Robot teaching equipment

Abstract

The invention provides robot teaching equipment. The robot teaching equipment comprises a rack; the robot module is arranged on the rack and comprises a first robot and a second robot, and the first robot and the second robot are independently controlled; the integration assembly is arranged on the rack and used for arranging the first workpieces, and the second robot is used for stacking or transferring the arranged first workpieces; the transportation assembly is arranged on the rack and comprises a transportation platform, and the second robot transfers the arranged first workpieces to the transportation platform for transportation; and the first robot is used for transferring the first workpiece and the second workpiece on the conveying platform to the assembling station for assembling. The problem that the teaching effect is poor due to the fact that a robot practical training function is single in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of robot teaching technology, and more specifically, to a robot teaching device. Background Technology

[0002] With the development of automation and intelligent technologies, robots are widely used in many fields such as manufacturing, medical care, service, and exploration, and the demand for robot operation and programming talents is growing day by day.

[0003] Traditional industrial robot teaching and training platforms are usually limited to single-machine operation, focusing only on robot trajectory training and functional training, and showcasing only a single function. This makes it difficult for users to fully understand the application of robots in industrial production, thus reducing the teaching effectiveness of robots. Summary of the Invention

[0004] The main objective of this invention is to provide a robot teaching device to solve the problem that the limited functionality of robot training in existing technologies leads to poor teaching effectiveness.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robot teaching device is provided, comprising: a frame; a robot module disposed on the frame, the robot module including a first robot and a second robot, the first robot and the second robot being independently controlled; an integration component disposed on the frame for arranging a first workpiece, the second robot being used for stacking or transferring the arranged first workpiece; a transport component disposed on the frame, the transport component including a transport platform, the second robot being used to transfer the arranged first workpiece to the transport platform for transport; and an assembly station, the first robot being used to transfer the first workpiece and the second workpiece from the transport platform to the assembly station for assembly.

[0006] Furthermore, the robot teaching equipment also includes: a first fixture storage station, set on the frame, the first fixture storage station is used to store a first fixture, the first fixture including a first gripper and a first suction cup; the first robot can be selectively connected to the first gripper or the first suction cup.

[0007] Furthermore, the robot teaching equipment also includes: a second gripper storage station, which is set on the frame. The second gripper storage station is used to store a second gripper, which includes a second gripper and a second suction cup. The second robot can be selectively connected to the second gripper or the second suction cup.

[0008] Furthermore, the robot teaching equipment also includes: a first trajectory training platform, which is mounted on the frame and located to the side of the first robot, the first trajectory training platform having multiple first trajectory markers, and the first robot moving along each of the first trajectory markers; and a second trajectory training platform, which is mounted on the frame and located to the side of the second robot, the second trajectory training platform having multiple second trajectory markers, and the second robot moving along each of the second trajectory markers.

[0009] Furthermore, the robot teaching equipment also includes a palletizing platform, which is set to the side of the first robot. The palletizing platform is equipped with multiple palletizing areas, and the first robot pallets the workpieces in the corresponding palletizing areas according to their specifications.

[0010] Furthermore, the integration component includes: an integration platform, which is movably configured, with both the first robot and the second robot located between the transport platform and the integration platform; two limiting components, positioned above the integration platform, spaced apart along the length of the integration platform; each limiting component includes a limiting opening for accommodating the first workpiece; and a vision monitoring component, positioned above the integration platform, for acquiring image information of each of the first workpieces on the integration platform.

[0011] Furthermore, the assembly station includes: an assembly platform, on which a first positioning part and a second positioning part are provided, the first positioning part being used to position the first workpiece, and the second positioning part being used to position the second workpiece; the first robot assembles the positioned first workpiece and the second workpiece.

[0012] Furthermore, the robot teaching equipment also includes: a third storage station for storing a third workpiece, the third storage station being located to the side of the transport platform, the second robot transferring the third workpiece from the third storage station to the transport platform, so as to transport the third workpiece to the picking position of the first robot via the transport platform; the first robot then transferring the third workpiece to the assembly platform for assembly with the first and second workpieces.

[0013] Furthermore, multiple third workpieces are stacked in the third storage station. The third storage station is equipped with a first ejection component and a loading station. The first ejection component is movably positioned in the direction of approaching or moving away from the loading station. After the third workpiece is ejected to the loading station by the first ejection component, the second robot transfers the third workpiece to the transport platform.

[0014] Further, the first positioning part includes: a first positioning member and a second positioning member, the first positioning member and the second positioning member being disposed opposite to each other to form a first positioning space, the first positioning member and the second positioning member being movably disposed relative to each other, and at least a portion of the first workpiece being respectively engaged with the first positioning member and the second positioning member to position the first workpiece; and / or,

[0015] The second positioning part includes a third positioning member and a fourth positioning member, which are arranged opposite to each other to form a second positioning space. The third positioning member and the fourth positioning member are movably arranged relative to each other. At least a portion of the second workpiece is respectively attached to the third positioning member and the fourth positioning member to position the second workpiece.

[0016] Applying the technical solution of this invention, the robot modules, integration components, transport components, and assembly stations mounted on the rack support independent control and flexible combination. The independent control and collaborative operation of the first and second robots allow users to learn and practice single-machine operation and multi-machine collaboration skills on the same platform. Interactive training between the two robots, such as the second robot transferring workpieces to the transport platform for transport while the first robot assembles them at the assembly station, helps users understand data communication and synchronous control technologies between robots. By simulating a real industrial environment, such as the integration components arranging the first workpiece, the second robot palletizing or transferring it, and the transport components transporting the workpiece, this equipment provides users with a learning environment close to actual production processes. This helps users understand the specific applications of robots in industrial automation, enhances the realism of training, and enables users to master practical operating skills more quickly. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 A schematic diagram of an embodiment of the robot teaching device according to the present invention is shown;

[0019] Figure 2 A first-view structural schematic diagram of the robot teaching device according to the present invention is shown;

[0020] Figure 3 A second-view structural schematic diagram of the robot teaching device according to the present invention is shown;

[0021] Figure 4 A third-view structural schematic diagram of the robot teaching device according to the present invention is shown;

[0022] Figure 5 A schematic diagram of the assembly station of the robot teaching device according to the present invention is shown;

[0023] Figure 6 A schematic diagram of the structure of the first fixture storage station of the robot teaching device according to the present invention is shown;

[0024] Figure 7 A schematic diagram of the structure of the second fixture storage station of the robot teaching device according to the present invention is shown;

[0025] Figure 8 A schematic diagram of the third material storage station of the robot teaching device according to the present invention is shown.

[0026] The above figures include the following reference numerals:

[0027] 100. Frame; 110. Touch screen; 120. Display screen; 130. Guardrail; 140. Second ejection component; 150. Second storage station; 160. Warning light; 200. Robot module; 210. First robot; 220. Second robot;

[0028] 300. Integration component; 310. Integration platform; 320. Limiting component; 321. Limiting opening; 330. Visual monitoring component; 400. Transportation component; 410. Transportation platform;

[0029] 500. Assembly station; 510. Assembly platform; 520. First positioning part; 521. First positioning component; 522. Second positioning component; 523. First positioning space; 531. Third positioning component; 532. Fourth positioning component; 533. Second positioning space; 530. Second positioning part; 540. Code reader;

[0030] 610, First clamping station; 611, First gripper; 612, First suction cup; 613, First calibration pin; 620, Second clamping station; 621, Second gripper; 622, Second suction cup; 623, Second calibration pin; 710, First trajectory training platform; 720, Second trajectory training platform; 800, Palletizing platform; 810, Palletizing area; 900, Third material storage station; 910, First ejection component; 920, Material loading station. Detailed Implementation

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Please refer to Figures 1 to 8This application provides a robot teaching device, including: a frame 100; a robot module 200 disposed on the frame 100, the robot module 200 including a first robot 210 and a second robot 220, the first robot 210 and the second robot 220 being independently controlled; an integration component 300 disposed on the frame 100 for arranging a first workpiece, the second robot 220 being used for stacking or transferring the arranged first workpiece; a transport component 400 disposed on the frame 100, the transport component 400 including a transport platform 410, the second robot 220 transferring the arranged first workpiece to the transport platform 410 for transport; and an assembly station 500, the first robot 210 being used for transferring the first workpiece and the second workpiece on the transport platform 410 to the assembly station 500 for assembly.

[0033] The robot module 200, integration component 300, transport component 400, and assembly station 500, mounted on the rack 100, support independent control and flexible combination. The independent control and collaborative operation of the first robot 210 and the second robot 220 allow users to learn and practice single-machine operation and multi-machine collaboration skills on the same platform. Interactive training between the two robots, such as the second robot 220 transferring workpieces to the transport platform 410 for transport, and the first robot assembling at the assembly station 500, helps users understand data communication and synchronous control technology between robots. By simulating a real industrial environment, such as the integration component 300 arranging the first workpiece, the second robot 220 palletizing or transferring it, and the transport component 400 transporting the workpiece, the equipment provides users with a learning environment close to the actual production process. This helps users understand the specific applications of robots in industrial automation, enhances the realism of the training, and enables users to master practical operating skills more quickly.

[0034] like Figure 6 As shown, the robot teaching equipment also includes: a first fixture storage station 610, which is set on the frame 100. The first fixture storage station 610 is used to store a first fixture, which includes a first gripper 611 and a first suction cup 612. The first robot 210 can be selectively connected to the first gripper 611 or the first suction cup 612.

[0035] The first robot 210 can select to connect the first gripper 611 or the first suction cup 612 according to different training tasks, thereby achieving effective gripping and processing of different types of workpieces. By quickly changing different first grippers, the first robot 210 does not need to make significant adjustments to its hardware structure due to changes in workpiece material, weight, or shape, thus saving preparation time and debugging cycle before training, and significantly improving training efficiency and resource utilization.

[0036] like Figure 7As shown, the robot teaching equipment also includes: a second clamping storage station 620, which is set on the frame 100. The second clamping storage station 620 is used to store a second clamping fixture, which includes a second gripper 621 and a second suction cup 622. The second robot 220 can be selectively connected to the second gripper 621 or the second suction cup 622.

[0037] The second fixture storage station 620 enhances the operational flexibility of the second robot 220 by providing the option of a second gripper 621 and a second suction cup 622. This means that the second robot 220 can quickly change fixtures according to the needs of the training project to perform various operations such as gripping, handling, palletizing, or depalletizing without complex resetting or adjustment. By using the second fixture in training, the functionality of the second robot 220 can be expanded, enabling it to handle various types of workpieces and different training requirements rather than being limited to the execution of a single task.

[0038] The robot teaching equipment also includes: a first trajectory training platform 710, which is mounted on the frame 100 and located to the side of the first robot 210. The first trajectory training platform 710 has multiple first trajectory markers, and the first robot 210 is used to move along each of the first trajectory markers; and a second trajectory training platform 720, which is mounted on the frame 100 and located to the side of the second robot 220. The second trajectory training platform 720 has multiple second trajectory markers, and the second robot 220 is used to move along each of the second trajectory markers.

[0039] The trajectory training platform provides an environment for the first robot 210 and the second robot 220 to simulate various operation paths and actions. By moving along multiple trajectory markers, the robots can undergo precise trajectory training, improving the accuracy of their motion control. Each trajectory training platform has multiple trajectory markers, enabling the equipment to support a variety of different training tasks and scenarios. Users can adjust and set different trajectories to train the robots to complete movements and operations ranging from simple to complex, thereby improving their mastery and application capabilities of robotics technology.

[0040] The first fixture storage station 610 also includes a first calibration needle 613, and the second fixture storage station 620 also includes a second calibration needle 623. The first calibration needle 613 moves along the first trajectory marker on the first trajectory training platform 710 to form a predetermined pattern, and the second calibration needle 623 moves along the second trajectory marker on the second trajectory training platform 720 to form a predetermined pattern.

[0041] By creating predetermined patterns on the trajectory training platform, users can receive visual feedback to help them determine the accuracy of the robot's trajectory and how to perform necessary path calibration. This intuitive learning method accelerates users' understanding and mastery of robot programming and path optimization.

[0042] The robot teaching equipment also includes a palletizing platform 800, which is set on the side of the first robot 210. The palletizing platform 800 is provided with multiple palletizing areas 810. The first robot 210 palletizes the workpieces in the corresponding palletizing areas 810 according to their specifications.

[0043] The palletizing platform 800 is specifically designed to train robots' palletizing skills. By setting up multiple palletizing zones 810, it can differentiate and position robots according to different workpiece specifications and palletizing requirements. The multiple palletizing zones 810 on the palletizing platform 800 can accommodate workpieces of different sizes and shapes. Users can learn how to select appropriate palletizing strategies based on the characteristics of different workpieces, thereby cultivating their adaptability and operational flexibility in complex production environments.

[0044] In a specific implementation, the integration component 300 includes: an integration platform 310, which is movably configured, with the first robot 210 and the second robot 220 both located between the transport platform 410 and the integration platform 310; two limiting components 320, which are positioned above the integration platform 310 and are spaced apart along the length of the integration platform 310; each limiting component 320 includes a limiting opening 321 for accommodating the first workpiece; and a visual monitoring component 330, which is positioned above the integration platform 310 to acquire image information of each first workpiece on the integration platform 310.

[0045] The placement of the limiting components 320, especially the spaced arrangement of the two limiting components 320 along the length of the integrated platform, and the design of the limiting opening 321, enables the limiting and initial positioning of the first workpiece. The limiting opening ensures the stability of the workpiece on the integrated platform, reducing the risk of offset or slippage, thereby achieving higher precision gripping and processing. The movable nature of the integrated platform 310, combined with the function of the limiting components 320, allows for the automatic sorting and organization of the first workpiece without manual intervention. The addition of the visual monitoring component 330 enables the robot to perform intelligent recognition and decision-making based on the acquired image information of the first workpiece. For example, the robot can determine the position, posture, and type of the workpiece; the visual monitoring component 330 is preferably a camera.

[0046] Furthermore, the assembly station 500 includes: an assembly platform 510, on which a first positioning part 520 and a second positioning part 530 are provided. The first positioning part 520 is used to position the first workpiece, and the second positioning part 530 is used to position the second workpiece. The first workpiece and the second workpiece are assembled by the first robot 210.

[0047] The first positioning unit 520 and the second positioning unit 530 can accurately position the first workpiece and the second workpiece, ensuring the positional accuracy of the workpieces during the assembly process. The first robot 210 can perform assembly operations efficiently without additional searching and positioning steps.

[0048] The robot teaching equipment also includes: a third storage station 900 for storing a third workpiece. The third storage station 900 is located to the side of the transport platform 410. The second robot 220 transfers the third workpiece from the third storage station 900 to the transport platform 410, so that the third workpiece can be transported to the picking position of the first robot 210 via the transport platform 410. The first robot 210 then transfers the third workpiece to the assembly platform 510 for assembly with the first and second workpieces.

[0049] By simulating common material storage and handling processes in a production line, users can experience a complete manufacturing process in practical training, from material storage, selection, and handling to final assembly. The collaborative operation of the second robot 220 and the first robot 210 allows users to learn how to programmatically achieve communication and coordination between the two robots. Through the feeding of materials by the second robot 220, the first robot 210 can promptly acquire the required workpieces for assembly. This helps users understand the application of multi-robot systems in actual production.

[0050] Multiple third workpieces are stacked in the third storage station 900. The third storage station 900 is equipped with a first ejection component 910 and a loading station 920. The first ejection component 910 is movably arranged in the direction of approaching or moving away from the loading station 920. After the third workpiece is ejected to the loading station 920 by the first ejection component 910, the second robot 220 transfers the third workpiece to the transport platform 410.

[0051] The first ejector component 910 automatically pushes the stacked third workpiece to the loading station 920, greatly simplifying the material supply process and reducing the need for manual intervention. The process of the first ejector component 910 pushing the third workpiece to the loading station 920 ensures the workpiece's precise position before being grasped by the robot. This helps train users to perform precise workpiece positioning and grasping in robot programming, improving the accuracy of training tasks.

[0052] The first positioning part 520 includes: a first positioning member 521 and a second positioning member 522, which are arranged opposite to each other to form a first positioning space 523. The first positioning member 521 and the second positioning member 522 are movably arranged relative to each other, and at least a portion of the first workpiece is respectively attached to the first positioning member 521 and the second positioning member 522 to position the first workpiece; and / or, the second positioning part 530 includes: a third positioning member 531 and a fourth positioning member 532, which are arranged opposite to each other to form a second positioning space 533. The third positioning member 531 and the fourth positioning member 532 are movably arranged relative to each other, and at least a portion of the second workpiece is respectively attached to the third positioning member 531 and the fourth positioning member 532 to position the second workpiece.

[0053] The workpiece can be precisely positioned before assembly by means of the first positioning space 523 formed by the first positioning element 521 and the second positioning element 522, and the second positioning space 533 formed by the third positioning element 531 and the fourth positioning element 532. This relative arrangement not only restricts the free movement of the workpiece, but also allows for fine-tuning of the positions of the positioning elements according to the size and shape of different workpieces, ensuring that the starting position of each assembly is accurate and improving the assembly precision and success rate.

[0054] A barcode reader 540 is installed on the assembly platform 510, and the barcode reader 540 is located on the side of the assembly platform 510.

[0055] The code reader 540 can be a barcode reader, QR code scanner, or RFID reader / writer, etc. When the first robot 210 or the second robot 220 places the coded first or second workpiece at the designated position on the assembly platform 510, the code reader 540 can quickly identify these codes and obtain the workpiece's identity information, type, batch, or other relevant assembly instruction information. The code reader 540 feeds the acquired information back to the central control system or robot control system in real time. The control system adjusts the robot operation based on this information to ensure that the correct workpiece is placed in the correct position, conforming to the preset assembly sequence and specifications. This ensures accurate reading and processing of workpiece information, effectively preventing assembly failures caused by workpiece confusion or misplacement, and significantly improving the quality and consistency of the assembled products.

[0056] The frame 100 is also provided with a second storage station 150 for storing the second workpiece. A protective railing is provided around the outside of the frame 100. A touch screen 110 and a display screen 120 are provided on the protective railing 130. The touch screen 110 and the display screen 120 are respectively connected to the first robot 210 and the second robot 220 through the control center. A second push-out component 140 is also provided on the side of the integration component 300. The second push-out component 140 is movably provided in the direction of approaching or moving away from the integration platform 310, so as to integrate or shuffle the first workpiece on the integration platform 310.

[0057] The above-described embodiments of this application can meet the needs of users in most scenarios of robot technology training; the desktop-level factory production line design, based on six-axis and four-axis robots, is equipped with machine vision, feeding modules, transportation modules, warehousing modules, assembly modules, etc., to form a production process production line, providing the most complete scenario for robot teaching and training, and improving the authenticity of teaching; the robot multi-functional platform adopts a modular design, with each module equipped with a base and handle, and the position of each module can be easily moved as needed when the application scenario needs to be changed.

[0058] A modularly designed multi-functional robot platform supports teaching and training in robot process functions. The complete unit includes one six-axis robot and one four-axis robot, equipped with machine vision, feeding, transportation, warehousing, and assembly modules. It supports robot palletizing, depalletizing, sorting, assembly, visual inspection, and conveyor belt tracking for educational training. The entire unit can function as a miniaturized unmanned factory. Each functional module is independently movable and equipped with expansion interfaces. Through the platform's high scalability, the modules can be arranged and assembled as needed to form a small production line for robot application education and training. This type of multi-functional robot training platform requires minimal space and has a compact structure, yet it is compatible with multiple functions including testing, teaching, and demonstration.

[0059] This application describes a multi-functional platform for supporting robot testing and teaching training. The frame 100 is constructed from welded 80×80 square tubing, with rounded corners at the four corners. This design ensures both aesthetics and structural strength, allowing the platform to withstand heavy loads and preventing deformation. The robot is less prone to swaying during movement. Safety light curtains are designed on both sides of the front and rear openings. When a person or object enters through one of the openings, an emergency stop is triggered, forcibly halting all moving equipment inside and turning the tri-color warning light 160 red. This ensures safety while also enhancing the platform's openness. The multi-functional robot platform also features a rotatable computer display screen (display screen 120) and a keyboard and mouse module, capable of horizontal rotation within a 90° range. This allows for use from the front or side during debugging and training.

[0060] In this application, the first robot 210 is a six-axis robot and the second robot 220 is a four-axis robot; the robot multi-functional platform is equipped with a six-axis robot module and two four-axis robot modules. The two robots can operate independently or in conjunction with each other in the process production line. Each robot is equipped with a quick-change fixture module, which has grippers, suction cups and calibration needles.

[0061] The six-axis robot module can be equipped with a quick-change first calibration needle 613 in the first fixture storage station 610, and its trajectory can be trained on the first trajectory training platform 710; or it can be equipped with a quick-change suction cup or quick-change gripper in the first fixture storage station 610, and used with the palletizing platform 800 for teaching and training in robot palletizing and depalletizing. The four-axis robot module can be equipped with a quick-change second calibration needle 623 in the second fixture storage station 620, and its trajectory can be trained on the second trajectory training platform 720; it can also be used with the disordered material visual monitoring component 330 and the second ejection component 140 for training in material sorting function based on vision recognition; the four-axis robot module can also be used with the integrated component and the conveyor belt camera and black box module for training in conveyor belt tracking and grasping function based on industrial vision positioning. All of the above are single-function robot training exercises.

[0062] The six-axis robot module and the four-axis robot module are linked for practical training, conducted in the form of a scaled-down factory production line. The standardized process is as follows: The second ejection component 140 serves as a storage repository for round blocks. The four-axis robot module loads quick-change suction cups in the second fixture storage station 620, and the vision monitoring component 330 completes the sorting and transportation to the integrated assembly. The third storage station 900 is used to store box lids and automatically feeds them. Above the first ejection component 910 is a storage area. The box lids are pushed through the first ejection component 910 to the box lid ejection station 920. The loading station 920 is equipped with sensors to send a signal after the box lids are pushed into place. A four-axis robot module uses a quick-change suction cup to pick up the box lid and transport it to the transport platform 410. A six-axis robot module is equipped with a quick-change gripper in the first fixture storage station 610. It picks up a box from the second storage station 150 and places it in the area of ​​the second positioning part 530 of the bottom box in the assembly platform 510. The box is then pressed and positioned twice by a cylinder. Then, the six-axis robot module is equipped with a quick-change suction cup in the first fixture storage station 610. It first picks up a round block from the transport platform 410. In the assembly platform 510, it is pressed and positioned twice by a cylinder through the first positioning part 520 and then placed into the box. The box lid is then picked up from the transport platform 410 and assembled on top of the box in the assembly platform 510 to complete the assembly. The six-axis robot module changes to a quick-change gripper in the first fixture storage station 610 and picks up the assembled assembly back to the second storage station 150. Disassembly is the reverse operation. The box lid is picked up by the four-axis robot module and returned to the third storage station 900. This achieves a simulation application of automated product production.

[0063] The robot's multi-functional platform is equipped with a CNC touchscreen as a software virtual button control console, which facilitates forced control of the entire machine's electrical system, thereby improving the safety of the entire machine's teaching and training.

[0064] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0065] The robot module 200, integration component 300, transport component 400, and assembly station 500, mounted on the rack 100, support independent control and flexible combination. The independent control and collaborative operation of the first robot 210 and the second robot 220 allow users to learn and practice single-machine operation and multi-machine collaboration skills on the same platform. Interactive training between the two robots, such as the second robot 220 transferring workpieces to the transport platform 410 for transport, and the first robot assembling at the assembly station 500, helps users understand data communication and synchronous control technology between robots. By simulating a real industrial environment, such as the integration component 300 arranging the first workpiece, the second robot 220 palletizing or transferring it, and the transport component 400 transporting the workpiece, the equipment provides users with a learning environment close to the actual production process. This helps users understand the specific applications of robots in industrial automation, enhances the realism of the training, and enables users to master practical operating skills more quickly.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0068] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, rotated 90 degrees, or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot teaching device, characterized in that, include: Rack (100); A robot module (200) is mounted on the frame (100). The robot module (200) includes a first robot (210) and a second robot (220), which are independently controlled. An integration component (300) is disposed on the frame (100) for arranging the first workpiece, and the second robot (220) is used for palletizing or transferring the arranged first workpiece; A transport assembly (400) is disposed on the frame (100), the transport assembly (400) includes a transport platform (410), and the second robot (220) transfers the arranged first workpiece to the transport platform (410) for transport; Assembly station (500), the first robot (210) is used to transfer the first workpiece and the second workpiece on the transport platform (410) to the assembly station (500) for assembly.

2. The robot teaching equipment according to claim 1, characterized in that, The robotic teaching equipment also includes: The first fixture storage station (610) is set on the frame (100). The first fixture storage station (610) is used to store the first fixture, which includes a first gripper (611) and a first suction cup (612). The first robot (210) can be selectively connected to the first gripper (611) or the first suction cup (612).

3. The robot teaching equipment according to claim 1, characterized in that, The robotic teaching equipment also includes: The second fixture storage station (620) is set on the frame (100). The second fixture storage station (620) is used to store the second fixture, which includes a second gripper (621) and a second suction cup (622). The second robot (220) can be selectively connected to the second gripper (621) or the second suction cup (622).

4. The robot teaching equipment according to claim 1, characterized in that, The robotic teaching equipment also includes: A first trajectory training platform (710) is disposed on the frame (100) and located to the side of the first robot (210). The first trajectory training platform (710) has a plurality of first trajectory markers, and the first robot (210) is used to move along each of the first trajectory markers. A second trajectory training platform (720) is disposed on the frame (100) and located to the side of the second robot (220). The second trajectory training platform (720) has a plurality of second trajectory markers, and the second robot (220) is used to move along each of the second trajectory markers.

5. The robot teaching equipment according to claim 1, characterized in that, The robotic teaching equipment also includes: A palletizing platform (800) is set on the side of the first robot (210). The palletizing platform (800) is provided with multiple palletizing areas (810). The first robot (210) palletizes the workpiece in the corresponding palletizing area (810) according to the specifications of the workpiece.

6. The robot teaching equipment according to claim 1, characterized in that, The integrated component (300) includes: An integrated platform (310) is movably configured, wherein the first robot (210) and the second robot (220) are both located between the transport platform (410) and the integrated platform (310); A limiting component (320) is disposed above the integration platform (310). There are two limiting components (320), which are spaced apart along the length of the integration platform (310). Each limiting component (320) includes a limiting opening (321) for accommodating the first workpiece. A visual monitoring component (330) is disposed above the integration platform (310) to acquire image information of each of the first workpieces on the integration platform (310).

7. The robot teaching equipment according to claim 1, characterized in that, The assembly station (500) includes: An assembly platform (510) is provided with a first positioning part (520) and a second positioning part (530). The first positioning part (520) is used to position the first workpiece, and the second positioning part (530) is used to position the second workpiece. The first robot (210) assembles the positioned first workpiece and the second workpiece.

8. The robot teaching equipment according to claim 7, characterized in that, The robotic teaching equipment also includes: The third storage station (900) is used to store the third workpiece. The third storage station (900) is located on the side of the transport platform (410). The second robot (220) transfers the third workpiece in the third storage station (900) to the transport platform (410) so as to transport the third workpiece to the picking position of the first robot (210) through the transport platform (410). The third workpiece is transferred to the assembly platform (510) by the first robot (210) and assembled with the first workpiece and the second workpiece.

9. The robot teaching equipment according to claim 8, characterized in that, Multiple third workpieces are stacked in the third storage station (900). The third storage station (900) is provided with a first push-out component (910) and a loading station (920). The first push-out component (910) is movably arranged in a direction that is close to or away from the loading station (920). After the third workpiece is pushed out to the loading station (920) by the first push-out component (910), the second robot (220) transfers the third workpiece to the transport platform (410).

10. The robot teaching equipment according to claim 7, characterized in that, The first positioning unit (520) includes: A first positioning element (521) and a second positioning element (522) are arranged opposite to each other to form a first positioning space (523). The first positioning element (521) and the second positioning element (522) are movably arranged relative to each other. At least a portion of the first workpiece is respectively engaged with the first positioning element (521) and the second positioning element (522) to position the first workpiece; and / or, The second positioning unit (530) includes: A third positioning element (531) and a fourth positioning element (532) are arranged opposite to each other to form a second positioning space (533). The third positioning element (531) and the fourth positioning element (532) are movably arranged relative to each other. At least a portion of the second workpiece is respectively attached to the third positioning element (531) and the fourth positioning element (532) to position the second workpiece.

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