Mechatronics and Robotics Comprehensive Training System

Abstract

The present invention belongs to the field of training devices, and specifically relates to a mechatronics and robot comprehensive training system, which is characterized by comprising a bottom box outbound conveying unit, an upper cover assembly conveying unit, a pin assembly and photo detection unit, a simulated drilling operation and drilling depth measurement unit, a three-axis manipulator stereoscopic warehouse unit, and a UR robot disassembly unit connected in sequence. The present invention has a reasonable design, uses a bottom box, an upper cover, and a pin as a carrier, completes the entire action process of carrier raw material outbound, assembly, detection, drilling and depth detection, warehousing, and disassembly, and has good training effect and high efficiency.

Description

Technical Field

[0001] The invention belongs to the field of training devices, and in particular relates to a mechatronics and robot comprehensive training system. Background Art

[0002] With the continuous improvement of my country's industrial level and industrial automation level, the gap in skilled personnel in mechatronics and automatic control is getting bigger and bigger. Various industries and enterprises are in urgent need of such talents. The traditional training of skilled personnel in mechatronics and automatic control has the defect of emphasizing theory and neglecting practical operation. During training, trainees are unable to carry out practical training in time after learning theoretical knowledge, and the teaching effect is poor. Although trainees can sometimes get some practical training opportunities, the current practical training is to directly operate the mechatronics and automatic control devices used in factories or the simple indicator light simulation system, which is not suitable for teaching and the teaching effect is very limited. This has resulted in the defects of long training time and poor effect for skilled personnel in mechatronics and automatic control. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the prior art lacks professional mechatronics and automation control training devices, resulting in long training time and poor results for mechatronics skilled personnel. A mechatronics and robotics comprehensive training system is provided, which uses a set of machined assembly parts (bottom box, upper cover and pin shaft) as a carrier to complete the entire process of carrier raw material outbound, assembly, inspection, drilling and depth inspection, warehousing and disassembly, and replaces the original indicator light simulation system with a training plan close to an industrial production line. All components are industrial-grade components to achieve seamless connection between the industrial site and the training room, thereby improving the training efficiency and effect.

[0004] The present invention is achieved through the following technical solutions:

[0005] That is, a comprehensive training system for mechatronics and robots, which is characterized by including a bottom box outbound conveying unit, an upper cover assembly conveying unit, a pin shaft assembly and photo detection unit, a simulated drilling operation and drilling depth measurement unit, a three-axis manipulator stereoscopic warehouse unit and a UR robot disassembly unit which are connected in sequence.

[0006] The bottom box outbound conveying unit of the present invention comprises a first bottom frame, on which a first bottom box material warehouse component, a first bottom box material pushing and conveying component, a first bottom box rotating manipulator grasping component, a first conveying component and a first Siemens RFID communication module (preferably but not limited to German Siemens 6GT2002-0JD00) are arranged, the first bottom box material warehouse component is composed of two first bottom box material warehouses with the same structure and symmetrically arranged, the first bottom box material warehouse comprises a vertical first bottom box material warehouse frame installed on the first bottom frame, bottom boxes of different colors are arranged inside the two first bottom box material warehouse frames respectively, an RFID electronic tag is arranged at the bottom of the bottom box, and a first bottom box detection photoelectric sensor is arranged at the bottom of the first bottom box material warehouse frame A sensor (preferably but not limited to German SICK GTE6-P1212), a first bottom box material warehouse push rod is provided on one side of the bottom of the first bottom box material warehouse frame, the first bottom box material warehouse push rod is connected to the telescopic rod of the first bottom box material warehouse push cylinder (preferably but not limited to German Festo ADNGF-20-80-PA), a first bottom box pushing conveying assembly is provided between the two first bottom box material warehouses, the first bottom box pushing conveying assembly includes a first bottom box discharge plate and a first bottom box discharge plate cylinder (preferably but not limited to German Festo ADNGF-20-80-PA), the first bottom box discharge plate is located between the discharge ports of the two first bottom box material warehouses, the first bottom box discharge plate and the telescopic rod of the first bottom box discharge plate cylinder are connected Then, a first bottom box rotating manipulator grasping assembly is provided in front of the first bottom box discharging plate, and the first bottom box rotating manipulator grasping assembly comprises a vertical first bottom box rotating manipulator lifting cylinder (preferably but not limited to German Festo ADNGF-40-25-PA), a first bottom box rotating manipulator rotating cylinder (preferably but not limited to German Festo DRRD-16-180-FH-PA) is installed on the upper telescopic rod, a first horizontal manipulator cantilever is installed on the rotating table of the first bottom box rotating manipulator rotating cylinder, a first vacuum generator (preferably but not limited to German Festo VN-05-H-T2-PQ1-VQ1-RO1) is provided on the first horizontal manipulator cantilever, and a first water The front end of the flat manipulator cantilever is provided with a first vacuum suction cup (preferably but not limited to German Festo ESS-15x45-ON) connected to the first vacuum generator, and the outside of the first bottom box rotating manipulator grasping assembly is provided with a first conveying assembly, the first conveying assembly includes a first conveyor, and the middle bottom of the first conveyor is provided with a first stop cylinder (preferably but not limited to German Festo DFSP-16-10-PF-PA), and the first stop cylinder is provided with a first position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a first radio frequency reader (preferably but not limited to German Siemens 6GT2821-4AC10) installed on the side of the first conveyor.

[0007] A first pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the first bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0008] The first bottom frame of the bottom box outbound conveying unit of the present invention is a box structure, which adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and a carbon steel plate bending and welding structure is adopted for the base. A Fuma wheel with fixed rubber pads is installed at the bottom, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and the panel adopts an aluminum alloy surface brushed panel. The electrical component mounting plate is installed in the main frame and is processed by bending a carbon steel plate. The upper units and component mounting plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0009] A PLC module of Siemens 1500 (PLC_1512C_1PN) is arranged inside the first bottom frame, which has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the first bottom frame, and the buttons of the control panel include the start button, stop button, automatic operation start and stop buttons, and emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0010] The first bottom box material warehouse of the bottom box outbound conveying unit of the present invention adopts the European standard industrial aluminum profile frame splicing structure as a whole, and the splicing adopts European standard corner pieces and bolts to connect, and the connection parts are firm and beautiful; the upper part of the material warehouse is installed with a transparent organic glass plate for protection;

[0011] The two first bottom box material warehouses respectively store bottom boxes of different colors to achieve flexible selection.

[0012] The first bottom box detection photoelectric sensor detects the bottom box in the material warehouse;

[0013] The first bottom box material warehouse push cylinder adopts a compact cylinder with a guide rod. The PLC module controls the action of the dual electric control solenoid valve to control the extension and retraction action of the cylinder. The cylinder is equipped with two one-way throttle valves to control the extension and retraction speed of the cylinder. The cylinder is equipped with two magnetic proximity sensors to detect the position of the cylinder, which can feed back the cylinder's in-place signal to the PLC module.

[0014] The first bottom box pushing and conveying assembly of the bottom box outbound conveying unit of the present invention is supported on the first bottom frame by a profile bracket; the first bottom box outbound plate is processed by POM, and the displacement of the material tray and the material is trained through the action of the cylinder of the first bottom box outbound plate; the feeding adopts a compact cylinder with a guide rod, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow and control the movement speed of the cylinder. The cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module;

[0015] The first bottom box rotating manipulator grasping component of the bottom box outbound conveying unit of the present invention is a cylinder and suction cup combination structure, which realizes the transfer of the bottom box from the first bottom box pushing conveying component to the first conveying component; the first bottom box rotating manipulator lifting cylinder adopts a compact cylinder with a guide rod, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module; the first bottom box rotating manipulator rotating cylinder adopts a swing drive (swing cylinder) with a swing angle of 180°, and the swing drive is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module; the first vacuum suction cup and the first vacuum generator with high suction are used to grab the bottom box, and the solenoid valve action is controlled by the PLC module to realize the grabbing and placement of the first vacuum suction cup.

[0016] The first conveyor of the bottom box outbound conveying unit of the present invention is a prior art product, which adopts an industrial aluminum profile frame structure; the transmission adopts double-row synchronous toothed pulleys and toothed belt transmission, with large transmission force and accurate transmission position, and adopts DC reduction motor to provide power, stable transmission and low noise; the first stop cylinder is used for positioning and passage of the bottom box; the first position detection photoelectric sensor is used to detect the position of the bottom box; the first radio frequency reader is used to read and input relevant information of the RFID electronic tag at the bottom of the bottom box; the signal of the first position detection photoelectric sensor and the signal of the first radio frequency reader are fed back to the PLC module to complete the practical training process of this station.

[0017] The upper cover assembly conveying unit of the present invention comprises a second bottom frame, on which a second upper cover material warehouse component, a second upper cover material pushing and conveying component, a second upper cover rotating manipulator grasping component, a second conveying component and a second RFID communication module are arranged, the second upper cover material warehouse component is composed of two second upper cover material warehouses with the same structure and symmetrically arranged, the second upper cover material warehouse comprises a vertical second upper cover material warehouse frame installed on the second bottom frame, and upper covers of different colors are arranged inside the two second upper cover material warehouse frames respectively, a second upper cover detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) is arranged at the bottom of the second upper cover material warehouse frame, and a second upper cover detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) is arranged at one side of the bottom of the second upper cover material warehouse frame There is a second upper cover material warehouse pushing rod, the second upper cover material warehouse pushing rod is connected to the telescopic rod of the second upper cover material warehouse pushing cylinder (preferably but not limited to German Festo ADNGF-20-80-PA), a second upper cover pushing conveying assembly is arranged between the two second upper cover material warehouses, the second upper cover pushing conveying assembly includes a second upper cover discharge plate and a second upper cover discharge plate cylinder (preferably but not limited to German Festo ADNGF-20-80-PA), the second upper cover discharge plate is located between the discharge ports of the two second upper cover material warehouses, the second upper cover discharge plate is connected to the telescopic rod of the second upper cover discharge plate cylinder, a second upper cover rotating manipulator grasping assembly is arranged in front of the second upper cover discharge plate, and the second upper cover rotates The manipulator grasping assembly includes a vertical second upper cover rotating manipulator lifting cylinder (preferably but not limited to German Festo ADNGF-40-25-PA), a second upper cover rotating manipulator rotating cylinder (preferably but not limited to German Festo DRRD-16-180-FH-PA) is installed on the upper end telescopic rod, a second horizontal manipulator cantilever is installed on the rotating table of the second upper cover rotating manipulator rotating cylinder, a second vacuum generator (preferably but not limited to German Festo VN-05-H-T2-PQ1-VQ1-RO1) is provided on the second horizontal manipulator cantilever, and a second vacuum suction cup connected to the second vacuum generator is provided at the front end of the second horizontal manipulator cantilever (preferably but not limited to German Festo ESS-15x45-ON), a second conveying assembly is provided on the outer side of the second upper cover rotating manipulator grasping assembly, the second conveying assembly includes a second conveyor, the feed end of the second conveyor is connected to the discharge end of the first conveyor, and a second stop cylinder is provided at the middle bottom of the second conveyor (preferably but not limited to German Festo DFSP-16-10-PF-PA), and a second position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a second radio frequency reader (preferably but not limited to German Siemens 6GT2821-4AC10) installed on the side of the second conveyor are provided at the second stop cylinder.

[0018] A second pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the second bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0019] The second bottom frame of the upper cover outbound conveying unit of the present invention is a box structure, which adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and a carbon steel plate bending and welding structure on the base. A Fuma wheel with fixed rubber pads is installed at the bottom, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and the panel adopts an aluminum alloy surface brushed panel. The electrical component installation plate is installed in the main frame and is processed by bending a carbon steel plate. The upper units and component installation plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0020] A PLC module of Siemens 1500 (PLC_1512C_1PN) is arranged inside the second bottom frame, which has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the second bottom frame, and the buttons of the control panel include the start button, stop button, automatic operation start and stop buttons, and emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0021] The second upper cover material warehouse of the upper cover outbound conveying unit of the present invention adopts the European standard industrial aluminum profile frame splicing structure as a whole, and the splicing adopts European standard corner pieces and bolts to connect, and the connection parts are firm and beautiful; the upper part of the material warehouse is installed with a transparent organic glass plate for protection;

[0022] The two second upper cover material warehouses respectively store upper covers of different colors to achieve flexible selection.

[0023] The second upper cover detection photoelectric sensor detects the upper cover in the material warehouse;

[0024] The second upper cover material warehouse pushing cylinder adopts a compact cylinder with a guide rod. The PLC module controls the action of the dual electric control solenoid valve to control the extension and retraction action of the cylinder. The cylinder is equipped with two one-way throttle valves to control the extension and retraction speed of the cylinder. The cylinder is equipped with two magnetic proximity sensors to detect the position of the cylinder, which can feed back the cylinder's in-place signal to the PLC module.

[0025] The second upper cover pusher conveyor assembly of the upper cover outbound conveyor unit of the present invention is supported on the second bottom frame by a profile bracket; the second upper cover discharge plate is processed by POM, and the displacement of the material tray and the material is trained through the action of the second upper cover discharge plate cylinder; the feeding adopts a compact cylinder with a guide rod, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module;

[0026] The second upper cover rotating manipulator grasping assembly of the upper cover outbound conveying unit of the present invention is a cylinder and suction cup combination structure, which realizes the transfer of the upper cover from the second upper cover pushing conveying assembly to the second conveying assembly; the second upper cover rotating manipulator lifting cylinder adopts a compact cylinder with a guide rod, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module; the second upper cover rotating manipulator rotating cylinder adopts a swing drive (swing cylinder) with a swing angle of 180°, and the swing drive is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder, and the detection signal is fed back to the PLC module; the grabbing adopts a second vacuum suction cup and a second vacuum generator with high suction to grab the upper cover, and the solenoid valve action is controlled by the PLC module to realize the grabbing and placement of the second vacuum suction cup.

[0027] The second conveyor of the upper cover outbound conveying unit of the present invention is a prior art product, which adopts an industrial aluminum profile frame structure; the transmission adopts double-row synchronous toothed pulleys and toothed belt transmission, with large transmission force and accurate transmission position, and adopts DC reduction motor to provide power, stable transmission and low noise; the second stop cylinder is used for positioning and passage of the bottom box; the second position detection photoelectric sensor is used to detect the position of the bottom box; the second radio frequency reader is used to read and input relevant information of the RFID electronic tag at the bottom of the bottom box; the signal of the second position detection photoelectric sensor and the signal of the second radio frequency reader are fed back to the PLC module to complete the practical training process of this station.

[0028] The pin assembly and photo detection unit of the present invention comprises a third bottom frame, on which a third pin library component, a third sensor detection component, a third intelligent camera detection component, a third conveying component and a third RFID communication module are arranged, the third conveying component comprises a third conveyor, the feeding end of the third conveyor is connected to the discharging end of the second conveyor, and according to the running direction, the bottom of the third conveyor is provided with a third entry stop cylinder (preferably but not limited to German Festo DFSP-16-10-PF-PA), a third shaft installation stop cylinder (preferably but not limited to German Festo DFSP-1 6-10-PF-PA), a third camera detects a stop cylinder (preferably but not limited to Festo DFSP-16-10-PF-PA, Germany), a third station position detection photoelectric sensor (preferably but not limited to SICK GTE6-P1212, Germany) is arranged on the side of the third conveyor where the third station stop cylinder is located, a third station position detection photoelectric sensor (preferably but not limited to SICK GTE6-P1212, Germany) and a third station radio frequency reader (preferably but not limited to Siemens 6GT2821-4AC10, Germany) is arranged on the side of the third conveyor where the third shaft stop cylinder is located. 12) and a third pin shaft warehouse component, the third pin shaft warehouse component includes a vertical third pin shaft warehouse frame, the third pin shaft warehouse frame is provided with a plurality of horizontally placed pin shafts, the bottom of the third pin shaft warehouse frame is provided with a third pin shaft warehouse photoelectric sensor (preferably but not limited to German SICK GTE6-P1212), the bottom side of the third pin shaft warehouse frame is provided with a horizontal third shaft loading cylinder (preferably but not limited to German Festo DSNU-10-80-PA) pointing to the third conveyor, and the side of the third conveyor at the third camera detection stop cylinder is provided with a third intelligent detection camera, a third camera position detection photoelectric sensor and a third The sensor detection component, the lens of the third intelligent detection camera is facing the third conveyor, and the third sensor detection component includes a third upper cover detection capacitive proximity sensor (preferably but not limited to Germany SICK CM12-08EBPKW1), a third bottom box detection capacitive proximity sensor (preferably but not limited to Germany SICK CM12-08EBPKW1), a third pin shaft detection inductive proximity sensor (preferably but not limited to Germany SICK IME12-08NPSZW2S) and a third camera detection radio frequency reader (preferably but not limited to Germany Siemens 6GT2821-4AC10).

[0029] A third pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the third bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0030] The third bottom frame of the pin assembly and photo detection unit of the present invention is a box structure, which adopts a carbon steel plate bending structure, with a surface spraying treatment, and a base adopts a carbon steel plate bending welding structure. A Fuma wheel with fixed rubber pads is installed at the bottom, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, with a surface spraying treatment, and the panel adopts an aluminum alloy surface brushed panel. The electrical component installation plate is installed in the main frame and is processed by bending a carbon steel plate. The upper units and component installation plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0031] A PLC module of Siemens 1500 (PLC_1512C_1PN) is arranged inside the third bottom frame, which has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the third bottom frame, and the buttons of the control panel include the start button, stop button, automatic operation start and stop buttons, and emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0032] The third pin shaft warehouse frame of the pin shaft assembly and photo detection unit of the present invention adopts an industrial aluminum profile frame structure, and the third pin shaft warehouse photoelectric sensor detects the cylindrical pin shaft in the pin shaft warehouse, and the detection signal is fed back to the PLC module; the third shaft assembly cylinder adopts a circular standard cylinder, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder, and the cylinder is equipped with two proximity magnetic sensors to detect the cylinder running position, and the detection signal is fed back to the PLC module;

[0033] The bracket of the third sensor detection component of the pin shaft assembly and photo detection unit of the present invention adopts an industrial aluminum profile and an aluminum alloy plate frame structure; the third upper cover detection capacitive proximity sensor and the third bottom box detection capacitive proximity sensor are used to detect the assembled bottom box and upper cover respectively, and the detection signal is fed back to the PLC module; the third pin shaft detection inductive proximity sensor is used to detect the assembled pin shaft, and the detection signal is fed back to the PLC module; the third camera detection radio frequency reader reads and writes data on the installed materials, and the signal is fed back to the PLC module;

[0034] The frame of the third intelligent detection camera of the pin assembly and photo detection unit of the present invention adopts a European standard industrial aluminum profile frame structure, and adopts a hexagon socket flat round head screw and a die-cast angle piece connection method, and the connection is firm and reliable; the third intelligent detection camera adopts a Siemens industrial camera to detect the combined color of the material and feed back the detected signal to the PLC module;

[0035] The third conveyor of the pin shaft assembly and photo detection unit of the present invention adopts an industrial aluminum profile frame structure; the transmission adopts double-row synchronous toothed pulleys and toothed belt transmission, with large transmission force and accurate transmission position, and is driven by a DC reduction motor, with stable transmission and low noise; three groups of stop cylinders are installed at the bottom of the third conveyor, which are used for positioning and passage of the third entry radio frequency reader before the pin shaft is installed, positioning and passage of materials during pin shaft installation, and positioning and passage of materials during camera detection; three groups of photoelectric sensors are installed on the side of the third conveyor for detecting the position of materials; the signals of the photoelectric sensors and the signals of the radio frequency reader are fed back to the PLC module to complete the practical training process of this station.

[0036] The simulated drilling operation and drilling depth measurement unit of the present invention comprises a fourth bottom frame, on which a fourth material grabbing and transferring assembly, a fourth material rotating assembly, a fourth drilling and depth measuring assembly and a fourth conveying assembly are arranged, the fourth conveying assembly comprises a fourth conveyor, the feed end of the fourth conveyor is connected to the discharge end of the third conveyor, a fourth stop cylinder (preferably but not limited to German Festo DFSP-16-10-PF-PA) is arranged in the middle of the fourth conveyor, a fourth position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a fourth radio frequency reader (preferably but not limited to German Siemens 6GT2821-4A) are arranged on the side of the fourth conveyor at the fourth stop cylinder C10), a fourth material grabbing and transferring assembly installed on a fourth bottom frame is provided on one side of the middle part of the fourth conveyor, the fourth material grabbing and transferring assembly includes a vertical fourth rotary manipulator lifting cylinder (preferably but not limited to German Festo ADNGF-40-25-PA), a fourth rotary manipulator rotating cylinder (preferably but not limited to German Festo DRRD-16-180-FH-PA) is installed on the telescopic rod of the fourth rotary manipulator lifting cylinder, a fourth rotary manipulator horizontal cantilever is installed on the rotating table of the fourth rotary manipulator rotating cylinder, a fourth vacuum generator (preferably but not limited to German Festo VN-05-H-T2-PQ1-VQ1-RO1) is installed on the fourth rotary manipulator horizontal cantilever, the fourth material grabbing and transferring assembly includes a vertical fourth rotary manipulator lifting cylinder (preferably but not limited to German Festo ADNGF-40-25-PA), a fourth rotary manipulator rotating cylinder (preferably but not limited to German Festo DRRD-16-180-FH-PA) is installed on the telescopic rod of the fourth rotary manipulator lifting cylinder, a fourth rotary manipulator rotating cylinder (preferably but not limited to German Festo VN-05-H-T2-PQ1-VQ1-RO1) is installed on the fourth rotary manipulator rotating cylinder, The front end of the horizontal cantilever of the fourth manipulator is provided with a fourth vacuum suction cup (preferably but not limited to German Festo ESS-15x45-ON) connected to the fourth vacuum generator, and a fourth material rotating assembly is provided on one side of the fourth material grabbing and transferring assembly. The fourth material rotating assembly includes a fourth drilling rotating disk, and the upper edge of the fourth drilling rotating disk is provided with a fourth bottom box groove, and the bottom is provided with a fourth servo motor (preferably but not limited to German Siemens 1FL6034-2AF21-1AA1), the fourth servo motor is connected to the shaft of the fourth drilling rotating disk through transmission, and the edge bottom of the fourth drilling rotating disk is provided with a fourth sensor sensing sheet, and a corresponding fourth inductive proximity sensor (preferably but not limited to German SICK I ME08-04NPSZW2S), a fourth drilling and depth measuring assembly is arranged above the fourth material rotating assembly, the fourth drilling and depth measuring assembly comprises a fourth front simulated drilling lifting cylinder (preferably but not limited to German Festo ADNGF-25-25-PA), a fourth rear simulated drilling lifting cylinder (preferably but not limited to German Festo ADNGF-25-25-PA), and a fourth depth measuring lifting cylinder (preferably but not limited to German Festo ADNGF-16-25-PA) vertically downwardly mounted on a bracket, a fourth front simulated drilling motor is mounted on the telescopic rod of the fourth front simulated drilling lifting cylinder, and a fourth rear simulated drilling motor is mounted on the telescopic rod of the fourth rear simulated drilling lifting cylinder,A fourth depth measurement linear displacement sensor (preferably but not limited to Novotek TR-0025) is installed on the telescopic rod of the fourth depth measurement lifting cylinder.

[0037] The fourth front simulated drilling motor and the fourth rear simulated drilling motor of the simulated drilling operation and drilling depth measurement unit of the present invention are performed in sequence twice during drilling, and the accurate positioning of the fourth drilling rotary disk is achieved through the encoder detection of the fourth servo motor. After the drilling is completed, the fourth servo motor drives the fourth drilling rotary disk to rotate to the depth measurement position, and the accurate positioning of the fourth drilling rotary disk is achieved through the encoder detection of the fourth servo motor.

[0038] A fourth pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the fourth bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0039] The fourth bottom frame of the simulation drilling operation and drilling depth measurement unit of the present invention is a box structure, adopts a carbon steel plate bending structure, the surface is sprayed with plastic, the base adopts a carbon steel plate bending and welding structure, and the bottom is installed with a Forma wheel with fixed rubber pads, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, the surface is sprayed with plastic, the panel adopts an aluminum alloy surface brushed panel, and the electrical component installation plate is installed in the main frame, which is processed by bending carbon steel plates. The upper units and component installation plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0040] A PLC module, model Siemens 1500 (PLC_1512C_1PN), is arranged inside the fourth bottom frame, and has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the fourth bottom frame, and the buttons of the control panel include a start button, a stop button, automatic operation start and stop buttons, and an emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0041] The fourth material grabbing and transferring component of the present invention's simulation drilling operation and drilling depth measurement unit is a cylinder and suction cup combination structure, which mainly realizes grabbing of assembled and tested materials from the fourth conveying component to the fourth material rotating component, and grabbing and placing the materials after drilling and depth detection back to the fourth conveying component; the fourth rotary manipulator lifting cylinder adopts a compact cylinder with a guide rod, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder. The cylinder is equipped with two proximity magnetic sensors to detect the cylinder running position and feed back the detection signal to the PLC module; the fourth rotary manipulator rotating cylinder adopts a swing drive with a swing angle of 180°, and the swing drive is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder. The cylinder is equipped with two proximity magnetic sensors to detect the cylinder running position and feed back the detection signal to the PLC module; the grabbing adopts an elliptical fourth vacuum suction cup and a high-suction fourth vacuum generator to grab the bottom box, and the solenoid valve action is controlled by the PLC module to realize the grabbing and placement of the suction cup.

[0042] The main frame of the fourth material rotating component of the simulating drilling operation and drilling depth measuring unit of the present invention adopts a combined structure of a European standard industrial aluminum profile frame and an aluminum alloy plate, the fourth drilling rotating disk is processed by POM, and a total of four fourth bottom box slots are arranged to facilitate programming selection; the rotation transmission of the fourth drilling rotating disk adopts synchronous belt transmission, and the fourth servo motor uses a Siemens series servo motor, and the transmission is accurate and reliable; a fourth inductive proximity sensor is installed on the aluminum alloy plate of the main frame, and a fourth sensor sensing sheet is installed at the corresponding position of the fourth drilling rotating disk to detect the rotation position of the fourth drilling rotating disk and realize the zero point calibration of the fourth drilling rotating disk, and the signal of the fourth inductive proximity sensor is fed back to the PLC module.

[0043] The main frame of the fourth drilling and depth measurement component of the simulated drilling operation and drilling depth measurement unit of the present invention adopts a European standard industrial aluminum profile frame structure, and adopts die-cast angle aluminum and high-strength bolt connection mode, and the connection is beautiful, firm and reliable; the fourth front simulated drilling motor and the fourth rear simulated drilling motor are installed on the frame, which are respectively used to realize the simulated drilling at two positions on the bottom box, the fourth front simulated drilling motor and the fourth rear simulated drilling motor adopt a DC motor with a reducer, and the lifting of the two motors adopts the fourth front simulated drilling lifting cylinder and the fourth rear simulated drilling lifting cylinder, both of which are compact cylinders with guide rods, and the cylinders are equipped with two one-way joints The flow valve adjusts the compressed air flow to control the movement speed of the cylinder. Two proximity magnetic sensors are installed on the cylinder to detect the running position of the cylinder and feed back the detection signal to the PLC module; the fourth depth measurement linear displacement sensor detects the depth of the two drilled holes on the bottom box respectively. The fourth depth measurement linear displacement sensor is lifted and lowered using the fourth depth measurement lifting cylinder. The fourth depth measurement lifting cylinder is a compact cylinder with a guide rod. Two one-way throttle valves are installed on the cylinder to adjust the compressed air flow to control the movement speed of the cylinder. Two proximity magnetic sensors are installed on the cylinder to detect the running position of the cylinder and feed back the detection signal to the PLC module.

[0044] The fourth conveyor of the present invention's simulated drilling operation and drilling depth measurement unit adopts an industrial aluminum profile frame structure; the transmission adopts double-row synchronous toothed belt pulleys and toothed belt transmission, with large transmission force and accurate transmission position. The fourth DC reduction motor provides power, stable transmission and low noise; the fourth stop cylinder is used for positioning and passage of the bottom box; the fourth position detection photoelectric sensor is used to detect the position of the bottom box; the fourth radio frequency reader is used to read and input relevant information of the RFID electronic tag of the bottom box; the signal of the fourth position detection photoelectric sensor and the signal of the fourth radio frequency reader are fed back to the PLC module to complete the practical training process of this station.

[0045] The three-axis manipulator stereoscopic warehouse unit of the present invention comprises a fifth bottom frame, on which a fifth stereoscopic warehouse component, a fifth three-axis manipulator component and a fifth conveying component are arranged, the fifth conveying component comprises a fifth conveyor, the feeding end of the fifth conveyor is connected to the discharging end of the fourth conveyor, a fifth stop cylinder (preferably but not limited to German Festo DFSP-16-10-PF-PA) is arranged in the middle of the fifth conveyor, a fifth position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a fifth radio frequency reader (preferably but not limited to German Siemens 6GT2821-4AC10) are arranged on the side of the fifth conveyor of the fifth stop cylinder, a fifth stereoscopic warehouse component is arranged on one side of the fifth conveyor at the fifth stop cylinder, and a fifth three-axis manipulator component is arranged on the other side, the fifth stereoscopic warehouse component comprises a fifth stereoscopic warehouse frame, a fifth stereo A multi-layer fifth stereoscopic warehouse material pallet is provided on the warehouse frame, and the fifth three-axis manipulator assembly includes a fifth X-axis horizontal electric cylinder (preferably but not limited to German Festo EGC-50-550-TB-KF-0H-GK), a fifth Y-axis vertical electric cylinder (preferably but not limited to German Festo EGC-50-350-TB-KF-0H-GK), a fifth Z-axis horizontal cylinder (preferably but not limited to German Festo DSNU-16-50-PA), and a fifth Z-axis horizontal vacuum suction cup (preferably but not limited to German Festo ESS-15x45-ON). The fifth X-axis horizontal electric cylinder is provided with two upper and lower ones, and the upper and lower ends of the fifth Y-axis vertical electric cylinder are respectively installed on the sliders of the two fifth X-axis horizontal electric cylinders, the fifth Z-axis horizontal cylinder is installed on the slider of the fifth Y-axis vertical electric cylinder, and the fifth Z-axis horizontal vacuum suction cup is installed on the telescopic rod of the fifth Z-axis horizontal cylinder.

[0046] A fifth pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the fifth bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0047] The fifth bottom frame of the three-axis manipulator stereoscopic warehouse unit of the present invention is a box structure, which adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and a carbon steel plate bending and welding structure on the base. A Fuma wheel with fixed rubber pads is installed at the bottom, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and the panel adopts an aluminum alloy surface brushed panel. The electrical component installation plate is installed in the main frame and is processed by bending a carbon steel plate. The upper units and component installation plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0048] A PLC module, model Siemens 1500 (PLC_1512C_1PN), is arranged inside the fifth bottom frame, and has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the fifth bottom frame, and the buttons of the control panel include a start button, a stop button, automatic operation start and stop buttons, and an emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0049] The fifth three-dimensional warehouse frame of the three-axis manipulator three-dimensional warehouse unit of the present invention adopts a European standard industrial aluminum profile frame structure, and is connected by die-cast angle aluminum and high-strength bolts. The connection is beautiful, firm and reliable; the fifth three-dimensional warehouse material pallet adopts an aluminum alloy plate, which is preferably but not limited to being divided into four layers, and each layer is separated by six material units of equal size.

[0050] The fifth three-axis manipulator assembly of the three-axis manipulator stereoscopic warehouse unit of the present invention adopts an electric cylinder and a cylinder combined frame structure; the fifth X-axis horizontal electric cylinder adopts two parallel toothed belt electric cylinders, which are driven by a fifth X-axis stepper motor, and the two electric cylinders are synchronously connected by a connecting shaft, and two normally open inductive magnetic proximity switches are installed on the electric cylinder as the limit limit of the electric cylinder, and a normally closed inductive magnetic sensor is installed on the electric cylinder as the zero point limit of the operation of the electric cylinder; the fifth Y-axis vertical electric cylinder adopts a toothed belt electric cylinder, which is driven by a stepper motor, and two normally open inductive magnetic proximity switches are installed on the electric cylinder A normally closed inductive magnetic sensor is installed on the electric cylinder as the zero limit of the electric cylinder operation; the fifth Z-axis horizontal cylinder adopts a round standard cylinder with a guide assembly, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow rate to control the movement speed of the cylinder. The cylinder is equipped with two proximity magnetic sensors to detect the operating position of the cylinder and feed back the detection signal to the PLC module; an elliptical fifth Z-axis horizontal vacuum suction cup is installed at the front section of the fifth Z-axis horizontal cylinder, and the bottom box is grasped and stored through the control of the vacuum generator.

[0051] The fifth conveyor belt machine of the three-axis manipulator stereoscopic warehouse unit of the present invention adopts an industrial aluminum profile frame structure; the transmission adopts double-row synchronous toothed pulleys and toothed belt transmission, with large transmission force and accurate transmission position. The fifth DC reduction motor provides power, stable transmission and low noise; the fifth stop cylinder is used for positioning and passage of materials; the fifth position detection photoelectric sensor is used to detect the position of materials; the fifth radio frequency reader is used to read and input relevant information of the background box; the signal of the fifth position detection photoelectric sensor and the signal of the fifth radio frequency reader are fed back to the PLC module to complete the training process of this station.

[0052] The UR robot disassembly unit of the present invention comprises a sixth bottom frame, on which a sixth UR robot, a sixth bottom box disassembly assembly, a sixth unloading chute and a sixth conveying assembly are arranged, the sixth conveying assembly comprises a sixth conveyor, the feeding end of the sixth conveyor is connected to the discharging end of the fifth conveyor, a sixth stop cylinder (preferably but not limited to German Festo DFSP-16-10-PF-PA) is arranged in the middle of the sixth conveyor, a sixth position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a sixth radio frequency reader (preferably but not limited to German Siemens 6GT2821-4AC10) are arranged on the side of the sixth conveyor of the sixth stop cylinder, and the sixth conveyor is provided with a sixth position detection photoelectric sensor (preferably but not limited to German SICK GTE6-P1212) and a sixth radio frequency reader (preferably but not limited to German Siemens 6GT2821-4AC10). A sixth UR robot installed on a sixth bottom frame is provided on one side of the conveyor, and a sixth vacuum suction cup (preferably but not limited to the Danish Universal Robots UR5) is provided at the front end thereof; a sixth disassembly assembly installed on the sixth bottom frame is provided on the other side of the sixth conveyor; the sixth disassembly assembly includes a sixth disassembly bracket, a sixth bottom box slot is provided on the upper end of the sixth disassembly bracket, a sixth disassembly cylinder (preferably but not limited to the German Festo DSNU-10-80-PA) is provided on a baffle plate on one side of the sixth bottom box slot, a sixth unloading chute is provided on the other side of the sixth bottom box slot, and the sixth unloading chute is divided into three slideways by a partition.

[0053] A sixth pressure regulating filter (preferably but not limited to German Festo MS4-LFR-1 / 8-D6-ERM-AS) is provided on the sixth bottom frame to provide a stable air source pressure for the pneumatic components of the entire unit.

[0054] The sixth bottom frame of the UR robot disassembly unit of the present invention is a box structure, which adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and a carbon steel plate bending and welding structure on the base. A Fuma wheel with fixed rubber pads is installed at the bottom, which can realize short-distance transportation and firm positioning; the electrical control console adopts a carbon steel plate bending structure, with a plastic spraying treatment on the surface, and the panel adopts an aluminum alloy surface brushed panel. The electrical component installation plate is installed in the main frame and is processed by bending a carbon steel plate. The upper units and component installation plates adopt a European standard industrial aluminum profile frame splicing structure, which is convenient for the installation and adjustment of various components at any position.

[0055] A PLC module, model Siemens 1500 (PLC_1512C_1PN), is arranged inside the sixth bottom frame, and has a high level of system performance and fast signal processing capability, short response time and super control capability; a control panel and a touch screen are arranged on the upper front end of the sixth bottom frame, and the buttons of the control panel include a start button, a stop button, automatic operation start and stop buttons, and an emergency stop button of each module of this station, and the buttons are directly connected to the PLC module; the touch screen is of Siemens brand, model KTP700, and the panel of the touch screen can be set to display the system screen, and the action and operation of each workstation and the whole machine can be controlled through the touch screen.

[0056] The sixth UR robot of the UR robot disassembly unit of the present invention adopts the UR5 six-axis robot produced by the Danish Universal Robots Company. The robot is installed on the sixth bottom frame through the robot mounting base plate, and the robot controller is placed in the sixth bottom frame. The robot is characterized by light weight, flexible movement, and a working radius of 850mm; an elliptical sixth vacuum suction cup is installed at the front end of the UR robot, and the sixth vacuum suction cup is connected to the sixth vacuum generator to realize the grasping of the bottom box;

[0057] The sixth disassembly bracket of the UR robot disassembly unit of the present invention adopts a European standard industrial aluminum profile frame structure, and is connected by die-cast angle aluminum and high-strength bolts, and the connection parts are beautiful, firm and reliable; the sixth disassembly cylinder adopts a round standard cylinder, and the cylinder is equipped with two one-way throttle valves to adjust the compressed air flow to control the movement speed of the cylinder. The cylinder is equipped with two proximity magnetic sensors to detect the running position of the cylinder and feed back the detection signal to the PLC module;

[0058] The sixth unloading chute of the UR robot disassembly unit of the present invention adopts a European standard industrial aluminum profile frame structure. The chute is an inclined aluminum plate, and the aluminum profile is used to divide it into three different chutes, which are respectively used for unloading the bottom box, the upper cover and the pin shaft; the sixth chute photoelectric sensor is installed on the chute for the bottom box and the upper cover, which is respectively used to detect whether the sixth UR robot places the bottom box and the upper cover on the sixth unloading chute, and the detection signal of the sixth chute photoelectric sensor is fed back to the PLC module;

[0059] The sixth conveyor of the UR robot disassembly unit of the present invention adopts an industrial aluminum profile frame structure; the transmission adopts a double-row synchronous toothed pulley and a toothed belt drive, with large transmission force and accurate transmission position. The sixth DC reduction motor provides power, stable transmission and low noise; the sixth stop cylinder is used for positioning and passage of the bottom box; the sixth position detection photoelectric sensor is used to detect the position of the material; the sixth radio frequency reader is used to read and input relevant information of the bottom box; the signal of the sixth position detection photoelectric sensor and the signal of the sixth radio frequency reader are fed back to the PLC module to complete the training process of this station.

[0060] The working principle of the whole system of the present invention is as follows:

[0061] The bottom box is unloaded and conveyed by the bottom box unloading conveying unit. At the same time, the first radio frequency reader / writer writes information into the RFID electronic tag on the bottom box, and conveys it to the upper cover assembly conveying unit through the first conveyor. The upper cover is unloaded and assembled on the bottom box. The second radio frequency reader / writer writes information into the RFID electronic tag on the bottom box, and conveys it to the pin shaft assembly and photo detection unit through the second conveyor to realize the assembly of the pin shaft, the upper cover and the bottom box, and realizes the detection of materials through the photo comparison of the sensor and the third intelligent detection camera. The third radio frequency reader / writer writes information into the RFID electronic tag on the bottom box. In the process, the material is transported to the simulated drilling operation and drilling depth measurement unit through the third conveyor to realize the simulated drilling of the material and the hole depth detection after the simulated drilling. The fourth RF reader / writer writes the information into the RFID electronic tag on the bottom box, and the material is transported to the three-axis manipulator stereoscopic warehouse unit through the fourth conveyor to realize the storage of the material. The fifth RF reader / writer writes the information into the RFID electronic tag on the bottom box. If the material needs to be disassembled, the material is run to the UR robot disassembly unit through the fifth conveyor level, and the material is placed on the sixth disassembly component for material disassembly through the action of the UR robot. The entire training process is controlled and fed back by PLC signals. The PLC modules of each unit are connected to each other through switches (X208, ST10_X208, ST30_X208), RJ45 network ports, RF180C and other communication modules to achieve collaborative work.

[0062] The present invention is reasonably designed, and uses a bottom box, an upper cover, and a pin shaft as a carrier to complete the entire action process of carrier raw material out of storage, assembly, detection, drilling and depth detection, storage, and disassembly. The original indicator light simulation system is replaced by a training program close to an industrial production line. All components are industrial-grade components to achieve seamless connection between the industrial site and the training room, and effectively combine mechatronics technology and process control technology to meet different training programs for a set of equipment. The present invention effectively combines programmable controller technology, field bus technology, server control technology, stepper motor control technology, electric cylinder and linear drive technology, pneumatic training technology, sensor technology, radio frequency technology, electrical operation technology, human-machine interface technology, and robot training operation technology. The training equipment adopts a flexible design scheme, and trainees can train each system separately, and then combine all systems together to realize the operation of the overall production line, combine theory with practice, realize different needs in the training process, and achieve the effect of applying what is learned, with good training effect and high efficiency.

[0063] The invention is suitable for the study and practice operation of mechatronics and automation majors in general colleges and universities, higher vocational colleges and secondary vocational colleges. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a structural schematic diagram of the present invention;

[0065] Figure 2 This is a schematic diagram of the structure of the bottom box outbound conveying unit of the present invention;

[0066] Figure 3 It is a structural schematic diagram of the first bottom box material warehouse of the bottom box outbound conveying unit of the present invention;

[0067] Figure 4 It is a structural schematic diagram of the first bottom box pushing and conveying assembly of the bottom box outbound conveying unit of the present invention;

[0068] Figure 5 It is a structural schematic diagram of the first bottom box rotating manipulator grasping component of the bottom box outbound conveying unit of the present invention;

[0069] Figure 6 It is a structural schematic diagram of the first conveying component of the bottom box outbound conveying unit of the present invention;

[0070] Figure 7 This is a structural schematic diagram of the upper cover assembly conveying unit of the present invention;

[0071] Figure 8 A schematic structural diagram of a second upper cover material storehouse of an upper cover assembly conveying unit of the present invention;

[0072] Fig. 9 A structural schematic diagram of a second upper cover pusher conveyor assembly of an upper cover assembly conveyor unit of the present invention;

[0073] Fig.10 A schematic diagram of the structure of the second upper cover rotating manipulator grasping assembly of the upper cover assembly conveying unit of the present invention;

[0074] Fig.11 A schematic structural diagram of a second conveying assembly of the upper cover assembly conveying unit of the present invention;

[0075] Fig.12 It is a structural schematic diagram of the pin assembly and photo detection unit of the present invention;

[0076] Fig.13 It is a structural schematic diagram of the third pin library component of the pin assembly and photo detection unit of the present invention;

[0077] Fig.14 It is a structural schematic diagram of the third intelligent detection camera of the pin assembly and photo detection unit of the present invention;

[0078] Fig.15 It is a structural schematic diagram of the third sensor detection component of the pin assembly and photo detection unit of the present invention;

[0079] Fig.16It is a structural schematic diagram of the third conveying assembly of the pin assembly and photo detection unit of the present invention;

[0080] Fig.17 It is a schematic diagram of the structure of the unit for simulating drilling operation and measuring drilling depth of the present invention;

[0081] Fig.18 It is a structural schematic diagram of the fourth conveying assembly of the drilling operation simulation and drilling depth measurement unit of the present invention;

[0082] Fig.19 It is a schematic diagram of the three-dimensional structure of the fourth material rotating assembly of the drilling operation simulation and drilling depth measurement unit of the present invention;

[0083] Fig. 20 It is a schematic cross-sectional structure diagram of the fourth material rotating assembly of the drilling operation simulation and drilling depth measurement unit of the present invention;

[0084] Fig.21 It is a structural schematic diagram of the fourth material grabbing and transferring component of the drilling operation simulation and drilling depth measurement unit of the present invention;

[0085] Fig. 22 A schematic structural diagram of a fourth drilling and depth measurement assembly of the drilling operation simulation and drilling depth measurement unit of the present invention;

[0086] Fig.23 This is a schematic diagram of the structure of the three-axis manipulator stereoscopic warehouse unit of the present invention;

[0087] Fig.24 It is a structural schematic diagram of the fifth conveying assembly of the three-axis manipulator stereoscopic warehouse unit of the present invention;

[0088] Fig.25 It is a structural schematic diagram of the fifth stereoscopic warehouse component of the three-axis manipulator stereoscopic warehouse unit of the present invention;

[0089] Fig.26 It is a structural schematic diagram of the fifth three-axis manipulator assembly of the three-axis manipulator stereoscopic warehouse unit of the present invention;

[0090] Fig. 27 This is a schematic diagram of the structure of the UR robot disassembly unit of the present invention;

[0091] Fig.28 It is a structural schematic diagram of the sixth conveying assembly of the UR robot disassembly unit of the present invention;

[0092] Fig.29 It is a structural schematic diagram of the sixth disassembly component of the UR robot disassembly unit of the present invention.

[0093] As shown in the figure: 1. Bottom box outbound conveying unit; 1-1. First bottom frame; 1-2. First conveying assembly; 1-2-1. First conveyor; 1-2-2. First RF reader; 1-2-3. First DC reduction motor; 1-2-4. First position detection photoelectric sensor; 1-2-5. First stop cylinder; 1-3. First bottom box rotating manipulator grasping assembly; 1-3-1. First bottom box rotating manipulator lifting cylinder; 1-3-2. First bottom box rotating manipulator rotating cylinder; 1-3-3. First horizontal manipulator cantilever; 1-3-4. First vacuum generator; 1-3-5. First vacuum suction cup; 1-4. First bottom box material warehouse assembly; 1-4-1. First bottom box material warehouse frame; 1-4-2. First bottom box Material warehouse pushing rod; 1-4-3. First bottom box material warehouse pushing cylinder; 1-4-4. First bottom box detection photoelectric sensor; 1-5. First pressure regulating filter; 1-6. First bottom box pushing conveying assembly; 1-6-1. First bottom box discharge plate; 1-6-2. First bottom box discharge plate cylinder; 1-7. First RFID communication module; 1-8. First touch screen; 1-9. First control panel; 2. Upper cover assembly conveying unit; 2-1. First bottom frame; 2-2. First upper cover conveying assembly; 2-2-1. First upper cover conveyor; 2-2-2. First RF reader; 2-2-3. First DC reduction motor; 2-2-4. First position detection photoelectric sensor; 2-2-5. First stop cylinder; 2-3. First upper 1. The first cover rotating manipulator grasping assembly; 2-3-1. The first cover rotating manipulator lifting cylinder; 2-3-2. The first cover rotating manipulator rotating cylinder; 2-3-3. The first horizontal manipulator cantilever; 2-3-4. The first vacuum generator; 2-3-5. The first vacuum suction cup; 2-4. The first cover material warehouse assembly; 2-4-1. The first cover material warehouse frame; 2-4-2. The first cover material warehouse pushing rod; 2-4-3. The first cover material warehouse pushing cylinder; 2-4-4. The first cover detection photoelectric sensor; 2-5. The first pressure regulating filter; 2-6. The first cover pushing and conveying assembly; 2-6-1. The first cover discharge plate; 2-6-2. The first cover discharge plate cylinder; 2-7. The first RFID communication module; 2-8. A touch screen; 2-9. A first control panel; 3. A pin assembly and camera detection unit; 3-1. A third bottom frame; 3-2. A third conveying assembly; 3-2-1. A third conveyor; 3-2-2. A third station entry radio frequency reader; 3-2-3. A third station entry stop cylinder; 3-2-4. A third station entry position detection photoelectric sensor; 3-2-5. A third shaft assembly stop cylinder; 3-2-6. A third shaft assembly position detection photoelectric sensor; 3-2-7. A third camera detection stop cylinder; 3-2-8. A third camera position detection photoelectric sensor; 3-2-9. A third DC reduction motor; 3-3. A third pin warehouse assembly; 3-3-1. A third pin warehouse frame; 3-3-2. A third pin warehouse photoelectric sensor; 3-3-3.The third shaft-loading cylinder; 3-4. The third sensor detection component; 3-4-1. The third upper cover detection capacitive proximity sensor; 3-4-2. The third bottom box detection capacitive proximity sensor; 3-4-3. The third pin shaft detection inductive proximity sensor; 3-4-4. The third camera detection radio frequency reader; 3-5. The third pneumatic pressure regulating filter; 3-6. The third intelligent detection camera; 3-7. The third RFID communication module; 3-8. The third touch screen; 3-9. The third control panel; 4. The simulation drilling operation and the drilling depth measurement unit; 4-1. The fourth bottom frame; 4-2. The fourth conveying component; 4-2-1. The fourth conveyor; 4-2-2. The fourth radio frequency reader; 4-2-3. The fourth DC reduction motor; 4 -2-4. Fourth position detection photoelectric sensor; 4-2-5. Fourth stop cylinder; 4-3. Fourth material grabbing and transferring assembly; 4-3-1. Fourth rotary manipulator lifting cylinder; 4-3-2. Fourth rotary manipulator rotating cylinder; 4-3-3. Fourth manipulator horizontal cantilever; 4-3-4. Fourth vacuum generator; 4-3-5. Fourth vacuum suction cup; 4-4. Pressure regulating filter; 4-5. Fourth material rotating assembly; 4-5-1. Fourth drilling rotating disk; 4-5-2. Fourth servo motor; 4-5-3. Fourth bottom box slot; 4-5-4. Fourth inductive proximity sensor; 4-6. Fourth drilling and depth measurement assembly; 4-6-1. Fourth front simulation drilling lifting cylinder; 4-6-2. Fourth rear simulation Drilling lifting cylinder; 4-6-3. Fourth depth measurement lifting cylinder; 4-6-4. Fourth depth measurement linear displacement sensor; 4-7. Fourth touch screen; 4-8. Fourth control panel; 4-9. Fourth RFID communication module; 5. Three-axis manipulator stereoscopic warehouse unit; 5-1. Fifth bottom frame; 5-2. Fifth conveying component; 5-2-1. Fifth conveyor; 5-2-2. Fifth radio frequency reader; 5-2-3. Fifth DC reduction motor; 5-2-4. Fifth position detection photoelectric sensor; 5-2-5. Fifth stop cylinder; 5-3. Fifth pressure regulating filter; 5-4. Fifth stereoscopic warehouse component; 5-4-1 Fifth stereoscopic warehouse frame; 5-4-2. Fifth stereoscopic warehouse material pallet; 5-5. The fifth three-axis manipulator assembly; 5-5-1. The fifth X-axis horizontal electric cylinder; 5-5-2. The fifth X-axis stepper motor; 5-5-3. The fifth Y-axis vertical electric cylinder; 5-5-4. The fifth Y-axis stepper motor; 5-5-5. The fifth Z-axis horizontal cylinder; 5-5-6. The fifth Z-axis horizontal vacuum suction cup; 5-6. The fifth RFID communication module; 5-7. The fifth touch screen; 5-8. The fifth control panel; 6. The UR robot disassembly unit; 6-1. The sixth bottom frame; 6-2. The sixth conveying assembly; 6-2-1. The sixth conveyor; 6-2-2. The sixth radio frequency reader; 6-2-3. The sixth DC reduction motor; 6-2-4. The sixth position detection photoelectric sensor; 6-2-5. The sixth stop cylinder; 6-3.The sixth pressure regulating filter; 6-4. The sixth vacuum generator; 6-5. The sixth UR robot; 6-6. The sixth vacuum suction cup; 6-7. The sixth unloading chute; 6-8. The sixth disassembly component; 6-8-1. The sixth bottom box slot; 6-8-2. The sixth disassembly cylinder; 6-9. The sixth RFID communication module; 6-10. The sixth touch screen; 6-11. The sixth control panel; 6-12. The sixth chute photoelectric sensor. DETAILED DESCRIPTION

[0094] The embodiments of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and the protection scope of the present invention cannot be limited thereto. It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by those skilled in the art to which the present invention belongs.

[0095] like Figure 1 As shown: the bottom box outbound conveying unit 1, the upper cover assembly conveying unit 2, the pin assembly and photo detection unit 3, the simulated drilling operation and drilling depth measurement unit 4, the three-axis manipulator stereoscopic warehouse unit 5 and the UR robot disassembly unit 6 are connected in sequence.

[0096] like Figure 2-Figure 6As shown: a PLC module is arranged inside the first bottom frame 1-1 of the bottom box outbound conveying unit 1, a first touch screen 1-8 and a first control panel 1-9 are arranged on the top front side, a first bottom box material storehouse component 1-4 is arranged in the middle of the top, the first bottom box material storehouse component 1-4 is composed of two first bottom box material stores with the same structure and symmetrically arranged, the vertical first bottom box material storehouse frames 1-4-1 of the two first bottom box material stores are respectively installed on the first bottom frame 1-1 through brackets, the two first bottom box material storehouse frames 1-4-1 are respectively provided with bottom boxes of different colors, and an RFID electronic tag is arranged at the bottom of each bottom box. A first bottom box detection photoelectric sensor 1-4-4 is provided at the bottom of the first bottom box material warehouse frame 1-4-1, a first bottom box material warehouse pushing rod 1-4-2 is provided on one side of the bottom of the first bottom box material warehouse frame 1-4-1, the first bottom box material warehouse pushing rod 1-4-2 is connected to the telescopic rod of the first bottom box material warehouse pushing cylinder 1-4-3, the first bottom box discharge plate 1-6-1 of the first bottom box pushing conveying assembly 1-6 is located between the discharge ports of the two first bottom box material warehouses, the first bottom box discharge plate 1-6-1 is connected to the telescopic rod of the first bottom box discharge plate cylinder 1-6-2, and the front of the first bottom box discharge plate 1-6-1 A first bottom box rotating manipulator grasping assembly 1-3 is provided, and a vertical first bottom box rotating manipulator lifting cylinder 1-3-1 of the first bottom box rotating manipulator grasping assembly 1-3 is installed on the first bottom frame 1-1 through a bracket, and a first bottom box rotating manipulator rotating cylinder 1-3-2 is installed on the upper end telescopic rod thereof, and a first horizontal manipulator cantilever 1-3-3 is installed on the rotating platform of the first bottom box rotating manipulator rotating cylinder 1-3-2, and a first vacuum generator 1-3-4 is provided on the first horizontal manipulator cantilever 1-3-3, and a first vacuum generator 1-3-4 is provided on the front end of the first horizontal manipulator cantilever 1-3-3. The first vacuum suction cup 1-3-5 connected to the air generator 1-3-4, the first bottom box rotating manipulator grasping component 1-3 is provided with a first conveying component 1-2 on the outside, the first conveyor 1-2-1 of the first conveying component is installed on the first bottom frame 1-1 through a bracket, and one end thereof is provided with a first DC reduction motor 1-2-3, and the first stop cylinder 1-2-5 is provided at the middle bottom of the first conveyor 1-2-1, and the first position detection photoelectric sensor 1-2-4 and the first radio frequency reader 1-2-2 installed on the side of the first conveyor 1-2-1 are provided at the first stop cylinder 1-2-5. When the first horizontal manipulator cantilever 1-3-3 rotates 180°, the first vacuum suction cup is just above the first conveyor 1-2-1. The first bottom frame is also provided with a first pressure regulating filter 1-5 and a first RFID communication module 1-7.

[0097] When this unit is in use: two bottom boxes of different colors are stored in two first bottom box material warehouse frames 1-4-1 respectively, the first bottom box detection photoelectric sensor 1-4-4 detects the bottom box in the first bottom box material warehouse frame 1-4-1, under the control of the PLC module, the first bottom box material warehouse pushing cylinder 1-4-3 moves to push the first bottom box material warehouse pushing rod 1-4-2 to push the bottom box out of the silo to the first bottom box discharge plate 1-6-1, and the bottom box reaches the grabbing position through the action of the first bottom box discharge plate cylinder 1-6-2, the first bottom box rotary manipulator lifting cylinder 1-3-1 and the first bottom box rotary manipulator rotating cylinder 1-3-2 move the first vacuum suction cup 1-3-5 to the grabbing position, the first vacuum generator 1-3-5 controls the first vacuum suction cup 1-3-5 to move, grab the bottom box, and then the first bottom box rotary manipulator lifting cylinder 1-3-1 and the first bottom box rotary manipulator The action of the rotating cylinder 1-3-2 realizes the rotation of the first horizontal manipulator cantilever 1-3-3 by 180°, and the first vacuum generator 1-3-5 controls the action of the first vacuum suction cup 1-3-5 to place the bottom box on the first conveyor 1-2-1. The PLC module starts the first DC reduction motor 1-2-3, and the first conveyor 1-2-1 works, and the bottom box is transported forward. When the bottom box is transported to the first position detection photoelectric sensor 1-2-4, the first position detection photoelectric sensor 1-2-4 detects the signal and transmits the signal to the PLC module. The PLC module controls the telescopic rod of the first stop cylinder 1-2-5 to extend and position the bottom box. The first radio frequency reader 1-2-2 writes data to the RFID electronic tag installed on the bottom box, and feeds back to the PLC module through the first RFID communication module 1-7. The first pressure regulating filter 1-5 provides stable air source pressure for the entire action process.

[0098] like Figure 7-Figure 11As shown: a PLC module is arranged inside the second bottom frame 2-1 of the upper cover outbound conveying unit 1, a second touch screen 2-8 and a second control panel 2-9 are arranged on the top front side, a second upper cover material storehouse assembly 2-4 is arranged in the middle of the top, and the second upper cover material storehouse assembly 2-4 is composed of two second upper cover material stores with the same structure and symmetrical arrangement, and the vertical second upper cover material storehouse frames 2-4-1 of the two second upper cover material stores are respectively installed on the second bottom frame 2-1 through brackets, and upper covers of different colors are arranged inside the two second upper cover material storehouse frames 2-4-1, and each second upper cover material storehouse frame 2-4-1 is provided with a second upper cover material storehouse assembly 2-4 at the bottom. The second upper cover detection photoelectric sensor 2-4-4, a second upper cover material warehouse pushing rod 2-4-2 is provided on one side of the bottom of the second upper cover material warehouse frame 2-4-1, the second upper cover material warehouse pushing rod 2-4-2 is connected with the telescopic rod of the second upper cover material warehouse pushing cylinder 2-4-3, the second upper cover discharge plate 2-6-1 of the second upper cover pushing conveying assembly 2-6 is located between the discharge ports of the two second upper cover material warehouses, the second upper cover discharge plate 2-6-1 is connected with the telescopic rod of the second upper cover discharge plate cylinder 2-6-2, the second upper cover rotating manipulator grasping assembly 2-3 is provided in front of the second upper cover discharge plate 2-6-1, the second upper cover The vertical second upper cover rotary manipulator lifting cylinder 2-3-1 of the rotary manipulator grasping assembly 2-3 is installed on the second bottom frame 2-1 through a bracket, and the second upper cover rotary manipulator rotary cylinder 2-3-2 is installed on the upper end telescopic rod, and the second horizontal manipulator cantilever 2-3-3 is installed on the rotating platform of the second upper cover rotary manipulator rotary cylinder 2-3-2. The second horizontal manipulator cantilever 2-3-3 is provided with a second vacuum generator 2-3-4, and the front end of the second horizontal manipulator cantilever 2-3-3 is provided with a second vacuum suction cup 2-3-5 connected to the second vacuum generator 2-3-4. A second conveying assembly 2-2 is provided on the outside of the cover rotating manipulator grasping assembly 2-3. The second conveyor 2-2-1 of the second conveying assembly is installed on the second bottom frame 2-1 through a bracket, and a second DC reduction motor 2-2-3 is provided at one end. The feeding end of the second conveyor 2-2-1 is connected to the discharging end of the first conveyor 1-2-1. A second stop cylinder 2-2-5 is provided at the middle bottom of the second conveyor 2-2-1. The second stop cylinder 2-2-5 is provided with a second position detection photoelectric sensor 2-2-4 and a second radio frequency reader 2-2-2 installed on the side of the second conveyor 2-2-1. When the second horizontal manipulator cantilever 2-3-3 rotates 180°, the second vacuum suction cup is just above the second conveyor 2-2-1. A second pressure regulating filter 2-5 and a second RFID communication module 2-7 are also provided on the second bottom frame.

[0099] When this unit is in use: two upper covers of different colors are stored in two second upper cover material warehouse frames 2-4-1 respectively, the second upper cover detection photoelectric sensor 2-4-4 detects the upper covers in the second upper cover material warehouse frame 2-4-1, and under the control of the PLC module, the second upper cover material warehouse push cylinder 2-4-3 moves to push the second upper cover material warehouse push rod 2-4-2 to push the upper cover out of the silo onto the second upper cover discharge plate 2-6-1, and the upper cover reaches the grabbing position through the action of the second upper cover discharge plate cylinder 2-6-2, and the second upper cover rotating manipulator lifting cylinder 2-3-1 and the second upper cover rotating manipulator rotating cylinder 2-3-2 move the second vacuum suction cup 2-3-5 to the grabbing position, and the second vacuum generator 2-3-5 controls the second vacuum suction cup 2-3-5 to move to grab the upper cover, and then the second upper cover rotating manipulator lifting cylinder 2-3-1, the second upper cover rotating manipulator rotating cylinder 2-3-2 moves to realize the second horizontal manipulator cantilever 2-3-3 rotating 180°, and the upper cover is suspended above the second conveyor 2-2-1, and when the bottom box is conveyed to the second position detection photoelectric sensor 2-2-4, the second position detection photoelectric sensor 2-2-4 detects the signal and transmits the signal to the PLC module, and the PLC module controls the telescopic rod of the second stop cylinder 2-2-5 to extend, and the bottom box is positioned, and the second vacuum generator 2-3-5 controls the second vacuum suction cup 2-3-5 to move, and the upper cover is placed on the bottom box, and the second radio frequency reader 2-2-2 writes data to the RFID electronic tag installed on the bottom box, and feeds back to the PLC module through the second RFID communication module 2-7, and the second pressure regulating filter 2-5 provides stable air source pressure for the entire action process.

[0100] like Figure 12-16As shown: the third bottom frame 3-1 of the pin shaft assembly and camera detection unit 3 is provided with a PLC module inside, and the third touch screen 3-8 and the third control panel 3-9 are provided on the top front side. The feeding end of the third conveyor 3-2-1 of the third conveyor assembly 3-2 is connected with the discharging end of the second conveyor 2-2-1. According to the running direction, the bottom of the third conveyor 3-2-1 is provided with a third station stop cylinder 3-2-3, a third shaft assembly stop cylinder 3-2-5, and a third camera detection stop cylinder 3-2-9 in sequence. Cylinder 3-2-7, the third station stop cylinder 3-2-3 is located on the side of the third conveyor 3-2-1 with a third station position detection photoelectric sensor 3-2-4 and a third station radio frequency reader 3-2-2, the third shaft loading stop cylinder 3-2-5 is located on the side of the third conveyor 3-2-1 with a third shaft loading position detection photoelectric sensor 3-2-6 and a third pin shaft warehouse component 3-3, and the vertical third pin shaft warehouse frame 3-3-1 of the third pin shaft warehouse component 3-3 is connected by a bracket It is installed on the third bottom frame 3-1, and a plurality of horizontally placed cylindrical pins are arranged in the third pin shaft warehouse frame 3-3-1, a third pin shaft warehouse photoelectric sensor 3-3-2 is arranged at the bottom of the third pin shaft warehouse frame 3-3-1, and a horizontal third shaft loading cylinder 3-3-3 pointing to the third conveyor 3-2-1 is arranged on one side of the bottom of the third pin shaft warehouse frame 3-3-1, and a third intelligent detection camera 3-6, a third camera position detection photoelectric sensor 3-2-9 and a third sensor detection component 3-4 are arranged on the side of the third conveyor 3-2-1 at the third camera detection stop cylinder 3-2-8, and the lens of the third intelligent detection camera 3-6 faces the third conveyor 3-2-1, and the third sensor detection component 3-4 includes a bracket, on which a third upper cover detection capacitive proximity sensor 3-4-1, a third bottom box detection capacitive proximity sensor 3-4-2, a third pin shaft detection inductive proximity sensor 3-4-3 and a third camera detection radio frequency reader 3-4-4 are sequentially installed.

[0101] When this unit is in use, the bottom box with the upper cover is transported to the third conveyor 3-2-1 of this unit through the second conveyor 2-2-1. When the bottom box is transported to the third entry position detection photoelectric sensor 3-2-4, the third entry position detection photoelectric sensor 3-2-4 detects the bottom box and feeds back the signal to the PLC module. The PLC module controls the third entry stop cylinder 3-2-3 to realize the positioning stop of the bottom box. The third entry radio frequency reader 3-2-2 reads the RFID electronic tag data on the bottom box and the upper cover, and feeds back to the PLC module. The C module controls the third entry stop cylinder 3-2-3 to release the bottom box, and the bottom box is transported to the third shaft loading position detection photoelectric sensor 3-2-6. The third shaft loading position detection photoelectric sensor 3-2-6 detects the position information of the bottom box and feeds the signal back to the PLC module. The PLC module controls the third shaft loading stop cylinder 3-2-5 to realize the positioning stop of the bottom box. The pin is installed in the third pin storage frame 3-3-1. The pin in the third pin storage frame 3-3-1 is detected by the third pin storage photoelectric sensor 3-3-2. The PLC module controls the third shaft loading The cylinder 3-3-3 moves to insert the pin into the pin hole on the side of the bottom box to install the pin; the PLC module controls the third shaft-installing stop cylinder 3-2-5 to release the bottom box. When the bottom box is transported forward to the third camera position detection photoelectric sensor 3-2-8, the third camera position detection photoelectric sensor 3-2-8 detects the position information of the bottom box and feeds it back to the PLC module. The PLC module controls the third camera detection stop cylinder 3-2-7 to stop the bottom box in position. The third intelligent detection camera 3-6 takes a photo of the bottom box for comparison and feeds the signal back to the PLC. Module, the third upper cover detection capacitive proximity sensor 3-4-1, the third bottom box detection capacitive proximity sensor 3-4-2, and the third pin shaft detection inductive proximity sensor 3-4-3 respectively perform sensor detection on the upper cover, bottom box, and pin shaft, and feed back the detection signal to the PLC module; the third camera detection radio frequency reader 3-4-4 writes the detection data into the electronic tag installed on the bottom box, and feeds back to the PLC module through the third RFID communication module 3-7, and the pressure regulating filter unit 3-5 provides stable air source pressure for the entire action process.

[0102] like Figure 17-22As shown: the fourth bottom frame 4-1 of the simulation drilling operation and drilling depth measurement unit 4 is provided with a PLC module inside, the top front side is provided with a fourth touch screen 4-8 and a fourth control panel 4-7, the fourth conveyor 4-2-1 of the fourth conveying assembly 4-2 is installed on the top rear side of the fourth bottom frame 4-1, the feeding end of the fourth conveyor 4-2-1 is connected to the discharging end of the third conveyor 3-2-1, the middle part of the fourth conveyor 4-2-1 is provided with a fourth stop cylinder 4-2-5, and the side of the fourth conveyor 4-2-1 at the fourth stop cylinder 4-2-5 is provided with a fourth position detection photoelectric sensor 4-2-4 and a fourth radio frequency read-write The fourth material grabbing and transferring assembly 4-3 is provided at the inner side of the middle part of the fourth conveyor 4-2-1, the fourth material grabbing and transferring assembly 4-3 is provided with a fourth rotary manipulator rotating cylinder 4-3-2 installed on the telescopic rod of the fourth rotary manipulator lifting cylinder 4-3-1 of the fourth material grabbing and transferring assembly 4-3, the fourth rotary manipulator rotating cylinder 4-3-2 is provided with a fourth manipulator horizontal cantilever 4-3-3 installed on the rotating platform, the fourth manipulator horizontal cantilever 4-3-3 is provided with a fourth vacuum generator 4-3-4, and the front end of the fourth manipulator horizontal cantilever 4-3-3 is provided with a fourth vacuum suction cup 4-3-5 connected to the fourth vacuum generator 4-3-4 , a fourth material rotating assembly 4-5 is provided on the inner side of the fourth material grabbing and transferring assembly 4-3, and a fourth bottom box slot 4-5-2 which is equally distributed on the circumference is provided on the upper edge of the fourth drilling rotating disk 4-5-1 of the fourth material rotating assembly 4-5, and a fourth servo motor 4-5-3 is provided at the bottom of the fourth drilling rotating disk 4-5-1, and the fourth servo motor 4-5-3 is connected to the shaft of the fourth drilling rotating disk 4-5-1 through a transmission belt transmission, and a fourth sensor sensing sheet is provided at the bottom of the edge of the fourth drilling rotating disk 4-5-1, and a corresponding fourth inductive proximity sensor 4-5-4 is provided below the sensor sensing sheet, and the fourth material rotating assembly A fourth drilling and depth measuring assembly 4-6 is arranged above the component 4-5, and the fourth drilling and depth measuring assembly 4-6 comprises a fourth front simulated drilling lifting cylinder 4-6-1, a fourth rear simulated drilling lifting cylinder 4-6-2, and a fourth depth measuring lifting cylinder 4-6-3 which are installed vertically downward on the bracket, a fourth front simulated drilling motor is installed on the telescopic rod of the fourth front simulated drilling lifting cylinder 4-6-1, a fourth rear simulated drilling motor is installed on the telescopic rod of the fourth rear simulated drilling lifting cylinder 4-6-2, and a fourth depth measuring linear displacement sensor 4-6-4 is installed on the telescopic rod of the fourth depth measuring lifting cylinder 4-6-3. A fourth pressure regulating filter 4-4 is arranged on the fourth bottom frame 4-1 to provide a stable air source pressure for the pneumatic components of the entire unit.

[0103] When this unit is used: the bottom box with the upper cover and the pin shaft installed is transported to the fourth conveyor 4-2-1 through the third conveyor 3-2-1. When it arrives at the fourth position detection photoelectric sensor 4-2-4, the fourth position detection photoelectric sensor 4-2-4 detects the bottom box and feeds back the position information to the PLC module. The PLC module controls the fourth stop cylinder 4-2-5 to stop the bottom box positioning, and the fourth radio frequency reader 4-2-2 reads the information in the electronic tags of the bottom box and the upper cover; the fourth rotary manipulator lifting cylinder 4-3- 1 and the fourth rotary manipulator rotating cylinder 4-3-2 move to make the fourth vacuum suction cup 4-3-5 reach the bottom box grabbing position, the fourth vacuum generator 4-3-4 controls the fourth vacuum suction cup 4-3-5 to move to complete the bottom box grabbing, the fourth rotary manipulator rotating cylinder 4-3-2 moves to make the fourth horizontal manipulator cantilever swing 180 degrees, the fourth vacuum generator 4-3-4 controls the fourth vacuum suction cup 4-3-5 to place the bottom box into the fourth bottom box slot 4-5-3 of the fourth drilling rotary disk 4-5-1, and the fourth The drilling rotary disk 4-5-1 is driven by the fourth servo motor 4-5-2, and the origin of the turntable is positioned by the fourth inductive proximity sensor 4-5-4, and the signal is fed back to the PLC module; the fourth drilling rotary disk 4-5-1 rotates the bottom box to the fourth drilling and depth measurement components respectively, and uses the fourth front simulated drilling lifting cylinder 4-6-1, the fourth front simulated drilling motor, the fourth rear simulated drilling lifting cylinder 4-6-2, and the fourth rear simulated drilling motor to complete the simulated drilling work of the bottom box, and uses the fourth depth measurement lifting cylinder 4-6-3 and the fourth depth measurement linear displacement sensor 4-6-4 to complete the drilling depth measurement of the bottom box. The bottom box that completes the drilling and depth measurement is put back on the fourth conveyor 4-2-1 through the fourth material grabbing and transferring component 4-3, and the information is written into the RFID electronic tag of the bottom box through the fourth radio frequency reader 4-2-2, and fed back to the PLC module through the fourth RFID communication module 4-9, and the pressure regulating filter 4-4 provides a stable air source pressure for the entire action process.

[0104] like Figure 23-Figure 26As shown: the fifth bottom frame 5-1 of the three-axis manipulator stereoscopic warehouse unit 5 is provided with a PLC module inside, a fifth touch screen 5-7 and a fifth control panel 5-8 are provided on the top front side, a fifth conveying assembly 5-2 is provided on the top rear side, the feeding end of the fifth conveyor 5-2-1 of the fifth conveyor assembly 5-2 is connected with the discharging end of the fourth conveyor 4-2-1, a fifth stop cylinder 5-2-5 is provided at the middle bottom of the fifth conveyor 5-2-1, a fifth radio frequency reader 5-2-2 and a fifth position detection photoelectric sensor 5-2-4 are provided on the side, a fifth stereoscopic warehouse frame 5-4-1 installed on the fifth bottom frame 5-1 is provided on the outside of the fifth conveyor 5-2-1, 4 layers of fifth stereoscopic warehouse material pallets 5-4-2 are provided on the fifth stereoscopic warehouse frame 5-4-1, and a fifth conveyor 5-2-1 is provided on the outside of the fifth bottom frame 5-1. The fifth three-axis manipulator assembly 5-5 is on the upper frame 5-1, the fifth X-axis horizontal electric cylinder 5-5-1 is provided with two upper and lower ones, the right end of the fifth X-axis horizontal electric cylinder 5-5-1 is synchronously connected by a connecting shaft, the connecting shaft is connected to the fifth X-axis stepper motor 5-5-2, the upper and lower ends of the fifth Y-axis vertical electric cylinder 5-5-3 are respectively mounted on the two sliders of the fifth X-axis horizontal electric cylinder 5-5-1, the lower end of the fifth Y-axis vertical electric cylinder 5-5-3 is connected to the fifth Y-axis stepper motor 5-5-4, the fifth Z-axis horizontal cylinder 5-5-5 is mounted on the slider of the fifth Y-axis vertical electric cylinder 5-5-3, the telescopic rod thereof is provided with a fifth Z-axis horizontal vacuum suction cup 5-5-6 pointing to the fifth conveyor 5-2-1, and the side of the fifth Z-axis horizontal cylinder 5-5-5 is provided with a fifth vacuum generator connected to the fifth Z-axis horizontal vacuum suction cup 5-5-6.

[0105] When this unit is in use: the bottom box is transported to the fifth conveyor 5-2-1 through the fourth conveyor 4-2-1, and when it is transported to the fifth position detection photoelectric sensor 5-2-4, the fifth position detection photoelectric sensor 5-2-4 detects the position of the bottom box and feeds back the signal to the PLC module, the PLC module controls the fifth stop cylinder 5-2-5 to position and stop the bottom box, the fifth radio frequency reader reads the information in the RFID electronic tag of the bottom box, the PLC module controls the fifth X-axis stepper motor 5-5-2 to move the manipulator in the X-axis direction, the PLC module controls the fifth Y-axis stepper motor 5-5-4 to move the manipulator in the Y-axis direction, the PLC module controls the fifth Z-axis horizontal cylinder 5-5-5 to move the manipulator in the Z-axis direction, so that the fifth Z-axis horizontal vacuum suction cup 5-5-6 is located at the bottom box, the PLC module controls the fifth vacuum generator to grab the bottom box through the fifth Z-axis horizontal vacuum suction cup 5-5-6, and then controls the fifth X-axis stepper motor 5-5-2, the fifth Y-axis stepper motor 5-5-4, and the fifth Z-axis horizontal cylinder 5-5-5 to grab the bottom box to the fifth stereoscopic warehouse material pallet 5-4-2 on the fifth stereoscopic warehouse frame 5-4-1, the PLC module controls the fifth vacuum generator to store the bottom box on the fifth stereoscopic warehouse material pallet 5-4-2 through the fifth Z-axis horizontal vacuum suction cup 5-5-6 to complete the storage of the bottom box, the fifth RFID communication module 5-6 feeds back the information read by the fifth radio frequency reader 5-2-2 to the PLC module, and the fifth pressure regulating filter 5-3 provides stable air source pressure for the entire action process.

[0106] like Figure 27-Figure 29 As shown: the UR robot disassembly unit 6 is internally installed with a PLC module and a sixth UR robot controller, a sixth touch screen 6-10 and a sixth control panel 6-11 are arranged on the top front side, a sixth conveying assembly 6-2 is arranged in the middle of the top, a feeding end of the sixth conveyor 6-2-1 of the sixth conveyor assembly 6-2 is connected with the discharging end of the fifth conveyor 5-2-1, a sixth stop cylinder 6-2-5 is arranged in the middle of the sixth conveyor 6-2-1, a sixth position detection photoelectric sensor 6-2-4 and a sixth radio frequency reader 6-2-2 are arranged on the side, and a sixth UR mounted on the sixth bottom frame 6-1 is arranged on the outer side of the sixth conveyor 6-2-1 Robot 6-5, the front end of the sixth UR robot 6-5 is provided with a sixth vacuum suction cup 6-6 connected to the sixth vacuum generator 6-4, the inner side of the sixth conveyor 6-2-1 is provided with a sixth disassembly assembly 6-8 installed on the sixth bottom frame 6-1, the sixth disassembly assembly 6-8 includes a sixth disassembly bracket, the upper end of the sixth disassembly bracket is provided with a sixth bottom box slot 6-8-1, a side baffle of the sixth bottom box slot 6-8-1 is provided with a sixth disassembly cylinder 6-8-2, the other side of the sixth bottom box slot 6-8-1 is provided with a sixth unloading chute 6-7, the sixth unloading chute 6-7 is divided into three slides by a partition, which are used for unloading the bottom box, the upper cover and the pin shaft respectively.

[0107] When this unit is used: the bottom box is transported to the sixth conveyor through the fifth conveyor, and when it is transported to the sixth position photoelectric detection sensor 6-2-4, the sixth position photoelectric detection sensor 6-2-4 detects the position of the bottom box and feeds back the signal to the PLC module, the PLC module pneumatically drives the sixth stop cylinder 6-2-5 to position and stop the bottom box, and the sixth radio frequency reader 5 reads the information in the RDID electronic tag of the bottom box; the sixth UR robot 6-5 moves to the bottom box grabbing position, and the sixth vacuum generator 6-4 controls the sixth vacuum suction cup 6-6 to move, The bottom box is grabbed and moved into the sixth bottom box slot 6-8-1 through the action of the sixth UR robot 6-5. The sixth disassembly cylinder 6-8-2 pushes out the pin for disassembly. The sixth UR robot 6-5 takes out the upper cover and the bottom box in sequence. The pin, the bottom box and the upper cover are unloaded through the three slides of the sixth unloading chute 6-7 respectively. The sixth RFID communication module 6-9 feeds back the information read by the sixth radio frequency reader 6-2-2 to the PLC module. The sixth pressure regulating filter 6-3 provides stable air source pressure for the entire action process.

Claims

1. A mechatronics and robotics comprehensive training system, characterized by It includes a bottom box outbound conveying unit, an upper cover assembly conveying unit, a pin assembly and photo detection unit, a simulated drilling operation and drilling depth measurement unit, a three-axis manipulator stereoscopic warehouse unit and a UR robot disassembly unit connected in sequence. The bottom box outbound conveying unit includes a first bottom frame, on which a first bottom box material warehouse component, a first bottom box pushing material conveying component, a first bottom box rotating manipulator grasping component, a first conveying component and a first RFID communication module are arranged. The first bottom box material warehouse component consists of two first bottom box material warehouses with the same structure and symmetrically arranged. The first bottom box material warehouse includes a vertical first bottom box material warehouse frame installed on the first bottom frame. The two first bottom box material warehouse frames are respectively provided with bottom boxes of different colors, and the bottom of the bottom box is provided with R FID electronic tag, a first bottom box detection photoelectric sensor is provided at the bottom of the first bottom box material warehouse frame, a first bottom box material warehouse pushing rod is provided on one side of the bottom of the first bottom box material warehouse frame, the first bottom box material warehouse pushing rod is connected with the telescopic rod of the first bottom box material warehouse pushing cylinder, a first bottom box pushing conveying assembly is provided between the two first bottom box material warehouses, the first bottom box pushing conveying assembly includes a first bottom box discharge plate and a first bottom box discharge plate cylinder, the first bottom box discharge plate is located between the discharge ports of the two first bottom box material warehouses, the first bottom box discharge plate is connected with the telescopic rod of the first bottom box discharge plate cylinder, a first bottom box rotating manipulator grasping assembly is provided in front of the first bottom box discharge plate, the first bottom box rotating manipulator grasping assembly includes a vertical first bottom box rotating manipulator lifting cylinder, and its upper end extends A first bottom box rotating manipulator rotating cylinder is installed on the retracting rod, a first horizontal manipulator cantilever is installed on the rotating platform of the first bottom box rotating manipulator rotating cylinder, a first vacuum generator is provided on the first horizontal manipulator cantilever, a first vacuum suction cup connected to the first vacuum generator is provided at the front end of the first horizontal manipulator cantilever, a first conveying assembly is provided on the outer side of the first bottom box rotating manipulator grasping assembly, the first conveying assembly includes a first conveyor, a first stop cylinder is provided at the middle bottom of the first conveyor, a first position detection photoelectric sensor and a first radio frequency reader installed on the side of the first conveyor are provided at the first stop cylinder, the upper cover assembly conveying unit includes a second bottom frame, a second upper cover material storage assembly and a second upper cover pushing conveying assembly are provided on the second bottom frame , a second upper cover rotating manipulator grasping component, a second conveying component and a second RFID communication module, the second upper cover material warehouse component is composed of two second upper cover material warehouses with the same structure and symmetrically arranged, the second upper cover material warehouse includes a vertical second upper cover material warehouse frame installed on the second bottom frame, and the two second upper cover material warehouse frames are respectively provided with upper covers of different colors, and a second upper cover detection photoelectric sensor is provided at the bottom of the second upper cover material warehouse frame, and a second upper cover material warehouse pushing rod is provided on one side of the bottom of the second upper cover material warehouse frame, and the second upper cover material warehouse pushing rod is connected to the telescopic rod of the second upper cover material warehouse pushing cylinder, and a second upper cover pushing and conveying component is provided between the two second upper cover material warehouses, and the second upper cover pushing and conveying component includes a second upper cover discharge plate and a second upper cover discharge plate cylinder,The second upper cover discharge plate is located between the discharge ports of the two second upper cover material storages, the second upper cover discharge plate is connected to the telescopic rod of the second upper cover discharge plate cylinder, a second upper cover rotating manipulator grasping assembly is provided in front of the second upper cover discharge plate, the second upper cover rotating manipulator grasping assembly comprises a vertical second upper cover rotating manipulator lifting cylinder, a second upper cover rotating manipulator rotating cylinder is installed on the upper end telescopic rod, a second upper cover rotating manipulator rotating cylinder is installed on the rotating table of the second upper cover rotating manipulator rotating cylinder, a second horizontal manipulator cantilever is provided on the second horizontal manipulator cantilever, a second vacuum generator is provided on the second horizontal manipulator cantilever, a second vacuum suction cup connected to the second vacuum generator is provided at the front end of the second horizontal manipulator cantilever, a second conveying assembly is provided on the outer side of the second upper cover rotating manipulator grasping assembly, and the second conveying assembly The present invention comprises a second conveyor, wherein the feeding end of the second conveyor is connected with the discharging end of the first conveyor, a second stop cylinder is provided at the middle bottom of the second conveyor, a second position detection photoelectric sensor and a second radio frequency reader are provided at the second stop cylinder, the pin shaft assembly and photo detection unit comprises a third bottom frame, a third pin shaft library component, a third sensor detection component, a third intelligent camera detection component, a third conveying component and a third RFID communication module are provided on the third bottom frame, the third conveying component comprises a third conveyor, the feeding end of the third conveyor is connected with the discharging end of the second conveyor, and according to the running direction, a third entry stop cylinder, a third shaft assembly stop cylinder, a third camera detection stop cylinder and a third stop cylinder are provided at the bottom of the third conveyor in sequence. A third station position detection photoelectric sensor and a third station radio frequency reader are arranged on the side of the third conveyor where the third station stop cylinder is located; a third shaft loading position detection photoelectric sensor and a third pin shaft warehouse component are arranged on the side of the third conveyor where the third shaft loading stop cylinder is located; the third pin shaft warehouse component includes a vertical third pin shaft warehouse frame; the third pin shaft warehouse frame is provided with a plurality of horizontally placed pins; a third pin shaft warehouse photoelectric sensor is arranged at the bottom of the third pin shaft warehouse frame; a horizontal third shaft loading cylinder pointing to the third conveyor is arranged on one side of the bottom of the third pin shaft warehouse frame; a third intelligent detection camera, a third camera position detection photoelectric sensor and a third sensor detection component are arranged on the side of the third conveyor at the third camera detection stop cylinder; the third intelligent The lens of the detection camera faces the third conveyor, the third sensor detection component includes a third upper cover detection capacitive proximity sensor, a third bottom box detection capacitive proximity sensor, a third pin shaft detection inductive proximity sensor and a third camera detection radio frequency reader, the simulation drilling operation and drilling depth measurement unit includes a fourth bottom frame, the fourth bottom frame is provided with a fourth material grabbing and transferring component, a fourth material rotating component, a fourth drilling and depth measurement component and a fourth conveying component, the fourth conveying component includes a fourth conveyor, the feeding end of the fourth conveyor is connected to the discharging end of the third conveyor, the middle of the fourth conveyor is provided with a fourth stop cylinder, and the side of the fourth conveyor at the fourth stop cylinder is provided with a fourth position detection photoelectric sensor and a fourth radio frequency reader,A fourth material grabbing and transferring assembly installed on a fourth bottom frame is provided on one side of the middle part of the fourth conveyor, the fourth material grabbing and transferring assembly includes a vertical fourth rotating manipulator lifting cylinder, a fourth rotating manipulator swing cylinder is installed on the telescopic rod of the fourth rotating manipulator lifting cylinder, a fourth manipulator horizontal cantilever is installed on the rotating table of the fourth rotating manipulator rotating cylinder, a fourth vacuum generator is installed on the fourth manipulator horizontal cantilever, a fourth vacuum suction cup connected to the fourth vacuum generator is provided at the front end of the fourth manipulator horizontal cantilever, a fourth material rotating assembly is provided on one side of the fourth material grabbing and transferring assembly, the fourth material rotating assembly includes a fourth drilling rotating disk, a fourth bottom box groove is provided on the upper edge of the fourth drilling rotating disk, and a fourth servo is provided at the bottom. The motor, the fourth servo motor is connected to the shaft transmission of the fourth drilling rotating disk, the fourth sensor sensing sheet is provided at the bottom of the edge of the fourth drilling rotating disk, and the corresponding fourth inductive proximity sensor is provided below the sensor sensing sheet. A fourth drilling and depth measurement component is provided above the fourth material rotating component, and the fourth drilling and depth measurement component includes a fourth front simulated drilling lifting cylinder, a fourth rear simulated drilling lifting cylinder, and a fourth depth measurement lifting cylinder installed vertically downward on the bracket. The fourth front simulated drilling lifting cylinder is equipped with a fourth front simulated drilling motor, the fourth rear simulated drilling lifting cylinder is equipped with a fourth rear simulated drilling motor, and the fourth depth measurement linear displacement sensor is installed on the telescopic rod of the fourth depth measurement lifting cylinder. The three-axis manipulator stereoscopic warehouse unit includes a fifth bottom frame, on which a fifth stereoscopic warehouse component, a fifth three-axis manipulator component and a fifth conveying component are arranged, the fifth conveying component includes a fifth conveyor, the feeding end of the fifth conveyor is connected to the discharging end of the fourth conveyor, a fifth stop cylinder is arranged in the middle of the fifth conveyor, a fifth position detection photoelectric sensor and a fifth radio frequency reader are arranged on the side of the fifth conveyor of the fifth stop cylinder, a fifth stereoscopic warehouse component is arranged on one side of the fifth conveyor at the fifth stop cylinder, and a fifth three-axis manipulator component is arranged on the other side, the fifth stereoscopic warehouse component includes a fifth stereoscopic warehouse frame, a multi-layer fifth stereoscopic warehouse material pallet is arranged on the fifth stereoscopic warehouse frame, and the fifth three-axis manipulator component includes a fifth X-axis A horizontal electric cylinder, a fifth Y-axis vertical electric cylinder, a fifth Z-axis horizontal air cylinder, a fifth Z-axis horizontal vacuum suction cup, a fifth X-axis horizontal electric cylinder is provided with two upper and lower ones, the upper and lower ends of the fifth Y-axis vertical electric cylinder are respectively installed on the sliders of the two fifth X-axis horizontal electric cylinders, the fifth Z-axis horizontal air cylinder is installed on the slider of the fifth Y-axis vertical electric cylinder, a fifth Z-axis horizontal vacuum suction cup is installed on the telescopic rod of the fifth Z-axis horizontal air cylinder, the UR robot disassembly unit includes a sixth bottom frame, the sixth bottom frame is provided with a sixth UR robot, a sixth bottom box disassembly assembly, a sixth unloading chute and a sixth conveying assembly, the sixth conveying assembly includes a sixth conveyor, the feeding end of the sixth conveyor is connected to the discharging end of the fifth conveyor, and a sixth stop cylinder is provided in the middle of the sixth conveyor,A sixth position detection photoelectric sensor and a sixth radio frequency reader are provided on the side of the sixth conveyor of the sixth stop cylinder, a sixth UR robot installed on the sixth bottom frame is provided on one side of the sixth conveyor, a sixth vacuum suction cup is provided at the front end of the sixth UR robot, a sixth disassembly assembly installed on the sixth bottom frame is provided on the other side of the sixth conveyor, the sixth disassembly assembly includes a sixth disassembly bracket, a sixth bottom box slot is provided on the upper end of the sixth disassembly bracket, a sixth disassembly cylinder is provided on a baffle plate on one side of the sixth bottom box slot, a sixth unloading chute is provided on the other side of the sixth bottom box slot, and the sixth unloading chute is divided into three slideways by a partition.

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