Robot platform and digital twin simulation system

Abstract

The invention relates to the technical field of teaching auxiliary equipment, in particular to a robot platform and a digital twinning simulation system, a robot body can be driven to rotate through a rotating tool table, and a multifunctional clamp is matched with the robot body to perform practical operation training on a stacking module and a carrying module; control and secondary development training can be carried out on the robot body through the robot control system, tools used in practical training can be placed through the tool car, and the platform provides rich practice opportunities for students through real industrial robot equipment and restored real industrial project application scenes. Students can carry out actual operations such as robot body design, part surveying and mapping, structural analysis, function debugging and testing on the platform, so that the robot technology can be deeply understood and mastered, and the problem that the existing robot platform has various limitations and cannot meet teaching requirements is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of teaching auxiliary equipment, and in particular to a robot platform and a digital twin simulation system. Background Art

[0002] The Robot Innovation Design Application Platform is designed to meet the professional content settings of Robot Structure Design and Development (primary) and Robot Control Design and Development. The platform is mainly aimed at students majoring in automation, machinery, electronic information and other related majors. It aims to restore real industrial project application scenarios through real industrial robot equipment, and then develop a series of teaching cases.

[0003] However, traditional robot teaching platforms often have the following shortcomings: first, they are often limited to the imparting of theoretical knowledge and lack actual operation and practice, which makes it difficult for students to deeply understand and master robot technology; second, traditional platforms lack systematic and comprehensive teaching cases and cannot meet students' learning needs in many aspects such as robot body design, control development and debugging; third, traditional platforms often neglect the testing and evaluation of robot performance and cannot effectively cultivate students' innovation ability and ability to solve practical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a robot platform and a digital twin simulation system, aiming to solve the problem that the existing robot platform has many limitations and cannot meet teaching needs.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present invention provides a robot platform and a digital twin simulation system, including a basic platform, a rotary tooling table, a robot body, a multifunctional fixture, a robot control system, a stacking module, a handling module and a tool cart;

[0006] The rotary tooling table is installed on the basic platform, the robot body is installed on the rotary tooling table, the multifunctional fixture is installed on the robot body, the robot control system is arranged on one side of the basic platform, the stacking module is installed on the basic platform, the transport module is installed on one side of the basic platform close to the stacking module, and the tool cart is arranged on one side of the basic platform.

[0007] Among them, the basic platform has a front door, multiple drawers and anti-static insulating rubber. The front door is rotatably connected to the basic platform and is located on one side of the basic platform. The multiple drawers are respectively slidably connected to the basic platform and are all located on one side of the basic platform. The anti-static insulating rubber is laid on the basic platform.

[0008] Wherein, the rotating tooling table includes a turntable base and a turntable, the turntable base is fixedly connected to the basic platform and is located on one side of the turntable base, and the turntable is installed on the turntable base.

[0009] Among them, the multifunctional clamp includes a flange connecting rod, a mounting plate, a suction cup, a drawing pen and a clamping tool, the flange connecting rod is installed at the output end of the robot body, the mounting plate is fixedly connected to the flange connecting rod and is located on one side of the flange connecting rod, the suction cup is fixedly connected to the flange connecting rod and is located on one side of the flange connecting rod, the drawing pen is fixedly connected to the mounting plate and is located on one side of the mounting plate, and the clamping tool is fixedly connected to the mounting plate and is located on one side of the mounting plate.

[0010] Wherein, the robot control system includes an IPC controller module, an AC servo drive module, a bus-type IO module and a teach pendant module, and the AC servo drive module, the bus-type IO module and the teach pendant module are respectively connected to the IPC controller module.

[0011] Among them, the stacking module includes a profile bracket one, a stacking panel and a stacking workpiece. The profile bracket one is fixedly connected to the basic platform and is located on the basic platform. The stacking panel is installed on one side of the profile bracket one, and the stacking workpiece is placed on the profile bracket one.

[0012] In the second aspect, a robot digital twin simulation system is provided, which is used for the robot platform described in the first aspect.

[0013] A robot platform and digital twin simulation system of the present invention, the basic platform provides installation conditions for the rotary tooling table, the stacking module and the handling module, the rotary tooling table can drive the robot body to rotate, the multifunctional fixture can cooperate with the robot body to perform practical training in the stacking module and the handling module, the robot control system can control the robot body and perform secondary development training, the tool cart can be used to place tools used in practical training, and the platform provides students with rich practical opportunities through real industrial robot equipment and restored real industrial project application scenarios. Students can perform actual operations such as robot body design, parts mapping, structural analysis, function debugging and testing on the platform, so as to have a deeper understanding and mastery of robot technology, thereby solving the problem that the existing robot platform has many limitations and cannot meet the teaching needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of a robot platform provided by the present invention.

[0016] Figure 2 is a schematic diagram of a component contour box.

[0017] Figure 3 is a schematic diagram of the multifunctional fixture.

[0018] Figure 4 It is a schematic diagram of the surveying parts set.

[0019] Figure 5 It is a schematic diagram of the drawing module.

[0020] Figure 6 is a schematic diagram of the palletizing module.

[0021] Figure 7 is a schematic diagram of the transport module.

[0022] Figure 8 It is a schematic diagram of a rotary workbench.

[0023] Fig. 9 It is a schematic diagram of the robot control system.

[0024] In the figure: 1-basic platform, 2-robot body, 3-tool cart, 4-front door, 5-drawer, 6-antistatic insulating rubber, 7-turntable base, 8-turntable, 9-flange connecting rod, 10-mounting plate, 11-suction cup, 12-drawing pen, 13-clamping tool, 14-IPC controller module, 15-AC servo drive module, 16-bus type IO module, 17-teach pendant module, 18-profile bracket 1, 19-stacking panel, 20-stacking workpiece, 21-profile bracket 2, 22-handling panel, 23-handling workpiece, 24-component profiling box, 26-surveying and mapping parts set, 27-drawing module. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] See also Figures 1 to 9 In the first aspect, the present invention provides a robot platform and a digital twin simulation system, including a basic platform 1, a rotary tooling table, a robot body 2, a multifunctional fixture, a robot control system, a stacking module, a handling module and a tool cart 3;

[0027] The rotary workbench is installed on the basic platform 1, the robot body 2 is installed on the rotary workbench, the multifunctional fixture is installed on the robot body 2, the robot control system is arranged on one side of the basic platform 1, the stacking module is installed on the basic platform 1, the handling module is installed on the side of the basic platform 1 close to the stacking module, and the tool cart 3 is arranged on one side of the basic platform 1.

[0028] In this embodiment, the robot body 2 is a HSR-JR603 industrial robot body 2, which is a serial robot with six degrees of freedom, a maximum load of 3kg, a repeatability accuracy of ±0.02mm, a maximum working radius of up to 571.5mm, and has the characteristics of small size, light weight, and easy installation. Its operating speed can reach the superior level of the same series of products at home and abroad. The internal threaded holes of the robot body 2 are customized, which can achieve repeated disassembly and assembly, and improve the durability of the equipment. The tool cart 3 can be placed with disassembly tools, mechanical disassembly and assembly tools: 1 set of 9-piece metric hexagonal wrenches, 2 preset torque wrenches, 1 metric hexagonal screwdriver socket M3 / M4 / M5, 2 100mm extension rods, 1 T-type metric extended hexagonal wrench 2.5 / 3 / 4 / 5mm, 1 each, 1 adjustable wrench, 1 cross screwdriver, 1 German straight-mouth circlip pliers for shafts, 1 copper rod, 1 scissors, and 1 wooden handle rubber hammer. The basic platform 1 provides installation conditions for the rotary tooling table, the stacking module and the handling module. The rotary tooling table can drive the robot body 2 to rotate. The multifunctional fixture can cooperate with the robot body 2 to perform practical training in the stacking module and the handling module. The robot control system can control the robot body 2 and perform secondary development training. The tool cart 3 can be used to place tools used in practical training. The platform provides students with rich practical opportunities through real industrial robot equipment and restored real industrial project application scenarios. Students can perform practical operations such as robot body 2 design, component mapping, structural analysis, function debugging and testing on the platform, so as to have a deeper understanding and mastery of robot technology, thereby solving the problem that the existing robot platform has many limitations and cannot meet teaching needs.

[0029] Furthermore, the basic platform 1 has a front door 4, multiple drawers 5 and an anti-static insulating rubber 6. The front door 4 is rotatably connected to the basic platform 1 and is located on one side of the basic platform 1. The multiple drawers 5 are respectively slidably connected to the basic platform 1 and are all located on one side of the basic platform 1. The anti-static insulating rubber 6 is laid on the basic platform 1.

[0030] In this embodiment, the base platform 1 can be opened through the front door 4, and the parts or functional modules can be stored through the multiple drawers 5. The anti-static insulating rubber 6 can keep the desktop clean and avoid the robot body 2 from bumping during the disassembly process. The base platform 1 is also provided with a parts profiling box 24, a measuring fixture, a surveying and mapping parts set 26 and a drawing module 27; the robot parts profiling box 24 is used to place robot parts during the surveying and mapping process. The profiling box is made of bakelite, and labels are posted on each part placement area to facilitate students to develop professional qualities of classified placement of robot parts. While displaying the robot parts, the parts profiling box 24 can compare the design differences and design skills of each part horizontally, thereby improving their own design capabilities. The measuring fixture includes a ruler, a vernier caliper, a micrometer, a micrometer, a magnetic stand, a contour ruler and a shaft parts detection fixture, which can be used to survey and map the data parameters of the robot body 2 parts and complete the robot parts surveying and mapping and reverse design tasks. The surveying and mapping parts set 26: a total of 7 typical shafts, discs and other parts of the original robot body transmission. It can be used in conjunction with the measuring jig to carry out the needs of reverse design of the robot body 2 and enhance the structural design capabilities of the robot body 2. The drawing module 27 is mainly composed of a fixed bracket, a drawing panel, etc. The drawing board presets plane trajectory depiction, including hexagons, circles, triangles, curves, etc., to train the robot's straight line, arc and other instruction programming applications.

[0031] Furthermore, the rotary tooling table includes a turntable base 7 and a turntable 8 . The turntable base 7 is fixedly connected to the base platform 1 and is located on one side of the turntable base 7 . The turntable 8 is installed on the turntable base 7 .

[0032] In this embodiment, the turntable base 7 provides installation conditions for the turntable 8 , and the rotation of the turntable 8 can drive the robot body 2 to rotate.

[0033] Furthermore, the multifunctional fixture includes a flange connecting rod 9, a mounting plate 10, a suction cup 11, a drawing pen 12 and a clamping tool 13, the flange connecting rod 9 is installed at the output end of the robot body 2, the mounting plate is fixedly connected to the flange connecting rod 9 and is located on one side of the flange connecting rod 9, the suction cup 11 is fixedly connected to the flange connecting rod 9 and is located on one side of the flange connecting rod 9, the drawing pen 12 is fixedly connected to the mounting plate 10 and is located on one side of the mounting plate 10, and the clamping tool 13 is fixedly connected to the mounting plate 10 and is located on one side of the mounting plate 10.

[0034] In this embodiment, the flange connecting rod 9 provides installation conditions for the mounting plate 10, and simulates the drawing pen 12 tool, the clamping tool 13 and the suction cup 11 tool, and is placed and displayed in a profiling box. Through the robot posture change, the corresponding tool can be quickly used for functional verification. At the same time, the task of robot functional verification can be completed by guiding the trainees to design the fixture at the end of the robot by themselves.

[0035] Furthermore, the robot control system includes an IPC controller module 14, an AC servo driver module 15, a bus-type IO module 16 and a teach pendant module 17, and the AC servo driver module 15, the bus-type IO module 16 and the teach pendant module 17 are respectively connected to the IPC controller module 14.

[0036] In this embodiment, the robot control system includes a robot system and an external control system. The robot electrical system mainly includes an IPC controller module 14, an AC servo driver module 15, a bus-type IO module 16 and a teach pendant module 17, and the AC servo driver module 15, the bus-type IO module 166 and the teach pendant module 17 and other core components and low-voltage components. The interface is open, which can facilitate secondary development. At the same time, the training platform is configured with an external control system PLC and HMI to achieve external start and stop control. The IPC controller module 14 is the core part of the robot control system. It is responsible for processing various data and information during the operation of the robot, including receiving signals from external devices such as sensors and actuators, performing data processing and decision-making, and then outputting control instructions to the corresponding actuators. It can support a variety of operating systems and programming environments to meet the needs of different application scenarios. The AC servo driver module 15 is used to convert electrical energy into mechanical energy, driving robot joints and other actuators to perform precise position, speed and acceleration control. The AC servo driver module 15 adopts a closed-loop control method, and adjusts the drive current and voltage in real time by detecting the motion state of the actuator to achieve high-precision motion control. In addition, it also has safety functions such as overload protection and short circuit protection to ensure the safety and reliability of the robot during operation. The bus-type IO module 16 is an important interface for data exchange between the robot control system and external devices. It includes various types of channels such as digital input, digital output, analog input and analog output, which can receive signals from external devices such as sensors and buttons, and send control instructions to external devices such as actuators and indicator lights. The bus-type IO module 16 adopts a bus connection method, which has the advantages of fast transmission speed, strong anti-interference ability, and simple wiring, and can significantly improve the overall performance and reliability of the robot control system. The teach pendant module 17 is the human-machine interaction interface of the robot control system, which is used to program, debug and monitor the robot. It usually has input and output devices such as a touch screen, buttons, and indicator lights, which can display the robot's operating status, alarm information, etc., and allow users to input control instructions and parameters through a touch screen or buttons. The teach pendant module 177 also supports a variety of programming languages ​​and programming methods, such as ladder diagrams, instruction tables, function block diagrams, etc., so that users can flexibly program and debug according to actual needs.

[0037] Furthermore, the palletizing module includes a profile support 18, a palletizing panel 19 and a palletizing workpiece 20. The profile support 18 is fixedly connected to the base platform 1 and is located on the base platform 1. The palletizing panel 19 is installed on one side of the profile support 18, and the palletizing workpiece 20 is placed on the profile support 18.

[0038] In this embodiment, the palletizing workpiece 20 can be placed through the profile bracket 18, and the palletizing panel 19 can be used for palletizing training. The training process is as follows: the robot body 2 moves above the palletizing workpiece 20, picks up the palletizing workpiece 20, and then places the palletizing workpiece 20 on the palletizing panel 19.

[0039] Furthermore, the transport module includes a profile bracket 21, a transport panel 22 and a transport workpiece 23. The profile bracket 21 is fixedly connected to the base platform 1 and is located on the base platform 1. The transport panel 22 is fixedly connected to the profile bracket 21 and is located on one side of the profile bracket 21. The transport workpiece 23 is placed on the profile bracket 21.

[0040] In this embodiment, the transport workpiece 23 can be placed through the profile bracket 21, and the transport training can be carried out through the transport panel 22. The training process is: the robot body 2 moves above the transport workpiece 23, clamps the transport workpiece 23, and then places the transport workpiece 23 on the transport panel 22.

[0041] In the second aspect, a robot digital twin simulation system is provided, which is used for the robot platform described in the first aspect.

[0042] Beneficial effects:

[0043] 1. Enhance practical operation ability: The platform provides students with abundant practical opportunities through real industrial robot equipment and restored real industrial project application scenarios. Students can perform actual operations such as robot body design, component mapping, structural analysis, function debugging and testing on the platform, so as to have a deeper understanding and mastery of robot technology.

[0044] 2. Provide comprehensive teaching cases: The platform is equipped with typical teaching cases covering robot body design, teaching programming, fixture installation and adjustment, pneumatic control, control system testing, etc. These cases not only help students systematically learn all aspects of robotics technology, but also stimulate their interest and enthusiasm in learning.

[0045] 3. Support innovative design and performance verification: The creative design workstation on the platform is equipped with high-performance workstations and a variety of design software to support students in three-dimensional innovative design. At the same time, combined with digital twins and kinematic simulation systems, students can verify the performance of innovatively designed robots in a virtual environment, thereby optimizing the performance parameters of the robots.

[0046] 4. Cultivate the ability to solve complex engineering problems: Through learning and practice on this platform, students can exercise their innovation ability and ability to solve practical problems in the field of robotics. This will help them better adapt to future work needs and play a greater role in the research and development and application of robotics.

[0047] What is disclosed above is only a preferred embodiment of a robot platform and a digital twin simulation system of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A robot platform, characterized in that: It includes basic platform, rotary tooling table, robot body, multi-functional fixture, robot control system, palletizing module, handling module and tool cart; The rotary tooling table is installed on the basic platform, the robot body is installed on the rotary tooling table, the multifunctional fixture is installed on the robot body, the robot control system is arranged on one side of the basic platform, the stacking module is installed on the basic platform, the transport module is installed on one side of the basic platform close to the stacking module, and the tool cart is arranged on one side of the basic platform.

2. The robot platform according to claim 1, characterized in that: The basic platform has a front door, multiple drawers and anti-static insulating rubber. The front door is rotatably connected to the basic platform and is located on one side of the basic platform. The multiple drawers are respectively slidably connected to the basic platform and are all located on one side of the basic platform. The anti-static insulating rubber is laid on the basic platform.

3. The robot platform according to claim 1, characterized in that: The rotary tooling table comprises a turntable base and a turntable. The turntable base is fixedly connected to the basic platform and is located on one side of the turntable base. The turntable is installed on the turntable base.

4. The robot platform according to claim 1, characterized in that: The multifunctional fixture includes a flange connecting rod, a mounting plate, a suction cup, a drawing pen and a clamping tool. The flange connecting rod is installed at the output end of the robot body. The mounting plate is fixedly connected to the flange connecting rod and is located on one side of the flange connecting rod. The suction cup is fixedly connected to the flange connecting rod and is located on one side of the flange connecting rod. The drawing pen is fixedly connected to the mounting plate and is located on one side of the mounting plate. The clamping tool is fixedly connected to the mounting plate and is located on one side of the mounting plate.

5. The robot platform according to claim 1, characterized in that: The robot control system comprises an IPC controller module, an AC servo drive module, a bus-type IO module and a teaching pendant module, wherein the AC servo drive module, the bus-type IO module and the teaching pendant module are respectively connected to the IPC controller module.

6. The robot platform according to claim 1, characterized in that: The stacking module includes a profile support one, a stacking panel and a stacking workpiece. The profile support one is fixedly connected to the basic platform and is located on the basic platform. The stacking panel is installed on one side of the profile support one, and the stacking workpiece is placed on the profile support one.

7. A robot digital twin simulation system, characterized by: Used for the robot platform described in any one of claims 1-6.

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