A simulation teaching system for assembling industrial robots

Abstract

The utility model discloses an assembly industrial robot simulation teaching system, which belongs to the technical field of industrial robot equipment, and comprises a cooperative robot arm, a stereoscopic warehouse and an assembly robot arm which are arranged in sequence, a simulation production line and a numerical control lathe processing simulation equipment are arranged within the activity range of the cooperative robot arm, a parts assembly table is arranged within the activity range of the assembly robot arm, the cooperative robot arm is connected to a first PLC controller, the assembly robot arm is connected to a second PLC controller, the stereoscopic warehouse adopts a vertical cell structure, the opposite sides of the cell are connected, and proximity switches are arranged on both sides of the bottom surface of the cell, the first PLC controller is connected to the proximity switch on one side, and the second PLC controller is connected to the proximity switch on the other side. The utility model is conducive to improving students' understanding of cooperative robots and their understanding of the extended functions of industrial robot PLC.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robot equipment, and particularly relates to an assembly industrial robot simulation teaching system. Background Art

[0002] The key technologies of industrial robots mainly include control systems, sensors, actuators and communication technologies. The control system is the brain of the industrial robot, responsible for processing sensor information, planning the robot's motion path, and achieving precise control. Sensors are the eyes and ears of industrial robots, used to obtain information about the external environment, such as temperature, pressure, displacement, etc. Actuators are the muscles of industrial robots, used to perform various actions, such as movement and rotation. Communication technology is used to achieve information exchange and collaborative work between robots and humans or between robots.

[0003] The major of industrial robot application technology includes two directions: industrial robot programming and industrial robot operation and maintenance. Industrial robot programming aims to cultivate students' skills in the operation and programming of industrial robots. It is common to configure teaching equipment with multiple single industrial robots, but its functions are relatively simple. Large industrial robots with more functions have high construction costs and high maintenance costs. Therefore, we propose a simulation teaching system for assembling industrial robots. Utility Model Content

[0004] The purpose of the utility model is to provide an assembly industrial robot simulation teaching system, aiming to solve the problems existing in the prior art in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A simulation teaching system for assembling industrial robots comprises a collaborative robot arm, a stereoscopic warehouse and an assembly robot arm which are arranged in sequence, wherein a simulation production line and a CNC lathe processing simulation device are arranged within the range of movement of the collaborative robot arm, a parts assembly table is arranged within the range of movement of the assembly robot arm, the collaborative robot arm is connected to a first PLC controller, and the assembly robot arm is connected to a second PLC controller, the stereoscopic warehouse adopts a vertical cell structure, the opposite sides of the cell are connected, and proximity switches are respectively arranged on both sides of the bottom surface of the cell, the first PLC controller is connected to the proximity switch on one side, and the second PLC controller is connected to the proximity switch on the other side, the collaborative robot arm is used to transfer parts of the simulation production line to the stereoscopic warehouse, and the assembly robot arm is used to transfer parts of the stereoscopic warehouse to the parts assembly table and assemble the parts.

[0007] Furthermore, the collaborative robot arm and the assembly robot arm are both provided with a clamping member, which is used to pick up and place parts. The clamping member includes a support seat, a connecting head is provided on one side of the support seat, and a receiving groove is provided on the other side. A threaded rod is rotatably connected in the receiving groove, and one end of the threaded rod is transmission-connected to a servo motor. The threads on both sides of the middle position of the threaded rod are arranged in opposite directions, and the rod bodies on both sides of the threaded rod are symmetrically threaded and transmission-connected to threaded sleeves. The threaded sleeves are provided with a clamping rod, and the end of the clamping rod extends out along the notch of the receiving groove and the clamping rod slides in cooperation with the notch, and the clamping rods on both sides are relatively provided with clamping plates parallel to each other.

[0008] Furthermore, the bottom surface of the compartment is provided with a pallet slidably connected thereto, the pallet is used to support parts, the sliding direction of the pallet is the same as the direction of the openings passing through the two sides of the compartment, and the bottom of the support seat is provided with an electric telescopic rod, the telescopic end of the electric telescopic rod is provided with a push plate, and the push plate is used to push the pallet to slide.

[0009] Furthermore, anti-slip layers are respectively provided on adjacent sides of the two side plywoods.

[0010] Compared with the shortcomings and deficiencies of the prior art, the utility model has the following beneficial effects.

[0011] 1. The utility model provides an assembly industrial robot simulation teaching system, which combines a collaborative robot arm, a stereoscopic warehouse and an assembly robot arm. The collaborative robot arm is used to transfer the parts of the simulated production line to the stereoscopic warehouse for storage, and the assembly robot arm is used to transfer the parts stored in the stereoscopic warehouse to the parts assembly table for assembly. Through the coordinated linkage between multiple devices, practical training subjects are added, which is conducive to improving students' understanding of collaborative robots and their understanding of the extended functions of industrial robot PLC.

[0012] 2. The collaborative robot arm and the assembly robot arm are respectively provided with clamping parts, which are driven by the servo motor to rotate the threaded rod, and the threaded sleeves on both sides drive the clamping rod to move synchronously, thereby driving the clamping plate to pick up and place parts; a pallet that slides with it is provided in the compartment, and the pallet is used to support the parts. The support seat is provided with an electric telescopic rod, which drives the push plate to move the pallet through the electric telescopic rod, so that the robot arms on both sides can take and place parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The utility model is a structural schematic diagram of an assembly industrial robot simulation teaching system.

[0014] Figure 2 It is a schematic diagram of the internal structure of the clamping member and the compartment in the utility model.

[0015] Figure 3 It is a structural schematic diagram of a clamping member provided with an electric telescopic rod in the utility model.

[0016] Figure 4 It is a structural schematic diagram of the assembly of parts in the utility model.

[0017] In the figure: 1-simulation production line; 2-CNC lathe processing simulation equipment; 3-collaborative robot arm; 4-first PLC controller; 5-three-dimensional warehouse; 6-second PLC controller; 7-assembly robot arm; 8-parts assembly table; 9-connector; 10-support seat; 11-receiving groove; 12-notch; 13-servo motor; 14-threaded sleeve; 15-clamping rod; 16-clamping plate; 17-parts; 18-compartment; 19-proximity switch; 20-pallet; 21-slide; 22-slider; 23-electric telescopic rod; 24-push plate; 25-threaded rod; 26-anti-slip layer; 27-clamping piece. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0019] Reference Figure 1 A simulation teaching system for assembling industrial robots includes a collaborative robot arm 3 and an assembly robot arm 7 that are arranged at intervals. The collaborative robot arm 3 is connected to a first PLC controller 4, and the assembly robot arm 7 is connected to a second PLC controller 6. A simulation production line 1 is arranged on one side of the activity range of the collaborative robot arm 3. The simulation production line 1 is used to simulate the production of parts 17. A CNC lathe processing simulation device 2 is arranged on one side of the simulation production line 1 for simulating the processing of parts 17. A stereoscopic warehouse 5 is arranged between the collaborative robot arm 3 and the assembly robot arm 7. The stereoscopic warehouse 5 is used to store and retrieve processed parts 17. The collaborative robot arm 3 clamps the parts 17 on the simulation production line 1 and places them on the CNC lathe processing simulation device 2. After the parts 17 are simulated and processed, the collaborative robot arm 3 clamps the parts 17 and places them in the stereoscopic warehouse 5 for storage; a parts assembly table 8 is arranged within the activity range of the assembly robot arm 7. The assembly robot arm 7 clamps the parts 17 from the stereoscopic warehouse 5 and places them on the parts assembly table 8. On the parts assembly table 8, the assembly robot arm 7 assembles the parts 17 that cooperate with each other together.

[0020] Reference Figure 4 The component 17 is made of a rubbing-fit metal block, and the metal block with a matching shape is assembled by an assembly robot 7 in a concave-convex fit or a plug-in fit.

[0021] Reference Figure 2The three-dimensional warehouse 5 adopts a vertical cell structure, and the parts 17 are placed in the cells 18. The two opposite sides of the cells 18 are connected, one side is open to the cooperative robot arm 3, and the other side is open to the assembly robot arm 7. Two two-wire PNP proximity switches 19 are arranged on the bottom surface of each cell 18, one of which is connected to the PLCI / O card of the first PLC controller 4 through a line, and the other proximity switch 19 is connected to the PLC I / O card of the second PLC controller 6 through a line. The proximity switch 19 is used to feedback a signal to the first PLC controller 4 or the second PLC controller 6, so that the cooperative robot arm 3 or the assembly robot arm 7 can identify and pick up the parts 17.

[0022] Reference Figure 3 The collaborative robot arm 3 and the assembly robot arm 7 are respectively provided with a clamping member 27, and the clamping member 27 is used to clamp and pick up the parts 17. The clamping member 27 includes a support seat 10, and a receiving groove 11 is provided inside the support seat 10. The receiving groove 11 is arranged along the length direction of the support seat 10, and the notch 12 of the receiving groove 11 is located on one side of the support seat 10. A connector 9 is arranged on the other side of the support seat 10, and the connector 9 is used to connect with the collaborative robot arm 3 or the assembly robot arm 7. A threaded rod 25 is embedded in the receiving groove 11, and the threaded rod 25 is rotatably connected to the two end surfaces in the receiving groove 11. A servo motor 13 is provided at one end of the support seat 10, and the output shaft of the servo motor 13 penetrates into the support seat 10 and is transmission-connected to the threaded rod 25. The threads on both sides of the threaded rod 25 at the middle position are reversed. The rod body is symmetrically provided with threaded sleeves 14 on both sides, and the threaded sleeves 14 are connected with the threaded rod 25 by threaded transmission. Specifically, the threaded sleeves 14 adopt a double-layer nested structure (not shown in the figure), the inner sleeve is sleeved on the threaded rod 25 and is connected with the threaded rod 25 by threaded transmission, the outer sleeve is sleeved on the outside of the inner sleeve and is rotatably matched with the inner sleeve, and the outer sleeve is provided with a clamping rod 15, one end of the clamping rod 15 is connected with the outer sleeve, and the other end extends along the notch 12 of the receiving groove 11, the clamping rod 15 is slidably matched with the notch 12 of the receiving groove 11, and the notch 12 is used to limit the clamping rod 15, and the clamping rods 15 on both sides are relatively provided with clamping plates 16 parallel to each other. The servo motor 13 drives the threaded sleeves 14 on both sides to move synchronously through the threaded rod 25, thereby driving the clamping plates 16 to move synchronously for loading and unloading parts 17 through the clamping rods 15 on both sides.

[0023] In one embodiment, an electric telescopic rod 23 is provided at the bottom of the support seat 10, and a push plate 24 is provided at the end of the electric telescopic rod 23. The push plate 24 is located below the clamping plate 16, and the push plate 24 moves telescopically with the electric telescopic rod 23. A pallet 20 is provided on the bottom surface of the cell 18 of the three-dimensional warehouse 5. The pallet 20 is slidably connected to the bottom surface of the cell 18, and the sliding direction is the same as the through direction of both sides of the cell 18. Specifically, a slider 22 is provided at the bottom of the pallet 20, and a slide groove 21 is provided on the bottom surface of the cell 18. The slider 22 slides in cooperation with the slide groove 21, and the pallet 20 is used to support the parts 17. The collaborative robot arm 3 clamps the component 17 through the clamping piece 27 and places the component 17 on the pallet 20 in the compartment 18. At this time, the pallet 20 is located on the side of the compartment 18 close to the collaborative robot arm 3, and the electric telescopic rod 23 drives the push plate 24 to extend horizontally, and the push plate 24 pushes the pallet 20 to move to the other side away from the collaborative robot arm 3. After the assembly robot arm 7 clamps the component 17 on the pallet 20 through the clamping piece 27, the electric telescopic rod 23 drives the push plate 24 to extend and push the pallet 20 to the side away from the assembly robot arm 7, so as to facilitate the collaborative robot arm 3 to place the component 17 again.

[0024] In one embodiment, an anti-skid layer 26 is provided on one side adjacent to the splint 16. The anti-skid layer 26 may be made of rubber material. On the one hand, it increases friction and reduces the risk of component 17 falling during the clamping process. On the other hand, it can avoid rigid contact between component 17 and the splint 16, which is beneficial to reducing the wear of the splint 16 and component 17 and extending the service life of the equipment.

[0025] When the assembly industrial robot simulation teaching system is in use, the collaborative robot arm 3 clamps the component 17 from the simulation production line 1, transfers the component 17 to the CNC lathe processing simulation equipment 2, simulates the processing of the component 17, and then clamps the component 17 again through the clamping member 27, transfers the component 17 to the compartment 18 of the stereoscopic warehouse 5, and places it on the pallet 20. The electric telescopic rod 23 extends and pushes the pallet 20 to the side of the assembly robot arm 7 through the push plate 24. The assembly robot arm 7 clamps the component 17 on the pallet 20 through the clamping member 27, drives the push plate 24 through the electric telescopic rod 23, and pushes the pallet 20 to the side close to the collaborative robot arm 3, so as to facilitate the placement of the component 17 next time. The assembly robot arm 7 places the component 17 on the parts assembly table 8 and assembles the suitable component 17.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An assembly industrial robot simulation teaching system, characterized in that: The invention comprises a collaborative robot arm (3), a stereoscopic warehouse (5) and an assembly robot arm (7) which are arranged in sequence. A simulation production line (1) and a numerical control lathe processing simulation device (2) are arranged within the range of movement of the collaborative robot arm (3). A parts assembly table (8) is arranged within the range of movement of the assembly robot arm (7). The collaborative robot arm (3) is connected to a first PLC controller (4), and the assembly robot arm (7) is connected to a second PLC controller (6). The stereoscopic warehouse (5) adopts a vertical warehouse grid (18) structure. The two opposite sides of the warehouse grid (18) are connected. Both sides of the bottom surface of the warehouse grid (18) are respectively provided with proximity switches (19). The first PLC controller (4) is connected to the proximity switch (19) on one side, and the second PLC controller (6) is connected to the proximity switch (19) on the other side. The collaborative robot arm (3) is used to transfer parts (17) of the simulation production line (1) to the stereoscopic warehouse (5), and the assembly robot arm (7) is used to transfer parts (17) of the stereoscopic warehouse (5) to the parts assembly table (8) and assemble the parts (17).

2. The assembly industrial robot simulation teaching system according to claim 1, characterized in that: The collaborative robot arm (3) and the assembly robot arm (7) are both provided with a clamping member (27), the clamping member (27) being used for picking up and placing parts (17), the clamping member (27) comprising a support seat (10), the support seat (10) having a connector (9) on one side and a receiving groove (11) on the other side, the receiving groove (11) being rotatably connected to a threaded rod (25), one end of the threaded rod (25) being transmission-connected to a servo motor (13), the threads on both sides of the threaded rod (25) being arranged in opposite directions along the middle position, the rod bodies on both sides of the threaded rod (25) being symmetrically threadedly transmission-connected to a threaded sleeve (14), the threaded sleeve (14) being provided with a clamping rod (15), the end of the clamping rod (15) extending along a notch (12) of the receiving groove (11), the clamping rod (15) being slidingly matched with the notch (12), and clamping plates (16) parallel to each other being arranged opposite to each other on the clamping rods (15) on both sides.

3. The assembly industrial robot simulation teaching system according to claim 2, characterized in that: The bottom surface of the compartment (18) is provided with a support plate (20) slidably connected thereto, the support plate (20) being used to support the component (17), the sliding direction of the support plate (20) being the same as the direction of the openings passing through the two sides of the compartment (18), the bottom of the support seat (10) being provided with an electric telescopic rod (23), the telescopic end of the electric telescopic rod (23) being provided with a push plate (24), the push plate (24) being used to push the support plate (20) to slide.

4. The assembly industrial robot simulation teaching system according to claim 2, characterized in that: Adjacent sides of the two side clamping plates (16) are respectively provided with anti-slip layers (26).

Images