Robot simulation working unit

Abstract

The invention provides a robot simulation working unit which comprises a first robot, a first material placing mechanism, a second robot, a classification platform and a conveyor, the first robot is provided with a first camera, and the first robot identifies materials on the first material placing mechanism through the first camera; the first robot is provided with a first camera, the first robot can convey the recognized materials to the conveyor, the second robot is provided with a second camera, the second robot recognizes the materials on the conveyor through the second camera, and the second robot can place the recognized materials on the classification platform. According to the robot simulation working unit, when the first robot, the second robot and all the matched devices work together, it is equivalent to that an actual production line of a factory is simulated, so that the robot simulation working unit can simulate a real application scene of the robot in the factory, and therefore the problem point of the robot can be easily measured and optimized; and meanwhile, the teaching practical training of the robot function can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of robot teaching, and in particular relates to a robot simulation working unit. Background Art

[0002] At present, most of the robot testing and teaching training on the market are stand-alone operation of the robot. This kind of stand-alone operation is just to imagine that there are materials and other supporting equipment next to the robot, and then the robot moves automatically according to the imaginary situation. This does not reflect the real application scenario of the robot in the factory at all, it is difficult to test the problem points of the robot, and it is also difficult to realize the teaching and training of the robot's functions. Summary of the invention

[0003] Therefore, the present invention provides a robot simulation working unit, which can solve the technical problem that most of the robot testing and teaching training are single-machine operation of the robot, which cannot reflect the real application scenarios of the robot in the factory, it is difficult to test the problem points of the robot, and it is also difficult to realize the teaching and training of the robot functions.

[0004] In order to solve the above problems, the present invention provides a robot simulation working unit, including: a first robot, a first material placement mechanism, a second robot, a classification platform and a conveyor, the first robot is equipped with a first camera, the first robot identifies the material on the first material placement mechanism through the first camera, and the first robot can transfer the identified material to the conveyor, the second robot is equipped with a second camera, the second robot identifies the material on the conveyor through the second camera, and the second robot can place the identified material on the classification platform.

[0005] In some embodiments, the first material placement mechanism includes a silo vibrating plate, and the silo vibrating plate classifies the materials on the first material placement mechanism during vibration.

[0006] In some embodiments, the classification platform is configured to be rotatable, and the classification platform has a plurality of material placement areas distributed along the circumferential direction; and / or the number of the conveyors is at least two.

[0007] In some embodiments, the robot simulation working unit further includes a second material placement mechanism, the first robot identifies the material on the classification platform through the first camera, and the first robot is capable of transferring the material on the classification platform to the second material placement mechanism.

[0008] In some embodiments, the robot simulation working unit further includes a frame platform, and the first robot, the first material placement mechanism, the second robot, the classification platform and the conveyor are all located on the frame platform.

[0009] In some embodiments, a plurality of rollers are provided on the frame platform; a plurality of grooves extending along a first direction are constructed on the frame platform, the grooves are spaced apart along a second direction on the frame platform, and a sliding member capable of sliding along the groove is provided in each groove; the first robot, the first material placement mechanism, the second robot, the classification platform and the conveyor all have a connecting portion, and the connecting portion is detachably connected to the sliding member.

[0010] In some embodiments, a protective outer frame is assembled on the rack platform, and the first robot, the first material placement mechanism, the second robot, the classification platform and the conveyor are all located inside the protective outer frame.

[0011] In some embodiments, the protective outer frame has a first opening, a first photoelectric safety protection device is installed on the protective outer frame, and the first photoelectric safety protection device is located at the first opening; and / or, the protective outer frame has a second opening, a second photoelectric safety protection device is installed on the protective outer frame, and the second photoelectric safety protection device is located at the second opening.

[0012] In some embodiments, a master control device is installed on the rack platform; and / or a touch screen is installed on the rack platform or the protective outer frame.

[0013] In some embodiments, a computer module is installed on the rack platform or the protective outer frame; and / or a drawer is configured on the rack platform.

[0014] The present invention provides a robot simulation working unit, which has the following beneficial effects:

[0015] Since the first robot can identify the materials on the first material placement mechanism through the first camera and transfer the identified materials to the conveyor, and the second robot can identify the materials on the conveyor through the second camera and place the identified materials on the classification platform, when the first robot, the second robot and the various matching devices work together, it is equivalent to simulating the actual production line of the factory. This allows the robot simulation working unit of the present application to simulate the real application scenario of the robot in the factory, so that it is easy to measure the problem points of the robot and optimize it, and it can also realize the teaching and training of the robot function. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 Schematic diagram of a robot simulation working unit according to an embodiment of the present invention.

[0018] The reference numerals are as follows:

[0019] 1. First robot; 2. First material placement mechanism; 3. Second robot; 4. Sorting platform; 5. Conveyor; 6. First camera; 7. Second camera; 8. Second material placement mechanism; 9. Rack platform; 10. Groove; 11. Protective frame; 12. First photoelectric safety protection device; 13. Second photoelectric safety protection device; 14. Master control device; 15. Touch screen; 16. Drawer; 17. Computer module; 18. Indicator light; 19. Roller. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0022] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0023] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0024] See also Figure 1 As shown, according to an embodiment of the present invention, a robot simulation working unit is provided, including: a first robot 1, a first material placement mechanism 2, a second robot 3, a classification platform 4 and a conveyor 5, the first robot 1 is equipped with a first camera 6, the first robot 1 identifies the material on the first material placement mechanism 2 through the first camera 6, and the first robot 1 can transfer the identified material to the conveyor 5, the second robot 3 is equipped with a second camera 7, the second robot 3 identifies the material on the conveyor 5 through the second camera 7, and the second robot 3 can place the identified material on the classification platform 4.

[0025] In this technical solution, since the first robot 1 can identify the material on the first material placement mechanism 2 through the first camera 6 and transfer the identified material to the conveyor 5, the second robot 3 can identify the material on the conveyor 5 through the second camera 7 and place the identified material on the classification platform 4, when the first robot 1, the second robot 3 and the various matching devices work together, it is equivalent to simulating the actual production line of the factory. This allows the robot simulation working unit of the present application to simulate the real application scenario of the robot in the factory, so that it is easy to measure the problem points of the robot and optimize it, and it can also realize the teaching and training of the robot function. Among them, the first robot 1 can be a six-axis robot, and the second robot 3 can be a four-axis robot.

[0026] It can be understood that the first robot 1 identifies the material on the first material placement mechanism 2 through the first camera 6 and transfers the identified material to the conveyor 5, which is equivalent to the functional test and training of simulating destacking. The second robot 3 identifies the material on the conveyor 5 through the second camera 7 and places the identified material on the classification platform 4, which is equivalent to the functional test and training of simulating tracking and grasping. Among them, the first robot 1 and the second robot 3 can work independently, so that the robot simulation working unit of the present application can also complete the robot single function test and training.

[0027] As a specific implementation, the first material placement mechanism 2 includes a silo vibration plate, and the silo vibration plate classifies the materials on the first material placement mechanism 2 during the vibration process.

[0028] In this embodiment, the silo vibration plate can classify different types of materials placed on the first material placement mechanism 2 during the vibration process, and can also separate the same type of materials placed on the first material placement mechanism 2 according to different sizes. After the materials on the first material placement mechanism 2 are classified, the first robot 1 identifies the materials on the first material placement mechanism 2 through the first camera 6 and transfers the identified materials to the conveyor 5, which is also equivalent to simulating material sorting function testing and training.

[0029] See also Figure 1 As shown, the classification platform 4 is configured to be rotatable, and the classification platform 4 has a plurality of material placement areas distributed along the circumferential direction.

[0030] In this technical solution, the second robot 3 can place the same type of materials in different categories in the same material placement area on the classification platform 4, and can also place the same type of materials with similar sizes in the same material placement area on the classification platform 4. Because the classification platform 4 is configured to be rotatable, when a material placement area on the classification platform 4 is full of materials, the classification platform 4 can be controlled to rotate to an appropriate angle so that the remaining material placement area can be moved to an appropriate position to continue to place the grasped materials. Among them, a plurality of grooves are constructed on the part of the classification platform 4 where each material placement area is located, and each groove is used to place materials.

[0031] See also Figure 1 As shown, the number of conveyors 5 is at least two, so that the first robot 1 can place different types of materials on different conveyors 5 for conveyance or place materials of the same type but different sizes on different conveyors 5 for conveyance, thereby realizing the classification of materials through the conveyors 5. Of course, the first robot 1 can also place different materials on different conveyors 5 for testing and training, and the second robot 3 can grab different materials from different conveyors 5 for testing and training.

[0032] See also Figure 1 As shown, the robot simulation working unit also includes a second material placement mechanism 8 , the first robot 1 identifies the material on the classification platform 4 through the first camera 6 , and the first robot 1 can transfer the material on the classification platform 4 to the second material placement mechanism 8 .

[0033] In this embodiment, after a material placement area on the classification platform 4 is filled with materials, the classification platform 4 will be controlled to rotate so that the vacant material placement area is close to the second robot 3, and the material placement area filled with materials is close to the first robot 1. Then the first robot 1 transports and unloads the classified materials on the classification platform 4 to the second material placement mechanism 8, thereby simulating the finished material stacking and warehousing test and training, so as to achieve the whole process simulation application of automatic product production. Among them, the second material placement mechanism 8 is constructed with multiple grooves for placing materials.

[0034] See also Figure 1 As shown, the robot simulation working unit also includes a frame platform 9, and the first robot 1, the first material placement mechanism 2, the second robot 3, the classification platform 4, the conveyor 5, the first camera 6, the second camera 7 and the second material placement mechanism 8 are all on the frame platform 9.

[0035] In this technical solution, by placing each device on the rack platform 9, the robot simulation working unit of the present application can be conveniently packaged into products for sale, and it is also convenient for the transportation and exhibition of the robot simulation working unit. Among them, the rack platform 9 is welded and constructed with 80×80 square steel, so that the whole machine structure is strong and heavy, the platform can withstand a large load, is not easy to deform, and the robot is not easy to shake when working on the platform. Furthermore, a plurality of rollers 19 are provided on the rack platform 9, and the setting of the rollers 19 facilitates the overall movement of the robot simulation working unit. Preferably, the rollers 19 are universal wheels, and a self-locking device is provided on the universal wheels. After the self-locking device is opened, the robot simulation working unit can be moved with the help of the universal wheels; after the robot simulation working unit is moved into place, the positioning of the robot simulation working unit can be achieved by locking the universal wheels with the self-locking device.

[0036] See also Figure 1 As shown, a plurality of grooves 10 extending along a first direction are constructed on the frame platform 9, and the grooves 10 are spaced apart along a second direction on the frame platform 9, and a sliding member capable of sliding along the groove 10 is arranged in each groove 10, and the first robot 1, the first material placement mechanism 2, the second robot 3, the classification platform 4 and the conveyor 5 all have a connecting portion, and the connecting portion is detachably connected to the sliding member.

[0037] In this embodiment, by constructing a groove 10 on the rack platform 9, and making the connection parts of each device on the rack platform 9 detachably connected to different sliding members in the groove 10, each device can slide on the rack platform 9 along the first direction to adjust the position according to the demand. At the same time, the connection parts of each device can also be manually separated from the sliding members, and then the connection parts of each device can be detachably connected to the sliding members in other grooves 10, so that each device can also be adjusted along the second direction on the rack platform 9. Among them, the sliding member can be a nut set in the groove 10, and the connection part can be a bolt detachably connected to each device, and the bolt is threadedly connected in the nut; the sliding member can also be a slider set in the groove 10, and the slider is constructed with a socket, and the connection part can also be an insert formed on each device, and the insert is plugged into the socket. The first direction can be the length direction of the rack platform 9, and the second direction can be the width direction of the rack platform 9.

[0038] See also Figure 1 As shown, a protective outer frame 11 is assembled on the frame platform 9, and the first robot 1, the first material placement mechanism 2, the second robot 3, the classification platform 4, the conveyor 5, the first camera 6, the second camera 7 and the second material placement mechanism 8 are all located inside the protective outer frame 11.

[0039] In this technical solution, the protective outer frame 11 has a protective function, which can prevent people from accidentally breaking into the rack platform 9 and causing safety hazards. In addition to having a profile frame structure that plays a supporting role, the hollow areas on the protective outer frame 11 are all installed with high-strength tempered glass, so that while playing a protective role, it is also convenient to observe the working conditions of various devices inside.

[0040] See also Figure 1 As shown, the protective outer frame 11 has a first opening, and a first photoelectric safety protection device 12 is installed on the protective outer frame 11, and the first photoelectric safety protection device 12 is located at the first opening; and / or, the protective outer frame 11 has a second opening, and a second photoelectric safety protection device 13 is installed on the protective outer frame 11, and the second photoelectric safety protection device 13 is located at the second opening.

[0041] In this embodiment, when the photoelectric safety protection device senses that a person or object enters the rack platform 9 from the opening, it will trigger an emergency stop, forcing all internal moving equipment to stop running, and turning the indicator light 18 into a red light warning, thereby playing a protective role. The protective outer frame 11 is equipped with a first photoelectric safety protection device 12 at the first opening and / or a second photoelectric safety protection device 13 at the second opening, so that while ensuring safety protection, the openness of the platform can also be improved. Among them, the photoelectric safety protection device can be a safety grating.

[0042] See also Figure 1As shown, a master control device 14 is installed on the rack platform 9.

[0043] In this technical solution, the master control device 14 is configured with a plurality of control buttons, each of which can control the start and stop of each device in the rack platform 9. The master control device 14 is equivalent to a hardware control device.

[0044] See also Figure 1 As shown, a touch screen 15 is installed on the rack platform 9 or the protective outer frame 11.

[0045] In this embodiment, the start and stop of each device in the rack platform 9 can be controlled by touching the touch screen 15, and the touch screen 15 is equivalent to a software control device. The touch screen 15 is arranged in parallel with the master control device 14.

[0046] See also Figure 1 As shown, a computer module 17 is installed on the rack platform 9 or the protective outer frame 11.

[0047] In this technical solution, the computer module 17 can input programming to control how each device on the rack platform 9 operates.

[0048] See also Figure 1 As shown, the rack platform 9 is also provided with a drawer 16 for storing objects.

[0049] It is easy for those skilled in the art to understand that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0050] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. A robot simulation working unit, characterized in that: include: A first robot (1), a first material placement mechanism (2), a second robot (3), a classification platform (4) and a conveyor (5), wherein the first robot (1) is equipped with a first camera (6), the first robot (1) identifies the material on the first material placement mechanism (2) through the first camera (6), and the first robot (1) is capable of transferring the identified material to the conveyor (5), and the second robot (3) is equipped with a second camera (7), the second robot (3) identifies the material on the conveyor (5) through the second camera (7), and the second robot (3) is capable of placing the identified material on the classification platform (4).

2. The robot simulation working unit according to claim 1, characterized in that: The first material placement mechanism (2) comprises a silo vibrating plate, and the silo vibrating plate classifies the materials on the first material placement mechanism (2) during the vibration process.

3. The robot simulation working unit according to claim 1, characterized in that: The classification platform (4) is configured to be rotatable, and the classification platform (4) has a plurality of material placement areas distributed along the circumferential direction; and / or the number of the conveyors (5) is at least two.

4. The robot simulation working unit according to claim 1, characterized in that: It also includes a second material placement mechanism (8), wherein the first robot (1) identifies the material on the classification platform (4) through the first camera (6), and the first robot (1) is capable of transferring the material on the classification platform (4) to the second material placement mechanism (8).

5. The robot simulation working unit according to any one of claims 1 to 4, characterized in that: It also comprises a frame platform (9), on which the first robot (1), the first material placement mechanism (2), the second robot (3), the classification platform (4) and the conveyor (5) are all located.

6. The robot simulation working unit according to claim 5, characterized in that: The frame platform (9) is provided with a plurality of rollers (19); the frame platform (9) is provided with a plurality of grooves (10) extending along a first direction, the grooves (10) are spaced apart along a second direction on the frame platform (9), and a sliding member capable of sliding along the groove (10) is provided in each groove (10); the first robot (1), the first material placement mechanism (2), the second robot (3), the classification platform (4) and the conveyor (5) all have a connecting portion, and the connecting portion is detachably connected to the sliding member.

7. The robot simulation working unit according to claim 5, characterized in that: A protective outer frame (11) is assembled on the frame platform (9), and the first robot (1), the first material placement mechanism (2), the second robot (3), the classification platform (4) and the conveyor (5) are all located within the protective outer frame (11).

8. The robot simulation working unit according to claim 7, characterized in that: The protective outer frame (11) has a first opening, a first photoelectric safety protection device (12) is installed on the protective outer frame (11), and the first photoelectric safety protection device (12) is located at the first opening; and / or the protective outer frame (11) has a second opening, a second photoelectric safety protection device (13) is installed on the protective outer frame (11), and the second photoelectric safety protection device (13) is located at the second opening.

9. The robot simulation working unit according to claim 7, characterized in that: A master control device (14) is installed on the frame platform (9); and / or a touch screen (15) is installed on the frame platform (9) or the protective outer frame (11).

10. The robot simulation working unit according to claim 9, characterized in that: A computer module (17) is installed on the rack platform (9) or the protective outer frame (11); and / or a drawer (16) is arranged on the rack platform (9).

Images