Bearing assembly practical training platform based on industrial robot

Abstract

The invention discloses a bearing assembly practical training platform based on an industrial robot, and the platform comprises an operation platform, one side of the operation platform is provided with a VR display device, one side of the VR display device is provided with a VR storage device, the upper end of the operation platform is provided with a protection mechanism, and the upper end of the operation platform is fixedly provided with a bottom plate. A gluing assembly mechanism is arranged on one side of the upper end of the bottom plate, a conveying mechanism is arranged on the other side of the upper end of the bottom plate, and a supporting frame is installed at the upper end of the conveying mechanism. According to the invention, the efficiency of automatic bearing assembly can be improved, the production speed can be greatly improved, the visual sorting technology of the industrial camera can be utilized to realize automatic evaluation of the glue coverage rate, the assembly precision verification capability can be improved, and in addition, students can simulate assembly path planning and interference inspection in a virtual environment at first, so that the production efficiency can be improved. Typical faults are recognized in combination with a machine learning algorithm, a visual diagnosis report is generated to assist teaching, and the teaching effect is enhanced in cooperation with AR.

Description

Technical Field

[0001] The present invention relates to the technical field of bearing assembly training, and in particular to a bearing assembly training platform based on an industrial robot. Background Art

[0002] Bearings are an important component in contemporary mechanical equipment. Its main function is to support the mechanical rotating body, reduce the friction coefficient during its movement, and ensure its rotation accuracy. It is of great significance in machinery. At present, bearing assembly training is an important part of mechanical manufacturing and automation teaching. Its design needs to take into account both basic skill training and industrial scene adaptability. Therefore, this training provides important reference and adaptation for future processing.

[0003] However, in the current bearing training, the teaching demonstration effect is poor and the integrated processing efficiency is low. Not only can it not be interactively displayed with the college, but it is also not conducive to rapid processing. At the same time, it does not have the ability to analyze, detect and evaluate the products produced, which greatly reduces the effect of the training. For this reason, we proposed a bearing assembly training platform based on industrial robots to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a bearing assembly training platform based on an industrial robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A bearing assembly training platform based on an industrial robot comprises an operating table, a VR display device is provided on one side of the operating table, a VR storage device is provided on one side of the VR display device, a protective mechanism is provided at the upper end of the operating table, a bottom plate is fixed to the upper end of the operating table, a gluing assembly mechanism is provided on one side of the upper end of the bottom plate, a conveying mechanism is provided on the other side of the upper end of the bottom plate, a supporting frame is installed at the upper end of the conveying mechanism, a position adjustment mechanism is provided on the supporting frame, and a visual recognition device is installed on the position adjustment mechanism.

[0007] Preferably, the VR display device includes a base arranged on one side of the operating table, a support column is fixed to one side of the upper end of the base, the upper end of the support column is rotatably connected to a display screen, and one side of the upper end of the base is rotatably connected to an electric telescopic rod, one end of the electric telescopic rod is rotatably connected to one side of the display screen.

[0008] Preferably, the VR storage device comprises a VR glasses placement box, a placement cavity is provided in the VR glasses placement box, a plurality of placement plates are fixed at equal intervals in the placement cavity, and the placement plates divide the placement cavity into a plurality of placement areas of equal size at equal intervals, and a cover is hinged on one side of the placement cavity.

[0009] Preferably, the protective mechanism includes acrylic protective covers rotatably connected to both sides of the upper end of the operating table, and one ends of the two acrylic protective covers correspond to each other. Two hydraulic cylinders are rotatably connected to both sides of the upper end of the operating table, and the end of the piston rod of a hydraulic cylinder on the same side is rotatably connected to one end of the acrylic protective cover on the same side.

[0010] Preferably, the gluing and assembling mechanism comprises a gluing robot and an assembling robot fixed to one side of the upper end of the bottom plate, an operating panel is fixed to one side of the upper end of the bottom plate, and the operating panel corresponds to the gluing robot and the assembling robot.

[0011] Preferably, the conveying mechanism includes a conveying belt arranged on the other side of the upper end of the bottom plate, and one end of the conveying belt corresponds to the operating panel.

[0012] Preferably, the support frame includes two fixing plates fixed to the upper end of the bottom plate, the two fixing plates are respectively located on both sides of the conveyor belt, and a connecting plate is commonly fixed to the upper ends of the two fixing plates.

[0013] Preferably, the position adjustment mechanism includes a fixing box fixed to one side of the lower end of the connecting plate, a second servo motor is installed in the fixing box, a second reduction mechanism is connected to the end of the output shaft of the second servo motor, one end of the second reduction mechanism is connected to a rotating rod, one end of the rotating rod is connected to a second bevel gear, a stud is rotatably connected to one side of the fixing box, one end of the stud passes through the side wall of the fixing box and is rotatably connected to one side of one of the fixing plates, a first bevel gear is fixedly sleeved on the stud, and the first bevel gear and the second bevel gear are meshed with each other, a slider is threaded on the stud, a slide groove is provided at the lower end of the connecting plate, and the slider is clamped in the slide groove.

[0014] Preferably, the visual recognition device includes a protective box fixed to the lower end of the slider, a first servo motor is installed in the protective box, the end of the output shaft of the first servo motor is connected to a first reduction mechanism, the lower end of the first reduction mechanism is connected to a fixed shaft, the fixed shaft passes through the side wall of the protective box and extends to the lower end of the protective box, and an industrial camera is fixed to the lower end of the fixed shaft.

[0015] Preferably, a palletizing robot is provided on one side of the upper end of the bottom plate, and a sorting robot is provided on the other side of the upper end of the bottom plate, and the sorting robot corresponds to the conveyor belt.

[0016] In the present invention, bearing assembly is integrated with gluing, inspection, palletizing and other processes to improve the efficiency of automated assembly, a gluing quality inspection unit based on industrial camera vision is added, and the visual sorting technology of the industrial camera is used to realize the automatic evaluation of glue coverage, thereby improving the assembly accuracy verification capability. Through the virtual simulation technology of VR, a three-dimensional digital twin platform is constructed, so that trainees can first use the VR glasses in the VR glasses placement box to simulate assembly path planning and interference inspection in a virtual environment, and then synchronize the optimized program to the physical robot through the OPC UA protocol, thereby reducing the loss of training consumables and reducing the scrap rate of bearing trial assembly by 30%.

[0017] In the present invention, an intelligent monitoring function is integrated, and the AI-driven fault diagnosis system collects robot joint data through vibration sensors and current monitoring modules, and combines machine learning algorithms to identify typical faults, such as harmonic reducer wear and end effector positioning offset, and generates visual diagnosis reports to assist teaching. In addition, the detachable and transparent structure design uses a transparent acrylic protective cover to facilitate the display of key components, and with AR augmented reality labels, you can scan the code to view the three-dimensional disassembly animation.

[0018] In the present invention, a multi-dimensional assessment and evaluation system is adopted, with an integrated teaching programming data collection function, to construct a multi-dimensional scoring system including process parameters, assembly force curve, efficiency index, single piece working time, quality data, and coaxiality error, and automatically generate a radar chart to analyze the shortcomings of trainees' skills.

[0019] In the present invention, multiple robots all adopt a standardized interface design, which can quickly replace the grippers and positioning molds of different bearing specifications, such as switching between miniature bearings and large flange bearings. The magnetic quick-change device can be used to complete the fixture replacement within 5 minutes, which is suitable for multi-model training needs.

[0020] The present invention has the following advantages:

[0021] 1. Through the multi-functional integration idea, the bearing assembly is integrated with the gluing, testing, palletizing and other processes to improve the efficiency of automated assembly and greatly increase the production speed;

[0022] 2. By adding a gluing quality inspection unit based on industrial camera vision and using the visual sorting technology of industrial cameras, the automatic evaluation of glue coverage can be achieved, thus improving the assembly accuracy verification capability;

[0023] 3. Through VR virtual simulation technology, a three-dimensional digital twin platform is built, allowing trainees to simulate assembly path planning and interference inspection in a virtual environment, and then synchronize the optimized program to the physical robot through the OPC UA protocol to reduce the loss of training consumables;

[0024] 4. Collect robot joint data through vibration sensors and current monitoring modules, identify typical faults with machine learning algorithms, and generate visual diagnostic reports to assist teaching;

[0025] 5. Through the combination of transparent acrylic protective cover and quick-release opening, key components can be displayed, and AR can be used to enhance teaching effects;

[0026] In summary, the present invention can not only improve the efficiency of automatic assembly of bearings and greatly increase the production speed, but also use the visual sorting technology of industrial cameras to realize the automatic evaluation of glue coverage and improve the assembly accuracy verification capability. In addition, it allows students to simulate assembly path planning and interference inspection in a virtual environment first, reduce the loss of practical training consumables, and combine machine learning algorithms to identify typical faults, generate visual diagnostic reports to assist teaching, and cooperate with AR to enhance teaching effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of the present invention;

[0028] Figure 2 This is a diagram showing the internal structure of the acrylic protective cover of the present invention;

[0029] Figure 3 It is a structural diagram of the position adjustment mechanism of the present invention;

[0030] Figure 4 It is a structural diagram of the visual recognition device of the present invention;

[0031] Figure 5 This is a diagram showing the internal structure of the fixing box of the present invention;

[0032] Figure 6 Open the structural diagram for the acrylic protective cover of the present invention;

[0033] Figure 7 A structural diagram of a placement plate arrangement of the present invention.

[0034] In the figure: 1 VR glasses placement box, 2 cover, 3 display screen, 4 electric telescopic rod, 5 acrylic protective cover, 6 support column, 7 base, 8 operating table, 9 hydraulic cylinder, 10 placement plate, 11 first servo motor, 12 first reduction mechanism, 13 industrial camera, 14 gluing robot, 15 assembly robot, 16 operation panel, 17 stacking robot, 18 fixed plate, 19 conveyor belt, 20 connecting plate, 21 sorting robot, 22 bottom plate, 23 slide, 24 slider, 25 stud, 26 protection box, 27 second reduction mechanism, 28 fixed box, 29 first bevel gear, 30 second bevel gear, 31 rotating rod, 32 second servo motor. DETAILED DESCRIPTION

[0035] 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.

[0036] Reference Figure 1-7 A bearing assembly training platform based on an industrial robot includes an operating table 8, a VR display device is provided on one side of the operating table 8, a VR storage device is provided on one side of the VR display device, and the setting of the VR device can realize high-precision three-dimensional simulation and real-time mapping.

[0037] The digital twin-based training platform uses 3D modeling technology to build virtual images of physical equipment. For example, the robot motion trajectory in the bearing assembly process and the path planning of logistics AGV can be simulated in a virtual environment. Trainees can repeatedly debug parameters in the digital space, observe the interference of the robot arm's movements, and reduce actual equipment losses.

[0038] Supports full-process training from design, assembly to operation and maintenance. For example, in smart logistics training, trainees can simulate the warehousing, sorting, and distribution of packages, and use the digital twin platform to monitor the operating status of equipment in real time, such as abnormal speed of belt conveyors, and troubleshoot faults.

[0039] The VR display device includes a base 7 arranged on one side of the operating table 8, a support column 6 is fixed on one side of the upper end of the base 7, and the upper end of the support column 6 is rotatably connected to a display screen 3, and an electric telescopic rod 4 is rotatably connected to one side of the upper end of the base 7, and one end of the electric telescopic rod 4 is rotatably connected to one side of the display screen 3. The VR storage device includes a VR glasses placement box 1, and a placement cavity is provided in the VR glasses placement box 1. A plurality of placement plates 10 are fixed at equal intervals in the placement cavity, and the placement plates 10 divide the placement cavity into a plurality of placement areas of equal size at equal intervals. A cover 2 is hinged on one side of the placement cavity to facilitate automatic adjustment of the display angle of the display screen 3. With the help of real-time cloud rendering technology, the teacher side displays the assembly process through the display screen 3, and the student side synchronously watches the operation screen through VR glasses, Pad and other devices to realize multi-person collaborative training. For example, the digital twin platform of the bearing valve smart factory supports remote real-time guidance. Teachers can instantly mark key steps, and real-time data of physical equipment and virtual models are synchronized, such as robot joint torque and AGV positioning coordinates. After adjusting parameters in the virtual environment, students can view the operation screen through OPC The UA protocol directly drives the physical device to perform actions, forming a closed loop of "virtual debugging-physical verification";

[0040] A protective mechanism is provided at the upper end of the operating table 8, which includes an acrylic protective cover 5 rotatably connected to both sides of the upper end of the operating table 8, and one end of the two acrylic protective covers 5 corresponds to each other. Two hydraulic cylinders 9 are rotatably connected to both sides of the upper end of the operating table 8, and the piston rod end of a hydraulic cylinder 9 on the same side is rotatably connected to one end of the acrylic protective cover 5 on the same side. The hydraulic cylinders 9 are controlled by a synchronous control system to achieve simultaneous operation, which is convenient for quickly opening the acrylic protective cover 5. The transparent acrylic protective cover 5 is combined with the quick-release opening to realize the display of key components, and AR is used to enhance the teaching effect;

[0041] A bottom plate 22 is fixed to the upper end of the operating table 8, and a gluing assembly mechanism is provided on one side of the upper end of the bottom plate 22. The gluing assembly mechanism includes a gluing robot 14 and an assembly robot 15 fixed to one side of the upper end of the bottom plate 22. An operating panel 16 is fixed to one side of the upper end of the bottom plate 22, and the operating panel 16 corresponds to the gluing robot 14 and the assembly robot 15. The multifunctional integration idea integrates the bearing assembly with the processes of gluing, testing, and palletizing, thereby improving the efficiency of the automated assembly and greatly improving the production speed.

[0042] A conveying mechanism is provided on the other side of the upper end of the bottom plate 22. The conveying mechanism includes a conveyor belt 19 provided on the other side of the upper end of the bottom plate 22, and one end of the conveyor belt 19 corresponds to the operation panel 16. The conveyor belt 19 is connected to the gluing, testing, and stacking systems to synchronously control the conveying speed and conveying time, thereby ensuring the accuracy and timeliness of the conveying and avoiding waste caused by continuous operation.

[0043] A support frame is installed at the upper end of the conveying mechanism, and the support frame includes two fixing plates 18 fixed to the upper end of the bottom plate 22, and the two fixing plates 18 are respectively located on both sides of the conveyor belt 19, and a connecting plate 20 is fixed to the upper ends of the two fixing plates 18 to stably support the structure at the upper end;

[0044] A position adjustment mechanism is provided on the support frame, and the position adjustment mechanism includes a fixed box 28 fixed to one side of the lower end of the connecting plate 20, a second servo motor 32 is installed in the fixed box 28, and the second reduction mechanism 27 is connected to the end of the output shaft of the second servo motor 32, and one end of the second reduction mechanism 27 is connected to a rotating rod 31, and one end of the rotating rod 31 is connected to a second bevel gear 30, and a stud 25 is rotatably connected to one side of the fixed box 28, and one end of the stud 25 penetrates the side wall of the fixed box 28 and is rotatably connected to one side of one of the fixed plates 18, and a first bevel gear 29 is fixedly sleeved on the stud 25, and the first bevel gear 29 and the second bevel gear 30 are meshed with each other, and a slider 24 is threadedly screwed on the stud 25, and a slide groove 23 is provided at the lower end of the connecting plate 20, and the slider 24 is clamped in the slide groove 23, and the rotation of the output shaft of the second servo motor 32 drives the rotating rod 31 to rotate, thereby realizing the rotation of the stud 25 through the bevel gear, and then realizing the movement of the slider 24, so as to realize the precise adjustment of the visual recognition device at the lower end;

[0045] A visual recognition device is installed on the position adjustment mechanism, and the visual recognition device includes a protection box 26 fixed to the lower end of the slider 24, and a first servo motor 11 is installed in the protection box 26. The end of the output shaft of the first servo motor 11 is connected to the first reduction mechanism 12, and the lower end of the first reduction mechanism 12 is connected to a fixed shaft, which passes through the side wall of the protection box 26 and extends to the lower end of the protection box 26. An industrial camera 13 is fixed to the lower end of the fixed shaft. The first servo motor 11 drives the first reduction mechanism 12 to rotate through the rotation of the output shaft, thereby realizing the precise adjustment of the position of the industrial camera 13, and using the visual sorting technology of the industrial camera to realize the automatic evaluation of the glue coverage rate, thereby improving the assembly accuracy verification capability;

[0046] A stacking robot 17 is provided on one side of the upper end of the bottom plate 22, and a sorting robot 21 is provided on the other side of the upper end of the bottom plate 22, and the sorting robot 21 corresponds to the conveyor belt 19. A magnetic quick-change device and a standardized interface are used, and different training modules can be switched within 5 minutes, such as micro bearing assembly and large flange assembly. The digital twin platform synchronously updates the virtual model parameters to adapt to diversified teaching needs;

[0047] The platform presets 36 typical industrial faults, such as gas leakage and signal interference. Trainees need to analyze the root causes of the faults through the vibration sensor data and current curves of the digital twin system. The system generates a diagnostic report in combination with machine learning algorithms to assist trainees in locating the problem. The system uses 3D vision guidance to achieve a centering accuracy of ±0.02mm for the inner and outer rings of the bearings, and the virtual environment simulates the thermal expansion and contraction effects of interference fits.

[0048] In the present invention, bearing assembly is integrated with processes such as gluing, inspection, and stacking to improve the efficiency of automated assembly, a gluing quality inspection unit based on the vision of the industrial camera 13 is added, and the visual sorting technology of the industrial camera 13 is used to realize the automatic evaluation of glue coverage, thereby improving the assembly accuracy verification capability. Through the virtual simulation technology of VR, a three-dimensional digital twin platform is constructed, so that trainees can first use the VR glasses in the VR glasses placement box 1 to simulate assembly path planning and interference inspection in a virtual environment, and then synchronize the optimized program to the physical robot through the OPC UA protocol, thereby reducing the loss of training consumables and reducing the scrap rate of bearing trial assembly by 30%.

[0049] In the present invention, an intelligent monitoring function is also integrated. The AI-driven fault diagnosis system collects robot joint data through vibration sensors and current monitoring modules, and combines machine learning algorithms to identify typical faults, such as harmonic reducer wear and end effector positioning offset, and generates visual diagnosis reports to assist teaching. In addition, the detachable and transparent structure design uses a transparent acrylic protective cover 5 to facilitate the display of key components. With AR augmented reality labels, the three-dimensional disassembly animation can be viewed by scanning the code.

[0050] In the present invention, a multi-dimensional assessment and evaluation system is also adopted, with an integrated teaching programming data collection function, to construct a multi-dimensional scoring system including process parameters, assembly force curve, efficiency index, single piece working time, quality data, and coaxiality error, and automatically generate a radar chart to analyze the shortcomings of trainees' skills.

[0051] In the present invention, multiple robots all adopt a standardized interface design, which can quickly replace the grippers and positioning molds of different bearing specifications, such as switching between miniature bearings and large flange bearings. The magnetic quick-change device can be used to complete the fixture replacement within 5 minutes, which is suitable for multi-model training needs.

[0052] 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 bearing assembly training platform based on an industrial robot, comprising an operating table (8), characterized in that: A VR display device is provided on one side of the operating table (8), a VR storage device is provided on one side of the VR display device, a protective mechanism is provided on the upper end of the operating table (8), a bottom plate (22) is fixed on the upper end of the operating table (8), a gluing assembly mechanism is provided on one side of the upper end of the bottom plate (22), a conveying mechanism is provided on the other side of the upper end of the bottom plate (22), a support frame is installed on the upper end of the conveying mechanism, a position adjustment mechanism is provided on the support frame, and a visual recognition device is installed on the position adjustment mechanism.

2. The bearing assembly training platform based on industrial robots according to claim 1 is characterized in that: The VR display device comprises a base (7) arranged on one side of an operating table (8); a support column (6) is fixed to one side of the upper end of the base (7); the upper end of the support column (6) is rotatably connected to a display screen (3); the upper end of the base (7) is rotatably connected to an electric telescopic rod (4); one end of the electric telescopic rod (4) is rotatably connected to one side of the display screen (3).

3. The bearing assembly training platform based on industrial robots according to claim 1 is characterized in that: The VR storage device comprises a VR glasses placement box (1), wherein a placement cavity is provided in the VR glasses placement box (1), a plurality of placement plates (10) are fixed at equal intervals in the placement cavity, and the placement plates (10) divide the placement cavity into a plurality of placement areas of equal size at equal intervals, and a cover (2) is hingedly connected to one side of the placement cavity.

4. The bearing assembly training platform based on an industrial robot according to claim 1, characterized in that: The protective mechanism comprises acrylic protective covers (5) rotatably connected to both sides of the upper end of the operating table (8), and one end of the two acrylic protective covers (5) corresponds to each other. Two hydraulic cylinders (9) are rotatably connected to both sides of the upper end of the operating table (8), and the end of the piston rod of a hydraulic cylinder (9) on the same side is rotatably connected to one end of the acrylic protective cover (5) on the same side.

5. The bearing assembly training platform based on industrial robots according to claim 4 is characterized in that: The gluing and assembling mechanism comprises a gluing robot (14) and an assembling robot (15) fixed to one side of the upper end of a base plate (22); an operating panel (16) is fixed to one side of the upper end of the base plate (22), and the operating panel (16) corresponds to the gluing robot (14) and the assembling robot (15).

6. The bearing assembly training platform based on industrial robots according to claim 5 is characterized in that: The conveying mechanism comprises a conveying belt (19) arranged on the other side of the upper end of the bottom plate (22), and one end of the conveying belt (19) corresponds to the operating plate (16).

7. The bearing assembly training platform based on industrial robots according to claim 6 is characterized by: The support frame comprises two fixing plates (18) fixed to the upper end of the bottom plate (22), the two fixing plates (18) are respectively located on both sides of the conveyor belt (19), and a connecting plate (20) is commonly fixed to the upper ends of the two fixing plates (18).

8. The bearing assembly training platform based on industrial robots according to claim 7 is characterized in that: The position adjustment mechanism comprises a fixing box (28) fixed to one side of the lower end of the connecting plate (20), a second servo motor (32) is installed in the fixing box (28), the output shaft end of the second servo motor (32) is connected to a second reduction mechanism (27), one end of the second reduction mechanism (27) is connected to a rotating rod (31), one end of the rotating rod (31) is connected to a second bevel gear (30), one side of the fixing box (28) is rotatably connected to a stud (25), one end of the stud (25) passes through the side wall of the fixing box (28) and is rotatably connected to one side of one of the fixing plates (18), a first bevel gear (29) is fixedly sleeved on the stud (25), and the first bevel gear (29) and the second bevel gear (30) are meshed with each other, a slider (24) is threadedly screwed on the stud (25), a slide groove (23) is provided at the lower end of the connecting plate (20), and the slider (24) is clamped in the slide groove (23).

9. The bearing assembly training platform based on industrial robots according to claim 8, characterized in that: The visual recognition device comprises a protection box (26) fixed at the lower end of a slider (24), a first servo motor (11) being installed in the protection box (26), a first reduction mechanism (12) being connected to the end of an output shaft of the first servo motor (11), a fixed shaft being connected to the lower end of the first reduction mechanism (12), the fixed shaft penetrating through a side wall of the protection box (26) and extending to the lower end of the protection box (26), an industrial camera (13) being fixed to the lower end of the fixed shaft.

10. The bearing assembly training platform based on industrial robots according to claim 6, characterized in that: A stacking robot (17) is provided on one side of the upper end of the bottom plate (22), and a sorting robot (21) is provided on the other side of the upper end of the bottom plate (22), and the sorting robot (21) corresponds to the conveyor belt (19).

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