Industrial robot teaching system

Abstract

The invention relates to the technical field of robot teaching, in particular to an industrial robot teaching system. The industrial robot teaching system comprises a workbench and a central controller installed on one side of the workbench. The number of the program instruction compilators is multiple, and the multiple program instruction compilators are evenly arranged on one side of the workbench at equal intervals and electrically connected with the central controller; the U-shaped frame is installed on the two sets of supporting rods in a sliding mode, a supporting shaft is rotationally installed on the U-shaped frame, end plates are symmetrically installed on the two sides of the supporting shaft, and a welding robot, a clamping robot and a laser cutting machine are sequentially installed on the two end plates; and the visual inspection mechanism for teaching processing detection and evaluation is mounted on the two supporting rods. The industrial robot teaching system provided by the invention has the advantages of various processing modes and convenience in teaching evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of robot teaching, and in particular to an industrial robot teaching system. Background Art

[0002] A robot is an automated machine, the difference is that this machine has some intelligent capabilities similar to humans or creatures. From the application environment, robots are divided into two categories: industrial robots and special robots. International robotics scholars also divide robots into two categories based on the application environment: industrial robots in manufacturing environments and service and humanoid robots in non-manufacturing environments. The so-called industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for the industrial field, such as manipulators, while special robots are various advanced robots other than industrial robots that are used in non-manufacturing industries and serve humans, including service robots, underwater robots, micro-manipulation robots, entertainment robots, military robots, agricultural robots, robotized machines, etc.

[0003] With the development of industrial technology and technological innovation of automated production lines, more and more production lines are using industrial robots for processing, such as automatic welding and automatic cutting. Therefore, personnel on the production line need to be proficient in operating these industrial robots and need to undergo systematic teaching and evaluation. Only after they are proficient and qualified can they go to work.

[0004] Therefore, it is necessary to provide a new industrial robot teaching system to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an industrial robot teaching system with diverse processing methods and convenient teaching evaluation.

[0006] The industrial robot teaching system provided by the present invention comprises: a workbench, and a central controller installed at one end of the workbench;

[0007] Two groups of support rods, the two groups of support rods are symmetrically installed on the upper surface of the workbench, the workbench is symmetrically installed with rack plates on the inner sides of the two groups of support rods, and the workbench is symmetrically installed with linear guide rails on the inner sides of the rack plates;

[0008] It also includes: a plurality of program instruction compilers evenly and equidistantly arranged on both sides of the workbench, wherein the program instruction compilers are electrically connected to the central controller;

[0009] A U-shaped frame is slidably installed on the two groups of support rods, and a support shaft is rotatably installed on the upper part of the U-shaped frame. End plates are symmetrically installed on both sides of the support shaft. A welding robot, a material clamping robot and a laser cutting machine are installed on the two end plates in sequence. The welding robot, the material clamping robot and the laser cutting machine are all electrically connected to the central controller. A servo motor 1 for driving the support shaft to rotate is installed on the outer side wall of one side of the U-shaped frame, and the servo motor 1 is electrically connected to the central controller;

[0010] A feeding mechanism, which is used for moving and conveying materials and is installed on two linear guide rails;

[0011] A visual inspection mechanism, which is used for teaching, processing, detection and evaluation, is installed on the two support rods.

[0012] Preferably, the central controller includes a PLC control unit for controlling the welding robot, the clamping robot and the laser cutting machine to operate sequentially according to set program instructions, the PLC control unit is electrically connected to a teaching input unit, the teaching input unit is electrically connected to several program instruction compilers, and the PLC control unit is electrically connected to the feeding mechanism.

[0013] Preferably, one side of several of the program instruction compilers is provided with an infrared rangefinder, and the infrared rangefinder is electrically connected to the PLC control unit.

[0014] Preferably, an electric telescopic rod is installed on the outer wall of the other side of the U-shaped frame, a positioning pin is fixedly installed on the telescopic end of the electric telescopic rod, a plurality of limiting holes are evenly opened on the end plate, the positioning pin is plugged into the limiting hole, and the electric telescopic rod is electrically connected to the central controller.

[0015] Preferably, a stepper motor is installed on the inner side wall of the vertical plate of the U-shaped frame, and a transmission gear 1 is installed on the output shaft of the stepper motor, and the transmission gear 1 is meshed with the rack plate.

[0016] Preferably, the welding robot, the clamping robot and the laser cutting machine are distributed in a circle along the axis of the support shaft.

[0017] Preferably, the feeding mechanism includes a lead screw, which is rotatably mounted on a workbench, and a carrier plate is threadedly connected to the lead screw, and the carrier plate slides in cooperation with a linear guide rail. A servo motor 2 for driving the lead screw to rotate is mounted on the workbench, and the servo motor 2 is electrically connected to a central controller.

[0018] Preferably, the inspection mechanism includes a gantry, which is slidably mounted on two support rods, and drive motors are installed on both sides of the gantry, a transmission gear 2 is installed on the output shaft of the drive motor, and the transmission gear 2 is meshed with a rack plate, and a visual camera is installed on the gantry, and the visual camera is electrically connected to a central controller.

[0019] Preferably, the central controller further includes an intelligent evaluation unit, and the intelligent evaluation unit is electrically connected to the visual camera.

[0020] Preferably, one side of the program instruction compiler is electrically connected to a display screen.

[0021] Compared with the related art, the industrial robot teaching system provided by the present invention has the following beneficial effects:

[0022] 1. The present invention provides an industrial robot teaching system, which integrates a welding robot, a clamping robot and a laser cutting machine on an end plate. The end plate can switch different robots for teaching through the cooperation of a support shaft and a servo motor, which is convenient for centralized teaching.

[0023] 2. By setting up several program instruction compilers to be electrically connected to the central controller, during teaching evaluation, it is possible to receive the compilation instructions of multiple students at the same time, and then conduct demonstration teaching in the order in which the instructions are submitted. This makes it easier to evaluate the students' operations during teaching and facilitates better teaching of industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic structural diagram of a preferred embodiment of the industrial robot teaching system provided by the present invention;

[0025] Figure 2 A structural schematic diagram of the industrial robot teaching system provided by the present invention from another perspective;

[0026] Figure 3 A schematic diagram of the structure of a welding robot, a material clamping robot and a laser cutting machine installed on a U-shaped frame provided by the present invention;

[0027] Figure 4 for Figure 3 A schematic diagram of the structure from another perspective showing that a welding robot, a material clamping robot and a laser cutting machine are installed on a U-shaped frame;

[0028] Figure 5 A schematic diagram of the structure of the central controller provided by the present invention;

[0029] Figure 6 for Figure 1 A partial enlarged view of the middle A part;

[0030] Figure 7 A schematic structural diagram of an electric telescopic rod provided by the present invention installed with a positioning pin.

[0031] Numbers in the figure: 1. Workbench; 11. Support rod; 12. Rack plate; 13. Linear guide; 2. Central controller; 21. PLC control unit; 22. Teaching input unit; 23. Intelligent evaluation unit; 3. Program instruction compiler; 31. Infrared rangefinder; 32. Display screen; 4. U-shaped frame; 41. Support shaft; 42. Servo motor one; 43. End plate; 44. Electric telescopic rod; 441. Locating pin; 45. Stepper motor; 451. Transmission gear one; 401. Limiting hole; 5. Welding robot; 6. Clamping robot; 7. Laser cutting machine; 8. Feeding mechanism; 81. Lead screw; 82. Loading plate; 83. Servo motor two; 9. Visual inspection mechanism; 91. Gantry; 92. Drive motor; 93. Transmission gear two; 94. Visual camera. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0034] See also Figures 1 to 7 , an industrial robot teaching system provided by an embodiment of the present invention, the industrial robot teaching system comprising:

[0035] A workbench 1, and a central controller 2 installed on one side of the workbench 1;

[0036] Two groups of support rods 11 are symmetrically installed on the upper surface of the workbench 1. A rack plate 12 is symmetrically installed on the workbench 1 at the inner side of the two groups of support rods 11. A linear guide rail 13 is symmetrically installed on the workbench 1 at the inner side of the rack plate 12.

[0037] There are a plurality of program instruction compilers 3, which are evenly and equidistantly arranged on one side of the workbench 1 and electrically connected to the central controller 2. One side of the program instruction compiler 3 is electrically connected to a display screen 32;

[0038] A U-shaped frame 4 is slidably mounted on two groups of support rods 11, and a support shaft 41 is rotatably mounted on the U-shaped frame 4, and end plates 43 are symmetrically mounted on both sides of the support shaft 41. A welding robot 5, a material clamping robot 6 and a laser cutting machine 7 are sequentially mounted on the two end plates 43, and the welding robot 5, the material clamping robot 6 and the laser cutting machine 7 are all electrically connected to the central controller 2. A servo motor 42 for driving the support shaft 41 to rotate is mounted on an outer side wall of one side of the U-shaped frame 4, and the servo motor 42 is electrically connected to the central controller 2;

[0039] A feeding mechanism 8 for moving and conveying materials is installed on two linear guide rails 13;

[0040] The visual inspection mechanism 9 used for teaching, processing, detection and evaluation is installed on two support rods 11.

[0041] Among them, the central controller 2 includes a PLC control unit 21 for controlling the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to operate in sequence according to the set program instructions. The PLC control unit 21 is electrically connected to the teaching input unit 22, and the teaching input unit 22 is electrically connected to several program instruction compilers 3. The PLC control unit 21 is electrically connected to the feeding mechanism 8.

[0042] The welding robot 5 , the clamping robot 6 and the laser cutting machine 7 are distributed in a circle along the axis of the support shaft 41 .

[0043] It should be noted that: when in use, the central controller 2 here is a kind of industrial robot teaching pendant. The instructor can control the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to perform processing in turn according to the type of processing by inputting the demonstration processing instructions into the central controller 2, thereby conducting on-site centralized teaching of industrial robots. When the teaching is completed, the trainees can input the instruction program written by themselves into the PLC control unit 21 of the central controller 2 through several program instruction compilers 3, and then the PLC control unit 21 smoothly controls the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to perform processing one by one according to the instructions received. During processing, the workpiece is transported to the processing station through the loading mechanism 8, and then the visual inspection mechanism 9 is controlled to perform visual inspection and evaluation on the processed workpiece after processing, so as to easily evaluate and score the written instructions, and realize the teaching assessment and evaluation of the trainees.

[0044] Here, when the welding robot 5, the material clamping robot 6 and the laser cutting machine 7 are in use, the servo motor 42 uses the bevel gear transmission to drive the support shaft 41 to rotate, and the support shaft 41 drives the end plate 43 to rotate, so that the welding robot 5, the material clamping robot 6 and the laser cutting machine 7 are switched to the processing station to process the workpiece. Furthermore, the support shaft 41 is hollow, so that the cables connected to the welding robot 5, the material clamping robot 6 and the laser cutting machine 7 can be arranged in the support shaft 41, which facilitates the flexible switching of the welding robot 5, the material clamping robot 6 and the laser cutting machine 7.

[0045] In the embodiments of the present invention, please refer to Figure 1 and Figure 2 , one side of the plurality of program instruction compilers 3 is provided with an infrared rangefinder 31, and the infrared rangefinder 31 is electrically connected to the PLC control unit 21;

[0046] It should be noted that: several program instruction compilers 3 use infrared rangefinders 31 to locate the position of the U-shaped frame 4 and the loading position, so as to facilitate moving the workpiece to the corresponding program instruction compiler 3, and then the PLC control unit 21 runs the written instructions there, so as to facilitate the intuitive display of the running instructions and facilitate students to watch and learn.

[0047] In the embodiments of the present invention, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 7 An electric telescopic rod 44 is installed on the outer side wall of the other side of the U-shaped frame 4, and a positioning pin 441 is fixedly installed on the telescopic end of the electric telescopic rod 44. A plurality of limiting holes 401 are evenly opened on the end plate 43. The positioning pin 441 is plugged into the limiting hole 401, and the electric telescopic rod 44 is electrically connected to the central controller 2;

[0048] It should be noted that: after the end plate 43 rotates, the electric telescopic rod 44 is controlled to push the positioning pin 441 to insert into the limiting hole 401, so as to limit the rotation of the end plate 43, so as to maintain stable processing after switching. When it is necessary to switch to a different robot, the electric telescopic rod 44 is controlled to withdraw the positioning pin 441 from the limiting hole 401.

[0049] In the embodiments of the present invention, please refer to Figure 1 and Figure 4 A stepper motor 45 is installed on the inner side wall of the vertical plate of the U-shaped frame 4, and a transmission gear 451 is installed on the output shaft of the stepper motor 45, and the transmission gear 451 is meshed with the rack plate 12;

[0050] It should be noted that the U-shaped frame 4 can drive the transmission gear 451 to rotate by controlling the stepping motor 45, and the transmission gear 451 is engaged with the rack plate 12, so that it can slide along the support rod 11, thereby sliding to different workstations for processing.

[0051] In the embodiments of the present invention, please refer to Figure 1 , Figure 2 and Figure 6 The feeding mechanism 8 includes a lead screw 81, which is rotatably mounted on the workbench 1, and a carrier plate 82 is threadedly connected to the lead screw 81, and the carrier plate 82 is slidably matched with the linear guide rail 13. A servo motor 83 for driving the lead screw 81 to rotate is installed on the workbench 1, and the servo motor 83 is electrically connected to the central controller 2;

[0052] It should be noted that when the loading mechanism 8 is in use, after the workpiece is clamped on the loading plate 82 using a tool, the servo motor 83 is started according to the received instruction program position, and the servo motor 83 drives the lead screw 81 to rotate, thereby moving the loading plate 82 to the corresponding processing position to realize automatic alignment loading.

[0053] In the embodiments of the present invention, please refer to Figure 1 , Figure 2 and Figure 5 The visual inspection mechanism 9 includes a gantry 91, which is slidably mounted on two support rods 11, and drive motors 92 are mounted on both sides of the gantry 91, and a transmission gear 93 is mounted on the output shaft of the drive motor 92, and the transmission gear 93 is meshed with the rack plate 12. A visual camera 94 is mounted on the gantry 91, and the visual camera 94 is electrically connected to the central controller 2;

[0054] The central controller 2 further includes an intelligent evaluation unit 23 , which is electrically connected to the visual camera 94 .

[0055] It should be noted that: when the industrial robot completes the processing according to the programmed instructions, the control drive motor 92 drives the transmission gear 2 93 to rotate, and the transmission gear 2 93 engages with the rack plate 12, thereby driving the gantry 91 to move to the processing station to perform visual inspection of the processed workpiece using the visual camera 94. During further inspection, the clamping robot 6 can be used to clamp and flip the workpiece to achieve multi-directional inspection, and the inspected image is transmitted to the intelligent evaluation unit 23. The intelligent evaluation unit 23 is used to evaluate the quality of the processing, thereby evaluating the trainees' learning situation based on the processing quality, making the teaching evaluation of the industrial robot more accurate and reliable.

[0056] The working principle of the industrial robot teaching system provided by the present invention is as follows:

[0057] When the instructor is teaching:

[0058] The central controller 2 is a kind of industrial robot teaching pendant. The instructor can input the processing instructions of the demonstration into the central controller 2 and control the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to perform the operation processing in turn according to the processing type, so as to carry out the on-site centralized teaching of the industrial robot. When the welding robot 5, the clamping robot 6 and the laser cutting machine 7 are in use, the support shaft 41 is driven to rotate by the servo motor 42 using the bevel gear transmission, and the support shaft 41 drives the end plate 43 to rotate, so that the welding robot 5, the clamping robot 6 and the laser cutting machine 7 are switched to the processing station to process the workpiece. Furthermore, the support shaft 41 is hollow, so that the cables connected to the welding robot 5, the clamping robot 6 and the laser cutting machine 7 can be arranged in the support shaft 41, which is convenient for the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to be flexibly switched;

[0059] Further, after the end plate 43 rotates, the electric telescopic rod 44 is controlled to push the positioning pin 441 into the limiting hole 401, so as to limit the rotation of the end plate 43, so as to maintain stable processing after switching. When it is necessary to switch to a different robot, the electric telescopic rod 44 is controlled to withdraw the positioning pin 441 from the limiting hole 401.

[0060] When students are doing assessment drills:

[0061] Trainees can input their own instruction programs into the PLC control unit 21 of the central controller 2 through several program instruction compilers 3, and then the PLC control unit 21 controls the welding robot 5, the clamping robot 6 and the laser cutting machine 7 to perform processing according to the instructions received. During processing, after the workpiece is clamped on the carrier plate 82 by the tooling, the servo motor 83 is started according to the received instruction program position, and the servo motor 83 drives the lead screw 81 to rotate, thereby moving the carrier plate 82 to the corresponding processing position to realize automatic alignment and loading. The U-shaped frame 4 drives the transmission gear 451 to rotate by controlling the stepper motor 45, and the transmission gear 451 and the rack plate 12 is meshed, so that it can slide along the support rod 11, so as to slide to the designated work station for processing. After processing, the driving motor 92 is controlled to drive the transmission gear 2 93 to rotate, and the transmission gear 2 93 is meshed with the rack plate 12, so as to drive the gantry 91 to move to the processing station to perform visual inspection of the processed workpiece using the visual camera 94. During further inspection, the clamping robot 6 can be used to clamp and flip the workpiece to realize multi-directional inspection, and the inspected image is transmitted to the intelligent evaluation unit 23. The intelligent evaluation unit 23 is used to evaluate the quality of the processing, so as to evaluate the trainees' learning situation according to the processing quality, making the teaching evaluation of industrial robots more accurate and reliable.

[0062] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0063] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An industrial robot teaching system, characterized in that: include: A workbench (1), and a central controller (2) installed at one end of the workbench (1); Two groups of support rods (11), the two groups of support rods (11) are symmetrically mounted on the upper surface of the workbench (1), a rack plate (12) is symmetrically mounted on the workbench (1) on the inner side of the two groups of support rods (11), and a linear guide rail (13) is symmetrically mounted on the workbench (1) on the inner side of the rack plate (12); It also includes: a plurality of program instruction compilers (3) evenly and equidistantly arranged on both sides of the workbench (1), wherein the program instruction compilers (3) are electrically connected to the central controller (2); A U-shaped frame (4) is slidably mounted on the two groups of support rods (11); a support shaft (41) is rotatably mounted on the upper part of the U-shaped frame (4); end plates (43) are symmetrically mounted on both sides of the support shaft (41); a welding robot (5), a material clamping robot (6) and a laser cutting machine (7) are sequentially mounted on the two end plates (43); the welding robot (5), the material clamping robot (6) and the laser cutting machine (7) are all electrically connected to the central controller (2); a servo motor (42) for driving the support shaft (41) to rotate is mounted on an outer side wall of one side of the U-shaped frame (4); the servo motor (42) is electrically connected to the central controller (2); A feeding mechanism (8), which is used for moving and conveying materials and is installed on two linear guide rails (13); A visual inspection mechanism (9) for teaching, processing, detection and evaluation is installed on the two support rods (11).

2. The industrial robot teaching system according to claim 1, characterized in that: The central controller (2) comprises a PLC control unit (21) for controlling the welding robot (5), the material clamping robot (6) and the laser cutting machine (7) to operate in sequence according to set program instructions. The PLC control unit (21) is electrically connected to a teaching input unit (22). The teaching input unit (22) is electrically connected to a plurality of program instruction compilers (3). The PLC control unit (21) is electrically connected to a feeding mechanism (8).

3. The industrial robot teaching system according to claim 2, characterized in that: One side of each of the program instruction compilers (3) is provided with an infrared rangefinder (31), and the infrared rangefinder (31) is electrically connected to the PLC control unit (21).

4. The industrial robot teaching system according to claim 1, characterized in that: An electric telescopic rod (44) is installed on the outer side wall of the other side of the U-shaped frame (4); a positioning pin (441) is fixedly installed on the telescopic end of the electric telescopic rod (44); a plurality of limiting holes (401) are evenly opened on the end plate (43); the positioning pin (441) is plugged into and matched with the limiting holes (401); and the electric telescopic rod (44) is electrically connected to the central controller (2).

5. The industrial robot teaching system according to claim 1, characterized in that: A stepper motor (45) is installed on the inner side wall of the vertical plate of the U-shaped frame (4), and a transmission gear 1 (451) is installed on the output shaft of the stepper motor (45), and the transmission gear 1 (451) is meshed with the rack plate (12).

6. The industrial robot teaching system according to claim 1, characterized in that: The welding robot (5), the material clamping robot (6) and the laser cutting machine (7) are distributed in a circle along the axis of the support shaft (41).

7. The industrial robot teaching system according to claim 1, characterized in that: The feeding mechanism (8) comprises a lead screw (81), the lead screw (81) is rotatably mounted on the workbench (1), and a carrier plate (82) is threadedly connected to the lead screw (81), the carrier plate (82) is slidably matched with a linear guide rail (13), and a servo motor 2 (83) for driving the lead screw (81) to rotate is installed on the workbench (1), and the servo motor 2 (83) is electrically connected to the central controller (2).

8. The industrial robot teaching system according to claim 1, characterized in that: The visual inspection mechanism (9) comprises a gantry (91), the gantry (91) is slidably mounted on two support rods (11), and drive motors (92) are mounted on both sides of the gantry (91), a transmission gear 2 (93) is mounted on the output shaft of the drive motor (92), the transmission gear 2 (93) is meshed with a rack plate (12), and a visual camera (94) is mounted on the gantry (91), and the visual camera (94) is electrically connected to the central controller (2).

9. The industrial robot teaching system according to claim 8, characterized in that: The central controller (2) further comprises an intelligent evaluation unit (23), wherein the intelligent evaluation unit (23) is electrically connected to the visual camera (94).

10. The industrial robot teaching system according to claim 1, characterized in that: One side of the program instruction compiler (3) is electrically connected to a display screen (32).

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