A training and assessment method for a robot application programming training and assessment device

Abstract

The present invention provides a robot application programming training and assessment device and its training and assessment method, including a workbench, a teach pendant, a robot arm and a training module, wherein the teach pendant is connected to the robot arm, and the teach pendant is used to control the robot arm. This scheme is designed to closely meet the primary requirements of the training equipment of the pilot colleges and universities for the 1+X level certificate for industrial robot application programming. A small robot assembly production line is adopted in which robots are used to assemble the further improved Schneider XCKM travel switch, thereby integrating the 1+X equipment requirements into it. The industrial robot application programming equipment corresponding to the skill level test not only meets the needs of comprehensive teaching and training of industrial robots, but also meets the needs of industrial robot skill level assessment, and can fully and comprehensively assess the operator's true level and ability.

Description

Technical Field

[0001] The present invention belongs to the technical field of practical training and assessment devices, and in particular relates to a practical training and assessment device for robot application programming and a practical training and assessment method thereof. Background Art

[0002] At present, industrial robots, as an intelligent automated programmable device, have been widely used in the field of industrial automation. The rapid development of the industry has increased the demand for industrial robot professionals year by year, but there is a shortage of high-quality industrial robot-related talents. The skill levels of practitioners vary greatly, and schools are in urgent need of relevant application training equipment to cultivate high-quality talents. The demand of enterprises for the skill level appraisal of industrial robot practitioners is also increasing. Therefore, the demand for equipment that integrates industrial robot training and skill assessment is becoming more urgent. With the introduction of the robot 1+X certificate system, the corresponding professional skill level assessment standards and robot assessment training equipment came into being.

[0003] At present, the existing training and assessment devices have the following problems: the existing domestic industrial robot application programming training and assessment equipment has the problems of single function and monotonous training projects, and is divorced from actual production applications, and cannot meet the requirements of daily teaching and training of industrial robots. Furthermore, for processing parts, taking the travel switch as an example, the structure of the actual travel switch components in reality cannot fully meet the needs of processing operation demonstration and assessment because its processing operation process is cumbersome, repetitive, complex and lengthy, and is not suitable for trainees to carry out operation learning and assessment. Therefore, in combination with the needs of training and assessment, the travel switch components themselves are improved. At the same time, the training and assessment device for processing operations also needs to be optimized and matched with the travel switch structure. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art. The present invention provides a robot application programming training and assessment device and its training and assessment method, which are designed to closely meet the requirements of the primary training equipment of the pilot colleges and universities for the 1+X level certificate of industrial robot application programming. The small robot assembly production line that uses robots to assemble the further improved Schneider XCKM travel switch is adopted, so as to integrate the 1+X equipment requirements into it. The industrial robot application programming equipment corresponding to the skill level examination not only meets the needs of comprehensive teaching and training of industrial robots, but also meets the needs of industrial robot skill level assessment, and can fully and comprehensively assess the real level and ability of the operator.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a robot training and assessment device, comprising a workbench, a teach pendant, a robot arm and a training module, the teach pendant is connected to the robot arm, the teach pendant is used to control the robot arm, the robot arm is installed on the workbench, the workbench table top is formed by connecting aluminum profiles, and the training module is fixed on the workbench through a T-nut block; the training module includes a manipulator unit; the manipulator unit includes a tool switching tool and an electric screw tool; the tool switching tool includes a tool switching platform, three groups of workstation holes for storing different types of quick-change tooling are arranged on the tool switching platform, and positioning pins I are arranged on the edges of the workstation holes for positioning and placing the quick-change tooling; the quick-change tooling includes a quick-change connector I, and the quick-change connector I includes the following connected parts from top to bottom The connector female head, connector connecting plate and cylindrical connector are provided with a locating port matching the locating pin on the connector connecting plate; the three groups of quick-change tooling are respectively provided with a suction cup tool, a brush tool and a clamping claw tool; the brush tool comprises a brush and a calibration pen installed on the cylindrical connector, and the brush and the calibration pen are perpendicular to each other; the clamping claw tool comprises an air jaw and a small air jaw, and the air jaw and the small air jaw are perpendicular to each other; the electric screwdriver tool comprises an electric screwdriver platform and an electric screwdriver assembly arranged on the electric screwdriver platform, the electric screwdriver assembly comprises a quick-change connector II, an electric screwdriver fixed seat, an electric screwdriver floating seat and an electric screwdriver, the electric screwdriver floating seat is fixed to the middle section of the electric screwdriver through a support pressure plate, the electric screwdriver fixed seat is arranged above the electric screwdriver floating seat, the electric screwdriver fixed seat is fixedly connected to the quick-change connector II, and the electric screwdriver fixed seat and the electric screwdriver floating seat are connected by a guide rod, and a spring is passed through the guide rod.

[0006] To further improve the present scheme, the training module also includes a conveying unit, which includes a feeding part and a conveying part; the feeding part includes a feeding platform, a feeding well is provided on the feeding platform, a pushing channel is formed at the bottom of the feeding well, a pushing assembly is installed at the pushing channel, the pushing assembly includes a pushing cylinder and a pushing block installed on the push rod of the pushing cylinder, and the pushing block can move back and forth in the pushing channel under the push of the pushing cylinder; the conveying part includes a conveying belt, guide plates are provided on both sides of the conveying belt, a conveying channel for materials is formed between the two guide plates, and an import photoelectric switch and an export photoelectric switch are respectively provided at the inlet and outlet of the conveying channel.

[0007] To further improve the present scheme, the training module further comprises a classification unit, the classification unit comprises a classification component and a sub-set component; the classification component comprises a classification platform, on which storage stations differentiated by component type are formed; the sub-set component comprises a sub-set platform, on which storage stations differentiated by single set of components are formed.

[0008] To further improve the present scheme, the training module further comprises an assembly unit, which comprises an assembly platform, on which a calibrator, a push rod cylinder, a rotary pressing cylinder and a diagonal top block assembly are arranged, the calibrator is vertically arranged on the assembly platform and is located on one side of the base of the push rod cylinder, the calibrator can perform TCP zero point position calibration with the calibration pen, the push rod cylinder is horizontally arranged, and a material pressing block is installed on the push rod of the push rod cylinder; the push rod of the rotary pressing cylinder is vertically arranged upward, and its base The seat end is fixed on one side of the assembly platform, and a cylinder pressure head is provided at the push rod end of the rotary pressing cylinder. The cylinder pressure head is located above the assembly platform and is arranged parallel to the assembly platform, and a diagonal top block assembly is arranged below the cylinder pressure head; the diagonal top block assembly is provided with two diagonal top blocks, and the two diagonal top blocks are symmetrical to each other, and the diagonal top blocks are right-angle corner structures, and the inner corners of the two diagonal top blocks are opposite to each other to form an assembly area, and after the material pressing block is extended, the material to be assembled is pressed into the assembly area between the two diagonal top blocks.

[0009] To further improve the present scheme, the training module also includes a warehouse unit for storing finished travel switches, the warehouse unit includes a warehouse platform and a material storage board, the material storage board is vertically arranged on one side of the warehouse platform, material storage locations are formed on the material storage board, and location photoelectric switches for detecting the storage conditions of the locations are arranged on the rear sides of the corresponding locations.

[0010] The present solution also provides a training and assessment method for a robot training and assessment device, which is characterized in that: the components of the travel switch used to simulate the assembly process are docked and assembled in sequence;

[0011] Shell fixing step: the robot arm picks up the shell and places it horizontally on the assembly unit. The push rod cylinder on the assembly platform is actuated, and the material pressing block pushes the shell into the assembly area of ​​the diagonal top block assembly to fix it.

[0012] Terminal assembly steps: the robot arm rotates 90 degrees and switches to the working state of the small air gripper. After the conveying unit conveys the terminal to the end of the belt, the robot arm uses the small air gripper to clamp the terminal at the end of the belt to the assembly platform and place it in the housing to complete the assembly of the terminal.

[0013] Cover placement steps: The robot arm replaces the gripper tool with a suction cup tool, then moves to the sub-set platform to suck up the rubber gasket, then moves to the assembly platform and places it on the fixed position of the shell, then moves to the sub-set platform to suck up the cover, moves to the assembly platform and places it in place, the plug-in side of the cover enters the plug hole of the shell, the robot arm replaces the suction cup tool with an electric screwdriver tool, the screw feeder supplies screws to the electric screwdriver tool, and the electric screwdriver tool then drives the two screws on the other side of the cover into the corresponding screw hole positions of the shell to obtain a semi-finished product after the cover is installed;

[0014] Plastic cap press-fitting steps: the robot arm replaces the electric screwdriver tool with a clamping tool, switches to the working state of the air clamp, moves to the assembly platform to clamp the semi-finished product after the cover plate has been installed; flips the semi-finished product after the cover plate has been installed from a flat state to a state in which the outlet hole at the bottom of the shell is vertically upward, and the robot arm replaces the clamping tool with a suction cup tool, sucks the plastic cap into the set-up platform and places it into the outlet hole at the bottom of the shell, and the rotary pressing cylinder of the assembly unit rotates and presses down, and the cylinder pressure head presses the plastic cap into place to obtain the semi-finished product after the plastic cap is pressed;

[0015] The steps of assembling the plunger head are as follows: the rotary clamping cylinder is loosened, the robot arm replaces the suction cup tool with a clamping claw tool, and switches to the working state of the large air claw, flips the semi-finished product after the plastic cap is pressed 180 degrees in the vertical direction, and the rotary clamping cylinder is clamped, and the robot arm switches to the working state of the small air claw, and clamps the plunger head in the sub-assembly platform, and installs it to the corresponding position of the semi-finished product after the plastic cap is pressed. The robot arm replaces the clamping claw tool with an electric screwdriver tool, moves to the assembly platform, and tightens the screws on the plunger head into place to obtain the finished travel switch;

[0016] Warehousing steps: After the robot arm replaces the electric screwdriver tool with a clamping claw tool and switches to the air claw working state, the finished travel switch is clamped and placed in the corresponding storage position on the three-dimensional warehouse unit to complete the single set assembly and three-dimensional storage of the travel switch.

[0017] To further improve the present scheme, the terminal assembly steps are as follows: the pushing photoelectric switch detects that there are terminal blocks at the bottom of the feed well, and the pushing cylinder drives the pushing block to push the terminal blocks at the bottom of the feed well onto the conveyor belt, while the terminal blocks at the second bottom layer fall on the pushing block. At the same time, the inlet photoelectric switch detects the terminal blocks on the conveyor belt and sends a signal to the PLC. The PLC issues a command to start the reduction motor, and the conveyor belt starts working to transport the terminal blocks to the end of the conveyor belt. The material is blocked by the end baffle of the conveyor belt. After the outlet photoelectric switch detects the terminal blocks on the conveyor belt, the conveyor belt stops working, and the robot arm uses a small air claw to clamp the terminal blocks to the assembly unit and place them in the shell to complete the assembly of the terminal blocks.

[0018] Beneficial Effects

[0019] 1. The present invention, through innovation, closely meets the requirements of practical training equipment of pilot colleges and universities for 1+X level certificates of industrial robot application programming and the industrial robot application programming equipment corresponding to the skill level examination. It not only meets the needs of comprehensive teaching and practical training of industrial robots, but also meets the needs of skill level assessment of industrial robots. The comprehensive training system of this device has many functions and many training projects, and can complete the training of basic operations, process operations, processing operations and assembly operations, including most of the operations involved in actual production, which greatly improves the skills of trainees. The specific analysis is as follows: By adjusting the training module into six modules including robot unit, classification unit, conveying unit, assembly unit, trajectory training unit and storage unit, various operations such as robot replacement, raw material classification, raw material transportation, component assembly, trajectory training and warehousing are completed. Among them, the robot unit provides a variety of convenient and quick-replacement and applicable tools for the training of the assembly unit. The conveying unit demonstrates the process of conveying operation and is ultimately used to feed the assembly unit. The classification unit demonstrates the process of classification and transportation and is ultimately used to provide a raw material storage area for the assembly unit. The assembly unit demonstrates the process of combining and installing the various components of the travel switch and assembles them in coordination with various functional modules. Finally, the combined finished product is placed in the warehouse unit.

[0020] 2 The assessment method of the present invention can effectively assess the skills of trainees, with many assessment items to prepare for grade assessment. The assembly process of the travel switch assembly is optimized. This scheme combines the structure of the improved travel switch to clarify the assembly operation process, allowing operators to demonstrate the operation of the travel switch from raw materials, assembly, and warehousing. The demonstration operation process of each step is strictly regulated and controlled, and combined with the structural improvement of the innovative and improved training module and the reasonable optimization of the operation step sequence, it not only makes the operators more familiar with the actual operation process close to industrialization, but also enables them to better meet the assessment purpose requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the overall structure diagram of the practical training and assessment device of the present invention;

[0022] Figure 2 It is a structural diagram of the tool switching tool in the present invention;

[0023] Figure 3 It is a structural diagram of the electric screwdriver tool in the present invention;

[0024] Figure 4 It is a structural diagram of the conveying unit in the present invention;

[0025] Figure 5 It is a structural diagram of the classification unit in the present invention;

[0026] Figure 6 It is a structural diagram of the assembly unit in the present invention;

[0027] Figure 7 It is a structural diagram of the trajectory training unit in the present invention;

[0028] Figure 8 It is a structural diagram of the warehouse unit in the present invention;

[0029] Fig. 9 is a structural diagram of the robot arm in the present invention;

[0030] Fig.10 It is the structural diagram of the travel switch in the present invention;

[0031] Fig.11 The figure is a diagram showing the internal structure of the casing of the travel switch in the present invention;

[0032] Markings in the figure: 1. Workbench;

[0033] 2. Screw feeder;

[0034] 3. Robot arm, 3-1. Quick-change flange, 3-2. Male connector;

[0035] 4. Tool switching tool, 41. Tool switching platform, 411. Positioning pin Ⅰ, 42. Quick-change connector Ⅰ, 421. Connector female head, 422. Connector connecting plate, 423. Cylindrical connector, 43. Suction cup tool, 44. Brush tool, 441. Brush, 442. Calibration pen, 45. Gripping tool, 451. Large claw, 452. Small claw;

[0036] 5. Electric screwdriver tool, 51. Electric screwdriver platform, 511. Positioning pin II, 52. Quick-change connector II, 521. Connecting plate, 53. Electric screwdriver floating seat, 54. Electric screwdriver, 55. Support pressure plate, 56. Electric screwdriver fixed seat, 57. Guide rod, 58. Spring, 59. Bracket;

[0037] 6. Conveying unit, 61. Feeding platform, 62. Feeding well, 63. Pushing cylinder, 64. Pushing block, 65. Conveying belt, 66. Guide plate, 67. Import photoelectric switch, 68. Export photoelectric switch, 69. End baffle;

[0038] 7. Classification unit, 71. Classification platform, 72. Classification platform;

[0039] 8. Assembly unit, 81. Assembly platform, 82. Calibrator, 83. Push rod cylinder, 84. Rotary pressing cylinder, 85. Diagonal top block assembly, 86. Material pressing block, 87. Cylinder pressing head;

[0040] 9. Track training unit, 91. Track training base, 92. Install aluminum plate; 93. Track diagram, 94. Obtuse angle connector, 95. Acute angle connector;

[0041] 10. Warehouse unit, 101. Warehouse platform, 102. Material storage board, 103. Storage position photoelectric switch;

[0042] 20. travel switch, 201. housing, 202. wire outlet hole, 203. plunger head, 204. cover plate, 205. rubber pad. DETAILED DESCRIPTION

[0043] In order to make the technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0044] As shown in the figure: This embodiment provides a robot training and assessment device, including a workbench 1, a teach pendant, a robot arm 3 and a training module. The teach pendant is connected to the robot arm 3, and the teach pendant is used to control the robot arm 3. The robot arm 3 is installed on the workbench 1. The robot arm 3 is a six-axis industrial robot arm, and a quick-change flange 3-1 and a quick-change connector male head 3-2 are provided at its end to facilitate rapid replacement and docking with the manipulator unit.

[0045] The table top of the workbench 1 is made of aluminum profiles, the platform has double doors, and is equipped with stainless steel invisible handles. A small wheel is installed at the bottom for easy movement. Each training module is fixed on the workbench 1 through a T-nut block. The training module includes a manipulator unit, a conveying unit 6, a classification unit 7, an assembly unit 8, a trajectory training unit 9 and a warehouse unit 10.

[0046] The manipulator unit includes a tool switching tool 4 and an electric screwdriver tool 5; the tool switching tool 4 includes a tool switching platform 41, on which three groups of station holes for storing different types of quick-change tooling are arranged, and positioning pins 411 are arranged on the edges of the station holes for positioning and placing the quick-change tooling; the three groups of quick-change tooling all include a quick-change connector I 42, and the quick-change connector I 42 includes, from top to bottom, a connected connector female head 421, a connector connecting plate 422 and a cylindrical connector 423, and the connector female head 421 is connected to the quick-change connector male head The head 3-2 is matched, and a positioning port matching the positioning pin Ⅰ411 is formed on the joint connecting plate 422, which matches the positioning pin Ⅰ411; the three sets of quick-change tooling are respectively provided with a suction cup tool 43, a brush tool 44 and a clamping tool 45; wherein the brush tool 44 includes a brush 441 and a calibration pen 442 installed on the cylindrical connector 423, and the brush 441 and the calibration pen 442 form an angle of 90°; wherein the clamping tool 45 includes an air jaw 451 and a small air jaw 452, and the air jaw 451 and the small air jaw 452 form an angle of 90°.

[0047] The electric screwdriver tool 5 includes an electric screwdriver platform 51 and an electric screwdriver assembly arranged on the electric screwdriver platform 51, wherein the electric screwdriver assembly includes a quick-change connector II 52, an electric screwdriver fixing seat 56, an electric screwdriver floating seat 53 and an electric screwdriver 54. A positioning pin II 511 matching the quick-change connector II 52 is arranged on the electric screwdriver platform 51, and the electric screwdriver floating seat 53 is fixed to the middle section of the electric screwdriver 54 through a support pressure plate 55. The electric screwdriver fixing seat 56 is arranged above the electric screwdriver floating seat 53, and the electric screwdriver fixing seat 56 is fixedly connected to its quick-change connector II 52 through a connecting plate 521. The electric screwdriver fixing seat 56 and the electric screwdriver floating seat 53 are connected through a guide rod 57, and a spring 58 is passed through the guide rod 57. The spring 58 can be used to tighten the screw when tightening the screw so that the outer end of the electric screwdriver 54 can tighten the screw to facilitate tightening the screw in the screw hole. Two brackets 59 are symmetrically arranged on the column of the electric screwdriver platform 51, and the two brackets 59 are in supporting contact with the support pressure plate 55.

[0048] The conveying unit 6 includes a feeding part and a conveying part. The feeding part includes a feeding platform 61, a feeding well 62 is arranged on the feeding platform 61, a pushing channel is formed at the bottom of the feeding well 62, a pushing assembly is installed at the pushing channel, the pushing assembly includes a pushing cylinder 63 and a pushing block 64 installed on the push rod of the pushing cylinder 63, and the pushing block 64 can move back and forth in the pushing channel under the push of the pushing cylinder 63; the conveying part includes a conveying belt 65, a belt driving wheel, a synchronous pulley and a synchronous belt, wherein the belt driving wheel is installed on the output shaft of the reduction motor, the belt driving wheel drives the synchronous pulley to rotate through the synchronous belt, thereby driving the conveying belt 65 to rotate, and the reduction motor adjusts the belt speed through the motor speed regulator. Guide plates 66 are arranged on both sides of the conveying belt 65, and a material conveying channel is formed between the two guide plates 66. An import photoelectric switch 67 and an export photoelectric switch 68 are respectively arranged at the import and export of the conveying channel. After the import photoelectric switch 67 detects that there is a material block on the conveying belt 65, the reduction motor starts to rotate. When the material block moves to the export photoelectric switch 68, the reduction motor stops, and the robot arm 3 takes the material block.

[0049] The photoelectric push switch on the reinforcing rib of the feeding well 62 is used to detect whether there is a material block in the feeding well 62 that needs to be pushed out. When the photoelectric push switch detects that there is material at the bottom of the feeding well 62 and the material needs to be pushed out, the thin double-push rod cylinder installed on the bottom plate of the feeding well 62 extends out to drive the push block 64 installed on its push rod to push the terminal of the travel switch 20 at the bottom of the feeding well 62 onto the conveying belt 65, and the material at the second bottom layer falls on the push block 64. At the same time, the imported photoelectric switch 67 installed on the inlet side of the guide plate 66 detects the travel switch on the conveying belt 65. After closing the 20 terminal, a signal is sent to the PLC. The PLC issues a command to start the reduction motor. The motor drags the synchronous belt, and the belt conveyor starts working to transport the material to the other end of the conveyor belt 65. The material block transported to the other end of the belt conveyor is blocked by the end baffle 69 of the belt conveyor and is detected by the exit photoelectric switch 68 installed on the end baffle 69 of the belt conveyor. The belt conveyor stops working and the robot arm 3 comes over to clamp the material to the assembly unit 8. The thin double-push rod cylinder push rod retracts, and the material on the second bottom layer falls to the bottom of the feeding well 62. The second feeding starts.

[0050] The classification unit 7 includes a classification component and a sub-set component; the classification component includes a classification platform 71, on which a storage station is formed according to the type of components to be assembled; the sub-set component includes a sub-set platform 72, on which a storage area for a single set of components to be assembled is formed. This workstation is a robot handling training workstation and is mainly composed of two parts. The material storage trays of the two parts are both 350mm*350mm*12mm aluminum plates. The difference is that the material storage tray of the classification platform 71 stores the housing 201, rubber pad 205, cover plate 204, plunger head 203, and plastic cap of four sets of travel switches 20 separately by category, while the material storage tray of the sub-set platform 72 is divided into four major areas, and the various components of the travel switch 20 are stored in a single set combination; this workstation is used to train the robot to sort and transport the various components of the travel switch 20 from the classification platform 71 to the sub-set platform 72, thereby achieving robot handling training.

[0051] The assembly unit 8 includes an assembly platform 81, on which a calibrator 82, a push rod cylinder 83, a rotary pressing cylinder 84 and a diagonal top block assembly 85 are arranged. The calibrator 82 is vertically arranged on the assembly platform 81 and is located on one side of the base of the push rod cylinder 83. The calibrator 82 can calibrate the TCP zero point position with the calibration pen 442. The push rod cylinder 83 is horizontally arranged, and a material pressing block 86 is installed on the push rod of the push rod cylinder 83; the push rod of the rotary pressing cylinder 84 is vertically arranged upward, and its base end is fixed on On one side of the assembly platform 81, a cylinder pressure head 87 is vertically arranged at the push rod end of the rotary pressing cylinder 84. The cylinder pressure head 87 is located on one side of the assembly platform 81 and is arranged parallel to the assembly platform 81. A diagonal top block assembly 85 is arranged below the cylinder pressure head 87; the diagonal top block assembly 85 is provided with two diagonal top blocks and is symmetrical to each other. Each diagonal top block is a right-angle corner structure, and the inner corners of the two diagonal top blocks are opposite to each other to form an assembly area. After the material pressing block 86 is extended, the material to be assembled is pressed into the assembly area of ​​the diagonal top block assembly 85. Among them, the robot arm 3 picks up the various components of the travel switch 20 from the material storage tray of the travel switch 20 according to the procedure of the designed process flow, and arrives at this workstation to first place the shell 201 horizontally, then install the terminal, place the rubber pad 205, place the cover 204, and then use a quick-change electric screwdriver to tighten the end cover fixing screws; then, the robot arm 3 places the semi-finished travel switch 20 vertically, presses the bottom plastic cap, and finally places the travel switch 20 vertically upside down, installs the plunger head 203, and tightens the screws with an electric screwdriver 54. This unit can perform practical training programming operations for robot-assisted assembly.

[0052] The trajectory training unit 9 is used for TCP calibration, and the robot arm 3 makes the brush 441 perform walking trajectory training according to the trajectory pattern. The trajectory training unit 9 includes a trajectory training base 91 and an aluminum mounting plate 92, and the aluminum mounting plate 92 is tilted, and a trajectory map 93 printed with a trajectory pattern is pasted on the aluminum mounting plate 92. The calibration pen 442 can calibrate the TCP zero point position with the calibrator 82 installed on the assembly platform 81. The trajectory training module 9 is used for the robot arm 3 to make the brush 441 perform walking trajectory training according to the trajectory training module 9 after TCP calibration. The trajectory training module 9 includes a trajectory base 91 and an aluminum mounting plate 92, and the aluminum mounting plate 92 is tilted, and a trajectory map 93 printed with a trajectory pattern is pasted on the aluminum mounting plate 92. So that a 45° angle is formed between the aluminum mounting plate 92 and the training base 91. The mounting aluminum plate 92 is fixed to two groups of columns of the track base 91 through obtuse connectors 94 and acute connectors 95, wherein the obtuse connector 94 is a 135° angle connector dedicated to 2020 aluminum profiles, and the acute connector 95 is a 45° angle connector dedicated to 2020 aluminum profiles. The columns are long columns of 2020 aluminum profiles with 45° angle bevels and flat-end tapping M6, wherein the height of the first group of columns is greater than the height of the second group of columns. The track diagram 93 of the PVC robot is printed with 4 kinds of geometric figures, and the back of the PVC robot is covered with a layer of 3M glue, which is attached to the mounting aluminum plate 92. The back of the mounting aluminum plate 92 has 4 threaded holes, which are installed on 4 aluminum profile columns through bolts and special aluminum profile connectors, and then installed on the mounting base plate of the track training module 9 through bolts. There are 4 long holes on the mounting floor for fixing the entire track training unit 9 workstation.

[0053] The warehouse unit 10 includes a warehouse platform 101 and a material storage plate 102. The material storage plate 102 is vertically arranged on one side of the warehouse platform 101. Material storage positions are formed on the material storage plate 102. A photoelectric switch 103 for detecting the storage conditions of the corresponding positions is arranged at the back of the corresponding positions. It is mainly used to store the finished products of the travel switch 20. There are two layers and six positions in total, and a photoelectric switch 103 for detecting the storage conditions of the positions is installed at the back of each position.

[0054] The present solution also provides a training and assessment method for a robot training and assessment device, wherein the components of a travel switch 20 used to simulate an assembly process are docked and assembled in sequence; the travel switch 20 includes a housing 201, a terminal block, a rubber pad 205, a cover plate 204, a screw, a plastic cap and a plunger head 203; the specific steps are as follows:

[0055] Step of fixing the housing 201: the robot arm 3 picks up the housing 201 and places it horizontally on the assembly unit 8, and then the push rod cylinder 83 on the assembly platform 81 is actuated, and the material pressing block 86 pushes the housing 201 into the diagonal top block assembly area to fix it;

[0056] Terminal assembly step: the robot arm 3 rotates 90° and switches to the working state of the small air gripper 452. After the conveying unit 6 conveys the terminal to the end of the belt 65, the robot arm 3 uses the small air gripper 452 to clamp the terminal at the end of the belt 65 to the assembly platform 81 and place it in the housing 201 to complete the assembly of the terminal;

[0057] Steps for placing the cover plate 204: the robot arm 3 replaces the gripper tool 45 with the suction cup tool 43, then moves to the sub-set platform 72 to suck up the rubber pad 205, then moves to the assembly platform 81 and places it on the fixed position of the shell 201, then moves to the sub-set platform 72 to suck up the cover plate 204, moves to the assembly platform 81 and places it in place, the plug-in side of the cover plate 204 enters the plug-in hole of the shell 201, the robot arm 3 replaces the suction cup tool 43 with the electric screwdriver tool 5, the screw feeder 2 supplies screws to the electric screwdriver tool 5, and the electric screwdriver tool 5 then drives the two screws on the other side of the cover plate 204 into the corresponding screw hole positions of the shell 201 to obtain a semi-finished product after the cover plate 204 is installed;

[0058] In the step of pressing the plastic cap, the robot arm 3 replaces the electric screwdriver tool 5 with the clamping tool 45, switches to the working state of the air clamp 451, moves to the assembly platform 81 to clamp the semi-finished product after the cover plate 204 has been installed; the semi-finished product after the cover plate 204 has been installed is turned over from a flat state to a state in which the bottom of the shell 201 is vertically upward, and the robot arm 3 replaces the clamping tool 45 with the suction cup tool 43, sucks the plastic cap in the sub-set platform 72 and places it in the outlet hole 202 at the bottom of the shell 201, and the rotary pressing cylinder 84 of the assembly unit 8 rotates and presses down, and the cylinder pressure head 87 presses the plastic cap into place, and presses the semi-finished product after the plastic cap is installed;

[0059] The assembly step of the plunger head 203 is as follows: the rotary pressing cylinder 84 is loosened, the robot arm 3 replaces the suction cup tool 43 with the clamping tool 45, and switches to the working state of the large air claw 451, and the semi-finished product after the plastic cap is pressed is turned 180° in the vertical direction, the rotary pressing cylinder 84 is clamped, and the robot arm 3 switches to the working state of the small air claw 452, and the plunger head 203 is clamped in the sub-set platform 72, and installed to the corresponding position of the semi-finished product after the plastic cap is pressed. The robot arm 3 replaces the clamping tool 45 with the electric screw tool 5, moves to the assembly platform 81, and tightens the screws on the plunger head 203 into place to obtain the finished travel switch 20; 4 screws can be provided on the plunger head 203, wherein in order to avoid the cumbersome assembly steps, the structure of the plunger head 203 can also be simply improved, and 2 of the 4 screws of the plunger head 203 are retained, and the other two are changed to a plug-in structure, which can avoid excessive repeated operations and improve the compactness of the assessment process;

[0060] In the warehousing step, the robot arm 3 replaces the electric screwdriver tool 5 with the clamping tool 45, and after switching to the working state of the air gripper 451, the finished travel switch 20 is clamped and placed in the corresponding storage position on the three-dimensional warehouse unit 10, completing the single set assembly and three-dimensional storage of the travel switch 20.

[0061] Among them, in the terminal assembly step, the most preferred scheme is as follows: the pushing photoelectric switch 69 detects that there are terminal blocks at the bottom of the feed well 62, and the pushing cylinder 63 drives the pushing block 64 to push the terminal blocks at the bottom of the feed well 62 onto the conveyor belt 65, while the terminal blocks at the second bottom layer fall on the pushing block 64. At the same time, the import photoelectric switch 67 detects the terminal blocks on the conveyor belt 65 and sends a signal to the PLC. The PLC issues an instruction to start the reduction motor 651, and the conveyor belt 65 starts working to transport the terminal blocks to the end of the conveyor belt 65. The material is blocked by the end baffle 69 of the conveyor belt 65. After the export photoelectric switch 68 detects the terminal blocks on the conveyor belt 65, the conveyor belt 65 stops working, and the robot arm 3 uses the small air claw 452 to clamp the terminal blocks to the assembly unit 8 and place them in the shell 201 to complete the assembly of the terminal blocks.

[0062] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A training and assessment method for a robot application programming training and assessment device, characterized in that: The robot application programming training and assessment device comprises a workbench (1), a teaching pendant, a robot arm (3) and a training module, wherein the teaching pendant is connected to the robot arm (3), the teaching pendant is used to control the robot arm (3), the robot arm (3) is mounted on the workbench (1), the table top of the workbench (1) is formed by connecting aluminum profiles, and the training module is fixed to the workbench (1) via a T-shaped nut block; The training module comprises a manipulator unit, a conveying unit (6), a classification unit (7), an assembly unit (8), and a warehouse unit (10) for storing finished travel switches (20); the manipulator unit comprises a tooling switching tool (4) and an electric screwdriver tool (5); The tool switching tool (4) comprises a tool switching platform (41), on which three groups of workstation holes for storing different types of quick-change tooling are arranged, and positioning pins I (411) are arranged on the edges of the workstation holes for positioning and placing the quick-change tooling; The quick-change tooling includes a quick-change joint I (42), wherein the quick-change joint I (42) includes, from top to bottom, a joint female head (421), a joint connecting plate (422) and a cylindrical connecting piece (423) connected to each other, and a positioning opening matching the positioning pin I (411) is formed on the joint connecting plate (422); the three groups of quick-change tooling are respectively provided with a suction cup tool (43), a brush tool (44) and a clamping claw tool (45); wherein the brush tool (44) includes a brush (441) and a calibration pen (442) mounted on the cylindrical connecting piece (423), and the brush (441) and the calibration pen (442) are perpendicular to each other; wherein the clamping claw tool (45) includes a large air claw (451) and a small air claw (452), and the large air claw (451) and the small air claw (452) are perpendicular to each other; The electric screwdriver tool (5) comprises an electric screwdriver platform (51) and an electric screwdriver assembly arranged on the electric screwdriver platform (51), the electric screwdriver assembly comprising a quick-change joint II (52), an electric screwdriver fixing seat (56), an electric screwdriver floating seat (53) and an electric screwdriver (54), the electric screwdriver floating seat (53) being fixed to the middle section of the electric screwdriver (54) via a support plate (55), the electric screwdriver fixing seat (56) being arranged above the electric screwdriver floating seat (53), the electric screwdriver fixing seat (56) being fixedly connected to the quick-change joint II (52), the electric screwdriver fixing seat (56) and the electric screwdriver floating seat (53) being connected via a guide rod (57), and a spring (58) being inserted on the guide rod (57); The conveying unit (6) comprises a feeding part and a conveying part; the feeding part comprises a feeding platform (61), a feeding well (62) is arranged on the feeding platform (61), a pushing channel is formed at the bottom of the feeding well (62), a pushing assembly is installed at the pushing channel, the pushing assembly comprises a pushing cylinder (63) and a pushing block (64) installed on a push rod of the pushing cylinder (63), and the pushing block (64) can move back and forth in the pushing channel under the push of the pushing cylinder (63); the conveying part comprises a conveying belt (65), guide plates (66) are arranged on both sides of the conveying belt (65), a material conveying channel is formed between the two guide plates (66), and an inlet photoelectric switch (67) and an outlet photoelectric switch (68) are respectively arranged at the inlet and outlet of the conveying channel; The classification unit (7) comprises a classification component and a sub-set component; the classification component comprises a classification platform (71), on which storage stations differentiated by component type are formed; the sub-set component comprises a sub-set platform (72), on which storage stations differentiated by single set of components are formed; The assembly unit (8) comprises an assembly platform (81), on which a calibrator (82), a push rod cylinder (83), a rotary pressing cylinder (84) and a diagonal top block assembly (85) are arranged. The calibrator (82) is vertically arranged on the assembly platform (81) and is located on one side of the base of the push rod cylinder (83). The calibrator (82) can calibrate the TCP zero point position with the calibration pen (442). The push rod cylinder (83) is horizontally arranged, and a material pressing block (86) is installed on the push rod of the push rod cylinder (83); the push rod of the rotary pressing cylinder (84) is vertically arranged upward, and its base The end is fixed to one side of the assembly platform (81), the push rod end of the rotary pressing cylinder (84) is provided with a cylinder pressure head (87), the cylinder pressure head (87) is located above the assembly platform (81) and is arranged parallel to the assembly platform (81), and a diagonal top block assembly (85) is arranged below the cylinder pressure head (87); the diagonal top block assembly (85) is provided with two diagonal top blocks, and the two diagonal top blocks are symmetrical to each other, each diagonal top block is a right-angle corner structure, and the inner corners of the two diagonal top blocks are opposite to each other to form an assembly area, and after the material pressing block (86) is extended, the material to be assembled is pressed into the assembly area between the two diagonal top blocks; The warehouse unit (10) comprises a warehouse platform (101) and a material storage plate (102), wherein the material storage plate (102) is vertically arranged on one side of the warehouse platform (101), a material storage position is formed on the material storage plate (102), and a storage position photoelectric switch (103) for detecting the storage condition of the storage position is arranged at the rear side of the corresponding storage position; The training and assessment method is to assemble the components of the travel switch (20) used to simulate the assembly process in sequence by docking; Step of fixing the shell (201): the robot arm (3) picks up the shell (201) and places it horizontally on the assembly unit (8), and then the push rod cylinder (83) on the assembly platform (81) is actuated, and the material pressing block (86) pushes the shell (201) into the assembly area of ​​the diagonal top block assembly (85) to fix it; Terminal assembly steps: the robot arm (3) rotates 90 degrees and switches to the working state of the small air gripper (452). After the conveying unit (6) conveys the terminal to the end of the belt (65), the robot arm (3) uses the small air gripper (452) to clamp the terminal at the end of the belt (65) to the assembly platform (81), and places it in the housing (201), thereby completing the assembly of the terminal; The steps of placing the cover plate (204): the robot arm (3) replaces the gripper tool (45) with the suction cup tool (43), then moves to the sub-assembly platform (72) to absorb the rubber pad (205), then moves to the assembly platform (81) and places it on the fixed position of the shell (201), then moves to the sub-assembly platform (72) to absorb the cover plate (204), moves to the assembly platform (81) and places it in place, the plug-in side of the cover plate (204) enters the plug-in hole of the shell (201), the robot arm (3) replaces the suction cup tool (43) with the electric screwdriver tool (5), the screw feeder (2) supplies screws to the electric screwdriver tool (5), and the electric screwdriver tool (5) then drives the two screws on the other side of the cover plate (204) into the corresponding screw hole positions of the shell (201), thereby obtaining a semi-finished product after the cover plate (204) is installed; Plastic cap press-fitting steps: the robot arm (3) replaces the electric screwdriver tool (5) with a clamping tool (45), switches to the working state of the air clamp (451), moves to the assembly platform (81) to clamp the semi-finished product after the cover plate (204) has been installed; the semi-finished product after the cover plate (204) has been installed is turned over from a flat state to a state in which the outlet hole (202) at the bottom of the shell (201) is vertically upward, the robot arm (3) replaces the clamping tool (45) with a suction cup tool (43), goes to the sub-assembly platform (72) to suck up the plastic cap and place it into the outlet hole (202) at the bottom of the shell (201), the rotary pressing cylinder (84) of the assembly unit (8) rotates and presses down, and the cylinder pressure head (87) presses the plastic cap into place, thereby obtaining the semi-finished product after the plastic cap is pressed; The assembly steps of the plunger head (203) are as follows: the rotary clamping cylinder (84) is loosened, the robot arm (3) replaces the suction cup tool (43) with the clamping tool (45), and switches to the working state of the large air claw (451), and the semi-finished product after the plastic cap is pressed is turned 180 degrees in the vertical direction, the rotary clamping cylinder (84) is clamped, and the robot arm (3) is switched to the working state of the small air claw (452), and the plunger head (203) is clamped in the sub-assembly platform (72), and installed to the corresponding position of the semi-finished product after the plastic cap is pressed, the robot arm (3) replaces the clamping tool (45) with the electric screwdriver tool (5), moves to the assembly platform (81), and tightens the screws on the plunger head (203) into place, thereby obtaining the finished product of the travel switch (20); Warehousing step: the robot arm (3) replaces the electric screwdriver tool (5) with the gripper tool (45) and switches to the working state of the air gripper (451), then grips the finished product of the travel switch (20) and places it in the corresponding storage position on the three-dimensional warehouse unit (10), completing the single set assembly and three-dimensional storage of the travel switch (20).

2. A training and assessment method for a robot application programming training and assessment device as claimed in claim 1, characterized in that: The terminal assembly steps are as follows: the push photoelectric switch (69) detects that there are terminal blocks at the bottom of the feed well (62), the push cylinder (63) drives the push block (64) to push the terminal blocks at the bottom of the feed well (62) onto the conveyor belt (65), and the terminal blocks at the second bottom layer fall onto the push block (64). At the same time, the inlet photoelectric switch (67) detects the terminal blocks on the conveyor belt (65) and sends a signal to the PLC. The PLC sends a command to start the reduction motor (651), the conveyor belt (65) starts working, and the terminal blocks are transported to the end of the conveyor belt (65). The material is blocked by the end baffle (69) of the conveyor belt (65). The outlet photoelectric switch (68) detects the terminal blocks on the conveyor belt (65), and the conveyor belt (65) stops working. The robot arm (3) uses a small air claw (452) to clamp the terminal blocks to the assembly unit (8) and place them in the housing (201), completing the assembly of the terminal blocks.

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