The content of the invention
Task of the invention is that, in order to overcome conventional teaching unitary function, part replacement difficult, do not possess repeatedly transformationA kind of problem of function, there is provided automated production operation teaching system.To achieve the above object, this patent uses following technical sideCase：
A kind of automated production operation teaching system, including pipeline, are arranged on processing real training station, assembling by pipelineOne or more in real training station, welding real training station, labeling real training station, detection real training station, sorting real training station, combined type workpiece withAnd control module, the control module electrically connects with above-mentioned real training station, and the combined type workpiece includes jig plate and is carried onOverlap joint workpiece on the jig plate, the jig plate is arranged on the pipeline, and the overlap joint workpiece includes different shapesShape, each overlap joint workpiece is provided with the convex coupling part and recessed coupling part of mutual compatible design, two or more to takeConnect workpiece by the convex coupling part be coupled to each other with recessed coupling part together with to constitute different assemblys, the toolPlate surface is provided with the detent of compatible single lapwork's part or multiple overlap joint workpiece combinations, and multiple is provided with the detentConvex coupling part, together with the recessed coupling part of the overlap joint workpiece is coupled to each other with the convex coupling part in detent.
Preferably, the pipeline includes the first pipeline and the second pipeline that are parallel to each other, first pipelineWith second pipeline with horizontal the 3rd pipeline connection, the 3rd pipeline two ends are equipped with for being connected described firstThe manipulator of pipeline, second pipeline and the 3rd pipeline, first pipeline, second pipeline and3rd pipeline constitutes the input and output ring of teaching system.
Preferably, the processing real training station includes processing main stand and the processing being arranged on the processing main standRobot, process raw material charging tray and the pneumatic stamping machines for carrying out multiple overlap joint workpiece combinations that workpiece is overlapped for placement,The machining robot is located at described processing raw material between charging tray, the pneumatic stamping machine and first pipeline.
Preferably, the processing real training station also includes NG disks, and the machining robot end is provided with described for detectingThe first sensor of the color of workpiece is overlapped, the NG disks are placed in the scope of activities of the machining robot.
Preferably, the assembling real training station includes assembling main stand and is arranged on the assembling main stand to assembleRobot, two vibrating disks for conveying overlap joint workpiece, are provided between two vibrating disks for overlapping workpiece assemblingCombined platform, the people that puts together machines is located between the vibrating disk, the combined platform and first pipeline.
Preferably, the welding real training station includes welding main stand, the welding charging tray for placing metal welding piece, usesIn the servo slide table for conveying the combined type workpiece and be placed on the welding main stand for welding the metalThe welding robot of welding piece, the servo slide table is arranged on the 3rd pipeline, and the welding charging tray is located at the machineBy tool hand, the welding main stand is located at the side of the 3rd pipeline.
Preferably, the welding fixture that the combined type workpiece is positioned and clamped is installed on the servo slide table.
Preferably, the sorting real training station includes being arranged on sorting main stand by second pipeline, is arranged onOn the sorting main stand charging tray is sorted for placement overlap joint workpiece and for sorting and the sorting machine people of stacking, instituteState sorting charging tray and second pipeline in the scope of activities of the sorting machine people.
Preferably, the sorting charging tray is included for placing the sorting finished product charging tray of qualified products and unqualified for placingThe reprocessed products charging tray of product, the sorting machine people is provided with the quality inspection sensor for detecting overlap joint workpiece quality inspection.
Preferably, the labeling real training station and the detection real training erect-position are in the side of second pipeline and describedLabeling real training station includes the labelling machine for being labelled to bar code on the combined type workpiece, and the detection real training station is included for examiningSurvey the detection module and the barcode scanning module for scanning the bar code on combined type workpiece of combined type workpiece CF.
Task of the invention is to overcome conventional teaching to the instructional function in terms of automated software system development, debuggingProblem, there is provided a kind of automated production operation teaching system.To achieve the above object, this patent is adopted the following technical scheme that：
A kind of teaching method of automated production operation teaching method system, including：
1) the real training station for selecting to need to use is needed according to teaching plan；
2) technological process of used real training station specific works task is worked out；
3) tool fixture and completion group according to needed for specific task choosing suitably overlaps workpiece and correspondence real training stationDress；
4) corresponding control program is write；
5) according to specific works task creation work coordinate system and adjust savepoint position data
6) industrial robot in single real training station and the debugging of automechanism operation program
7) joint between different real training stations is debugged with operation program is made.
The automated production operation teaching method and system provided using the present invention, have used a kind of combined building block as lifeProduct pattern teaching carrier, with good compatibility and interesting, the understanding category of college student of fitting；Produced according to intellectualityPattern, with modular by structural module and universal component, the space of independent development is provided to user, canThe equipment provided with the present invention carries out independent assortment, the processing of independent development industrial robot, industrial robot assembling, industrial machineThe teaching contents of device people welding, industrial robot sorting stacking, automatic marking and machine recognition various combination；Focus on electromechanical oneBody concept, each real training station or module can be independently operated, the training platform debugged as software development；Note intelligenceChange, tracking of information and treatment are carried out to whole production process, be one and integrate interesting, novelty and independent developmentTeaching platform.
Specific embodiment
The invention will be further described with implementation method below in conjunction with the accompanying drawings, but protection scope of the present invention not officeIt is limited to the scope of implementation method statement.
With reference to Fig. 1 and Fig. 2, a kind of automated production operation teaching system, including pipeline are arranged on adding by pipelineWork real training station 100, assembling real training station 200, welding real training station 300, labeling real training station 500, detection real training station 600, sorting real trainingOne or more stood in 400, combined type workpiece 700 and control module.
The combined type workpiece 700 includes jig plate 701 and is carried on the jig plate 701, the jig plate701 are arranged on the pipeline, and the overlap joint workpiece 702 includes different shapes, and each overlap joint workpiece 702 is provided with mutuallyThe convex coupling part 703 and recessed coupling part of compatible design, two or more overlap joint workpiece 702 are by the convex connectionPart 703 be coupled to each other with recessed coupling part together with to constitute different assemblys, the surface of the jig plate 701 is provided with compatibilitySingle overlap joint workpiece 702 or the detent of multiple overlap joint workpiece 702 combinations, are provided with multiple convex connection parts in the detentPoints 703, together with the recessed coupling part of the overlap joint workpiece 702 is coupled to each other with the convex coupling part 703 in detent.CanIt is coupled to each other together freely by described convex and recessed coupling part with by single overlap joint workpiece 702 or multiple overlap joint workpiece 702Assembly is combined into as teaching object, overlap joint workpiece 702 is carried using jig plate 701, overlap joint workpiece 702 passes through jig plate701 move in different operations, and are combined into different shape on jig plate 701.
The combined type workpiece 700 includes jig plate 701, overlap joint workpiece 702, and the jig plate 701 is provided with metal weldingContact pin 708.
The overlap joint workpiece 702 is provided with multiple, and the overlap joint workpiece 702 includes different shapes, each overlap joint workpieceThe 702 convex coupling parts 703 and recessed coupling part for being provided with mutual mutual tolerance design, overlap joint workpiece 702 can be by described convexTogether with socket part point 703 is coupled to each other with recessed coupling part, for building including two or more overlap joint workpiece 702,To constitute different assemblys, according to the Workpiece structure of teaching device requirement production, using the multiple overlap joint independent assortment of workpiece 702Into different structures, the structure required for being formed, and overlap joint workpiece 702 need by different training platforms in teaching deviceOperation carry out building composition.
The jig plate 701 is used to carry overlap joint workpiece 702, and the surface of jig plate 701 is provided with compatible single lapwork's part 702Or the detent of multiple overlap joint workpiece 702 combinations, multiple convex coupling parts 703, the overlap joint are provided with the detentTogether with the recessed coupling part of workpiece 702 is coupled to each other with the convex coupling part 703 in detent so that overlap joint workpiece 702Can be carried out on jig plate 701 multi-layer constructed.
Used as preferred embodiment, the overlap joint workpiece 702 is divided into the first overlap joint workpiece 7020, second according to shape differenceThe overlap joint overlap joint workpiece 7022 of workpiece 7021 and the 3rd, the first overlap joint workpiece 7020 is shaped as rectangular-shape, described secondBeing shaped as overlap joint workpiece 7021 is cube-shaped, and the 3rd overlap joint workpiece 7022 is shaped as one jiao and is provided with arc-shaped chamferingIt is cube-shaped.Not limited to this, the shape of the overlap joint workpiece 702 also includes other different shapes, exists for meeting teaching deviceCarry out being combined into the overlap joint workpiece 702 of needs on each practical traning platform.The overlap joint workpiece 702 being combined into using the formula of building, can basisTeaching needs carry out freely adjusting workpiece shapes, and workpiece possesses multiple transformation function, realizes the sustainable usability of equipment.
Used as preferred embodiment, the convex coupling part 703 and the recessed coupling part are in the overlap joint phase of workpiece 702To setting, the convex coupling part 703 on the overlap joint workpiece 702 protrudes out surface thereon, and the recessed coupling part is located at overlap jointThe lower section of workpiece 702, not limited to this, convex coupling part 703 and recessed coupling part also can left and right and other setting into relative statusPut, convenient combination overlap joint workpiece 702.
Used as preferred embodiment, the detent includes the first detent 705 and the second detent 706, instituteState center section of second detent 706 located at the bottom surface of the first detent 705, and from first detent 705Depression is formed downwards, and the bottom surface of first detent 705 and the bottom surface of the second detent 706 are equipped with multiple convex couplePart 707, the first detent 705 and the second detent 706 can in a different direction accommodate single overlap joint workpiece 702Or multiple overlaps workpiece 702, this structure setting can be caused in the first detent 705 and in the second detent 706Different shapes are overlapped to form, structure diversification is formed.
Used as preferred embodiment, the protruding length of the convex coupling part 707 of the detent is shorter than the lapworkThe length of the convex coupling part 703 of part 702, this structure setting cause when overlap joint workpiece 702 combine after the completion of, can easily fromExtracted on jig plate 701, not resulting in the overlap joint during overlap joint workpiece 702 of choosing, workpiece 702 is some or all of is controlledTool plate 701 is fixed, it is impossible to extracted.
As preferred embodiment, also including for teaching welding sequence and two metal welding pieces 708 setting up and down,The metal welding piece 708 is provided with two location holes, and the correspondence of the jig plate 701 location hole is extended with the positioning metalThe straight pin 709 of welding piece 708, the metal welding piece 708 is setting up and down to be welded when facilitating teaching welding sequence, and is setPut location hole to position metal welding piece 708 with straight pin 709, prevent metal welding piece 708 in teaching welding sequenceAppearance is rocked.
Used as preferred embodiment, the overlap joint workpiece 702 of each shape includes several different color, usesColor reaction device and shape sensor are provided with the structure for being combined into different colours and shape, in teaching device, in advance will be eachThe color and shape of individual overlap joint workpiece 702 are stored, when teaching is carried out, according to color reaction device and shape sensor to takingConnect workpiece 702 to be selected so that overlap joint workpiece 702 is combined into the structure of multiple color and various shapes.
Used as preferred embodiment, the overlap joint workpiece 702 is plastic cement building blocks, can freely form multiple different knotStructure, adapts to different teaching demands, and is repeatedly transformed function, realizes continuing usability, with good replaceability andCompatibility, the jig plate 701 is hard nylon material.
This kind is used for the application method of the combined type workpiece 700 of machine-building teaching device, by using combinatorial product carpentery workshopFor production is demonstrated, including showing for various actual production patterns is completed using one or more overlap joint workpiece 702 assemblyReligion demonstration, the teaching device includes multiple training platforms such as processing, assembling, welding, sorting, labeling and detection, Mei YishiInstruction platform can realize the production of workpiece as single individuality, it is also possible to be connected each training platform by the chain being drivenIt is an entirety, reduces the floor space and use cost of equipment, meets the use requirement of daily teaching；It is real with assembling in processingDuring instruction platform, the different choice overlap joint workpiece 702 on jig plate 701 according to color, by single overlap joint workpiece 702 or multipleOverlap joint workpiece 702 is combined into the assembly of different color and structure, and the metal on jig plate 701 is welded in welding sequencePiece 708 carries out welding fabrication, and exports after being selected by the workpiece that detection and sorting will meet finished product.
Used as preferred embodiment, the pipeline includes the first pipeline 801 and the second pipeline that are parallel to each other802, first pipeline 801 and second pipeline 802 are connected with the 3rd horizontal pipeline 803, and the described 3rd is defeatedThe two ends of line sending 803 are equipped with for being connected first pipeline 801, second pipeline 802 and the 3rd pipeline 803Manipulator 303, first pipeline 801, second pipeline 802 and the 3rd pipeline 803 constitute teaching systemThe input and output ring of system.
The pipeline also includes conveying line bracket, and the conveying of first pipeline 801, second is provided with transfer gantryThe pipeline 803 of line 802 and the 3rd, is also equipped with multiple shelves and stops tool on the conveying line bracket, and the shelves stop tool and stop for shelvesThe carrier plate being driven on the pipeline, the carrier plate is supported by plastic-steel, and the jig plate is provided with the carrier plate701, the location hole of multiple different structures is included on the carrier plate, location hole installs different jig plates 701 as needed,The shelves stop tool stop block including shelves, cylinder of being stopped the supple of gas or steam close to quick closing valve and shelves, first pipeline 801 and second pipeline802 two ends are provided with steering backflow mechanism, for the steering backflow of the carrier plate so that carrier plate realizes ring on the conveyor beltShape can flow back.
Servo slide table 8020 is installed on second pipeline 802, is provided with to described on the servo slide table 8020The welding fixture that combined type workpiece 700 is positioned and clamped, the jig plate 701 is arranged on the welding fixture, describedServo slide table 8020 is used for the two ends on the 3rd pipeline 803 and enters line slip transmission combined type workpiece 700.
Used as preferred embodiment, the processing real training station 100 includes processing main stand 101 and is arranged on the processingMachining robot 102 on main stand 101, the charging tray 103 and many for carrying out of processing raw material for placing overlap joint workpiece 702The pneumatic stamping machine 104 of individual overlap joint workpiece 702 combination, the machining robot 102 is located at process raw material charging tray 103, the instituteState between pneumatic stamping machine 104 and first pipeline 801.
The end of the machining robot 102 is equipped with grasping jig, and grasping jig includes pneumatic pawl folder, gripping finger and the 5th sensingDevice, the machining robot 102 has captured overlap joint workpiece to be processed using grasping jig from the charging tray 103 that processes raw material702, to place and punch process is carried out to the overlap joint workpiece 702 on the pneumatic stamping machine 104, the 5th sensor is used to examineSurvey whether the machining robot 102 captures overlap joint workpiece 702, the pneumatic stamping machine 104 is equipped with and the overlap joint workpiece 702The plastic punch of pairing, scene is processed for teaching, and more convenient work, the pneumatic stamping machine 104 is provided with theThree sensors, the detection overlap joint workpiece 702 that the 3rd sensor is used for is matched with the plastic punch of Pneumatic stamping.The processingRaw material charging tray 103 is placed on the side of the pneumatic stamping machine 104, and the opposite side of the pneumatic stamping machine 104 is provided with and processingFinished product charging tray 105, it is interior on the processed finished products charging tray 105 to be placed with the good overlap joint workpiece 702 of punching press, the charging tray that processes raw material103 are provided with second sensor, and whether the second sensor is used to detect on the charging tray 103 that processes raw material equipped with lapworkPart 702, the processed finished products charging tray 105 is provided with for detecting the 4th the sensor whether finished product on finished disk is filled.InstituteStating processing real training station 100 also includes NG disks, and the end of the machining robot 102 is provided with for detecting the overlap joint workpiece 702CF first sensor, the NG disks are placed in the scope of activities of the machining robot 102.
The second sensor differentiates to be provided with the charging tray 103 that processes raw material and described overlaps workpiece 702, now, instituteState machining robot 102 and capture the overlap joint workpiece 702 to the pneumatic stamping machine from the charging tray 103 that processes raw material by fixturePunching press is carried out after 104, after the completion of punching press, the first sensor on the machining robot 102 detects the overlap joint workpieceWhether 702 CF meets, if met, the first sensor sends signal, the control mould to control moduleBlock controls the machining robot 102 that good finished product is placed on into processed finished products charging tray 105 or connection processing real training is placed onOn first pipeline 801 of platform, the finished product of NG is placed in NG charging trays.
Used as preferred embodiment, the assembling real training station 200 includes assembling main stand 201 and is arranged on the dressTwo vibrating disks 203 with the people 202 that put together machines on main stand 201, for conveying overlap joint workpiece 702, two vibrationsThe combined platform for overlapping the assembling of workpiece 702 is provided between disk 203, the people 202 that puts together machines is positioned at the vibrating disk203rd, between the combined platform and first pipeline 801.
Two ends of the vibrating disk 203 are provided with positioning tool, and the positioning tool is made up of cylinder and tool, described6th sensor is installed, whether the 6th sensor is used to detect be placed with overlap joint on the positioning tool on positioning toolWorkpiece 702.The combined platform is located between two positioning tools, and the combined platform is used for handle and goes out from vibrating disk 203The overlap joint workpiece 702 of material carries out assembling and uses, and the 7th sensor is provided with the combined platform, and the 7th sensor is used forWhether the detection overlap joint workpiece 702 is on the combined platform.The combined platform side is provided with assembling finished product charging tray, instituteStating assembling finished product charging tray is used to be assembled into the overlap joint workpiece 702 of finished product, and described assembling is provided with the on finished product charging trayEight sensors, the 8th sensor is used to detect the quantity of the finished product on the assembling finished product charging tray.The people that puts together machines202 ends are provided with sucker jig, and the sucker jig is used to draw overlap joint workpiece 702 to combination from two positioning toolsAssembling is completed on platform, the sucker jig is provided with the 9th sensor of CF identification.
Overlap joint workpiece 702, the people that puts together machines are placed with the positioning tool when the 6th sensor is detected202 draw overlap joint workpiece 702 to the combined platform by the sucker jig from two positioning tools is assembled,And by control module control it is described put together machines people 202 by the finished product for completing assembling be placed on it is described assemble on finished product charging tray orOn first pipeline 801 at the link assembling real training station 200.
Used as preferred embodiment, the welding real training station 300 is including welding main stand 301, for placing metal weldingThe charging tray of contact pin 708, the servo slide table 8020 for conveying the combined type workpiece 700 and be placed on it is described welding main body machineThe welding robot 302 for welding the metal welding piece 708 on frame 301, the servo slide table 8020 is arranged on describedOn 3rd pipeline 803, the charging tray is by the manipulator 303, and the welding main stand 301 is defeated located at the described 3rdThe side of line sending 803, and the 3rd pipeline 803 is connected, the welding main stand 301 is by section aluminum frame and industrial aluminumMatter mainboard is constituted.
The servo slide table 8020 is installed on the mainboard, the servo slide table 8020 for it is flat can be describedMoved on 3rd pipeline 803, be provided with the servo slide table 8020 and the combined type workpiece 700 is positioned and clampedWelding fixture, the welding fixture is provided with the tenth sensor, and the tenth sensor is used to detect the welding fixtureWhether the combined type workpiece 700 is placed with, and the servo slide table 8020 is used to coordinate multistation to process.3rd pipeline803 two ends are provided with the manipulator 303, and the manipulator 303 is defeated with described first for being connected the 3rd pipeline 803Line sending 801 and second pipeline 802, the manipulator 303 complete multistation action according to the instruction of control module, describedThe end of manipulator 303 is all multi-station clamp, and the fixture is made up of the connecting plate with multiple mounting hole sites, and can be with rootAccording to needing to change structure, the 11st sensor is installed on the manipulator 303, the 11st sensor is used for detection combinationFormula workpiece 700, the welding robot 302 is connected with the welding matching component such as welding machine and wire-feed motor, and the welding robot302 ends are provided with welding gun, and the welding job of workpiece is completed for the welding robot 302；By the welding robot 302Welding finished product charging tray is installed, for placing the workpiece being welded, the mainboard both sides are additionally provided with for placing metal weldingThe welding charging tray 304 of contact pin 708, the metal welding piece 708 is provided with multiple and is uniformly placed in the welding charging tray 304.
After the combined type workpiece 700 that first pipeline 801 will be assembled is transported to 303 position of manipulator,After 11st sensor detects workpiece, control module control the manipulator 303 capture the combined type workpiece 700 toOn the mainboard at welding real training station 300, further, the crawl of manipulator 303 is located at the metal welding piece in welding charging tray 304708 to after on the combined type workpiece 700, the metal welding piece of the combined type workpiece 700 of the welding robot 302 pairs708 are welded, and after the completion of welding, the combined type workpiece 700 that manipulator 303 will be welded is put into welding finished product charging tray or weldsConnect on the servo slide table 8020 at real training station 300.
Used as preferred embodiment, the sorting real training station 400 includes being arranged on the sorting on the side of second pipeline 802Main stand 401, be arranged on it is described sorting main stand 401 on sorting charging tray and for sort and stacking sorting machine people402, it is described sorting charging tray and second pipeline 802 in the scope of activities of the sorting machine people 402, the sortingMain stand 401 is built and be provided with mainboard the sorting machine people 402 by section aluminum frame and industrial aluminum mainboard.
The sorting machine people 402 is six-shaft industrial robot, and the robot end is provided with grasping jig, and crawl is controlledTool is provided with the 12nd sensor, and the 12nd sensor is used to detect whether finished work-piece is qualified, the sorting machine people402 sides are provided with sorting charging tray, and the sorting charging tray is used to place overlap joint workpiece 702, and the sorting charging tray includes supplied materials materialDisk 403, sorting finished product charging tray 404 and reprocessed products charging tray, the sorting finished product charging tray 404 is used to place qualified products, described to returnRepair product charging tray is used to place what is captured from second pipeline 802 for placing substandard product, the supplied materials charging tray 403Finished work-piece, the quality inspection of workpiece in the supplied materials charging tray 403 that the sorting machine people 402 is detected according to the 12nd sensorInformation or directly on second pipeline 802 part of jig plate 701 sorted, the supplied materials charging tray 403In part it is qualified be placed in sorting finished product charging tray 404, it is underproof to be placed in reprocessed products charging tray for reprocessing, treat pointPick after finished product charging tray 404 fills, robot overlays charging tray on bin, and the bin is built by aluminium section bar, mounted in masterPlate side.
The labeling real training station 500 includes the label-sticking mechanism for completing the action of Quick Response Code labeling, when the combined type workPart 700 is moved at label-sticking mechanism on second pipeline 802, and Quick Response Code is labelled to the combination by the label-sticking mechanismOn formula workpiece 700.
The detection real training station 600 includes detection module, barcode scanning module and operating platform, and the detection module includes industryCamera and secondary light source, the industrial camera and the secondary light source are arranged on the adjustable support of the operating platform, describedBarcode scanning module includes barcode scanning machine, and barcode scanning machine carries adjustable mechanism, installed in operating platform outside, for scanning the two dimension on workpieceCode；The operating platform is built by section aluminum frame and industrial aluminum mainboard, including rack body, and display and control are electricBrain, the display and control computer are used to write and debug detection program, recording product information.
The detection real training station 600 and the labeling real training station 500 are located at a upper operation at the sorting real training station 400Stand, and second pipeline 802 connects the detection real training station 600, the labeling real training station 500 with the sorting real training station400。
The control module and the processing real training station 100, assembling real training station 200, welding real training station 300, labeling real trainingStand 500, detection real training station 600, labeling real training station 500, one or more the electrical connection volumes in sorting real training station 400, and controlAbove-mentioned real training station carries out automated production operation.
The automated production teaching system also include perimeter defense device, the perimeter defense device include safety door,Guardrail and safe grating.
As preferred embodiment, according to the teaching method of the automated production teaching system, comprise the following steps：
(1) the real training station for selecting to need to use is needed according to teaching plan；
(2) technological process of used real training station specific works task is worked out；
(3) tool fixture according to needed for specific task choosing suitably overlaps workpiece 702 and correspondence real training station is simultaneously completeInto assembling；
(4) corresponding control program is write；
(5) according to specific works task creation work coordinate system and adjust savepoint position data；
(6) industrial robot in single real training station and the debugging of automechanism operation program；
(7) joint between different real training stations is debugged with operation program is made.
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the artMember is it should be appreciated that involved invention scope in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristicScheme, while should also cover in the case where the inventive concept is not departed from, is carried out by above-mentioned technical characteristic or its equivalent featureOther technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed hereinThe technical scheme that the technical characteristic of energy is replaced mutually and formed.