CN217618879U - Modular industrial robot workstation based on PLC control - Google Patents

Abstract

The utility model relates to an industrial robot technical field especially relates to a modularization industrial robot workstation based on PLC control, including functional module, circuit module and box, functional module includes that well formula pushes away material module, transport module, visual identification module, positioning assembly module, many terminal tool module, storage module and arm module, wherein, functional module insert through setting up the aviation can dismantle set up in on the box, circuit module with functional module electric connection. The utility model discloses with independent and the integrated circuit design of every modular structure, the plug of aviation plug is concentrated to the rethread, can realize the replacement between module layout change and module easily.

Description

Modular industrial robot workstation based on PLC control

Technical Field

The utility model relates to an industrial robot technical field especially relates to a modularization industrial robot workstation based on PLC control.

Background

In order to meet the demand of people for product personalization and with the proposal and the promotion of the strategy of 'Chinese manufacturing 2025', the industrial equipment in our country is consistently developed towards networking, intelligence and modularization. In the prior art, the industrial robot teaching equipment in the market cannot meet the requirements of flexible teaching modes and teaching contents, for example, a large production line is not suitable for basic teaching experiments of large-scale classes, the loss cost of the teaching experiments is high, and production line equipment after the experiments is difficult to recover; the small industrial robot workstation can only satisfy student's basic teaching experiment, and more deep-going and the experiment of high difficulty then can't satisfy to the function solidifies relatively, lacks the flexibility, still has the single scheduling problem of assembly line work piece, and based on above reason, current industrial robot workstation needs to improve.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a modularization industrial robot workstation based on PLC control.

The embodiment of the utility model provides a realize like this, a modularization industrial robot workstation based on PLC control, including functional module, circuit module and box, functional module pushes away material module, transport module, visual identification module, positioning assembly module, many terminal tool module, storage module and arm module including the well formula, wherein, functional module insert through the aviation with the connection can be dismantled to the box, circuit module with functional module electric connection.

Further, the well formula pushes away material module and includes storage device and material feeding unit, carry the module and include the conveyer belt, vision identification module includes identification device, location assembly module includes limit structure, weighing device and RFID read-write device, the storage module is provided with the position in a storehouse, the arm module includes the arm and is used for transporting the transportation equipment of arm.

Further, the identification device is arranged in alignment with the conveyor belt.

Further, the modular industrial robotic workstation further comprises a teaching workpiece.

Furthermore, the teaching workpiece comprises a No. 1 workpiece simulating a robot joint cylinder, a No. 2 workpiece simulating a robot motor, a No. 3 workpiece simulating a speed reducer and a No. 4 workpiece simulating a flange plate, and the bottom surface of the No. 1 workpiece is provided with an identification chip.

Further, material feeding unit includes cylinder and material push pedal, recognition device is camera or camera, limit structure includes spacing fixed block and spacing cylinder, spacing cylinder with spacing fixed block connects.

Further, the functional module further comprises a holding part.

Further, many terminal instrument modules include arm instrument and support frame, the arm instrument includes drawing pen, laser pen, sucking disc and clamping jaw, the arm instrument with the arm is connected.

Furthermore, sensors are arranged on the well type material pushing module, the conveying module and the storage module.

Furthermore, a compartment is arranged inside the box body, universal wheels are arranged at the bottom of the box body, and hinge doors are arranged on the side faces of the box body.

The utility model discloses following beneficial effect has: the industrial robot workstation is an installable and detachable modular workstation based on PLC control, each module structure is independent, an integrated circuit is designed, and module layout change and module replacement can be easily realized by plugging and unplugging concentrated aviation plugs. In addition, the workstation can realize full-automatic intelligent product visual detection, sorting, weighing measurement, RFID reading and writing and assembling, also relates to technologies such as digital twinning, automatic control, visual identification, mechanical design, industrial internet, modular design and RFID reading and writing, and overcomes the defects that the traditional robot workstation is simple in function, cannot be connected with the internet, is fixed in structure, cannot be expanded, lacks human-computer interaction and the like.

The workstation carries out full-automatic intelligent processing on the conveying, identification, carrying and assembly of product parts by referring to a factory operation mode, takes a PLC and an industrial robot as cores, and is additionally provided with a touch screen, a frequency converter, a direct current motor, a sensor, a vision system, a material storage mechanism, a conveying belt conveying mechanism and the like on a modularized box body. The platform is mainly applied to machinery and automation equipment manufacturing or product production and other machinery manufacturing application fields, and in addition, compared with similar modularized products on the market, the platform also has price advantage.

On teaching application, each module of platform separately can satisfy student's basic course experiment as independent small-size workstation, and each module closes as an organic whole then as a small-size production line, satisfies the high-grade student and does the demand of producing the line and ally oneself with accent course experiment. The platform is suitable for mechanical design and manufacture, automation major thereof, low-grade robot technology foundation in automation major, PLC basic principle and application course experiment; course experiments such as senior industrial robot technology and machine vision are suitable for student project work and relevant industrial robot competitions.

Drawings

Fig. 1 is a schematic structural diagram of an industrial robot workbench provided by the present invention;

fig. 2 is a schematic diagram of functional modules of an industrial robot workbench provided by the present invention;

fig. 3 is a schematic structural view of a No. 1 workpiece of an industrial robot workbench provided by the present invention;

fig. 4 is a schematic structural view of a No. 2 workpiece of an industrial robot workbench provided by the present invention;

fig. 5 is a schematic structural view of a No. 3 workpiece of an industrial robot workbench provided by the present invention;

fig. 6 is a schematic structural view of a No. 4 workpiece of an industrial robot workbench provided by the present invention;

fig. 7 is a schematic structural view of a well-type material pushing module of an industrial robot workbench provided by the present invention;

fig. 8 is a schematic structural view of a conveyor belt conveying module of an industrial robot workbench provided by the present invention;

fig. 9 is a schematic structural view of a positioning and assembling module of an industrial robot workbench provided by the present invention;

fig. 10 is a schematic structural diagram of a multi-end tool module of an industrial robot worktable provided by the present invention;

fig. 11 is a schematic structural diagram of a storage module of an industrial robot workbench provided by the present invention;

fig. 12 is a schematic structural diagram of a robot arm module of an industrial robot worktable provided by the present invention;

fig. 13 is a schematic structural diagram of an HMI human-machine interaction module of an industrial robot workbench according to the present invention;

fig. 14 is a schematic structural diagram of a box body of an industrial robot workbench provided by the utility model;

fig. 15 is the utility model provides a plane assembly module structure sketch map of industrial robot workstation.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The utility model discloses use basic teaching of robot and automatic transport of material and discernment assembly as the research object to PLC controller and industrial robot are the core, provide a modularization industrial robot workstation based on PLC control, as shown in figure 1 and figure 2, this industrial robot workstation all designs every module for independent mechanical structure and integrated circuit, can realize mechanical component dismantlement and concentrate the plug of aviation plug, further realize convenient module layout's change and the replacement between the module. The robot workstation mainly has the functions of simulating the assembly of parts of the mechanical arm joint, as shown in figures 3-6, the assembled parts are as follows: no. 1 work piece is simulation robot joint barrel (the bottom is furnished with the reading and writing chip), and No. 2 work pieces are simulation robot motor, and No. 3 work pieces are the simulation reduction gear, and No. 4 work pieces are the simulation ring flange, and wherein, no. 1 work piece is stored in the position of storehouse of storage module, and No. 2 work pieces are stored on blank tray, and No. 3 and No. 4 work piece are stored in the material bucket, and each work piece is got and is transported through the arm clamp. In addition, the industrial robot workstation can also realize basic functions, such as laser tracking, inclined plane carrying, drawing and the like.

Specifically, as shown in fig. 1 and fig. 2, the workstation includes a functional module and a bottom box 9, wherein the functional module includes a well-type material pushing module 1, a conveyor belt conveying module 2, a vision recognition module 3, a positioning assembly module 4, a multi-end tool module 5, a warehousing module 6, a mechanical arm module 7, an HMI human-machine interaction module 8 and a circuit module. The well type material pushing module 1, the conveyor belt conveying module 2, the vision recognition module 3, the positioning assembly module 4, the multi-end tool module 5, the storage module 6, the mechanical arm module 7 and the HMI man-machine interaction module 8 are arranged on the bottom box body 9, and the circuit module is arranged inside the bottom box body 9 and electrically connected with the functional modules.

Further, as shown in fig. 7, a material barrel 16 of the well type material pushing module 1 stores a number 3 workpiece and a number 4 workpiece, and performs loading and unloading, including a wire box 11, a support frame 12, a cylinder 13, a material pushing plate 14, a diffuse reflection switch 15 and the material barrel 16. The aviation is inserted 17, circular handle 18 and is walked line box 11 and install on the bottom plate, and specifically, circular handle 18 is installed and is walked line box 11 both sides, walks that line box 11 is vertical to be installed on the bottom plate, walks line box 11 side and still installs support frame 12, walks line box 11 top surface and is connected with cylinder bottom plate and material bucket 16, and cylinder bottom plate top surface is connected with cylinder 13 and material push pedal 14, and cylinder 13 is connected to 14 one ends of material push pedal, and material bucket 16 is connected to the other end, is provided with diffuse reflection switch 15 on the 16 bases of material bucket. Furthermore, the material barrel 16 is hollow in the middle and is communicated with the material base, and the material base is provided with a groove position and a discharge hole, which can be entered by the material pushing plate, so that the material pushing plate 14 can push the workpiece falling into the material barrel 16 into the material base into the conveyor belt mechanism through the discharge hole. Furthermore, the well type material pushing module 1 is arranged on the bottom plate and is provided with an aviation plug and a round handle for plugging and unplugging an integrated circuit, and the replacement of the module is facilitated by the aid of the aviation plug and the round handle. During the use, near sensor (being diffuse reflection switch 15) of discharge gate judges whether to wait to handle the material (being No. 3 material and No. 4 material) in the material bucket 16 to through signal transmission PLC system with the judged result, if have, PLC system signals, start cylinder 13 and push the material in the conveyer belt, later cylinder 13 contracts, accomplishes a duty cycle.

Further, as shown in fig. 8, the conveyor belt conveying module 2 is used for conveying materials to be treated, and mainly comprises a support frame 21, a dust box 22, a conveyor belt 23 and a diffuse reflection switch 24. Support frame 21 and round handle set up on the bottom plate, walk the line box (not shown in the figure) and connect on support frame 21, support frame 21 surface is provided with the spacing adjusting plate 25 that is used for connecting conveyer belt 23 and support frame, the aviation is inserted (not shown in the figure) and is set up on walking the line box, support frame 21 one side is connected with dust-proof box 22, be provided with adjustable pivot and pivot (not shown in the figure) that are used for driving conveyer belt 23 in the dust-proof box 22, conveyer belt 23 one end is provided with diffuse reflection switch 24 through the diffuse reflection switch support. Furthermore, the conveying belt conveying module is arranged on the bottom plate and is provided with an aviation plug and a round handle which are plugged in and pulled out by an integrated circuit, and the aviation plug and the round handle are arranged to facilitate replacement of the module. Further, conveyer belt 23 is the belt, and conveyer belt 23 both sides are provided with the limiting plate, prevent that spare part from falling out conveyer belt 23 in the transportation. Further, the vision recognition module 3 is used in cooperation with the conveyor belt conveying module 2, and includes a recognition device 31 and a support device 32, the recognition device 31 is disposed on the bottom box 9 through the support device 32, the recognition device 31 may be a camera or a camera, and the camera is aligned to the conveyor belt in the direction for recognizing the type of the workpiece. When the materials pushed out by the well type material pushing module 1 are transmitted to the position below the recognition device 31 of the visual recognition module through the conveyor belt 23, the motor stops rotating, and the recognition device 31 starts to shoot and recognize. After the identification is completed, the motor is restarted to drive the conveyor belt 23 to convey the material to the right end, and the sensor at the tail end of the conveyor belt (namely the diffuse reflection switch 24) receives a signal to complete a complete work cycle.

Further, as shown in fig. 9, the positioning and assembling module 4 is used for product clamping and assembling, weighing and measuring, and RFID reading and writing, and includes a supporting frame 41, an RFID reading and writing head 42, an electronic scale 43, an air cylinder 44, a material pushing head 45, and a limit fixing block 46. The positioning and assembling modules 4 are in a three-layer structure, and each layer is separated by a support frame 41. Specifically, 41 bottoms of support frame are connected with the bottom plate, backup pad 47 sets up in 41 tops of support frame, electronic scale 43 and RFID read-write head 42 set up in backup pad 47 upper surface, still be provided with the support frame on the backup pad 47, the support frame top is provided with second backup pad 48, second backup pad 48 top is provided with cylinder 44, material pushing head 45, spacing fixed block 46 and handle 49, it can make the module change the installation dismantlement to set up handle 49, wherein, cylinder 44 and material pushing head 45 are connected, spacing fixed block 46 is aimed at to material pushing head 45 position, make spacing fixed block 46 one end can be pushed tightly, press from both sides No. 1 work piece. Furthermore, the positioning assembly module 4 is arranged on the bottom plate and is provided with an aviation plug and a round handle for plugging and unplugging an integrated circuit, and the aviation plug and the round handle are arranged to facilitate the replacement of the module. When the device is used, the mechanical arm clamps a No. 1 workpiece and puts the workpiece into a position corresponding to the limiting fixing block 46, the air cylinder 44 pushes the material pushing head 45 to clamp the fixing block 46, assembly is subsequently carried out in the limiting fixing block 46, the mechanical arm places the assembly on the electronic scale 43 after assembly is finished, weighing measurement is carried out, the assembly is judged to be a product finished with assembly or a half product lacking parts through weight, then the RFID read-write head 42 changes chip data at the bottom of the assembly, the state of the product is identified, and finally the product is placed back to the storage module 6, so that a complete work cycle is completed.

Further, as shown in fig. 10, tools with different functions are placed on the multi-end tool module 5, and are used for clamping with the quick-change head and the tool end at the end of the robot arm in a matching manner to perform tool change of the robot arm, and the multi-end tool module includes a support frame 51, a suction cup 52, a drawing pen 53, a laser pen 54, and a clamping jaw 55, wherein the suction cup 52, the drawing pen 53, the laser pen 54, and the clamping jaw 55 are arranged on the support frame 51, the clamping jaw 55 is connected with the support frame 51 through a clamping jaw tray, and an opening of the clamping jaw 55 is in a shape capable of clamping a number 1 workpiece. Further, many terminal instrument modules 5 set up on the bottom plate to be furnished with the aviation of integrated circuit plug and circular handle, set up aviation plug and circular handle and be favorable to the change of module.

Further, as shown in fig. 11, the storage module 6 is used for storing an assembly body and a number 1 workpiece, and includes a support frame 61 and a storage frame 62, the support frame 61 is disposed on the bottom plate, the storage frame 62 is connected above the support frame 61, the storage frame 62 is of a two-layer structure, each layer of the storage frame 62 is provided with three storage spaces 63, and each storage space 63 can be used for placing a number 1 workpiece or storing a set of assembled assembly body. It should be noted that the storage rack 62 may be a vertical type or a rotating disc type in other embodiments, and the storage position 63 of the storage rack 62 may also be adjusted according to actual situations. Furthermore, a diffuse reflection photoelectric switch 64 is arranged in front of each bin 63 for judging whether the bin 63 is filled with materials. Furthermore, the storage module 6 is arranged on the bottom plate and is provided with an aviation plug and a round handle for plugging and unplugging an integrated circuit, and the replacement of the module is facilitated by the aviation plug and the round handle.

Further, as shown in fig. 12, the robot module 7 is a core module of the workstation, and includes a robot 71 and a lead screw assembly 72, wherein the robot 71 is connected to the lead screw assembly 72 through a connecting support plate, and can move along the lead screw assembly 72. Further, the head of the mechanical arm 71 is an assembly structure, and various tools, such as a laser pen, a clamp, a suction cup and the like, can be assembled according to needs. The modules can be arranged in corresponding module positions according to the moving range of the mechanical arm 71, the motion route is planned through teaching the mechanical arm, and programs are compiled for automatic production. Further, the mechanical arm 71 is preferably a KUKA mechanical arm, and the screw rod assembly 72 is preferably a V90 screw rod.

Further, as shown in fig. 13, the HMI human-machine interaction module 8 can perform human-machine interaction, and includes a housing 81, a touch screen 82, and control buttons 83, where the control buttons include a power switch 831, an emergency stop button 832, a start button 833, a stop button 834, and the like, and communicate with electrical components such as a PLC in the base box 9 through corresponding signal power lines, so as to facilitate user interaction and control platform operation.

Further, as shown in fig. 14, the bottom box 9 is used for bearing the modules, the materials are aluminum profiles and metal plates, the top surface of the box is laid with an anti-cutting pad, the side surface is provided with a hinge door 91, the bottom surface is provided with a universal wheel 92, the box is hollow, and the installation positions of components such as electrical elements, circuits and air pumps are reserved. Set up universal wheel 92 and can ensure that the workstation can remove and fix, convenient nimble adjustment position, furtherly, hinge door 91 surface is transparent ya keli board, can better observe the operation conditions of electrical components etc. in the box, and hinge door 91 still is provided with door lock 93, improves the security.

Further, as shown in fig. 15, the present application further includes a plane assembly module 10 for independently simulating a simple assembly, i.e., a basic operation module in which the robot operates alone, without the assembly line module, and four kinds of workpieces are placed on the plane assembly module.

Further, the utility model discloses still include drawing module, laser tracking module and inclined plane transport module to and utilized the twin technique of digit, with equipment operation data and product detection data and the fusion of the twin software of data, through the twin software of digit, the production process that the administrator can long-range real time monitoring product, the operation gesture, the material of unloading time, robot load the condition and whole automatic assembly flow if going up.

The assembly process is as follows:

1. judging whether the storage module is filled with materials (workpieces No. 1) or not through a sensor, replacing the mechanical arm with a clamping jaw, clamping the workpieces No. 1, placing the workpieces on a limiting fixing block of a positioning assembly module, and clamping and positioning through a cylinder;

2. the mechanical arm is used for replacing the clamp, grabbing the No. 2 workpiece and placing the No. 1 workpiece into the machine tool, and performing first-step assembly;

3. a sensor (namely a diffuse reflection switch) of the well type material pushing module judges whether materials (namely 3 and 4 workpieces) exist in the material barrel, and after the materials are detected, the air cylinder works to push the materials out of the assembly line;

4. the conveyor belt motor operates, materials are conveyed to the position below the visual identification module, the materials are identified, the number 3 or 4 workpieces are judged, color and position information is identified, and then data are transmitted to the PLC for processing;

5, transmitting the processed data to the mechanical arm by the PLC, starting the mechanical arm to operate, replacing the clamp with a sucker, starting a motor of the conveyor belt, and transmitting the material to the tail end of the conveyor belt;

6. the robot absorbs the No. 3 and No. 4 workpieces, the workpieces are placed into the No. 1 workpiece in sequence, assembly is carried out, the No. 3 workpiece is firstly installed, the No. 4 workpiece is then installed, and if the No. 4 workpiece is firstly pushed out as recognized by the visual recognition module, the No. 4 workpiece is discarded by the mechanical arm;

7. the mechanical arm clamps the assembly body which is assembled and placed on the electronic scale to carry out weighing measurement, whether the assembly is complete or not is judged through the weight, RFID reading and writing are carried out through a reading and writing chip at the bottom of the No. 1 workpiece, the assembly state is marked, and information is transmitted to the PLC;

8. after weighing and reading and writing are completed, the robot clamps the assembly body and puts the assembly body back to the storage module, and the assembly process is completed.

The PLC-controlled modularized industrial robot workstation can reasonably arrange and design the positions of the modules, realize the completion of established target functions in cooperation, and also can operate independently, wherein large module differentiation can be divided into a robot module and a production line module which can operate independently respectively. The robot module can independently complete basic operation functions of the robot, such as plane assembly, inclined plane carrying, drawing and the like, and the assembly line can control material flow, performance identification and the like. Therefore, the modularization theory is that the whole product is positioned into a system, the functional components in the system are modularly designed by the characteristics of relevance, independence, combination and interchangeability of the modules, and the platform can be combined into products with different functions by replacing the modules or using the unified module for personalized combination, so that the diversified requirements of different users are met. Meanwhile, the application platform adopts a modular design method in the development process, so that the product development period can be greatly shortened, the equipment cost is reduced, and meanwhile, serialization and standardization are facilitated, so that the platform and product maintenance cost is reduced, and the application platform has an actual engineering use value.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and all modifications, equivalents, improvements and the like that are made within the principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a modularization industrial robot workstation based on PLC control, its characterized in that includes functional module, circuit module and box, functional module includes that the well formula pushes away material module, transport module, vision recognition module, positioning assembly module, many terminal instrument modules, storage module and arm module, wherein, functional module insert through the aviation with the connection can be dismantled to the box, circuit module with functional module electric connection.

2. The modular industrial robot workstation of claim 1, wherein the well-type material pushing module comprises a material storage device and a material feeding device, the conveying module comprises a conveying belt, the visual recognition module comprises a recognition device, the positioning and assembling module comprises a limiting structure, a weighing device and an RFID reading and writing device, the storage module is provided with a bin, and the mechanical arm module comprises a mechanical arm and a conveying device for conveying the mechanical arm.

3. The modular industrial robotic workstation of claim 2, wherein the identification device is disposed in alignment with the conveyor belt.

4. The modular industrial robotic workstation of claim 1, further comprising a teaching workpiece.

5. The modular industrial robot workstation of claim 4, wherein the teaching workpieces comprise a No. 1 workpiece simulating a joint cylinder of the robot, a No. 2 workpiece simulating a motor of the robot, a No. 3 workpiece simulating a reducer and a No. 4 workpiece simulating a flange plate, and the bottom surface of the No. 1 workpiece is provided with an identification chip.

6. The modular industrial robotic workstation of claim 2, wherein the feeding device comprises a cylinder and a material pushing plate, the identifying device is a camera or a camera, the limiting structure comprises a limiting fixed block and a limiting cylinder, and the limiting cylinder is connected with the limiting fixed block.

7. The modular industrial robotic workstation of claim 1, wherein the functional module further comprises a gripping member.

8. The modular industrial robotic workstation of claim 1, wherein the multi-ended tool module comprises a robotic arm tool and a support frame, the robotic arm tool comprising a drawing pen, a laser pen, a suction cup, and a clamping jaw, the robotic arm tool and the robotic arm being connected.

9. The modular industrial robotic workstation of claim 1, wherein sensors are disposed on the wellpushing module, the transport module, and the warehousing module.

10. The modular industrial robotic workstation of claim 1, wherein a compartment is provided inside the box, universal wheels are provided on the bottom of the box, and a hinged door is provided on a side of the box.

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