An obstacle avoidance detection device for industrial robots

Abstract

One or more embodiments of the present specification provide an industrial robot obstacle avoidance detection device, including an obstacle avoidance detection platform, a track slide is provided on the obstacle avoidance detection platform to correspond to the movement track of the robot arm, a plurality of through holes are opened along the track slide, and a simulated obstacle part is selectively installed on the back of each through hole, the simulated obstacle part includes an angle detection part, a telescopic part and an obstacle part movably connected to the head end of the telescopic part, the telescopic part drives the obstacle part to extend through the through hole to serve as a simulated obstacle detection, when the robot arm abuts and pushes the obstacle part to rotate and tilt, the angle detection part detects the change in the inclination angle of the obstacle part to intuitively reflect the quality of the robot's obstacle avoidance function, and as the telescopic part drives the obstacle part to retract and reset to the inside of the through hole, the movably connected obstacle part automatically returns to the initial angle state to automatically perform the next round of cyclic detection.

Description

Technical Field

[0001] One or more embodiments of the present specification relate to the technical field of robot detection equipment, and in particular, to an industrial robot obstacle avoidance detection device. Background Art

[0002] With the development of science and technology and the advancement of industrial technology, industrial robots are being used more and more widely. Industrial robots rely on their own power and control capabilities to achieve various control functions. Common ones include welding robots, stamping robots, handling robots, etc. They automatically perform corresponding actions according to the input system instructions to complete the operation and connection of each production process in the industrial production process.

[0003] When completing trajectory motion, some industrial robots have rigid settings and fixed functions. They can only move along the set trajectory and do not have the ability to avoid obstacles. Obviously, in a complex working environment, this can easily bring certain safety hazards to both the workers and the equipment itself. Therefore, obstacle avoidance detection for some robots with obstacle avoidance functions is particularly important. However, existing robot obstacle avoidance detection equipment is still too simple, and the degree of automation, accuracy, and comprehensiveness of the detection are insufficient. Summary of the invention

[0004] In view of this, an object of one or more embodiments of this specification is to provide an industrial robot obstacle avoidance detection device to solve all or one of the problems in the background technology.

[0005] Based on the above purpose, one or more embodiments of this specification provide an industrial robot obstacle avoidance detection device, including:

[0006] An obstacle avoidance detection platform is provided with a track slide corresponding to the movement trajectory of the robot's robotic arm. A number of through-holes are opened along the track slide. A simulated obstacle part is selectively installed on the back of each through-hole. The simulated obstacle part includes an angle detection part, a telescopic part, and an obstacle part movably connected to the head end of the telescopic part. The obstacle part is driven by the telescopic part to extend through the through-hole to simulate obstacle detection. When the robotic arm abuts and pushes the obstacle part to rotate and tilt, the inclination angle of the obstacle part is detected by the angle detection part.

[0007] Preferably, a fixing frame is provided on the back of the obstacle avoidance detection platform, and a plurality of assembly openings are provided on the fixing frame. The assembly openings are sequentially located correspondingly to the rear of the through opening and are used for fixing and assembling the simulated obstacle part.

[0008] Preferably, the assembly port and the bottom end of the simulated obstacle portion are fixed by threaded connection.

[0009] Preferably, the telescopic member is an electric telescopic rod, and the obstacle member is movably connected to the head end of the electric telescopic rod.

[0010] Preferably, the head end of the telescopic member is connected to the obstacle member via a universal joint.

[0011] Preferably, the obstacle simulation part also includes a sensing part rotatably connected to the bottom of the telescopic part, the sensing part includes a movable telescopic rod, one end of the movable telescopic rod is fixed with a clamping sleeve, which is sleeved on the bottom of the telescopic part through the clamping sleeve so that it can be freely axially rotated and adjusted, and the other end is fixed with a sensing part, which is electrically connected to the telescopic part, and the sensing part passes through the through-hole to sense the position of the robot arm and automatically trigger the telescopic part to extend.

[0012] Preferably, the sensing component includes a spiral telescopic rod and a sensing head fixed to the top end of the spiral telescopic rod.

[0013] Preferably, a timer is connected in series between the sensing member and the telescopic member so as to disconnect the connection within a specified time so that the telescopic member can automatically retract and reset.

[0014] Preferably, the bottom end of the sensing element is detachably fixed to the assembly opening.

[0015] From the above description, it can be seen that an industrial robot obstacle avoidance detection device provided by one or more embodiments of the present specification provides an obstacle avoidance detection platform, on which a track slide is provided. The obstacle avoidance detection platform and the track slide are arranged in advance according to the testing needs of different industrial robots to correspond to the motion trajectory of the robot arm, that is, the interval and angle between the track slide and the motion trajectory of the robot arm are kept consistent. At the same time, a number of through holes are opened along the track slide, and a simulated obstacle part is selectively installed on the back of each through hole. The simulated obstacle part includes an angle detection part, a telescopic part, and an obstacle part movably connected to the head end of the telescopic part, so that the obstacle part is driven to extend through the through hole through the telescopic part to serve as a simulated obstacle detection. The robot arm will naturally move through the obstacle part along its motion trajectory, and when it abuts and pushes the obstacle part to rotate and tilt, it will then be detected by the angle detection part. To measure the inclination angle of the obstacle, the angle detection component can use sensor components such as the existing inclination sensors on the market to detect the inclination angle. Therefore, if the robot arm stops when it reaches the side of the obstacle, the inclination angle detected by the angle detection component is the initial value, which means that the robot's obstacle avoidance function is good. If the robot arm will slightly push the obstacle to tilt or completely push it over the obstacle when it reaches the obstacle, the change in the inclination angle value of the obstacle will be detected by the angle detection component to intuitively reflect the degree of the robot's obstacle avoidance function. During the detection of the robot's cyclic motion around its motion trajectory, the robot's obstacle avoidance function at different positions and angles will be detected through the simulated obstacle parts arranged on the track slide. The telescopic component drives the obstacle to retract and reset to the inside of the through-port, and the movably connected obstacle automatically returns to the initial angle state to automatically perform the next round of cyclic detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate one or more embodiments of the present specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of the present specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0018] Figure 2 For the embodiment of the present invention Figure 1 The enlarged schematic diagram of point A in the middle;

[0019] Figure 3 It is a schematic diagram of the structure of the track slide on the track detection platform of an embodiment of the present invention.

[0020] In the figure: 1. Obstacle avoidance detection platform; 2. Track slide; 3. Through-hole; 4. Angle detection part; 5. Telescopic part; 6. Obstacle part; 7. Fixed frame; 8. Assembly port; 9. Universal joint; 10. Movable telescopic rod; 11. Cardan; 12. Sensing part; 121. Spiral telescopic rod; 122. Sensing head; 13. Timer. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should be understood by people with ordinary skills in the field to which this disclosure belongs. The "first", "second" and similar words used in one or more embodiments of this specification do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] An industrial robot obstacle avoidance detection device, such as Figures 1 to 3As shown, it includes an obstacle avoidance detection platform 1, on which a track slide 2 is provided to correspond to the movement track of the robot arm. A plurality of through openings 3 are opened along the track slide 2, and a simulated obstacle portion is selectively installed on the back of each through opening 3. The simulated obstacle portion includes an angle detection member 4, a telescopic member 5, and an obstacle member 6 movably connected to the head end of the telescopic member 5. The obstacle member 6 is driven by the telescopic member 5 to extend through the through opening 3 to simulate obstacle detection. When the robot arm abuts and pushes the obstacle member 6 to rotate and tilt, the tilt angle of the obstacle member 6 is detected by the angle detection member 4.

[0024] The present invention provides an obstacle avoidance detection platform 1, on which a track slide 2 is provided. The obstacle avoidance detection platform 1 and the track slide 2 are arranged in advance according to the testing needs of different industrial robots to correspond to the motion trajectory of the robot arm, that is, the interval and angle between the track slide 2 and the motion trajectory of the robot arm are kept consistent. At the same time, a plurality of through openings 3 are opened along the track slide 2, and a simulated obstacle portion is selectively installed on the back of each through opening 3. The simulated obstacle portion includes an angle detection member 4, a telescopic member 5, and an obstacle member 6 movably connected to the head end of the telescopic member 5, so that the obstacle member 6 is driven by the telescopic member 5 to extend through the through opening 3 as a simulated obstacle detection. The robot arm will naturally move through the obstacle member 6 along its motion trajectory, and when the obstacle member 6 is abutted and pushed to rotate and tilt, the inclination angle of the obstacle member 6 is detected by the angle detection member 4. The angle detection member 4 can use the existing inclination sensor and other sensor components on the market to detect the inclination angle, so that if the robot arm stops when it arrives at the side of the obstacle 6, the inclination angle detected by the angle detection component 4 is the initial value, which means that the robot has a good obstacle avoidance function. If the robot arm will slightly push the obstacle 6 to tilt or completely push it over the obstacle 6 when it arrives at the obstacle 6, the angle detection component 4 detects the change in the inclination angle value of the obstacle 6 to intuitively reflect the degree of the robot's obstacle avoidance function. In the detection of the robot's cyclic movement around its motion trajectory, the various simulated obstacle parts arranged on the track slide 2 are used to detect the robot's obstacle avoidance function at different positions and angles, and the telescopic component 5 drives the obstacle 6 to retract and reset to the inside of the through-hole 3, and the movably connected obstacle 6 automatically returns to the initial angle state to automatically perform the next round of cyclic detection.

[0025] In the embodiment of the present invention, a fixing frame 7 is provided on the back of the obstacle avoidance detection platform 1, and a plurality of assembly openings 8 are provided on the fixing frame 7. The assembly openings 8 are located in sequence and correspond to the rear of the through opening 3 for selectively assembling and fixing the simulated obstacle part.

[0026] In the embodiment of the present invention, the assembly opening 8 is fixed to the bottom end of the simulated obstacle portion by threaded connection.

[0027] In the embodiment of the present invention, the telescopic member 5 is an electric telescopic rod, and the obstacle member 6 is movably connected to the head end of the electric telescopic rod, so that the obstacle member 6 is electrically pushed out to pass through the corresponding through opening 3 for detection.

[0028] In an embodiment of the present invention, the head end of the telescopic member 5 is connected to the obstacle member 6 via a universal joint 9. The universal joint 9 may adopt a universal joint or universal coupling structure currently available on the market to achieve free rotation and tilt in all directions. When the telescopic member 5 drives the obstacle member 6 to retract and reset to the inside of the through opening 3, the obstacle member 6 automatically returns to its initial angle state to automatically perform the next round of cyclic detection.

[0029] In an embodiment of the present invention, the obstacle simulation part also includes a sensing part rotatably connected to the bottom of the telescopic member 5, the sensing part includes a movable telescopic rod 10, a sleeve 11 is fixed at one end of the movable telescopic rod 10, so that it is sleeved on the bottom of the telescopic member 5 through the sleeve 11, and a sensing part 12 is fixed at the other end, and the sensing part 12 is electrically connected to the telescopic member 5, so that the orientation of the sleeve 11 can be adjusted by free rotation, and then the length of the movable telescopic rod 10 can be adjusted by free transverse extension and contraction, so that the position of the sensing part 12 corresponds to the through-opening 3 at the front end of the obstacle member 6, and the position of the robot arm is sensed by the sensing part 12 passing through the through-opening 3, so that before the robot arm arrives at the obstacle member 6, it is automatically sensed by the sensing part 12, and then the telescopic member 5 is automatically triggered to extend, so as to complete the automatic trigger cycle detection.

[0030] In an embodiment of the present invention, the sensing member 12 includes a spiral telescopic rod 121 and a sensing head 122 fixed to the top of the spiral telescopic rod 121. The spiral telescopic rod 121 is erected at one end of the movable telescopic rod 10 and can be spirally rotated to adjust the height so as to adaptively penetrate into the corresponding through opening 3 for sensing. The sensing head 122 can adopt an existing non-contact position sensor on the market to complete automatic sensing.

[0031] In an embodiment of the present invention, a timer 13 is connected in series between the sensing member 12 and the telescopic member 5 to disconnect within a specified time so that the telescopic member 5 automatically retracts and resets to complete repeated cycle testing, thereby further facilitating automated, effective and accurate detection.

[0032] In the embodiment of the present invention, the bottom end of the sensing element 12 is detachably fixed to the assembly opening 8 to facilitate further stable assembly and disassembly.

[0033] In an industrial robot obstacle avoidance detection device disclosed in the present invention, when in use, a track slide 2 is provided on the obstacle avoidance detection platform 1 to correspond to the motion trajectory of the robot arm, and a plurality of through-holes 3 are opened along the track slide 2. A simulated obstacle part is selectively installed on the back of each through-hole 3. The simulated obstacle part includes an angle detection part 4, a telescopic part 5, and an obstacle part 6 movably connected to the head end of the telescopic part 5. The telescopic part 5 drives the obstacle part 6 to extend through the through-hole 3 as a simulated obstacle detection. When the robot arm abuts and pushes the obstacle part 6 to rotate and tilt, the angle detection part 4 detects the change in the inclination angle value of the obstacle part 6 to intuitively reflect the degree of the robot's obstacle avoidance function. In the detection of the robot's cyclic movement around its motion trajectory, the simulated obstacle parts arranged on the track slide 2 are used to detect the robot's obstacle avoidance function at different positions and angles. The telescopic part 5 drives the obstacle part 6 to retract and reset to the inside of the through-hole 3, and the movably connected obstacle part 6 automatically returns to the initial angle state to automatically perform the next round of cyclic detection.

[0034] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. In line with the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present specification as described above, which are not provided in detail for the sake of simplicity.

[0035] One or more embodiments of this specification are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of this disclosure.

Claims

1. An industrial robot obstacle avoidance detection device, characterized in that: include: An obstacle avoidance detection platform, wherein a track slide is provided on the obstacle avoidance detection platform to correspond to the motion track of the robot arm, and a plurality of through-holes are opened along the track slide. A simulated obstacle part is selectively installed on the back of each through-hole, and the simulated obstacle part comprises an angle detection part, a telescopic part, and an obstacle part movably connected to the head end of the telescopic part. The obstacle part is driven by the telescopic part to extend through the through-hole to simulate obstacle detection. When the robot arm abuts and pushes the obstacle part to rotate and tilt, the inclination angle of the obstacle part is detected by the angle detection part; A fixing frame is provided on the back of the obstacle avoidance detection platform, and a plurality of assembly openings are provided on the fixing frame. The assembly openings are sequentially located directly behind the through opening and are used for fixing and assembling the simulated obstacle part; The simulated obstacle part also includes a sensing part rotatably connected to the bottom of the telescopic part, and the sensing part includes a movable telescopic rod, one end of the movable telescopic rod is fixed with a clamping sleeve, and is sleeved on the bottom of the telescopic part through the clamping sleeve so as to be freely axially rotatable and adjustable, and the other end is fixed with a sensing part, and the sensing part is electrically connected to the telescopic part, and the sensing part passes through the through-hole to sense the position of the robot arm and automatically trigger the extension of the telescopic part; The induction component includes a spiral telescopic rod and a sensing head fixed to the top of the spiral telescopic rod; A timer is also connected in series between the sensing element and the telescopic element so as to disconnect the connection within a specified time so that the telescopic element can automatically retract and reset.

2. The obstacle avoidance detection device for an industrial robot according to claim 1, characterized in that: The assembly port and the bottom end of the simulated obstacle portion are fixed by threaded connection.

3. The obstacle avoidance detection device for an industrial robot according to claim 1, characterized in that: The telescopic member is an electric telescopic rod, and the obstacle member is movably connected to the head end of the electric telescopic rod.

4. The obstacle avoidance detection device for an industrial robot according to claim 1, characterized in that: The head end of the telescopic member is connected to the obstacle member via a universal joint.

5. The obstacle avoidance detection device for an industrial robot according to claim 1, characterized in that: The bottom end of the sensing element can be detachably fixed on the corresponding assembly opening.

Images