CN216623588U - Collaborative robot teaching platform based on digital twins - Google Patents
Collaborative robot teaching platform based on digital twins Download PDFInfo
- Publication number
- CN216623588U CN216623588U CN202220006491.0U CN202220006491U CN216623588U CN 216623588 U CN216623588 U CN 216623588U CN 202220006491 U CN202220006491 U CN 202220006491U CN 216623588 U CN216623588 U CN 216623588U
- Authority
- CN
- China
- Prior art keywords
- unit
- robot
- controller
- plc
- conveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
A collaborative robot teaching platform based on digital twins belongs to the field of teaching equipment. The teaching platform comprises a control box with a built-in controller assembly, and a robot assembly and a conveying and distributing assembly which are arranged on the surface of the control box, and can move at a feeding unit, a stacking unit and a conveying unit by controlling a six-axis robot and an XYZ moving module unit. The students can develop various innovative experimental activities, and the experimental device is favorable for developing the abilities of manual operation, analysis, debugging and design and innovation consciousness of the students. The platform integrates the contents of a plurality of discipline teaching (mechanical design, electromechanical engineering, PLC programming control and the like), can greatly promote teachers and students to know the actual application of a factory, and meets the fundamental requirements of enterprises on the actual application capability of personnel.
Description
Technical Field
The utility model belongs to the field of teaching equipment, and particularly relates to a collaborative robot teaching platform based on digital twins.
Background
At present, because of the problem that teaching resources of colleges and universities are limited, the same centralized teaching of an electric classroom based on digital twins is designed, the problems that teaching quality is influenced due to the fact that tens of students listen to a teacher to give lessons around equipment because the number of physical training equipment is limited, and teaching activities are not favorably developed, and teaching efficiency is influenced due to the fact that the students group in batches are solved. Meanwhile, in the practical training process, dangerous items such as injury to robot equipment and improper damage to equipment operation often exist, and the adoption of the digital twin technology can enable students to know the practical training process in advance, so that dangerous events are avoided, and the students can complete each practical training item as much as possible with great confidence.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide a collaborative robot teaching platform based on digital twins.
The technical scheme that utility model adopted is: a collaborative robot teaching platform based on digital twins is technically characterized by comprising a control box with a built-in controller assembly, a robot assembly and a material conveying and distributing assembly, wherein the robot assembly and the material conveying and distributing assembly are arranged on the surface of the control box;
the robot assembly comprises a six-axis robot, an XYZ moving module unit and a pneumatic valve unit, wherein the six-axis robot is connected with a robot controller so as to receive a control signal which is output by the robot controller and used for controlling the clamping tool at the tail end of the six-axis robot and the sucking disc; the XYZ moving module unit is connected with the module controller to receive the control signal output by the module controller; the pneumatic valve unit is connected with the PLC to receive a control signal which is output by the PLC and drives the sucking disc at the tail end of the six-axis robot to suck;
the conveying and proportioning component comprises a feeding unit, a stacking unit and a conveying unit, the conveying unit comprises a conveying belt unit for conveying materials and a sensor unit for acquiring images of the materials conveyed by the conveying belt unit, and the sensor unit is arranged on two sides of a conveying belt in the sensor unit; the feeding unit, the stacking unit and the conveying belt unit are respectively connected with the PLC to receive a feeding control signal output by the PLC, a stacking control signal used for placing parts into corresponding bin lattices of the bottom plate and a conveying control signal used for controlling the conveying belt;
The controller component comprises a PLC controller, a digital twin host, a robot controller and a module controller, wherein the digital twin host, the robot controller and the module controller are respectively connected with the PLC controller and receive or send control signals from the PLC controller;
the digital twin host comprises a twin model component and a data communication component, wherein the twin model component is connected with a display so as to output a 3D model which is completely consistent with the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit on the surface of the control box to the display; the data communication assembly is connected with the PLC to transmit the action behavior change signal of the twin model assembly to the PLC through the data communication assembly or receive a control signal which is transmitted by the PLC and used for controlling the actual actions of the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit.
In the scheme, the emergency stop alarm device further comprises a safety alarm unit, wherein the safety alarm unit is in signal connection with the PLC to receive an alarm signal sent by the PLC and including a control emergency stop button, an alarm lamp and a buzzer.
The beneficial effects of the utility model are: the cooperative robot teaching platform based on the digital twin comprises a control box with a built-in controller assembly, and a robot assembly and a conveying and distributing assembly which are arranged on the surface of the control box, wherein the teaching platform can be controlled by a six-axis robot and an XYZ moving module unit to move on a feeding unit, a stacking unit and a conveying unit. The students can develop various innovative experimental activities, and the experimental device is favorable for cultivating the abilities of manual operation, analysis, debugging and design and innovation consciousness of the students. The platform integrates the contents of a plurality of discipline teaching (mechanical design, electromechanical engineering, PLC (programmable logic controller) and the like), can greatly promote teachers and students to know the actual application of a factory, and meets the fundamental requirements of enterprises on the actual application capacity of the personnel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a digital twin-based collaborative robot teaching platform according to an embodiment of the utility model;
FIG. 2 is a schematic structural diagram of a twin platform cooperative robotic platform in an embodiment of the utility model;
FIG. 3 is a top view of a mechanical platform of a twin platform cooperative robot in an embodiment of the present invention;
the numbers in the figure illustrate the following: the robot comprises a six-axis robot 1, a 2 XYZ moving module unit, a 3 palletizing unit, a 4 conveying unit, a 5 feeding unit, a 6 sensor unit, a 7 control box, an 8 safety alarm unit, a 9 pneumatic valve unit, a 10 digital twin digital display, an 11 HMI unit and a 12 robot end tool.
Detailed Description
The above objects, features and advantages of the present invention will be more clearly understood and will be further described in detail with reference to the accompanying drawings 1 to 3 and the detailed description of the utility model.
The digital twin-based collaborative robot teaching platform adopted by the embodiment comprises a control box 7 with a built-in controller assembly, and a robot assembly and a conveying and distributing assembly which are arranged on the surface of the control box 7. The controller component of the embodiment comprises a PLC controller, a digital twin host, a robot controller and a module controller; the robot assembly comprises a six-axis robot 1, an XYZ moving module unit 2 and a pneumatic valve unit 9; the dispensing assembly comprises a feeding unit 5, a palletizing unit 3 and a conveying unit 4.
The six-axis robot 1 is installed on the upper portion of the control box 7, is connected with a robot controller and comprises an industrial robot, a robot base, a robot end tool and the like. The robot tail end tool has double functions of clamping and sucking discs, when clamping work is needed, the sucking discs are automatically retracted, and when the sucking disc function is needed, the sucking discs automatically extend out.
The sensor unit 6 is arranged on the side surface of the conveying unit 4, the mechanical interface of the sensor unit is positioned on the side surface of the belt conveyor, and the sensor unit can be arranged at the position to collect images of materials passing through the belt. The data interface is connected with an IO interface of the PLC, and comprises a detection state for detecting the motion of each mechanism device and a material judging and identifying device on the conveyer belt. .
The stacking unit 3 is arranged on the upper portion of the control box 7 and used in cooperation with the six-axis robot 1, and stacking parts are placed in corresponding bin lattices of the bottom plate according to control signals transmitted by the PLC, so that the six-axis robot 1 and the XYZ moving module unit 2 can be used for picking up the stacking parts as required to perform stacking tasks.
The feeding unit 5 is arranged on the upper part of the control box 7 and is matched with the conveying unit 4 for use, and the six-axis robot 1 and the XYZ moving module unit 2 complete the feeding and conveying of the parts through digital quantity input and output control.
The conveying unit 4 is arranged at the upper part of the control box 7 and is matched with the sensor unit 6 to distinguish different materials.
And the pneumatic valve unit 9 is arranged on the side surface of the control box 7 and is controlled by an IO module of the PLC, so that the control of the chuck of the tail end clamp of the robot is realized.
The safety alarm unit 8 is installed on the upper portion of the control box 7 and connected with an IO module of the PLC, personal safety of users is protected through an emergency stop button, an alarm lamp and a buzzer which are sent by the PLC, and emergency stop processing is conducted on illegal operation behaviors when the system automatically operates.
In the embodiment, the safety alarm unit 8 is arranged at the lower end of the digital twin digital display 10, so that the operation and safety maintenance of practical training with students can be realized.
The PLC of the embodiment is used for controlling the action execution of corresponding equipment of a hardware platform of the cooperative robot and is responsible for signal docking with the digital twin host through profibus or Profinet.
And the IO interface is connected with the PLC, is used for inputting and outputting signals such as digital quantity input, digital quantity output, analog quantity input and analog quantity output and is used for receiving and outputting control signals to the cooperative robot hardware platform.
The digital twin digital display 10 is connected with the PLC controller to output 3D models and model motions that are completely identical to the control box surface six-axis robot 1, the feeding unit 4, the palletizing unit 3, the conveying unit 4, the pneumatic valve unit 9, and the XYZ movement module 2 unit.
The power module is used for supplying power to the hardware platform of the controller assembly.
The robot controller is used for being in butt joint with the PLC, and meanwhile, the six-axis free control of the robot is achieved.
The module control module is used for being in butt joint with the PLC controller and controlling the XYZ moving module.
The digital twin host is used for being in butt joint with the PLC, the digital twin teaching display platform and a plurality of student training computers.
The digital twin host comprises a twin model component and a data communication component, wherein the twin model component is connected with a display so as to output a 3D model which is completely consistent with the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit on the surface of the control box to the display; the data communication assembly is connected with the PLC to transmit action signals of the twin model assembly to the PLC through the data communication assembly or receive control signals transmitted by the PLC and used for controlling actual actions of the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit.
The system also comprises an analysis component which comprises a performance analysis unit, a matching degree analysis unit and an analysis report unit. The performance analysis unit is connected with the digital twin digital display 10, and the analysis result of the performance condition of the established digital twin model action execution is output through the digital twin digital display 10. The matching degree analysis unit is connected with the digital twin digital display 10, and outputs the analysis result of the matching degree of the digital twin model and the physical model to the digital twin digital display 10, so that the practice condition of students on the digital twin platform is matched with the practice condition of the physical entity. The analysis report unit is connected with the digital twin digital display 10, and the analysis result report is displayed through the connection of the digital twin digital display 10, so that the statistical analysis can be conveniently carried out by a teacher.
The embodiment can also connect the student training computer with the digital twin host, can realize simultaneous work of a plurality of computers, and can carry out corresponding tests on a hardware platform when a certain student completes a task.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A collaborative robot teaching platform based on digital twins is characterized by comprising a control box with a built-in controller assembly, and a robot assembly and a material conveying and distributing assembly which are arranged on the surface of the control box;
the robot assembly comprises a six-axis robot, an XYZ moving module unit and a pneumatic valve unit, wherein the six-axis robot is connected with a robot controller so as to receive control signals which are output by the robot controller and used for controlling the clamping tool at the tail end of the six-axis robot and the sucking disc; the XYZ moving module unit is connected with the module controller to receive a control signal output by the module controller; the pneumatic valve unit is connected with the PLC to receive a pneumatic signal which is output by the PLC and used for driving the sucking of the suckers at the tail ends of the six-axis robots;
The conveying and distributing assembly comprises a feeding unit, a stacking unit and a conveying unit, the conveying unit comprises a conveying belt unit for conveying materials and a sensor unit for acquiring images of the materials conveyed by the conveying belt unit, and the sensor unit is arranged on two sides of a conveying belt in the sensor unit; the feeding unit, the stacking unit and the conveying belt unit are respectively connected with the PLC to receive a feeding control signal output by the PLC, a stacking control signal used for placing parts into corresponding bins of the bottom plate and a conveying control signal used for controlling the conveying belt;
the controller component comprises a PLC controller, a digital twin host, a robot controller and a module controller, wherein the digital twin host, the robot controller and the module controller are respectively connected with the PLC controller and receive or send control signals from the PLC controller;
the digital twin host comprises a twin model component and a data communication component, wherein the twin model component is connected with a display so as to output a 3D model which is completely consistent with the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit on the surface of the control box to the display; the data communication assembly is connected with the PLC to transmit the action behavior signals of the twin model assembly to the PLC through the data communication assembly or receive control signals transmitted by the PLC and used for controlling the actual actions of the six-axis robot, the feeding unit, the stacking unit, the conveying unit, the pneumatic valve unit and the XYZ moving module unit.
2. The digital twin-based collaborative robot teaching platform according to claim 1, further comprising a safety alarm unit in signal connection with the PLC controller to receive an alarm signal including control of the emergency stop button, the alarm lamp and the buzzer from the PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220006491.0U CN216623588U (en) | 2022-01-05 | 2022-01-05 | Collaborative robot teaching platform based on digital twins |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220006491.0U CN216623588U (en) | 2022-01-05 | 2022-01-05 | Collaborative robot teaching platform based on digital twins |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216623588U true CN216623588U (en) | 2022-05-27 |
Family
ID=81687165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220006491.0U Active CN216623588U (en) | 2022-01-05 | 2022-01-05 | Collaborative robot teaching platform based on digital twins |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216623588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114241887A (en) * | 2022-01-05 | 2022-03-25 | 辽宁装备制造职业技术学院 | Collaborative robot teaching platform based on digital twin |
-
2022
- 2022-01-05 CN CN202220006491.0U patent/CN216623588U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114241887A (en) * | 2022-01-05 | 2022-03-25 | 辽宁装备制造职业技术学院 | Collaborative robot teaching platform based on digital twin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105679175B (en) | A kind of intelligence manufacture production line information integration and control Practice Platform | |
| CN201936524U (en) | Training assessment equipment for automatic machining and assembly line | |
| CN205810238U (en) | Multifunctional industrial robot actual training device | |
| CN216623588U (en) | Collaborative robot teaching platform based on digital twins | |
| CN110364046A (en) | A kind of modularization robot practice teaching platform | |
| CN205788817U (en) | A kind of unmanned workshop robot real training apparatus for production line | |
| Yenorkar et al. | GUI based pick and place robotic arm for multipurpose industrial applications | |
| CN108777092A (en) | A kind of intelligent Manufacturing Technology with apply production practice system | |
| US20180374379A1 (en) | Mechatronic factory simulation system and method of teaching how to resolve errors in an automation-driven process | |
| CN106782014A (en) | A kind of intelligent production line Practical training equipment | |
| CN206601897U (en) | A kind of intelligent production line Practical training equipment | |
| CN114241887A (en) | Collaborative robot teaching platform based on digital twin | |
| CN201421680Y (en) | Production line training device | |
| Bassily et al. | A mechatronics educational laboratory–Programmable logic controllers and material handling experiments | |
| CN206134094U (en) | Duplex is real workstation of instructing of teaching in coordination | |
| CN206216675U (en) | A kind of four axis robot vision balance platforms | |
| CN106898237A (en) | A kind of automated production operation teaching method and system | |
| Shoham | A Textbook of Robotics 1: Basic Concepts | |
| CN104464488A (en) | Teaching aid for achieving intelligent production line | |
| CN207696540U (en) | A kind of robot control system being conveniently operated | |
| CN109887379A (en) | A kind of teaching flexible manufacturing system platform | |
| Cong | Design and development of a delta robot system to classify objects using image processing. | |
| Kobras et al. | Didactic Design of a Remote Collaborative Robotics Laboratory | |
| CN212263902U (en) | Apple automatic sorting experimental apparatus based on PLC | |
| CN205881297U (en) | Intelligent manufacturing production line information collection puts into practice platform with control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |