GLIR-2 Industrial Robot Training Platform

Ⅰ、Overview

The GLIR-2 industrial robot training platform consists of an industrial robot, an operation training platform, an application module, a module placement rack, a programming host, etc. It can be used to assess industrial robot tool coordinate calibration, plane and curved surface trajectory programming and operation, assembly, handling, stacking, simulated welding, grinding and polishing, industrial visual inspection and other industrial field application skills, as well as robot offline programming and simulation skills.

The training platform integrates advanced manufacturing technologies such as industrial robot technology, mechanical transmission technology, electronic and electrical technology, intelligent sensing technology, programmable control technology, machine vision technology, computer technology, and Internet of Things communication technology, covering professional knowledge in multiple disciplines such as industrial robots, mechanical design, electrical automation, intelligent sensing technology, and intelligent manufacturing.

Ⅱ、Product configuration introduction

1. Industrial robot

(1) Robot body

Configured 3Kg-class industrial robot: IRB120 3/0.6 type.

The technical parameters of the robot are as follows:

1) Working radius of industrial manipulator: ≥580mm;

2) Effective load: ≥3kg;

3) Number of axes: 6 axes;

4) Rotation range and maximum movement speed of each joint of the robot: Axis 1: -165°～+165°, 250°/s; Axis 2: +110°～-110°, 250°/s; Axis 3: +70°～-90°, 250°/s; Axis 4: +160°～-160°, 320°/s; Axis 5: +120°～-120°, 320°/s; Axis 6: +400°～-400°, 420°/s;

5) Protection level: IP54 or higher;

6) Number of degrees of freedom: 6;

7) Acceleration time: 0.07s;

8) Performance: 1 kg picking cycle, 25×300×25 mm 0.58 s, TCP maximum speed: 6.2 m/s, TCP maximum acceleration: 28 m/s, acceleration time 0-1 m/s 0.07 s.

9)Manipulator weight: ≤25kg;

10)Position repeatability: ≤0.01mm;

11)Safety: safe stop, emergency stop; 2-channel safety circuit monitoring; 3-position start device;

12)Use robot offline software for real-time program, IO signal, and robot 3D dynamic motion monitoring during the robot's service life;

13)Remote robot system backup and recovery function;

14)Compatible with industrial vision system interface, and provide corresponding rapid-adapted ve.mod module communication protocol.

15)With PC-Interface option;

16)Self-starting orient real-time status recognition and validity confirmation correction system;

17)Automatic tool weight and load detection setting function

18)Real-time fine-tuning function of robot motion trajectory. Built-in IO custom programmable button

19)3D real-time comfortable joystick manual operating system, battery power environmental protection saving function, lifelong robot system function upgrade

20)Support RAPID programming language specification and directly interpret and execute.

(2) Robot controller: IRC5 compact controller, main parameters:

1)Dimensions: height × width × depth: 310mm × 449mm × 442mm (±5mm);

2)Electrical connection: Power supply voltage: single-phase 220/230v, 50-60Hz;

3)Protection level: IP20;

4)Environmental parameters: ambient temperature 0-45 degrees, relative humidity: up to 95% (no condensation);

5)The most powerful functions of the controller are concentrated in a compact cabinet, saving space, single-phase power supply is easy to debug, external interfaces of all signals are preset, built-in expandable I/O system of no less than 16 inputs/16 outputs, and can expand various peripheral devices such as machine vision.

6)The robot control system software must be based on the WINCE platform to facilitate secondary development based on the robot. The original solid-state memory capacity of the robot control system is 1G, and it supports USB expansion as a secondary memory.

(3) Industrial robot teaching pendant:

1)Supports manual operation, program writing, parameter configuration and monitoring;

2)LCD display screen larger than 6.5 inches;

3)Display screen resolution larger than 800×640;

4)With emergency stop function;

5)With 3-position start switch (dual circuit);

6)With manual operating lever and quick-change positioning;

7)Protection level: IP54

8)With 12-key membrane keyboard;

9)Support hot plugging;

10)With 1 USB interface for data backup and recovery;

2. Operation training platform

The training platform is an industrial aluminum profile structure with a total size of about 2200x1040x1900mm.

3. Training equipment management system:

It is wirelessly remotely controlled by a handheld terminal, with phase error protection, time-limited overcurrent protection, quick-break protection, voltage loss protection, automatic closing protection, overcurrent, overload, leakage protection measures, real-time monitoring function of voltage, current, power, and power factor, and the set value can be manually adjusted. It comes with a 7-inch LCD display, which can be expanded to carry out LORA wireless control of experimental equipment (up to 32 units), access control switches, etc., and has 485, Ethernet communication, WiFi, and 4G signal control. Smart instrument data supports storage on the Alibaba Cloud data platform.

4. Grinding module

It is equipped with a set of grinding fixtures and several grinding heads of different models and sizes.

5. Trajectory module

1) Graphics: straight line, plane curve, space curve, motion transition radius and other operations

6. Drawing module

1) Size: 350×320×110mm;

7. Handling module

The handling operation module is mainly composed of a fixed base plate, a handling block, etc. The handling block is divided into 3 shapes, each with 3 different colors.

Main technical parameters:

1) Material type: triangle, circle, square

2) Material color: red, green, blue

3) Number of parts that can be accommodated: 18

8. Palletizing module

The palletizing module is mainly composed of a palletizing fixed base plate, a palletizing panel, and workpieces. There are 2 different sizes of workpieces. The industrial robot uses a suction cup tool to pick up the palletizing parts as required to perform the palletizing task, which can practice the understanding of industrial robot palletizing and strengthen the training of rapid programming and teaching.

1) Stacking position: 2

2) Parts capacity: 10 rectangular workpieces and 10 square workpieces

9. Assembly module

It consists of a fixed base plate, positioning block, clamping cylinder, etc., to train the learning of precise positioning of industrial robots.

1) Double-axis cylinder stroke: 100mm;

2) V-block fixed clamping range: φ75mm ~ φ95mm

10. Storage module

It consists of a fixed base plate, a stereoscopic warehouse, detection sensors, etc. Each storage location has a detection sensor, which transmits data to the PLC controller through sensor signal detection, and the PLC communicates with the robot through the bus.

1) Adapt to standard training table positioning installation

2) Storage capacity: ≥9; 3 rows and 3 columns

3) Compatible workpiece types: ≥2 types

11. Positioner module

It consists of a positioner, a fixed base plate, etc. The module adapts to the peripheral controller kit and the standard electrical interface kit, and expands the positioner to the 7th axis of the robot. This module can be used in combination with other functional modules, such as installing a grinding module. Master the application and control methods of servo systems in industrial robots.

1) Dimensions: 451×260×253mm

2) Flip size: 255×200×12mm

3) Travel: ±45°;

4) Maximum speed: 10°- 30°/s;

5) Drive mode: AC servo

6) Servo driver: MR-JE-20A

7) Servo motor: HG-KN23J-S100, power 200w, with 23bit absolute encoder

12. Visual inspection module

The visual system consists of a camera module and a visual host. The visual system is responsible for identifying and positioning the workpiece, and communicating with the robot to form the robot's visual guidance function. The camera module consists of an industrial camera, a lens, a light source, and a bracket. The installation position of the camera module can be adjusted and fixed on the table with screws. The height of the camera can be adjusted manually, and the brightness of the light source can be adjusted manually. The visual host consists of a visual controller, a display, visual software, a keyboard, a mouse, and a mounting bracket.

1) Multifunctional vision controller:

(1) Onboard Intel E3845 SoC, 1.91GHz CPU;

(2) 4GB DDR3L memory, equipped with high-reliability SSD storage;

(3) 3 Intel chip Gigabit network ports, enhanced surge protection design to ensure stable operation of machine vision cameras;

(4) Support multi-channel optocoupler isolation input and output functions;

(5) The light source switch and brightness can be controlled through the light source interface;

(6) 2 HDMI interfaces, supporting independent display.

2) Light source: 24V, 45-degree circular shadowless light source: luminous surface diameter 70mm; Color: white; Features: a. No flicker, the LED light is powered by pure DC, no flicker, and will not cause harmonic interference to equipment (such as oscilloscopes). b. Uniform illumination LED shadowless lamp is 360° uniformly illuminated on the observed object, no virtual shadows are produced, and the clarity is high

3) Visual software

3.1 Genuine (including bottom layer) visual visual software, users do not need to write any code, the algorithm results are automatically displayed when the algorithm parameters are modified, simple and convenient;

3.2. Support camera access from domestic and foreign camera manufacturers such as Hikvision, Dahua, Basler, etc., and support up to 12 cameras;

3.3. Support TCP/Modbus/serial port and other communication methods, and support Advantech PCI1730 board;

3.4. Support one-key fast calibration, joint calibration, and one-key fast cutout function;

3.5. Support positioning, measurement, code scanning, barcode quality determination (ISO/IEC 15415, ISO/IEC15416 standards);

3.6. Support running multiple detection tasks at the same time;

3.7 Support color classification function;

3.8.Support one-dimensional code, multiple one-dimensional codes; two-dimensional code, multiple two-dimensional code detection;

3.9. Support light field correction function;

3.10. Support contour positioning and corner point detection;

3.11.Support API interface function call;

3.12.Support direct modification of camera parameters;

3.13.Support real-time saving and real-time calling of current jobs, and support offline algorithm operation;

3.14.Support real-time saving of pictures and export of data tables;

3.15.More than 45 actual case applications;

13. Electrical control module

Includes controller and human-machine interface. The controller adopts modular and compact design, is scalable, and has a standard industrial communication interface. It is suitable for realizing simple logic control, advanced logic control, network communication and control applications, and communicates with robots through industrial communication networks. The human-machine interface has the characteristics of comfort, multi-function and multi-integrated interface.

14.Programmer

Processor: Intel i5-10500

Memory capacity: 32G DDR4

Hard disk capacity: solid state 128G SSD + mechanical 1TB;

System: Windows 10 or above operating system

Display: 21.5 inches

15. Air source system

Used for air supply of workstation pneumatic execution system.

a) Rated pressure: 0.7Mpa;

b) Air tank capacity: 30L;

c) Compressor: 220V/50Hz, 0.55Kw.

16. Safety protection

Safety protection mainly consists of protective cover, safety grating and three-color alarm light.

Ⅲ、Training projects of GLIR-2 industrial robot training platform

1.Robot recognition,

2.Robot installation

3.Robot jog operation

4.Tool coordinate system and calibration

5.Program management and origin calibration

6.Motion instruction programming operation

7.Point teaching and motion programming

8.Workpiece coordinate system and motion programming operation

9.Advanced instruction programming operation

10.Visual inspection module operation

11.Application and debugging of various sensors

12.Application and debugging of pneumatic components

13.I/O programming operation

14.Condition and cycle programming operation

15.Handling operation

16.Assembly operation

17.Palletizing operation

18.Warehousing operation

19.Grinding operation

20.Drawing operation

21.Writing operation

22.Visual operation

23.Product defect judgment operation

24.Touch screen operation

Synchronous PC version:

GLIR-2 Industrial Robot Training Platform   https://www.biisun.com/home/category/detail/id/137.html