Jigsaw robot system for practical training and its assessment method

Abstract

The present invention relates to a robot system for practical training, in particular to a jigsaw robot system for practical training, comprising a teaching pendant and a robot, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, a male quick-change tool tray is installed at the end of the robot, and the teaching pendant is connected to the robot; the jigsaw blocks are also included, and the jigsaw blocks include blocks of various geometric shapes, and each shape of the blocks has at least one specification; the jigsaw blocks are placed on a block rack; a jigsaw fixture is equipped with a female quick-change tool tray, and the jigsaw fixture is used to grab the jigsaw blocks; the jigsaw fixture is movably inserted into the tool rack; and the jigsaw workbench is used to place the spliced ​​jigsaw blocks. The system realizes the training of basic functions such as grabbing, transferring, positioning, rotating fixtures, and splicing through jigsaw, so that trainees can master the planning and programming of simple processes, realize the automatic completion of simple processes, improve the understanding of the robot's operating performance, and lay the foundation for advanced training.

Description

Technical Field

[0001] The present invention relates to a robot system for practical training, in particular to a jigsaw robot system for practical training and an assessment method thereof. Background Art

[0002] With the widespread use of industrial robots, the demand for robot operators has increased. Training is needed to quickly master the operation of robots. However, current training is mostly simple control, such as moving robots, changing fixtures, etc., which cannot form systematic training. Operators cannot complete continuous process requirements through robots. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a training jigsaw robot system that can provide basic training for trainees, complete the planning and programming of simple processes, realize the automatic completion of simple processes, improve the understanding of robot operation performance, and lay the foundation for advanced training. The specific technical solution is:

[0004] A jigsaw robot system for training comprises a teaching pendant and a robot, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, a male quick-change tool tray is installed at the end of the robot, and the teaching pendant is connected to the robot; the system also comprises jigsaw pieces, wherein the jigsaw pieces comprise pieces of various geometric shapes, and each shape of pieces has at least 10 specifications; a piece rack, wherein the jigsaw pieces are placed on the piece rack; a jigsaw fixture, wherein a female quick-change tool tray is installed on the jigsaw fixture, and the jigsaw fixture is used to grab jigsaw pieces; a tool rack, wherein the jigsaw fixture is movably inserted into the tool rack; and a jigsaw workbench, wherein the jigsaw workbench is used to place jigsaw pieces to be spliced.

[0005] Furthermore, the geometric shapes of the puzzle pieces are plane geometric figures, including at least two of triangles, circles, rhombuses, rectangles, squares, and regular polygons.

[0006] Furthermore, the tile rack includes a tile placement plate, the tile placement plate is provided with a plurality of tile slots, the tile slots respectively correspond to the puzzle pieces, and the puzzle pieces are movably placed in the tile slots.

[0007] Furthermore, the jigsaw puzzle fixture includes a vacuum suction cup, which is mounted on a female quick-change tool tray.

[0008] Furthermore, a tool pin is installed on the top of the tool rack, a fixture positioning plate is installed on the jigsaw fixture, positioning holes are provided at both ends of the fixture positioning plate, the positioning holes are movably inserted on the tool pin, and the fixture positioning plate is pressed on the top of the tool rack.

[0009] Furthermore, a puzzle groove is provided on the top of the puzzle workbench, and the puzzle groove is used to place multiple puzzle pieces to form a pattern.

[0010] Furthermore, a spring clip and a puzzle board are installed on the top of the puzzle workbench, the spring clips are located at both ends of the puzzle workbench, the puzzle board is movably placed on the puzzle workbench, the puzzle board is provided with a puzzle groove, and the spring clips are used to press the puzzle board onto the puzzle workbench.

[0011] Furthermore, a video acquisition system is included, which is used to capture and archive the robot's motion process. The video acquisition system records the process of the trainee operating the robot, which is convenient for later evaluation of the operation process.

[0012] Furthermore, it also includes a simulation workstation, which includes a computer, which is connected to a teach pendant; offline programming and simulation software, which is installed on the computer, and is used to generate robot offline programs and import them into the teach pendant for operation and debugging of the jigsaw robot system for practical training.

[0013] The training jigsaw robot assessment method is performed by using a training jigsaw robot system, and the training jigsaw robot assessment method includes the following steps:

[0014] S110, controlling the robot to move to the jigsaw fixture through the teach pendant, installing the jigsaw fixture, and switching the coordinate system to the jigsaw coordinate system on the teach pendant;

[0015] S120, controlling the robot through the teach pendant to drive the jigsaw fixture to move to the top of the tile rack, so that the jigsaw fixture contacts the jigsaw tile in a suitable posture, recording the current posture in the program of the teach pendant, and inserting an instruction for opening the digital output signal state of the solenoid valve in the program, so that the jigsaw fixture absorbs the jigsaw tile;

[0016] S130, controlling the robot to select several path points in the space between the grabbing point and the placement point of the puzzle piece through the teach pendant, avoiding obstacles in the space, and recording the postures corresponding to the various path points of the robot in the program of the teach pendant in a teaching manner;

[0017] S140, controlling the robot to move to a suitable posture through the teach pendant to place the puzzle piece on the puzzle workbench, recording the current posture of the robot in the program of the teach pendant in a teaching manner, and inserting an instruction for closing the digital output signal state of the solenoid valve in the program, so that the puzzle piece falls off the puzzle fixture;

[0018] S150, repeating steps S120 to S140 until the puzzle is completed;

[0019] S160. Automatically run the jigsaw puzzle program recorded in the teach pendant, and place the jigsaw puzzle pieces from the starting position to the specified position in sequence to complete the jigsaw puzzle. If during the movement of the jigsaw puzzle robot system for practical training, the vacuum suction cup starts and shuts down normally, the robot moves without interference, the movement does not pause abnormally, and the jigsaw puzzle pieces are inserted into the jigsaw puzzle slots, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0020] The training jigsaw robot assessment method is performed by using a training jigsaw robot system, and the training jigsaw robot assessment method includes the following steps:

[0021] S210, sequentially setting and installing the jigsaw fixture and the jigsaw coordinate system in the offline programming and simulation software;

[0022] S220, setting the starting point and the end point of the puzzle piece in the offline programming and simulation software, and setting the instruction for opening or closing the digital output signal state of the solenoid valve;

[0023] S230, setting a spatial path between a starting point and an end point of a puzzle piece in an offline programming and simulation software;

[0024] S240, generating a jigsaw program executable by the robot in the offline programming and simulation software, and sending the jigsaw program to the teach pendant, loading and running the jigsaw program on the teach pendant, observing the posture of the robot during the operation, manually modifying the inappropriate posture, and then saving the jigsaw program;

[0025] S250, automatically run the jigsaw program saved after modification in S240. If the vacuum suction cup of the training jigsaw robot system starts and shuts down normally during the movement, there is no interference in the robot movement, there is no abnormal pause in the movement, and the jigsaw pieces are inserted in the jigsaw slots, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The jigsaw robot system for practical training provided by the present invention realizes the training of basic functions such as grasping, transferring, positioning, rotating fixtures, splicing, etc. through jigsaw puzzles, so that trainees can master the planning and programming of simple processes, realize the automatic completion of simple processes, improve the understanding of the robot's operating performance, and lay the foundation for advanced training.

[0028] The training jigsaw robot assessment method provided by the present invention can effectively ensure that trainees master the use of teaching pendants, off-line programming and simulation software, and have the planning and programming capabilities of simple processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1It is a structural diagram of the jigsaw robot system for practical training;

[0030] Figure 2 It is a schematic diagram of the structure of the jigsaw workbench;

[0031] Figure 3 It is a schematic diagram of the structure of the puzzle board;

[0032] Figure 4 It is a schematic diagram of a structure in which a plurality of jigsaw puzzle pieces are mounted on a piece rack;

[0033] Figure 5 It is a schematic diagram of the structure in which the jigsaw fixture is movably inserted into the tool rack. DETAILED DESCRIPTION

[0034] The present invention will be further described with reference to the accompanying drawings.

[0035] Embodiment 1

[0036] like Figures 1 to 5 As shown, the jigsaw robot system for training includes a teaching pendant and a robot 1, wherein the robot 1 is a six-axis industrial robot 1 or a seven-axis industrial robot 1 with an external axis, a male quick-change tool tray is installed at the end of the robot 1, and the teaching pendant is connected to the robot 1; it also includes jigsaw pieces 32, the jigsaw pieces 32 include pieces of various geometric shapes, and each shape of piece has at least one specification; a piece rack, on which the jigsaw pieces 32 are placed; a jigsaw fixture, on which a female quick-change tool tray 42 is installed, and the jigsaw fixture is used to grab the jigsaw pieces 32; a tool rack, on which the jigsaw fixture is movably inserted; and a jigsaw workbench 21, which is used to place the jigsaw pieces 32 to be spliced.

[0037] Specifically, the geometric shape of the puzzle piece 32 is a plane geometric figure, including at least two of a triangle, a circle, a rhombus, a rectangle, a square, and a regular polygon.

[0038] The tile rack includes a tile placement plate 31, on which a plurality of tile slots are provided, the tile slots respectively corresponding to the jigsaw puzzle pieces 32, and the jigsaw puzzle pieces 32 are movably placed in the tile slots. The tile slots prevent the jigsaw puzzle pieces 32 from being lost, and realize effective positioning to prevent the position from changing during the working process.

[0039] The jigsaw puzzle fixture comprises a vacuum suction cup 41 , which is mounted on a female quick-change tool tray 42 .

[0040] The tool rack includes a column 43, a plurality of columns 43 are arranged at equal intervals, a tool pin 45 is installed on the top of the column 43, a jig positioning plate 46 is installed on the jig jig, both ends of the jig positioning plate 46 are provided with positioning holes, the positioning holes are movably inserted on the tool pin 45, the jig positioning plate 46 is pressed on the top of the column 43, and is located between two adjacent columns 43. The column 43 is fixed on the bottom plate 44.

[0041] The top of the puzzle workbench 21 is equipped with a spring clip 25 and a puzzle board 22. The spring clip 25 is located at both ends of the puzzle workbench 21. The puzzle board 22 is movably placed on the puzzle workbench 21. The puzzle board 22 is provided with a plurality of puzzle grooves 23. The puzzle grooves 23 are used to place a plurality of puzzle pieces 32 and form a pattern. The spring clip 25 is used to press the puzzle board 22 onto the puzzle workbench 21. The puzzle grooves 23 are used to detect whether the placement of the puzzle pieces 32 is accurate, providing an accurate basis for assessment.

[0042] It also includes a simulation workstation, which includes a computer connected to a teaching pendant; offline programming and simulation software, which is installed on the computer and is used to generate robot offline programs and import them into the teaching pendant for running and debugging the jigsaw robot system for practical training.

[0043] It also includes a video acquisition system, which is used to capture the robot's motion process and archive it. The video acquisition system records the process of the trainee operating the robot, which is convenient for evaluating the operation process later. The camera of the video acquisition system is installed above to capture the robot's motion process.

[0044] Embodiment 2

[0045] The training jigsaw robot assessment method is performed by using a training jigsaw robot system. The training jigsaw robot assessment method includes the following steps:

[0046] S110, controlling the robot 1 to move to the jigsaw fixture through the teaching pendant, installing the jigsaw fixture, and switching the coordinate system to the jigsaw coordinate system on the teaching pendant;

[0047] S120, controlling the robot 1 through the teach pendant to drive the jigsaw fixture to move to the top of the tile rack, so that the jigsaw fixture contacts the jigsaw tile 32 in a suitable posture, recording the current posture in the program of the teach pendant, and inserting an instruction for opening the digital output signal state of the solenoid valve in the program, so that the jigsaw fixture absorbs the jigsaw tile 32;

[0048] S130, controlling the robot 1 to select a number of path points in the space between the grabbing point and the placement point of the puzzle piece 32 through the teaching pendant, avoiding obstacles in the space, and recording the postures corresponding to the path points of the robot 1 in the program of the teaching pendant in sequence in a teaching manner;

[0049] S140, controlling the robot 1 to move to a suitable posture through the teach pendant to place the puzzle piece 32 on the puzzle workbench 21, recording the current posture of the robot 1 in the program of the teach pendant in a teaching manner, and inserting an instruction for closing the digital output signal state of the solenoid valve in the program, so that the puzzle piece 32 falls off the puzzle fixture;

[0050] S150, repeating steps S120 to S140 until the puzzle is completed;

[0051] S160. Automatically run the jigsaw puzzle program recorded in the teaching pendant, and place the jigsaw puzzle pieces 32 from the starting position to the specified position in sequence to complete the jigsaw puzzle. If during the movement of the jigsaw puzzle robot system for practical training, the vacuum suction cup 41 starts and shuts down normally, the robot 1 moves without interference, the movement has no abnormal pauses, and the jigsaw puzzle piece 32 is inserted in the jigsaw puzzle slot 23, then it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0052] This assessment method can assess the trainees' basic operation of the robot 1, their mastery of the teaching pendant, and their ability to plan and program simple processes.

[0053] Embodiment 3

[0054] The training jigsaw robot assessment method is performed by using a training jigsaw robot system. The training jigsaw robot assessment method includes the following steps:

[0055] S210, sequentially setting and installing the jigsaw fixture and the jigsaw coordinate system in the offline programming and simulation software;

[0056] S220, setting the starting point and the end point of the puzzle block 32 in the offline programming and simulation software, and setting the instruction for opening or closing the digital output signal state of the solenoid valve;

[0057] S230, setting a spatial path between a starting point and an end point of the puzzle piece 32 in the offline programming and simulation software;

[0058] S240, generating a jigsaw program executable by the robot 1 in the offline programming and simulation software, and sending the jigsaw program to the teach pendant, loading and running the jigsaw program on the teach pendant, observing the posture of the robot 1 during the operation, and manually modifying the inappropriate posture, and then saving the jigsaw program;

[0059] S250, automatically running the jigsaw puzzle program saved after modification in S240. If the vacuum suction cup 41 of the training jigsaw puzzle robot system starts and shuts down normally during the movement, the robot 1 moves without interference, the movement has no abnormal pauses, and the jigsaw puzzle piece 32 is inserted in the jigsaw puzzle slot 23, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0060] This assessment can test students' mastery of offline programming and simulation software, and improve the efficiency of programming and debugging by implementing simple process planning and operation through offline programming and simulation software.

Claims

1. A method for assessing a jigsaw robot for practical training, characterized in that: The assessment is performed by a jigsaw robot system for practical training, and the jigsaw robot assessment method for practical training includes the following steps: S110, controlling the robot to move to the jigsaw fixture through the teach pendant, installing the jigsaw fixture, and switching the coordinate system to the jigsaw coordinate system on the teach pendant; S120, controlling the robot through the teach pendant to drive the jigsaw fixture to move to the top of the tile rack, so that the jigsaw fixture contacts the jigsaw tile in a suitable posture, recording the current posture in the program of the teach pendant, and inserting an instruction for opening the digital output signal state of the solenoid valve in the program, so that the jigsaw fixture absorbs the jigsaw tile; S130, controlling the robot to select several path points in the space between the grabbing point and the placement point of the puzzle piece through the teach pendant, avoiding obstacles in the space, and recording the postures corresponding to the various path points of the robot in the program of the teach pendant in a teaching manner; S140, controlling the robot to move to a suitable posture through the teach pendant to place the puzzle piece on the puzzle workbench, recording the current posture of the robot in the program of the teach pendant in a teaching manner, and inserting an instruction for closing the digital output signal state of the solenoid valve in the program, so that the puzzle piece falls off the puzzle fixture; S150, repeating steps S120 to S140 until the puzzle is completed; S160. Automatically run the jigsaw puzzle program recorded in the teach pendant, and place the jigsaw puzzle pieces from the starting position to the specified position in sequence to complete the jigsaw puzzle. If during the movement of the jigsaw puzzle robot system for practical training, the vacuum suction cup starts and shuts down normally, the robot moves without interference, the movement does not pause abnormally, and the jigsaw puzzle pieces are inserted into the jigsaw puzzle slots, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

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