CN213751451U - Practical training examination device for robot application programming - Google Patents

Abstract

The utility model provides a real standard examination device of robot application programming, including workstation, demonstrator, robot arm and real standard module, the demonstrator with robot arm connects, and the demonstrator is used for controlling robot arm. The scheme is designed according to the requirement of the tight buckling industrial robot application programming 1+ X-grade certificate test colleges and universities training equipment. The robot is used for assembling a small robot assembly production line of a Schneider XCKM travel switch which is further improved, so that the requirement of 1+ X equipment is integrated into the robot assembly production line, and the industrial robot application programming equipment corresponding to the skill level examination meets the requirements of comprehensive teaching and practical training of the industrial robot and the requirement of skill level examination of the industrial robot, and can fully examine the true level and the capability of an operator.

Description

Practical training examination device for robot application programming

Technical Field

The utility model belongs to the technical field of real standard examination device, concretely relates to real standard examination device of robot application programming.

Background

Currently, industrial robots are widely applied to the field of industrial automation as intelligent automatic programmable equipment. The demand of the rapid development of the industry on the industrial robot professional talents is increased year by year, but the talents related to the high-quality industrial robot are in short supply. The skill levels of practitioners are uneven, schools urgently need related practical training equipment for high-quality talent training, and enterprises increasingly demand the skill level identification of industrial robot practitioners, so that the requirement of equipment integrating practical training and skill assessment of industrial robots is more and more urgent. Along with the proposal of a 1+ X certificate system of the robot, the matched professional skill level assessment standard and the robot assessment training equipment are produced at the same time.

At present, the existing practical training assessment device has the following problems: the prior industrial robot application programming practical training assessment equipment in China has the problems of single function, monotonous practical training items and separation from practical production and application, cannot meet the requirements of daily teaching and practical training of an industrial robot, further, for a machining part, taking a travel switch as an example, the structure of a practical travel switch part in reality cannot meet the requirements of machining operation demonstration and assessment because the machining operation process is complicated, repeated and complicated, cannot completely meet the requirements of the machining operation demonstration and assessment, and is not suitable for practical training personnel to operate, study and assess, so the requirements of the practical training and assessment are combined, the travel switch part is also improved, and meanwhile, a practical training assessment device for machining operation needs to be optimally matched with the travel switch structure.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that exists on the above-mentioned prior art, the utility model provides a real standard examination device of robot application programming, inseparable lock industrial robot application programming 1+ X grade certificate examination colleges and universities require elementary and design of the real standard equipment. The robot is used for assembling a small robot assembly production line of a Schneider XCKM travel switch which is further improved, so that the requirement of 1+ X equipment is integrated into the robot assembly production line, and the industrial robot application programming equipment corresponding to the skill level examination meets the requirements of comprehensive teaching and practical training of the industrial robot and the requirement of skill level examination of the industrial robot, and can fully examine the true level and the capability of an operator.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a robot application programming practical training examination device comprises a workbench, a demonstrator, a robot arm and a practical training module, wherein the demonstrator is connected with the robot arm and used for controlling the robot arm, the robot arm is installed on the workbench, a table top of the workbench is formed by butt joint of aluminum profiles, and the practical training module is installed and fixed on the workbench through a T-shaped nut block; the practical training module comprises a manipulator unit; the manipulator unit comprises a tool switching tool and an electric screwdriver tool; the tool switching tool comprises a tool switching platform, three groups of station holes for storing different types of quick-change tools are arranged on the tool switching platform, and a positioning pin I is arranged at the edge of each station hole and used for positioning, taking and placing the quick-change tools; the quick-change tools all comprise quick-change connectors I, the quick-change connectors I sequentially comprise connector female heads, connector connecting plates and cylindrical connecting pieces which are connected from top to bottom, and positioning holes matched with the positioning pins I are formed in the connector connecting plates; the three groups of quick-change tools are respectively provided with a sucker tool, a painting brush tool and a clamping jaw tool; the painting brush tool comprises a painting brush and a calibration pen which are arranged on the cylindrical connecting piece, and the painting brush and the calibration pen are mutually vertical; the clamping jaw tool comprises an atmospheric jaw and a small pneumatic jaw which are vertical to each other; the electric screwdriver comprises an electric screwdriver platform and an electric screwdriver component arranged on the electric screwdriver platform, wherein the electric screwdriver component comprises a quick-change connector II, an electric screwdriver fixing seat, an electric screwdriver floating seat and an electric screwdriver, the electric screwdriver floating seat is fixed at the electric screwdriver middle section through a support pressing plate, the electric screwdriver fixing seat is arranged above the electric screwdriver floating seat, the electric screwdriver fixing seat is fixedly connected with the quick-change connector II, the electric screwdriver fixing seat and the electric screwdriver floating seat are connected through a guide rod, and a spring is arranged on the guide rod in a penetrating mode.

According to the further improved scheme, the practical training module further comprises a conveying unit, and the conveying unit comprises a feeding part and a conveying part; the feeding part comprises a feeding platform, a feeding well is arranged on the feeding platform, a material pushing channel is formed at the bottom of the feeding well, a material pushing assembly is arranged at the material pushing channel and comprises a material pushing cylinder and a material pushing block arranged on a push rod of the material pushing cylinder, and the material pushing block can move back and forth in the material pushing channel under the pushing of the material pushing cylinder; the conveying part comprises a conveying belt, guide plates are arranged on two sides of the conveying belt, a conveying channel for materials is formed between the two guide plates, and an inlet photoelectric switch and an outlet photoelectric switch are respectively arranged at an inlet and an outlet of the conveying channel.

According to the scheme, the practical training module further comprises a classification unit, and the classification unit comprises a classification component and a kit component; the classification component comprises a classification platform, and storage stations which are distinguished according to component types are formed on the classification platform; the sleeve separating assembly comprises a sleeve separating platform, and a storage station for single sleeve assembly complete set differentiation is formed on the sleeve separating platform.

According to the scheme, the practical training module further comprises an assembling unit, the assembling unit comprises an assembling platform, a calibrator, a push rod cylinder, a rotary compression cylinder and a diagonal top block assembly are arranged on the assembling platform, the calibrator is vertically arranged on the assembling platform and located on one side of a base of the push rod cylinder, the calibrator and a calibration pen can perform calibration of the TCP zero point position, the push rod cylinder is horizontally arranged, and a material pressing block is mounted on a push rod of the push rod cylinder; the push rod of the rotary compaction cylinder is vertically arranged upwards, the base end of the rotary compaction cylinder is fixed on one side of the assembly platform, the push rod end of the rotary compaction cylinder is provided with a cylinder pressure head, the cylinder pressure head is positioned above the assembly platform and is arranged in parallel with the assembly platform, and a diagonal jacking block assembly is arranged below the cylinder pressure head; the diagonal jacking block assembly is provided with two diagonal jacking blocks, the two diagonal jacking blocks are symmetrical to each other, the diagonal jacking blocks are of a right-angle corner structure, one sides of inner corners of the two diagonal jacking blocks are opposite to form an area to be assembled, and after the material pressing block extends out, the material to be assembled is pressed in the assembling area between the two diagonal jacking blocks.

According to the scheme, the practical training module further comprises a warehouse unit used for storing a travel switch finished product, the warehouse unit comprises a warehouse platform and a material storage plate, the material storage plate is perpendicularly arranged on one side of the warehouse platform, a warehouse position where materials are stored is formed on the material storage plate, and a warehouse position photoelectric switch used for detecting the storage condition of the warehouse position is arranged on the rear side of the corresponding warehouse position.

Advantageous effects

1. The utility model discloses an innovation, the real standard equipment requirement of inseparable lock industrial robot application programming 1+ X grade certificate examination colleges, the industrial robot application programming equipment that the skill level examination corresponds, it both has satisfied industrial robot synthesizes teaching and the real demand of instructing, satisfies the demand of industrial robot skill level examination again, this device synthesizes real standard system function many, instructs the project many, can accomplish basic operation, technology operation, processing operation and assembly operation's training, included the majority of operations that involve in the actual production, improved student's skill greatly. The specific analysis is as follows: the method comprises the steps that a training module is adjusted into a manipulator unit, a classification unit, a conveying unit, an assembly unit, a track training unit, a storage unit and other six modules to be combined, manipulator replacement, raw material classification, raw material conveying, assembly, track training, storage and other various operations are completed, the manipulator unit provides various tools which are convenient to replace and suitable for practical training of the assembly unit, the conveying unit demonstrates the process of conveying operation and is finally used for feeding the assembly unit, the classification unit demonstrates the process of classified carrying and is finally used for providing a raw material storage area for the assembly unit, the assembly unit demonstrates the process of assembling and installing all components of a travel switch and is matched with all functional modules for assembly, and finally the combined finished product is placed in the storage unit.

2. The utility model discloses a real standard examination device can carry out effectual evaluation to student's technical ability, and the examination project is many to carry out the grade assessment in preparation. The assembly process of the travel switch assembly is optimized, the scheme combines the improved structure of the travel switch, the process of assembly operation is clear, an operator can operate and demonstrate the travel switch from a complete process of raw materials, assembly and warehousing, the demonstration operation process of each step is strictly and normatively controlled, and the structure improvement and reasonable optimization operation step sequence of the innovative and improved practical training module are combined, so that the operator can be more familiar with the practical industrial operation process, and can better meet the requirement of examination purpose.

Drawings

FIG. 1 is the overall structure diagram of the practical training assessment device of the utility model;

fig. 2 is a structural diagram of the tool switching tool of the present invention;

FIG. 3 is a structural diagram of the electric screwdriver of the present invention;

FIG. 4 is a structural diagram of a conveying unit according to the present invention;

FIG. 5 is a structural diagram of the classification unit of the present invention;

FIG. 6 is a structural diagram of the assembly unit of the present invention;

FIG. 7 is a diagram of a middle track training unit according to the present invention;

fig. 8 is a structural view of a warehouse unit of the present invention;

FIG. 9 is a schematic diagram of a robot arm according to the present invention;

fig. 10 is a structural diagram of the travel switch of the present invention;

fig. 11 is a structural view of a housing of the middle travel switch of the present invention;

the labels in the figure are: 1. a work table;

2. a screw feeder;

3. 3-1 parts of a robot arm, 3-2 parts of a quick-change flange and a joint male head;

4. the tool comprises a tool switching tool 41, a tool switching platform 411, positioning pins I and 42, quick-change connectors I and 421, connector female heads 422, connector connecting plates 423, a cylindrical connecting piece 43, a sucker tool 44, a painting brush tool 441, a painting brush 442, a calibration pen 45, a clamping jaw tool 451, a large air claw 452 and a small air claw;

5. the electric screwdriver comprises an electric screwdriver tool 51, an electric screwdriver platform 511, positioning pins II and 52, quick-change connectors II and 521, a connecting plate 53, an electric screwdriver floating seat 54, an electric screwdriver 55, a support pressing plate 56, an electric screwdriver fixing seat 57, a guide rod 58, a spring 59 and a support;

6. the device comprises a conveying unit, a feeding platform, a feeding well, a feeding cylinder, a pushing block, a conveying belt, a guiding plate 67, an inlet photoelectric switch, an outlet photoelectric switch and an end baffle plate, wherein the conveying unit 61, the feeding platform, 62, the feeding well, 63, the pushing cylinder, 64, the pushing block, 65, the conveying belt, 66, the guiding plate, 67, the inlet photoelectric switch, 68 and the outlet photoelectric switch, 69 are arranged on the conveying unit;

7. a classification unit 71, a classification platform 72 and a sleeve platform;

8. the device comprises an assembly unit 81, an assembly platform 82, a calibrator 83, a push rod cylinder 84, a rotary compaction cylinder 85, a diagonal jacking block assembly 86, a material pressing block 87 and a cylinder pressing head;

9. a track training unit 91, a track training base 92 and an aluminum plate; 93. trajectory graph 94, obtuse angle connector, 95, acute angle connector;

10. the system comprises a warehouse unit 101, a warehouse platform 102, a material storage plate 103 and a warehouse location photoelectric switch;

20. travel switch, 201, shell, 202, outlet hole, 203, plunger head, 204, cover plate, 205 and rubber pad.

Detailed Description

In order to make the technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

As shown in the figure: the embodiment provides a practical training examination device for robot application programming, which comprises a workbench 1, a demonstrator, a robot arm 3 and a practical training module, wherein the demonstrator is connected with the robot arm 3 and used for controlling the robot arm 3, the robot arm 3 is installed on the workbench 1, the robot arm 3 is a six-axis industrial robot arm, and a quick-change flange 3-1 and a quick-change connector male head 3-2 are arranged at the end part of the robot arm so as to be rapidly replaced and butted with a manipulator unit.

The mesa of workstation 1 is formed by the aluminium alloy butt joint, and the platform is two opening doors to be provided with the stealthy handle of stainless steel, install the steamboat of convenient removal in the bottom, each real standard module passes through T type nut piece installation to be fixed on workstation 1. The training module comprises a manipulator unit, a conveying unit 6, a classifying unit 7, an assembling unit 8, a track training unit 9 and a warehouse unit 10.

The manipulator unit comprises a tool switching tool 4 and an electric screwdriver tool 5; the tool switching tool 4 comprises a tool switching platform 41, three groups of station holes for storing different types of quick-change tools are arranged on the tool switching platform 41, and a positioning pin I411 is arranged at the edge of each station hole and used for positioning, taking and placing the quick-change tools; the three groups of quick-change tools all comprise quick-change connectors I42, the quick-change connectors I42 sequentially comprise female connector 421, connector connecting plates 422 and cylindrical connectors 423 which are connected from top to bottom, the female connector 421 is matched with the male connector 3-2 of the quick-change connector, and positioning holes matched with the positioning pins I411 are formed in the connector connecting plates 422 and matched with the positioning pins I411; the three groups of quick-change tools are respectively provided with a sucker tool 43, a painting brush tool 44 and a clamping jaw tool 45; wherein painting brush tool 44 includes painting brush 441 and calibration pen 442 mounted on cylindrical connection member 423, and painting brush 441 and calibration pen 442 are at an angle of 90 °; wherein the clamping jaw tool 45 comprises a large air jaw 451 and a small air jaw 452, and an included angle of 90 degrees is formed between the large air jaw 451 and the small air jaw 452.

The electric screwdriver tool 5 comprises an electric screwdriver platform 51 and an electric screwdriver component arranged on the electric screwdriver platform 51, wherein the electric screwdriver component comprises a quick-change connector II 52, an electric screwdriver fixing seat 56, an electric screwdriver floating seat 53 and an electric screwdriver 54, a positioning pin II 511 matched with the quick-change connector II 52 is arranged on the electric screwdriver platform 51, the electric screwdriver floating seat 53 is fixed on the middle section of the electric screwdriver 54 through a support pressing plate 55, the electric screwdriver fixing seat 56 is arranged above the electric screwdriver floating seat 53, the electric screwdriver fixing seat 56 is fixedly connected with the quick-change connector II 52 through a connecting plate 521, the screwdriver fixing seat 56 and the screwdriver floating seat 53 are connected through a guide rod 57, a spring 58 is arranged on the guide rod 57 in a penetrating mode, the spring 58 can be used for enabling the outer end portion of the screwdriver 54 to push against a screw when the screw is tightened, so that the screw can be tightened in a screw hole, two supports 59 are symmetrically arranged on the upright post of the electric screwdriver platform 51, and the two supports 59 are in supporting contact with the support pressing plate 55.

The conveying unit 6 includes a supply portion and a conveying portion. The feeding part comprises a feeding platform 61, a feeding well 62 is arranged on the feeding platform 61, a material pushing channel is formed at the bottom of the feeding well 62, a material pushing assembly is arranged at the material pushing channel and comprises a material pushing cylinder 63 and a material pushing block 64 arranged on a push rod of the material pushing cylinder 63, and the material pushing block 64 can move back and forth in the material pushing channel under the pushing of the material pushing cylinder 63; the conveying part comprises a conveying belt 65, a belt driving wheel, a synchronous belt wheel and a synchronous belt, wherein the belt driving wheel is arranged on an output shaft of the speed reducing motor, the belt driving wheel drives the synchronous belt wheel to rotate through the synchronous belt, so that the conveying belt 65 is driven to rotate, and the speed reducing motor adjusts the rotating speed of the belt through a motor speed regulator. The two sides of the conveying belt 65 are provided with the guide plates 66, a conveying channel of materials is formed between the two guide plates 66, the inlet and the outlet of the conveying channel are respectively provided with an inlet photoelectric switch 67 and an outlet photoelectric switch 68, wherein after the inlet photoelectric switch 67 detects that a material block is on the conveying belt 65, the speed reduction motor starts to rotate, and after the material block moves to the outlet photoelectric switch 68, the speed reduction motor stops, and the robot arm 3 takes the material block.

A material pushing photoelectric switch which is arranged on a reinforcing rib of the feeding well 62 and used for detecting whether a material block needs to be pushed out is arranged in the feeding well 62, when the material pushing photoelectric switch detects that a material is arranged at the bottom of the feeding well 62 and needs to be pushed out, a thin double-push-rod cylinder on the bottom plate of the feeding well 62 is installed, a material pushing block 64 installed on a push rod of the thin double-push-rod cylinder extends out to drive the material pushing cylinder to push a wiring terminal of a travel switch 20 at the bottom of the feeding well 62 out to a conveying belt 65, the material at the bottom of a second layer falls on the material pushing block 64, an inlet photoelectric switch 67 installed at the inlet side of a guide plate 66 is arranged at the same time, after a wiring terminal of the travel switch 20 on the conveying belt 65 is detected, a signal is sent to a PLC (programmable logic controller), the PLC sends an instruction to start a speed reducing motor, the motor drags a synchronous belt to start the belt to work, the material is conveyed to the other end of the conveying belt 65, the material block at the other end of the belt is blocked by an end baffle 69, after being detected by an outlet photoelectric switch 68 arranged on a baffle 69 at the end part of the belt conveyor, the belt conveyor stops working, meanwhile, the robot arm 3 clamps the materials to the assembling unit 8, the push rod of the thin double-push-rod cylinder retracts, the materials at the secondary bottom layer fall to the bottom of the feeding well 62, the feeding is carried out for the second time, and the feeding starts.

The classification unit 7 comprises a classification component and a kit component; the sorting assembly comprises a sorting platform 71, and storage stations which are distinguished according to the types of the assemblies to be assembled are formed on the sorting platform 71; the sleeve assembly comprises a sleeve platform 72, and a single sleeve of storage area for the assembly to be assembled is formed on the sleeve platform 72. The workstation mainly comprises two parts, wherein material storage discs of the two parts are 350 mm-12 mm aluminum plates, except that the material storage disc of the classification platform 71 part is formed by separately storing four sets of travel switches 20 such as a shell 201, a rubber pad 205, a cover plate 204, a plunger head 203 and a plastic cap according to classes, and the material storage disc of the classification platform 72 part is divided into four large areas and stores all parts of the travel switches 20 in a single set of combination; the workstation trains the robot to carry the parts of the travel switch 20 from the classification platform 71 to the classification platform 72 in a grouping and sorting way, so that the robot carrying training is achieved.

The assembling unit 8 comprises an assembling platform 81, a calibrator 82, a push rod cylinder 83, a rotary pressing cylinder 84 and a diagonal top block assembly 85 are arranged on the assembling platform 81, the calibrator 82 is vertically arranged on the assembling platform 81 and is positioned on one side of a base of the push rod cylinder 83, the calibrator 82 can calibrate the zero point position of TCP with the calibration pen 442, the push rod cylinder 83 is horizontally arranged, and a material pressing block 86 is arranged on a push rod of the push rod cylinder 83; a push rod of the rotary pressing cylinder 84 is vertically arranged upwards, the base end of the rotary pressing cylinder is fixed on one side of the assembling platform 81, a cylinder pressure head 87 is vertically arranged at the push rod end of the rotary pressing cylinder 84, the cylinder pressure head 87 is positioned on one side of the assembling platform 81 and is arranged in parallel with the assembling platform 81, and a diagonal top block assembly 85 is arranged below the cylinder pressure head 87; the diagonal top block assembly 85 is provided with two diagonal top blocks which are symmetrical to each other, each diagonal top block is of a right-angle corner structure, one sides of inner corners of the two diagonal top blocks are opposite to form an assembly area, and after the material pressing block 86 extends out, the material to be assembled is pressed in the assembly area of the diagonal top block assembly 85. The robot arm 3 picks up all parts of the travel switch 20 from the material distributing storage disc of the travel switch 20 according to a program of a designed process flow, and horizontally places the shell 201, then installs the wiring terminal, places the rubber pad 205, places the cover plate 204 and then uses a quick-change screwdriver to screw the end cover fixing screw to the workstation; then, the robot arm 3 vertically places the semi-finished travel switch 20, performs bottom plastic cap press-fitting, finally vertically places the travel switch 20 upside down, installs the plunger head 203, and screws 54 are screwed, and the unit can perform practical training programming operation of robot-assisted assembly.

After the trajectory training unit 9 is used for TCP calibration, the robot arm 3 makes the painting brush 441 perform walking trajectory training according to a trajectory pattern, the trajectory training unit 9 includes a trajectory training base 91 and an installation aluminum plate 92, the installation aluminum plate 92 is arranged in an inclined manner, and a trajectory diagram 93 printed with the trajectory pattern is pasted on the installation aluminum plate 92. The calibration pen 442 can calibrate the zero point position of the TCP with the calibrator 82 installed on the assembly platform 81, the trajectory training module 9 is used for calibrating the TCP, the robot arm 3 enables the painting brush 441 to perform walking trajectory training according to the trajectory training module 9, the trajectory training module 9 includes a trajectory base 91 and an installation aluminum plate 92, the installation aluminum plate 92 is obliquely arranged, and a trajectory graph 93 printed with trajectory patterns is pasted on the installation aluminum plate 92. So that the mounting aluminum plate 92 forms a 45 deg. angle with the training base 91. The mounting aluminum plate 92 is fixed on two sets of uprights of the track base 91 through an obtuse angle connecting piece 94 and an acute angle connecting piece 95, wherein the obtuse angle connecting piece 94 is a 135-degree angle connecting piece special for 2020 aluminum profiles, the acute angle connecting piece 95 is a 45-degree angle connecting piece special for 2020 aluminum profiles, the uprights are 2020 aluminum profile long uprights with 45-degree angle inclined planes and plain end tapping M6, and the height of the first set of uprights is greater than that of the second set of uprights. 4 geometric figures are printed on a track graph 93 of the PVC robot, a layer of 3M glue is coated on the back of the PVC robot and is attached to an installation aluminum plate 92, 4 threaded holes are formed in the back of the installation aluminum plate 92 and are installed on 4 aluminum profile stand columns through bolts and special aluminum profile connecting pieces, then the PVC robot is installed on an installation bottom plate of the track training module 9 through the bolts, and 4 strip holes are formed in the installation floor and are used for fixedly installing the whole track training unit 9 workstation.

The warehouse unit 10 comprises a warehouse platform 101 and a material storage plate 102, the material storage plate 102 is vertically arranged on one side of the warehouse platform 101, a material storage position is formed on the material storage plate 102, and a warehouse position photoelectric switch 103 used for detecting the storage condition of the warehouse position is arranged on the rear side corresponding to the warehouse position. Which is primarily intended to store the end product of the travel switch 20. The total number of the storage positions is two, six storage positions are arranged, and a storage position photoelectric switch 103 for detecting the storage condition of the storage positions is arranged behind each storage position.

The scheme also provides a practical training assessment method of the practical training assessment device for the robot application programming, wherein all components of the travel switch 20 used for simulating the assembly process are butted and assembled in sequence; the travel switch 20 comprises a shell 201, a wiring terminal, a rubber pad 205, a cover plate 204, screws, a plastic cap and a plunger head 203; the method comprises the following specific steps:

fixing the housing 201: the robot arm 3 clamps the shell 201, after the shell is horizontally placed on the assembly unit 8, the push rod cylinder 83 on the assembly platform 81 acts, and the material pressing block 86 pushes the shell 201 to the assembly area of the diagonal top block to be fixed;

assembling the wiring terminal: the robot arm 3 rotates 90 degrees and is switched to be in a small air claw 452 working state, after the conveying unit 6 conveys the wiring terminals to the tail end of the belt 65, the robot arm 3 clamps the wiring terminals at the tail end of the belt 65 to the assembling platform 81 by using the small air claw 452 and places the wiring terminals into the shell 201, and assembling of the wiring terminals is completed;

the cover plate 204 placing step: the robot arm 3 replaces the clamping jaw tool 45 with a sucking disc tool 43, moves to the sub-sleeve platform 72 to suck the rubber pad 205, then moves to the assembly platform 81 and places the sub-sleeve platform on the fixed position of the shell 201, then moves to the sub-sleeve platform 72 to suck the cover plate 204, moves to the assembly platform 81 and places the cover plate in place, the plug board side of the cover plate 204 enters the jack of the shell 201, the robot arm 3 replaces the sucking disc tool 43 with an electric screwdriver tool 5, the screw feeder 2 supplies screws to the electric screwdriver tool 5, and the electric screwdriver tool 5 drives two screws on the other side of the cover plate 204 to the screw hole positions corresponding to the shell 201 to obtain a semi-finished product with the cover plate 204;

a plastic cap press-fitting step, wherein the robot arm 3 replaces the electric screwdriver tool 5 with the clamping jaw tool 45, switches to an atmospheric jaw 451 working state, and moves to the assembling platform 81 to clamp the semi-finished product which is provided with the cover plate 204; turning the semi-finished product with the cover plate 204 from a flat state to a state that the bottom of the shell 201 is vertically upward, replacing the clamping jaw tool 45 with the sucking disc tool 43 by the robot arm 3, sucking the plastic cap in the sleeve separating platform 72 and placing the plastic cap in the wire outlet 202 at the bottom of the shell 201, rotating and pressing down the rotary pressing cylinder 84 of the assembling unit 8, pressing the plastic cap in place by the cylinder pressing head 87, and pressing the semi-finished product with the plastic cap;

a plunger head 203 assembling step, namely, rotating the compaction air cylinder 84 to loosen, replacing the sucker tool 43 with a clamping jaw tool 45 by the robot arm 3, converting the sucker tool into an atmospheric jaw 451 working state, turning the semi-finished product after the plastic cap is pressed and mounted by 180 degrees in the vertical direction, clamping by the rotation compaction air cylinder 84, converting the robot arm 3 into a small air jaw 452 working state, clamping the plunger head 203 in the sleeve distributing platform 72, mounting the plunger head 203 at the corresponding position of the semi-finished product after the plastic cap is pressed and mounted, replacing the clamping jaw tool 45 with an electric batch tool 5 by the robot arm 3, moving the robot arm 3 to the assembling platform 81, and then tightening the screw on the plunger head 203 to the right position to obtain a finished travel switch 20; 4 screws can be arranged on the plunger head 203, wherein in order to avoid the complexity of the assembling steps, the structure of the plunger head 203 can be simply improved, 2 screws in the 4 screws of the plunger head 203 are reserved, and the other two screws are changed into a plug-in mounting structure, so that the excessive repeated operation can be avoided, and the compactness of the examination process is improved;

and a warehousing step, in which the robot arm 3 replaces the electric screwdriver tool 5 with the clamping jaw tool 45, and after the working state of the atmospheric jaw 451 is switched, the finished product of the travel switch 20 is clamped and placed on a corresponding warehouse position on the stereoscopic warehouse unit 10, so that the single-set assembly and the stereoscopic warehousing of the travel switch 20 are completed.

In the terminal assembling step, the most preferable scheme is as follows: the material pushing photoelectric switch 69 detects that the wiring terminal is arranged at the bottom of the feeding well 62, the material pushing cylinder 63 drives the material pushing block 64 to push the wiring terminal at the bottom of the feeding well 62 out of the conveying belt 65, the wiring terminal at the bottom of the next layer falls on the material pushing block 64, meanwhile, the inlet photoelectric switch 67 sends a signal to the PLC after detecting the wiring terminal on the conveying belt 65, the PLC sends an instruction to start the speed reducing motor 651, the conveying belt 65 starts to work to convey the wiring terminal to the tail end of the conveying belt 65, the material is blocked by the end baffle 69 of the conveying belt 65, the outlet photoelectric switch 68 stops working after detecting the wiring terminal on the conveying belt 65, and the robot arm 3 clamps the wiring terminal to the assembling unit 8 by using the small air claw 452 and places the wiring terminal in the shell 201 to complete assembling of the wiring terminal.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent changes without departing from the technical scope of the present invention.

Claims (5)

1. A robot application programming practical training examination device comprises a workbench (1), a demonstrator, a robot arm (3) and a practical training module, wherein the demonstrator is connected with the robot arm (3) and used for controlling the robot arm (3), the robot arm (3) is installed on the workbench (1), a table top of the workbench (1) is formed by butt joint of aluminum profiles, and the practical training module is installed and fixed on the workbench (1) through a T-shaped nut block; the method is characterized in that:

the practical training module comprises a manipulator unit; the manipulator unit comprises a tool switching tool (4) and an electric screwdriver tool (5);

the tool switching tool (4) comprises a tool switching platform (41), three groups of station holes for storing different types of quick-change tools are arranged on the tool switching platform (41), and a positioning pin I (411) is arranged at the edge of each station hole and used for positioning, taking and placing the quick-change tools;

the quick-change tools all comprise quick-change connectors I (42), the quick-change connectors I (42) sequentially comprise connector female heads (421), connector connecting plates (422) and cylindrical connecting pieces (423), which are connected with one another from top to bottom, and positioning holes matched with the positioning pins I (411) are formed in the connector connecting plates (422); the three groups of quick-change tools are respectively provided with a sucker tool (43), a painting brush tool (44) and a clamping jaw tool (45); wherein the painting tool (44) comprises a painting brush (441) and a calibration pen (442) which are arranged on a cylindrical connecting piece (423), and the painting brush (441) and the calibration pen (442) are vertical to each other; wherein the clamping jaw tool (45) comprises an atmosphere jaw (451) and a small air jaw (452), and the atmosphere jaw (451) and the small air jaw (452) are perpendicular to each other;

the electric screwdriver tool (5) comprises an electric screwdriver platform (51) and an electric screwdriver component arranged on the electric screwdriver platform (51), the electric screwdriver component comprises a quick-change connector II (52), an electric screwdriver fixing seat (56), an electric screwdriver floating seat (53) and an electric screwdriver (54), the electric screwdriver floating seat (53) is fixed on the middle section of the electric screwdriver (54) through a support pressing plate (55), the electric screwdriver fixing seat (56) is arranged above the electric screwdriver floating seat (53), the electric screwdriver fixing seat (56) is fixedly connected with the quick-change connector II (52), the electric screwdriver fixing seat (56) and the electric screwdriver floating seat (53) are connected through a guide rod (57), and a spring (58) is arranged on the guide rod (57) in a penetrating mode.

2. The practical training assessment device for the application programming of the robot as claimed in claim 1, wherein: the practical training module further comprises a conveying unit (6), wherein the conveying unit (6) comprises a feeding part and a conveying part;

the feeding part comprises a feeding platform (61), a feeding well (62) is arranged on the feeding platform (61), a material pushing channel is formed at the bottom of the feeding well (62), a material pushing assembly is arranged at the material pushing channel and comprises a material pushing cylinder (63) and a material pushing block (64) arranged on a push rod of the material pushing cylinder (63), and the material pushing block (64) can move back and forth in the material pushing channel under the pushing of the material pushing cylinder (63);

the conveying part comprises a conveying belt (65), wherein guide plates (66) are arranged on two sides of the conveying belt (65), a conveying channel for materials is formed between the two guide plates (66), and an inlet photoelectric switch (67) and an outlet photoelectric switch (68) are respectively arranged at an inlet and an outlet of the conveying channel.

3. The practical training assessment device for the application programming of the robot as claimed in claim 2, wherein: the practical training module further comprises a classification unit (7), wherein the classification unit (7) comprises a classification component and a kit component;

the sorting assembly comprises a sorting platform (71), and storage stations which are distinguished according to the types of the assemblies are formed on the sorting platform (71);

the sleeve separating assembly comprises a sleeve separating platform (72), and a single sleeve assembly set distinguished storage station is formed on the sleeve separating platform (72).

4. The practical training assessment device for robot application programming of claim 3, wherein: the practical training module further comprises an assembly unit (8), the assembly unit (8) comprises an assembly platform (81), a calibrator (82), a push rod cylinder (83), a rotary pressing cylinder (84) and a diagonal top block assembly (85) are arranged on the assembly platform (81), the calibrator (82) is vertically arranged on the assembly platform (81) and located on one side of a base of the push rod cylinder (83), the calibrator (82) can calibrate the TCP zero point position with a calibration pen (442), the push rod cylinder (83) is horizontally arranged, and a material pressing block (86) is mounted on a push rod of the push rod cylinder (83); a push rod of the rotary pressing cylinder (84) is vertically arranged upwards, a base end of the rotary pressing cylinder is fixed on one side of the assembling platform (81), a cylinder pressure head (87) is arranged at the push rod end of the rotary pressing cylinder (84), the cylinder pressure head (87) is positioned above the assembling platform (81) and is arranged in parallel with the assembling platform (81), and a diagonal top block assembly (85) is arranged below the cylinder pressure head (87); the diagonal jacking block assembly (85) is provided with two diagonal jacking blocks, the two diagonal jacking blocks are symmetrical to each other, the diagonal jacking blocks are of a right-angle corner structure, one sides of inner corners of the two diagonal jacking blocks are opposite to form an area to be assembled, and after the material pressing block (86) extends out, the material to be assembled is pressed and installed in the assembling area between the two diagonal jacking blocks.

5. The practical training assessment device for robot application programming of claim 4, wherein: the practical training module further comprises a warehouse unit (10) used for storing finished products of the travel switch (20), the warehouse unit (10) comprises a warehouse platform (101) and a material storage plate (102), the material storage plate (102) is vertically arranged on one side of the warehouse platform (101), a warehouse position where materials are stored is formed on the material storage plate (102), and a warehouse position photoelectric switch (103) used for detecting the storage condition of the warehouse position is arranged on the rear side of the corresponding warehouse position.

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