Drawing robot system for practical training and its assessment method

Abstract

The present invention relates to a training robot system, in particular to a training drawing robot system, comprising a robot, the end of which is equipped with a male quick-change tool tray; a teaching pendant, which is connected to the robot and used to control the robot; a drawing board, which is a flat board, and the top surface of which is provided with a plurality of drawing tracks protruding from the top surface of the drawing board; a calibration rod, which is fixed to the drawing board; a drawing pen, one end of which is equipped with a female quick-change tool tray; and a tool rack, on which the drawing pen is movably inserted. The training drawing robot system provided by the present invention can provide basic training for trainees, improve their mastery of basic functions, and enable them to have a solid foundation.

Description

Technical Field

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

[0002] Industrial robots are increasingly used, so the demand for related operators has increased greatly. However, there is a shortage of talent in this area, so a large number of operators need to be trained. However, the current robot training courses are unreasonable, with little basic training, resulting in poor application of basic functions, which in turn affects the improvement of trainees' skills. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a drawing robot system for practical training that can provide basic training for trainees, improve their mastery of basic functions, and enable them to have a solid foundation. The specific technical solution is as follows:

[0004] A drawing robot system for training comprises a robot, the end of which is provided with a male quick-change tool tray; a teach pendant, which is connected to the robot and is used to control the robot; a drawing board, which is a flat board, and the top surface of which is provided with a plurality of drawing tracks protruding from the top surface of the drawing board; a calibration rod, which is fixed to the drawing board; a drawing pen, one end of which is provided with a female quick-change tool tray; and a tool rack, on which the drawing pen is movably inserted.

[0005] By adopting the above technical solution, the calibration rod is used to perform TCP calibration to achieve the most basic operation.

[0006] Moving the drawing pen within the same plane greatly reduces the difficulty of operation and can provide basic training for students, enabling them to master basic operations.

[0007] Furthermore, the tip of the drawing pen is conical.

[0008] By adopting the above technical solution, the conical pen tip makes it easy to observe whether it is in contact with the drawing track or whether the relative position with the drawing track meets the requirements.

[0009] Furthermore, it also includes a drawing seat, which is fixed on the female quick-change tool plate, and the drawing pen is movably inserted into the drawing seat; a drawing spring, which is installed between the drawing pen and the drawing seat; a detection sensor, which is installed between the drawing seat and the drawing pen, and the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the drawing pen moves toward the drawing seat.

[0010] By adopting the above technical solution, during training, if the operator controls the drawing pen to draw a trajectory, the detection sensor will detect it and send out an alarm signal to prevent the drawing pen pressure from colliding or squeezing the drawing board and protect the equipment. During the assessment, if the drawing pen contacts the drawing board and touches the detection sensor when the drawing program is automatically run, the detection sensor will send out a signal and the assessment will be judged as unqualified.

[0011] Furthermore, it also includes a first drawing wire, which is connected to the drawing pen, and a second drawing wire, which is connected to the drawing board, and the first drawing wire and the second drawing wire are connected when the drawing pen is in contact with the drawing board; the drawing pen and the drawing board are both made of metal.

[0012] By adopting the above technical solution, when the drawing pen contacts the drawing track during the assessment or training, the first drawing wire and the second drawing wire are connected to generate an electrical signal, thereby indicating that the operation is unqualified.

[0013] Furthermore, the drawing pen is a linear displacement sensor, and the end of the measuring rod of the linear displacement sensor is conical or circular.

[0014] By adopting the above technical solution, the linear displacement sensor is used to detect whether the running track during drawing maintains a constant distance with the drawing track board, which is convenient for detecting whether the drawing pen moves in the same plane, improving the students' programming and operating capabilities, and providing objective standards for assessment and facilitating assessment.

[0015] Furthermore, the drawing trajectory is a geometric figure.

[0016] Furthermore, the geometric figures include points, straight lines, regular polygons, rhombuses, circles and ellipses or irregular figures.

[0017] By adopting the above technical solution, regular geometric figures are easy for trainees to operate and program, which is suitable for primary training.

[0018] 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.

[0019] Furthermore, it also includes a simulation workstation, which includes a computer, which is connected to the 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 operation and debugging of the drawing robot system for practical training.

[0020] The assessment method of the drawing robot for practical training includes the following steps:

[0021] S110, controlling the robot to move to the drawing pen through the teach pen, installing the drawing pen, and switching the coordinate system to the drawing pen coordinate system on the teach pen;

[0022] S120, controlling the robot to drive the drawing pen to move above the drawing board through the teach pendant, controlling the drawing pen to perform TCP calibration based on the calibration rod, and then making the drawing pen move the tip of the drawing pen close to the starting point of the drawing trajectory in a suitable posture, and hovering above or in contact with the starting point, recording the current posture in the program of the teach pendant, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0023] S130, discretizing the drawing trajectory into a plurality of drawing points, and then controlling the robot to drive the drawing pen to move along the drawing trajectory through the teach pendant, and making the pen tip of the drawing pen coincide with the drawing points in sequence, while controlling the distance between the pen tip and the drawing trajectory to remain constant or within a set range, and recording the current posture of the robot in the program of the teach pendant in sequence in a teaching manner;

[0024] S140, controlling the robot to drive the drawing pen with a suitable posture by the teach pen so that the tip of the drawing pen approaches or touches the end point of the drawing track, and recording the current posture of the robot in the program of the teach pendant in a teaching manner;

[0025] S150. Automatically run the drawing program recorded in the teach pendant, so that the robot drives the drawing pen to complete the drawing of the drawing trajectory. If the drawing pen has no interference with the drawing trajectory, the robot moves without pause, the robot has a high degree of overlap with the drawing trajectory, there is no contact signal, or the distance between the robot and the drawing trajectory is within a set range during the movement of the robot, the robot is evaluated as qualified; otherwise, the robot is evaluated as unqualified.

[0026] The assessment method of the drawing robot for practical training includes the following steps:

[0027] S210, sequentially setting and installing a drawing pen and a drawing coordinate system in the offline programming and simulation software, and performing TCP calibration;

[0028] S220, setting the starting point and end point of the drawing pen in the offline programming and simulation software, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0029] S230, setting a trajectory path between a starting point and an end point of a drawing trajectory in an offline programming and simulation software, wherein the trajectory path is consistent with the drawing trajectory;

[0030] S240, generating a drawing program executable by the robot in the offline programming and simulation software, and sending the drawing program to the teach pendant, loading and running the drawing program on the teach pendant, observing the posture of the robot during the operation, manually modifying the inappropriate posture, and then saving the drawing program;

[0031] S250, automatically running the drawing program saved after modification in S240. If the drawing pen has no interference with the drawing track, the movement has no pause, the overlap with the drawing track is high, there is no contact signal, or the distance between the drawing pen and the drawing track is within the set range during the movement of the robot, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The drawing robot system for practical training provided by the present invention can provide basic training for trainees, improve the trainees' mastery of basic functions, and enable the trainees to have a solid foundation.

[0034] The training drawing robot assessment method provided by the present invention can effectively and objectively assess the students' programming and operating abilities, help them master the use of teaching pendants, off-line programming and simulation software, and ensure that the students fully master the basic programming and operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of the drawing robot system for practical training;

[0036] Figure 2 It is a schematic diagram of the structure of the drawing board;

[0037] Figure 3 It is a schematic diagram of the structure in which a drawing pen is inserted into a tool rack;

[0038] Figure 4 It is a schematic diagram of the structure of a drawing pen. DETAILED DESCRIPTION

[0039] The present invention will be further described with reference to the accompanying drawings.

[0040] Embodiment 1

[0041] like Figures 1 to 4 As shown, the drawing robot system for training includes a robot 1, a male quick-change tool tray 11 is installed at the end of the robot 1; a teach pendant, the teach pendant is connected to the robot 1, and the teach pendant is used to control the robot 1; it also includes a drawing board 21, the drawing board 21 is a flat board, and a plurality of drawing tracks 23 protruding from the top surface of the drawing board 21 are provided on the top surface of the drawing board 21; a calibration rod 22, the calibration rod 22 is fixed on the drawing board 21; a drawing pen 44, one end of the drawing pen 44 is equipped with a female quick-change tool tray 41; a tool rack 31, and the drawing pen 44 is movably inserted into the tool rack 31.

[0042] The pen tip 45 of the drawing pen 44 is tapered, which makes it easy to observe whether the pen tip 45 is in contact with the drawing track 23 or whether the relative position with the drawing track meets the requirements.

[0043] Specifically, a tool positioning plate 42 is mounted on the female quick-change tool tray 41 , positioning holes are provided at both ends of the tool positioning plate 42 , a positioning pin 32 is mounted on the top of the tool rack 31 , and the positioning holes on the tool positioning plate 42 are movably inserted on the positioning pin 32 .

[0044] The calibration rod 22 is used for TCP calibration to achieve the most basic operation.

[0045] Moving the drawing pen 44 in the same plane greatly reduces the difficulty of operation, and can provide basic training for trainees, so that they can master basic operations.

[0046] The drawing track 23 is a geometric figure. The geometric figures include points, straight lines, regular polygons, rhombuses, circles, ellipses or irregular figures. Regular geometric figures are convenient for trainees to operate and program, and are suitable for primary training. Irregular figures improve the hands-on ability of trainees, and the drawing track 23 is drawn by controlling the drawing pen 44 through the teaching pendant.

[0047] It also includes a simulation workstation, which includes a computer 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 running and debugging of the drawing robot system for practical training.

[0048] 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.

[0049] Embodiment 2

[0050] On the basis of the above-mentioned embodiment 1, it also includes a drawing seat 43, the drawing seat 43 is fixed on the female quick-change tool plate 41, and the drawing pen 44 is movably inserted into the drawing seat 43; a drawing spring, a drawing spring is installed between the drawing pen 44 and the drawing seat 43; a detection sensor, the detection sensor is installed between the drawing seat 43 and the drawing pen 44, the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the drawing pen 44 moves toward the drawing seat 43.

[0051] During training, if the operator controls the drawing pen 44 to draw the drawing track 23 and the drawing pen 44 contacts the drawing board 21 and moves toward the detection sensor, the detection sensor will detect the drawing pen 44, thereby sending an alarm signal to prevent the drawing pen 44 from colliding or squeezing the drawing board 21 and protect the equipment. During the assessment, if the drawing pen 44 contacts the drawing board 21 and touches the detection sensor when the drawing program is automatically run, the detection sensor sends a signal and determines that the assessment is unqualified.

[0052] Embodiment 3

[0053] On the basis of the above-mentioned embodiment 1 or embodiment 2, it further includes a first drawing wire connected to the drawing pen 44, and a second drawing wire connected to the drawing board 21. When the drawing pen 44 contacts the drawing board 21, the first drawing wire and the second drawing wire are connected; the drawing pen 44 and the drawing board 21 are both made of metal.

[0054] During the assessment or training, if the drawing pen 44 comes into contact with the drawing track 23, the first drawing wire and the second drawing wire are connected, generating an electrical signal, thereby indicating that the operation is unqualified.

[0055] Embodiment 4

[0056] On the basis of the above-mentioned embodiment 1, the linear displacement sensor is used to detect whether the running trajectory during drawing maintains a constant distance from the drawing trajectory 23 board, so as to facilitate the detection of whether the drawing pen 44 moves in the same plane, improve the students' programming and operation capabilities, and provide an objective standard for assessment, which is convenient for assessment.

[0057] The drawing pen 44 is a linear displacement sensor, and the end of the measuring rod of the linear displacement sensor is conical or round.

[0058] Embodiment 4

[0059] The assessment method of the drawing robot for practical training includes the following steps:

[0060] S110, controlling the robot 1 to move to the drawing pen 44 through the teaching pendant, installing the drawing pen 44, and switching the coordinate system on the teaching pendant to the coordinate system of the drawing pen 44;

[0061] S120, controlling the robot 1 to drive the drawing pen 44 to move to the top of the drawing board 21 through the teach pendant, controlling the drawing pen 44 to perform TCP calibration with the calibration rod 22 as the reference, and then making the drawing pen 44 move the tip 45 of the drawing pen 44 close to the starting point of the drawing track 23 in a suitable posture, and hovering above or in contact with the starting point, recording the current posture in the program of the teach pendant, and setting instructions for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0062] S130, the drawing track 23 is discretized into a plurality of drawing points, and then the robot 1 is controlled by the teach pendant to drive the drawing pen 44 to move along the drawing track 23, and the pen tip 45 of the drawing pen 44 is made to coincide with the drawing points in sequence, while the distance between the pen tip 45 and the drawing track 23 is controlled to remain unchanged or within a set range, and the current posture of the robot 1 is recorded in the program of the teach pendant in sequence in a teaching manner;

[0063] S140, controlling the robot 1 to drive the drawing pen 44 with a suitable posture by the teaching pendant so that the tip 45 of the drawing pen 44 approaches or contacts the end point of the drawing track 23, and recording the current posture of the robot 1 in the program of the teaching pendant in a teaching manner;

[0064] S150. Automatically run the drawing program recorded in the teaching pendant, so that the robot 1 drives the drawing pen 44 to complete the drawing of the drawing trajectory 23. If the drawing pen 44 does not interfere with the drawing trajectory 23, moves without pause, has a high degree of overlap with the drawing trajectory 23, has no contact signal, or the distance between the drawing pen 44 and the drawing trajectory 23 is within a set range during the movement of the robot 1, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

[0065] Embodiment 5

[0066] The assessment method of the drawing robot for practical training includes the following steps:

[0067] S210, sequentially setting and installing the drawing pen 44, the drawing coordinate system, and performing TCP calibration in the offline programming and simulation software;

[0068] S220, setting the starting point and the end point of the drawing pen 44 in the offline programming and simulation software, and setting the instruction for receiving the state of the digital output signal of the linear displacement sensor, the detection sensor or the power on and off;

[0069] S230, setting a trajectory path between a starting point and an end point of the drawing trajectory 23 in the offline programming and simulation software, the trajectory path being consistent with the drawing trajectory 23;

[0070] S240, generating a drawing program executable by the robot 1 in the offline programming and simulation software, and sending the drawing program to the teaching pendant, loading and running the drawing program on the teaching pendant, observing the posture of the robot 1 during the operation, and manually modifying the inappropriate posture, and then saving the drawing program;

[0071] S250, automatically running the drawing program saved after modification in S240. If the drawing pen 44 of the robot 1 has no interference with the drawing track 23, moves without pause, has a high degree of overlap with the drawing track 23, has no contact signal, or the distance between the drawing pen 44 and the drawing track 23 is within a set range during the movement, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

Claims

1. A method for assessing a drawing robot for practical training, characterized in that: The assessment is conducted using a drawing robot, which includes: A robot having a male quick-change tool tray mounted on the end of the robot; A teaching pendant, the teaching pendant is connected to the robot, and the teaching pendant is used to control the robot; A drawing board, wherein the drawing board is a flat board, and a plurality of drawing tracks protruding from the top surface of the drawing board are provided on the top surface of the drawing board; A calibration rod, the calibration rod being fixed on the drawing board; A drawing pen, one end of which is provided with a female quick-change tool tray; A drawing seat, the drawing seat is fixed on the female quick-change tool tray, and the drawing pen is movably inserted into the drawing seat; A drawing spring, wherein a drawing spring is arranged between the drawing pen and the drawing seat; A detection sensor, the detection sensor is installed between the drawing seat and the drawing pen, the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the drawing pen moves toward the drawing seat; The drawing pen is a linear displacement sensor, which is used to detect whether the trajectory of the drawing pen maintains a constant distance from the drawing track board, so as to facilitate the detection of whether the drawing pen moves in the same plane; The assessment method comprises the following steps: S110, controlling the robot to move to the drawing pen through the teach pen, installing the drawing pen, and switching the coordinate system to the drawing pen coordinate system on the teach pen; S120, controlling the robot to drive the drawing pen to move above the drawing board through the teach pen, controlling the drawing pen to perform TCP calibration based on the calibration rod, and then making the drawing pen move the tip of the drawing pen close to the starting point of the drawing trajectory in a suitable posture, and hovering above or in contact with the starting point, recording the current posture in the program of the teach pen, and setting instructions for receiving the digital output signal state of the linear displacement sensor and detecting the power-on and power-off of the sensor; S130, discretizing the drawing trajectory into a plurality of drawing points, and then controlling the robot to drive the drawing pen to move along the drawing trajectory through the teach pendant, and making the pen tip of the drawing pen coincide with the drawing points in sequence, while controlling the distance between the pen tip and the drawing trajectory to remain constant or within a set range, and recording the current posture of the robot in the program of the teach pendant in sequence in a teaching manner; S140, controlling the robot to drive the drawing pen with a suitable posture by the teach pen so that the tip of the drawing pen approaches or touches the end point of the drawing track, and recording the current posture of the robot in the program of the teach pendant in a teaching manner; S150. Automatically run the drawing program recorded in the teach pendant, so that the robot drives the drawing pen to complete the drawing of the drawing trajectory. If the drawing pen has no interference with the drawing trajectory, the robot moves without pause, the robot has a high degree of overlap with the drawing trajectory, there is no contact signal, or the distance between the robot and the drawing trajectory is within a set range during the movement of the robot, the robot is evaluated as qualified; otherwise, the robot is evaluated as unqualified.

2. A method for assessing a drawing robot for practical training, characterized in that: The assessment is conducted using a drawing robot, which includes: A robot having a male quick-change tool tray mounted on the end of the robot; A teaching pendant, the teaching pendant is connected to the robot, and the teaching pendant is used to control the robot; A drawing board, wherein the drawing board is a flat board, and a plurality of drawing tracks protruding from the top surface of the drawing board are provided on the top surface of the drawing board; A calibration rod, the calibration rod being fixed on the drawing board; A drawing pen, one end of which is provided with a female quick-change tool tray; A drawing seat, the drawing seat is fixed on the female quick-change tool tray, and the drawing pen is movably inserted into the drawing seat; A drawing spring, wherein a drawing spring is arranged between the drawing pen and the drawing seat; A detection sensor, the detection sensor is installed between the drawing seat and the drawing pen, the detection sensor is a proximity switch or a travel switch, and the detection sensor is used to detect whether the drawing pen moves toward the drawing seat; The drawing pen is a linear displacement sensor, which is used to detect whether the trajectory of the drawing pen maintains a constant distance from the drawing track board, so as to facilitate the detection of whether the drawing pen moves in the same plane; The assessment method comprises the following steps: S210, sequentially setting and installing a drawing pen and a drawing coordinate system in the offline programming and simulation software, and performing TCP calibration; S220, setting the starting point and the end point of the drawing pen in the offline programming and simulation software, and setting instructions for receiving the digital output signal state of the linear displacement sensor and detecting the power on and off of the sensor; S230, setting a trajectory path between a starting point and an end point of a drawing trajectory in an offline programming and simulation software, wherein the trajectory path is consistent with the drawing trajectory; S240, generating a drawing program executable by the robot in the offline programming and simulation software, and sending the drawing program to the teach pendant, loading and running the drawing program on the teach pendant, observing the posture of the robot during the operation, manually modifying the inappropriate posture, and then saving the drawing program; S250, automatically running the drawing program saved after modification in S240. If the drawing pen has no interference with the drawing track, the movement has no pause, the overlap with the drawing track is high, there is no contact signal, or the distance between the drawing pen and the drawing track is within the set range during the movement of the robot, it is evaluated as qualified; otherwise, it is evaluated as unqualified.

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