Industrial robot modular intelligent manufacturing teaching platform and system thereof

Abstract

The application discloses an industrial robot modular intelligent manufacturing teaching platform and system, which comprises a joint shaft assembly unit, a laser engraving unit, a packaging and labeling unit, a three-dimensional warehouse unit, an AGV mobile robot unit and a general control operation display unit. The application adopts a modular structure, can carry out multiple training projects such as industrial robot basic programming application training, industrial robot comprehensive programming application training, industrial robot process application programming training, automatic three-dimensional warehouse application training, mobile AGV robot application training, machine 2D and 3D vision application training, Siemens PLC programming and debugging training, offline programming trajectory planning and motion simulation training, MES system application technology training, intelligent manufacturing unit operation and maintenance comprehensive application training and intelligent manufacturing unit system integration application technology training, and has a wider use range, thereby improving the practicability of the device.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent manufacturing equipment, in particular to an industrial robot modular intelligent manufacturing teaching platform and system. BACKGROUND

[0002] The 1+X modular intelligent manufacturing unit is an intelligent education equipment developed for electrical automation, mechanical engineering, robot intelligent manufacturing and the like majors of colleges and universities, and can be used for daily intelligent manufacturing integration, debugging, maintenance, upgrading and the like training. The training equipment adopts a modular design, and through combination between the module workstations, the 1+X series certificate primary, intermediate and advanced three-level training and certification of "intelligent manufacturing unit system integration" and "intelligent manufacturing unit maintenance" can be realized. Meanwhile, the training and certification of "industrial robot application programming" primary and intermediate two levels can be met.

[0003] The industrial robot modular intelligent manufacturing teaching platform and system in the prior art have the following disadvantages:

[0004] The patent document CN112201103A discloses an industrial robot application field integrated teaching innovation platform, which comprises a control system, a standard training table, a functional module, an industrial robot body, a visual detection module and a man-machine interaction system. The industrial robot application field integrated teaching innovation platform has rich teaching modules, can realize automatic replacement of a jig of a robot, automatic material taking, assembly, visual detection and material storage and the like functions, and through compact modular design, the platform integrates rich teaching functions, and the application property and the teaching training effect are improved. In the above device, the training function of the device is poor when the device is used and the use range is limited. SUMMARY

[0005] The application aims to provide an industrial robot modular intelligent manufacturing teaching platform and system to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the application provides the following technical scheme, an industrial robot modular intelligent manufacturing teaching platform and system, which comprises a joint shaft assembly unit, a laser engraving unit, a packaging and labeling unit, a stereoscopic warehouse unit, an AGV mobile robot unit and a general control operation display unit. One side of the joint shaft assembly unit is provided with the general control operation display unit, the other side of the joint shaft assembly unit is provided with the laser engraving unit, one side of the laser engraving unit is provided with the packaging and labeling unit, one side of the packaging and labeling unit is provided with the stereoscopic warehouse unit, and one side of the stereoscopic warehouse unit is provided with the AGV mobile robot unit.

[0007] Preferably, the articulated shaft assembly unit comprises: a first control panel, a belt conveying module, an RFID intelligent module, a vertical feeding module, a storage module, a first clamp quick-change module, a robot vision module, a first industrial robot, a rotary feeding module, and a positioner module;

[0008] The first clamp quick-change module:

[0009] The first clamp quick-change module is configured with various robot end tools, mainly including a single suction cup tool, a passive pen-shaped tool, a straight mouth claw hand tool, an arc mouth claw hand tool, and a robot calibration tip tool. In addition, there are welding tools, glue coating tools, polishing and carving tools that can be automatically replaced and installed. The robot end tool is controlled by the robot controller to realize state switching through the IO module.

[0010] The storage module:

[0011] The storage module is mainly composed of a fixed bottom plate, a three-dimensional warehouse, and detection sensors. Each storage location has a detection sensor. The sensor signal detects and transmits data to the PLC controller.

[0012] The positioner module:

[0013] The positioner module is composed of a positioner, a fixed bottom plate, etc. The module is adapted to peripheral controller kits and standard electrical interface kits. Through the robot additional shaft mode, the positioner is expanded to an industrial robot. The positioner module uses robot external shaft control. The motor drive receives the robot controller command. The positioner is programmed and operated through the teach pendant. The positioner uses an absolute encoder. The module side panel has a zero line. The positioner zero can be calibrated through the teach pendant. The motion range is set to ±90° through mechanical limiting. The positioner mounting plate is mainly composed of a telescopic cylinder and a workpiece positioning clamping block for clamping workpieces.

[0014] The vertical feeding module:

[0015] The vertical feeding module is composed of a cylindrical barrel and a telescopic cylinder. The cylindrical barrel has an inner diameter of 50mm. Two circular materials, a reducer and an output flange, can be loaded into the cylindrical barrel at the same time. The cylindrical barrel bottom is configured with a pair of shot sensors to detect whether there is a workpiece. The cylinder is configured with a magnetic switch to detect whether the action is executed. The cylinder action and its sensor signal are controlled by the PLC.

[0016] The belt conveying module:

[0017] The belt conveying module is mainly composed of a belt line conveyor, a workpiece feeding detection sensor, and a workpiece in-place detection sensor. The belt line conveyor is driven by a 0-3000rpm DC motor. The motion reduction ratio is 1:50. The belt line can be speed-adjusted by PLC control analog quantity. It can be controlled to start and stop. It is driven by a single-phase AC speed regulation motor.

[0018] Rotary feeding module:

[0019] It is composed of rotary feeder, fixed base plate, etc. The module is adapted to peripheral controller kit and standard electrical interface kit. The robot exchanges information with the PLC controller through group IO and Ethernet. The PLC ultimately rotates the tray to the designated station according to the command of the robot. The rotary feeding module has six workpiece placing positions arranged along the circumferential direction of the disc. The rotary feeding device is driven by a stepper motor, and its movement is controlled by the PLC. The harmonic reducer with a speed ratio of 1:80 is configured, the movement is stable, and the precision is high. The rotary feeding platform is provided with zero calibration sensor and workpiece state detection sensor.

[0020] RFID intelligent module:

[0021] The RFID intelligent module is used for reading and writing of material embedded chips, and communicates with the robot through the master control. It can be combined with other modules to complete different practical training tasks. The RFID reader and RFID communication module are selected from Siemens brand, which is seamlessly integrated with Siemens PLC. The Siemens electronic tag management software can be used to quickly write a material traceability system.

[0022] Robot vision module:

[0023] It is composed of industrial vision system, fixed base plate, etc. The module is adapted to peripheral controller kit and standard electrical interface kit. It detects information such as shape, color, coordinate (X / Y / A) of the part, and sends the detection results to the robot through Ethernet. It cooperates with the end suction cup tool of the industrial robot to sort, position and grab the workpiece.

[0024] Calibration tip:

[0025] The calibration tip is used for calibrating the tool coordinates of the robot. The calibration tip can be installed at any reachable position of the robot on the workbench, which is convenient for the robot to calibrate the tool coordinates. When the calibration tip is used to calibrate the tool coordinates of the robot, the tip tool is used at the end of the robot.

[0026] Preferably, the laser engraving unit comprises a second control panel, a second clamp quick-change module, a tray transfer mechanism, a second industrial robot, a first conveying belt line, a motor assembly module, a laser engraving machine, a laser engraving machine power supply, a nameplate material rack, a laser engraving workbench, a second conveying belt line and an RFID intelligent module. It mainly completes the work of "motor model" assembly, motor model assembly to robot joint shaft, and joint shaft personalized engraving.

[0027] Second clamp quick-change module:

[0028] The second clamp quick-change module is configured with multiple robot end tools, mainly including a single suction cup tool, a passive pen-shaped tool, a straight jaw hand tool, an arc jaw hand tool, and a robot calibration tip tool, and has welding tools, glue coating tools, polishing and carving tools which can be automatically replaced and installed, and the robot end tools are controlled by the robot controller to control the IO module to realize state switching.

[0029] Motor assembly module:

[0030] The motor assembly module has six groups of motor part placement positions, and three types of workpieces of three colors, i.e., yellow, white and blue motor housings, motor rotors and motor end covers. First, the module is installed to the module public base, the materials are placed in the corresponding workpiece positions, the robot programming is used to assemble the motor rotor to the motor housing, and the motor end cover is assembled to form a complete motor assembly, and the straight jaw tool and the suction cup tool are used to complete the process.

[0031] Tray transfer mechanism:

[0032] The tray transfer mechanism is composed of industrial aluminum profiles, fixed plates, linear modules, pneumatic clamps, telescopic cylinders and the like, is used for grabbing the material tray from the first conveying belt line to the second conveying belt line, the module is adapted to a standard electrical interface kit, and a PLC controller controls the tray transfer mechanism through digital quantity.

[0033] First conveying line belt line and second conveying belt line:

[0034] The first conveying line belt line and the second conveying belt line are composed of speed regulating motors, belts, profile skeletons, jacking devices and the like, are used for conveying and positioning the material tray, the module is adapted to a standard electrical interface kit, and a PLC controller controls the conveying line module through digital quantity.

[0035] Laser engraving machine:

[0036] The laser engraving machine adopts advanced laser technology, has the characteristics of short pulse, excellent light speed quality, high precision, high peak power and high modulation rate, significantly reduces the heat melting effect, achieves perfect marking effect, is especially suitable for marking non-metallic materials such as plastic, the fully enclosed resonant cavity of the machine body prevents the internal optical devices from being polluted by dust and moisture, has long service life and small attenuation.

[0037] Laser engraving workbench:

[0038] The laser engraving workbench is composed of industrial aluminum profiles, fixed plates, positioning devices, cylinders and the like, and is mainly used for the robot to grab and place the label to the specified position to position the label.

[0039] RFID intelligent module:

[0040] RFID intelligent module is used for reading and writing of material embedded chip, and communicates with robot through general control, can be combined with other modules to complete different practical training tasks, RFID reader and RFID communication module select Siemens brand, seamless integration with Siemens PLC, apply Siemens electronic tag management software, can quickly write material traceability system;

[0041] Preferably, the packaging labeling unit comprises: the unit is mainly composed of a third control panel, a third belt conveying line, an RFID intelligent module, a third clamp quick change module, a packaging cover material tray, a packaging workbench, a third industrial robot, an industrial 3D vision camera, a shaking material box and a label stripping assembly, etc., mainly completes the packaging and labeling functions of the joint shaft model, the unit is configured with an intelligent vision system, can carry a HIROP system, and can realize intelligent functions such as automatic obstacle avoidance, autonomous path planning and voice recognition;

[0042] The third belt conveying line is used for conveying the material tray;

[0043] The RFID intelligent module comprises:

[0044] The RFID intelligent module is used for reading and writing of material embedded chip, and communicates with robot through general control, can be combined with other modules to complete different practical training tasks, RFID reader and RFID communication module select Siemens brand, seamless integration with Siemens PLC, apply Siemens electronic tag management software, can quickly write material traceability system;

[0045] The third clamp quick change module comprises:

[0046] The third clamp quick change module is configured with various robot end tools, mainly including single suction cup tool, passive pen-shaped tool, straight mouth claw hand tool, arc mouth claw hand tool, robot calibration tip tool, and other self-replaceable welding tool, glue coating tool, polishing and carving tool, the robot end tool is controlled by the robot controller to realize state switching of the IO module;

[0047] Preferably, the stereoscopic warehouse unit comprises: a fourth control panel, a fourth belt conveying line, a stacker assembly and a storage unit module, etc., mainly completes the in-out warehouse work of workpiece finished products and material trays;

[0048] The stacker assembly is used for grabbing the material tray from the stereoscopic warehouse unit and placing it on the fourth belt conveying line, or storing the material tray;

[0049] The storage unit module is used for storing materials and contains a warehouse position sensor;

[0050] The fourth belt conveying line is used for conveying the material tray;

[0051] PLC control system: the warehouse unit can be manually and automatically controlled;

[0052] Preferably, the AGV mobile robot unit comprises: the unit is composed of an AGV trolley, an AGV belt conveyor line, a reflection sensor, a visual sensor, a control system and the like;

[0053] Function: used for conveying material pallets in the intelligent manufacturing unit;

[0054] Work flow:

[0055] (1) Taking material: the AGV trolley moves to the fourth belt conveyor line of the stereoscopic warehouse unit, the fourth belt conveyor line and the AGV belt conveyor line run simultaneously and automatically dock the material pallet, the material pallet is conveyed to the middle position of the AGV belt conveyor line to trigger the sensor, the AGV belt conveyor line stops running, the AGV trolley starts and runs according to the motion trajectory;

[0056] (2) Discharging: the AGV trolley moves to the first conveying belt line of the laser engraving unit, the first belt conveyor line and the AGV belt conveyor line run simultaneously and automatically dock the material pallet, the material pallet is conveyed to the tail position of the first belt conveyor line to trigger the sensor, the first belt conveyor line and the AGV belt conveyor line stop running simultaneously, and the AGV trolley returns along the original route;

[0057] MES system can be used to collect and analyze data of the AGV trolley system, query the current running state, maintenance record, running beat, and put forward feasible optimization suggestions;

[0058] Preferably, the general control operation display unit comprises: the unit is composed of an information display large screen, a PC, an operation platform, a general control PLC system, an MES system and the like;

[0059] Function description:

[0060] (1) Information display large screen: visual information display;

[0061] (2) PC: carrier of MES system, Siemens PLC system, offline programming and other software;

[0062] The MES system has the functions of production order, process traceability, maintenance and repair record, equipment early warning and the like;

[0063] It comprises a controller and a man-machine interface, the controller adopts modular and compact design, is expandable, has a standard industrial communication interface, is suitable for realizing simple logic control, advanced logic control, network communication and control application, and advanced application functions of small motion control system, process control system and the like, and the man-machine interface has the characteristics of comfort, multifunction and multiple integrated interfaces and the like.

[0064] Compared with the prior art, the application has the following beneficial effects:

[0065] 1、The application can carry out industrial robot basic programming application training, industrial robot comprehensive programming application training, industrial robot process application programming training, automated three-dimensional warehouse application training, mobile AGV robot application training, machine 2D and 3D vision application training, Siemens PLC programming and debugging training, offline programming trajectory planning and motion simulation training, MES system application technology training, intelligent manufacturing unit operation and maintenance comprehensive application training, intelligent manufacturing unit system integration application technology training and the like through the adoption of the modular structure, so that the application range is wider, and the practicality of the device is increased. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 It is a structural perspective view of the application;

[0067] Figure 2 It is a schematic view of a joint shaft assembly unit structure of the application;

[0068] Figure 3 It is a schematic view of a laser engraving unit assembly structure of the application;

[0069] Figure 4 It is a schematic view of a packaging and labeling unit assembly structure of the application;

[0070] Figure 5 It is a schematic view of a three-dimensional warehouse unit assembly structure of the application;

[0071] Figure 6 It is a schematic view of an AGV trolley structure of the application;

[0072] Figure 7 It is a schematic view of a work flow of the application.

[0073] In the figure: 1, joint shaft assembly unit; 2, laser engraving unit; 3, packaging and labeling unit; 4, three-dimensional warehouse unit; 5, AGV mobile robot unit; 6, general control operation display unit; 7, first control panel; 8, belt conveying module; 9, vertical feeding module; 10, storage module; 11, first clamp quick-change module; 12, robot vision module; 13, first industrial robot; 14, rotary feeding module; 15, positioner module; 16, second clamp quick-change module; 17, tray transfer mechanism; 18, second industrial robot; 19, first conveying belt line; 20, motor assembly module; 21, laser engraving machine; 22, laser engraving machine power supply; 23, nameplate material rack; 24, laser engraving workbench; 25, second conveying belt line; 26, third control panel; 27, third belt conveying line; 28, third clamp quick-change module; 29, packaging cover material tray; 30, packaging workbench; 31, third industrial robot; 32, industrial 3D vision camera; 33, shaking material box; 34, label stripping assembly; 35, fourth control panel; 36, fourth belt conveying line; 37, RFID intelligent module; 38, stacker assembly; 39, warehouse unit module; 40, second control panel; 41, AGV trolley; 42, AGV belt conveying line. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0075] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0076] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0077] Embodiment one:

[0078] I. Joint shaft assembly unit:

[0079] 1. The robot end tool of the first clamp quick-change module 11 is controlled by the IO module of the robot controller to realize state switching;

[0080] 2. The warehouse module 10 detects the sensor signal and transmits data to the PLC controller;

[0081] 3. The positioner module 15 is adapted to the peripheral controller kit and the standard electrical interface kit, and is expanded to an industrial robot by the robot additional shaft mode. The positioner module adopts robot external shaft control, the motor drive of which receives the robot controller command, and is programmed and operated through the teach pendant. The positioner adopts an absolute encoder, and the side panel of the module has a zero line, so that the zero position of the positioner can be calibrated through the teach pendant. The movement range is set to ±90° through mechanical limiting. The installation plate of the positioner is mainly composed of a telescopic cylinder and a workpiece positioning and clamping block, and is used for clamping the workpiece;

[0082] 4. The inner diameter of the cylindrical material barrel in the vertical feeding module 9 is 50mm, and two circular materials, i.e. the reducer and the output flange of the robot joint, can be loaded at the same time. The bottom of the cylindrical material barrel is provided with a pair of sensors to detect whether the workpiece is present or not. The cylinder is provided with a magnetic switch to detect whether the action is executed or not. The cylinder action and the sensor signal thereof are controlled by the PLC;

[0083] 5. The belt line conveyor of the belt conveying module 8 is driven by a 0-3000rpm DC motor, and the movement deceleration ratio is 1:50. The belt line can be speed-adjusted by the PLC control analog quantity, and can be controlled to start and stop. A single-phase AC speed-adjusting motor is adopted for driving.

[0084] 6、Rotary feed module 14 is adapted to the peripheral controller kit and standard electrical interface kit. The robot interacts with the PLC controller through group IO and Ethernet, and the PLC ultimately rotates the tray to the designated station according to the robot's command. The rotary feed module has 6 workpiece placement positions, which are arrayed along the circumference of the disc. The rotary feed device is driven by a stepper motor, which is controlled by the PLC. The configuration is 1:80 speed ratio harmonic reducer, which moves smoothly and has high precision. The rotary feed platform is equipped with zero position calibration sensor and workpiece state detection sensor;

[0085] 7、RFID intelligent module 37 is used for reading and writing of material embedded chips, and communicates with the robot through the master control. It can be combined with other modules to complete different practical training tasks. The RFID reader and RFID communication module are selected from Siemens brand, which is seamlessly integrated with Siemens PLC. Siemens electronic tag management software is used to quickly develop a material traceability system.

[0086] 8、Robot vision module 12 is adapted to the peripheral controller kit and standard electrical interface kit. It detects information such as shape, color, and coordinates (X / Y / A) of the parts, and sends the detection results to the robot through Ethernet. It cooperates with the end suction cup tool of the industrial robot to sort and position the workpiece for grabbing.

[0087] 9、The calibration tip can be installed at any robot-reachable position on the workbench, which is convenient for robot to calibrate tool coordinates. When using the calibration tip to calibrate the tool coordinates of the robot, the tip tool is used at the end of the robot.

[0088] II. Laser engraving unit:

[0089] 1、The robot end tool of the second clamp quick-change module 16 is controlled by the robot controller to switch the state through the IO module;

[0090] 2、Motor assembly module 20 has 6 groups of motor part placement positions, which are three types of workpieces with three colors, i.e. yellow, white and blue motor housings, motor rotors and motor end covers. First, install this module to the module public base, place the materials on the corresponding workpiece positions, use the robot programming to assemble the motor rotor to the motor housing, and assemble the motor end cover to form a complete motor assembly. Straight hand claw tool and suction cup tool are needed to complete this process;

[0091] 3、Tray transplanting mechanism 17 is used to grab the material tray from the first conveying belt line 19 to the second conveying belt line 25. The module is adapted to the standard electrical interface kit, and the PLC controller controls the tray transplanting mechanism through digital quantity;

[0092] 4. The first conveying belt line 19 and the second conveying belt line 25 are used for conveying and positioning of the material pallets, the module is adapted to a standard electrical interface kit, and the PLC controller controls the conveying line module through digital quantity;

[0093] 5. The laser engraving machine 21 adopts advanced laser technology, has the characteristics of short pulse, excellent light speed quality, high precision, high peak power and high modulation rate, significantly reduces the heat melting effect, achieves perfect marking effect, and is especially suitable for marking of non-metal materials such as plastic, the fully enclosed resonant cavity of the machine body protects the internal optical devices from dust and moisture pollution, has long service life and small attenuation;

[0094] 6. The laser engraving workbench 24 is composed of industrial aluminum profiles, fixing plates, positioning devices, air cylinders and the like, and is mainly used for the robot to grab and place the label to the specified position to position the label;

[0095] 7. The RFID intelligent module 37 is used for reading and writing of the material embedded chip, communicates with the robot through the general control, can be combined with other modules to complete different practical training tasks, the RFID reader and the RFID communication module are selected from the Siemens brand, are seamlessly integrated with the Siemens PLC, apply the Siemens electronic tag management software, and can quickly program the material traceability system.

[0096] Three, packaging and labeling unit:

[0097] 1. The third belt conveying line 27 is used for conveying of the material pallets;

[0098] 2. The RFID intelligent module 37 is used for reading and writing of the material embedded chip, communicates with the robot through the general control, can be combined with other modules to complete different practical training tasks, the RFID reader and the RFID communication module are selected from the Siemens brand, are seamlessly integrated with the Siemens PLC, apply the Siemens electronic tag management software, and can quickly program the material traceability system;

[0099] 3. The robot end tools of the third clamp quick-change module 28 are controlled by the robot controller to realize state switching of the IO module;

[0100] Four, three-dimensional warehouse unit:

[0101] 1. The stacker assembly 38 can grab the material pallets from the three-dimensional warehouse unit and place them on the fourth belt conveying line, or the material pallets are stored in the warehouse;

[0102] 2. The storage unit module 39 is used for storing materials and contains a warehouse position sensor;

[0103] 3. The fourth belt conveying line 36 is used for conveying of the material pallets;

[0104] 4, PLC control system can be manual and automatic operation control of warehouse unit.

[0105] Five, AGV mobile robot unit:

[0106] 1, function: for intelligent manufacturing unit of material tray conveying;

[0107] 2, work flow:

[0108] (1) take material: AGV car moves to the fourth belt conveyor line under the discharge port of the stereoscopic warehouse unit, the fourth belt conveyor line and AGV belt conveyor line run at the same time and automatically dock the material tray, the material tray is transported to the middle position of AGV belt conveyor line, the sensor is triggered, AGV belt conveyor line stops running, AGV car starts and runs according to the motion trajectory;

[0109] (2) discharge: AGV car moves to the first conveying belt line of laser carving unit, the first belt conveyor line and AGV belt conveyor line run at the same time and automatically dock the material tray, the material tray is transported to the tail position of the first belt conveyor line, the sensor is triggered, the first belt conveyor line and AGV belt conveyor line stop running at the same time, AGV car returns to the original route;

[0110] MES system can be used to collect and analyze data of AGV car system, query current running state, maintenance record, running beat, and put forward feasible optimization suggestions.

[0111] Six: total control operation display unit:

[0112] Function description:

[0113] (1) information display large screen: visual information display;

[0114] (2) PC: the carrier of MES system, Siemens PLC system, offline programming and other software;

[0115] MES system has the functions of production order, process traceability, maintenance and repair record, equipment warning, etc.

[0116] Including controller and man-machine interface, the controller adopts modular and compact design, which can be expanded, has standard industrial communication interface, is suitable for realizing simple logic control, advanced logic control, network communication and control application, as well as small motion control system, process control system and other advanced application functions, the man-machine interface has the characteristics of comfort, multi-function and multi-integrated interface.

[0117] Example two:

[0118] The direct current motor in the device is controlled by PLC analog quantity to change the speed, the stereoscopic storage unit 4 is used for storing 4 kinds of materials in 12 storage positions, the materials include semi-finished product state A, semi-finished product state B, semi-finished product state C and finished product state, each storage position is provided with a detection sensor, the material information of the storage position is mastered in real time, and the state of the stereoscopic warehouse is stored into the MES system data in real time, which is used for managing the material information. The module is connected with the MES system through PROFINET industrial Ethernet, three of the four stepper motors of the stereoscopic warehouse are used for the movement of XYZ plane, and the other one is used for controlling the rotation of the material in and out of the warehouse. The module can be used to teach the control of the stepper motor and the basic mode of the stereoscopic storage unit 4; the storage module 10 is used for storing joint bases, the vertical feeding module 9 is used for storing reducers and flanges, the rotary feeding module 14 is used for storing motor assembly bodies, the robot end gripper tool picks them up to the positioner module 15 for assembly respectively, the robot vision module 12 can be used in cooperation with the belt conveying module 8 to complete the positioning and identification of the reducers and flanges; the general control operation display unit 6 comprises a touch screen and a button indicator light, wherein the button indicator light has the functions of equipment switching on and off, mode switching, power state indication, equipment emergency stop and the like, the touch screen selects a Siemens KTP700 panel and is used for data monitoring and operation of the equipment; the RFID intelligent module 37 is used for reading and writing of material embedded chips and communicates with the robot through general control, can be combined with other modules to complete different practical training tasks, the RFID reader and the RFID communication module select a Siemens brand, are seamlessly integrated with the Siemens PLC, apply the Siemens electronic tag management software, and can quickly write a material traceability system; the laser engraving unit 2 is used for engraving personalized customized patterns and characters, the platform communicates with the MES system through TCP, can teach TCP communication and laser engraving machine control; the industrial 3D vision camera 32 is used for identifying packaging boxes and cooperating with the robot to package finished products, is used for training students to perform 3D vision modeling, communication with the robot and completion of grabbing in cooperation with the robot; the packaging and labeling unit 3 is used for online one-dimensional code printing, the labels are stripped by the label stripping assembly 34 and are picked up by the robot and are pasted on the packaging box for management identification of in and out of the warehouse, wherein the printer is controlled by the MES system according to the database content and the production state, the platform can be used to train students to use the marking machine for online control, the principle of the label stripping machine and the material management of the MES system; the tray transfer mechanism 17 realizes material transfer of the material tray controlled by the stepper motor, the material tray of the stereoscopic warehouse is transferred to the first conveying belt line 19 of the laser engraving unit by the AGV trolley, is picked up by the tray transfer mechanism 17 to the second conveying belt line 25 for subsequent action, and four practical training units form a closed loop.

[0119] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims with respect to the figures of the patent document.

Claims

1. An industrial robot modular intelligent manufacturing teaching system, comprising a joint axis assembly unit (1), a laser engraving unit (2), a packaging and labeling unit (3), a stereoscopic warehouse unit (4), an AGV mobile robot unit (5) and a master control operation display unit (6), characterized in that: A master control operation display unit (6) is provided on one side of the joint shaft assembly unit (1), a laser engraving unit (2) is provided on the other side of the joint shaft assembly unit (1), a packaging labeling unit (3) is provided on one side of the laser engraving unit (2), a stereoscopic warehouse unit (4) is provided on one side of the packaging labeling unit (3), and an AGV mobile robot unit (5) is provided on one side of the stereoscopic warehouse unit (4); The joint shaft assembly unit (1) includes: a first control panel (7), a belt conveyor module (8), an RFID intelligent module (37), a vertical feeding module (9), a storage module (10), a first fixture quick-change module (11), a robot vision module (12), a first industrial robot (13), a rotary feeding module (14) and a positioner module (15); The laser engraving unit (2) includes: a second control panel (40), a second fixture quick-change module (16), a pallet transfer mechanism (17), a second industrial robot (18), a first conveyor belt line (19), a motor assembly module (20), a laser engraving machine (21), a laser engraving machine power supply (22), a nameplate material rack (23), a laser engraving workbench (24), a second conveyor belt line (25) and an RFID intelligent module (37); The packaging labeling unit (3) comprises: the unit mainly comprises a third control panel (26), a third belt conveyor line (27), an RFID intelligent module (37), a third fixture quick-change module (28), a packaging cover material tray (29), a packaging workbench (30), a third industrial robot (31), an industrial 3D vision camera (32), a shaking material box (33) and a label stripping component (34); The three-dimensional warehouse unit (4) comprises: a fourth control panel (35), a fourth belt conveyor line (36), a stacker assembly (38) and a storage unit module (39); The AGV mobile robot unit (5) comprises an AGV trolley (41), an AGV belt conveyor line (42), a beam sensor, a visual sensor, and a control system.

2. The industrial robot modular intelligent manufacturing teaching system according to claim 1, characterized in that: The master control operation display unit (6) comprises: the unit is composed of an information display screen, a PC, an operation platform, a master control PLC system, and an MES system.

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