CN210895951U

CN210895951U - Real workstation of instructing of unloading teaching on robot lathe

Info

Publication number: CN210895951U
Application number: CN201921647796.4U
Authority: CN
Inventors: 何树洋; 彭冬伟; 江文明; 魏文锋; 钱立
Original assignee: Guangzhou Numerical Control Equipment Co Ltd
Current assignee: Guangzhou Numerical Control Equipment Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-06-30
Anticipated expiration: 2029-09-30

Abstract

The utility model discloses a teaching and practical training workstation for feeding and discharging of a robot machine tool, which comprises a rack, a machine tool system, a cooperative robot with a paw, a part library and a vision recognition system; the machine tool system, the cooperative robot, the part library and the visual recognition system are arranged on the rack; the cooperative robot is positioned between the machine tool system and the part library and used for picking up materials in the part library and carrying the materials to the machine tool system, and the visual recognition system is arranged on the side of the part library and is in signal connection with the cooperative robot. This real teaching workstation of instructing is a teaching platform who simulates unloading on the lathe, can improve mr and student's study participation, and full play workstation is taught, cultivates student's ability of practising exercises, has that the function is various, easy and simple to handle, safe and reliable's advantage.

Description

Real workstation of instructing of unloading teaching on robot lathe

Technical Field

The utility model relates to a teaching equipment technical field, concretely relates to real workstation of instructing of unloading teaching on robot machine tool.

Background

Machine tools and mechanical hands are precision equipment, the cost is high, and serious property loss and personal safety accidents are easily caused by improper operation. At present, most of mechanical arm practical training is carried out in a factory site, because the machine tool and the mechanical arm are generally large in size, the practical training occupies a large area, the training cost is high, the mechanical arm and the machine tool are continuously contacted, certain safety risk exists, students are afraid of mind and cannot learn with ease; the equipment is large, the whole working condition is not convenient to support and control, and students cannot know the automation equipment deeply; the accident caused by the collision of the machine tool and the industrial robot is easily caused by the misoperation.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that, overcome prior art's shortcoming, provide a real workstation of instructing of cooperation robot bed material loading and unloading teaching of easy and simple to handle, area is few, the security is high, can improve teaching efficiency.

In order to achieve the technical purpose, the utility model provides a following technical scheme:

a teaching and practical training workstation for loading and unloading of a robot machine tool comprises a rack, a machine tool system, a cooperative robot with a paw, a part library and a visual identification system; the machine tool system, the cooperative robot, the part library and the visual recognition system are arranged on the rack; the cooperative robot is positioned between the machine tool system and the part library and used for picking up materials in the part library and carrying the materials to the machine tool system, and the visual recognition system is arranged on the side of the part library and is in signal connection with the cooperative robot.

The learning training process comprises the following steps: the vision system identifies materials on the part library, signals are transmitted to the cooperative robot, the cooperative robot picks up the materials after obtaining the signals, the cooperative robot transmits the signals to the machine tool, a machine tool door is opened, the cooperative robot puts the replaced materials into the part library, and after a task is completed, the cooperative robot returns to the original position.

As a further preferred scheme, the visual recognition system comprises a bracket, a visual camera, a bracket bottom fixed on the bench and positioned at the side of the part library; the visual camera is mounted on the bracket, and the shooting direction of the visual camera faces the part library. The vision camera can identify materials on the part library and transmit signals to the cooperative robot, and the cooperative robot picks up the materials according to the obtained signals.

As a further preferred scheme, the visual recognition system further comprises a light source seat and a light source, wherein the light source seat is arranged on the support and is lower than the visual camera, and the light source seat is in an arc shape with a high middle part and two low sides; the plurality of light sources are arranged on the lower surface of the light source seat. The light source seat is arc-shaped, so that light sources on two sides can be obliquely irradiated, and shadows generated by illumination are reduced.

As a further preferable scheme, the cooperative robot is a man-machine cooperative robot, and can automatically alarm and stop when abnormal collision or overload of safety torque and abnormal speed occur, so as to remind workers to adjust, thereby ensuring the operation reliability of the device and the safety of the operators.

As a further preferred scheme, a platform is arranged at the top of the rack, the platform is provided with screw holes and cable through holes, and the machine tool system, the cooperative robot, the part library and the visual recognition system are arranged on the platform.

As a further preferred scheme, the teaching demonstration device also comprises a control panel, a junction box and a teaching box; the control panel is arranged on the front side of the platform, and the junction box is arranged on the platform and is positioned behind the control panel; a cover plate made of transparent organic glass is arranged at the top of the junction box; the teaching box is installed on the platform and is located on the right side of the control panel.

As a further preferred scheme, the system further comprises a safety grating, wherein the safety grating is arranged on the rear side of the platform and is used for simulating signal feedback when foreign objects enter the system abnormally.

As a further preferable scheme, the machine tool system comprises a machine tool body, and a machine tool door, a door driving cylinder, a door opening sensor and a door closing sensor which are arranged on the machine tool body.

As a further preferred scheme, the device also comprises a pneumatic system, and the pneumatic system is arranged in the rack and connected with the machine tool system.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

1. the utility model provides a teaching platform of unloading on simulation lathe can improve mr and student's learning participation, and full play workstation imparts knowledge to students, cultivates student's ability of practising, has that the function is various, easy and simple to handle, safe and reliable's advantage.

2. The desktop type workstation platform is simple in structure, low in cost, small in occupied space, convenient to observe globally and strong in operability.

3. The workstation adopts the cooperation robot, and the cooperation robot possesses high security, high flexibility and high accuracy, can take place unusual collision or safe moment overload, speed abnormal time automatic alarm and shut down, reminds the staff to adjust, ensures the reliability and the operating personnel safety of device operation.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, wherein:

fig. 1 is a schematic structural view of the feeding and discharging teaching and training workstation of the robot machine tool of the utility model;

FIG. 2 is a schematic structural diagram of the rack of the present invention;

fig. 3 is a schematic structural diagram of the vision recognition system of the present invention;

fig. 4 is a schematic structural diagram of the machine tool system of the present invention;

in the figure, 1 bench, 11 leveling feet, 12 rollers, 13 platforms, 14 control panels, 15 junction boxes, 16 teaching box seats, 17 safety light barriers, 18 protective plates, 2 pneumatic systems, 3 machine tool systems, 31 numerical control systems, 32 machine tool beds, 33 machine tool doors, 34 door closing sensors, 35 door driving cylinders, 36 door opening sensors, 37 warning lamps, 4 cooperative robots, 41 cooperative robot teaching boxes, 5 claws, 6 part libraries, 7 visual recognition systems, 71 camera supports, 72 light source seats, 73 light sources, 74 visual cameras and 8 intelligent manufacturing execution systems.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.

Referring to fig. 1, the utility model provides a real workstation of instructing of unloading teaching on robot machine tool is applicable to the unloading system of supplying student's operation study on the simulation actual lathe. The loading and unloading teaching and practical training workstation of the robot machine tool comprises a rack 1, a pneumatic system 2, a machine tool system 3, a cooperative robot 4, a paw 5, a part library 6, a vision recognition system 7 and an intelligent manufacturing execution system 8.

The pneumatic system 2 is arranged in the left side of the rack 1 and connected with the machine tool system 3 through an air pipe and used for controlling the air claw of the machine tool system through compressed air, and the air pressure of the pneumatic system 2 is preferably about 0.6Mpa, so that the force generated by the air claw is in a relatively safe range.

Referring to fig. 2, the rack 1 is formed by splicing standard aluminum profiles, door panels are arranged around the rack to facilitate installation of internal devices, and leveling feet 11 and casters 12 are installed at the bottom of the rack 1 to facilitate integral manual movement and fixation of the workstation. Platform 13 is equipped with at the rack top, and platform 13 is equipped with screw and the cable via hole that cooperates each module installation to be fixed. The machine tool system 3 is mounted on the leftmost side of the platform 13; the cooperative robot 4 is arranged in the middle of the platform 13; the part library 6 is arranged on the right side of the top surface of the rack 1; the visual recognition system 7 is mounted on the side of the parts library 6.

Further, the platform 13 is provided with a control panel, a junction box and a teaching box seat; the control panel is electrically connected with the robot, the vision system and the machine tool system; the control panel is arranged on the front side of the platform, so that the operation of a user is facilitated, and the junction box is arranged on the platform and is positioned behind the control panel; a cover plate made of transparent organic glass is arranged at the top of the junction box, so that IO wiring and observation are facilitated; the teach pendant base 16 is mounted on the platform and located on the right side of the control panel for placing the teaching pendant 41 of the cooperative robot. In addition, the rear part of the platform 13 is provided with a safety grating 17 for simulating the signal feedback of foreign object entering the system abnormally, and the right side of the platform 13 is provided with a protective plate 18.

Further, the cooperative robot 4 is a human-computer cooperative robot, and automatically alarms and stops when abnormal collision or overload of safety torque and abnormal speed occur, so that a worker is reminded to adjust, and the running reliability of the device and the safety of the operator are guaranteed.

Referring to fig. 3, the vision recognition system 7 includes a camera support 71, a light source base 72, a light source 73, and a vision camera 74. The camera support 71 is erected on the right side of the part warehouse and is assembled by aluminum profiles and supporting corners. The vision camera 74 and the light source mount 72 are mounted above the camera support. The vision camera is positioned right above the part library. Light source seat 72 is made for the sheet metal material, and the middle part is equipped with the square hole that individual confession vision was made a video recording and is passed, and a bar square mouth is respectively established on both sides, makes things convenient for 4 light sources 73 to install, the whole panel beating of source seat 72 is the arc that high both sides were low in the middle of, can make the light source slope angle of both sides shine, makes the illumination position more concentrate, reduces the shadow that illumination produced.

Referring to fig. 4, the numerical control system is a simplified version of a machine tool, a motor spindle driving system and a hydraulic system chuck of a factory machine tool are simplified into a pneumatic system 2, the pneumatic system compresses air to drive a gas claw, the air pressure of the pneumatic system is controlled to be about 0.6Mpa, the force generated by the gas claw is in a relatively safe range, and original parts such as a casting machine tool body, a machine tool protective cover, a servo driving system and the like are all simplified or cancelled. The door drives and is provided with the sensor of opening the door and closes the door sensor on the actuating cylinder, wherein, opens the door, closes the door sensor and selects the magnetic reed sensor in this embodiment, is applicable to the lathe and goes up unloading and system signal butt joint, when the hand claw removes to being close to the lathe door, and the door drives the actuating cylinder door and opens, opens when the lathe door and targets in place, and the sensor transmission that opens the door is opened door to the robot, and the robot removes the hand claw and gets into the lathe bed and put into the material. The machine tool is simplified, cost is saved, and occupied space is reduced.

Further, the intelligent manufacturing execution system is located on the right side of the rack and can control the machine tool system 3 and the cooperative robot. The intelligent manufacturing execution system is provided with a display screen, and the display screen can display monitoring of a vision system, machine tool working condition simulation, cooperative robot action simulation, and simultaneously is provided with a robot programming operation interface, a machine tool programming operation interface and an automatic production programming operation interface.

The utility model discloses with lathe, the miniaturized integration of robot at a desktop formula workstation platform, the robot is given the lathe and is gone up unloading in the simulation actual production, put the student of studying. The learning training process comprises the following steps: the part library stores materials, the vision system identifies the materials on the part library and transmits signals to the cooperative robot, the cooperative robot picks up the materials after obtaining the signals, the cooperative robot transmits the signals to the machine tool, the machine tool door is opened, the cooperative robot puts the materials in, and after the standby machine tool finishes processing, the cooperative robot puts the materials in the part library. After the task is completed, the cooperative robot returns to the original position. The students can learn the contents including operating and setting a vision system, a robot, machine tool programming, robot programming, automatic programming and wiring of an electric appliance through automatic signals, so that the understanding degree of the students on automatic equipment is improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A teaching and practical training workstation for loading and unloading of a robot machine tool is characterized by comprising a rack, a machine tool system, a cooperative robot with a paw, a part library and a visual identification system; the machine tool system, the cooperative robot, the part library and the visual recognition system are arranged on the rack; the cooperative robot is positioned between the machine tool system and the part library and used for picking up materials in the part library and carrying the materials to the machine tool system, and the visual recognition system is arranged on the side of the part library and is in signal connection with the cooperative robot.

2. The practical training workstation for teaching on the feeding and discharging of the robot machine tool as claimed in claim 1, wherein the vision recognition system comprises a bracket, a vision camera, a bracket bottom fixed on the rack and located at the side of the part library; the visual camera is mounted on the bracket, and the shooting direction of the visual camera faces the part library.

3. The practical training workstation for teaching on the feeding and discharging of the robot machine tool as claimed in claim 2, wherein the visual recognition system further comprises a light source seat and a light source, the light source seat is mounted on the bracket and is lower than the visual camera, and the light source seat is in an arc shape with a high middle part and two low sides; the plurality of light sources are arranged on the lower surface of the light source seat.

4. The practical training workstation for teaching of feeding and discharging of robot machine tools as claimed in claim 1, wherein a platform is arranged on the top of the rack, the platform is provided with screw holes and cable through holes, and the machine tool system, the cooperative robot, the part library and the visual recognition system are mounted on the platform.

5. The practical training workstation for teaching on feeding and discharging of the robot machine tool as claimed in claim 4, further comprising a control panel and a junction box; the control panel is arranged on the front side of the platform; the junction box is installed on the platform and located behind the control panel, and a cover plate made of transparent organic glass is arranged at the top of the junction box.

6. The practical training workstation for teaching of feeding and discharging of robot machine tools as claimed in claim 5, further comprising a teaching box, wherein the teaching box is mounted on the platform and located on the right side of the control panel.

7. The practical training workstation for teaching on feeding and discharging of a robot machine tool as claimed in claim 5, further comprising a safety grating, wherein the safety grating is installed on the rear side of the platform.

8. The practical training workstation for teaching on feeding and discharging of the robot machine tool as claimed in claim 1, wherein the machine tool system comprises a machine tool body, and a machine tool door, a door driving cylinder, a door opening sensor and a door closing sensor which are mounted on the machine tool body.

9. The practical training workstation for teaching of feeding and discharging of the robot machine tool as claimed in claim 1, further comprising a pneumatic system, wherein the pneumatic system is installed in the rack and connected with the machine tool system.