Training simulation rack for training room

Abstract

The utility model relates to the technical field of teaching equipment, in particular to a training simulation rack for a training room, which comprises a rack body, a clamp device for clamping a workpiece is mounted on the rack body, the clamp device comprises a mounting seat, a fixing plate, a clamping plate and a driving structure, the mounting seat is slidably connected with the rack body, and the fixing plate is slidably connected with the rack body. The fixing plate is mounted on the mounting seat, the clamping plate is hinged to the fixing plate, a clamping space is formed between the clamping plate and the fixing plate, and the driving structure is connected with the clamping plate to drive the clamping plate to rotate towards or away from the direction of the fixing plate. According to the scheme, the robot can be trained in various scenes in a training room, and the training requirements of various scenes are met.

Description

Technical Field

[0001] This utility model relates to the field of teaching equipment technology, and more specifically, to a training simulation stand for a training room. Background Technology

[0002] As factories become increasingly automated, the number of automation operators being recruited on-site is constantly growing. However, if the pace of equipment operation skills, knowledge transfer, and training cannot keep up, the technical level and troubleshooting capabilities of automation operators will fall far short of production requirements. Currently, training facilities only provide basic training and cannot provide practice in various scenarios, resulting in automation operators having only theoretical knowledge of other comprehensive skills and lacking practical experience. Utility Model Content

[0003] To overcome the limitations of existing technologies where training room conditions cannot meet the training and practice needs of various scenarios, this invention provides a training simulation platform for training rooms.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a training simulation platform for a training room, including a frame, on which a clamping device for clamping workpieces is installed. The clamping device includes a mounting base, a fixing plate, a clamping plate, and a driving structure. The mounting base is slidably connected to the frame, the fixing plate is mounted on the mounting base, the clamping plate is hinged to the fixing plate, and a clamping space is formed between the clamping plate and the fixing plate. The driving structure is connected to the clamping plate to drive the clamping plate to rotate in a direction toward or away from the fixing plate.

[0005] In the technical solution of this application, the drive structure drives the clamping plate to rotate away from the fixed plate, thereby opening the clamping device. After the workpiece is installed in the clamping space, the drive structure drives the clamping plate to rotate towards the fixed plate, using the clamping plate and the fixed plate to clamp the workpiece. Using the robot and the workpiece clamped in the clamping device, programming and teaching of the workpiece weld point position can be performed, and the type of clamping weld point teaching can be simulated. The training simulation bench can be used to simulate the editing of the trajectory of on-site marking, robot transitions, movement positions, etc., and standardized trajectory training. Furthermore, the training simulation bench can simulate the key movements of the clamping device, including the clamping plate trajectory requirements during clamping weld point teaching, and the open or clamped state of the clamping device. Simultaneously, since the mounting base is slidably connected to the frame, moving the mounting base drives the clamping device and the workpiece to move back and forth, simulating whether the robot will interfere with the clamping device or the workpiece, thereby enabling training on interlocking interference editing for the robot. Through the above solution, this utility model enables training exercises for robots in various scenarios in a training room, meeting the training needs of multiple scenarios.

[0006] Furthermore, along the length of the clamping plate, the hinge point between the clamping plate and the driving structure is located on the side away from the clamping space from the hinge point between the clamping plate and the fixed plate. In this technical solution, this arrangement allows the driving structure to move the clamping plate significantly towards or away from the fixed plate after only a short stroke, thereby quickly opening or closing the clamping plate.

[0007] Furthermore, the clamping plate has a plurality of first clamping blocks disposed on its inner side relative to the fixing plate, and the fixing plate has second clamping blocks corresponding to the positions of the first clamping blocks. In this technical solution, the workpiece can be clamped by utilizing the opposing first and second clamping blocks.

[0008] Furthermore, the drive structure is equipped with a first sensor and a second sensor for detecting the travel of the drive structure, and the first and second sensors are electrically connected to the robot. In this technical solution, after the drive structure fully opens the clamping plate, i.e., the fixture device is in the open state, the first sensor can sense the travel of the drive structure and transmit the sensed signal to the robot. After the robot receives the open state signal of the fixture device, the robot does not move into the relevant area of ​​the fixture device. After the drive structure closes the clamping plate, i.e., the fixture device is in the closed state, the second sensor can sense the travel of the drive structure and transmit the sensed signal to the robot. After the robot receives the closed state signal of the fixture device, it indicates that the workpiece has been installed in the fixture device, and the robot can perform corresponding simulation training and teaching.

[0009] Furthermore, a guide post is provided on the frame along the direction of movement of the driving structure, and a guide sleeve is slidably connected to the guide post. The mounting base is mounted on the guide sleeve. In this technical solution, since the guide sleeve is slidably mounted on the guide post and the mounting base is mounted on the guide sleeve, a force can be applied to the guide sleeve to drive the clamping device and the workpiece to move back and forth.

[0010] Furthermore, the frame is also provided with a first mounting bracket and a second mounting bracket. The first mounting bracket has a connecting part and a mounting part. A fixing pin is connected to the connecting part, and the frame is provided with a mounting hole. The fixing pin is inserted into the mounting hole. At least two positioning pins are installed on the mounting part. The second mounting bracket is provided with positioning holes corresponding to the positions of the fixing pins. In this technical solution, since the fixing pins on the connecting part and the mounting holes on the frame are connected by an insertion method, the robot can pull the first mounting bracket out of the mounting hole and then drive the two fixing pins on the first mounting bracket to simultaneously insert into the two positioning holes. This achieves the robot's teaching capability of teaching the positioning pins and positioning holes, ensuring the passability between the positioning pins and positioning holes, and preventing interference when the positioning pins pass through the positioning holes, thereby improving the accuracy of teaching skills.

[0011] Furthermore, the first mounting frame is also provided with two parallel connecting plates, one of which has a through hole. In this technical solution, since one of the connecting plates has a through hole, it is convenient for the fixed or movable pole of the welding torch installed on the robot's execution end to extend into it. Then, the fixed pole and the movable pole of the welding torch together abut against the opposite sides of the other connecting plate, thereby clamping the connecting plate. Then, through the robot's movement, the positioning pin of the first mounting frame is pulled out from the mounting hole of the frame.

[0012] Furthermore, the frame is provided with at least two placement seats, each with a U-shaped groove for placing the welding torch. A third sensor for detecting the welding torch is disposed on the outside of the placement seat, and the third sensor is electrically connected to the robot. In this technical solution, the welding torch is placed in the two U-shaped grooves, which limit the position of the welding torch. When the welding torch is placed in the two U-shaped grooves, the third sensor detects the welding torch, indicating that the welding torch is correctly positioned. The third sensor transmits the detection data to the robot. Upon receiving the signal, the robot's actuator disengages from the welding torch, thereby storing the welding torch on the placement seat.

[0013] Furthermore, the frame is also equipped with a support base for supporting the welding torch body. In this technical solution, the support base is used to contact the welding torch body and to support the welding torch to ensure the accuracy of the welding torch's storage position.

[0014] Furthermore, the frame is also equipped with alignment pins and / or a grinding tool. In this technical solution, the alignment pins enable automated operators to quickly master the offset teaching and recovery method when a misalignment fault occurs. Since the training simulation bench can simulate on-site electrode grinding settings and program editing training, it demonstrates conventional grinding operation rules, achieving the goal of establishing on-site grinding procedures.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: Through the above-mentioned solution, this utility model can realize workpiece welding point / trajectory teaching, simulated training by imitation fixture device, pin rapid restoration training, grinding teaching training, piercing accuracy training, and welding torch storage and switching teaching, thereby enabling training and practice of robots in multiple scenarios in the training room and meeting the training needs of multiple scenarios. Attached Figure Description

[0016] Figure 1 This is a three-dimensional view of the training simulation platform in this practical training room from the right side.

[0017] Figure 2 This is a three-dimensional view of the training simulation platform in this practical training room from the left side.

[0018] In the attached diagram: 1. Frame; 2. Clamping device; 21. Mounting base; 22. Fixing plate; 23. Clamping plate; 24. Drive structure; 25. First clamping block; 26. Second clamping block; 3. First sensor; 4. Second sensor; 5. Guide post; 6. Guide sleeve; 7. First mounting bracket; 8. Second mounting bracket; 71. Connecting part; 72. Mounting part; 9. Fixing pin; 11. Positioning pin; 12. Positioning hole; 13. Connecting plate; 14. Through hole; 15. Placement seat; 16. U-shaped groove; 17. Third sensor; 18. Support base; 19. Alignment pin; 20. Grinding tool; 21. Support rod. Detailed Implementation

[0019] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0020] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "long," and "short" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0021] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0022] Example 1

[0023] like Figures 1 to 2 As shown, a training simulation platform for a training room includes a frame 1, on which a clamping device 2 for clamping workpieces is mounted. The clamping device 2 includes a mounting base 21, a fixing plate 22, a clamping plate 23, and a driving structure 24. The mounting base 21 is slidably connected to the frame 1, the fixing plate 22 is mounted on the mounting base 21, the clamping plate 23 is hinged to the fixing plate 22, and a clamping space is formed between the clamping plate 23 and the fixing plate 22. The driving structure 24 is connected to the clamping plate 23 to drive the clamping plate 23 to rotate toward or away from the fixing plate 22.

[0024] In this embodiment, the drive structure 24 drives the clamping plate 23 to rotate away from the fixed plate 22, thereby opening the clamping device 2. After the workpiece is installed in the clamping space, the drive structure 24 drives the clamping plate 23 to rotate towards the fixed plate 22, using the clamping plate 23 and the fixed plate 22 to clamp the workpiece. Using the robot and the workpiece clamped in the clamping device 2, the workpiece weld point position can be programmed and taught, and the type of clamp weld point teaching can be simulated. The training simulation bench can be used to simulate the editing of the trajectory of on-site marking, robot transitions, movement positions, etc., and to train standardized trajectory specifications. Furthermore, the training simulation bench can simulate the key movements of the clamping device 2, including the trajectory requirements of the clamping plate 23 during clamp weld point teaching, and the open or clamped state of the clamping device 2. Simultaneously, since the mounting base 21 is slidably connected to the frame 1, moving the mounting base 21 drives the clamping device 2 and the workpiece to move back and forth, simulating whether the robot will interfere with the clamping device 2 or the workpiece, thereby enabling training on robot interlocking interference editing.

[0025] It should be noted that the workpiece can be used to simulate and train the robot's welding torch, including its movements such as extending, advancing, swinging, rotating, returning, obstacle crossing, reverse teaching, and trajectory posture. For example, obstacle crossing refers to crossing protruding parts of the workpiece or involving fixture marking. When teaching the robot to cross protruding parts, ensure the welding torch is fully extended before moving it. The fixture device 2 can be used to simulate and train the robot's transition point avoidance, safety space, movement distance, movement requirements, interference interlocks, and equipment linkage. For example, the distance between the welding torch and the fixture device 2 / interference object should be (5 to 10 cm). This means that the robot has a sufficient safety distance from adjacent objects during movement, ensuring that the distance between the movement area and the object does not interfere with the welding torch's position at the fixture welding point or marking location. By utilizing the sliding connection between the mounting base 21 and the frame 1, the mounting base 21 is pushed to move, thereby changing the position of the clamping device 2 and the workpiece and the robot. The corresponding interlocks are set according to the corresponding conditions, mimicking the actual linkage conditions on site. If the interlock setting position is unreasonable or the wrong interlock is used, equipment collision will occur.

[0026] It should also be noted that, since the mounting base 21 is slidably connected to the frame 1, a corresponding driving component can also be provided on the frame 1. This driving component is connected to the mounting base 21 and is used to drive the mounting base 21 to slide on the frame 1.

[0027] like Figure 1 , Figure 2As shown, along the length of the clamping plate 23, the hinge point between the clamping plate 23 and the drive structure 24 is located on the side away from the clamping space from the hinge point between the clamping plate 23 and the fixed plate 22. This arrangement allows the drive structure 24 to move the clamping plate 23 significantly towards or away from the fixed plate 22 after only a short stroke, thus quickly opening or closing the clamping plate 23. It should be noted that the drive structure 24 can be a structure with an actuator that reciprocates in a linear direction. This structure can be a telescopic cylinder, a telescopic hydraulic cylinder, or a linear motor, and the actuator of the drive structure 24 is connected to the clamping plate 23.

[0028] like Figure 1 , Figure 2 As shown, the clamping plate 23 has multiple first clamping blocks 25 disposed on its inner side relative to the fixing plate 22, and the fixing plate 22 has second clamping blocks 26 disposed on its inner side corresponding to the positions of the first clamping blocks 25. In this embodiment, since the shape of the workpiece is irregular and the clamping surfaces of the workpiece are not on the same plane, the workpiece can be clamped by using multiple opposing first clamping blocks 25 and second clamping blocks 26. It should be noted that, in order to ensure stable clamping of the workpiece, the frame 1 is also provided with a support rod 21, which passes through a through hole opened in the workpiece.

[0029] like Figure 1 , Figure 2 As shown, the drive structure 24 is equipped with a first sensor 3 and a second sensor 4 for detecting the travel of the drive structure 24. The first sensor 3 and the second sensor 4 are electrically connected to the robot. In this embodiment, after the drive structure 24 drives the clamping plate 23 to fully open, that is, the clamping device 2 is in the open state, the first sensor 3 can sense the travel of the drive structure 24 and transmit the sensed signal to the robot. After the robot obtains the open state signal of the clamping device 2, the robot does not run into the relevant area of ​​the clamping device 2. After the drive structure 24 drives the clamping plate 23 to close, that is, the clamping device 2 is in the closed state, the second sensor 4 can sense the travel of the drive structure 24 and transmit the sensed signal to the robot. After the robot obtains the closed state signal of the clamping device 2, it indicates that the workpiece has been installed in the clamping device 2, and the robot can perform corresponding simulation training and teaching.

[0030] like Figure 1 , Figure 2As shown, guide posts 5 are arranged on the frame 1 along the movement direction of the drive structure 24. Guide sleeves 6 are slidably connected to the guide posts 5, and mounting seats 21 are mounted on the guide sleeves 6. Since the guide sleeves 6 are slidably mounted on the guide posts 5, and the mounting seats 21 are mounted on the guide sleeves 6, a force can be applied to the guide sleeves 6 to drive the clamping device 2 and the workpiece to move back and forth. It should be noted that a corresponding driving component can also be provided on the frame 1. The driving component is connected to the guide sleeves 6 and is used to drive the guide sleeves 6 to slide on the guide posts 5, thereby driving the mounting seats 21, the clamping device 2, and the workpiece to move. It should be noted that there can be two guide posts 5, and the arrangement direction of the two guide posts 5 is parallel to the movement direction of the drive structure 2.

[0031] like Figure 1 , Figure 2 As shown, the frame 1 is also equipped with a positioning pin 19 and / or a grinding tool 20. In this embodiment, the positioning pin 19 enables automated operators to quickly master the offset teaching and recovery method when a misalignment fault occurs. Specifically, the positioning pin 19 can be used to simulate the application of teaching and learning knowledge points such as the role of the robot's reference point, overall translation absorption, rapid recovery, and pulse value calculation methods. For example, during overall translation absorption, if the robot's position changes, resulting in a discrepancy with the original position, the difference between the reference point and the position after the deviation can be calculated, and the absolute origin value or parallel offset program can be changed to repair the issue, thus restoring mass production as quickly as possible. In addition, the positioning pin can be applied in multiple dimensions to the maintenance and monitoring of daily equipment in different scenarios, such as equipment monitoring, assembly accuracy, and tool settings. Since the training simulation bench can simulate the training of on-site electrode grinding settings and program editing, it demonstrates the conventional grinding operation rules, achieving the purpose of establishing on-site grinding programs. Specifically, the teaching and learning knowledge points of the grinding simulation training robot, such as gun advance, gun retraction, grinding, gun return, gun cleaning, and secondary beveling, can be applied.

[0032] Example 2

[0033] The difference from Example 1 is that, as Figure 1 , Figure 2As shown, the frame 1 is also provided with a first mounting bracket 7 and a second mounting bracket 8. The first mounting bracket 7 has a connecting part 71 and a mounting part 72. A fixing pin 9 is connected to the connecting part 71. The frame 1 is provided with mounting holes (not shown in the figure), and the fixing pin 9 is inserted into the mounting holes. At least two positioning pins 11 are installed on the mounting part 72. The second mounting bracket 8 is provided with positioning holes 12 corresponding to the positions of the fixing pins 9. In this embodiment, since the fixing pins 9 on the connecting part 71 and the mounting holes on the frame 1 are connected by insertion, the robot can pull the first mounting bracket 7 out of the mounting holes, and then drive the two fixing pins 9 on the first mounting bracket 7 to be inserted into the two positioning holes 12 at the same time. This achieves the robot's teaching capability of teaching the positioning pins 11 and positioning holes 12, ensuring the passability between the positioning pins 11 and positioning holes 12, and ensuring that the positioning pins 11 do not interfere when passing through the positioning holes 12, thereby improving the accuracy of teaching skills. Specifically, the training can cover the application of teaching knowledge points such as pin entry and exit, clamping, precise positioning, interference-free smoothness, and maneuverability. For example, entering and exiting a hole refers to the movement trajectory of the pin that must pass through the process hole to reach the required position. The setting requirement is: when teaching the robot to enter and exit a workpiece hole, ensure complete interference-free movement before proceeding. Additionally, add a protection setting of PL=0 to the entry / exit movement command. PL=0 is called the most precise position level command. With this setting, the robot will accurately reach the taught position before executing the next movement step; without it, the robot's trajectory will change according to its movement speed. This could lead to the moving side not fully opening before pre-reading and executing the next step, causing interference and collision with the process hole.

[0034] like Figure 1 , Figure 2 As shown, the first mounting frame 7 is also provided with two parallel connecting plates 13, one of which has a through hole 14. In this embodiment, since one of the connecting plates 13 has a through hole 14, it is convenient for the fixed or movable pole of the welding gun installed on the robot's execution end to extend into it. Then, the fixed pole and the movable pole of the welding gun abut against the opposite sides of the other connecting plate 13, thereby clamping the connecting plate 13. Then, through the robot's movement, the positioning pin 11 of the first mounting frame 7 is pulled out from the mounting hole 10 of the frame 1.

[0035] Example 3

[0036] The difference from Example 1 is that, as Figure 1 , Figure 2As shown, the frame 1 is provided with at least two placement seats 15. Each placement seat 15 has a U-shaped groove 16 for placing a welding torch. A third sensor 17 for detecting the welding torch is disposed on the outside of each placement seat 15, and the third sensor 17 is electrically connected to the robot. In this embodiment, the welding torch is placed in the two U-shaped grooves 16, which limit the position of the welding torch. When the welding torch is placed in the two U-shaped grooves 16, the third sensor 17 detects the welding torch, indicating that the welding torch is correctly positioned. The third sensor 17 transmits the detection data to the robot. Upon receiving the signal, the robot's execution end disengages from the welding torch, thus storing the welding torch on the placement seat 15.

[0037] like Figure 1 , Figure 2 As shown, the frame 1 is also provided with a support base 18 for supporting the welding torch body. In this embodiment, the support base 18 is used to contact the welding torch body and to support the welding torch to ensure the accuracy of the welding torch's storage position.

[0038] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A training simulator for training in a training room, characterized in that The utility model provides a kind of clamp device, including frame body (1), the clamp device (2) for clamping workpiece is installed on the frame body (1), the clamp device (2) includes mounting seat (21), fixed plate (22), clamping plate (23) and drive structure (24), the mounting seat (21) is slidably connected with the frame body (1), the fixed plate (22) is installed on the mounting seat (21), the clamping plate (23) is hinged with the fixed plate (22), and the clamping space is formed between the clamping plate (23) and the fixed plate (22), and the drive structure (24) is connected with the clamping plate (23) to drive the clamping plate (23) rotate towards or away from the direction of the fixed plate (22).

2. Training room training simulation bench according to claim 1, characterized in that, Along the length direction of the clamping plate (23), the hinging point of the clamping plate (23) and the drive structure (24) is located on the side of the clamping plate (23) away from the hinging point of the clamping plate (23) and the fixed plate (22).

3. The training room training simulation bench of claim 1, wherein, The inner side of the clamping plate (23) relative to the fixed plate (22) is provided with a plurality of first clamping blocks (25), and the fixed plate (22) is provided with second clamping blocks (26) corresponding to the positions of the first clamping blocks (25).

4. The training room training simulation bench of claim 1, wherein, The drive structure (24) is provided with a first sensor (3) and a second sensor (4) for detecting the stroke of the drive structure (24), and the first sensor (3) and the second sensor (4) are electrically connected with the robot.

5. The training room training simulation bench of claim 1, wherein, The frame body (1) is provided with a guide column (5) in the movement direction of the drive structure (24), the guide column (5) is slidably connected with a guide sleeve (6), and the mounting seat (21) is mounted on the guide sleeve (6).

6. The training room training simulation bench of claim 1, wherein: The frame body (1) is further provided with a first mounting bracket (7) and a second mounting bracket (8), the first mounting bracket (7) has a connecting portion (71) and a mounting portion (72), a fixed pin (9) is connected to the connecting portion (71), the frame body (1) is provided with a mounting hole, and the fixed pin (9) is inserted into the mounting hole; at least two positioning pins (11) are mounted on the mounting portion (72); the second mounting bracket (8) is provided with a positioning hole (12) corresponding to the position of the fixed pin (9).

7. A training room training simulation bench according to claim 6, characterized in that: The first mounting bracket (7) is further provided with two parallel connecting plates (13), and one of the connecting plates (13) is provided with a through hole (14).

8. The training room training simulation bench of claim 1, wherein: The frame body (1) is provided with at least two placing seats (15), the placing seat (15) is provided with a U-shaped groove (16) for placing a welding gun, and the outer side of the placing seat (15) is provided with a third sensor (17) for detecting the welding gun, and the third sensor (17) is electrically connected with the robot.

9. Training room training simulation bench according to claim 8, characterized in that, The frame body (1) is further provided with a support seat (18) for supporting the body of the welding gun.

10. The training room training simulation bench of claim 1, wherein, The frame body (1) is further provided with a positioning pin (19) or / and a grinder (20).

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