Building robot comprehensive practical training device

Abstract

The utility model discloses a comprehensive practical training device for a building robot. The comprehensive practical training device comprises a main body cabinet with a man-machine interaction panel and a master controller, a collaborative robot, a warehouse in which practical training teaching aids are stored, and a tool rack in which quick-change tools are stored, wherein the collaborative robot, the warehouse and the tool rack are all mounted on a top surface workbench of the main body cabinet; the man-machine interaction panel is connected with the master controller, and the master controller is connected with the collaborative robot; the man-machine interaction panel is used for sending a practical training scene instruction to the master controller, the master controller is used for sending an appliance acquisition instruction to the collaborative robot, and the collaborative robot is used for acquiring a quick-change tool from the tool rack and acquiring a practical training aid from the warehouse; the device is simple in structure, convenient to operate and capable of simulating various building construction processes.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot technical field, concretely relates to a building robot comprehensive training device. BACKGROUND

[0002] In the colleges and universities that open building related majors, in order to let students understand various building construction technology (for example, steel bar binding, wall building, wall surface spraying, wall surface decoration), the traditional teaching mode is to visit the site through field observation, to learn through online video, to simulate operation through simulation software, etc., but through video learning or simulation software learning cannot help students to understand various building construction technology directly, and it is inconvenient for colleges and universities to carry out long-term through site visit learning. Therefore, the intelligent building robot needs to be used to assist colleges and universities to carry out building construction technology teaching work, but the existing intelligent building robot also has problems such as too large floor area, too high purchase cost and too complex operation.

[0003] Therefore, how to provide an intelligent building robot with simple structure and convenient operation has become a technical problem that the technical personnel in the field need to solve. INVENTION CONTENTS

[0004] The utility model discloses a building robot comprehensive training device, simple structure, convenient operation can simulate various building construction technology.

[0005] One aspect of the utility model provides a building robot comprehensive training device, the device includes: the main body cabinet with human-computer interaction panel and general controller, collaborative robot, store the real training teaching aid, and the tool rack that stores quick change tool is stored in the warehouse,

[0006] Among them, the collaborative robot, the warehouse and the tool rack are all installed on the top workbench of the main body cabinet,

[0007] The real training teaching aid at least includes one of the following: simulated reinforcement, simulated wall brick, simulated decorative plate,

[0008] The quick change tool at least includes one of the following: steel bar pneumatic clamping jaw, steel bar binding machine, wall brick pneumatic clamping jaw, cement spray gun, paint spraying gun, pneumatic suction cup, simulated glue gun,

[0009] The human-computer interaction panel is connected with the general controller, and the general controller is connected with the collaborative robot,

[0010] The human-computer interaction panel is used to send the real training scene instruction to the general controller, and the general controller is used to send the tool acquisition instruction to the collaborative robot, and the collaborative robot is used to obtain the quick change tool from the tool rack and the real training teaching aid from the warehouse.

[0011] Optionally, the warehouse includes: a reinforcement warehouse storing the simulated reinforcement, a wall brick warehouse storing the simulated wall brick, and a decorative plate warehouse storing the simulated decorative plate.

[0012] The tool rack includes: a first tool rack storing a reinforcement pneumatic clamp jaw, a wall brick pneumatic clamp jaw, a paint spraying gun, and a simulated glue gun; and a second tool rack storing a reinforcement bundling machine, a cement spraying gun, and a pneumatic suction cup.

[0013] The collaborative robot includes: a first collaborative robot configured to obtain a quick-change tool from the first tool rack, and a second collaborative robot configured to obtain a quick-change tool from the second tool rack.

[0014] Optionally, a practical training area for practical training operation is arranged on the top workbench of the main cabinet, and a reinforcement bundling positioning box and a rotatable wall body are arranged in the practical training area.

[0015] The reinforcement bundling positioning box is configured to place the simulated reinforcement in a reinforcement bundling practical training scenario, and to place the simulated wall brick in a wall building practical training scenario.

[0016] The rotatable wall body includes: a paint spraying wall surface and a decorative wall surface; the paint spraying wall surface is configured to spray paint in a wall surface painting practical training scenario, and the decorative wall surface is configured to install the simulated decorative plate in a wall surface decoration practical training scenario.

[0017] Optionally, the device further includes: a visualizer.

[0018] The visualizer is installed on the top workbench of the main cabinet.

[0019] The visualizer is configured to receive and display image information collected by a camera installed on the collaborative robot.

[0020] Optionally, the device further includes: a teach pendant.

[0021] The teach pendant is installed on the main cabinet and connected to the collaborative robot.

[0022] The teach pendant is configured to send posture control instructions to the collaborative robot and display current posture information of the collaborative robot.

[0023] Optionally, the device further includes: a switch.

[0024] The switch is connected to the human-computer interaction panel, the teach pendant, and the general controller.

[0025] The switch is configured to forward information sent by the human-machine interaction panel and / or the teaching device to the general controller, and forward information sent by the general controller to the human-machine interaction panel and / or the teaching device.

[0026] Optionally, the device further comprises a reinforcing bar discharging mechanism with the reinforcing bar storage and a double-rod pneumatic cylinder.

[0027] The double-rod pneumatic cylinder of the reinforcing bar discharging mechanism is configured to push the simulated reinforcing bar out of the reinforcing bar storage.

[0028] Optionally, the device further comprises a wall brick discharging mechanism with the wall brick storage and a double-rod pneumatic cylinder.

[0029] The double-rod pneumatic cylinder of the wall brick discharging mechanism is configured to push the simulated wall brick out of the wall brick storage.

[0030] Optionally, the device further comprises a decorative plate discharging mechanism with the decorative plate storage and a double-rod pneumatic cylinder.

[0031] The double-rod pneumatic cylinder of the decorative plate discharging mechanism is configured to push the simulated decorative plate out of the decorative plate storage.

[0032] Optionally, the device further comprises a pneumatic device.

[0033] The pneumatic device is installed in the main cabinet, and is connected with the double-rod pneumatic cylinder of the reinforcing bar discharging mechanism, the double-rod pneumatic cylinder of the wall brick discharging mechanism, the double-rod pneumatic cylinder of the decorative plate discharging mechanism, and the general controller.

[0034] The building robot comprehensive training device can simulate the following building construction processes: reinforcing bar bundling, wall building, wall surface spraying, and wall surface decoration, and can make students more intuitively and deeply understand various building construction processes. BRIEF DESCRIPTION OF DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present application. Furthermore, the drawings are not necessarily drawn to scale and the same reference numbers in different drawings represent the same components. In the drawings:

[0036] Figure 1 FIG. 1 is a structural schematic view of a building robot comprehensive training device according to an embodiment of the present application.

[0037] Figure 2 The building robot comprehensive practical training device provided in the embodiment one of the utility model is shown in the top view;

[0038] Figure 3 The building robot comprehensive practical training device provided in the embodiment one of the utility model is shown in the front view;

[0039] Figure 4 The connection relationship between the various devices in the building robot comprehensive practical training device provided in the embodiment one of the utility model is shown in the schematic view. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the utility model more clear and intelligible, the utility model is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0041] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive containing, so that the process, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes the elements inherent to such process, article or device. Without more limitation, the element limited by the word "including a" does not exclude the existence of another same element in the process, article or device including the element.

[0042] Embodiment one

[0043] The utility model provides a kind of building robot comprehensive practical training device, as shown in Figure 1 The device specifically includes the following components: main body cabinet 10 with man-machine interactive panel 101 and total controller 102, collaborative robot 20, store has practical training teaching aid warehouse 30, and store has quick-change tool tool rack 40;

[0044] Among them, the collaborative robot 20, the warehouse 30 and the tool rack 40 are all installed on the top workbench of the main body cabinet 10;

[0045] The practical training teaching aid at least includes one of the following: simulated reinforcing steel, simulated wall brick, simulated decorative plate;

[0046] The quick-change tool at least includes one of the following: reinforcing steel pneumatic clamping jaw, reinforcing steel strapping machine, wall brick pneumatic clamping jaw, cement spray gun, paint spray gun, pneumatic suction cup, simulated glue gun.

[0047] The human-computer interaction panel 101 is connected with the general controller 102, and the general controller 102 is connected with the collaborative robot 20;

[0048] The human-computer interaction panel 101 is used for receiving a control instruction triggered by an operator, and sending a practical training scene instruction to the general controller 102 according to the control instruction; wherein the practical training scene includes one of the following: a steel bar bundling practical training scene, a wall building practical training scene, a wall surface spraying practical training scene and a wall surface decoration practical training scene; the operator can control the building robot comprehensive practical training device through the human-computer interaction panel 101;

[0049] The general controller 102 is used for sending an implement acquisition instruction to the collaborative robot 20 according to the practical training scene instruction; and the collaborative robot 20 is used for acquiring a quick-change tool from the tool rack 40 and acquiring a practical training teaching aid from the warehouse 30. In the steel bar bundling practical training scene, a steel bar pneumatic clamp is first acquired and installed, a simulated steel bar is acquired through the steel bar pneumatic clamp, a steel bar bundling machine is then acquired and installed, and the simulated steel bar is bundled through the steel bar bundling machine; in the wall building practical training scene, a wall brick pneumatic clamp is first acquired and installed, a simulated wall brick is acquired through the wall brick pneumatic clamp, a cement spray gun is then acquired and installed, and the simulated wall brick is built through the cement spray gun; in the wall surface spraying practical training scene, a paint spraying gun is acquired and installed, and the wall surface is sprayed through the paint spraying gun; and in the wall surface decoration practical training scene, a pneumatic suction cup is first acquired and installed, a simulated decoration plate is acquired through the pneumatic suction cup, a simulated glue gun is then acquired and installed, and the simulated decoration plate is pasted through the simulated glue gun.

[0050] Preferably, the main cabinet 10 is composed of three cabinets, the size of a single cabinet is ≥850mm×1440mm×750mm, and the size after splicing is ≥2550mm×1440mm×750mm, which can be flexibly spliced and combined according to actual needs. The main cabinet 10 adopts a design of left and right doors with a human-computer interaction panel 101, which is convenient for operation and maintenance. The main cabinet 10 is made of standard wide aluminum profile main body and sheet metal panel material, and the foot is equipped with 12 Foma wheels, which is convenient for moving and positioning.

[0051] Preferably, the general controller 102 is a programmable logic controller (PLC), the input voltage is 24V, the current is 10A, it includes 14 digital inputs, 10 digital outputs and 2 analog signal inputs, and can meet the collection and control requirements of various signals. The general controller 102 supports industrial Ethernet and RS485 communication interface, and realizes stable communication with other devices.

[0052] Preferably, the body payload of the collaborative robot 20 is 5KG, the working radius is 922mm, the base of the collaborative robot 20 can rotate within a range of ±175°, the mechanical arm of the collaborative robot 20 has a freedom of 6 rotating joints, and through different activity angle combinations of each rotating joint, flexible operation can be achieved within a larger range to realize all-around work coverage. In addition, the collaborative robot 20 meets the ISO9283 pose, and the repeatability reaches ±0.03mm, which ensures high precision of operation; the maximum speed of each rotating joint is ±180° / s, and the typical TCP speed is 1m / s, which can quickly complete various tasks.

[0053] In addition, the collaborative robot 20 is provided with 2 digital inputs (DI), 2 digital outputs (DO), 1 analog input (AI), 1 analog output (AO), and a tool I / O power supply providing 24V / 1.5A, which meets the connection and power supply requirements with external equipment. The protection level of the collaborative robot 20 is IP54, which can adapt to certain harsh environments, and the operating noise is less than 65dB, and the installation direction is not limited. The working temperature range of the collaborative robot 20 is 0-45℃, and the working humidity can reach 90%RH, which is made of aluminum, steel and other materials to ensure the structural strength and stability.

[0054] Preferably, the steel bar bundling machine can automatically bundle two simulated steel bars, improving the steel bar bundling efficiency; four pneumatic suction cups are placed on the tool rack 40, and a non-rotatable buffer rod is provided therefor, and the pneumatic suction cup can use the vacuum adsorption principle to perform object adsorption operation.

[0055] Specifically, as shown in Figure 2 and Figure 4 The storage 30 includes a steel bar storage 301 storing simulated steel bars, a wall brick storage 302 storing simulated wall bricks, and a decorative plate storage 303 storing simulated decorative plates.

[0056] The tool rack 40 includes a first tool rack 401 storing steel bar pneumatic clamps, wall brick pneumatic clamps, paint spray guns, and simulated glue guns, and a second tool rack 402 storing steel bar bundling machines, cement spray guns, and pneumatic suction cups.

[0057] The collaborative robot 20 includes a first collaborative robot 201 for obtaining quick-change tools from the first tool rack 401, and a second collaborative robot 202 for obtaining quick-change tools from the second tool rack 402.

[0058] Further, as shown in Figure 2 A practical training area for practical training operation is arranged on the top workbench of the main body cabinet 10, and a steel bar bundling positioning box 50 and a rotatable wall 60 are arranged in the practical training area.

[0059] The reinforcing steel bar bundling positioning box 50 is used for placing the simulated reinforcing steel bar in the reinforcing steel bar bundling practical training scene and placing the simulated wall brick in the wall building practical training scene.

[0060] The rotatable wall body 60 comprises a wall surface spraying part and a wall surface decoration part; the wall surface spraying part is used for paint spraying in the wall surface spraying practical training scene, and the wall surface decoration part is used for installing the simulated decoration plate in the wall surface decoration practical training scene.

[0061] In the embodiment, the building robot comprehensive practical training device is a practical training and operation platform specially designed for the education and training field. The device is equipped with two 6-axis light collaborative robots, a main cabinet and various modular functional practical training modules. By using the device, the related knowledge and operation technology of the cooperative work of the two collaborative robots can be fully learned, and the practical application of the building robot in the following building business scenes can be mastered: reinforcing steel bar bundling, wall building, wall surface spraying and wall surface decoration.

[0062] In the reinforcing steel bar bundling practical training scene: the two collaborative robots cooperate with the reinforcing steel bar pneumatic gripper and the reinforcing steel bar bundling machine to complete the tasks of picking up, positioning and bundling the simulated reinforcing steel bar;

[0063] In the wall building practical training scene: the two collaborative robots cooperate with the wall brick pneumatic gripper and the cement spray gun to complete the tasks of picking up the simulated wall brick, performing the simulated cement smearing action and building shaping;

[0064] In the wall surface spraying practical training scene: the two collaborative robots cooperate with the paint spraying gun to complete the task of wall surface spraying;

[0065] In the wall surface decoration practical training scene: the two collaborative robots cooperate with the pneumatic suction cup and the simulated glue gun to complete the tasks of picking up the simulated decoration plate, simulating glue smearing and pasting the decoration plate.

[0066] Further, as shown in Figure 2 The device further comprises a visualizer 70, a teacher and an exchange;

[0067] The visualizer 70 is installed on the top workbench of the main cabinet 10; the visualizer 70 is used for receiving and displaying the image information collected by the camera installed on the collaborative robot; the visualizer 70 is also used for identifying the cross intersection formed by the simulated reinforcing steel bar placed in the reinforcing steel bar bundling positioning box in the reinforcing steel bar bundling practical training scene, so as to facilitate the bundling operation at the cross intersection.

[0068] The teach pendant is mounted on the main cabinet 10 and connected with the collaborative robot 20; the teach pendant is used to send posture control instructions to the collaborative robot 20 and display the current posture information of the collaborative robot 20. In actual application, the operator writes a program for controlling the collaborative robot 20 on the teach pendant. Preferably, as shown in Figure 2 As shown in Figure 4 The device comprises a first teach pendant 801 and a second teach pendant 802; the first teach pendant 801 is connected with the first collaborative robot 201 for controlling the posture of the first collaborative robot 201, and the second teach pendant 802 is connected with the second collaborative robot 202 for controlling the posture of the second collaborative robot 202.

[0069] The switch is connected with the human-computer interaction panel 101, the teach pendant and the general controller 102 respectively; the switch is used to forward the information sent by the human-computer interaction panel and / or the teach pendant to the general controller, and forward the information sent by the general controller to the human-computer interaction panel and / or the teach pendant.

[0070] Preferably, the teach pendant has a 10.1-inch display screen and supports human-computer interaction with a mobile terminal, which is convenient for operation and programming.

[0071] Further, as shown in Figure 3 The device further comprises a first robot controller 901 and a second robot controller 902;

[0072] The first robot controller 901 is connected with the first teach pendant 801 and the first collaborative robot 201 respectively, and the second robot controller 902 is connected with the second teach pendant 802 and the second collaborative robot 202 respectively, and the first robot controller 901 and the second robot controller 902 are arranged in the main cabinet;

[0073] The first robot controller 901 is used to receive the posture instructions sent by the first teach pendant 801 and send control instructions to the first collaborative robot 201; the second robot controller 902 is used to receive the posture instructions sent by the second teach pendant 802 and send control instructions to the second collaborative robot 201.

[0074] Preferably, the robot controller has an IP54 protection level, a working temperature range of 0-45℃, and a working humidity of up to 90%RH, and can stably work under similar environmental conditions as the collaborative robot. The robot controller has more abundant I / O ports, including 16 digital inputs (DI), 16 digital outputs (DO), 2 analog inputs (AI), 2 analog outputs (AO), and provides 24V / 105A I / O power supply. The robot controller is configured to communicate in the following modes: I / O, TCP / IP, Modbus_TCP / RTU, and can optionally communicate in the following modes: CC-Link, Profinet, Ethernet / IP, EtherCAT, facilitating data transmission and interaction with different devices. The robot controller provides software development kits in multiple programming languages such as C#, C++, Python, ROS, and ROS2, facilitating users to develop personalized software functions according to their needs. In addition, the robot controller has a size of 245 mm×80 mm×44.5mm (excluding protrusions) and a device weight of 2.1kg (excluding wire weight), and is made of galvanized sheet.

[0075] It should be further noted that, as shown in Figure 3 The human-machine interaction panel 101 includes an electrical touch screen and electrical control buttons.

[0076] In addition, the device further includes:

[0077] The steel bar discharging mechanism has a steel bar storage and a double-rod pneumatic cylinder, wherein the double-rod pneumatic cylinder of the steel bar discharging mechanism is used to push the simulated steel bar out of the steel bar storage.

[0078] The wall brick discharging mechanism has a wall brick storage and a double-rod pneumatic cylinder, wherein the double-rod pneumatic cylinder of the wall brick discharging mechanism is used to push the simulated wall brick out of the wall brick storage.

[0079] The decorative plate discharging mechanism has a decorative plate storage and a double-rod pneumatic cylinder, wherein the double-rod pneumatic cylinder of the decorative plate discharging mechanism is used to push the simulated decorative plate out of the decorative plate storage.

[0080] Further, the device further includes a pneumatic device.

[0081] The pneumatic device is installed in the main cabinet, and is connected with the double-rod pneumatic cylinder in the steel bar discharging mechanism, the double-rod pneumatic cylinder in the wall brick discharging mechanism, the double-rod pneumatic cylinder in the decorative plate discharging mechanism, and the general controller.

[0082] Preferably, the pneumatic device includes a pneumatic double-link, a solenoid valve, a vacuum generator, a manual ball valve, and a vacuum pressure gauge.

[0083] The pneumatic double coupling piece can automatically drain water, the rated flow is greater than or equal to 500L / min, the filtering precision is 40um, the pressure regulating range is 0.08-0.5Mpa, and the pneumatic device provides a clean and stable air source.

[0084] The pneumatic device is equipped with 18 24V, 2-position 5-way electromagnetic valves, the rated voltage is DC 24V, and the maximum working frequency is greater than or equal to 6 times per second, which is used for controlling the flow direction and on-off of the gas, and realizing accurate control of different pneumatic actions.

[0085] The use pressure range of the vacuum generator is 0.1-0.6Mpa, the vacuum flow is greater than or equal to 110L / min, the maximum vacuum pressure is less than or equal to-92kPA, and the air consumption is less than or equal to 180L / min, which can generate a vacuum environment to meet the working requirements of devices such as vacuum chuck.

[0086] The manual ball valve is convenient for opening and closing the air source.

[0087] The vacuum pressure gauge can test the pressure in real time, and the operator can monitor and adjust the pressure state of the pneumatic device.

[0088] The following describes an application example of applying the above building robot comprehensive training device to building construction process training.

[0089] In the building construction process training scene, the building robot comprehensive training device works closely. The collaborative robot acts according to the instructions input by the operator on the human-machine interaction panel and the program path set by the teach pendant. The main cabinet provides a stable operation platform for various process training, the PLC general controller is responsible for the logical control and coordination of each part, the switch ensures smooth data communication between devices, the human-machine interaction panel is convenient for the operator to set parameters, issue instructions and other operations, and the pneumatic device provides power support for pneumatic elements such as air cylinders. The training aid and quick-change work directly undertake the simulation training tasks of various specific building construction processes.

[0090] The device also includes a steel bar discharging mechanism with a steel bar storage and a double-rod cylinder;

[0091] Different sizes of simulation steel bars are stored in the steel bar storage, and the double-rod cylinder is used to push the simulation steel bars out of the steel bar storage to facilitate the collaborative robot to pick up the simulation steel bars.

[0092] In addition, the related parameters of the reinforcing bar discharging mechanism are set through the teaching device, including discharging sequence and extension and retraction speed of the double-rod pneumatic cylinder; for example, the discharging sequence is set as pushing out the simulated reinforcing bars with smaller diameter first and then pushing out the simulated reinforcing bars with larger diameter, and the extension and retraction speed of the double-rod pneumatic cylinder is set as 20 mm per minute (which can be set according to actual needs). The set parameters are sent to the general controller through the switch.

[0093] Preferably, the reinforcing bar storage has a size of ≥300×240×120 mm and a sheet metal thickness of ≥1 mm; the double-rod pneumatic cylinder has a cylinder diameter of ≥20 mm, a stroke of ≥175 mm, a pushing force of ≥25 KG under 0.5 MPA air pressure, and can be combined with a linear guide rail (stroke ≥200 mm, basic dynamic rated load ≥11 KN). A material detection sensor is further arranged in the reinforcing bar storage for monitoring the remaining quantity of simulated reinforcing bars of different sizes and specifications in the reinforcing bar storage, and transmitting the monitoring result to the general controller through a signal line to update the simulated reinforcing bar remaining quantity data every 10 seconds. A displacement detection sensor is arranged on the double-rod pneumatic cylinder for monitoring the extension and retraction stroke of the double-rod pneumatic cylinder and can be accurate to millimeter level. A stroke detection sensor is arranged on the linear guide rail for monitoring the actual stroke of the linear rail and can be accurate to millimeter level. The material detection sensor, the displacement detection sensor and the stroke detection sensor send their respective monitoring results to the general controller. After receiving these monitoring results, the general controller sends control instructions to the pneumatic device through the control signal line according to the preset parameters and the teaching device settings, so that the pneumatic device can accurately adjust the air pressure supply to the double-rod pneumatic cylinder, thereby controlling the discharging speed and sequence of the simulated reinforcing bars. For example, the air pressure supply to the double-rod pneumatic cylinder is adjusted by the pneumatic device, the air pressure is adjusted from the initial 0.5 MPA to 0.46 MPA, thereby controlling the extension and retraction speed of the double-rod pneumatic cylinder, and thereby realizing the discharging of the simulated reinforcing bars according to the predetermined sequence and speed. At the same time, the general controller sends the state data of the reinforcing bar discharging mechanism, such as the number of simulated reinforcing bars discharged and the working state of each component, to the human-computer interaction panel through the switch, so as to facilitate the operator to check the progress of the reinforcing bar discharging practical training on the human-computer interaction interface.

[0094] The device further comprises a wall brick discharging mechanism having a wall brick storage and a double-rod pneumatic cylinder;

[0095] The simulated wall bricks are stored in the wall brick storage, and the double-rod pneumatic cylinder is used to push out the simulated wall bricks from the wall brick storage so as to facilitate the collaborative robot to pick up the simulated wall bricks.

[0096] In addition, the related parameters of the wall brick discharging mechanism are set by the teaching device, including the discharging speed and the extension and retraction speed of the double-rod pneumatic cylinder; for example, the wall brick discharging speed is set to 10 pieces per minute (10-20 pieces can be set according to actual needs), and the extension and retraction speed of the double-rod pneumatic cylinder is set to 30 mm per minute (10-30 mm can be set according to actual needs). The set parameters are sent to the general controller via the switch.

[0097] Preferably, the size of the wall brick storage is ≥360×210×140 mm, and the thickness of the sheet metal is ≥1 mm; the cylinder diameter of the double-rod pneumatic cylinder is ≥20 mm, the stroke is ≥80 mm, the thrust under 0.5 MPA air pressure is ≥25 KG, and it can be combined with a linear guide rail (stroke ≥100 mm, basic dynamic rated load ≥11 KN). A material detection sensor is also arranged in the wall brick storage for monitoring the remaining number of simulation wall bricks in the wall brick storage, and the monitoring result is transmitted to the general controller through a signal line to update the simulation wall brick remaining number data every 8 seconds. A displacement detection sensor is arranged on the double-rod pneumatic cylinder for monitoring the extension and retraction stroke of the double-rod pneumatic cylinder and can be accurate to the millimeter level. A stroke detection sensor is arranged on the linear guide rail for monitoring the actual stroke of the linear rail and can be accurate to the millimeter level. The material detection sensor, the displacement detection sensor, and the stroke detection sensor send their respective monitoring results to the general controller. After receiving these monitoring results, the general controller sends control instructions to the pneumatic device through the control signal line according to the preset parameters and the teaching device settings, so that the pneumatic device can accurately adjust the air pressure supply to the double-rod pneumatic cylinder, thereby controlling the discharging speed of the simulation wall bricks. For example, by adjusting the air pressure supply of the double-rod pneumatic cylinder through the pneumatic device, the air pressure is adjusted from the initial 0.5 MPA to 0.47 MPA, thereby controlling the extension and retraction speed of the double-rod pneumatic cylinder, and thereby realizing the discharging of the simulation wall bricks at a predetermined speed. At the same time, the general controller sends the state data of the wall brick discharging mechanism, such as the number of simulation wall bricks discharged and the working state of each component, to the human-computer interaction panel through the switch, so as to facilitate the operator to check the progress of the wall brick discharging practice on the human-computer interaction interface.

[0098] The device also includes a decorative plate discharging mechanism with a decorative plate storage and a double-rod pneumatic cylinder;

[0099] In the decorative plate storage, simulation decorative plates are stored, and the double-rod pneumatic cylinder is used to push the simulation decorative plates out of the decorative plate storage to facilitate the collaborative robot to pick up the simulation decorative plates.

[0100] In addition, the related parameters of the decorative plate discharging mechanism are set by the teaching device, including the discharging speed and the extension and retraction speed of the double-rod cylinder; for example, the discharging speed of the decorative plate is set to 15 tiles per minute (which can be set according to actual needs), and the extension and retraction speed of the double-rod cylinder is set to 15 mm per minute (which can be set to 10-20 mm per minute according to actual needs). The set parameters are sent to the general controller via the switch.

[0101] Preferably, the size of the decorative plate storage is ≥210×210×50 mm, the thickness of the sheet metal is ≥1 mm, and the number of the simulated decorative plates that can be loaded is ≥20. A material detection sensor is further arranged in the decorative plate storage for monitoring the remaining number of the simulated decorative plates in the decorative plate storage and transmitting the monitoring result to the general controller via a signal line to update the remaining number of the simulated decorative plates every 6 seconds. When the operator starts the practical training operation, the double-rod cylinder starts to act according to the set extension and retraction speed. When the set extension and retraction speed is 15 mm per minute, the double-rod cylinder will stably extend and retract at this speed. A displacement detection sensor is arranged on the double-rod cylinder for monitoring the extension and retraction stroke of the double-rod cylinder and can be accurate to the millimeter level. The material detection sensor and the displacement detection sensor transmit the respective monitoring results to the general controller. After receiving the monitoring results, the general controller sends control instructions to the pneumatic equipment via the control signal line according to the preset parameters and the settings of the teaching device, so that the pneumatic equipment can accurately adjust the air pressure supply to the double-rod cylinder, thereby controlling the discharging speed of the simulated decorative plates. For example, the air pressure supply to the double-rod cylinder is adjusted by the pneumatic equipment, and the air pressure is adjusted from the initial 0.5 MPA to 0.44 MPA, thereby controlling the extension and retraction speed of the double-rod cylinder and realizing the discharging of the simulated decorative plates at the predetermined speed. At the same time, the general controller sends the state data of the decorative plate discharging mechanism, such as the number of the simulated decorative plates that have been discharged and the working state of each component, to the human-computer interaction panel via the switch, so as to facilitate the operator to check the progress of the decorative plate discharging practical training on the human-computer interaction interface.

[0102] Preferably, the operator can set the related parameters of each quick-change tool through the teaching device

[0103] For the steel bar pneumatic clamping jaw and the wall brick pneumatic clamping jaw, the clamping force is set to 8N. The cylinder diameter of the pneumatic clamping jaw is ≥20mm, the stroke is ≥10mm, and a pressure detection sensor is installed thereon for monitoring the clamping force when the object is clamped and transmitting the data to the total controller through the signal line. The total controller sends instructions to the pneumatic device through the control signal line according to the received data and the parameters set in advance through the teach-in device to adjust the air pressure supply to the pneumatic clamping jaw to ensure that the clamping force is within the appropriate range and effectively clamps the object. For example, if the monitoring shows that the clamping force is less than the set 8N, the air pressure can be adjusted from the initial 0.5MPA to 0.42MPA by adjusting the air pressure supply of the pneumatic device to the pneumatic clamping jaw, so that the clamping force reaches the appropriate value, and the object is successfully clamped.

[0104] For the steel bar bundling machine, the operator can set the bundling speed of the steel bar, which is set to 4 steel bars per minute (which can be set according to actual needs). The steel bar bundling machine can automatically bundle two 8-20mm steel bars together, and is equipped with a working state detection sensor for monitoring the working state of the steel bar bundling machine, such as the bundling speed, the bundling success rate, etc., and transmitting these data to the total controller through the signal line. The total controller sends instructions to the pneumatic device through the control signal line according to the received data and the parameters set in advance through the teach-in device to adjust the working state of the steel bar bundling machine. For example, if the monitoring shows that the bundling speed of the steel bar is lower than the set 4 steel bars per minute, the air pressure can be adjusted from the initial 0.5MPA to 0.45MPA (only as an example) by adjusting the air pressure supply of the pneumatic device to the steel bar bundling machine, to improve its working efficiency and ensure that it can complete the steel bar bundling task according to the predetermined speed.

[0105] For the pneumatic suction cup, the suction force is set to 10N (which can be set to 8N-15N according to actual needs). The pneumatic suction cup is equipped with a non-rotatable buffer rod and a 20mm suction cup, and a suction force detection sensor is installed thereon for monitoring the suction force when the object is sucked by the suction cup and transmitting the data to the total controller through the signal line. The total controller sends instructions to the pneumatic device through the control signal line according to the received data and the parameters set in advance through the teach-in device to adjust the air pressure supply to the pneumatic suction cup to ensure that the suction force is sufficient and stable, and effectively sucks the object. If the monitoring shows that the suction force is less than the set 10N, the air pressure can be adjusted from the initial 0.5MPA to 0.43MPA by adjusting the air pressure supply of the pneumatic device to the pneumatic suction cup, so that the suction force reaches the appropriate value, and the object is successfully sucked.

[0106] For the paint spraying gun, the operator can set the spraying flow, which is set to 200 milliliters per minute (which can be set to 200-400 milliliters per minute according to actual needs). The paint spraying gun is provided with a spraying flow detection sensor and a spraying angle detection sensor, which are used to monitor the flow and angle during spraying, respectively, and transmit these data to the total controller through signal lines. The total controller sends instructions to the pneumatic device through the control signal line according to the received data and the parameters set in advance through the teach-in device, so as to adjust the spraying action of the paint spraying gun. If it is monitored that the spraying flow is lower than the set 200 milliliters per minute, the air pressure supply to the paint spraying gun can be adjusted by adjusting the pneumatic device, so that the air pressure is adjusted from the initial 0.5 MPA to 0.46 MPA, so as to increase the spraying flow and ensure that the spraying task can be completed according to the predetermined spraying parameters.

[0107] In addition, the total controller transmits the relevant data of the quick-change tool, such as the number of clamped objects 5, the number of tied steel bars 10, the number of adsorbed objects 3, the sprayed area 0.5 square meters, and the working state of each component, to the man-machine interaction panel through the switch. The operator can check the training situation of the quick-change tool on the man-machine interaction interface, such as the completion of the current clamping, steel bar tying, adsorbing, and spraying operations and the working state of each component, so as to adjust or continue the next training operation according to the actual situation.

[0108] In the embodiment, through hierarchical teaching guidance and virtual and real combined practical training, students with different skill levels can more quickly and accurately master the operation of the intelligent building robot, effectively reduce operation errors, and improve learning efficiency. With the aid of digital twin assisted teaching, students can intuitively and deeply understand the operation mechanism and internal structure of the robot and the platform, and combine with practical project driven teaching, so that the students not only master the operation skills in the process of completing the actual project, but also comprehensively understand the overall process of intelligent construction and the correlation of each link, greatly enhancing the understanding and mastery of intelligent construction and robot knowledge. In addition, the integrated comprehensive robot training device does not need to occupy a large area of space and greatly reduces the cost, so that colleges and universities can carry out high-quality intelligent building robot teaching and training activities at a lower cost, maximize the teaching effect under limited resources, and improve the teaching competitiveness of colleges and universities in related fields.

[0109] The above is only a preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation based on the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A comprehensive training device for construction robots, characterized in that, The device includes: a main cabinet with a human-computer interaction panel and a main controller, a collaborative robot, a storage room for training aids, and a tool rack for quick-change tools. The collaborative robot, the storage unit, and the tool rack are all installed on the top workbench of the main cabinet; The training aids shall include at least one of the following: simulated steel bars, simulated wall bricks, and simulated decorative panels; The quick-change tool includes at least one of the following: pneumatic rebar clamp, rebar tying machine, pneumatic wall tile clamp, cement spray gun, paint spray gun, pneumatic suction cup, and simulated glue gun; The human-computer interaction panel is connected to the main controller, and the main controller is connected to the collaborative robot; The human-computer interaction panel is used to send training scenario instructions to the main controller, the main controller is used to send tool acquisition instructions to the collaborative robot, and the collaborative robot is used to acquire quick-change tools from the tool rack and training teaching aids from the storage.

2. The integrated training device for construction robots according to claim 1, characterized in that, The warehouse includes: a steel bar warehouse storing simulated steel bars, a wall brick warehouse storing simulated wall bricks, and a decorative panel warehouse storing simulated decorative panels. The tool rack includes: a first tool rack containing pneumatic steel bar clamps, pneumatic wall brick clamps, a paint spray gun, and a simulated glue gun; and a second tool rack containing a steel bar binding machine, a cement spray gun, and a pneumatic suction cup. The collaborative robot includes: a first collaborative robot for obtaining quick-change tools from the first tool rack, and a second collaborative robot for obtaining quick-change tools from the second tool rack.

3. The integrated training device for construction robots according to claim 2, characterized in that, A training area for practical training operations is set on the top workbench of the main cabinet, and a steel bar binding positioning box and a rotatable wall are set in the training area. The rebar tying positioning box is used to place the simulated rebar in the rebar tying training scenario and to place the simulated wall bricks in the wall masonry training scenario. The rotatable wall includes a spray-painted wall surface and a decorative wall surface; the spray-painted wall surface is used for spraying paint in the wall spraying training scenario, and the decorative wall surface is used for installing the simulated decorative panel in the wall decoration training scenario.

4. The integrated training device for construction robots according to claim 1, characterized in that, The device further includes: a vision device; The vision device is mounted on the top workbench of the main cabinet; The vision device is used to receive and display image information captured by the camera mounted on the collaborative robot.

5. The integrated training device for construction robots according to claim 1, characterized in that, The device further includes: a teach pendant; The teach pendant is installed in the main cabinet and connected to the collaborative robot; The teach pendant is used to send attitude control commands to the collaborative robot and display the current attitude information of the collaborative robot.

6. The integrated training device for construction robots according to claim 5, characterized in that, The device also includes: a switch; The switch is connected to the human-computer interaction panel, the teaching pendant and the main controller respectively; The switch is used to forward information sent by the human-machine interface panel and / or the teach pendant to the main controller, and to forward information sent by the main controller to the human-machine interface panel and / or the teach pendant.

7. The integrated training device for construction robots according to claim 2, characterized in that, The device further includes: a steel bar discharging mechanism having the steel bar storage and a double-rod cylinder; The double-rod cylinder of the rebar discharge mechanism is used to push the simulated rebar out of the rebar storage.

8. The integrated training device for construction robots according to claim 7, characterized in that, The device further includes: a wall brick discharging mechanism having the wall brick storage and a double-rod cylinder; The double-rod cylinder of the wall brick discharge mechanism is used to push the simulated wall bricks out of the wall brick storage.

9. The integrated training device for construction robots according to claim 8, characterized in that, The device further includes: a decorative panel discharging mechanism having the decorative panel storage and a double-rod cylinder; The double-rod cylinder of the decorative panel discharge mechanism is used to push the simulated decorative panel out of the decorative panel storage.

10. The integrated training device for construction robots according to any one of claims 7 to 9, characterized in that, The device also includes: pneumatic equipment; The pneumatic equipment is installed inside the main cabinet and is connected to the double-rod cylinder in the rebar feeding mechanism, the double-rod cylinder in the wall brick feeding mechanism, the double-rod cylinder in the decorative panel feeding mechanism, and the main controller.

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