CN212484640U

CN212484640U - Industrial robot operation and maintenance training platform

Info

Publication number: CN212484640U
Application number: CN202021335776.6U
Authority: CN
Inventors: 俞俊承
Original assignee: Shanghai Kumao Robot Co ltd
Current assignee: Shanghai Kumao Robot Co ltd
Priority date: 2020-07-09
Filing date: 2020-07-09
Publication date: 2021-02-05
Anticipated expiration: 2030-07-09

Abstract

An industrial robot operation and maintenance training platform comprises a training industrial robot body, a PLC touch screen module, a training platform, a walking module, a welding module training device, an abrasive belt polishing module training device, a quick-change clamp module training device and an assembly module training device; also comprises a vertical warehouse module training device, a visual transmission module training device, a stacking and tangram module training device and a curved surface standard meeting module training device; the walking module is arranged below the middle part of the practical training platform, and the teaching industrial robot body is arranged at the upper end of the walking module; the PLC touch screen module, the curved surface standard module training equipment, the stacking and seven-piece puzzle module training equipment, the vertical warehouse module training equipment, the visual conveying module training equipment, the welding module training equipment, the abrasive belt polishing module training equipment, the assembling module training equipment and the quick-change clamp module training equipment are arranged on the practical training platform at intervals. The novel student learning device brings convenience to students and the like, improves learning progress, and is favorable for mastering more knowledge points.

Description

Industrial robot operation and maintenance training platform

Technical Field

The utility model relates to a robot teaching equipment technical field, especially an industrial robot operates and maintains real standard platform.

Background

In the electromechanical professional teaching of colleges and universities, the teaching aid is an important teaching content for industrial robot practical training education. The main structure of the existing teaching industrial robot is divided into a teaching robot body and teaching tool equipment which are controlled by a PLC and the like, and the teaching tool equipment mainly comprises clamp replacement, assembly, welding and polishing equipment. In the teaching, mainly let the student master teaching robot body cooperative control anchor clamps change, assembly, welding, polish teaching tool equipment and accomplish for example anchor clamps change and the specific process such as part assembly, part welding, part polish to improve the learning effect, and master in the actual production, the specific process knowledge point of the relevant production facility of production industrial robot control.

The current teaching robot body receives its structure limit, install at fixed position, carry out anchor clamps when the different equipment of needs learning teaching robot body control and change and the part assembly, the welding, when polishing, just need change anchor clamps according to the study content, the assembly, the welding, the teaching tool equipment of polishing is put respectively in the corresponding position of teaching robot body department, thus, when changing the teaching content at every turn, just need install corresponding teaching tool equipment, can bring inconvenience for student and teaching mr etc. and be unfavorable for improving the study progress. Furthermore, the teaching tool equipment matched with the existing teaching industrial robot is single in variety, and only can be used for learning of fixture replacement, part assembly, part welding and part polishing, so that the knowledge points for controlling other tool equipment by the industrial robot are not easy to master.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects that the prior teaching industrial robot brings inconvenience to students, teachers and the like and is not beneficial to improving the learning progress when changing teaching contents every time due to the limitation of the structure, and the prior teaching industrial robot is not beneficial to mastering knowledge points of other more tool equipment due to the single variety of the matched teaching tool equipment, the utility model provides a robot which has compact structure, is provided with a PLC touch screen module, a welding module training device, a vertical warehouse module training device, a sand belt polishing module training device, an assembly module training device, a visual transmission module training device, a stacking and tangram module training device, a curved surface standard meeting module training device and a quick-change clamp module training device, and various module devices are integrally installed around the upper end of a practical training platform, teaching robot body (six joint teaching industrial robot bodies) are installed subaerial in the middle of real standard platform, when instructing in fact, teaching robot body physical stamina is at the real back and forth movement on the walking module in the middle of instructing the platform, be close corresponding module training equipment, and then under PLC touch-sensitive screen module control action, accomplish more real projects of instructing, brought the convenience for student and teaching mr from this, the study progress has been improved, and do benefit to and master an industrial robot operation and the real platform of instructing of other more instrument equipment knowledge points of production industrial robot control.

The utility model provides a technical scheme that its technical problem adopted is:

an industrial robot operation and maintenance training platform comprises a training industrial robot body, a PLC touch screen module, a training platform, a walking module, a welding module training device, an abrasive belt polishing module training device, a quick-change clamp module training device and an assembly module training device; the device is characterized by also comprising a vertical warehouse module training device, a visual conveying module training device, a stacking and seven-piece puzzle module training device and a curved surface standard meeting module training device; the middle of the practical training platform is of a hollow structure; the walking module is installed at the lower end of the hollow part in the middle of the practical training platform, and the lower end of the teaching industrial robot body is installed at the upper end of the walking module; the PLC touch screen module, the curved surface standard module training equipment, the stacking and seven-piece puzzle module training equipment, the vertical warehouse module training equipment, the visual transmission module training equipment, the welding module training equipment, the abrasive belt polishing module training equipment, the assembly module training equipment and the quick-change clamp module training equipment are arranged on the practical training platform at intervals in an annular distribution mode.

Further, the walking module is an electric linear sliding rail, and the lower end of the teaching industrial robot body is installed on a sliding block of the linear sliding rail.

Further, welding module training equipment includes the backup pad, the upset deck plate, left side casing, right side casing, including a motor, a controller, and a cover plate, left side casing, right side casing is installed respectively in the backup pad both sides, the motor is installed in the left side casing outside and power output shaft is located left side casing inside, there is driving pulley before the power output shaft of motor, the lower extreme of upset deck plate is installed in a fixed plate middle part upper end, fixed plate both sides connecting axle transversely overlaps respectively in left side casing, the inboard inner circle of two bearing frame bearings in right side casing upper end, left side connecting axle front end has a driven pulleys, driven pulleys is located left side casing, the outside cover has a synchronous drive belt between driven pulleys and the driving pulley, there is proximity switch at left side casing.

Furthermore, the abrasive belt polishing module training equipment comprises a bottom plate, a protective cover, a vertical plate, a motor speed reducing mechanism, a driving wheel, at least two driven wheels and an annular polishing abrasive belt, wherein the lower end of the vertical plate is vertically arranged at the upper end of the bottom plate, the motor speed reducing mechanism is transversely arranged at the rear side of the vertical plate, the driving wheel is transversely and tightly sleeved on the outer side of a power output shaft of the motor speed reducing mechanism, shaft levers are transversely arranged at the upper end and the lower end of the front end of the vertical plate respectively, inner bearing rings at the inner side ends of the two driven wheels are respectively sleeved at the outer side.

Furthermore, the quick-change clamp module training device comprises a frame body, two sets of photoelectric sensors, various tools and clamps, wherein the various tools and clamps are respectively placed on the left side and the right side of the front end of the frame body, and the two sets of photoelectric sensors are arranged on the left side and the right side of the rear upper end of the frame body.

Further, the library module training device is a trapezoidal article rack.

Furthermore, the vision conveying module training equipment comprises an industrial vision camera and an electric belt conveyor, wherein the vision camera is installed on the lower portion of the upper end of a support, the support is installed in the middle of the rear side end of a rack of the electric belt conveyor, a stop block is arranged at the front upper end of the electric belt conveyor, and a photoelectric sensor is installed at the front side end of the electric belt conveyor.

Further, the stacking and seven-piece puzzle module training device comprises a rectangular bottom plate, an upper plate and a plurality of seven-piece puzzles, wherein the bottom plate and the upper plate are fixedly connected together through a plurality of supporting columns, and the seven-piece puzzles are placed on the upper plate.

Further, curved surface mark meeting module training equipment includes the bottom plate and installs arc curved plate, mark meeting equipment on the bottom plate, and mark meeting equipment includes that the lower extreme is closed structure's sleeve pipe, spring, unsteady head, and the spring is located the sleeve pipe upper end, and there is a guiding hole sleeve pipe lower extreme middle part, and there is the floating lever at unsteady head lower middle part, and the overhead end of unsteady is located the sleeve pipe lower extreme, and the floating lever upper end is located the guiding hole and the lower extreme is located the sleeve pipe lower extreme outside.

Further, the assembly module training equipment comprises a lower plate, a transverse plate, at least two sets of double-shaft electric cylinders and two material frames, wherein the two sets of electric cylinders are respectively installed on the left side and the right side of the upper end of the lower plate, supporting plates are respectively installed at the lower ends of the two material frames, the rear sides of the two sets of electric cylinders and the front ends of the supporting plates of the two material frames are respectively installed together, the transverse plate is installed between the two material frames, and the lower ends of the supporting plates are in contact with the.

The utility model has the advantages that: the utility model discloses various module training equipment integration is installed around real standard upper end, PLC touch-sensitive screen module can control teaching industrial robot body in the use, and the walking module, welding module training equipment, the module training equipment of vertical warehouse, the abrasive band module training equipment of polishing, assembly module training equipment, the module training equipment is carried to the vision, pile up neatly and seven skillful board module training equipment, curved surface mark meeting module training equipment, the working method of quick change anchor clamps module training equipment etc., during real standard, this physical stamina of teaching robot is at the real back and forth movement on the walking module in the middle of instructing the platform, be close corresponding training equipment, and then under PLC touch-sensitive screen module control effect, accomplish more real projects of instructing. The utility model discloses brought the convenience for student and teaching mr etc. has improved the study progress to do benefit to and master the knowledge point of producing more other tool equipment of industrial robot control. Based on the foregoing, the utility model discloses good application prospect has.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the walking module of the present invention.

Fig. 3 is a schematic structural diagram of the welding module training device of the present invention.

Fig. 4 is the sectional structure schematic diagram of the whole welding module training device of the present invention.

Fig. 5 is a schematic view of a local structure of the training device of the belt sanding module of the present invention.

Fig. 6 is a schematic structural view of the belt sanding module of the present invention.

Fig. 7 is the structure diagram of the quick-change clamp module training device of the present invention.

Fig. 8 is a schematic structural diagram of the vertical warehouse module training device of the present invention.

Fig. 9 is a schematic structural diagram of the vision transport module training apparatus of the present invention.

Figure 10 is a schematic diagram of the stacking and tangram module training device of the present invention.

Fig. 11 is a schematic structural diagram of the present curved surface marking module training device.

Fig. 12 is a schematic structural diagram of the assembly module training device of the present invention.

Detailed Description

Fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12 show an industrial robot operation and maintenance training platform, which includes a six-joint teaching industrial robot body 1, a PLC touch screen module 2, a training platform 3, a walking module 4, a welding module training device 5, a belt sanding module training device 6, a quick-change clamp module training device 7, and an assembly module training device 12, wherein a control signal input end of the six-joint teaching industrial robot body 1 and a control signal output end of the PLC touch screen module 2 are electrically connected through a data line; also comprises a vertical warehouse module training device 8, a visual transmission module training device 9, a stacking and seven-piece puzzle module training device 10 and a curved surface standard meeting module training device 11; the middle of the practical training platform 3 is a rectangular hollow structure 31, and the upper end of the practical training platform 3 is a rectangular coherent structure; the walking module 4 is transversely installed on the ground of a hollow 31 part in the middle of the practical training platform, and the lower end of the six-joint teaching industrial robot body 1 is installed at the upper end of the walking module 4 through a screw and a nut; the PLC touch screen module 2, the curved surface beacon module training equipment 11 and the stacking and tangram module 10 are transversely installed on the upper part of the front end of the practical training platform 3 at a certain distance through screw nuts, the vertical warehouse module training equipment 8 is longitudinally installed on the upper end of the left side of the practical training platform 3 through screw nuts, and the visual conveying module training equipment 9 is longitudinally installed on the upper end of the right side of the practical training platform 3 through screw nuts; the welding module training equipment 5, the abrasive belt polishing module training equipment 6 and the assembly module training equipment 6 are transversely installed at the upper part of the rear end of the practical training platform 3 at certain intervals through screw nuts, and the quick-change clamp module training equipment 7 is installed on the practical training platform 3 located at the rear end of the PLC touch screen module through the screw nuts.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the six-joint teaching industrial robot body 1 is a type KUKA KR 3R 540 six-joint teaching industrial robot, the arm spread range is 541mm, and the repeated positioning precision is +/-0.02 mm; the PLC touch screen module 2 is a KUKA KR C4 compact controller; the training platform is made of metal. The walking module 4 is an electric linear slide rail finished product (when the electric linear slide rail finished product works, a motor speed reducing mechanism drives a sliding block 42 to move left and right through a synchronous belt, the sliding block 42 drives a teaching industrial robot body 1 installed on the upper portion of the sliding block to move left and right), a supporting plate at the lower end of a slide rail 41 of the walking module is installed on the ground, a lower end supporting plate of the teaching industrial robot body 1 is installed on the upper end of the sliding block 42 of the linear slide rail through a screw nut, and a drag chain cable 43 of the linear slide rail. The welding module training device comprises a rectangular supporting plate 51, a circular overturning platform panel 52, an internal hollow left shell 53, an internal hollow right shell 54 and a stepping motor 55, wherein the left shell 53 and the right shell 54 are respectively arranged at the upper parts of the left side end and the right side end of the supporting plate 51 through screw nuts, the stepping motor 55 is arranged at the middle part of the lower end of the right outer side of the left shell 53 through screw nuts, a power output shaft is positioned at the middle part of the lower end of the inner side of the left shell 53, a driving belt pulley 56 is tightly sleeved in front of the power output shaft of the stepping motor 55, the lower end of the overturning platform panel 52 is welded at the upper end of the middle part of a U-shaped fixing plate 57, a connecting shaft 58 is respectively and transversely arranged in the middle of the two sides of the fixing plate 57, the left and right connecting shafts 58 are respectively and transversely and tightly sleeved in the inner rings of, the driven pulley 511 is located in the upper end of the left shell 53, a synchronous transmission belt 512 is sleeved on the outer side between the driven pulley 511 and the driving pulley 56, the supporting plate 51 is installed on the practical training platform 3, the proximity switch 513 is installed at the front end of the upper end of the left shell 53, the detection head of the proximity switch 513 faces the rear side end, and the power input end of the stepping motor 55 and the signal output end of the proximity switch 513 are respectively electrically connected with the first path of control power output end and the first path of feedback signal input end of the PLC touch screen module 2. The belt sanding module training device comprises a rectangular bottom plate 61, a protective cover 62 with an open structure at the front end, a rectangular vertical plate 63, a motor speed reducing mechanism 64, a driving wheel 65, two driven wheels 66 and an annular sanding belt 67, the lower end of the vertical plate 63 is vertically welded at the upper end of the bottom plate 61, the motor reducing mechanism 64 is transversely installed at the left end of the middle part of the rear side of the vertical plate 63 through a screw nut, and a power output shaft of the motor reducing mechanism 64 is led out from an opening in the middle part of the rear side of the vertical plate 63 to the right end of the vertical plate 63 (the outer diameter of the power output shaft is smaller than the inner diameter of the opening), the driving wheel 65 is transversely and tightly sleeved outside the power output shaft of the motor reducing mechanism 64, the upper and lower parts of the front end of the vertical plate 63 are respectively and transversely provided with a shaft rod 68, the left and right ends of the inner sides of the two driven wheels 66 are respectively provided with a bearing; and the power supply input end of the motor reducing mechanism 64 is electrically connected with the second path of control power supply output end of the PLC touch screen module 2.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12, the quick-change clamp module training device includes a rectangular frame 71, two sets of photoelectric sensors 72, and multiple tools and clamps 73, the multiple tools and clamps 73 are respectively placed on the front left and right sides of the frame 71, the two sets of photoelectric sensors 72 are installed on the left and right sides of the rear upper end of the frame 71, and signal output ends of the two sets of photoelectric sensors 72 are respectively electrically connected to the second and third feedback signal input ends of the PLC touch screen module 2. The vertical warehouse module training device 8 is a trapezoidal article rack, the article rack 8 is divided into three layers, and each layer is provided with a plurality of openings as article placing stations 81. The vision conveying module training device comprises an industrial vision camera 91, an electric belt conveyor 92, the vision camera 91 is vertically installed on the lower portion of the upper end of an 'right-angled' type support 93, the support 93 is installed in the middle of the rear side end of a rack of the electric belt conveyor 92, a stop block 94 is arranged at the front upper end of the electric belt conveyor 92, a photoelectric sensor 95 is installed at the front side end of the electric belt conveyor, a detection head of the photoelectric sensor 95 faces the rear side end, a power input end of the electric belt conveyor 92, signal output ends of the photoelectric sensor 95 and the vision camera 91 are respectively electrically connected with a third path of control power output end, a fourth path of feedback signal input end and a fifth path of feedback signal input end of the. The stacking and tangram module training device 10 comprises a rectangular bottom plate 101, an upper plate 102 and a plurality of tangrams 103, wherein the bottom plate 101 and the upper plate 102 are fixedly connected together through four support columns 104, and the tangrams 103 are placed on the upper plate 102. Curved surface meeting module training equipment 11 includes bottom plate 111 and installs the arc curved plate 112 on bottom plate 111, meeting equipment 113, meeting equipment includes that the upper and lower extreme is the hollow sleeve 1131 of closed structure, spring 1132, unsteady head 1133, spring 1132 is located sleeve 1131 upper end, sleeve 1131 lower extreme middle part has a guiding hole, unsteady head is that circular lower extreme middle part has a float bar 1134 of vertical distribution, unsteady head 1133 upper end is located sleeve 1131 lower extreme and is located the spring 1132 lower extreme, unsteady bar 1134 upper end is located the guiding hole and the lower extreme is located the sleeve 1131 lower extreme outside, unsteady head 1133 can follow the intraductal up-and-down motion of sleeve (meeting equipment 113 is fallen at bottom plate 118 left front end). The assembly module training device comprises a rectangular lower plate 121, a transverse plate 122, two sets of double-shaft electric cylinders 123 and two material frames 124, wherein the two sets of electric cylinders 123 are longitudinally arranged on the left side and the right side of the upper end of the lower plate 121 through screw nuts respectively from front to back, rectangular supporting plates 125 are respectively arranged at the lower ends of the two material frames 124 with upper ends open, rear side plunger rods of the two sets of electric cylinders 123 and the middle parts of the front lower ends of the supporting plates 125 of the two material frames are respectively arranged together through the screw nuts, the transverse plate 122 is transversely arranged between the inner sides of the two material frames 124 through the screw nuts, the lower ends of the supporting plates 125 are contacted with the upper end of the lower plate 121, and power input ends of the two sets of double.

Fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 are shown, the utility model discloses various module equipment integration is installed around real standard platform 3 upper end, and during real standard, teaching industrial robot body 1 can follow and instruct back and forth movement on the sliding block 42 of walking module in the middle of the platform 3 under the control of PLC touch-sensitive screen module 2, is close corresponding module equipment, and then under PLC touch-sensitive screen module control, accomplishes more real projects of instructing. PLC touch-screen module 2 is operating personnel and teaching industrial robot body 1, as the bridge of two-way communication between the corresponding module equipment, a collaborative work for teaching industrial robot body 1 and each module equipment, in pressing close to actual production more, real on-the-spot production industrial robot, the human-computer interaction who realizes between working equipment and the people, PLC touch-screen module 2 is furnished with 2 industrial display screens of group, 3 group's buttons (start button, stop button, reset button), 1 24V power instruction of group. The utility model discloses in walking module 4, under PLC touch-sensitive screen module 2 control action, sliding block 42 of its slide rail 41 can the back and forth movement under the effect of the inside motor of walking module 4 (teaching robot body 1 moves on the slider) for teaching robot body 1 round trip movement is between each module equipment, its adoption and robot communication mode control. The repeated positioning precision of the walking module 4 is +/-0.05 mm; the guiding mode is high-precision linear movement; the maximum load is 50 KG; the maximum moving speed is 200 mm/s; the driving mode is that the servo motor and the planetary gear reducer drive; before the PLC touch screen module is used, relevant parameters such as each position value and the moving speed which need to be moved are set in the PLC touch screen module.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12, in the application of the quick-change clamp module training device 7, the teaching robot body 1 can approach the clamp module training device 7 under the control of the PLC touch screen module 2, and the teaching robot body 1 can replace a corresponding clamp or tool 73 according to different practical training targets and operation objects; the photoelectric sensor 72 mainly plays a role in replacing a clamp or a tool and outputs a feedback signal to the signal input end of the PLC touch screen module 2, so that the PLC touch screen module 2 controls the teaching robot body 1 to accurately replace the clamp or the tool. In the application of the welding module training equipment 5, the welding module training equipment comprises the following steps of a, fixing a welding workpiece on a welding turnover table board 52 (a plurality of internal thread fixing screw holes are formed in the turnover table board 52, fixing holes are formed in two side ends of the workpiece, and the fixing screws are screwed into the fixing screw holes through the fixing holes so as to fix the welding workpiece on the table board); b. the PLC touch screen module 2 controls the teaching robot body 1 to absorb a required welding gun quick-change tool from the quick-change clamp module training device 7; c. the teaching robot body 1 moves to a part of a workpiece to be welded to perform simulated welding operation; d. after the simulated welding operation is completed, the teaching robot body 1 puts the welding gun quick-change tool back to the corresponding position of the quick-change clamp module training equipment 7 and replaces the wind mill pen quick-change tool; e. the air mould pen quick-change tool is used for polishing a workpiece according to a welding path; f. after polishing, the robot puts the air mould pen quick-change tool back to the clamp module, and the whole welding process operation is simulated to finish. In the welding module training device 5, the PLC touch screen module 2 can control the synchronous motor 55 to drive the overturning platform panel 52 to overturn forwards and backwards through the driving belt wheel 56, the transmission belt 512 and the driven belt wheel 511, so that the simulation grinding and welding processes are facilitated; the proximity switch 513 primarily controls the flip table panel 52 to flip back and forth in conjunction with the PLC touch screen module 2.

Fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 show that in the application of abrasive belt polishing module training equipment 6, teaching robot body 1 places the work piece on abrasive belt 67 through supporting anchor clamps, when polishing work is carried out to the work piece edge, PLC touch-sensitive screen module 2 control motor reduction gears 64 drives action wheel 65, from driving wheel 66, abrasive belt 67 rotates, the incomplete bits of polishing are collected by collection box 69 under abrasive belt polishing module training equipment 6 (simulation is in the actual industry, some workstations utilize industrial robot to snatch the work piece that has the turn-up, place on the polishing tools such as the emery wheel of polishing and carry out processes such as corase grind, fine grinding). In the application of the vertical warehouse module training equipment 8, different articles are placed on different article placing stations 81 as required by the teaching robot body 1 through corresponding clamps; various parts of other module equipment can be stored, and the vertical warehouse module training equipment 8 can independently complete the primary teaching of feeding/material storage according to different teaching requirements; and other module devices can be connected in series to work, so that middle-level teaching training of the simulated industrial closed-loop process flow is realized.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, and 12, a vision conveying module training device 9 simulates actual production, a vision system is used for detecting information such as shape, color, and coordinates (X/Y/a) of a part, sending the detection result to an industrial robot, matching with an end sucker tool of the industrial robot and a belt conveying line, sorting, positioning and grabbing the sample, and enabling students to know the application of the robot in a control system of the vision and conveying line through the module device. The electric belt conveyor 92 of the vision conveying module training device 9 is provided with a stop block 94 (for preventing articles from falling off from the belt) and a photoelectric sensor 95 (for outputting detected signals to the signal input end of the PLC touch screen module 2) in front of the belt conveyor 92, so as to detect articles on the electric belt conveyor 92 and block workpieces, the electric belt conveyor 92 can transport various different parts, and the electric belt conveyor 92 has the functions of starting, stopping and speed regulation. The visual delivery module training apparatus 9 applies the following steps: a. the teaching robot body 1 sucks a required clamping jaw or sucking disc quick-change tool from the quick-change clamp module training equipment 7; b. the teaching robot body 1 places the clamped or sucked workpiece at the feeding end of the electric belt conveyor 92 and conveys the workpiece to the discharging end of the electric belt conveyor 92. The photoelectric sensor 95 of the electric belt conveyor 92 judges the position of the workpiece and feeds information back to the PLC touch screen module 2, and the PLC touch screen module 2 starts the vision camera 91 according to the feedback information to perform vision detection on the workpiece; c. after the vision camera 91 detects, the teaching robot body 1 receives the information, and the workpiece at the discharge end is clamped or sucked to the designated bin position of the vertical warehouse module training equipment 8 or the next procedure, so far, the whole vision conveying operation is completed. The stacking and seven-piece puzzle module training equipment 10 can exercise understanding of industrial robot stacking and intensive training of quick programming teaching, during actual work, an industrial robot picks up stacked objects through a sucker quick-change tool, and the stacked objects are placed in a corresponding area according to stacking line requirements of a stacking plate to perform stacking tasks; when the stacking and tangram module training equipment 10 is applied, the teaching robot body 1 carries out a tangram 107 placing task according to requirements through a sucker tool; according to the control signal of the PLC touch screen module 2, the seven-piece puzzle 103 is placed at the corresponding position of the upper plate 102 to form different combined patterns, and an operator can select placement according to the requirement.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, the curved marking module training device 11 can simulate the motion trajectory of a training industrial robot, mainly corresponding to a welding application. Through control of PLC touch screen module 2, teaching robot body 1 control marking device's unsteady head 1133 (teaching robot body 1 control supporting anchor clamps press from both sides tight marking device upper end) walking orbit (point, line, face) on curved surface orbit board 112, the walking in-process floats pole 1134 lower extreme under spring 1132 elastic force and keeps the laminating distance with curved surface orbit board 112, can realize complicated orbit motion exercise, provide curve teaching orbit, welding application in the fine simulation actual production, spot welding etc. in the automotive industry. After the trajectory is completed in the task of the training device 11, the curved surface landmark module returns to a safe point above the trajectory point and finally returns to the initial position.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the assembly module training device 12 is used for simulating the fixation of part of functional kits and the fixation of a working object in actual production, the teaching robot body 1 is used for installing different components according to practical training requirements, and the learning of accurate positioning and use of the industrial robot is trained. The operation flow is as follows: a. the teaching robot body 1(126) sucks the required clamping jaw quick-change tool from the quick-change clamp module device 7; b. the teaching robot body 1 clamps the 1# workpiece from the first material frame 124 to a designated position through a clamping jaw quick-change tool; c. the teaching robot body 1 clamps a No. 2 (126) workpiece from the second material frame 124 through the clamping jaw quick-change tool, places the workpiece right above the No. 1 workpiece, and completes the assembly operation of the No. 1 workpiece and the No. 2 workpiece; d. the teaching robot body 1 puts the clamping jaw quick-change tool back to the clamp module and replaces the sucker quick-change clamp; e. the teaching robot body 1 sucks a 3# (126) workpiece from the vertical warehouse module training equipment 8 through a sucker clamp, and places the workpiece right above a 2# workpiece to complete the assembly operation of the 3# workpiece; f. the teaching robot body 1 sucker clamp is put back to the clamp module, so far, the whole assembly operation is completed. The utility model discloses brought the convenience for student and teaching mr etc. has improved the study progress to do benefit to and master more knowledge points of other tool equipment of production industrial robot control. Based on the foregoing, the utility model discloses good application prospect has.

The basic principles and essential features of the invention and the advantages of the invention have been shown and described above, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but rather can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, the embodiments do not include only one independent technical solution, and such description is only for clarity, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An industrial robot operation and maintenance training platform comprises a training industrial robot body, a PLC touch screen module, a training platform, a walking module, a welding module training device, an abrasive belt polishing module training device, a quick-change clamp module training device and an assembly module training device; the device is characterized by also comprising a vertical warehouse module training device, a visual conveying module training device, a stacking and seven-piece puzzle module training device and a curved surface standard meeting module training device; the middle of the practical training platform is of a hollow structure; the walking module is installed at the lower end of the hollow part in the middle of the practical training platform, and the lower end of the teaching industrial robot body is installed at the upper end of the walking module; the PLC touch screen module, the curved surface standard module training equipment, the stacking and seven-piece puzzle module training equipment, the vertical warehouse module training equipment, the visual transmission module training equipment, the welding module training equipment, the abrasive belt polishing module training equipment, the assembly module training equipment and the quick-change clamp module training equipment are arranged on the practical training platform at intervals in an annular distribution mode.

2. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the walking module is an electric linear sliding rail, and the lower end of the teaching industrial robot body is mounted on a sliding block of the linear sliding rail.

3. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the welding module training device comprises a supporting plate, a turnover table panel, a left shell, a right shell and a motor, the left shell and the right shell are respectively installed on two sides of the supporting plate, the motor is installed on the outer side of the left shell, a power output shaft of the motor is located inside the left shell, a driving belt wheel is arranged in front of the power output shaft of the motor, the lower end of the turnover table panel is installed on the upper end of the middle of a fixed plate, connecting shafts on two sides of the fixed plate are respectively and transversely sleeved in inner rings of two bearing seat bearings on the inner sides of the upper end of the left shell and the upper end of the right shell, a driven belt wheel is arranged at the front end of the left connecting shaft, the driven belt wheel.

4. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the training equipment for the abrasive belt grinding module comprises a bottom plate, a protective cover, a vertical plate, a motor speed reducing mechanism, a driving wheel, at least two driven wheels and an annular grinding abrasive belt, wherein the lower end of the vertical plate is vertically arranged at the upper end of the bottom plate, the motor speed reducing mechanism is transversely arranged at the rear side of the vertical plate, the driving wheel is transversely and tightly sleeved on the outer side of a power output shaft of the motor speed reducing mechanism, shaft rods are transversely arranged at the upper end and the lower end of the front end of the vertical plate respectively, inner bearing rings at the inner ends of the two driven wheels are respectively sleeved at.

5. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the training device for the quick-change clamp module comprises a frame body, two sets of photoelectric sensors, a plurality of tools and clamps, the plurality of tools and clamps are respectively arranged on the front left end, the front right end and the left end of the frame body, and the two sets of photoelectric sensors are arranged on the left end, the right end and the rear upper end of the frame body.

6. An industrial robot operation and maintenance training platform according to claim 1, characterized in that the founder module training device is a ladder rack.

7. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the visual conveying module training device comprises an industrial visual camera and an electric belt conveyor, the visual camera is mounted on the lower portion of the upper end of a support, the support is mounted in the middle of the rear side end of a frame of the electric belt conveyor, a stop block is arranged at the front upper end of the electric belt conveyor, and a photoelectric sensor is mounted at the front side end of the electric belt conveyor.

8. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the stacking and seven-piece puzzle module training device comprises a rectangular bottom plate and an upper plate, and a plurality of seven-piece puzzle pieces are fixedly connected together between the bottom plate and the upper plate through a plurality of supporting columns and are placed on the upper plate.

9. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the training device for the curved-surface meeting module comprises a bottom plate, and an arc-shaped curved plate and a meeting device which are installed on the bottom plate, the meeting device comprises a sleeve pipe, a spring and a floating head, the upper end and the lower end of the sleeve pipe are of a closed structure, the spring is located in the upper end of the sleeve pipe, a guide hole is formed in the middle of the lower end of the sleeve pipe, a floating rod is arranged in the lower middle of the floating head, the upper end of the floating head is located at the lower end of the sleeve pipe, the upper end of.

10. The practical training platform for the operation and maintenance of the industrial robot according to claim 1, wherein the assembly module training device comprises a lower plate, a transverse plate, at least two sets of double-shaft electric cylinders and two material frames, wherein the two sets of electric cylinders are respectively arranged on the left side and the right side of the upper end of the lower plate, supporting plates are respectively arranged at the lower ends of the two material frames, the rear sides of the two sets of electric cylinders and the front ends of the supporting plates of the two material frames are respectively arranged together, the transverse plate is arranged between the two material frames, and the lower ends of the supporting plates are in contact.