Industrial robot visual comprehensive practical training platform

Abstract

The utility model belongs to the technical field of teaching equipment, and discloses a visual comprehensive practical training platform for an industrial robot. Comprising a practical training platform, and an industrial robot, a quick-change tool module, a welding displacement module, a track module, a discharging assembly line module, a vision module, a die-casting module, a polishing module, a three-dimensional storage module and an industrial control computer module which are all mounted on the practical training platform. According to the utility model, the industrial robot can be controlled to change operation workpieces quickly, discharging practice is carried out through the discharging assembly line module, the industrial robot is coordinated to grab materials in time through judgment of the visual module in the discharging process, and then the die-casting module simulates practice of the die-casting operation process; the industrial robot continuously grabs the materials and directly places the materials in the three-dimensional storage module, or places the materials in the three-dimensional storage module after being polished by the polishing module; and the industrial robot can be controlled to carry out track practice, so that an industrial machine vision programming and application technology practical training platform is formed.

Description

Technical Field

[0001] The utility model belongs to the technical field of teaching equipment, and in particular relates to an industrial robot vision comprehensive training platform. Background Art

[0002] With the development of science and technology, PLC has undergone tremendous changes in the field of industrial robots. PLC continues to adopt new technologies and continuously enhance the openness of the system. In addition to traditional hard PLC, it is also integrated into the control configuration software. PLC integrates computer technology, automatic control technology and communication technology, and has become the core equipment for realizing the automation of single machines, workshops and factories. It has the characteristics of high reliability, strong anti-interference ability, flexible combination, simple programming and convenient maintenance. For students studying automatic control, PLC is an important subject. Learning PLC well is not only part of the learning task in school, but also very helpful for future work. At present, the equipment combining PLC control and industrial robots in school laboratories has a single function and cannot meet the needs of high-quality teaching. Utility Model Content

[0003] The utility model aims to provide an industrial robot vision comprehensive training platform to solve the above problems existing in the prior art.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An industrial robot vision comprehensive training platform, comprising:

[0006] Industrial robot, the manipulator of the industrial robot is connected to the main disk with a quick-change disk;

[0007] A quick-change tool module, on which a plurality of sub-discs cooperating with the main disk are placed, and an operating tool is connected to the lower end of each sub-disc;

[0008] Welding displacement module, used to cooperate with industrial robots to simulate the trajectory changes during welding;

[0009] A trajectory module, used to simulate the movement trajectory of the industrial robot by moving the industrial robot on the trajectory module;

[0010] Discharging assembly line module, used for discharging materials;

[0011] The visual module is arranged above the discharging assembly line module to judge whether there is any material on the discharging assembly line module through the visual module, so that the industrial robot can grab the material when there is material;

[0012] Die-casting module, used for die-casting of materials;

[0013] A grinding module, used for grinding materials;

[0014] Three-dimensional storage module to realize material storage;

[0015] Industrial control computer module, the industrial control computer module is electrically connected with the industrial robot, welding position displacement module, material discharging assembly line module, visual module, die-casting module, grinding module and three-dimensional storage module;

[0016] Training platform, industrial robot, quick-change tool module, welding displacement module, trajectory module, discharge assembly line module, vision module, die-casting module, grinding module, three-dimensional storage module and industrial control computer module are all installed on the training platform.

[0017] As a preferred technical solution in the utility model, the quick-change tool module includes a supporting plate arranged parallel to the top of the training platform, the lower end of the supporting plate is connected to the training platform through a plurality of supporting columns, and a plurality of slide grooves with one end open are arranged on the supporting plate, and each slide groove is slidably connected to a sub-disc supported on the supporting plate.

[0018] As a preferred technical solution in the utility model, the welding displacement module includes a positioning frame, a welding track plate and a first rotating motor electrically connected to the industrial control computer module. The positioning frame is installed on the training platform, the welding track plate is rotatably connected to the positioning frame, the first rotating motor is installed on the positioning frame, and the motor shaft of the first rotating motor is connected to the welding track plate.

[0019] As a preferred technical solution in the utility model, the upper end of the welding displacement module is provided with a cylindrical protrusion, a rectangular protrusion and an arc-shaped long strip protrusion.

[0020] As a preferred technical solution in the utility model, the trajectory module is provided with a rectangular trajectory groove, a circular trajectory groove, a polygonal trajectory groove and an arc trajectory groove.

[0021] As a preferred technical solution in the utility model, the discharging assembly line module includes a conveyor and a loading mechanism arranged at one end of the conveyor, the loading mechanism includes a loading platform installed on the training platform, and a material loading rack is provided at one end of the loading platform close to the conveyor, and a material loading channel extending in a vertical direction is provided on the material loading rack, and the distance between the lower end of the material loading channel and the loading platform is greater than the height of one material and less than the sum of the heights of two materials; a loading cylinder is installed at the other end of the loading platform to push the material falling from the material loading channel to the loading platform to the conveyor, and the loading cylinder and the conveyor are both electrically connected to the industrial control computer module.

[0022] As a preferred technical solution in the present invention, the visual module is installed on one end of a horizontal connecting rod, and the other end of the horizontal connecting rod is connected to a vertical positioning rod fixed on the training platform.

[0023] As a preferred technical solution in the utility model, the die-casting module includes a fixed platform installed on the training platform, a fixed mold is installed in the middle of the fixed platform, a die-casting cylinder is arranged at one end of the fixed platform, a movable mold for die-casting is installed on the piston rod of the die-casting cylinder, and a pushing cylinder for pushing the material into the fixed mold is installed at the other end of the fixed platform. A material well extending in the vertical direction is arranged on one side of the fixed mold close to the pushing cylinder, and a unloading port is opened at the lower end of the material well for the pushing cylinder to push the material into the fixed mold; the die-casting cylinder and the pushing cylinder are both electrically connected to the industrial control computer module.

[0024] As a preferred technical solution in the utility model, the three-dimensional storage module includes a fixed mounting frame installed on the training platform, two circular storage turntables parallel to each other are arranged above the fixed mounting frame, a rotating motor is installed on the fixed mounting frame, and the two circular storage turntables are connected to the motor shaft of the rotating motor; among the two circular storage turntables, the diameter of the circular storage turntable located above is smaller than the diameter of the other circular storage turntable; the rotating motor is electrically connected to the industrial control computer module.

[0025] As a preferred technical solution in the present invention, a display module is also installed on the training platform, and the display module is electrically connected to the industrial control computer module.

[0026] Beneficial effects: In practice, the utility model can control the industrial robot to exchange the required operating workpiece in the quick-change tool module, and conduct discharging exercises through the discharging assembly line module. During the discharging process, the industrial robot is coordinated to grab the material in time through the judgment of the visual module, and then the die-casting module is used to simulate the die-casting operation process. After the die-casting is completed, the industrial robot continues to grab the material and directly places it in the three-dimensional storage module, or places it in the three-dimensional storage module after grinding in the grinding module; in practice, the industrial robot can also be controlled to conduct trajectory exercises during welding in the welding displacement module, and can also be controlled to move in the trajectory module to simulate the movement trajectory exercises of the industrial robot. The whole process is combined with the intelligent control of the industrial control computer module to form an industrial machine vision programming and application technology training platform with a high degree of overall integration, which can achieve good teaching effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0028] Figure 2 It is a top view of the utility model.

[0029] In the figure: 1-industrial robot; 101-main disk; 2-quick-change tool module; 201-sub-disk; 3-welding displacement module; 4-trajectory module; 5-discharging assembly line module; 501-conveyor; 502-feeding mechanism; 6-vision module; 7-die-casting module; 701-fixed mold; 702-die cylinder; 703-moving membrane; 704-push cylinder; 705-material well; 8-grinding module; 9-stereoscopic storage module; 10-industrial control computer module; 11-training platform; 12-display module. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the utility model will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the utility model, but does not constitute a limitation of the utility model.

[0031] Example:

[0032] like Figure 1 and Figure 2 As shown, this embodiment provides an industrial robot vision comprehensive training platform, including:

[0033] An industrial robot 1, the manipulator of the industrial robot 1 is connected to a main disk 101 with a quick-change disk;

[0034] The quick-change tool module 2 is provided with a plurality of sub-disks 201 that match the main disk 101. The lower end of each sub-disk 201 is connected to an operating tool. In practice, according to the operating tool selected as needed, the industrial robot 1 is controlled to make the main disk 101 magnetically connected with the corresponding sub-disk 201, and the corresponding operating tool can be selected for practical training;

[0035] The welding displacement module 3 is used to cooperate with the industrial robot 1 to simulate the trajectory change during welding;

[0036] A trajectory module 4 is used to simulate the movement trajectory of the industrial robot 1 by moving the industrial robot 1 on the trajectory module 4, such as simulating the gluing trajectory;

[0037] The material discharging assembly line module 5 is used for discharging materials and transferring the materials to a designated location as needed for the industrial robot 1 to grab the materials;

[0038] The visual module 6 is arranged above the discharging assembly line module 5, and is used to judge whether there is any material on the discharging assembly line module 5 through the visual module 6, so that the industrial robot 1 can grab the material when there is material, thereby improving the coordination effect;

[0039] The die-casting module 7 is used to perform die-casting of materials and simulate the die-casting operation process;

[0040] The grinding module 8 is used to grind the materials, learn the actual operation process, and verify whether the respective training programming application is feasible;

[0041] A three-dimensional storage module 9 is used to store materials and simulate the storage operation of practicing materials;

[0042] The industrial control computer module 10 is electrically connected to the industrial robot 1, the welding displacement module 3, the discharging assembly line module 5, the visual module 6, the die-casting module 7, the grinding module 8 and the three-dimensional storage module 9;

[0043] The training platform 11, the industrial robot 1, the quick-change tool module 2, the welding displacement module 3, the trajectory module 4, the discharge assembly line module 5, the vision module 6, the die-casting module 7, the grinding module 8, the three-dimensional storage module 9 and the industrial control computer module 10 are all installed on the training platform 11, providing a stable and highly integrated training platform.

[0044] In practice, the utility model can control the industrial robot 1 to exchange the required operating workpiece in the quick-change tool module 2, and perform discharging exercises through the discharging assembly line module 5. During the discharging process, the industrial robot 1 is coordinated to grab the material in time through the judgment of the visual module 6, and then the die-casting operation process is simulated in the die-casting module 7. After the die-casting is completed, the industrial robot 1 continues to grab the material and directly places it in the three-dimensional storage module 9, or places it in the three-dimensional storage module 9 after grinding in the grinding module 8; in practice, the industrial robot 1 can also be controlled to perform trajectory exercises during welding in the welding displacement module 3, and the industrial robot 1 can also be controlled to move in the trajectory module 4 to simulate the movement trajectory exercises of the industrial robot 1. The whole process is combined with the intelligent control of the industrial control computer module 10 to form an industrial machine vision programming and application technology training platform with a high degree of overall integration, which can achieve good teaching effects.

[0045] As a preferred implementation scheme in this embodiment, it needs to be further explained that the quick-change tool module 2 includes a supporting plate arranged in parallel above the training platform 11, and the lower end of the supporting plate is connected to the training platform 11 through a plurality of supporting columns, and a plurality of slide grooves with one end open are arranged on the supporting plate, and each slide groove is slidably connected with a sub-disk 201 supported on the supporting plate, so that the sub-disk 201 can be quickly detached from the supporting plate when it is magnetically attracted to the lower end of the main disk 101, thereby avoiding human intervention.

[0046] As a preferred implementation scheme in this embodiment, it needs to be further explained that the welding displacement module 3 includes a positioning frame, a welding track plate and a first rotating motor electrically connected to the industrial control computer module 10, the positioning frame is installed on the training platform 11, the welding track plate is rotatably connected to the positioning frame, the first rotating motor is installed on the positioning frame, and the motor shaft of the first rotating motor is connected to the welding track plate. In practice, the first rotating motor can drive the welding track plate to rotate, thereby cooperating with the robot module 1 to practice various welding tracks.

[0047] As a preferred implementation scheme in this embodiment, it needs to be further explained that the upper end of the welding displacement module 3 is provided with a cylindrical protrusion, a rectangular protrusion and an arc-shaped long strip protrusion, which is convenient for practicing welding trajectories through the robot module 1.

[0048] As a preferred implementation scheme in this embodiment, it needs to be further explained that the trajectory module 4 is provided with a rectangular trajectory groove, a circular trajectory groove, a polygonal trajectory groove and an arc trajectory groove, so as to facilitate the practice of various trajectories through the robot module 1.

[0049] As a preferred implementation scheme in this embodiment, it needs to be further explained that the discharging assembly line module 5 includes a conveyor 501 and a feeding mechanism 502 arranged at one end of the conveyor 501, and the feeding mechanism 502 includes a feeding platform installed on the training platform 11, and a material loading rack is arranged at one end of the feeding platform close to the conveyor 501, and a material loading channel extending in the vertical direction is arranged on the material loading rack, and the distance between the lower end of the material loading channel and the feeding platform is greater than the height of one material and less than the sum of the heights of two materials; the other end of the feeding platform is installed with a feeding cylinder that pushes the material dropped from the material loading channel to the feeding platform onto the conveyor 501, and the feeding cylinder and the conveyor 501 are both electrically connected to the industrial control computer module 10. The discharging assembly line module 5 of this embodiment is composed of a well-type feeding mechanism and a belt conveyor, which can be flexibly installed and disassembled separately. The well-type feeding mechanism realizes the directional feeding of materials. According to the instruction control of the industrial control computer module 10, the feeding cylinder pushes the material onto the belt conveyor for directional transmission.

[0050] As a preferred implementation scheme in this embodiment, it needs to be further explained that the visual module 6 is installed at one end of a horizontal connecting rod, and the other end of the horizontal connecting rod is connected to a vertical positioning rod fixed on the training platform 11, so as to fix the visual module 6 and facilitate the visual module 6 to take pictures within a relatively large range.

[0051] As a preferred implementation scheme in this embodiment, it needs to be further explained that the die-casting module 7 includes a fixed platform installed on the training platform 11, a fixed die 701 is installed in the middle of the fixed platform, a die-pressing cylinder 702 is arranged at one end of the fixed platform, a movable die 703 for pressing the fixed die 701 is installed on the piston rod of the die-pressing cylinder 702, and a push cylinder 704 for pushing the material into the fixed die 701 is installed at the other end of the fixed platform, and a side of the fixed die 701 close to the push cylinder 704 is provided with a side along the fixed die 701. The material well 705 extends in the vertical direction, and the lower end of the material well 705 is provided with a discharge port for the pushing cylinder 704 to push the material into the fixed mold 701; the die pressing cylinder 702 and the pushing cylinder 704 are both electrically connected to the industrial control computer module 10. In practice, the material is discharged through the material well 705, and then the pushing cylinder 704 pushes the material into the fixed mold 701, and the die pressing cylinder 702 is actuated to perform die pressing, and then when the die pressing cylinder 702 pushes out the material, the material will adhere to the movable film 703, which is convenient for the robot module 1 to grab the material.

[0052] As a preferred implementation scheme in this embodiment, it needs to be further explained that the three-dimensional storage module 9 includes a fixed mounting frame installed on the training platform 11, and two circular storage turntables parallel to each other are arranged above the fixed mounting frame, and a rotating motor is installed on the fixed mounting frame, and the two circular storage turntables are connected to the motor shaft of the rotating motor; among the two circular storage turntables, the diameter of the upper circular storage turntable is smaller than the diameter of the other circular storage turntable, which is convenient for storing materials or stacking on different circular storage turntables; the rotating motor is electrically connected to the industrial control computer module 10, so that the rotating motor drives the circular storage turntable to rotate when placing materials, so that the robot module 1 can discharge materials at a fixed position of a circular storage turntable, which is more efficient.

[0053] As a preferred implementation scheme in this embodiment, it needs to be further explained that a display module 12 is also installed on the training platform 11, and the display module 12 is electrically connected to the industrial control computer module 10. The display module 12 can display what kind of data in the actual operation, so as to have a clearer understanding of the learning effect.

[0054] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An industrial robot vision comprehensive training platform, characterized in that: include: An industrial robot (1), a manipulator of the industrial robot (1) being connected to a main disk (101) having a quick-change disk; A quick-change tool module (2), on which a plurality of auxiliary trays (201) matching with the main tray (101) are placed, and the lower end of each auxiliary tray (201) is connected to an operating tool; A welding displacement module (3) is used to cooperate with the industrial robot (1) to simulate the trajectory change during welding; A trajectory module (4) for simulating the movement trajectory of the industrial robot (1) by moving the industrial robot (1) on the trajectory module (4); A discharging assembly line module (5) is used for discharging materials; A visual module (6), the visual module (6) is arranged above the material discharging assembly line module (5), and is used to judge whether there is material being discharged from the material discharging assembly line module (5) through the visual module (6), so that when there is material, the industrial robot (1) can grab the material; A die-casting module (7) for die-casting materials; A grinding module (8), used for grinding the material; A three-dimensional storage module (9) is used to store materials; The industrial control computer module (10) is electrically connected to the industrial robot (1), the welding displacement module (3), the material discharging assembly line module (5), the visual module (6), the die-casting module (7), the polishing module (8) and the three-dimensional storage module (9); A training platform (11), an industrial robot (1), a quick-change tool module (2), a welding displacement module (3), a trajectory module (4), a discharge assembly line module (5), a vision module (6), a die-casting module (7), a grinding module (8), a three-dimensional storage module (9) and an industrial control computer module (10) are all installed on the training platform (11).

2. The industrial robot vision comprehensive training platform according to claim 1 is characterized in that: The quick-change tool module (2) comprises a support plate arranged parallel to the training platform (11), the lower end of the support plate being connected to the training platform (11) via a plurality of support columns, a plurality of slide grooves with one end open being arranged on the support plate, each slide groove being slidably connected to a sub-disk (201) supported on the support plate.

3. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The welding displacement module (3) comprises a positioning frame, a welding track plate and a first rotating motor electrically connected to the industrial control computer module (10); the positioning frame is mounted on the training platform (11); the welding track plate is rotatably connected to the positioning frame; the first rotating motor is mounted on the positioning frame; and the motor shaft of the first rotating motor is connected to the welding track plate.

4. The industrial robot vision comprehensive training platform according to claim 3 is characterized in that: The upper end of the welding displacement module (3) is provided with a cylindrical protrusion, a rectangular protrusion and an arc-shaped long strip protrusion.

5. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The track module (4) is provided with a rectangular track groove, a circular track groove, a polygonal track groove and an arc track groove.

6. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The discharging assembly line module (5) comprises a conveyor (501) and a loading mechanism (502) arranged at one end of the conveyor (501), the loading mechanism (502) comprising a loading platform installed on the training platform (11), a material loading rack is arranged at one end of the loading platform close to the conveyor (501), a material loading channel extending in the vertical direction is arranged on the material loading rack, and the distance between the lower end of the material loading channel and the loading platform is greater than the height of one material and less than the sum of the heights of two materials; a loading cylinder is installed at the other end of the loading platform to push the material dropped from the material loading channel to the loading platform onto the conveyor (501), and the loading cylinder and the conveyor (501) are both electrically connected to the industrial control computer module (10).

7. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The visual module (6) is installed on one end of a horizontal connecting rod, and the other end of the horizontal connecting rod is connected to a vertical positioning rod fixed on the training platform (11).

8. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The die-casting module (7) comprises a fixed platform installed on the training platform (11), a fixed die (701) is installed in the middle of the fixed platform, a die-pressing cylinder (702) is arranged at one end of the fixed platform, a movable film (703) is installed on the piston rod of the die-pressing cylinder (702) for cooperating with the fixed die (701) for die-pressing, a pushing cylinder (704) for pushing the material into the fixed die (701) is installed at the other end of the fixed platform, a material well (705) extending in the vertical direction is arranged on one side of the fixed die (701) close to the pushing cylinder (704), and a material discharge port (705) is provided at the lower end of the material well (705) for facilitating the pushing cylinder (704) to push the material into the fixed die (701); the die-pressing cylinder (702) and the pushing cylinder (704) are both electrically connected to the industrial control computer module (10).

9. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: The three-dimensional storage module (9) includes a fixed mounting frame installed on the training platform (11), two circular storage turntables are arranged above the fixed mounting frame and are parallel to each other, a rotating motor is installed on the fixed mounting frame, and the two circular storage turntables are connected to the motor shaft of the rotating motor; among the two circular storage turntables, the diameter of the upper circular storage turntable is smaller than the diameter of the other circular storage turntable; the rotating motor is electrically connected to the industrial control computer module (10).

10. The industrial robot vision comprehensive training platform according to claim 1, characterized in that: A display module (12) is also installed on the training platform (11), and the display module (12) is electrically connected to the industrial control computer module (10).

Images