 3, it is characterised in that the machine vision device includes regarding
Feel controller, industrial camera and camera lens；The industrial camera is arranged in the first frame, and the camera lens are arranged on work
On industry camera, the vision controller is connected with industrial camera and logic control element respectively.
5. multirobot practice teaching platform according to claim 4, it is characterised in that the SCARA robots include the
Two robot bodies, second controller and the second vacuum cup；Second robot body is arranged on the end of conveying mechanism,
It is connected with second controller；The second controller is arranged in Practical training table；Second vacuum cup is arranged on the second machine
On human body.
6. multirobot practice teaching platform according to claim 5, it is characterised in that the slew gear includes stepping electricity
Machine, shaft coupling, revolving dial, pedestal and the 3rd controller；The stepper motor is arranged on pedestal, and the revolving dial passes through
Shaft coupling is connected with the output shaft of stepper motor；3rd controller is arranged in pedestal, is connected with stepper motor.
7. the multirobot practice teaching platform according to any one in claim 3-6, it is characterised in that the conveying electricity
Machine uses threephase asynchronous.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053671.5U CN206236307U (en) | 2016-09-13 | 2016-09-13 | A kind of multirobot practice teaching platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053671.5U CN206236307U (en) | 2016-09-13 | 2016-09-13 | A kind of multirobot practice teaching platform |
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| Publication Number | Publication Date |
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| CN206236307U true CN206236307U (en) | 2017-06-09 |
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ID=58981873
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621053671.5U Active CN206236307U (en) | 2016-09-13 | 2016-09-13 | A kind of multirobot practice teaching platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
| CN108320656A (en) * | 2018-04-08 | 2018-07-24 | 广东创真教育科技股份有限公司 | A kind of robot teaching's equipment |
| CN109397269A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | The robot actual training device and robot Practical Training Teaching-Platform of view-based access control model |
| CN109461336A (en) * | 2018-11-23 | 2019-03-12 | 无锡职业技术学院 | A kind of half virtual objects sorting system training platform in kind based on machine vision |
-
2016
- 2016-09-13 CN CN201621053671.5U patent/CN206236307U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
| CN108320656A (en) * | 2018-04-08 | 2018-07-24 | 广东创真教育科技股份有限公司 | A kind of robot teaching's equipment |
| CN109461336A (en) * | 2018-11-23 | 2019-03-12 | 无锡职业技术学院 | A kind of half virtual objects sorting system training platform in kind based on machine vision |
| CN109397269A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | The robot actual training device and robot Practical Training Teaching-Platform of view-based access control model |
| CN109397269B (en) * | 2018-12-25 | 2024-03-22 | 苏州富纳艾尔科技有限公司 | Real device of instructing of robot and real teaching platform of instructing of robot based on vision |
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