CN107909877A - A kind of automatic sorting actual training device and method - Google Patents
A kind of automatic sorting actual training device and method Download PDFInfo
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- CN107909877A CN107909877A CN201711344273.8A CN201711344273A CN107909877A CN 107909877 A CN107909877 A CN 107909877A CN 201711344273 A CN201711344273 A CN 201711344273A CN 107909877 A CN107909877 A CN 107909877A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention discloses a kind of automatic sorting actual training device and method, including Working gantry, the wire casing for being provided with frame shape of Working gantry upper surface, Working gantry upper surface is also equipped with DC power supply component, PLC controller, relay, terminal block, touch screen control panel, DC power supply component is PLC controller, relay provides working power, also it is connected with terminal block, the lead-out wire of terminal block is into leading groove, and with teaching device assembly, feeding machanism, robot, transmit mechanism for sorting, frequency converter, touch screen control panel, the feeder ear of frequency read/write, signal end connects respectively.The safety of the invention for effectively protecting equipment, using real industrial robot, system configuration RFID, and matching terminal are arranged, and are matched with industrial environment, meet the needs of professional colleges butted line reality teaches pattern；It is transsexual to increase the change of reality teaches pattern, has a good application prospect.
Description
Technical field
The present invention relates to practice-training teaching equipment technical field, and in particular to a kind of automatic sorting actual training device and method.
Background technology
Existing automatic sorting actual training device, using unlimited cabinet form, major mechanical structure part is on table top, essential electrical member
Device is in the drawer under table top；Connector is provided on table top to be used for connecting mechanical structured member and the electric components in drawer,
Operation principle is：Feeding machanism rotates driving lever in charging tray, workpiece is sent to discharge port, workpiece is put into conveyer belt by cylinder handgrip
On, then it is identified, and be stored according to workpiece species in material storehouse, still, have the following disadvantages,
（1）Due to being that driving lever rotates in charging tray, there are design defect, causes feeding machanism easily stuck, causes feeding machanism
Motor rotation blockage, damages motor, reduces the service life；
（2）The crawl of cylinder handgrip is relatively simple for structure, can not meet the real training demand of student；
（3）Since cylinder handgrip directly pushes blanking, still, the excessive velocities of conveyer belt, lead to not accurately push workpiece, institute
It is severely limited with line speed；
（4）A large amount of clients are to RFID at present（Radio Frequency Identification Technology）In great demand, existing electromechanical integration actual training device is without this
Function, can not meet customer need；
（5）Electric components are in the drawer under table top, it has not been convenient to dismount；
（6）It is not terminal block that connector is provided on table top, and connector is not inconsistent with actual industrial environment, can not meet that real training will
Ask.
How to overcome the above problem, be currently needed for solving.
The content of the invention
The purpose of the present invention is overcome existing automatic sorting actual training device, existing deficiency.Automatic point of the present invention
Actual training device and method are picked, effectively protects the safety of equipment, using real industrial robot, system configuration RFID（Radio frequency
Identifying system）, and matching terminal is arranged, and is matched with industrial environment, meets the needs of professional colleges butted line reality teaches pattern；All member devices
Part hair position is adjustable, position can right and left mutually changing, it is transsexual to increase the change of reality teaches pattern, has a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of automatic sorting actual training device, including Working gantry, the line for being provided with frame shape of the Working gantry upper surface
Groove, the Working gantry upper surface are also equipped with DC power supply component, PLC controller, relay, terminal block, touch-screen control
Panel, the DC power supply component is PLC controller, relay provides working power, is also connected with terminal block, the end
Son row lead-out wire into leading groove, and with teaching device assembly, feeding machanism, robot, transmission mechanism for sorting, frequency converter, touch
Screen control panel, the feeder ear of frequency read/write, signal end connect respectively,
The teaching device assembly, feeding machanism, robot, transmission mechanism for sorting, frequency converter, touch screen control panel, radio frequency are read
Write device and be installed in Working gantry upper surface,
The robot is used to the workpiece on feeding machanism being transferred to transmission mechanism for sorting, the workpiece there are polytype,
And RFID chip has been internally embedded, different types of workpiece is put into the stock chest specified by the transmission mechanism for sorting.
A kind of foregoing automatic sorting actual training device, on the robot installment work rack, vacuum generator, electromagnetism
Valve, filter, air-source treater and sucker composition vacuum loop, the vacuum generator, solenoid valve, filter, source of the gas processing
Device is arranged on Working gantry, and the filter provides clean air source, the solenoid valve successively with vacuum generator, be installed on
Sucker on the robotically-driven arm of robot is connected, and provides the power source of absorption workpiece.
A kind of foregoing automatic sorting actual training device, the Working gantry bottom four corners are mounted on universal wheel, and described ten thousand
Adjustable support leg is mounted on to the side of wheel.
A kind of foregoing automatic sorting actual training device, the workpiece setting have a three types, including metal works, white are non-
Metal works, black non-metal workpiece.
A kind of foregoing automatic sorting actual training device, the transmission mechanism for sorting, including locating piece, driven axle, transmission belt
It is mechanism, column, velometer, the first rotary cylinder, the second rotary cylinder, striker plate, driving shaft, shaft coupling, decelerating motor, reflective
Plate, the first stock chest, the second stock chest, the 3rd stock chest, blanking detection sensor, color detecting sensor, metal detection pass
Sensor and fibre optical sensor,
The column is two, is symmetrically mounted on Working gantry upper surface in left and right, the belt mechanism is arranged on two and stands
Between column, the driving shaft is located at the rearward end of transmission belt, and is connected by shaft coupling with decelerating motor, and the driven axle is set
The front end in transmission belt is put, the driving shaft driving belt mechanism is driven,
The locating piece is installed on the upper surface of belt mechanism front end, the velometer, the first rotary cylinder, the second rotation
Cylinder is separately mounted to a side of belt mechanism, and the first rotary cylinder, the second rotary cylinder direction of rotation are consistent, described
Striker plate is installed on the upper surface of belt mechanism rearward end, the reflector, the first stock chest, the second stock chest, the 3rd storage
Hopper, blanking detection sensor, color detecting sensor, metal detection sensor and fibre optical sensor are sequentially arranged at transmission belt
Another side of mechanism, and the first stock chest, the second stock chest, the 3rd stock chest spacing distance is adjustable.
A kind of foregoing automatic sorting actual training device, the frequency read/write are arranged on another side of belt mechanism,
With reflector homonymy.
A kind of automatic sorting real training fills method, including
Sensor identification method：Transmission mechanism for sorting distinguishes workpiece by color detecting sensor and metal detection sensor,
And different types of workpiece is put into the stock chest specified；
RFID chip identification method, transmission mechanism for sorting distinguish workpiece by the RFID chip in workpiece, and will not
The workpiece of same type is put into the stock chest specified.
A kind of foregoing automatic sorting real training dress method, sensor identification method, comprises the following steps,
（A1）, three kinds of different types of workpiece are placed into the supply disk of feeding machanism；
（A2）, detect inlet on feeding machanism and whether there is workpiece, if without workpiece, start feeding machanism；If inlet is deposited
Then performed in workpiece（A3）；
（A3）, detect the inlet of feeding machanism there are workpiece in place, before which is placed into belt mechanism by robot
On the locating piece of end；
（A4）, after fibre optical sensor detects workpiece in place, decelerating motor starts to start, and the rotating speed of decelerating motor is by frequency converter control
System, decelerating motor drive belt mechanism movement, meanwhile, velometer detects the linear speed of the belt movement of belt mechanism in real time
Degree；
（A5）, when workpiece is after metal detection sensor and color detecting sensor, according to metal detection sensor and color
The feedback signal of detection sensor judges the corresponding material of workpiece；
（A6）If workpiece is metal material workpiece, belt mechanism continues to move, while the first rotary cylinder acts, the first rotation
Shift fork on rotaring cylinder can turn 30 °, after workpiece encounters the shift fork on the first rotary cylinder to belt direction, and sliding under the action of it
Go out belt, and slide into the bottom of the 3rd stock chest, at this time, blanking detection sensor counting is once；If workpiece is the non-gold of white
Belong to material workpiece, belt mechanism continues to move, the action of the second rotary cylinder, and the shift fork on the second rotary cylinder can be to belt side
To turn °, after workpiece encounters the shift fork on the second rotary cylinder, and belt is skidded off under the action of it, and slide into the second stock chest
Bottom, at this time, blanking detection sensor may proceed to count once；If workpiece is black non-metallic material workpiece, belt mechanism
Continue to move, until workpiece encounters the striker plate of belt mechanism rearward end, workpiece can make a concerted effort in striker plate, belt mechanism
Belt mechanism is skidded off under effect, and slides into the bottom of the first stock chest, at this time, blanking detection sensor may proceed to counting one
It is secondary；
（A7）, repeat（A3）-（A6）, until can't detect the presence there are workpiece, at this time, blanking in the inlet of feeding machanism
The stored counts of detection sensor with（A2）It is placed into that piece count in the supply disk of feeding machanism is identical, and robot returns to initially
Position, terminates sensor identification method.
A kind of automatic sorting real training fills method, and RFID chip identification method, comprises the following steps,
（B1）Three kinds of different types of workpiece are placed into the supply disk of feeding machanism；
（B2）, detect inlet on feeding machanism and whether there is workpiece, if without workpiece, start feeding machanism；If inlet is deposited
Then performed in workpiece（B3）；
（B3）, detect the inlet of feeding machanism there are workpiece in place, robot hovers the workpiece to frequency read/write just
Top, reads the information of RFID chip, judges the type of workpiece, and robot then is placed into belt mechanism by the workpiece
On the locating piece of front end；
（B4）, after fibre optical sensor detects workpiece in place, decelerating motor starts to start, the rotating speed of decelerating motor is by frequency converter
Control, decelerating motor drive belt mechanism movement, meanwhile, velometer detects the linear speed of the belt movement of belt mechanism in real time
Degree；
（B5）, according to the information for reading RFID chip, judge the corresponding material of workpiece；
（B6）If workpiece is metal material workpiece, belt mechanism continues to move, while the first rotary cylinder acts, the first rotation
Shift fork on rotaring cylinder after workpiece encounters the shift fork on the first rotary cylinder, and can be skidded off to belt direction turn ° under the action of it
Belt, and the bottom of the 3rd stock chest is slided into, at this time, blanking detection sensor counting is once；If workpiece is nonmetallic for white
Material workpiece, belt mechanism continue to move, the action of the second rotary cylinder, and the shift fork on the second rotary cylinder can be to belt direction
Turn 30 °, after workpiece encounters the shift fork on the second rotary cylinder, and belt is skidded off under the action of it, and slide into the second stock chest
Bottom, at this time, blanking detection sensor may proceed to count once；If workpiece is black non-metallic material workpiece, belt mechanism
Continue to move, until workpiece encounters the striker plate of belt mechanism rearward end, workpiece can make a concerted effort in striker plate, belt mechanism
Belt mechanism is skidded off under effect, and slides into the bottom of the first stock chest, at this time, blanking detection sensor may proceed to counting one
It is secondary；
（B7）, repeat（B3）-（B6）, until can't detect the presence there are workpiece, at this time, blanking in the inlet of feeding machanism
The stored counts of detection sensor with（B2）It is placed into that piece count in the supply disk of feeding machanism is identical, and robot returns to initially
Position, terminates RFID chip identification method.
The beneficial effects of the invention are as follows：The automatic sorting actual training device and method of the present invention, is blocked up to solve charging tray motor
The problem of turning, damaging motor, supply disk driving lever in feeding machanism is rotated and is changed to the rotation of charging tray chassis；In order to meet school, learn
Original cylinder handgrip is changed to industrial robot and coordinates sucker work by life to machine Man's Demands；In order to reduce conveyer belt pair
Rate request, by straight push cylinder, is changed to rotary cylinder；A large amount of clients are to RFID at present（Radio Frequency Identification Technology）It is in great demand, institute
RFID identification is increased with this；In order to be matched with industrial environment, meets the needs of professional colleges butted line reality teaches pattern, by main body knot
Structure optimizes, and all components are all placed on the desktop of Practical training table, very clear, and has the advantages that following have：
（1）Supply disk is being debugged with operational process, there is a situation where motor rotation blockage, will not effectively protect the safety of equipment；
（2）Using real industrial robot, it is bonded closely with industrial reality, by sucker suction workpiece, works well；
（3）System configuration RFID（Radio-frequency recognition system）, embody the concept of Internet of Things；
（4）All components are all placed on the desktop of Practical training table, very clear, and matching terminal is arranged, and is matched with industrial environment, full
The demand of sufficient professional colleges butted line reality teaches pattern；
（5）The position of all components on the table is adjustable, position can right and left mutually changing, the change for increasing reality teaches pattern is transsexual.
Brief description of the drawings
Fig. 1 is the structure diagram of the motion control training device of the present invention；
Fig. 2 is the top view of the motion control training device of the present invention；
Fig. 3 is the structure diagram of the transmission mechanism for sorting of the present invention.
The implication marked in attached drawing is as follows：
1：Working gantry；2：Teaching device assembly；3：Feeding machanism；4：Robot；5：Transmit mechanism for sorting；6：Frequency converter；7：Touch
Touch screen control panel；8：Wire casing；9：Frequency read/write；10：Terminal block；11：Relay；12：PLC controller；13：DC power supply
Component；14：Vacuum generator；15：Solenoid valve；16：Filter；17：Air-source treater；18：Workpiece；19：Locating piece；20：Quilt
Moving axis；21：Belt mechanism；22：Column；23：Velometer；24：First rotary cylinder；25：Second rotary cylinder；26：Backgauge
Plate；27：Driving shaft；28：Shaft coupling；29：Decelerating motor；30：Reflector；31：First stock chest；32：Second stock chest；33：
3rd stock chest；34：Blanking detection sensor；35：Color detecting sensor；36：Metal detection sensor；37：Fibre Optical Sensor
Device；38：Robotically-driven arm；39：Sucker；40：Universal wheel；41：Support leg.
Embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figures 1 and 2, motion control training device of the invention, including Working gantry 1, on the Working gantry 1
The wire casing 8 for being provided with frame shape on surface, 1 upper surface of Working gantry are also equipped with DC power supply component 13, PLC controls
Device 12, relay 11, terminal block 10, touch screen control panel 7, the DC power supply component 13 is PLC controller 12, relay
11 provide working powers, be also connected with terminal block 10, the lead-out wire of the terminal block 10 into leading groove 8, and with teaching machine group
Part 2, feeding machanism 3, robot 4, the power supply for transmitting mechanism for sorting 5, frequency converter 6, touch screen control panel 7, frequency read/write 9
End, signal end connect respectively,
The teaching device assembly 2, feeding machanism 3, robot 4, transmission mechanism for sorting 5, frequency converter 6, touch screen control panel 7,
Frequency read/write 9 is installed in 1 upper surface of Working gantry,
The robot 4 is used to the workpiece 18 on feeding machanism 3 being transferred to transmission mechanism for sorting 5, and the workpiece 18 exists more
Different types of workpiece 18 is put into the storage specified by type, and be internally embedded RFID chip, the transmission mechanism for sorting 5
In hopper.
Preferably, the robot 4 is installed on Working gantry 1, vacuum generator 14, solenoid valve 15, filter 16, gas
Source processor 17 and sucker 39 form vacuum loop, the vacuum generator 14, solenoid valve 15, filter 16, air-source treater
17 are arranged on Working gantry 1, and the filter 16 provides clean air source, the solenoid valve 15 successively with vacuum generator
14th, the sucker 39 on the driving arm robot 38 of robot 4 is connected, and provides the power source of absorption workpiece 18.
Preferably, 1 bottom four corners of Working gantry are mounted on universal wheel 40, and the side of the universal wheel 40 is respectively mounted
There is adjustable support leg 41.
Preferably, the workpiece 18 is provided with three types, including metal works, white non-metal workpiece, the non-gold of black
Metal work-pieces, the embodiment of the present invention are only provided with three types, can select a variety of different workpiece types as needed.
As shown in figure 3, the transmission mechanism for sorting 5, including locating piece 19, driven axle 20, belt mechanism 21, column
22nd, velometer 23, the first rotary cylinder 24, the second rotary cylinder 25, striker plate 26, driving shaft 27, shaft coupling 28, decelerating motor
29th, reflector 30, the first stock chest 31, the second stock chest 32, the 3rd stock chest 33, blanking detection sensor 34, color detection
Sensor 35, metal detection sensor 36 and fibre optical sensor 37,
The column 22 is two, is symmetrically mounted on 1 upper surface of Working gantry in left and right, the belt mechanism 21 is arranged on
Between two columns, the driving shaft 27 is located at the rearward end of transmission belt 21, and is connected by shaft coupling 28 with decelerating motor 29
Connecing, the driven axle 20 is arranged on the front end of transmission belt 21, and the driving shaft 27 drives belt mechanism 21 to be driven,
The locating piece 19 be installed on 21 front end of belt mechanism upper surface, the velometer 23, the first rotary cylinder 24,
Second rotary cylinder 25 is separately mounted to a side of belt mechanism 21, and the first rotary cylinder 24, the second rotary cylinder 25
Direction of rotation is consistent, and the striker plate 26 is installed on the upper surface of 21 rearward end of belt mechanism, and the reflector 30, first stores up
Hopper 31, the second stock chest 32, the 3rd stock chest 33, blanking detection sensor 34, color detecting sensor 35, metal detection pass
Sensor 36 and fibre optical sensor 37 are sequentially arranged at another side of belt mechanism 21, and the first stock chest 31, the second storing
Groove 32,33 spacing distance of the 3rd stock chest is adjustable.
Preferably, the frequency read/write 9 is arranged on 5 another side of transmission mechanism for sorting, positioned at the centre of Working gantry 1
Position, reflector 30 can ensure the work of the normal reliable of color detecting sensor 35 and metal detection sensor 36.
The automatic sorting real training dress method of the present invention, including
Sensor identification method：Transmission mechanism for sorting 5 is distinguished by color detecting sensor 35 and metal detection sensor 36
Workpiece 18, and different types of workpiece 18 is put into the stock chest specified；
RFID chip identification method, transmission mechanism for sorting 5 distinguish workpiece 18 by the RFID chip in workpiece 18, and
Different types of workpiece 18 is put into the stock chest specified.
Wherein, the sensor identification method, comprises the following steps,
（A1）, three kinds of different types of workpiece 18 are placed into the supply disk of feeding machanism 3；
（A2）, detect inlet on feeding machanism 3 and whether there is workpiece 18, if without workpiece 18, start feeding machanism 3；If for
There are workpiece 18 then to perform for material mouth（A3）；
（A3）, detect the inlet of feeding machanism 3 there are workpiece 18 in place, which is placed into transmission belt by robot 4
On the locating piece 19 of 21 front end of mechanism；
（A4）, after fibre optical sensor 37 detects workpiece 18 in place, decelerating motor 29 starts to start, the rotating speed of decelerating motor 29
Being controlled by frequency converter 6, decelerating motor 29 drives belt mechanism 21 to move, meanwhile, velometer 23 detects belt mechanism in real time
The linear velocity of 21 belt movement；
（A5）, when workpiece 18 is after metal detection sensor 36 and color detecting sensor 35, according to metal detection sensor
36 and the feedback signal of color detecting sensor 35 judge 18 corresponding material of workpiece；
（A6）If workpiece 18 is metal material workpiece, belt mechanism 21 continues to move, while the first rotary cylinder 24 acts,
Shift fork on first rotary cylinder 24 can turn 30 °, after workpiece 18 encounters the shift fork on the first rotary cylinder 24 to belt direction, and
Belt is skidded off under the action of it, and slides into the bottom of the 3rd stock chest 33, at this time, 34 counting of blanking detection sensor is once；
If workpiece 18 is white non-metallic material workpiece, belt mechanism 21 continues to move, and the second rotary cylinder 25 acts, the second rotation
Shift fork on cylinder 25 can turn 30 °, after workpiece 18 encounters the shift fork on the second rotary cylinder 25, and its effect to belt direction
Under skid off belt, and slide into the bottom of the second stock chest 32, at this time, blanking detection sensor 34 may proceed to count once；If work
Part 18 is black non-metallic material workpiece, and belt mechanism 21 continues to move, until workpiece encounters 21 rearward end of belt mechanism
Striker plate 26, workpiece 18 can striker plate 26, belt mechanism 21 force action under skid off belt mechanism 21, and slide into
The bottom of first stock chest 31, at this time, blanking detection sensor 34 may proceed to count once；
（A7）, repeat（A3）-（A6）, it can't detect until in the inlet of feeding machanism 3 there are the presence of workpiece 18, at this time,
The stored counts of blanking detection sensor 34 with（A2）It is identical to be placed into 18 quantity of workpiece in the supply disk of feeding machanism 3, machine
People 4 returns to initial position, terminates sensor identification method.
The RFID chip identification method, comprises the following steps,
（B1）Three kinds of different types of workpiece 18 are placed into the supply disk of feeding machanism 3；
（B2）, detect inlet on feeding machanism 3 and whether there is workpiece 18, if without workpiece 18, start feeding machanism 3；If for
There are workpiece 18 then to perform for material mouth（B3）；
（B3）, detect the inlet of feeding machanism 3 there are workpiece 18 in place, robot 4, which hovers the workpiece 18 to radio frequency, to be read
Write directly over device 9, read the information of RFID chip, judge the type of workpiece 18, then the workpiece 18 is placed to robot 4
Onto the locating piece 19 of 21 front end of belt mechanism；
（B4）, after fibre optical sensor 37 detects workpiece 18 in place, decelerating motor 29 starts to start, the rotating speed of decelerating motor 29
Being controlled by frequency converter 6, decelerating motor 29 drives belt mechanism 21 to move, meanwhile, velometer 23 detects belt mechanism in real time
The linear velocity of 21 belt movement；
（B5）, according to the information for reading RFID chip, judge 18 corresponding material of workpiece；
（B6）If workpiece 18 is metal material workpiece, belt mechanism 21 continues to move, while the first rotary cylinder 24 acts,
Shift fork on first rotary cylinder 24 can turn 30 °, after workpiece 18 encounters the shift fork on the first rotary cylinder 24 to belt direction, and
Belt is skidded off under the action of it, and slides into the bottom of the 3rd stock chest 33, at this time, 34 counting of blanking detection sensor is once；
If workpiece 18 is white non-metallic material workpiece, belt mechanism 21 continues to move, and the second rotary cylinder 25 acts, the second rotation
Shift fork on cylinder 25 can turn 30 °, after workpiece 18 encounters the shift fork on the second rotary cylinder 25, and its effect to belt direction
Under skid off belt, and slide into the bottom of the second stock chest 32, at this time, blanking detection sensor 34 may proceed to count once；If work
Part 18 is black non-metallic material workpiece, and belt mechanism 21 continues to move, until workpiece encounters 21 rearward end of belt mechanism
Striker plate 26, workpiece 18 can striker plate 26, belt mechanism 21 force action under skid off belt mechanism 21, and slide into
The bottom of first stock chest 31, at this time, blanking detection sensor 34 may proceed to count once；
（B7）, repeat（B3）-（B6）, it can't detect until in the inlet of feeding machanism 3 there are the presence of workpiece 18, at this time,
The stored counts of blanking detection sensor 34 with（B2）It is identical to be placed into 18 quantity of workpiece in the supply disk of feeding machanism 3, machine
People 4 returns to initial position, terminates RFID chip identification method.
The automatic sorting real training dress method of the present invention, it can be 15 to be placed into 18 quantity of workpiece in the supply disk of feeding machanism 3
A, during 15 repetitive operation, student can well grasp the whole process of automatic sorting real training.
In conclusion the automatic sorting actual training device and method of the present invention, in order to solve charging tray motor rotation blockage, damage motor
The problem of, supply disk driving lever in feeding machanism is rotated and is changed to the rotation of charging tray chassis；In order to meet school, student to robot
Demand, is changed to industrial robot by original cylinder handgrip and coordinates sucker work；, will be straight in order to reduce conveyer belt to rate request
Push cylinder, is changed to rotary cylinder；A large amount of clients are to RFID at present（Radio Frequency Identification Technology）It is in great demand, so this increase RFID knows
Not；In order to be matched with industrial environment, meet the needs of professional colleges butted line reality teaches pattern, agent structure is optimized, will
All components are all placed on the desktop of Practical training table, very clear, and have the advantages that following have：
（1）Supply disk is being debugged with operational process, there is a situation where motor rotation blockage, will not effectively protect the safety of equipment；
（2）Using real industrial robot, it is bonded closely with industrial reality, by sucker suction workpiece, works well；
（3）System configuration RFID（Radio-frequency recognition system）, embody the concept of Internet of Things；
（4）All components are all placed on the desktop of Practical training table, very clear, and matching terminal is arranged, and is matched with industrial environment, full
The demand of sufficient professional colleges butted line reality teaches pattern；
（5）The position of all components on the table is adjustable, position can right and left mutually changing, the change for increasing reality teaches pattern is transsexual.
Basic principle, the main features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the original of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (9)
- A kind of 1. automatic sorting actual training device, it is characterised in that：Including Working gantry（1）, the Working gantry（1）Upper surface It is provided with the wire casing of frame shape（8）, the Working gantry（1）Upper surface is also equipped with DC power supply component（13）, PLC control Device（12）, relay（11）, terminal block（10）, touch screen control panel（7）, the DC power supply component（13）Controlled for PLC Device（12）, relay（11）Working power is provided, and also and terminal block（10）It is connected, the terminal block（10）Lead-out wire enter Wire casing（8）, and with teaching device assembly（2）, feeding machanism（3）, robot（4）, transmission mechanism for sorting（5）, frequency converter（6）, touch Touch screen control panel（7）, frequency read/write（9）Feeder ear, signal end connect respectively,The teaching device assembly（2）, feeding machanism（3）, robot（4）, transmission mechanism for sorting（5）, frequency converter（6）, touch-screen Control panel（7）, frequency read/write（9）It is installed in Working gantry（1）Upper surface,The robot（4）For by feeding machanism（3）On workpiece（18）It is transferred to transmission mechanism for sorting（5）, the workpiece （18）There are polytype, and RFID chip is internally embedded, the transmission mechanism for sorting（5）By different types of workpiece （18）, it is put into the stock chest specified.
- A kind of 2. automatic sorting actual training device according to claim 1, it is characterised in that：The robot（4）It is installed on Working gantry（1）On, vacuum generator（14）, solenoid valve（15）, filter（16）, air-source treater（17）And sucker（39）Group Into vacuum loop, the vacuum generator（14）, solenoid valve（15）, filter（16）, air-source treater（17）It is arranged at work Make rack（1）On, the filter（16）Clean air source, the solenoid valve are provided（15）Successively with vacuum generator（14）, peace Mounted in robot（4）Driving arm robot（38）On sucker（39）It is connected, and absorption workpiece is provided（18）Power source.
- A kind of 3. automatic sorting actual training device according to claim 2, it is characterised in that：The Working gantry（1）Bottom Corner is mounted on universal wheel（40）, the universal wheel（40）Side be mounted on adjustable support leg（41）.
- A kind of 4. automatic sorting actual training device according to claim 1, it is characterised in that：The workpiece（18）It is provided with three Type, including metal works, white non-metal workpiece, black non-metal workpiece.
- A kind of 5. automatic sorting actual training device according to claim 4, it is characterised in that：The transmission mechanism for sorting（5）, Including locating piece（19）, driven axle（20）, belt mechanism（21）, column（22）, velometer（23）, the first rotary cylinder （24）, the second rotary cylinder（25）, striker plate（26）, driving shaft（27）, shaft coupling（28）, decelerating motor（29）, reflector （30）, the first stock chest（31）, the second stock chest（32）, the 3rd stock chest（33）, blanking detection sensor（34）, color detection Sensor（35）, metal detection sensor（36）And fibre optical sensor（37）,The column（22）For two, Working gantry is symmetrically mounted in left and right（1）Upper surface, the belt mechanism（21） It is arranged between two columns, the driving shaft（27）Positioned at transmission belt（21）Rearward end, and pass through shaft coupling（28）With subtracting Speed motor（29）It is connected, the driven axle（20）It is arranged on transmission belt（21）Front end, the driving shaft（27）Driving passes Dynamic band mechanism（21）Transmission,The locating piece（19）Installed in belt mechanism（21）The upper surface of front end, the velometer（23）, first rotation Cylinder（24）, the second rotary cylinder（25）It is separately mounted to belt mechanism（21）A side, and the first rotary cylinder（24）、 Second rotary cylinder（25）Direction of rotation is consistent, the striker plate（26）Installed in belt mechanism（21）The upper table of rearward end Face, the reflector（30）, the first stock chest（31）, the second stock chest（32）, the 3rd stock chest（33）, blanking detection sensor （34）, color detecting sensor（35）, metal detection sensor（36）And fibre optical sensor（37）It is sequentially arranged at transmission belt machine Structure（21）Another side, and the first stock chest（31）, the second stock chest（32）, the 3rd stock chest（33）Spacing distance is adjustable.
- A kind of 6. automatic sorting actual training device according to claim 5, it is characterised in that：The frequency read/write（9）If Put in transmission mechanism for sorting（5）Another side, positioned at Working gantry（1）Centre position.
- 7. a kind of automatic sorting real training fills method, it is characterised in that：IncludingSensor identification method：Transmit mechanism for sorting（5）Pass through color detecting sensor（35）And metal detection sensor（36） To distinguish workpiece（18）, and by different types of workpiece（18）It is put into the stock chest specified；RFID chip identification method, transmits mechanism for sorting（5）By installed in workpiece（18）Interior RFID chip distinguishes workpiece （18）, and by different types of workpiece（18）It is put into the stock chest specified.
- A kind of 8. automatic sorting real training dress method according to claim 7, it is characterised in that：Sensor identification method, bag Include following steps,（A1）, by three kinds of different types of workpiece（18）It is placed into feeding machanism（3）Supply disk in；（A2）, detect feeding machanism（3）Upper inlet whether there is workpiece（18）If without workpiece（18）, then feeding machanism is started （3）；If there are workpiece for inlet（18）Then perform（A3）；（A3）, detect feeding machanism（3）Inlet there are workpiece（18）In place, robot（4）By the workpiece（18）Place To belt mechanism（21）The locating piece of front end（19）On；（A4）, fibre optical sensor（37）Detect workpiece（18）After in place, decelerating motor（29）Start to start, decelerating motor（29） Rotating speed by frequency converter（6）Control, decelerating motor（29）Drive belt mechanism（21）Movement, meanwhile, velometer（23）In real time Detect belt mechanism（21）Belt movement linear velocity；（A5）, work as workpiece（18）By metal detection sensor（36）And color detecting sensor（35）Afterwards, according to metal detection Sensor（36）And color detecting sensor（35）Feedback signal judge workpiece（18）Corresponding material；（A6）If workpiece（18）For metal material workpiece, belt mechanism（21）Continue to move, while the first rotary cylinder（24） Action, the first rotary cylinder（24）On shift fork can to belt direction turn 30 °, workpiece（18）Encounter the first rotary cylinder（24）On Shift fork after, and belt is skidded off under the action of it, and slide into the 3rd stock chest（33）Bottom, at this time, blanking detection sensor （34）Counting is once；If workpiece（18）For white non-metallic material workpiece, belt mechanism（21）Continue to move, the second rotation Cylinder（25）Action, the second rotary cylinder（25）On shift fork can to belt direction turn 30 °, workpiece（18）Encounter the second rotary pneumatic Cylinder（25）On shift fork after, and belt is skidded off under the action of it, and slide into the second stock chest（32）Bottom, at this time, blanking inspection Survey sensor（34）It may proceed to count once；If workpiece（18）For black non-metallic material workpiece, belt mechanism（21）Continue Movement, until workpiece encounters belt mechanism（21）The striker plate of rearward end（26）, workpiece（18）Can be in striker plate（26）, transmission Band mechanism（21）Force action under skid off belt mechanism（21）, and slide into the first stock chest（31）Bottom, at this time, blanking Detection sensor（34）It may proceed to count once；（A7）, repeat（A3）-（A6）, until in feeding machanism（3）Inlet can't detect that there are workpiece（18）Presence, this When, blanking detection sensor（34）Stored counts with（A2）It is placed into feeding machanism（3）Supply disk in workpiece（18）Quantity It is identical, robot（4）Initial position is returned to, terminates sensor identification method.
- A kind of 9. automatic sorting real training dress method according to claim 7, it is characterised in that：RFID chip identification method, Comprise the following steps,（B1）By three kinds of different types of workpiece（18）It is placed into feeding machanism（3）Supply disk in；（B2）, detect feeding machanism（3）Upper inlet whether there is workpiece（18）If without workpiece（18）, then feeding machanism is started （3）；If there are workpiece for inlet（18）Then perform（B3）；（B3）, detect feeding machanism（3）Inlet there are workpiece（18）In place, robot（4）By the workpiece（18）Hovering To frequency read/write（9）Surface, reads the information of RFID chip, judges workpiece（18）Type, then by robot（4）Will The workpiece（18）It is placed into belt mechanism（21）The locating piece of front end（19）On；（B4）, fibre optical sensor（37）Detect workpiece（18）After in place, decelerating motor（29）Start to start, decelerating motor （29）Rotating speed by frequency converter（6）Control, decelerating motor（29）Drive belt mechanism（21）Movement, meanwhile, velometer（23） Detection belt mechanism in real time（21）Belt movement linear velocity；（B5）, according to the information for reading RFID chip, judge workpiece（18）Corresponding material；（B6）If workpiece（18）For metal material workpiece, belt mechanism（21）Continue to move, while the first rotary cylinder（24） Action, the first rotary cylinder（24）On shift fork can to belt direction turn 30 °, workpiece（18）Encounter the first rotary cylinder（24）On Shift fork after, and belt is skidded off under the action of it, and slide into the 3rd stock chest（33）Bottom, at this time, blanking detection sensor （34）Counting is once；If workpiece（18）For white non-metallic material workpiece, belt mechanism（21）Continue to move, the second rotation Cylinder（25）Action, the second rotary cylinder（25）On shift fork can to belt direction turn 30 °, workpiece（18）Encounter the second rotary pneumatic Cylinder（25）On shift fork after, and belt is skidded off under the action of it, and slide into the second stock chest（32）Bottom, at this time, blanking inspection Survey sensor（34）It may proceed to count once；If workpiece（18）For black non-metallic material workpiece, belt mechanism（21）Continue Movement, until workpiece encounters belt mechanism（21）The striker plate of rearward end（26）, workpiece（18）Can be in striker plate（26）, transmission Band mechanism（21）Force action under skid off belt mechanism（21）, and slide into the first stock chest（31）Bottom, at this time, blanking Detection sensor（34）It may proceed to count once；（B7）, repeat（B3）-（B6）, until in feeding machanism（3）Inlet can't detect that there are workpiece（18）Presence, this When, blanking detection sensor（34）Stored counts with（B2）It is placed into feeding machanism（3）Supply disk in workpiece（18）Quantity It is identical, robot（4）Initial position is returned to, terminates RFID chip identification method.
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| CN109410686A (en) * | 2018-12-25 | 2019-03-01 | 苏州富纳艾尔科技有限公司 | A kind of teaching platform for PLC real training |
| CN109461338A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | Real training mechanism and PLC Practical Training Teaching-Platform for PLC teaching |
| CN109461339A (en) * | 2018-12-25 | 2019-03-12 | 苏州富纳艾尔科技有限公司 | A kind of electrical real training control mechanism and electrical teaching training platform |
| CN109658806A (en) * | 2018-12-29 | 2019-04-19 | 芜湖希又智能科技有限公司 | A kind of actual training device of the sensor of combination RFID technique |
| CN109754038A (en) * | 2019-03-08 | 2019-05-14 | 延锋伟世通汽车电子有限公司 | FAZIT automatically confirms that device |
| CN110161196A (en) * | 2019-06-25 | 2019-08-23 | 广州市婵昕生物科技有限责任公司 | A kind of metal detector easy to carry with absorption function |
| CN111882972A (en) * | 2020-07-20 | 2020-11-03 | 深圳职业技术学院 | Intelligent flexible electromechanical integrated general teaching platform |
| CN112845121A (en) * | 2021-01-25 | 2021-05-28 | 三峡大学 | Automatic sorting system and sorting control method for waste materials in blanking workshop |
| CN112871706A (en) * | 2021-01-13 | 2021-06-01 | 黄二丽 | Subpackaging system for electronic components and use method thereof |
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| CN112845121A (en) * | 2021-01-25 | 2021-05-28 | 三峡大学 | Automatic sorting system and sorting control method for waste materials in blanking workshop |
| CN114783228A (en) * | 2022-04-19 | 2022-07-22 | 杭州龙砺智能科技有限公司 | Duplex robot collaborative teaching practical training platform and teaching practical training method |
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