CN211719062U - Jigsaw robot system for practical training - Google Patents
Jigsaw robot system for practical training Download PDFInfo
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- CN211719062U CN211719062U CN201922207344.0U CN201922207344U CN211719062U CN 211719062 U CN211719062 U CN 211719062U CN 201922207344 U CN201922207344 U CN 201922207344U CN 211719062 U CN211719062 U CN 211719062U
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Abstract
The utility model relates to a robot system for practical training, in particular to a jigsaw robot system for practical training, which comprises a demonstrator and a robot, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, a male quick-change tool disc is arranged at the tail end of the robot, and the demonstrator is connected with the robot; the picture puzzle also comprises picture puzzle blocks, wherein the picture puzzle blocks comprise picture blocks with various geometric shapes, and the picture blocks with each shape are not less than one specification; the jigsaw puzzle blocks are arranged on the block frame; the jigsaw fixture is provided with a female quick-change tool plate and is used for grabbing jigsaw puzzle blocks; the jigsaw jig is movably inserted on the tool rack; the jigsaw work table is used for placing the spliced jigsaw puzzle blocks. The system realizes the training of basic functions such as grabbing, transferring, positioning, rotating a clamp, splicing and the like through jigsaw puzzle, so that a student can master the planning and programming of a simple process, the automatic completion of the simple process is realized, the understanding of the running performance of the robot is improved, and a foundation is laid for advanced training.
Description
Technical Field
The utility model relates to a real robot system that uses of instructing especially real picture arragement robot system that uses of instructing.
Background
With the increasing demand of the wide use of industrial robots on robot operators, how to quickly master the operation needs of the robots to be trained, but most of the current training is simple control, such as moving the robots, replacing clamps and the like, and cannot form systematic training, and the operators cannot meet the requirements of continuous processes through the robots.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a can carry out the training of basis, accomplish the planning and the programming of simple technology to the student, realize that the automation of simple technology is accomplished, is improved the understanding to the robot operation performance, lays down the real picture arragement robot system for practical training on basis for senior training, and concrete technical scheme is:
the jigsaw robot system for practical training comprises a demonstrator and a robot, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, a male quick-change tool tray is arranged at the tail end of the robot, and the demonstrator is connected with the robot; the picture blocks of the jigsaw comprise picture blocks with various geometric shapes, and the number of the picture blocks in each shape is not less than the specification; a tile shelf on which the puzzle tiles are placed; the jig comprises a jig body, a jig handle and a jig handle, wherein a female quick-change tool plate is arranged on the jig body, and the jig body is used for grabbing jig pieces; the jig-saw puzzle is movably inserted on the tool rack; the jigsaw work table is used for placing spliced jigsaw puzzle blocks.
Furthermore, the geometric shapes of the jigsaw puzzle blocks are plane geometric figures, and comprise at least two of triangles, circles, diamonds, rectangles, squares and regular polygons.
Furthermore, the picture block shelf comprises a picture block placing plate, a plurality of picture block grooves are formed in the picture block placing plate, the picture block grooves respectively correspond to the picture blocks of the jigsaw puzzle, and the jigsaw puzzle blocks are movably placed in the picture block grooves.
Further, the puzzle fixture includes a vacuum chuck mounted on the female quick-change tool plate.
Furthermore, the top of the tool rack is provided with a tool pin, the jigsaw fixture is provided with a fixture positioning plate, two ends of the fixture positioning plate are provided with positioning holes, the positioning holes are movably inserted on the tool pin, and the fixture positioning plate is pressed on the top of the tool rack.
Furthermore, the top of the jigsaw worktable is provided with a jigsaw groove which is used for placing a plurality of jigsaw puzzle blocks and forming a figure.
Furthermore, the spring clamp and the picture puzzle are arranged at the top of the picture puzzle workbench, the spring clamp is positioned at two ends of the picture puzzle workbench, the picture puzzle is movably placed on the picture puzzle workbench, a picture puzzle groove is formed in the picture puzzle, and the spring clamp is used for pressing the picture puzzle on the picture puzzle workbench.
Furthermore, the robot motion monitoring system further comprises a video acquisition system, and the video acquisition system is used for acquiring the motion process of the robot and archiving the motion process. The video acquisition system records the process of the robot operated by the student, so that the evaluation of the operation process in the later period is facilitated.
Further, the teaching demonstration device further comprises a simulation workstation, wherein the simulation workstation comprises a computer, and the computer is connected with the demonstrator; and the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the demonstrator for running and debugging the jigsaw robot system for practical training.
The practical training jigsaw robot assessment method is characterized in that assessment is performed through a practical training jigsaw robot system, and comprises the following steps:
s110, controlling the robot to move to a jigsaw jig through a demonstrator, installing the jigsaw jig, and switching a coordinate system into a jigsaw coordinate system on the demonstrator;
s120, controlling the robot through the demonstrator to drive the jigsaw fixture to move to the position above the picture block frame, enabling the jigsaw fixture to be in contact with jigsaw picture blocks in a proper posture, recording the current posture in a program of the demonstrator, and simultaneously inserting a command for opening a digital output quantity signal state of the electromagnetic valve into the program to enable the jigsaw fixture to adsorb the jigsaw picture blocks;
s130, controlling the robot to select a plurality of path points in the space between the grabbing points and the placing points of the jigsaw puzzle blocks through a demonstrator, avoiding obstacles in the space, and sequentially recording the corresponding poses of each path point of the robot in a program of the demonstrator in a teaching mode;
s140, controlling the robot to move to a proper posture through the demonstrator, placing jigsaw puzzle blocks on a jigsaw workbench, recording the current posture of the robot in a program of the demonstrator in a teaching mode, and simultaneously inserting a command for closing a digital output quantity signal state of the electromagnetic valve into the program to enable the jigsaw puzzle blocks to fall off from the jigsaw jig;
s150, repeating the steps from S120 to S140 until the jigsaw is finished;
and S160, automatically operating the jigsaw program recorded in the demonstrator, sequentially placing jigsaw puzzle blocks from the initial position to the designated position to complete jigsaw puzzle, and if the vacuum chuck of the practical training jigsaw robot system is normally started and closed, the robot does not have interference during movement, the movement does not have abnormal pause, and the jigsaw puzzle blocks are inserted into the jigsaw grooves, the practical training jigsaw robot system is evaluated to be qualified, otherwise, the practical training jigsaw robot system is evaluated to be unqualified.
The practical training jigsaw robot assessment method is characterized in that assessment is performed through a practical training jigsaw robot system, and comprises the following steps:
s210, sequentially arranging and installing a jigsaw jig and a jigsaw coordinate system in the off-line programming and simulation software;
s220, setting a starting point and a terminal point of a jigsaw puzzle block in the off-line programming and simulation software, and setting a command for opening or closing the digital output quantity signal state of the electromagnetic valve;
s230, setting a space path between a starting point and an end point of a jigsaw puzzle block in offline programming and simulation software;
s240, generating a jigsaw program executable by the robot in the off-line programming and simulation software, sending the jigsaw program to a demonstrator, loading and running the jigsaw program on the demonstrator, observing the posture of the robot in the running process, manually modifying the improper posture, and then storing the jigsaw program;
and S250, automatically operating the jigsaw program stored after modification in the S240, and if the vacuum chuck of the practical training jigsaw robot system is normally started and closed, the robot does not have interference in movement, the movement does not have abnormal pause, and jigsaw puzzle blocks are inserted into the jigsaw grooves, evaluating the jigsaw puzzle blocks to be qualified, otherwise, evaluating the jigsaw puzzle blocks to be unqualified.
Compared with the prior art the utility model discloses following beneficial effect has:
the utility model provides a real standard realizes snatching, shifts, the training of basic function such as location, rotary fixture, concatenation through the picture arragement with picture arragement robot system, makes the student master the planning and the programming of simple technology, realizes that the automation of simple technology is accomplished, is improved the understanding to the robot runnability, lays the foundation for senior training.
Drawings
Fig. 1 is a schematic structural diagram of a jigsaw robot system for practical training;
FIG. 2 is a schematic view of the puzzle table;
FIG. 3 is a schematic diagram of a puzzle;
FIG. 4 is a schematic view of a plurality of puzzle pieces mounted on a piece holder;
figure 5 is a schematic view of the puzzle holder removably inserted in a tool holder.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings.
Example one
As shown in fig. 1 to 5, the jigsaw puzzle robot system for practical training comprises a demonstrator and a robot 1, wherein the robot 1 is a six-axis industrial robot 1 or a seven-axis industrial robot 1 with an external axis, a male quick-change tool tray is arranged at the tail end of the robot 1, and the demonstrator is connected with the robot 1; puzzle pieces 32 are also included, puzzle pieces 32 include pieces of various geometric shapes, and the pieces of each shape are no less than one specification; a block rack on which puzzle blocks 32 are placed; a jigsaw fixture, on which a female quick-change tool plate 42 is mounted, for grasping jigsaw puzzle pieces 32; the jig-saw jig is movably inserted on the tool rack; a puzzle work station 21, the puzzle work station 21 being used to place puzzle pieces 32 to be tiled.
Specifically, the geometric shape of the jigsaw puzzle pieces 32 is a planar geometric figure, and includes at least two of a triangle, a circle, a diamond, a rectangle, a square, and a regular polygon.
The picture block shelf comprises a picture block placing plate 31, a plurality of picture block grooves are arranged on the picture block placing plate 31, the picture block grooves respectively correspond to picture blocks 32 of the jigsaw puzzle, and the picture blocks 32 of the jigsaw puzzle are movably placed in the picture block grooves. The tile slots prevent loss of puzzle tiles 32 and allow for efficient positioning and prevent positional changes during operation.
The puzzle fixture includes a vacuum cup 41, the vacuum cup 41 being mounted on a female quick-change tool plate 42.
The tool rack comprises a stand column 43, the stand column 43 is equidistantly provided with a plurality of tool pins 45, the top of the stand column 43 is provided with a jig positioning plate 46, the jig positioning plate 46 is provided with positioning holes at two ends, the positioning holes are movably inserted on the tool pins 45, and the jig positioning plate 46 is pressed at the top of the stand column 43 and is positioned between two adjacent stand columns 43. The upright 43 is fixed to a base plate 44.
The top of the jigsaw work table 21 is provided with a spring clamp 25 and a jigsaw plate 22, the spring clamp 25 is positioned at two ends of the jigsaw work table 21, the jigsaw plate 22 is movably arranged on the jigsaw work table 21, the jigsaw plate 22 is provided with a plurality of jigsaw grooves 23, the jigsaw grooves 23 are used for placing a plurality of jigsaw puzzle pieces 32 and forming a figure, and the spring clamp 25 is used for pressing the jigsaw plate 22 on the jigsaw work table 21. The puzzle groove 23 is used for detecting whether the placement of the puzzle pieces 32 is accurate, and providing an accurate judgment basis for the examination.
The simulation workstation comprises a computer, and the computer is connected with the demonstrator; and the off-line programming and simulation software is installed on the computer and is used for generating a robot off-line program and guiding the robot off-line program into the demonstrator to carry out operation debugging on the jigsaw robot system for practical training.
The robot motion monitoring system further comprises a video acquisition system, and the video acquisition system is used for acquiring the motion process of the robot and archiving the motion process. The video acquisition system records the process of the robot operated by the student, so that the evaluation of the operation process in the later period is facilitated. And a camera of the video acquisition system is arranged above the shooting robot to shoot the motion process of the robot.
Example two
The practical training jigsaw robot assessment method is characterized in that the practical training jigsaw robot system is used for assessment, and the practical training jigsaw robot assessment method comprises the following steps:
s110, controlling the robot 1 to move to a jigsaw jig through a demonstrator, installing the jigsaw jig, and switching a coordinate system into a jigsaw coordinate system on the demonstrator;
s120, controlling the robot 1 through the demonstrator to drive the jigsaw jig to move to the position above the picture block frame, enabling the jigsaw jig to be in contact with jigsaw picture blocks 32 in a proper posture, recording the current posture in a program of the demonstrator, and simultaneously inserting a command for opening a digital output quantity signal state of the electromagnetic valve into the program to enable the jigsaw jig to adsorb the jigsaw picture blocks 32;
s130, controlling the robot 1 to select a plurality of path points in the space between the grabbing points and the placing points of the jigsaw puzzle blocks 32 through the demonstrator, avoiding obstacles in the space, and sequentially recording the corresponding poses of the path points of the robot 1 in a program of the demonstrator in a teaching mode;
s140, controlling the robot 1 to move to a proper posture through the demonstrator, placing the jigsaw puzzle blocks 32 on the jigsaw worktable 21, recording the current posture of the robot 1 in the program of the demonstrator in a teaching mode, and simultaneously inserting a command for closing the digital output quantity signal state of the electromagnetic valve into the program to enable the jigsaw puzzle blocks 32 to fall off from the jigsaw jig;
s150, repeating the steps from S120 to S140 until the jigsaw is finished;
and S160, automatically operating the jigsaw program recorded in the demonstrator, sequentially placing jigsaw puzzle blocks 32 from the initial positions to the designated positions to complete jigsaw puzzle, and if the vacuum chuck 41 of the practical training jigsaw robot system is normally started and closed, the robot 1 does not interfere in movement, the robot does not abnormally pause in movement, the jigsaw puzzle blocks 32 are inserted into the jigsaw grooves 23, the practical training jigsaw robot system is evaluated to be qualified, and otherwise, the practical training jigsaw puzzle blocks are evaluated to be unqualified.
The assessment method can assess the basic operation of a student on the robot 1, the mastering on a demonstrator, and the planning and programming capabilities on a simple process.
EXAMPLE III
The practical training jigsaw robot assessment method is characterized in that the practical training jigsaw robot system is used for assessment, and the practical training jigsaw robot assessment method comprises the following steps:
s210, sequentially arranging and installing a jigsaw jig and a jigsaw coordinate system in the off-line programming and simulation software;
s220, setting a starting point and an end point of the jigsaw puzzle block 32 in the off-line programming and simulation software, and setting a command for opening or closing the digital output quantity signal state of the electromagnetic valve;
s230, setting a space path between a starting point and an end point of the jigsaw puzzle block 32 in the off-line programming and simulation software;
s240, generating a jigsaw program executable by the robot 1 in the off-line programming and simulation software, sending the jigsaw program to a demonstrator, loading and running the jigsaw program on the demonstrator, observing the posture of the robot 1 in the running process, manually modifying the improper posture, and then storing the jigsaw program;
and S250, automatically operating the jigsaw program stored after modification in the S240, and if the vacuum chuck 41 of the practical training jigsaw robot system is normally started and closed, the robot 1 does not interfere in movement, the movement does not have abnormal pause, and the jigsaw puzzle blocks 32 are inserted into the jigsaw groove 23 in the movement process, evaluating the jigsaw puzzle blocks as qualified, otherwise, evaluating the jigsaw puzzle blocks as unqualified.
The examination can examine the mastery of the student on the off-line programming and simulation software, and the off-line programming and simulation software can be used for planning and operating a simple process, so that the programming and debugging efficiency is improved.
Claims (7)
1. The jigsaw robot system for practical training comprises a demonstrator and a robot, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, a male quick-change tool tray is arranged at the tail end of the robot, and the demonstrator is connected with the robot; it is characterized by also comprising
Puzzle pieces comprising multiple geometric shapes, each shape having no less than one size;
a tile shelf on which the puzzle tiles are placed;
the jig comprises a jig body, a jig handle and a jig handle, wherein a female quick-change tool plate is arranged on the jig body, and the jig body is used for grabbing jig pieces;
the jig-saw puzzle is movably inserted on the tool rack;
the jigsaw work table is used for placing spliced jigsaw puzzle blocks.
2. The puzzle robot system according to claim 1, wherein the puzzle pieces have a geometric shape of a plane including at least two or more of a triangle, a circle, a diamond, a rectangle, a square, and a regular polygon.
3. The practical-training jigsaw robot system of claim 1, wherein the tile rack includes a plurality of tile slots, the tile slots corresponding to the puzzle tiles, and the puzzle tiles movably disposed in the tile slots.
4. A puzzle robot system according to claim 1, wherein the puzzle holder includes a vacuum cup mounted on a female quick-change tool plate.
5. The jigsaw robot system for practical training of claim 1, wherein the jig positioning plate is movably inserted into the jig positioning holes at both ends of the jig positioning plate, and the jig positioning plate is pressed against the top of the jig frame.
6. The practical puzzle robot system of claim 1, wherein the puzzle table has a puzzle slot at the top thereof for placing a plurality of puzzle pieces and forming a figure.
7. The jigsaw robot system for practical training of claim 1, further comprising a video acquisition system, wherein the video acquisition system is used for acquiring and archiving the motion process of the robot.
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| CN201922207344.0U CN211719062U (en) | 2019-12-10 | 2019-12-10 | Jigsaw robot system for practical training |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110782736A (en) * | 2019-12-10 | 2020-02-11 | 江苏汇博机器人技术股份有限公司 | Jigsaw puzzle robot system for practical training and examination method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110782736A (en) * | 2019-12-10 | 2020-02-11 | 江苏汇博机器人技术股份有限公司 | Jigsaw puzzle robot system for practical training and examination method thereof |
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