CN217467879U - Industrial robot modularization intelligence manufacturing teaching platform - Google Patents

Abstract

The utility model discloses an industrial robot modularization intelligence manufacturing teaching platform, including joint axle assembly unit, radium carving unit, packing subsides mark unit, stereoscopic warehouse unit, AGV mobile robot unit and total accuse operation display unit. The utility model discloses a modular structure, can develop the real standard of industrial robot basic programming application, industrial robot synthesizes real standard of programming application, real standard of industrial robot technology application programming, real standard of automatic stereoscopic warehouse application, real standard of removal AGV robot application, real standard of machine 2D and 3D vision application, siemens PLC programming and debugging are real, off-line programming track planning and motion simulation are real standard, real standard of MES system application technique, real standard of intelligent manufacturing unit operation and maintenance synthesis application, real standard of a plurality of real standard projects such as real standard of intelligent manufacturing unit system integration application technique, application range is wider, thereby increase the practicality of device.

Description

Industrial robot modularization intelligence manufacturing teaching platform

Technical Field

The utility model relates to an intelligence manufacture equipment technical field specifically is an industrial robot modularization intelligence manufacturing teaching platform.

Background

A1 + X modular intelligent manufacturing unit is developed aiming at the major fields of electrical automation, mechanical engineering, intelligent robot manufacturing and the like in universities and colleges, can be used for practical training of daily intelligent manufacturing integration, debugging, maintenance, upgrading and the like, adopts modular design, can realize training and certification of three layers of primary, intermediate and advanced levels of intelligent manufacturing unit system integration and intelligent manufacturing unit maintenance 1+ X series certificates through combination among module workstations, and simultaneously meets the training and certification of two layers of primary and intermediate levels of industrial robot application programming.

Teaching platform's shortcoming and not enough are made to industrial robot modularization intelligence among the prior art:

patent document CN112201103A discloses an integrated teaching innovation platform in the application field of industrial robots, which comprises a control system, a standard training platform, a functional module, an industrial robot body, a vision detection module and a human-computer interaction system, the utility model utilizes the cooperation of the control system, the standard training platform, the functional module, the industrial robot body, the vision detection module and the human-computer interaction system, the integrated teaching innovation platform in the application field of the industrial robot has rich teaching modules, can realize the functions of automatic clamp replacement, automatic material taking, assembly, visual inspection, material storage and the like of the robot, and the platform integrates abundant teaching functions through compact modular design, improves the applicability and the teaching training effect, in the device, when the device is used, the use range is limited, so the practical training function of the device is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot modularization intelligence manufacturing teaching platform to solve the problem that proposes in the above-mentioned background art.

In order to achieve the purpose, the utility model provides a following technical scheme, an industrial robot modularization intelligent manufacturing teaching platform, including joint shaft assembly unit, radium carving unit, packing subsides mark unit, stereoscopic warehouse unit, AGV mobile robot unit and total accuse operation display unit, one side of joint shaft assembly unit is provided with total accuse operation display unit, the opposite side of joint shaft assembly unit is provided with radium carving unit, one side of radium carving unit is provided with packing subsides mark unit, one side of packing subsides mark unit is provided with stereoscopic warehouse unit, one side of stereoscopic warehouse unit is provided with AGV mobile robot unit;

preferably, the joint shaft assembling unit includes: the automatic feeding device comprises a first control panel, a belt conveying module, an RFID intelligent module, a vertical feeding module, a warehousing module, a first clamp quick-change module, a robot visual module, a first industrial robot, a rotary feeding module and a positioner module.

Preferably, the laser etching unit includes: second control panel, second anchor clamps quick change module, tray move and carry mechanism, second industrial robot, first conveyor belt line, motor assembly module, radium carving machine power, data plate material frame, radium carving workstation, second conveyor belt line and RFID intelligent object constitute.

Preferably, the packaging labeling unit includes: the unit mainly comprises a third control panel, a third belt conveyor line, an RFID intelligent module, a third clamp quick-change module, a packaging cover material tray, a packaging workbench, a third industrial robot, an industrial 3D vision camera, a shaking material box and a label stripping assembly.

Preferably, the stereoscopic warehouse unit includes: a fourth control panel, a fourth belt conveyor line, a stacker component and a storage unit module.

Preferably, the AGV moving robot unit includes: the unit consists of an AGV trolley, an AGV belt conveying line, a correlation sensor, a vision sensor and a control system.

Preferably, the total control operation display unit includes: the unit consists of an information display large screen, a PC (personal computer), an operation platform, a master control PLC (programmable logic controller) system and an MES (manufacturing execution system).

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses an adopt modular structure, can develop the real standard of industrial robot basic programming application, industrial robot synthesizes real standard of programming application, real standard of industrial robot technology application programming, automatic stereoscopic warehouse uses real standard, remove real standard of AGV robot application, real standard of machine 2D and 3D vision application, siemens PLC programming and debugging are real standard, off-line programming track planning and motion simulation are real standard, real standard of MES system application technique, real standard of intelligent manufacturing unit operation and maintenance synthesis application, real standard of a plurality of projects such as real standard of intelligent manufacturing unit system integration application technique, application range is wider, thereby increase the practicality of device.

Drawings

FIG. 1 is a perspective view of the present invention;

fig. 2 is a schematic structural view of the joint shaft assembling unit of the present invention;

FIG. 3 is a schematic structural view of the laser etching unit assembly of the present invention;

fig. 4 is a schematic structural view of the assembly of the packaging labeling unit of the present invention;

fig. 5 is a schematic structural view of the stereoscopic warehouse unit assembly of the present invention;

FIG. 6 is a schematic diagram of an AGV structure of the present invention;

fig. 7 is a schematic view of the working process of the present invention.

In the figure: 1. a joint shaft assembling unit; 2. laser etching unit; 3. a packaging labeling unit; 4. a stereoscopic warehouse unit; 5. an AGV moves a robot unit; 6. a master control operation display unit; 7. a first control panel; 8. a belt transport module; 9. a vertical feeding module; 10. a warehousing module; 11. a first clamp quick-change module; 12. a robot vision module; 13. a first industrial robot; 14. rotating the feeding module; 15. a positioner module; 16. a second clamp quick-change module; 17. a tray transfer mechanism; 18. a second industrial robot; 19. a first conveyor belt line; 20. a motor assembly module; 21. laser engraving machine; 22. a power supply of the laser engraving machine; 23. a nameplate material rack; 24. a laser etching worktable; 25. a second conveyor belt line; 26. a third control panel; 27. a third belt conveyor line; 28. a third clamp quick-change module; 29. packaging a cover material tray; 30. a packaging work table; 31. a third industrial robot; 32. an industrial 3D vision camera; 33. Shaking the material box; 34. stripping the label assembly; 35. a fourth control panel; 36. a fourth belt conveyor line; 37. An RFID intelligent module; 38. a stacker assembly; 39. a storage unit module; 40. a second control panel; 41. an AGV trolley; 42. AGV belt conveyor line.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows:

firstly, a joint shaft assembling unit:

1. the robot end tools of the first clamp quick-change module 11 are all controlled by the robot controller to realize state switching by the IO module;

2. the warehousing module 10 transmits data to the PLC through sensor signal detection;

3. the positioner module 15 is adapted to a peripheral controller kit and a standard electrical interface kit, and is expanded into an industrial robot through a robot additional axis mode, the positioner module adopts robot external axis control, a motor of the positioner module receives a robot controller command in a driving mode and programs and operates the robot controller command through a demonstrator, the positioner adopts an absolute encoder, a module side panel is provided with a zero position reticle, the zero position of the positioner can be calibrated through the demonstrator, the motion range is set to +/-90 degrees through mechanical limit, and a positioner mounting plate mainly comprises a telescopic cylinder and a workpiece positioning clamping block and is used for clamping a workpiece;

4. the inner diameter of a cylindrical material cylinder in the vertical feeding module 9 is 50mm, two circular materials, namely a speed reducer and an output flange of a robot joint, can be simultaneously filled, a correlation sensor is arranged at the bottom of the cylindrical material cylinder to detect whether a workpiece exists or not, a magnetic switch is arranged on a cylinder to detect whether the action is executed or not, and the action of the cylinder and a sensor signal thereof are controlled by a PLC (programmable logic controller);

5. the belt line conveyor of the belt conveying module 8 is driven by a direct current motor at 0-3000rpm, and the motion reduction ratio is 1: 50, the belt line can be controlled to be started and stopped by controlling analog quantity through a PLC (programmable logic controller), and is driven by a single-phase alternating-current speed regulating motor;

6. the rotary feeder module 14 accommodates peripheral controller assemblies and standard electrical interface assemblies. The robot carries out the information interaction through group IO and ethernet and PLC controller, and PLC finally is rotatory to appointed station with the charging tray according to the order of robot, and rotatory feed module has 6 work pieces and places the position, along disc circumferencial direction array, and rotatory feedway adopts step motor drive, controls its motion by PLC, disposes 1: the harmonic speed reducer with the speed ratio of 80 has stable motion and high precision, and the rotary feeding platform is provided with a zero calibration sensor and a workpiece state detection sensor;

7. the RFID intelligent module 37 is used for reading and writing a material embedded chip, is communicated with a robot through a master controller, can be combined with other modules, and completes different practical training tasks, the RFID reader and the RFID communication module adopt Siemens brands, are seamlessly integrated with Siemens PLC, apply Siemens electronic tag management software, and can quickly write a material tracing system;

8. the robot vision module 12 is adapted to a peripheral controller suite and a standard electrical interface suite, detects information such as the shape, color and coordinates (X/Y/A) of a part, sends a detection result to the robot through the Ethernet, and sorts, positions and captures the workpiece by matching with a sucking disc tool at the tail end of the industrial robot;

9. the calibration tip can be installed at the position where the workbench can reach any robot, so that the robot can calibrate the coordinates of the tool conveniently, and when the calibration tip is used for calibrating the coordinates of the tool of the robot, the tail end of the robot uses a tip tool.

Secondly, laser etching unit:

1. the robot end tools of the second clamp quick-change module 16 are all controlled by the robot controller to realize state switching by the IO module;

2. the motor assembly module 20 has 6 sets of motor part placing positions, and three types of workpieces with three colors, namely a yellow, white and blue motor shell, a motor rotor and a motor end cover are respectively arranged on the motor assembly module. The module is firstly installed on a common base of the module, materials are placed on corresponding workpiece positions, a motor rotor is assembled on a motor shell by using robot programming, and a motor end cover is assembled to form a complete motor assembly body. A straight claw tool and a sucker tool are needed to finish the process;

3. the tray transplanting mechanism 17 is used for grabbing material trays from the first conveying belt line 19 to the second conveying belt line 25, the modules are matched with standard electrical interface kits, and the PLC controls the tray transplanting mechanism through digital quantity;

4. the first conveyor belt line 19 and the second conveyor belt line 25 are used for conveying and positioning material trays, the modules are matched with standard electrical interface kits, and the PLC controls the conveyor belt line modules through digital quantity;

5. the laser carving machine 21 adopts an advanced laser technology, has the characteristics of short pulse, excellent light speed quality, high precision, high peak power, high modulation evaluation rate and the like, obviously reduces the hot melting effect, achieves the perfect marking effect, is particularly suitable for marking of non-metal materials such as plastic and the like, ensures that internal optical devices are prevented from being polluted by dust and moisture by a totally-closed resonant cavity of a machine body, and has long service life and small attenuation;

6. the laser engraving worktable 24 comprises an industrial aluminum profile, a fixing plate, a positioning device, a cylinder and the like, and is mainly used for grabbing and placing a label to a designated position by a robot to position the label;

7. the RFID intelligent module 37 is used for reading and writing in a material embedded chip, is communicated with a robot through a master controller, can be combined with other modules, and completes different practical training tasks.

Thirdly, a packaging and labeling unit:

1. third belt conveyance line 27: the conveying device is used for conveying the material trays;

2. the RFID intelligent module 37 is used for reading and writing a material embedded chip, is communicated with a robot through a master controller, can be combined with other modules, and completes different practical training tasks, the RFID reader and the RFID communication module adopt Siemens brands, are seamlessly integrated with Siemens PLC, apply Siemens electronic tag management software, and can quickly write a material tracing system;

3. the robot end tools of the third clamp quick-change module 28 are all switched between states by controlling the IO module by the robot controller;

fourthly, a stereoscopic warehouse unit:

1. the stacker assembly 38 may pick material trays from the stereoscopic warehouse unit and place them on a fourth belt conveyor line, or the material trays are put in storage;

2. the storage unit module 39 is used for storing materials and comprises a bin sensor;

3. the fourth belt conveying line 36 is used for conveying material trays;

4. the PLC control system can perform manual and automatic operation control on the warehouse unit.

Fifthly, moving the robot unit by the AGV:

1. the functions are as follows: the system is used for conveying material trays in the intelligent manufacturing unit;

2. the working process is as follows:

(1) taking materials: the AGV trolley moves to a feed opening of a fourth belt conveyor line of the stereoscopic warehouse unit, the fourth belt conveyor line and the AGV belt conveyor line run simultaneously and automatically butt joint material trays, a sensor is triggered when the material trays are conveyed to the middle position of the AGV belt conveyor line, the AGV belt conveyor line stops running, and the AGV trolley starts and runs according to a motion track;

(2) blanking: the AGV trolley moves to a feeding port of a first conveying belt line of the laser etching unit, the first belt conveying line and the AGV belt conveying line run simultaneously and automatically butt joint a material tray, the sensor is triggered when the material tray is conveyed to the tail position of the first belt conveying line, the first belt conveying line and the AGV belt conveying line stop running simultaneously, and the AGV trolley returns to the original path;

the AGV trolley system can be subjected to data acquisition and analysis through the MES system, the current running state, maintenance record and running beat are inquired, and a feasibility optimization suggestion is provided.

Sixthly: the master control operation display unit:

description of the function:

(1) the information display large screen: displaying visual information;

(2) a PC machine: MES system, Siemens PLC system, off-line programming and other software carriers;

the MES system is provided with: production order distribution, process tracing, maintenance and repair recording, equipment early warning and the like;

the intelligent control system comprises a controller and a human-computer interface, wherein the controller is in a modularized and compact design, can be expanded, has a standard industrial communication interface, is suitable for realizing simple logic control, high-level logic control, network communication and control application, and high-level application functions of a small-sized motion control system, a process control system and the like, and the human-computer interface has the characteristics of comfort, multiple functions, multiple integrated interfaces and the like.

Example two:

in the device, a direct current motor controls speed change for PLC analog quantity, a three-dimensional storage unit 4 is used for storing 12 storage positions of 4 materials, the materials comprise a semi-finished product state A, a semi-finished product state B, a semi-finished product state C and a finished product state, each storage position is provided with a detection sensor, the storage position material information is mastered in real time, the three-dimensional storage position state is stored in MES system data in real time and used for managing the material information, the module is connected with an MES system through PROFINET industrial Ethernet, three of the 4 stepping motors are used for XYZ plane movement, the other 1 stepping motor is used for controlling the rotation of the materials out of the storage, and the module can be used for teaching the control of the stepping motors and the basic mode of the three-dimensional storage unit 4; the storage module 10 is used for storing joint bases, the vertical feeding module 9 is used for storing speed reducers and flanges, the rotary feeding module 14 is used for storing motor assembly bodies, the robot tail end clamping jaw tools respectively pick the motor assembly bodies up to the positioner module 15 for assembly, and the robot vision module 12 can be matched with the belt conveying module 8 for use, so that the speed reducer and the flange are positioned and identified; the master control operation display unit 6 comprises a touch screen and a button indicator lamp, wherein the button indicator lamp has the functions of switching on and off the equipment, switching modes, indicating power states, stopping the equipment suddenly and the like, and the touch screen selects a Siemens KTP700 panel and is used for monitoring and operating the data of the equipment; the RFID intelligent module 37 is used for reading and writing a material embedded chip, is communicated with a robot through a master controller, can be combined with other modules, and completes different practical training tasks, the RFID reader and the RFID communication module adopt Siemens brands, are seamlessly integrated with Siemens PLC, apply Siemens electronic tag management software, and can quickly write a material tracing system; the laser etching unit 2 is used for individually customizing patterns and characters for etching, and the platform is communicated with an MES system through a TCP (transmission control protocol), so that TCP communication and laser etching machine control can be taught; the industrial 3D vision camera 32 is used for identifying a packing box, is matched with the robot to pack a finished product motor, and is used for training students to perform 3D vision modeling, communicate with the robot and complete grabbing in cooperation with the robot; the packaging and labeling unit 3 is used for printing one-dimensional codes on line, grabbing and pasting the codes on a packaging box by a robot after being peeled by the label peeling assembly 34, and carrying out warehousing and ex-warehouse management identification, wherein the printer is controlled by an MES (manufacturing execution system) according to database contents and a production state, and the platform can be used for training students to use contents such as online control of a marking machine, a label peeling principle, MES system material management and the like; tray moves and carries mechanism 17 and realizes the material for step control material tray and transports, and stereoscopic warehouse's material tray is carried to first conveyor belt line 19 of radium carving unit through the AGV dolly and is carried mechanism 17 by the tray and snatch to second conveyor belt line 25 and carry out follow-up action, with 4 real closed loops of formation of instructing the unit.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented 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. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (7)

1. The utility model provides a teaching platform is made to industrial robot modularization intelligence, includes joint axis assembly unit (1), radium carving unit (2), packing subsides mark unit (3), stereoscopic warehouse unit (4), AGV mobile robot unit (5) and always controls operation display element (6), its characterized in that: one side of joint axle assembly unit (1) is provided with always controlling operation display element (6), the opposite side of joint axle assembly unit (1) is provided with radium carving unit (2), one side of radium carving unit (2) is provided with packing and pastes mark unit (3), one side of packing pastes mark unit (3) is provided with stereoscopic warehouse unit (4), one side of stereoscopic warehouse unit (4) is provided with AGV mobile robot unit (5).

2. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the joint shaft assembling unit (1) includes: the device comprises a first control panel (7), a belt conveying module (8), an RFID intelligent module (37), a vertical feeding module (9), a warehousing module (10), a first clamp quick-change module (11), a robot vision module (12), a first industrial robot (13), a rotary feeding module (14) and a positioner module (15).

3. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the laser etching unit (2) comprises: the automatic laser engraving machine comprises a second control panel (40), a second clamp quick-change module (16), a tray transferring mechanism (17), a second industrial robot (18), a first conveying belt line (19), a motor assembling module (20), a laser engraving machine (21), a laser engraving machine power supply (22), a nameplate material frame (23), a laser engraving worktable (24), a second conveying belt line (25) and an RFID intelligent module (37).

4. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the packaging labeling unit (3) comprises: the unit mainly comprises a third control panel (26), a third belt conveyor line (27), an RFID intelligent module (37), a third fixture quick-change module (28), a packaging cover material tray (29), a packaging workbench (30), a third industrial robot (31), an industrial 3D vision camera (32), a shaking box (33) and a label stripping assembly (34).

5. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the stereoscopic warehouse unit (4) comprises: a fourth control panel (35), a fourth belt conveyor line (36), a stacker component (38) and a storage unit module (39).

6. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the AGV moving robot unit (5) includes: the unit consists of an AGV trolley (41), an AGV belt conveying line (42), an opposite-jet sensor, a vision sensor and a control system.

7. The industrial robot modular intelligent manufacturing teaching platform of claim 1, wherein: the total control operation display unit (6) comprises: the unit consists of an information display large screen, a PC (personal computer), an operation platform, a master control PLC (programmable logic controller) system and an MES (manufacturing execution system).

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