CN209388512U - A kind of wisdom factory teaching training system - Google Patents
A kind of wisdom factory teaching training system Download PDFInfo
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- CN209388512U CN209388512U CN201821659987.8U CN201821659987U CN209388512U CN 209388512 U CN209388512 U CN 209388512U CN 201821659987 U CN201821659987 U CN 201821659987U CN 209388512 U CN209388512 U CN 209388512U
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Abstract
The utility model creation discloses a kind of wisdom factory teaching training system, including feeding device, screening plant, four-degree-of-freedom robot, six-DOF robot, transhipment conveyer belt, tolerance detection device, AGV transport carriage, piler, tiered warehouse facility, laser marker and PLC control cabinet.The wisdom factory teaching training system carries out coordinated control to feed conveyer belt, push cylinder, industry camera, screening cylinder, four-degree-of-freedom robot, detection conveyer belt, infrared distance sensor, transhipment conveyer belt, six-DOF robot, coding conveyer belt, code spraying device, bottom carrier loader, electric lifting mechanism and AGV transport carriage respectively using PLC control cabinet, it is demonstrated to realize to control from feeding, detection, screening, assembly, tolerance detection, goods rejection, coding, transhipment and the wisdom factory of storage, improves efficiency of teaching.
Description
Technical field
The invention is related to a kind of teaching training system, especially a kind of wisdom factory teaching training system.
Background technique
With the iterative method of " made in China 2025 " and " industry 4.0 ", equipment manufacture is towards " wisdom "
Advanced Control Techniques direction is developed, and has the urgent market demand for the talent and technology, and Advanced Control Techniques are related to intelligence
It can control algorithm and emulation, motion control, the interdisciplinary study application of Real-time Communication Technology, intelligent sensing technology, robot technology,
Therefore, there is an urgent need to establish a set industrial robot, stereo warehouse, material transferring, production information management in the intelligence of one
Intelligent factory's teaching training system.
Summary of the invention
Innovation and creation purpose: robot, stereo warehouse, material transferring and production information management can be completed by providing one
The wisdom factory teaching training system of practice teaching.
Technical solution: wisdom factory teaching training system described in the invention, including feeding device, screening plant,
Four-degree-of-freedom robot, six-DOF robot, transhipment conveyer belt, tolerance detection device, AGV transport carriage, piler, solid
Warehouse, laser marker and PLC control cabinet；
Feeding device and screening plant are installed on feeding platform bracket；
Feeding device includes material frame, feed conveyer belt and push cylinder；It is flat that feed conveyer belt is arranged horizontally in feed
On platform bracket；Material frame is located at the feeding end position of feed conveyer belt；Push cylinder is mounted on the side of material frame, for pushing
On workpiece to feed conveyer belt on material frame；
Screening plant includes detection support, industry camera and screening cylinder；Detection support is mounted on feed conveyer belt
Middle side edge；Industry camera is mounted in detection support, and the downward face of industry camera is fed conveyer belt；Screen cylinder
Pass through the horizontal discharging end side for being mounted on feed conveyer belt of side support；It is being fed the side of conveyer belt and is being located at screening cylinder
Opposite side be equipped with blanking slope；
Four-degree-of-freedom robot is mounted on above the discharging end of feed conveyer belt by mounting plate；It is set on mounting plate
There are the first assembly station and the second assembly station, and the first assembly station and the second assembly station are respectively positioned on four-degree-of-freedom robot
Extending range in；
Tolerance detection device includes detection platform, detection conveyer belt and sensor stand；It is installed on sensor stand
There is the infrared distance sensor for detecting workpiece size；Detection conveyer belt is mounted in detection platform；Sensor stand is fixed
It is mounted in detection platform, and is located above detection conveyer belt；
Transhipment conveyer belt is mounted between mounting plate and detection conveyer belt, for workpiece to be transported to inspection by mounting plate
It surveys on conveyer belt；
Six-DOF robot is mounted at the discharging end of detection conveyer belt by rejected product storehouse cabinet；In rejected product storehouse
The top of cabinet is equipped with recovery port；
Laser marker includes coding platform, spray code support, coding conveyer belt and code spraying device；Spray code support and coding conveying
Band is installed on coding platform, and spray code support is crossed on coding conveyer belt；Code spraying device is mounted on spray code support, and position
Above coding conveyer belt；The feeding end of coding conveyer belt and the discharging end of detection conveyer belt are close；The feeding of coding conveyer belt
The recovery port at end, the discharging end of detection conveyer belt and rejected product storehouse cabinet is respectively positioned on the extending range of six-DOF robot
It is interior；
Piler includes bottom carrier loader, vertical upright column and hoistable platform；It is small that vertical upright column is mounted vertically in delivery
Che Shang；Electric lifting mechanism is equipped on vertical upright column；Hoistable platform is mounted on electric lifting mechanism；
Entire column type is provided with storage lattice on tiered warehouse facility；It is equipped on hoistable platform and is taken out for being inserted into the horizontal of storage lattice
Plate；
Conveying roller is equipped at the top of AGV transport carriage；The guide path of AGV transport carriage is set to coding platform and fortune
Between the anchor point for carrying trolley；
PLC control cabinet respectively with feed the driving motor of conveyer belt, the air supply system of push cylinder, industry camera, sieve
Select air supply system, control cabinet matched, detection conveyer belt the driving motor of four-degree-of-freedom robot, infrared distance measurement sensing of cylinder
Device, driving motor, control cabinet matched, coding conveyer belt the driving motor of six-DOF robot, coding for transporting conveyer belt
The control terminal of device, the controller of bottom carrier loader, the driving motor of electric lifting mechanism and AGV transport carriage controller
Electrical connection.
Further, sensor stand is made of two trapezoidal side edges frames and two top cross-bars；Two trapezoidal side edges
Frame is respectively in the two sides of detection conveyer belt, and two top cross-bars are transversely mounted between two trapezoidal side edges frames；Infrared survey
The lower frame middle part and the middle part of two top cross-bars of two trapezoidal side edges frames are mounted on away from sensor；Two of downside are red
Outer distance measuring sensor is oppositely arranged, and two infrared distance sensors of upside are vertically arranged.
Further, electric lifting mechanism includes elevating chain and driving motor；Elevating chain is vertically rotary to be mounted on
On vertical upright column；Driving motor passes through rotary motion above and below sliding tooth wheel drive elevating chain；Hoistable platform is fixedly mounted on liter
On descending chain item.
Further, T shape sliding slot is vertically provided on vertical upright column；It is equipped with slidingtype on hoistable platform and is embedded in T shape
T-shaped slider in sliding slot.
The invention compared with prior art, the beneficial effect is that: using PLC control cabinet respectively to feed conveyer belt
Driving motor, the air supply system of push cylinder, industry camera, screen the air supply system of cylinder, four-degree-of-freedom robot matches
Cover control cabinet, the driving motor for detecting conveyer belt, infrared distance sensor, driving motor, the six degree of freedom machine for transporting conveyer belt
Control cabinet matched, coding conveyer belt the driving motor of device people, the control terminal of code spraying device, the controller of bottom carrier loader, electricity
The driving motor of dynamic elevating mechanism and the controller of AGV transport carriage carry out coordinated control, thus realize from feeding, detection,
The wisdom factory of screening, assembly, tolerance detection, goods rejection, coding, transhipment and storage controls, and realizes wisdom factory
The ocular demonstration of each process flow improves efficiency of teaching.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the invention；
Fig. 2 is the process arrangement schematic diagram of the invention.
Specific embodiment
The invention technical solution is described in detail with reference to the accompanying drawing, but the protection scope of the invention
It is not limited to the embodiment.
Embodiment 1:
As illustrated in fig. 1 and 2, wisdom factory teaching training system disclosed in the invention includes: feeding device, screening dress
Set, four-degree-of-freedom robot 15, six-DOF robot 11, transhipment conveyer belt 13, tolerance detection device, AGV transport carriage 7,
Piler, tiered warehouse facility 1, laser marker and PLC control cabinet；
Feeding device and screening plant are installed on feeding platform bracket 18；
Feeding device includes material frame 22, feed conveyer belt 16 and push cylinder；Feed conveyer belt 16 is arranged horizontally in
On feeding platform bracket 18；Material frame 22 is located at the feeding end position of feed conveyer belt 16；Push cylinder is mounted on material frame 22
Side, for push the workpiece on material frame 22 to feed conveyer belt 16；
Screening plant includes detection support 20, industry camera 21 and screening cylinder 19；Detection support 20 is mounted on confession
Expect the middle side edge of conveyer belt 16；Industry camera 21 is mounted in detection support 20, and the downward face of industry camera 21 supplies
Expect conveyer belt 16；Screening cylinder 19 passes through the horizontal discharging end side for being mounted on feed conveyer belt 16 of side support；It is defeated being fed
It send the side of band 16 and the opposite side for being located at screening cylinder 19 is equipped with blanking slope 17；Industry camera 21 for acquiring in real time
Workpiece image, then image recognition comparison is carried out by PLC control cabinet and, if unqualified, is controlled to judge whether workpiece qualified
It screens cylinder 19 and pushes workpiece to blanking slope 17, collecting box is equipped at blanking slope 17, for collecting unqualified work
Part controls 15 grabbing workpiece of four-degree-of-freedom robot and is placed on the first assembly station or the second assembly station if qualified
Carry out pressing assembly.When four-degree-of-freedom robot 15 grabs, PLC control cabinet needs to control feed 16 operation suspension of conveyer belt.
Four-degree-of-freedom robot 15 is mounted on above the discharging end of feed conveyer belt 16 by mounting plate 14；It is flat in assembly
Platform 14 is equipped with the first assembly station and the second assembly station, and the first assembly station and the second assembly station are respectively positioned on four freely
It spends in the extending range of robot 15；Four-degree-of-freedom robot 15 is used to from feed conveyer belt 16 grab workpiece to first
Pressing assembly is carried out on assembly station or the second assembly station, then on the workpiece grabbing that assembly is completed to transhipment conveyer belt 13.
It is equipped with handgrip in the end of four-degree-of-freedom robot 15, is assembled for grabbing workpiece and the pressing for carrying out workpiece.
Tolerance detection device includes detection platform, detection conveyer belt and sensor stand 12；On sensor stand 12
Infrared distance sensor for detecting workpiece size is installed；Detection conveyer belt is mounted in detection platform；Sensor stand
12 are fixedly mounted in detection platform, and are located above detection conveyer belt；Infrared distance sensor is to workpiece after the assembly is completed
Tolerance detection is carried out, is transported on coding conveyer belt by six-DOF robot 11 by detection conveyer belt if qualified, if
Unqualified, crawl is transported to recovery port and is recycled.
Transhipment conveyer belt 13 be mounted on mounting plate 14 and detection conveyer belt between, for by workpiece by 14 turns of mounting plate
It is transported on detection conveyer belt；Various transportation routes can be arranged according to the requirement of fabricating yard by transporting conveyer belt 13, to meet
The long-distance transportation requirement of workpiece.
Six-DOF robot 11 is mounted at the discharging end of detection conveyer belt by rejected product storehouse cabinet 9；Unqualified
The top of product storehouse cabinet 9 is equipped with recovery port；Six-DOF robot 11 is transported for realizing the workpiece after assembly by detection conveyer belt
To coding conveyer belt, or it is transported to recovery port and is recycled.It is equipped with mechanical gripper in the purpose of six-DOF robot 11,
Placement is transported through or recycled for grabbing workpiece.
Laser marker includes coding platform, spray code support 10, coding conveyer belt and code spraying device；Spray code support 10 and coding
Conveyer belt is installed on coding platform, and spray code support 10 is crossed on coding conveyer belt；Code spraying device is mounted on spray code support
On 10, and it is located above coding conveyer belt；The feeding end of coding conveyer belt and the discharging end of detection conveyer belt are close；Coding conveying
The recovery port at the feeding end of band, the discharging end for detecting conveyer belt and rejected product storehouse cabinet 9 is respectively positioned on six-DOF robot 11
Extending range in.
Piler includes bottom carrier loader 4, vertical upright column 3 and hoistable platform 5；Vertical upright column 3 is mounted vertically in fortune
It carries on trolley 4；Electric lifting mechanism is equipped on vertical upright column 3；Hoistable platform 5 is mounted on electric lifting mechanism；By delivering
Trolley 4 realize it is traversing, by hoistable platform 5 realize go up and down, thus in the storage lattice 2 for corresponding position that workpiece is accurately made a gift to someone.
Entire column type is provided with storage lattice 2 on tiered warehouse facility 1；The water for being inserted into storage lattice 2 is equipped on hoistable platform 5
It is flat to pull and push plate 6；It pulls and pushes plate 6 using level and can facilitate and remove workpiece from the conveying roller 8 of AGV transport carriage 7, and by workpiece
It is sent into after lift-sliding in storage lattice 2.
Conveying roller 8 is equipped at the top of AGV transport carriage 7；The guide path of AGV transport carriage 7 is set to coding platform
Between the discharging end of upper coding conveyer belt and the anchor point of carrier loader 4；AGV transport carriage 7 uses existing AGV trolley, energy
Enough complete transporting by track for workpiece.
On being fed conveyer belt 16 and it is located at 21 position of industry camera equipped with close open of taking pictures that induction workpiece is in place
It closes, on feed conveyer belt 16 and is equipped with the first crawl in place of induction workpiece positioned at 15 crawl position of four-degree-of-freedom robot and connects
It is close to switch, the close switch of induction workpiece detection in place is equipped on detection conveyer belt and below sensor stand 12,
It detects on conveyer belt and is equipped with the induction workpiece close switch of the second crawl in place positioned at 11 crawl position of six-DOF robot,
On coding conveyer belt and it is located at the lower section of code spraying device equipped with the close switch of induction workpiece coding in place；PLC control cabinet and each
It is a so that each equipment is completed operations more accurately convenient for controlling each conveyer belt operation close to switch electrical connection.
PLC control cabinet respectively with feed the driving motor of conveyer belt 16, the air supply system of push cylinder, industry camera
21, control cabinet matched, detection conveyer belt the driving motor, red of the air supply system of cylinder 19, four-degree-of-freedom robot 15 is screened
Outer distance measuring sensor, transport the driving motor of conveyer belt 13, six-DOF robot 11 it is control cabinet matched, coding conveyer belt
Driving motor, the control terminal of code spraying device, the controller of bottom carrier loader 4, the driving motor of electric lifting mechanism and AGV turn
Transport the controller electrical connection of trolley 7.
Further, sensor stand 12 is made of two trapezoidal side edges frames and two top cross-bars；Two trapezoidal sides
Frame is respectively in the two sides of detection conveyer belt, and two top cross-bars are transversely mounted between two trapezoidal side edges frames；It is infrared
Distance measuring sensor is mounted in the middle part of the lower frame of two trapezoidal side edges frames and the middle part of two top cross-bars；Two of downside
Infrared distance sensor is oppositely arranged, and two infrared distance sensors of upside are vertically arranged.Utilize two infrared surveys of downside
The left and right side width measurement that can be realized workpiece away from sensor calculates, can be real using two infrared distance sensors of upside
The measurement of existing workpiece height.
Further, electric lifting mechanism includes elevating chain and driving motor；Elevating chain is vertically rotary to be mounted on
On vertical upright column 3, i.e., it is equipped with a swiveling gear up and down, elevating chain is centered around in two revolution next rounds up and down；Driving electricity
Machine passes through rotary motion above and below sliding tooth wheel drive elevating chain；Hoistable platform 5 is fixedly mounted on elevating chain.
Further, T shape sliding slot is vertically provided on vertical upright column 3；It is equipped with slidingtype on hoistable platform 5 and is embedded in T
T-shaped slider in shape sliding slot.The stabilization of 5 elevating movement of hoistable platform can be enhanced using the cooperation of T shape sliding slot and T-shaped slider
Property.
In wisdom factory teaching training system disclosed in the invention, four-degree-of-freedom robot 15 and six degree of freedom machine
People 11 be equipped with it is control cabinet matched, using existing industrial robot and control cabinet；Four-degree-of-freedom robot 15 is for real
The transhipment of existing workpiece and simple pressing assembly, six-DOF robot 11 is for realizing the transhipment of workpiece and by substandard product
It is placed into recovery port；Bottom carrier loader 4 and AGV transport carriage 7 are equipped with fixed motion track；It is set in PLC control cabinet
There are PLC controller, communication interface and power module；Power module is for being powered each electrical equipment；PLC controller
It is electrically connected by communication interface with each equipment and carries out coordinated control.
Wisdom factory teaching training system disclosed in the invention is at work, defeated to being fed respectively by PLC control cabinet
Send the driving motor of band 16, the air supply system of push cylinder, industry camera 21, the air supply system for screening cylinder 19, four freely
Spend control cabinet matched, detection conveyer belt driving motor, the infrared distance sensor, the drive for transporting conveyer belt 13 of robot 15
Dynamic motor, control cabinet matched, coding conveyer belt the driving motor of six-DOF robot 11, the control terminal of code spraying device, bottom
The controller of the controller of carrier loader 4, the driving motor of electric lifting mechanism and AGV transport carriage 7 carries out coordinated control,
It is controlled to realize from feeding, detection, screening, assembly, tolerance detection, goods rejection, coding, transhipment and the wisdom factory of storage
System.
As described above, although the invention has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the invention itself.In the spirit and scope for not departing from the invention that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (4)
1. a kind of wisdom factory teaching training system, it is characterised in that: including feeding device, screening plant, four-degree-of-freedom machine
People (15), six-DOF robot (11), transhipment conveyer belt (13), tolerance detection device, AGV transport carriage (7), piler,
Tiered warehouse facility (1), laser marker and PLC control cabinet；
Feeding device and screening plant are installed on feeding platform bracket (18)；
Feeding device includes material frame (22), feed conveyer belt (16) and push cylinder；It is horizontally disposed to be fed conveyer belt (16)
On feeding platform bracket (18)；Material frame (22) is located at the feeding end position of feed conveyer belt (16)；Push cylinder is mounted on
The side of material frame (22), for pushing the workpiece on material frame (22) to being fed conveyer belt (16)；
Screening plant includes detection support (20), industry camera (21) and screening cylinder (19)；Detection support (20) installation
In the middle side edge of feed conveyer belt (16)；Industry camera (21) is mounted on detection support (20), and industry camera
(21) face is fed conveyer belt (16) downwards；Screening cylinder (19) is fed conveyer belt (16) by horizontal be mounted on of side support
Discharging end side；It is being fed the side of conveyer belt (16) and is being located at the opposite side of screening cylinder (19) equipped with blanking slope
(17)；
Four-degree-of-freedom robot (15) is mounted on above the discharging end of feed conveyer belt (16) by mounting plate (14)；It is assembling
Platform (14) is equipped with the first assembly station and the second assembly station, and the first assembly station and the second assembly station are respectively positioned on four
In the extending range of degree of freedom robot (15)；
Tolerance detection device includes detection platform, detection conveyer belt and sensor stand (12)；On sensor stand (12)
Infrared distance sensor for detecting workpiece size is installed；Detection conveyer belt is mounted in detection platform；Sensor stand
(12) it is fixedly mounted in detection platform, and is located above detection conveyer belt；
Transhipment conveyer belt (13) is mounted between mounting plate (14) and detection conveyer belt, is used for workpiece by mounting plate (14)
It is transported on detection conveyer belt；
Six-DOF robot (11) is mounted at the discharging end of detection conveyer belt by rejected product storehouse cabinet (9)；Unqualified
The top of product storehouse cabinet (9) is equipped with recovery port；
Laser marker includes coding platform, spray code support (10), coding conveyer belt and code spraying device；Spray code support (10) and coding
Conveyer belt is installed on coding platform, and spray code support (10) is crossed on coding conveyer belt；Code spraying device is mounted on coding branch
On frame (10), and it is located above coding conveyer belt；The feeding end of coding conveyer belt and the discharging end of detection conveyer belt are close；Coding
The recovery port at the feeding end of conveyer belt, the discharging end for detecting conveyer belt and rejected product storehouse cabinet (9) is respectively positioned on six degree of freedom machine
In the extending range of device people (11)；
Piler includes bottom carrier loader (4), vertical upright column (3) and hoistable platform (5)；Vertical upright column (3) is vertically installed
On carrier loader (4)；Electric lifting mechanism is equipped on vertical upright column (3)；Hoistable platform (5) is mounted on electric lifting mechanism
On；
Entire column type is provided with storage lattice (2) on tiered warehouse facility (1)；It is equipped on hoistable platform (5) for being inserted into storage lattice (2)
Level pull and push plate (6)；
Conveying roller (8) are equipped at the top of AGV transport carriage (7)；It is flat that the guide path of AGV transport carriage (7) is set to coding
Between platform and the anchor point of carrier loader (4)；
PLC control cabinet respectively with feed conveyer belt (16) driving motor, the air supply system of push cylinder, industry camera
(21), the air supply system of cylinder (19), control cabinet matched, detection conveyer belt the driving electricity of four-degree-of-freedom robot (15) are screened
Control cabinet matched, the spray of machine, infrared distance sensor, the driving motor for transporting conveyer belt (13), six-DOF robot (11)
Code the driving motor of conveyer belt, the control terminal of code spraying device, bottom carrier loader (4) controller, electric lifting mechanism driving
The electrical connection of the controller of motor and AGV transport carriage (7).
2. wisdom factory according to claim 1 teaching training system, it is characterised in that: sensor stand (12) is by two
Trapezoidal side edges frame and two top cross-bars are constituted；Two trapezoidal side edges frames are respectively in the two sides of detection conveyer belt, two tops
Portion's crossbeam is transversely mounted between two trapezoidal side edges frames；Infrared distance sensor is mounted under two trapezoidal side edges frames
In the middle part of the frame and middle part of two top cross-bars；Two infrared distance sensors of downside are oppositely arranged, and two of upside are red
Outer distance measuring sensor is vertically arranged.
3. wisdom factory according to claim 1 teaching training system, it is characterised in that: electric lifting mechanism includes lifting
Chain and driving motor；Elevating chain is vertically rotary to be mounted on vertical upright column (3)；Driving motor passes through sliding tooth wheel drive
Rotary motion above and below elevating chain；Hoistable platform (5) is fixedly mounted on elevating chain.
4. wisdom factory according to claim 3 teaching training system, it is characterised in that: vertical on vertical upright column (3)
It is provided with T shape sliding slot；The T-shaped slider being equipped on hoistable platform (5) in slidingtype insertion T shape sliding slot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821659987.8U CN209388512U (en) | 2018-10-13 | 2018-10-13 | A kind of wisdom factory teaching training system |
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| CN201821659987.8U CN209388512U (en) | 2018-10-13 | 2018-10-13 | A kind of wisdom factory teaching training system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109064825A (en) * | 2018-10-13 | 2018-12-21 | 南京吉目希自动化科技有限公司 | A kind of wisdom factory teaching training system |
-
2018
- 2018-10-13 CN CN201821659987.8U patent/CN209388512U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109064825A (en) * | 2018-10-13 | 2018-12-21 | 南京吉目希自动化科技有限公司 | A kind of wisdom factory teaching training system |
| CN109064825B (en) * | 2018-10-13 | 2024-02-02 | 南京亿斯特立科技有限公司 | Intelligent factory teaching practical training system |
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