Welding robot practical training platform

Abstract

The invention discloses a welding robot practical training platform, and relates to the technical field of welding practical training. Comprising a code writing module, a virtual simulation module, a simulation operation module, an operation condition collection module, an operation condition analysis module, a programming analysis module, a programming optimization module, a feedback module, a programming evaluation module, a program storage module, a machine equipment loading module, an environment loading module, an emergency loading module and a real machine operation module. According to the welding robot practical training platform, through the virtual simulation module, the simulation operation module and the operation condition collection module, trainees can carry out welding robot practical training in the VR world through a written code program, so that a training party does not need to purchase more welding robots for practical training teaching; according to the platform, welding robots of various models and various working environments can be simulated, so that the platform has the advantages of being low in cost and good in practical training effect compared with existing real machine practical training.

Description

Technical Field

[0001] The invention relates to the technical field of welding training, and in particular to a welding robot training platform. Background Art

[0002] In the process of teaching experiments and training related to robots, welding projects are a necessary training project. Students perform coding programs and then control welding robots through programs to work. However, due to the large number of welding robot models and the limited funds of the teaching institutions themselves, the welding robot models are incomplete, resulting in poor training results. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a welding robot training platform, which solves the problems raised in the above background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a welding robot training platform, including a code writing module, a virtual simulation module, a simulation operation module, an operation status collection module, an operation status analysis module, a programming analysis module, a programming optimization module, a feedback module, a programming evaluation module, a program storage module, a machine equipment loading module, an environment loading module, an emergency loading module and a real machine operation module; The actual machine operation module includes a training platform, both sides of the training platform are fixedly connected with tracks, one side of the track is fixedly connected with a servo motor, the inside of the track is rotatably connected with a ball screw, the output end of the servo motor is fixedly connected to one end of the ball screw, the outer side of the ball screw is threadedly connected with a moving block, the top of the moving block extends to the track and is fixedly connected to the fixed platform, the top of the fixed platform is fixedly connected with a storage box, a mounting seat is placed on the top of the training platform, a robot module is installed on the top of the mounting seat, one side of the inner cavity of the storage box is fixedly connected with an electric telescopic rod, the telescopic end of the electric telescopic rod is fixedly connected with a plug, slots are opened on both sides of the mounting seat, one end of the plug extends to the inside of the slot, and a moving vehicle is placed on one side of the training platform; The actual machine operation module is used for trainees to operate through the actual machine. When the robot module needs to be replaced during use, the output end of the servo motor drives the ball screw to rotate, and the Shudie ball screw drives the moving block to move. The Shudie moving block drives the fixed platform, the mounting seat and the robot module to move. The Shudie mounting seat and the robot module move to the top of the mobile vehicle, and then the telescopic end of the electric telescopic rod drives the plug to move, and one end of the Shudie plug moves out of the slot. Then the robot module can be driven to move by the mobile vehicle, and the new mounting seat and the robot module are moved to one side of the training platform by the mobile vehicle. The Shudie mounting seat is located between the two fixed platforms, and then the telescopic end of the electric telescopic rod pushes the plug to reset and move, and one end of the Shudie plug is inserted into the slot to fix the mounting seat and the robot module. Then the output end of the servo motor drives the ball screw to reset and rotate, and the Shudie ball screw drives the moving block to drive the fixed platform, the storage box, the electric telescopic rod, the plug and mounting seat and the robot module to the top of the training platform for use. The code writing module is used by trainees to write program codes using computers and other working equipment to generate robot control programs; The virtual simulation module is used to build a VR virtual environment and simulate the operation of a real robot; The simulation operation module is used to control the simulation robot according to the input robot control program to simulate the robot's welding working conditions; The operation status collection module is used to collect real-time data of the working conditions of the simulated robot performing welding; The operation status analysis module is used to analyze the collected data to determine whether any problems occur; The programming analysis module is used to conduct a comprehensive analysis of the students' codes and data analysis results; The programming evaluation module is used to evaluate the control program written by the trainee based on the comprehensive analysis results to obtain the evaluation results; The programming optimization module is used to propose optimization and modification suggestions for the control program written by the trainees based on the comprehensive analysis results; The feedback module is used to send the generated optimization and modification suggestions to the corresponding students; The program storage module is used to store the uploaded control program; The machine equipment loading module is used to retrieve the three-dimensional model of the welding robot of the corresponding model according to the welding robot to be simulated; The environment loading module is used to construct the robot working environment required to be simulated for use in welding robot training; The emergency event loading module is used to load emergency situations that are likely to be encountered in the working environment of the robot into the robot simulation process.

[0005] Optionally, the environment loading module includes a machine task setting module, a task environment building module and a parameter setting module. The machine task setting module is used to pre-set the robot application work tasks to be simulated; the task environment building module is used to build the working environment according to the task content; the parameter setting module is used to adjust the parameters of various components of the robot according to the different working environments and tasks.

[0006] Optionally, the actual machine operation module includes a program import module and a device execution module. The program import module is used to import the robot control program written by the trainees; the device execution module is used to control the welding robot through the control program to perform welding work.

[0007] Optionally, the machine equipment loading module includes a machine equipment data acquisition module, a machine equipment model construction module and a machine equipment model library. The machine equipment data acquisition module is used to collect the model of robot equipment and the data of the robot equipment of this model by online and offline collection; the machine equipment model construction module is used to construct three-dimensional models of robot equipment of different models according to the collected data; and the machine equipment model library is used to store the constructed three-dimensional models of robot equipment of different models.

[0008] Optionally, the emergency loading module includes an emergency collection module, an emergency writing module and an emergency library. The emergency collection module is used to collect dangerous events that are likely to occur at work based on the robot application environment and product production and processing; the emergency writing module is used to write dangerous events at work based on the robot model and working environment; the emergency library is used to store constructed dangerous emergencies.

[0009] Optionally, the virtual simulation module includes a VR virtual device, and the virtual device includes a virtual body, a host, and somatosensory gloves.

[0010] Optionally, the data in the program storage module is stored in the cloud, and students can log in to the platform through registration information and access the cloud to search for data.

[0011] Optionally, when optimizing a programming program, the programming optimization module first converts the program code into a text format, and then inserts annotations into the locations in the program code document where optimization is recommended, and inputs optimization suggestions.

[0012] The present invention provides a welding robot training platform, which has the following beneficial effects: 1. The welding robot training platform, through the virtual simulation module, simulation operation module and operation status collection module, enables trainees to conduct welding robot training through the written code program in the VR world, so that the trainer does not need to purchase a large number of welding robots for practical training. It can simulate various types of welding robots and various working environments, making this platform have the advantages of low cost and good training effect compared with the existing actual machine training.

[0013] 2. The welding robot training platform is equipped with a machine equipment loading module, an environment loading module and an emergency loading module. The platform automatically retrieves the corresponding welding robot three-dimensional model and working environment, builds a simulation environment, and then loads the control program. The welding robot works. When the welding robot is working, the sudden situations that are likely to be encountered in the robot's working environment are loaded into the robot simulation process, and the robot's working data is recorded, so that the operation of the robot in actual work can be simulated for training, so that trainees can better accumulate experience, making the training effect of this platform better. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 This is a schematic diagram of the structure of the environment loading module of the present invention; Figure 3 This is a schematic diagram of the structure of the actual machine operation module of the present invention; Figure 4 This is a schematic diagram of the structure of the actual machine operation module of the present invention; Figure 5 It is a schematic diagram of the side view of the structure of the training platform of the present invention.

[0015] In the figure: 1. Code writing module; 2. Virtual simulation module; 3. Simulation operation module; 4. Operation status collection module; 5. Operation status analysis module; 6. Programming analysis module; 7. Programming optimization module; 8. Feedback module; 9. Programming evaluation module; 10. Program storage module; 11. Machine equipment loading module; 12. Machine equipment data acquisition module; 13. Machine equipment model building module; 14. Machine equipment model library; 15. Environment loading module; 16. Emergency loading module; 17. Emergency collection module ; 18. Emergency writing module; 19. Emergency library; 20. Real machine operation module; 21. Machine task setting module; 22. Task environment building module; 23. Parameter setting module; 24. Program import module; 25. Equipment execution module; 26. Training table; 27. Mobile car; 28. Track; 29. ​​Ball screw; 30. Servo motor; 31. Moving block; 32. Fixed table; 33. Storage box; 34. Mounting seat; 35. Robot module; 36. Electric telescopic rod; 37. Plug in; 38. Slot. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] See also Figures 1 to 5 The present invention provides a technical solution: a welding robot training platform, including a code writing module 1, a virtual simulation module 2, a simulation operation module 3, an operation status collection module 4, an operation status analysis module 5, a programming analysis module 6, a programming optimization module 7, a feedback module 8, a programming evaluation module 9, a program storage module 10, a machine equipment loading module 11, an environment loading module 15, an emergency loading module 16 and a real machine operation module 20; The actual machine operation module 20 includes a training platform 26, both sides of the training platform 26 are fixedly connected with tracks 28, one side of the track 28 is fixedly connected with a servo motor 30, the inside of the track 28 is rotatably connected with a ball screw 29, the output end of the servo motor 30 is fixedly connected to one end of the ball screw 29, the outer side of the ball screw 29 is threadedly connected with a moving block 31, the top of the moving block 31 extends to the track 28 and is fixedly connected with a fixed platform 32, the top of the fixed platform 32 is fixedly connected with a storage box 33, a mounting seat 34 is placed on the top of the training platform 26, a robot module 35 is installed on the top of the mounting seat 34, one side of the inner cavity of the storage box 33 is fixedly connected with an electric telescopic rod 36, the telescopic end of the electric telescopic rod 36 is fixedly connected with a plug 37, slots 38 are opened on both sides of the mounting seat 34, one end of the plug 37 extends to the inside of the slot 38, and a moving vehicle 27 is placed on one side of the training platform 26; The actual machine operation module 20 is used for trainees to operate through the actual machine. When the robot module 35 needs to be replaced during use, the output end of the servo motor 30 drives the ball screw 29 to rotate, and the Shudie ball screw 29 drives the moving block 31 to move. The Shudie moving block 31 drives the fixed platform 32, the mounting seat 34 and the robot module 35 to move. The Shudie mounting seat 34 and the robot module 35 move to the top of the mobile vehicle 27, and then the telescopic end of the electric telescopic rod 36 drives the plug 37 to move, and one end of the Shudie plug 37 moves out of the slot 38. Then the robot module 35 can be driven to move by the mobile vehicle 27, and the mobile vehicle 27 can be used to move. The vehicle 27 moves the new mounting seat 34 and the robot module 35 to one side of the training table 26. The Shudie mounting seat 34 is located between the two fixed tables 32. Then the telescopic end of the electric telescopic rod 36 pushes the plug 37 to reset and move. One end of the Shudie plug 37 is inserted into the slot 38 to fix the mounting seat 34 and the robot module 35. Then the output end of the servo motor 30 drives the ball screw 29 to reset and rotate. The Shudie ball screw 29 drives the moving block 31 to drive the fixed table 32, the storage box 33, the electric telescopic rod 36, the plug 37, the mounting seat 34 and the robot module 35 to move to the top of the training table 26 for use. Code writing module 1 is used for students to write program codes using computers and other working equipment to generate robot control programs; Virtual simulation module 2, used to build a VR virtual environment and simulate the operation of a real robot; The simulation operation module 3 is used to control the simulation robot according to the input robot control program and simulate the robot's welding working condition; The operation status collection module 4 is used to collect real-time data of the working conditions of the simulated robot for welding; The operation status analysis module 5 is used to analyze the collected data to determine whether there are any problems; Programming analysis module 6, used to conduct comprehensive analysis of students’ codes and data analysis results; The programming evaluation module 9 is used to evaluate the control program written by the trainees according to the comprehensive analysis results and obtain the evaluation results; Programming optimization module 7 is used to propose optimization and modification suggestions for the control program written by the trainees based on the comprehensive analysis results; Feedback module 8, used to send the generated optimization and modification suggestions to the corresponding trainees; A program storage module 10, used to store the uploaded control program; The machine equipment loading module 11 is used to retrieve the three-dimensional model of the welding robot of the corresponding model according to the welding robot to be simulated; The environment loading module 15 is used to construct the robot working environment required for simulation for use in welding robot training; The emergency event loading module 16 is used to load the emergency situations that are likely to be encountered in the working environment of the robot into the robot simulation process.

[0018] Furthermore, the environment loading module 15 includes a machine task setting module 21, a task environment building module 22 and a parameter setting module 23. The machine task setting module 21 is used to pre-set the robot application work tasks to be simulated; the task environment building module 22 is used to build the working environment according to the task content; the parameter setting module 23 is used to adjust the parameters of various components of the robot according to the different working environments and tasks, so as to simulate the operation of the robot in a real environment.

[0019] Furthermore, the actual machine operation module 20 includes a program import module 24 and an equipment execution module 25. The program import module 24 is used to import the robot control program written by the trainees; the equipment execution module 25 is used to control the welding robot through the control program to perform welding work.

[0020] Furthermore, the machine equipment loading module 11 includes a machine equipment data acquisition module 12, a machine equipment model construction module 13 and a machine equipment model library 14. The machine equipment data acquisition module 12 is used to collect the model of the robot equipment and the data of the robot equipment of the model by online and offline collection; the machine equipment model construction module 13 is used to construct three-dimensional models of robot equipment of different models according to the collected data; the machine equipment model library 14 is used to store the constructed three-dimensional models of robot equipment of different models.

[0021] Furthermore, the emergency loading module 16 includes an emergency collection module 17, an emergency writing module 18 and an emergency library 19. The emergency collection module 17 is used to collect dangerous events that are likely to occur at work based on the robot application environment and the production and processing of products; the emergency writing module 18 is used to write dangerous events at work based on the robot model and working environment; the emergency library 19 is used to store constructed dangerous emergencies.

[0022] Furthermore, the virtual simulation module 2 includes a VR virtual device, and the virtual device includes a virtual body, a host, and somatosensory gloves.

[0023] Furthermore, the data in the program storage module 10 is stored in the cloud, and the students can log in to the platform through the registration information and access the cloud to search for data.

[0024] Furthermore, when optimizing the programming program, the programming optimization module 7 first converts the program code into a text format, and then inserts comments into the positions in the program code document where optimization is recommended, and inputs optimization suggestions.

[0025] In summary, when using the welding robot training platform, the trainees log in to the training platform through a computer to conduct welding robot training, write codes and control programs through a computer, and then input the control programs into the platform through the virtual simulation module 2. The trainees input the model and working conditions of the welding robot, and the platform automatically retrieves the corresponding three-dimensional model of the welding robot and the working environment, builds a simulation environment, and then loads the control program, and the welding robot works. When the welding robot is working, the sudden situations that are likely to be encountered in the working environment of the robot are loaded into the robot simulation process, the working data of the robot is recorded, and the collected data is analyzed to analyze whether there are problems with the robot's work. The trainees' codes and data analysis results are comprehensively analyzed, and based on the comprehensive analysis results, the control programs written by the trainees are evaluated to obtain evaluation results. Based on the comprehensive analysis results, optimization and modification suggestions for the control programs written by the trainees are proposed, and the generated optimization and modification suggestions are sent to the corresponding trainees. The trainees can conduct actual machine training through the optimized robot control program.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A welding robot training platform, characterized by: It includes a code writing module (1), a virtual simulation module (2), a simulation operation module (3), an operation status collection module (4), an operation status analysis module (5), a programming analysis module (6), a programming optimization module (7), a feedback module (8), a programming evaluation module (9), a program storage module (10), a machine equipment loading module (11), an environment loading module (15), an emergency event loading module (16) and a real machine operation module (20); The actual machine operation module (20) comprises a training platform (26), both sides of the training platform (26) are fixedly connected to tracks (28), one side of the track (28) is fixedly connected to a servo motor (30), the track (28) is rotatably connected to a ball screw (29), the output end of the servo motor (30) is fixedly connected to one end of the ball screw (29), the outer side of the ball screw (29) is threadedly connected to a moving block (31), the top end of the moving block (31) extends to the track (28) and is fixedly connected to a fixed platform (32), and the fixed The top of the platform (32) is fixedly connected to a storage box (33), a mounting seat (34) is placed on the top of the training platform (26), a robot module (35) is installed on the top of the mounting seat (34), one side of the inner cavity of the storage box (33) is fixedly connected to an electric telescopic rod (36), the telescopic end of the electric telescopic rod (36) is fixedly connected to a plug (37), both sides of the mounting seat (34) are provided with slots (38), one end of the plug (37) extends into the slot (38), and a moving vehicle (27) is placed on one side of the training platform (26); The actual machine operation module (20) is used for trainees to operate the actual machine. When the robot module (35) needs to be replaced during use, the output end of the servo motor (30) drives the ball screw (29) to rotate, the Shudie ball screw (29) drives the moving block (31) to move, the Shudie moving block (31) drives the fixed platform (32) and the mounting seat (34) and the robot module (35) to move, the Shudie mounting seat (34) and the robot module (35) move to the top of the mobile vehicle (27), and then the telescopic end of the electric telescopic rod (36) drives the plug (37) to move, and one end of the Shudie plug (37) moves out of the slot (38), and then the mobile vehicle (27) can drive the robot module (35) to move, and the mobile vehicle (27) can be used to drive the robot module (35) to move. 7) Move the new mounting seat (34) and the robot module (35) to one side of the training platform (26), with the Shudie mounting seat (34) located between the two fixed platforms (32), and then the telescopic end of the electric telescopic rod (36) pushes the plug (37) to reset and move, and one end of the Shudie plug (37) is inserted into the slot (38) to fix the mounting seat (34) and the robot module (35), and then the output end of the servo motor (30) drives the ball screw (29) to reset and rotate, and the Shudie ball screw (29) drives the moving block (31) to drive the fixed platform (32), the storage box (33), the electric telescopic rod (36), the plug (37) and the mounting seat (34) and the robot module (35) to move to the top of the training platform (26) for use; The code writing module (1) is used by trainees to write program codes using computers or other working equipment to generate robot control programs; The virtual simulation module (2) is used to build a VR virtual environment to simulate the operation of a real robot; The simulation operation module (3) is used to control the simulation robot according to the input robot control program, and simulate the robot's welding working conditions; The operation status collection module (4) is used to collect real-time data of the working conditions of the simulated robot performing welding; The operation status analysis module (5) is used to analyze the collected data to determine whether any problems occur; The programming analysis module (6) is used to conduct a comprehensive analysis of the trainee's code and data analysis results; The programming evaluation module (9) is used to evaluate the control program written by the trainee based on the comprehensive analysis result to obtain an evaluation result; The programming optimization module (7) is used to propose optimization and modification suggestions for the control program written by the trainees based on the comprehensive analysis results; The feedback module (8) is used to send the generated optimization and modification suggestions to the corresponding trainees; The program storage module (10) is used to store the uploaded control program; The machine equipment loading module (11) is used to retrieve a three-dimensional model of a welding robot of a corresponding model according to the welding robot to be simulated; The environment loading module (15) is used to construct a robot working environment that needs to be simulated for use in welding robot training; The emergency event loading module (16) is used to load emergency situations that are likely to be encountered in the working environment of the robot into the robot simulation process.

2. A welding robot training platform according to claim 1, characterized in that: The environment loading module (15) comprises a machine task setting module (21), a task environment building module (22) and a parameter setting module (23), wherein the machine task setting module (21) is used to pre-set the robot application work task to be simulated; the task environment building module (22) is used to build the work environment according to the task content; and the parameter setting module (23) is used to adjust the parameters of various components of the robot according to the different work environments and tasks.

3. A welding robot training platform according to claim 1, characterized in that: The actual machine operation module (20) comprises a program import module (24) and a device execution module (25), wherein the program import module (24) is used to import a robot control program written by a trainee; and the device execution module (25) is used to control the welding robot through the control program to perform welding work.

4. A welding robot training platform according to claim 1, characterized in that: The machine equipment loading module (11) comprises a machine equipment data acquisition module (12), a machine equipment model construction module (13) and a machine equipment model library (14), wherein the machine equipment data acquisition module (12) is used to collect the model of the robot equipment and the data of the robot equipment of the model by online collection and offline collection; the machine equipment model construction module (13) is used to construct three-dimensional models of robot equipment of different models according to the collected data; and the machine equipment model library (14) is used to store the constructed three-dimensional models of robot equipment of different models.

5. The welding robot training platform according to claim 1, characterized in that: The emergency event loading module (16) comprises an emergency event collection module (17), an emergency event writing module (18) and an emergency event library (19), wherein the emergency event collection module (17) is used to collect dangerous events that are likely to occur during work according to the robot application environment and the production and processing of products; the emergency event writing module (18) is used to write dangerous events during work according to the robot model and working environment; and the emergency event library (19) is used to store constructed dangerous emergencies.

6. A welding robot training platform according to claim 1, characterized in that: The virtual simulation module (2) comprises a VR virtual device, wherein the virtual device comprises a virtual body, a host and a somatosensory glove.

7. A welding robot training platform according to claim 1, characterized in that: The data in the program storage module (10) is stored in the cloud. Students log in to the platform through registration information and can access the cloud to search for data.

8. The welding robot training platform according to claim 1, characterized in that: When optimizing a programming program, the programming optimization module (7) first converts the program code into a text format, then inserts annotations into the locations in the program code document where optimization is recommended, and inputs optimization suggestions.

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