CN213025062U - Basic experiment platform of cooperative robot - Google Patents
Basic experiment platform of cooperative robot Download PDFInfo
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- CN213025062U CN213025062U CN202021732861.6U CN202021732861U CN213025062U CN 213025062 U CN213025062 U CN 213025062U CN 202021732861 U CN202021732861 U CN 202021732861U CN 213025062 U CN213025062 U CN 213025062U
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Abstract
The utility model provides a basic experiment platform of cooperation robot, it includes application development module, basic programming module, material storehouse instrument module, unloading processing module on the CNC, the module of polishing of self-adaptation, man-machine cooperation assembly module and mobile robot module. The basic experiment platform of the cooperative robot can meet teaching requirements of integration, operation, application, maintenance and the like of the cooperative robot, provides a teaching experiment platform suitable for colleges and universities or education and training institutions and the like, enables students to master related technologies of the cooperative robot and peripheral systems through basic experiments, and improves operation and application development capacity.
Description
Technical Field
The invention relates to the field of teaching experiments of cooperative robots, in particular to a basic experiment platform of a cooperative robot.
Background
The development of robots is currently in a high-speed development phase towards the transition to intellectualization, i.e. the transition from "machines" to "people". Throughout the development law of robots, the first generation of robots: and (4) drying and activating according to the programmed program. These robots are not strictly robot-related in that they can only repeat one motion, doing in a fixed pattern. Second generation robots: under the control of a computer, different works can be completed according to different programs according to needs, so that the robot can be used for making a large fist on the works which can not be completed by many people, and the problems in industrial production and life are solved. A third-generation robot: also called intelligent robots, which have human five sense organs and brains, can recognize the surrounding environment and the state of the robots, can analyze and judge, and then take corresponding actions. The cooperative robot is a new robot form gradually formed in the process of the second generation to the third generation, and has gradually become a main application object in the industrial subdivision field. The cooperative robot is a robot which can safely and directly interact or contact with human beings, and due to the inherent safety of the cooperative robot, such as the application of force feedback and collision detection, the attribute of 'human' in the functional connotation of the robot is expanded, and the cooperative robot has certain autonomous behavior and cooperative capability, so to speak, the cooperative robot is the most tacitly agreed partner of human beings and can be matched with the human beings to safely complete designated operation.
The cooperative robot has the characteristics of easiness in use, flexibility and safety. Among them, usability is a necessary condition for rapid development in recent years, flexibility is a necessary premise for wide application by human beings, and safety is a basic guarantee for safe work. The three main characteristics determine the important position of the robot in the field of industrial robots, and the application scene of the robot is wider than that of the traditional industrial robot.
The cooperative robot is used as an emerging market in the robot industry, the first challenge is the shortage of talents, which is reflected in the whole life cycle of products, the shortage of professionals causes slow development of team construction, the update iteration speed of products is influenced, and further the development of companies and industries is influenced. In the face of the challenge, new opportunities are necessarily accompanied, and in order to meet the urgent needs of talents such as integration, operation, application and maintenance of the cooperative robot, the educational construction of the cooperative robot needs to be accelerated, which is the opportunity brought to us by the cooperative robot.
Along with the rapid development of the cooperative robot in the field of industrial robot subdivision, the requirements for relevant talents are increasingly expanded, and the teaching of colleges and universities on the cooperative robot is not started or stopped on books at present, so that the manual operation and application development capacity of students is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to solve the problem of the prior collaborative robot talent education, and provides a basic experiment platform of the collaborative robot, so that students can master the relevant technologies of the collaborative robot and peripheral systems through basic experiments, and the operation and application development capabilities are improved.
The application provides a basic experiment platform of cooperation robot, it includes application development module, basic programming module, material storehouse instrument module, unloading processing module on the CNC, the module of polishing of self-adaptation, man-machine cooperation assembly module and mobile robot module.
Furthermore, the application development module is provided with a development host and a matched development unit for robot application development, the working table is provided with a liquid crystal display unit through a rotary bracket, and the liquid crystal display unit can be rotated and folded during man-machine cooperation operation; the application development module is also provided with a tablet computer unit for controlling the operation of the system to be superior, and a magnetic suction support is arranged.
Further, the basic programming module is provided with a 3D curved surface track programming operation unit capable of realizing basic programming training, the unit comprises a movable 3D track board and a POM board, and task expanding training can be carried out on the POM board after the 3D track board is moved away; the basic programming module is also provided with a common material placing and transferring box unit.
Further, the material storehouse instrument module is equipped with quick change instrument unit, is equipped with multiple machinery quick change instrument, can accomplish snatching and the equipment work of material, material storehouse instrument module still is equipped with duplex position revolving stage pay-off equipment unit, adopts revolving cylinder, and double-rotation station is after placing the material with people one side, and revolving cylinder is rotatory 180 to robot equipment station, carries out the equipment of both ends bearing by the robot.
Further, the CNC feeding and discharging processing module is provided with a CNC numerical control system and an operation panel unit, and the CNC numerical control system comprises a numerical control turning numerical control system; the CNC feeding and discharging machining module is further provided with a simulation machine tool unit, a pneumatic automatic opening and closing machine tool door is adopted, and a chuck and a tailstock adopt pneumatic structures and can simulate workpiece clamping action and jacking action.
Furthermore, the self-adaptive polishing module is provided with a material library unit to be polished and a six-dimensional force control polishing tool, so that accurate measurement of force and moment on three spatial coordinate axes of XYZ and self-adaptive polishing of the workpiece to be processed can be realized; the self-adaptation module of polishing still is equipped with manual slip table unit, through X, Z axle hand operations, realizes the removal in X, Z axle direction, accomplishes the experimental task that a position control, robot self-adaptation polished of polishing.
Furthermore, the man-machine cooperation assembly module is provided with an assembly quick-change tool unit, a tool end is provided with a mechanical quick-change head which is matched with a robot end mechanical quick-change head, automatic switching without human interference among different tools can be realized, the man-machine cooperation assembly module is also provided with an overturning assembly unit, and assembly tasks of 2 different positions are realized through a rotary cylinder; the man-machine cooperation assembly module is further provided with a force control assembly unit, the platform is provided with an output shaft and a gear placing tool, and the robot force feedback automatic assembly task can be achieved.
Furthermore, the mobile robot module is formed by welding an integral steel structure, 4 adjustable universal wheels are arranged below the mobile robot module, manual pushing movement can be achieved, direct-current batteries are integrated in the mobile robot module and can be used for normal operation of all electric equipment of the module, and an air supply device is integrated in the mobile robot module and can be used for absorbing air for materials at the tail end of the robot; the table board of the mobile robot module is provided with a 6-degree-of-freedom cooperative robot unit, and the tail end of a sixth shaft of the mobile robot module is integrated with an industrial 2D color camera, so that the functions of grabbing, positioning and color recognition can be realized. The table top of the mobile robot module is also provided with a detachable tool or material installation unit.
Further, the module appearance frame adopts a carbon rectangular steel welding frame structure, and the surface is subjected to plastic spraying treatment; the two sides of the upper gull wing doors are provided with upper gull wing doors, each group of upper gull wing doors are supported by left and right double-nitrogen gas spring support rods, and a transparent protection window and a left and right double-guide-rail slide rail structure are adopted.
Furthermore, each module is independently arranged in an independent module appearance frame and is integrated and arranged according to the use function of each module and the teaching sequence.
The technology has the advantages that:
by adopting the modularized split design, each module can realize independent experiment contents and can be freely combined to realize comprehensive expansion of experiment tasks;
the appearance frames of the modules adopt a carbon rectangular steel welding frame structure, the surfaces of the modules are sprayed with plastic, the double-sided upper gull wing door can meet the requirement of man-machine cooperative operation without interference, and the transparent acrylic window meets the requirement of protection and is convenient for watching the internal structure of the platform body;
each group of upward-turning gull-wing doors are supported by left and right double nitrogen spring support rods, and the front side of each group of upward-turning gull-wing doors is provided with a straight stainless steel elongated handle, so that the doors can be opened and closed conveniently;
the bottom of the front side of the table body adopts a push-pull drawer type tray matching structure, a left-right double-guide-rail sliding rail structure is adopted, and the front side is provided with a group of light-emitting lamp boxes LOGO, so that the table is attractive and simple;
the modules adopt wireless communication: the remote I/O module consists of an adapter module, an I/O module, a power supply module and a terminal module; the adapter module can be matched with PROFINET, EtherCAT, CC-Link, DeviceNET and PROFIBUS-DP bus types; different types and numbers of I/O modules can be matched;
the hardware equipment is rich in types, and comprises trajectory programming, mechanical quick change, a material warehouse, a six-dimensional force sensor, an electric clamping jaw, a simulation CNC (computer numerical control), a sliding table module, a rotary assembly table, a development host, a tablet personal computer, a numerical control panel and the like; the combination forms are various: can realize free combination and expansion and complete diversified experimental tasks.
Drawings
FIG. 1 shows a general view of a collaborative robotic basic experiment platform according to the present application;
FIG. 2 shows a schematic structural diagram of an application development module according to the present application;
FIG. 3 shows a schematic of the structure of a basic programming module according to the present application;
FIG. 4 shows a schematic structural diagram of a library tool module according to the present application;
FIG. 5 illustrates a schematic structural view of a CNC loading and unloading machining module according to the present application;
FIG. 6 shows a schematic structural diagram of an adaptive sanding module according to the present application;
FIG. 7 illustrates a schematic structural diagram of a human-machine cooperation assembly module according to the present application;
fig. 8 shows a schematic structural diagram of a mobile robot module according to the present application;
FIG. 9 shows a schematic structural diagram of a modular appearance frame according to the present application;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The utility model provides a basic experiment platform of cooperation robot which characterized in that: the automatic material warehouse processing system comprises an application development module 1, a basic programming module 2, a material warehouse tool module 3, a CNC feeding and discharging processing module 4, a self-adaptive polishing module 5, a man-machine cooperation assembly module 6 and a mobile robot module 7.
The basic experiment platform of the cooperative robot comprises an application development module 1: the module is provided with a development host, the working table surface is provided with a liquid crystal display unit 8 through a rotary support, the display requirement is met, and the module can be rotated and folded when in man-machine cooperation operation without hindering the operation. The module is provided with a tablet computer unit 9 for operation of an upper control system, can realize functions of face recognition, voice control and the like, and is provided with a magnetic suction support for convenient use. The module is matched with a development unit 10, which comprises materials such as gobang, tangram and the like for robot application development;
the basic experiment platform of the cooperative robot according to the application, wherein the basic programming module 2: the module is provided with a 3D curved surface track programming operation unit 11, can realize basic programming training and programming training such as simulation stacking, gluing and welding, and can carry out task expanding training such as visual grabbing on a black POM plate arranged below the 3D track plate after the 3D track plate is moved away. The module is provided with a common material placing and transferring box unit 12, and meets the use requirement of temporary transferring.
The basic experiment platform of cooperation robot according to this application, wherein feed bin instrument module 3: the module is provided with a quick-change tool unit 13, and the tool is provided with a plurality of mechanical quick-change tools, so that the grabbing and assembling work of materials can be completed. The module is provided with a double-station rotating table feeding assembly unit 14, a rotating cylinder and double rotating stations are adopted, after a person places a material on one side, the rotating cylinder rotates 180 degrees to a robot assembly station, and the robot carries out bearing assembly on two ends. This module is equipped with material storehouse unit 15, adopts high low staggered floor stair structure, amounts to 2 layers, and the district is place for POM material bearing part to the bottom, and the district is placed for finished product subassembly to the top layer, and finished product subassembly adopts special frock support frame to fix the subassembly that the equipment finishes, and the POM district can visit the bearing part that needs the equipment wantonly, fixes a position through the terminal vision of robot and snatchs.
According to the basic experiment platform of cooperation robot of this application, wherein unloading processing module 4 on the CNC: the module is provided with a CNC numerical control system and an operation panel unit 16, the CNC numerical control system comprises a numerical control turning numerical control system, the operation panel is of a hoisting structure, and the angle of the hoisting frame is adjustable. The module is provided with a simulation machine tool unit 17, a machine tool body adopts a sheet metal structure, surface plastic spraying treatment is carried out, a machine tool working table surface is of an aluminum alloy structure, surface oxidation treatment is carried out, a machine tool door is pneumatically and automatically opened and closed, and a chuck and a tailstock adopt pneumatic structures and can simulate workpiece clamping action and jacking action.
The basic experiment platform of cooperation robot according to this application, wherein the module 5 is polished to self-adaptation: the module is provided with a material warehouse unit 18 to be polished, the material warehouse is made of aluminum alloy, surface oxidation treatment is carried out, and the module is designed in a modularized mode and convenient to move and place. The module is provided with a six-dimensional force control polishing tool 19, and can realize accurate measurement of force and moment on three spatial coordinate axes of XYZ and self-adaptive polishing of a workpiece to be processed. This module is equipped with manual slip table unit 20, and slip table main part material is the aluminum alloy, and surface oxidation handles, through X, Z axle hand operations, realizes the removal in X, Z axle side, accomplishes the experimental task that a position control, robot self-adaptation were polished.
The basic experiment platform of the cooperative robot comprises a man-machine cooperative assembly module 6: the module is provided with an assembly quick-change tool unit 21, a tool end is provided with a mechanical quick-change head and is matched with a robot end mechanical quick-change head, automatic switching without artificial interference among different tools can be realized, and the types of the tools include a pneumatic clamping jaw grabbing shell tool, a pneumatic clamping jaw grabbing assembly shaft tool and a screw locking electric screwdriver tool. The module is provided with a flip assembly unit 22 that accomplishes 2 different position assembly tasks by rotating the cylinder. This module is equipped with power accuse assembly unit 23, and the unit adopts the aluminum alloy material, and surface oxidation handles is supported by chromium plating optical axis, and the platform is equipped with output shaft and gear and places the frock, can realize the robot power feedback automatic assembly task. This module is equipped with artifical material loading storehouse tray unit 24, adopts black POM material, uses through 4 locating pieces cooperations, and the tray is equipped with the part and places frock and locating hole.
The basic experiment platform of cooperative robot according to this application, wherein mobile robot module 7: this module 7 adopts whole steel construction welding to form, and the below is equipped with 4 adjustable universal wheels, can realize the manual promotion and remove, and the module 7 internal integration direct current battery can supply the normal operating use of the whole consumer of module, and the module 7 internal integration air feeder can realize the terminal gas use of absorbing the material of robot. The table top of the module is provided with a 6-degree-of-freedom cooperative robot unit 25, and the tail end of a sixth shaft of the module is integrated with an industrial 2D color camera, so that the functions of grabbing, positioning and color recognition can be realized. The module table board is provided with a detachable tool or material mounting unit 26, is formed by splicing aluminum profiles, and is convenient and practical. The module is provided with a pushing handrail 27, the handrail adopts an aluminum alloy pipe structure and is embedded into the module box body, and the module is attractive and practical. The module is provided with a quick detachable access door 28 with a backlight logo, and the door plate adopts a fixed form of splicing the lower part and fastening the upper part, so that the purpose of tidy appearance is achieved. The module is provided with a robot demonstrator placing position 29, and the position is designed to be embedded into a concave design, so that the hanging of the demonstrator is met, and the integral structure of the appearance is not influenced.
According to the basic experiment platform of cooperation robot of this application, its module outward appearance frame: welding a frame structure by using carbon rectangular steel, and carrying out surface plastic spraying treatment; the double-sided upper gull-wing doors 30 are designed to meet the requirement of man-machine cooperative operation without interference, each group of upper gull-wing doors are supported by left and right double nitrogen spring support rods, and the front surfaces of the upper gull-wing doors are provided with linear stainless steel long handles, so that the doors can be opened and closed conveniently; the transparent acrylic window 31 meets the protection requirement and is convenient for watching the internal structure of the table body; the table top adopts an aluminum profile splicing structure 32, and the clamping grooves of the table top can realize quick fixation and disassembly of the table top object; the bottom of the front surface of the table body adopts a push-pull drawer type tray matching structure 33 and a left-right double-guide-rail sliding rail structure; the front side is provided with a group of luminous lamp boxes LOGO34, so that the LED lamp box is attractive and simple.
The basic experiment platform of cooperation robot of this application can satisfy teaching demands such as cooperation robot integration, operation, use, maintenance, a teaching experiment platform suitable for use such as colleges and universities or education training institution is provided, along with the high-speed development of cooperation robot in industrial robot segmentation field, demand to relevant talents enlarges increasingly, make colleges and universities not only stop on books to the teaching of cooperation robot, can provide direct operably teaching mode, improve student's manual operation and application development ability.
Claims (10)
1. The utility model provides a basic experiment platform of cooperation robot which characterized in that: the system comprises an application development module, a basic programming module, a material library tool module, a CNC feeding and discharging machining module, a self-adaptive polishing module, a man-machine cooperation assembly module and a mobile robot module, wherein each module is independently arranged in an independent module appearance frame and is integrated and arranged according to the use function of each module according to a teaching sequence.
2. The basic experiment platform of the cooperative robot as claimed in claim 1, wherein the application development module is provided with a development host and a matched development unit for robot application development, the working table is provided with a liquid crystal display unit through a rotary bracket, and the liquid crystal display unit can be rotated and folded during man-machine cooperative operation; the application development module is also provided with a tablet computer unit for controlling the operation of the system to be superior, and a magnetic suction support is arranged.
3. The basic experiment platform of a cooperative robot as claimed in claim 2, wherein the basic programming module is provided with a 3D curved surface track programming operation unit capable of realizing basic programming training, and the 3D curved surface track programming operation unit comprises a movable 3D track board and a POM board, and task development training can be carried out on the POM board after the 3D track board is removed; the basic programming module is also provided with a common material placing and transferring box unit.
4. The cooperative robot foundation experiment platform of claim 3, wherein the magazine tool module is provided with a quick-change tool unit and a plurality of mechanical quick-change tools to complete material grabbing and assembling, and is further provided with a double-station rotary table feeding and assembling unit, and after a person places a material on one side, the rotary cylinder rotates 180 degrees to the robot assembling station to perform bearing assembling on two ends of the robot by adopting a rotary cylinder and double rotary stations.
5. The basic experiment platform of a cooperative robot as claimed in claim 4, wherein the CNC feeding and discharging processing module is provided with a CNC numerical control system and an operation panel unit, the CNC numerical control system comprises a CNC turning numerical control system; the CNC feeding and discharging machining module is further provided with a simulation machine tool unit, a pneumatic automatic opening and closing machine tool door is adopted, and a chuck and a tailstock adopt pneumatic structures and can simulate workpiece clamping action and jacking action.
6. The basic experiment platform of a cooperative robot as claimed in claim 5, wherein the adaptive polishing module is provided with a material library unit of the workpiece to be polished and a six-dimensional force-controlled polishing tool, so that accurate measurement of force and moment on three spatial coordinate axes of XYZ and adaptive polishing of the workpiece to be processed can be realized; the self-adaptation module of polishing still is equipped with manual slip table unit, through X, Z axle hand operations, realizes the removal in X, Z axle direction, accomplishes the experimental task that a position control, robot self-adaptation polished of polishing.
7. The basic experiment platform of the cooperative robot as claimed in claim 6, wherein the human-machine cooperative assembly module is provided with a quick-change tool assembly unit, a mechanical quick-change head arranged at a tool end is matched with the mechanical quick-change head arranged at a robot end, so that automatic switching without human interference among different tools can be realized, and the human-machine cooperative assembly module is further provided with an overturning assembly unit, so that assembly tasks at 2 different positions can be realized through a rotary cylinder; the man-machine cooperation assembly module is further provided with a force control assembly unit, the platform is provided with an output shaft and a gear placing tool, and the robot force feedback automatic assembly task can be achieved.
8. The cooperative robot foundation experiment platform of claim 7, wherein the mobile robot module is welded by adopting a whole steel structure, 4 adjustable universal wheels are arranged below the mobile robot module, manual pushing movement can be achieved, a direct current battery is integrated in the mobile robot module and can be used for normal operation of all electric equipment of the module, and an air supply device is integrated in the mobile robot module and can be used for air utilization of materials sucked by the tail end of the robot.
9. The basic experiment platform of the cooperative robot as claimed in claim 1, wherein the table top of the mobile robot module is provided with a 6-degree-of-freedom cooperative robot unit, and the sixth axis end of the mobile robot module is integrated with an industrial 2D color camera, so that the functions of grabbing, positioning and color recognition can be realized; the table top of the mobile robot module is also provided with a detachable tool or material installation unit.
10. The basic experiment platform of a cooperative robot as claimed in claim 9, wherein the module appearance frame is a carbon rectangular steel welded frame structure, and the surface of the module appearance frame is subjected to plastic spraying treatment; the two sides of the upper gull wing doors are provided with upper gull wing doors, each group of upper gull wing doors are supported by left and right double-nitrogen gas spring support rods, and a transparent protection window and a left and right double-guide-rail slide rail structure are adopted.
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| CN202021732861.6U CN213025062U (en) | 2020-08-19 | 2020-08-19 | Basic experiment platform of cooperative robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977145A (en) * | 2021-11-17 | 2022-01-28 | 刘传宝 | Industrial welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977145A (en) * | 2021-11-17 | 2022-01-28 | 刘传宝 | Industrial welding robot |
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