Industrial robot assembly practical training device

Abstract

The utility model belongs to the field of industrial practical training equipment and facilities, and provides an industrial robot assembly practical training device which comprises a comprehensive practical training platform. The comprehensive training platform is provided with an industrial controller, a man-machine interaction terminal, a manipulator control unit, a machine vision detection unit, an assembly line conveying unit, an air source and pneumatic control unit, an industrial sensor unit, a circulation AGV trolley, a track, a stereoscopic warehouse and stacker control unit, a digital station board unit and a digital twin platform. The digital station billboard unit and the digital twinning platform are arranged on the rack through a lifting connecting assembly, the lifting connecting assembly is used for adjusting the height positions of the digital station billboard unit and the digital twinning platform on the rack, and each of the digital station billboard unit and the digital twinning platform comprises a double-folding liquid crystal billboard. The digital station billboard and the digital twinning platform are reasonable in design, high in practicability, good in matching adjustability and suitable for large-scale popularization, and the digital station billboard and the digital twinning platform can complete space gathering.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial training equipment and facilities, especially relates to an industrial robot assembly training device. BACKGROUND

[0002] The 5G+industrial 4.0 comprehensive training room takes the typical application scene of 5G+industrial internet as the core entry point, constructs remote device control, machine vision quality inspection, device fault diagnosis, intelligent logistics and other application scenes, covers OT, IT, DT and other multi-field knowledge, includes the core basic technology of new generation industrial interconnection applications such as industrial bus technology, protocol conversion, edge computing, data transmission, wireless network technology, device modeling, large screen development, remote monitoring, data statistical analysis and production management MES, and strives to build an industrial internet production-teaching-research integration talent training system, and cultivate high-quality industrial internet technology skilled talents with digital knowledge structure and digital operation ability. The 5G+industrial 4.0 comprehensive training room is composed of seven parts, including an industrial 4.0 comprehensive training table, a digital workstation board, an MEC mobile edge computing unit, a digital twin platform, an industrial internet cloud platform, a cloud MES and an industrial internet course resource package, wherein the industrial 4.0 comprehensive training table is the core equipment, which generally adopts a three-layer architecture, and the equipment layer, the edge layer and the platform layer are arranged from bottom to top.

[0003] At present, the equipment layer of the industrial 4.0 comprehensive training table includes an industrial controller and a man-machine interaction unit, various linear motion, rotary motion and multi-degree-of-freedom motion actuators, industrial sensors, intelligent cameras and network devices such as switches. For example, the existing patent CN220232581U discloses a bearing assembly training platform based on an industrial robot, CN211181198U discloses a robot vision detection assembly training device, CN109712509A discloses a simulation production line training platform, and CN117409627A discloses a multifunctional robot training table. However, these robot assembly training devices do not provide AGV cars and their walking facilities, and lack AGV car training projects in industrial environments. Furthermore, in the comprehensive training room, the training platform matched with the digital workstation board and the digital twin platform is generally arranged higher than other devices in the equipment layer and close to one side of the platform due to the consideration of the viewing angle. On the one hand, the height and angle of the training platform cannot be individually adjusted, affecting the viewing of the training personnel. On the other hand, in the non-training teaching process, a large space is also occupied, and the training platform cannot be retracted. UTILITY MODEL CONTENT

[0004] The utility model discloses to the technical problem of above -mentioned practical training device, propose a kind of industrial robot assembly practical training device of digital workstation board and digital twin platform with reasonable design, stronger practicality, better matching adjustability and can complete space convergence.

[0005] In order to achieve the above object, the utility model adopts technical scheme, and the utility model provides an industrial robot assembly practical training device, which comprises a comprehensive training platform, the comprehensive training platform is provided with an industrial controller, a man-machine interactive terminal, a mechanical hand control unit, a machine vision detection unit, a flow line conveying unit, a gas source and a pneumatic control unit and an industrial sensor unit, the flow line conveying unit is provided with a flow AGV trolley at the connection end, the comprehensive training platform is provided with a track for the flow AGV trolley to walk, the track is provided with a stereoscopic warehouse and a stacker control unit in the terminal direction, one side of the comprehensive training platform is provided with a digital workstation board unit and a digital twin platform, the back of the digital workstation board unit and the digital twin platform is provided with a lifting connection assembly, the lifting connection assembly is arranged on the rack, and the lifting connection assembly is used to adjust the height position of the digital workstation board unit and the digital twin platform on the rack.

[0006] Preferably, the digital workstation board unit and the digital twin platform each comprise a double-folding liquid crystal board.

[0007] Preferably, the rack comprises a horizontal pipe group and two vertical pipe groups, the vertical pipe group comprises three guide pipes spaced apart, and the middle guide pipe is connected with the comprehensive training platform, the adjacent guide pipes form a lifting channel of the lifting connection assembly, the horizontal pipe group comprises a plurality of positioning pipes arranged at the top of the guide pipes and a distance pipe arranged between adjacent vertical pipe groups, and the bottom of the lowest positioning pipe is provided with a support pipe connected with the comprehensive training platform.

[0008] Preferably, the lifting connection assembly comprises a pair of upper and lower parallel spaced mounting pipes, a pair of sliding seats matched with the lifting channel are arranged between the mounting pipes, the top and bottom of the sliding seat are provided with upper and lower sockets, the upper and lower sockets are provided with facing butt-jointed groove plates, the groove plates are connected with the sliding seat through a plurality of bolts, one side of the groove plate is attached to the pipe side of the guide pipe, the guide pipe is provided with a vertical adjusting hole, and the adjusting hole is provided with an adjusting positioning member connected with the groove plate.

[0009] Preferably, the adjusting positioning member comprises a bolt rod, and a locking nut is arranged on the bolt rod and matched with the bolt rod and the plate surface of the groove plate.

[0010] As preferred, the mounting square tube is fixedly connected with one half of the double-folded liquid crystal display board, a clamping square tube is arranged at the end of the mounting square tube towards the other half of the double-folded liquid crystal display board, a U-shaped clamping hole is arranged on the clamping square tube, and a I-shaped rod is arranged on the back of the double-folded liquid crystal display board and matched with the clamping hole.

[0011] As preferred, a plurality of side-by-side distributed practical training feedback lamp holders are arranged on the top of the stacker control unit of the stereoscopic warehouse, a ring-shaped lamp strip is arranged on the side of the practical training feedback lamp holder, and the comprehensive practical training platform is provided with a start-stop switch for controlling the lamp strip.

[0012] As preferred, the track extends in an L-shaped track.

[0013] Compared with the prior art, the industrial robot assembly practical training device has the advantages and positive effects that:

[0014] 1. The industrial robot assembly practical training device provided by the industrial robot assembly practical training device can simulate the conveying of materials and parts to the stereoscopic warehouse and the stacker control unit by adopting the circulating AGV trolley, the stereoscopic warehouse and the stacker control unit can orderly place the materials and parts in the stereoscopic warehouse by simulating the action of the stacker, the dynamic display, analysis and summary, processing application of the bottom layer data collected by the edge computing gateway, the device state display and fault statistical analysis of the digital station board unit can be realized, the transparency, lean and visualization of the production process and the closed-loop display analysis of the entire production process can be realized, the digital twin platform constructs a 1:1 digital twin body in the virtual space of the practical training platform, and students can obtain the real-time running state of the real equipment through the model action and data information displayed by the digital twin platform.

[0015] 2. The industrial robot assembly practical training device provided by the industrial robot assembly practical training device can realize lifting adjustment through the lifting connection assembly corresponding to the digital station board unit and the digital twin platform, and can realize better convergence through the double-folded structure, and the viewing angle in the practical training process can also be adjusted, thereby improving the practicability and utilization rate of the device. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating laborious work.

[0017] Figure 1 A perspective view of the industrial robot assembly practical training device provided by the embodiment;

[0018] Figure 2A top view of an industrial robot assembly training device provided for an embodiment;

[0019] Figure 3 A front view of an industrial robot assembly training device provided for an embodiment;

[0020] Figure 4 An isometric view of an industrial robot assembly training device in another direction;

[0021] Figure 5 A schematic view of a digital workstation board unit and a digital twin platform in a retracted state;

[0022] Figure 6 A schematic view of a digital workstation board unit and a digital twin platform in another direction in a retracted state;

[0023] Figure 7 An exploded view of a lifting connecting assembly provided for an embodiment;

[0024] Figure 8 An isometric view of a training feedback lamp holder provided for an embodiment;

[0025] In the above figures, 1 is a comprehensive training platform, 2 is a human-computer interaction terminal, 3 is a mechanical hand control unit, 4 is a machine vision detection unit, 5 is a pipeline conveying unit, 6 is an industrial sensor unit, 7 is a flow AGV trolley, 8 is a track, 9 is a three-dimensional warehouse and stacker control unit, 10 is a digital workstation board unit, 11 is a digital twin platform, 12 is a lifting connecting assembly, 121 is a mounting square tube, 122 is a sliding seat, 123 is an upper socket, 124 is a lower socket, 125 is a groove plate, 126 is a bolt, 127 is an adjusting positioning piece, 128 is a clamping square tube, 129 is a clamping hole, 13 is a rack, 131 is a guide square tube, 132 is a lifting channel, 133 is a positioning square tube, 134 is a distance square tube, 135 is a supporting square tube, 136 is an adjusting hole, 14 is an I-shaped rod, 15 is a training feedback lamp holder, and 16 is a lamp strip. DETAILED DESCRIPTION

[0026] In order to enable the above-mentioned purposes, features and advantages of the present application to be more clearly understood, the present application will be further described below with reference to the drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict. For the convenience of description, the following text appears as "up", "down", "left", "right" only indicates the same direction as the up, down, left and right of the drawings, and does not limit the structure.

[0027] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be practiced according to other embodiments that can not be described in detail herein, and the present application is not limited to the specific embodiments described in the following description.

[0028] As shown in the embodiment, the industrial robot assembly training device provided by the present application comprises a comprehensive training table 1, wherein the comprehensive training table 1 is provided with an industrial controller, a man-machine interaction terminal 2, a mechanical hand control unit 3, a machine vision detection unit 4, a flow line conveying unit 5, a gas source and pneumatic control unit and an industrial sensor unit 6. Figures 1-8 The gas source and pneumatic control unit comprises an air compressor, a rotary cylinder, a clamping cylinder, a material blocking cylinder and a material pushing cylinder. The compressed air generated by the air compressor is converted into power to drive the cylinders to realize rotation, clamping, extension and other functions. The industrial sensor unit 6 comprises on-off sensor such as photoelectric sensor, magnetic switch, infrared photoelectric switch and travel switch, and three-color warning light executor.

[0029] The industrial controller adopts a PLC module, has a multi-channel high-frequency high-speed input and output port, collects data and monitors the state of the limit sensor and the state sensor on the production line, controls the production line executor to move according to the set logic according to the feedback data, converts the S7 protocol into the MQTT protocol by using the intelligent edge computing gateway, and realizes the functions of communication with the upper computer and cloud uploading of the PLC data.

[0030] The man-machine interaction terminal 2 adopts an HMI touch screen, interacts with the PLC module through Ethernet communication, provides a visual operation interface, adjusts the motion coordinates of the executor, independently controls the motion of the equipment, or cyclically controls the operation of the system, and displays the running state of the equipment in real time; through the operation of the touch screen interface, the PLC controller drives the production line equipment to perform processes such as material taking, transfer, detection and sorting. The HMI man-machine interaction has an adjustment mode and an automatic mode. The adjustment mode supports adjustment of the parameters of the industrial equipment, and can debug a certain equipment alone, such as adjustment of the state of the bin position, independent machining control of the rotary table and independent control of the conveying belt.

[0031] The mechanical hand control unit 3 is composed of an industrial robot arm, an end gripper and an embedded controller, and realizes the material position carrying and accurate grabbing of the workpiece. The robot arm is mainly composed of an all-aluminum alloy robot arm, a planetary reduction stepper motor, an AB-phase photoelectric encoder, an aluminum alloy coupling and a bearing; the motor is provided with an encoder and has position closed-loop control.

[0032] The machine vision detection unit 4 is composed of an industrial camera and a vision detection module, supports local vision detection (shape, color, depth recognition), and real-time feedback of inspection results; and can also collect images of the materials and upload the images to a quality detection platform for detection of defective products.

[0033] The pipeline conveying unit 5 is composed of a conveying belt, a motor control module, a speed regulator, a to-position detection sensor and the like, the conveying belt rotates to drive the workpieces to flow, and the to-position signal of the workpieces is detected in real time.

[0034] On this basis, the pipeline conveying unit 5 is provided with a flow AGV trolley 7, the comprehensive training platform 1 is provided with a track 8 for the flow AGV trolley 7 to walk, the end direction of the track 8 is provided with a stereoscopic warehouse and a stacker control unit 9, and one side of the comprehensive training platform 1 is provided with a digital station board unit 10 and a digital twin platform 11. The flow AGV trolley 7 uses an STC8H8K64U master single-chip microcomputer, supports bidirectional tracking operation, can operate according to a set path, automatically operates after receiving a wireless control instruction, and automatically stops feeding when reaching a specified position; has a voice recognition function, can control the AGV to operate through voice, has a wireless charging function, and automatically reaches a charging area for wireless charging when the electric quantity is lower than a set value. The stereoscopic warehouse and the stacker control unit 9 are composed of a stereoscopic warehouse unit, a stacker and an electrical control module, and are used for storage and retrieval of materials. The stereoscopic warehouse adopts a 100mm*68mm*140mm aluminum alloy profile frame design, has 3 rows and 4 columns, and contains 12 positions in total. The stacker is composed of horizontal, vertical and telescopic three-axis screw slides, and the sliding blocks are driven by three stepper motor modules to move linearly and reciprocally.

[0035] The digital station board unit 10 realizes dynamic display, analysis and summary, processing and application of bottom layer data collected by an edge computing gateway, device state display and fault statistical analysis, and can realize transparentization, leanization and visualization of a production process and closed-loop display and analysis of the entire production process. The digital station board unit 10 includes a device management module for monitoring a device running state and the like, displaying a production line device running state, industrial sensor monitoring data and device abnormal alarm data, an order display module for displaying order scheduling production process data, work orders and production product data of the production line, a data processing module for providing data storage, processing, operation and maintenance, calculation and decision-making, and a visualization display module for providing commonly used plug-ins such as bar charts and column charts for visualization display.

[0036] The digital twin platform 11 uses digital twin technology to construct a 1:1 digital twin body in a virtual space for the training platform. Students can obtain real-time running states of real devices through model actions and data and the like information displayed by the digital twin platform 11.

[0037] In order to improve the spatial planning performance of the digital station board unit 10 and the digital twin platform 11, the back of the two is provided with a lifting connection assembly 12, the lifting connection assembly 12 is arranged on the rack 13, and the lifting connection assembly 12 is used for adjusting the height position of the digital station board unit 10 and the digital twin platform 11 on the rack 13. The height control of the two can be completed by adjusting the lifting connection assembly 12 corresponding to the digital station board unit 10 and the digital twin platform 11; at the same time, the digital station board unit 10 and the digital twin platform 11 adopt a double folding structure, which can complete better convergence, improve the convergence of the device in the non-use case, and ensure the safety of the digital station board unit 10 and the digital twin platform 11.

[0038] Further, the digital station board unit 10 and the digital twin platform 11 each include a double folding liquid crystal board, the viewing angle of the double folding liquid crystal board during the practical training process can be adjusted by adjusting the folding angle, which facilitates the practical training personnel to better observe the display content of the digital station board unit 10 and the digital twin platform 11, thereby improving the practicability and utilization rate of the device.

[0039] In order to improve the matching degree of the rack 13 and the lifting connection assembly 12, and considering the structural strength of the rack 13, the rack 13 provided by the utility model includes a horizontal square tube group and two vertical square tube groups, the vertical square tube group includes three guide square tubes 131 distributed at intervals, and the middle one of the guide square tubes 131 is connected with the comprehensive practical training table 1, the adjacent guide square tubes 131 form a lifting channel 132 of the lifting connection assembly 12 between them, the horizontal square tube group includes a plurality of positioning square tubes 133 arranged at the top of the guide square tube 131 and a distance square tube 134 arranged between adjacent vertical square tube groups, and the bottom of the lowest positioning square tube 133 is provided with a supporting square tube 135 connected with the comprehensive practical training table 1. Among them, the vertical square tube group is used to provide the lifting channel 132 of the lifting connection assembly 12, and provides a stable sliding basis for the lifting connection assembly 12 to prevent it from appearing obvious deflection. Among them, the positioning square tube 133 can connect the two vertical square tube groups, and provide an uplink limiting node and a downlink limiting node for the lifting connection assembly 12, to avoid the height of the double folding liquid crystal board being excessively adjusted. The distance square tube 134 is used to determine the basic interval of the two vertical square tube groups before welding, so that the rack 13 can support two sets of double folding liquid crystal boards at the same time.

[0040] In cooperation with the rack 13, the lifting connecting assembly 12 provided by the utility model comprises a pair of upper and lower parallel and spaced installation square tubes 121, a pair of sliding seats 122 cooperating with the lifting channel 132 is arranged between the installation square tubes 121, the top and bottom of the sliding seat 122 are provided with upper and lower sockets 123 and 124, the upper and lower sockets 123 and 124 are provided with the opposite butt joint groove plates 125, the groove plates 125 are connected with the sliding seat 122 through a plurality of bolts 126, one side of the groove plate 125 is attached to the pipe side of the guide square tube 131, the vertical adjusting hole 136 is arranged on the guide square tube 131, the adjusting positioning piece 127 connected with the groove plate 125 is arranged in the adjusting hole 136. Among them, the installation square tube 121 is fixedly connected with the double folding liquid crystal look board, the sliding seat 122 is fixedly connected with the installation square tube 121, the thickness of the sliding seat 122 is matched with the width of the lifting channel 132; at the same time, after the upper and lower sockets 123 and 124 are inserted into the groove plate 125, the groove plate 125, the guide square tube 131 and the installation square tube 121 can form a clamping relationship, and by changing the actual position of the adjusting positioning piece 127 in the adjusting hole 136 and then locking the adjusting positioning piece 127, the height of the lifting connecting assembly 12 can be adjusted, so that the height of the double folding liquid crystal look board is adjusted.

[0041] In order to improve the practicability of the adjusting positioning piece 127, the adjusting positioning piece 127 provided by the utility model comprises a bolt rod, a locking nut is arranged on the bolt rod and cooperates with the surface of the groove plate 125. Among them, the head of the bolt rod is located on the inner side of the adjusting hole 136, the shank cooperates with the hole edge of the adjusting hole 136, and the locking nut can actually control the clamping degree of the groove plate 125, the guide square tube 131 and the installation square tube 121 through the screwing action, so that the stability of the lifting connecting assembly 12 can be ensured when the clamping degree is tightened, and the lifting connecting assembly 12 can be adjusted up and down when the clamping degree is loosened.

[0042] In order to improve the stability of the double folding liquid crystal look board in the fully unfolded state, the installation square tube 121 is fixedly connected with one half of the double folding liquid crystal look board, the end of the installation square tube 121 towards the other half of the double folding liquid crystal look board is rotationally provided with a clamping square tube 128, the clamping square tube 128 is provided with a U-shaped clamping hole 129, and the back of the double folding liquid crystal look board is provided with a I-shaped rod 14 cooperating with the clamping hole 129. The clamping hole 129 can be clamped on the rod of the I-shaped rod 14 by turning over the clamping square tube 128, so that the unfolding effect of the double folding liquid crystal look board is ensured, and tearing of the hinged position of the double folding liquid crystal look board caused by accidental collision is avoided. The caliber of the clamping square tube 128 is slightly smaller than that of the installation square tube 121, and the installation square tube 121 is provided with an open mouth for collecting the clamping square tube 128.

[0043] In view of the fact that there are many practical training devices in the practical training room, in order to timely feedback the practical training progress of students at their respective practical training stations, the utility model is provided with a plurality of practical training feedback lamp holders 15 distributed side by side on the top of the stereoscopic warehouse and the stacker control unit 9, the side surface of the practical training feedback top holder is provided with a ring-shaped lamp strip 16, and the comprehensive practical training table 1 is provided with a start-stop switch for controlling the lamp strip. The lamp strips 16 on different practical training feedback lamp holders 15 can be set to different colors, such as red and green, and by pressing the start-stop switch, different practical training feedback lamp holders 15 can be triggered, so that the teacher can timely master the practical training progress of students at different positions, such as the red lamp strip being on, indicating that the person at the position encounters a problem, and the green lamp strip being on, indicating that the person at the position has completed the practical training subject.

[0044] In order to more vividly simulate the workshop situation, the track 8 in the utility model extends in an L-shaped trajectory, and the flow AGV trolley 7 can move along the track 8 in an L-shaped manner, so that the transportation work of the workshop trolley in space can be more vividly and dynamically displayed.

[0045] The above is only a preferred embodiment of the utility model, and does not limit the utility model in other forms, and any skilled person in the art can change or modify the above disclosed technical content into equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification of the above embodiment according to the technical essence of the utility model, which does not deviate from the technical scheme content of the utility model, still belongs to the protection scope of the technical scheme of the utility model.

Claims

1. An industrial robot assembly training device, comprising a comprehensive training platform, wherein the comprehensive training platform is provided with an industrial controller, a human-computer interaction terminal, a mechanical hand control unit, a machine vision detection unit, a pipeline conveying unit, a gas source and pneumatic control unit, and an industrial sensor unit, characterized in that, The connecting end of the pipeline conveying unit is provided with a flow transfer AGV, the comprehensive training platform is provided with a track for the flow transfer AGV to walk, the end direction of the track is provided with a stereoscopic warehouse and a stacker control unit, one side of the comprehensive training platform is provided with a digital station board unit and a digital twin platform, the back surfaces of the digital station board unit and the digital twin platform are both provided with a lifting connection assembly, the lifting connection assembly is arranged on a rack, and the lifting connection assembly is used for adjusting the height position of the digital station board unit and the digital twin platform on the rack, and the digital station board unit and the digital twin platform both comprise a double-fold liquid crystal board.

2. The industrial robot assembly training device according to claim 1, characterized in that, The rack comprises a horizontal square tube group and two vertical square tube groups, the vertical square tube group comprises three guide square tubes which are spaced apart, and the middle guide square tube is connected with the comprehensive training platform, adjacent guide square tubes form a lifting channel of the lifting connection assembly, the horizontal square tube group comprises a plurality of positioning square tubes arranged at the top of the guide square tube and distance square tubes arranged between adjacent vertical square tube groups, and the bottom of the lowest positioning square tube is provided with a supporting square tube connected with the comprehensive training platform.

3. The industrial robot assembly training device according to claim 2, characterized in that, The lifting connection assembly comprises a pair of upper and lower parallel and spaced mounting square tubes, a pair of sliding seats matched with the lifting channel are arranged between the mounting square tubes, upper and lower sockets are arranged at the top and bottom of the sliding seat, and a groove plate facing each other is arranged in the upper and lower sockets, the groove plate is connected with the sliding seat through a plurality of bolts, one side of the groove plate is attached to the side of the guide square tube, an adjusting hole is arranged vertically on the guide square tube, and an adjusting positioning piece connected with the groove plate is arranged in the adjusting hole.

4. The industrial robot assembly training device according to claim 3, characterized in that, The adjusting positioning piece comprises a bolt rod, a locking nut is arranged on the bolt rod and matched with the bolt rod in a screw manner and matched with the plate surface of the groove plate.

5. The industrial robot assembly training device according to claim 3 or 4, characterized in that, The mounting square tube is fixedly connected with one half of the double-fold liquid crystal board, a clamping square tube is arranged at the end of the mounting square tube facing the other half of the double-fold liquid crystal board, a U-shaped clamping hole is arranged on the clamping square tube, and a I-shaped rod matched with the clamping hole is arranged on the back surface of the double-fold liquid crystal board.

6. The industrial robot assembly training device according to claim 1, characterized in that, A plurality of training feedback lamp holders are arranged in parallel on the top of the stereoscopic warehouse and the stacker control unit, a ring-shaped lamp strip is arranged on the side surface of the training feedback top holder, and the comprehensive training platform is provided with a start-stop switch for controlling the lamp strip.

7. The industrial robot assembly training device according to claim 1, characterized in that, The track extends in an L-shaped track.

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