An industrial robot training and assessment platform

Abstract

This utility model discloses an industrial robot training and assessment platform, including a work platform, a positioner module, an automated warehouse module, a trajectory module, a quick-change module, an industrial robot, a weighing module, a conveying module, a vision module, and a palletizing module, all mounted on the work platform. The positioner module includes a base, bearing seats on both sides of the base, an active rotating shaft rotatably connected to one of the bearing seats, a driven rotating shaft rotatably connected to the other bearing seat, a rotating platform mounted above the base and fixedly connected at both ends to the active and driven rotating shafts respectively, a drive motor mounted on the base, and a synchronous belt transmission mechanism connecting the drive motor and the active rotating shaft. This utility model has a reasonable structural design, integrating multiple training modules on the work platform, enabling the assessment of students' comprehensive operational abilities and allowing students to become familiar with and master modules such as the positioner.

Description

Technical Field

[0001] This utility model relates to the field of training equipment technology, and more specifically, to an industrial robot training and assessment platform. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions using their own power and control capabilities. With the deepening development of industrial robots and the improvement of their intelligence level, they have been applied in numerous fields. As the application of industrial robots expands, robot education has become increasingly important, leading to the emergence of robot teaching and training platforms. These platforms offer excellent demonstration effects while also cultivating students' hands-on skills.

[0003] The prior art CN214226301U discloses an industrial robot training equipment, including a training platform with a disassembly / assembly area and a demonstration area. An industrial robot I is installed in the disassembly / assembly area; the industrial robot I is detachable. An industrial robot II is installed in the demonstration area. The demonstration area also includes a feeding module, a conveying module, a detection module, and a storage module. The conveying module includes a conveyor belt and a drive component for driving the conveyor belt. The feeding module includes a material cylinder for stacking multiple materials and a pushing device for pushing the material from the cylinder onto the conveyor belt. The detection module includes a detector that can distinguish materials. The storage module includes multiple placement areas. The industrial robot II can transport materials from the conveyor belt to the corresponding placement areas based on the detection results.

[0004] However, the aforementioned industrial robot training equipment does not integrate multiple training methods, such as assessing students' operation of positioners. Therefore, further improvements to the existing technology are needed. Utility Model Content

[0005] This utility model overcomes the shortcomings of the prior art. Its structure is reasonably designed. By integrating multiple training modules on the work platform, it can assess students' comprehensive operational abilities and enable students to become familiar with and master modules such as positioners.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An industrial robot training and assessment platform includes a work platform, a positioner module, an automated warehouse module, a trajectory module, a quick-change module, an industrial robot, a weighing module, a conveying module, a vision module, and a palletizing module mounted on the work platform. The positioner module includes a base, bearing seats on both sides of the base, an active rotating shaft rotatably connected to one of the bearing seats, a driven rotating shaft rotatably connected to the other bearing seat, a rotating platform mounted above the base and fixedly connected at both ends to the active and driven rotating shafts respectively, a drive motor mounted on the base, and a synchronous belt transmission mechanism connecting the drive motor and the active rotating shaft. The active and driven rotating shafts are arranged horizontally along the same axis. One of the active and driven rotating shafts is provided with an air slip ring, and the other of the active and driven rotating shafts is provided with an electric slip ring.

[0008] By adopting the above technical solutions, the automated warehouse module works in conjunction with the positioner module to store materials for the positioner module. The trajectory module works with the industrial robot to assess students' ability to operate the industrial robot along an adjustable trajectory. The quick-change module is equipped with various quick-change fixtures to allow for docking and installation of the industrial robot, adapting to the operational needs of the industrial robot in different scenarios. The weighing module, conveying module, and vision module can respectively assess students' material weighing ability, material conveying operation ability, and material detection ability. The palletizing module mainly assesses students' ability to palletize materials. In the positioner module, the air slip ring can be set on the driven rotating shaft, while the electric slip ring can be set on the driving rotating shaft; of course, their positions can be interchanged. The drive motor can be a servo motor, whose rotation angle can be precisely controlled. The drive motor drives the synchronous belt transmission mechanism, which in turn drives the driving rotating shaft to rotate, and then the rotating platform rotates, driving the driven rotating shaft to rotate. Because the active and driven rotating shafts are on the same axis, the electric slip ring and the pneumatic slip ring are coaxially integrated, which can ensure the synchronization of pneumatic and electrical transmission and avoid entanglement of cables and pneumatic circuits.

[0009] Preferably, the air slip ring includes an air slip ring stator and an air slip ring rotor that are internally connected. The air slip ring rotor is linked to a driven rotating shaft, and the driven rotating shaft is provided with an air outlet that communicates with the interior of the air slip ring rotor. The air slip ring stator is connected to an external air passage.

[0010] By adopting the above technical solution, when the rotating platform rotates, the driven rotating shaft drives the air slip ring rotor to rotate, while the air slip ring stator is connected to the external air passage for air supply. By setting an air outlet on the driven rotating shaft, air supply to the air passage is ensured while the external air passage pipe will not become entangled.

[0011] Preferably, a sensing element is fixed on the driven rotating shaft or air slip ring rotor, and an end cover plate is fixedly installed on the bearing seat connected to the driven rotating shaft. The end cover plate is located on one side of the sensing element, and multiple sensors at angles to each other are installed on the end cover plate.

[0012] By adopting the above technical solution, the sensor can be specifically set as a proximity sensor. Since the end cover plate is fixed, the sensing element moves closer to different proximity sensors as the driven rotating shaft rotates, thereby realizing the detection of the rotation origin and rotation angle of the rotating platform.

[0013] Preferably, the rotating platform is provided with a processing device, a positioning fixture and a material placement mechanism. The material placement mechanism includes a mounting plate, a clamping cylinder on the mounting plate, a material receiving plate above the clamping cylinder, and a clamping block connected to the clamping cylinder and capable of clamping the material in the material receiving plate.

[0014] By adopting the above technical solution, the processing device is a grinding head, which facilitates students to carry out on-site grinding training. The positioning fixture is used to position the material, and the material to be processed is placed in the material receiving plate. The clamping cylinder drives the clamping block to clamp and position the material in the material receiving plate.

[0015] Preferably, at least one bearing housing is provided with a limit stop, and the base is provided with an electrical quick-connect interface.

[0016] By adopting the above technical solution, the limit block can be made of polyurethane buffer pad, which has a good buffering effect and can limit the rotation of the rotating platform. The setting of the electrical quick-connect interface facilitates the expansion and connection of other auxiliary devices.

[0017] Preferably, the automated warehouse module includes a warehouse rack, multiple partitions arranged in layers within the warehouse rack, a push cylinder mounted on the partitions, and a hopper plate located above the partitions and connected to the push cylinder.

[0018] By adopting the above technical solution, two partition plates are specifically set, which can realize the storage of materials on two layers in the three-dimensional warehouse module. By setting a push cylinder, the silo plate can be extended and retracted, which facilitates the storage and retrieval of materials.

[0019] Preferably, the quick-change module includes a quick-change base plate, a quick-change column on the quick-change base plate, a clamp placement plate on the quick-change column, and a plurality of clamp positioning plates on the clamp placement plate, wherein quick-change clamps are installed on the clamp positioning plates.

[0020] By adopting the above technical solution, the quick-change base plate and quick-change column can provide good support for the fixture placement plate, and multiple fixture positioning plates are provided, with various quick-change fixtures installed on the multiple fixture positioning plates to better match the industrial robot.

[0021] Preferably, the conveying module includes a conveying frame, a conveyor belt on the conveying frame, a limiting guide plate on the conveyor belt and having a guide groove, an installation limiting plate on the conveyor belt and located on one side of the limiting guide plate, a fixed material placement cylinder on the installation limiting plate and forming a gap with the installation limiting plate, a pushing cylinder on one side of the installation limiting plate, and a pushing plate connected to the pushing cylinder and located in the gap.

[0022] By adopting the above technical solution, materials that can be located in the gaps are stacked in the fixed material cylinder. The bottom single material is pushed into the guide groove of the limiting guide plate by the pushing cylinder. The material is transported by the conveyor belt until the end of the guide groove. The main test is the student's ability to operate the conveying material.

[0023] Preferably, the palletizing module includes a palletizing base plate, two palletizing columns disposed on the palletizing base plate, and a palletizing ramp disposed between the two palletizing columns.

[0024] By adopting the above technical solution, materials can be operated by industrial robots and placed one by one onto the palletizing ramp to complete the palletizing of materials. Since the palletizing ramp is set at an incline, it can increase the difficulty of assessing students' operation of industrial robots.

[0025] Preferably, it also includes an electrical module and a safety light curtain mounted on the work platform.

[0026] By adopting the above technical solution, the electrical module can be electrically connected to the corresponding module through cables and connectors, while the safety light curtain is specifically set at the end of the work platform to prevent students from operating the industrial robot away from the work platform, thus playing a role in limit protection.

[0027] The beneficial effects of this utility model are:

[0028] This utility model has a reasonable structural design, integrating multiple training modules on the work platform, which can assess students' comprehensive operational abilities and enable students to become familiar with and master modules such as positioners. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a specific embodiment of the present utility model;

[0030] Figure 2 This is a schematic diagram illustrating the structure of the positioner module in a specific embodiment of this utility model;

[0031] Figure 3This is a schematic diagram illustrating a partial structure of the positioner module according to a specific embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram illustrating the structure of the automated warehouse module according to a specific embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram illustrating the structure of the trajectory module in a specific embodiment of this utility model;

[0034] Figure 6 This is a schematic diagram illustrating the structure of the quick-change module in a specific embodiment of this utility model;

[0035] Figure 7 This is a schematic diagram illustrating the structure of the weighing module in a specific embodiment of this utility model;

[0036] Figure 8 This is a schematic diagram illustrating the structure of the conveying module in a specific embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram illustrating the structure of the vision module in a specific embodiment of this utility model;

[0038] Figure 10 This is a schematic diagram illustrating the structure of the palletizing module in a specific embodiment of the present invention.

[0039] In the diagram: 100. Working platform; 101. Electrical module; 102. Safety light curtain; 1. Positioner module; 11. Base; 12. Bearing seat; 121. Limit stop; 13. Active rotating shaft; 14. Driven rotating shaft; 141. Air outlet; 142. Sensor; 143. End cover plate; 144. Sensor; 15. Rotating platform; 151. Processing device; 152. Positioning fixture; 153. Material placement mechanism; 154. Mounting plate; 155. Clamping cylinder; 156. Material receiving plate; 157. Clamping block; 16. Drive motor; 17. Synchronous belt transmission mechanism; 18. Air slip ring; 181. Air slip ring stator; 182. Air slip ring rotor; 1 9. Electric slip ring; 2. Automated warehouse module; 21. Warehouse rack; 22. Divider plate; 23. Push cylinder; 24. Hopper plate; 3. Track module; 4. Quick change module; 41. Quick change base plate; 42. Quick change column; 43. Fixture placement plate; 44. Fixture positioning plate; 45. Quick change fixture; 5. Industrial robot; 6. Weighing module; 7. Conveying module; 71. Conveying frame; 72. Conveying belt; 73. Limiting guide plate; 74. Guide trough; 75. Installation limiting plate; 76. Gap; 77. Fixed material placement cylinder; 78. Pushing cylinder; 79. Pushing plate; 8. Vision module; 9. Palletizing module; 91. Palletizing base plate; 92. Palletizing column; 93. Palletizing inclined plate. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] like Figure 1-10 As shown, an industrial robot training and assessment platform includes a work platform 100, a positioner module 1, an automated warehouse module 2, a trajectory module 3, a quick-change module 4, an industrial robot 5, a weighing module 6, a conveying module 7, a vision module 8, and a palletizing module 9 mounted on the work platform 100. The positioner module 1 includes a base 11, bearing seats 12 on both sides of the base 11, an active rotating shaft 13 rotatably connected to one of the bearing seats 12, a driven rotating shaft 14 rotatably connected to the other bearing seat 12, and a palletizing module 9 mounted on the work platform 100. A rotating platform 15 is fixedly connected to the base 11 and the driving rotating shaft 13 and the driven rotating shaft 14 at both ends, respectively. A drive motor 16 is provided on the base 11 and a synchronous belt transmission mechanism 17 is connected between the drive motor 16 and the driving rotating shaft 13. The driving rotating shaft 13 and the driven rotating shaft 14 are arranged horizontally along the same axis. One of the driving rotating shaft 13 and the driven rotating shaft 14 is provided with an air slip ring 18, and the other of the driving rotating shaft 13 and the driven rotating shaft 14 is provided with an electric slip ring 19.

[0042] By adopting the above technical solution, the automated warehouse module 2 works in conjunction with the positioner module 1 to store materials for the positioner module 1. The trajectory module 3 works in conjunction with the industrial robot 5 to assess students' ability to operate the industrial robot 5 along an adjustable trajectory. The quick-change module 4 is equipped with various quick-change fixtures 45, which can be used to dock and install the industrial robot 5, adapting to the different operational needs of the industrial robot 5 in different scenarios. The weighing module 6, conveying module 7, and vision module 8 can respectively assess students' ability to weigh materials, their ability to operate material conveying, and their ability to detect materials. The palletizing module 9 mainly assesses students' ability to palletize materials. In the positioner module 1, the air slip ring 18 can be set on the driven rotating shaft 14, while the electric slip ring 19 can be set on the active rotating shaft 13; of course, their positions can be interchanged. The drive motor 16 can be a servo motor, whose rotation angle can be precisely controlled. The drive motor 16 drives the synchronous belt transmission mechanism 17 to move, which in turn drives the active rotating shaft 13 to rotate. Then, the rotating platform 15 rotates, driving the driven rotating shaft 14 to rotate. Since the active rotating shaft 13 and the driven rotating shaft 14 are on the same axis, the electric slip ring 19 and the pneumatic slip ring 18 are coaxially integrated, which can ensure the synchronization of pneumatic and electrical transmission and avoid entanglement of cables and pneumatic circuits. The trajectory module 3 can be found in the prior art CN 220855878U, and the electric slip ring 19 can be found in the prior art CN209071784U.

[0043] The air slip ring 18 includes an internally connected air slip ring stator 181 and an air slip ring rotor 182. The air slip ring rotor 182 is linked to the driven rotating shaft 14. The driven rotating shaft 14 is provided with an air outlet 141 that communicates with the interior of the air slip ring rotor 182. The air slip ring stator 181 is connected to an external air passage. With this configuration, when the rotating platform 15 rotates, the driven rotating shaft 14 drives the air slip ring rotor 182 to rotate, while the air slip ring stator 181 is connected to the external air passage for air supply. By providing an air outlet 141 on the driven rotating shaft 14, air supply to the external air passage is ensured while preventing the air pipe from becoming entangled.

[0044] The driven rotating shaft 14 or the air slip ring rotor 182 is fixed with a sensing element 142. The bearing seat 12 connected to the driven rotating shaft is fixed with an end cover plate 143. The end cover plate 143 is located on one side of the sensing element 142. The end cover plate 143 is provided with multiple sensors 144 at angles to each other. The sensors 144 can be specifically set as proximity sensors 144. Since the end cover plate 143 is fixed, the sensing element 142 moves closer to different proximity sensors 144 as the driven rotating shaft 14 rotates, thereby realizing the detection of the rotation origin and rotation angle of the rotating platform 15.

[0045] Furthermore, the rotating platform 15 is equipped with a processing device 151, a positioning fixture 152, and a material placement mechanism 153. The material placement mechanism 153 includes a mounting plate 154, a clamping cylinder 155 mounted on the mounting plate 154, a material receiving plate 156 mounted above the clamping cylinder 155, and a clamping block 157 connected to the clamping cylinder 155 and capable of clamping the material in the material receiving plate 156. The processing device 151 is specifically a grinding head, which facilitates students to carry out on-site grinding training. The positioning fixture 152 is used to position the material, and the material to be processed is placed in the material receiving plate 156. The clamping cylinder 155 drives the clamping block 157 to clamp and position the material in the material receiving plate 156.

[0046] At least one bearing housing 12 is provided with a limit stop 121, and the base 11 is provided with an electrical quick-connect interface. The limit stop 121 can be made of polyurethane buffer pad, which has a good buffering effect and can limit the rotation of the rotating platform 15. The electrical quick-connect interface facilitates the expansion and connection of other auxiliary devices.

[0047] The automated warehouse module 2 includes a warehouse rack 21, multiple partitions 22 arranged in layers within the warehouse rack 21, a push cylinder 23 installed on the partitions 22, and a hopper plate 24 located above the partitions 22 and connected to the push cylinder 23. Specifically, there are two partitions 22, which enable the automated warehouse module 2 to store materials on two layers. The push cylinder 23 enables the hopper plate 24 to extend and retract, facilitating the storage and retrieval of materials.

[0048] Specifically, the quick-change module 4 includes a quick-change base plate 41, a quick-change column 42 on the quick-change base plate 41, a fixture placement plate 43 on the quick-change column 42, and multiple fixture positioning plates 44 on the fixture placement plate 43. Quick-change fixtures 45 are installed on the fixture positioning plates 44. The quick-change base plate 41 and quick-change column 42 can provide good support for the fixture placement plate 43. Multiple fixture positioning plates 44 are provided, and various quick-change fixtures are installed on the multiple fixture positioning plates 44 to better match the industrial robot 5.

[0049] The conveying module 7 includes a conveyor frame 71, a conveyor belt 72 mounted on the conveyor frame 71, a limiting guide plate 73 mounted on the conveyor belt 72 and having a guide groove 74, a mounting limiting plate 75 mounted on the conveyor belt and located on one side of the limiting guide plate 73, a fixed material placement cylinder 77 mounted on the mounting limiting plate 75 and forming a gap 76 with the mounting limiting plate 75, a pushing cylinder 78 located on one side of the mounting limiting plate 75, and a pushing plate 79 connected to the pushing cylinder 78 and located in the gap 76. The fixed material placement cylinder 77 contains stacked materials that can be located in the gap 76. The pushing cylinder 78 pushes the bottommost single material into the guide groove 74 of the limiting guide plate 73. The material is conveyed by the conveyor belt 72 until the end of the guide groove 74. The main assessment is the student's ability to operate the conveying material.

[0050] The palletizing module 9 includes a palletizing base plate 91, two palletizing columns 92 on the palletizing base plate 91, and a palletizing ramp 93 between the two palletizing columns 92. Materials can be operated by the industrial robot 5 and placed one by one onto the palletizing ramp 93 to complete the palletizing of materials. Since the palletizing ramp 93 is set at an incline, it can increase the difficulty of assessing students' operation of the industrial robot 5.

[0051] Preferably, it also includes an electrical module 101 and a safety light curtain 102 disposed on the work platform 100. The electrical module 101 can be electrically connected to the corresponding module via cables and connectors, while the safety light curtain 102 is specifically disposed at the end of the work platform 100 to prevent students from operating the industrial robot 5 to leave the work platform 100, thereby playing a role in limiting protection.

[0052] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An industrial robot training and assessment platform, comprising a work platform (100), a positioner module (1), an automated warehouse module (2), a trajectory module (3), a quick-change module (4), an industrial robot (5), a weighing module (6), a conveying module (7), a vision module (8), and a palletizing module (9) mounted on the work platform (100), characterized in that, The positioner module (1) includes a base (11), bearing seats (12) on both sides of the base (11), an active rotating shaft (13) rotatably connected to one of the bearing seats (12), a driven rotating shaft (14) rotatably connected to the other bearing seat (12), a rotating platform (15) located above the base (11) and fixedly connected at both ends to the active rotating shaft (13) and the driven rotating shaft (14) respectively, a drive motor (16) located on the base (11), and a synchronous belt transmission mechanism (17) connected between the drive motor (16) and the active rotating shaft (13). The active rotating shaft (13) and the driven rotating shaft (14) are arranged horizontally along the same axis. One of the active rotating shaft (13) and the driven rotating shaft (14) is provided with an air slip ring (18), and the other of the active rotating shaft (13) and the driven rotating shaft (14) is provided with an electric slip ring (19).

2. The industrial robot training and assessment platform according to claim 1, characterized in that, The air slip ring (18) includes an internally connected air slip ring stator (181) and an air slip ring rotor (182). The air slip ring rotor (182) is linked to the driven rotating shaft (14). The driven rotating shaft (14) is provided with an air outlet (141) that communicates with the interior of the air slip ring rotor (182). The air slip ring stator (181) is connected to the external air passage.

3. The industrial robot training and assessment platform according to claim 2, characterized in that, A sensor (142) is fixed on the driven rotating shaft (14) or the air slip ring rotor (182). An end cover plate (143) is fixed on the bearing seat (12) connected to the driven rotating shaft. The end cover plate (143) is located on one side of the sensor (142). Multiple sensors (144) at an angle to each other are provided on the end cover plate (143).

4. The industrial robot training and assessment platform according to claim 3, characterized in that, The rotating platform (15) is equipped with a processing device (151), a positioning fixture (152) and a material placement mechanism (153). The material placement mechanism (153) includes a mounting plate (154), a clamping cylinder (155) on the mounting plate (154), a material receiving plate (156) above the clamping cylinder (155), and a clamping block (157) connected to the clamping cylinder (155) and capable of clamping the material in the material receiving plate (156).

5. The industrial robot training and assessment platform according to claim 4, characterized in that, At least one bearing housing (12) is provided with a limit stop (121).

6. An industrial robot training and assessment platform according to claim 1, 2, 3, 4, or 5, characterized in that, The automated warehouse module (2) includes a warehouse rack (21), multiple partitions (22) arranged in layers within the warehouse rack (21), a push cylinder (23) mounted on the partition (22), and a hopper plate (24) located above the partition (22) and connected to the push cylinder (23).

7. The industrial robot training and assessment platform according to claim 6, characterized in that, The quick-change module (4) includes a quick-change base plate (41), a quick-change column (42) on the quick-change base plate (41), a clamp placement plate (43) on the quick-change column (42), and a plurality of clamp positioning plates (44) on the clamp placement plate (43). A quick-change clamp (45) is installed on the clamp positioning plate (44).

8. The industrial robot training and assessment platform according to claim 7, characterized in that, The conveying module (7) includes a conveying frame (71), a conveying belt (72) on the conveying frame (71), a limiting guide plate (73) on the conveying belt (72) and having a guide groove (74), an installation limiting plate (75) on the conveying belt and located on one side of the limiting guide plate (73), a fixed material cylinder (77) on the installation limiting plate (75) and forming a gap (76) with the installation limiting plate (75), a pushing cylinder (78) on one side of the installation limiting plate (75), and a pushing plate (79) connected to the pushing cylinder (78) and located in the gap (76).

9. The industrial robot training and assessment platform according to claim 8, characterized in that, The palletizing module (9) includes a palletizing base plate (91), two palletizing columns (92) on the palletizing base plate (91), and a palletizing ramp (93) between the two palletizing columns (92).

10. An industrial robot training and assessment platform according to claim 1, characterized in that, It also includes an electrical module (101) and a safety light curtain (102) mounted on the work platform (100).

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