Robot front shell, robot front shell sensor detection device and detection method

Abstract

The present invention discloses a robot front shell, a robot front shell sensor detection device and a detection method. A robot front shell includes a front shell, a horizontal detection unit is fixed on the upper part of the front shell, an anti-collision component is fixed on the outer bottom of the front shell, and a low detection unit is fixed on the lower part of the front shell; the anti-collision component includes an anti-collision strip and a socket; the robot front shell sensor detection device includes a frame, a distance detection unit, an anti-collision detection unit, and an anti-fall detection unit. The frame is provided with a mobile unit, the mobile unit is fixed with a fixed plate, the fixed plate is used to fix the front shell, the anti-collision detection unit is fixed at the end of the frame, the anti-collision detection unit is fixed with a distance detection unit, and the anti-fall detection unit is fixed on the frame. The beneficial effect of the present invention is that after the manual assembly is completed, the accuracy of each sensor is detected to be uniform, and the sensor that does not meet the standard is marked and replaced.

Description

Technical Field

[0001] The present invention relates to the technical field of robot sensor detection, and in particular to a robot front shell, a robot front shell sensor detection device and a detection method. Background Art

[0002] During the robot assembly process, each sensor is pre-installed on the front shell. However, during the installation process, the precision of each component may be insufficient or the installation position may not be accurate enough. Therefore, after the robot front shell is assembled, the sensor assembly needs to be tested. In the prior art, only one sensor can be tested at a time, or only one working condition can be tested at a time, which requires repeated tests. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems, and a robot front shell, a robot front shell sensor detection device and a detection method are designed. One of the robot front shells includes a front shell, a horizontal detection unit is fixed on the upper part of the front shell, an anti-collision component is fixed on the outer bottom of the front shell, and a low detection unit is fixed on the lower part of the front shell; the anti-collision component includes an anti-collision strip and a socket, the socket is fixed to the front shell, and both ends of the anti-collision strip are plugged into the socket.

[0004] Further, the horizontal detection unit includes a plurality of ultrasonic sensors distributed on the upper part of the front housing, and the low detection unit includes a plurality of laser distance measuring sensors distributed on the lower part of the front housing. The front housing is arranged in an arc shape, and a connecting plate is fixed to the end of the front housing.

[0005] A robot front shell sensor detection device comprises a frame, a distance detection unit, an anti-collision detection unit, and an anti-fall detection unit. The frame is provided with a moving unit, the moving unit is fixed with a fixing plate, the fixing plate is used to fix the front shell, the end of the frame is fixed with an anti-collision detection unit, the anti-collision detection unit is fixed with a distance detection unit, and the frame is fixed with an anti-fall detection unit.

[0006] Furthermore, the mobile unit includes a driving device, a screw, a nut and a fixed seat, the output end of the driving device is fixed with a screw, the screw is rotatably set on the frame, the screw is threadedly connected with a nut, the nut is fixedly connected with a fixed seat, and the fixed seat is fixedly connected with a fixed plate.

[0007] Furthermore, it also includes a guiding unit, which includes a guide rail and a slider. The bottom of the frame is fixed with a guide rail, and the guide rail is slidably provided with a slider, and the slider is fixedly connected to the fixing seat.

[0008] Furthermore, a column is fixed on the fixing plate, a protrusion is fixed on the side wall of the column, the front shell and the protrusion are clamped together, a positioning strip is fixed on the fixing plate, the positioning strip is in contact with the inner contour of the front shell, a first positioning seat and a second positioning seat are fixed on the fixing plate, and the first positioning seat and the second positioning seat are respectively clamped on both sides of the connecting plate.

[0009] Further, the anti-collision detection unit comprises a detection plate, the detection plate has a recessed portion, the recessed portion is adapted to the outer contour of the front shell body, and at least three impact blocks are fixed to one side of the detection plate having the recessed portion.

[0010] Furthermore, the distance detection unit is a baffle structure fixed to the upper part of the detection plate, and the baffle structure has a horizontal baffle, a first inclined baffle and a second inclined baffle. The first inclined baffle is integrally formed on both sides of the horizontal baffle, and the second inclined baffle is integrally formed next to the first inclined baffle.

[0011] Furthermore, the anti-fall detection unit includes a stepped structure having a plurality of steps fixed to the frame, the height difference between two adjacent steps remains consistent, the stepped structure is parallel to the screw axis, a through groove is opened on the fixed plate, the through groove is arranged directly below the laser ranging sensor, and the number of the through grooves is consistent with the number of laser ranging sensors and the stepped structure.

[0012] A robot front shell sensor assembly detection method includes step 1: adjusting the initial state, a fixing plate is located at the end of a frame, the fixing plate and a detection plate are respectively located at two ends of the frame, and the front shells of the assembled sensors are clamped on the fixing plate.

[0013] Step 2: Start the driving device, which drives the fixed plate to move along the lead screw. During the movement of the fixed plate, the laser ranging sensor continuously emits laser signals to the stepped structure, the host computer receives the laser signals and determines whether the installation height of the laser ranging sensor or the quality of the laser ranging sensor is qualified. The ultrasonic sensor continuously emits ultrasonic waves to the baffle structure, the host computer receives the ultrasonic signals and determines whether the installation height of the ultrasonic sensor or the quality of the ultrasonic sensor is qualified. After the fixed plate moves until the impact block contacts the anti-collision strip, it transmits data to the host computer and determines whether the sensitivity of the anti-collision strip is qualified.

[0014] Step 3: Mark the unqualified ultrasonic sensors, laser ranging sensors and anti-collision strip positions.

[0015] A robot front shell and robot front shell sensor detection device made by the technical solution of the present invention achieves the following beneficial effects: after manual assembly is completed, the accuracy of each sensor is detected to be uniform, and the detection parameters of each sensor are counted into the system and marked, and the substandard sensors are replaced to avoid being installed on the equipment and affecting the normal use of the machine. The data of each sensor can be counted and a judgment can be made. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a first-perspective stereoscopic image of a front shell of a robot according to the present invention;

[0017] Figure 2 It is a second-view stereoscopic image of a front shell of a robot according to the present invention;

[0018] Figure 3 is a stereoscopic diagram of the robot front shell sensor detection device of the present invention;

[0019] Figure 4 It is a stereoscopic diagram of the robot front shell sensor detection device of the present invention in use state;

[0020] Figure 5 It is a top view of a robot front shell and a robot front shell sensor detection device in use state according to the present invention;

[0021] In the figure, 1, front shell; 11, connecting plate; 2, anti-collision component; 21, anti-collision strip; 22, socket; 3, ultrasonic sensor; 4, laser ranging sensor; 5, rack; 6, distance detection unit; 61, horizontal baffle; 62, first inclined baffle; 63, second inclined baffle; 7, anti-collision detection unit; 71, detection plate; 72, impact block; 8, anti-fall detection unit; 81, stepped structure; 82, through groove; 9, moving unit; 91, driving device; 92, lead screw; 93, nut; 94, fixed seat; 95, guide unit; 951, guide rail; 952, slider; 10, fixed plate; 101, column; 102, bump; 103, positioning strip; 104, first positioning seat; 105, second positioning seat. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings. Figure 1-2As shown, the present invention discloses a robot front shell, including a front shell 1, a horizontal detection unit is fixed on the upper part of the front shell 1, an anti-collision component 2 is fixed on the outer bottom of the front shell 1, and a low detection unit is fixed on the lower part of the front shell 1; the anti-collision component 2 includes an anti-collision strip 21 and a socket 22, the socket 22 is fixed to the front shell 1, and both ends of the anti-collision strip 21 are plugged into the socket 22. The horizontal detection unit includes a plurality of ultrasonic sensors 3 distributed on the upper part of the front shell 1, and the low detection unit includes a plurality of laser ranging sensors 4 distributed on the lower part of the front shell 1. The anti-collision strip 21 includes an internal metal sheet and two pole pieces with opposite polarities. When an obstacle hits the anti-collision strip 21, the two pole pieces are mutually conductive, and the upper computer collects the signal. The horizontal detection unit is used to detect obstacles in the direction of the robot's travel, and the horizontal detection unit is set to an ultrasonic sensor 3. The ultrasonic sensors 3 are set to multiple groups, and the multiple groups of ultrasonic sensors 3 form a detection area on one side close to the arc surface of the front shell 1. By setting a horizontal detection unit on the arc working surface of the front shell 1, obstacles in front of the robot's driving path can be identified to avoid collision between the robot and the obstacles, and a detection area can be formed between the multiple groups of ultrasonic sensors 3 set in the horizontal detection unit, thereby expanding its detection range for obstacles and improving the detection capability; by setting multiple groups of low-level monitoring units on the inclined plane, the robot's driving road conditions can be detected, so that it can timely monitor raised obstacles, stair steps or pits on the driving road, avoid the robot from tipping over or getting stuck during driving, and avoid the robot from falling when passing through raised obstacles, stair steps or pits.

[0023] The front housing 1 is arranged in an arc shape, and a connecting plate 11 is fixed to the end of the front housing 1. The connecting plate 11 is used to assemble with other housing parts of the robot, and the connecting plate 11 plays a role in fixing the position of the front housing 1 during the detection process of the front housing sensor.

[0024] During the robot assembly process, the ultrasonic sensor 3, the laser ranging sensor 4 and the anti-collision strip 21 are pre-installed on the front shell 1. However, during the installation process, the components may not be accurate enough or the installation position may not be accurate enough. Therefore, after the assembly of the robot front shell is completed, the sensor assembly needs to be inspected.

[0025] like Figure 3-5As shown, a robot front shell sensor detection device includes a frame 5, a distance detection unit 6, an anti-collision detection unit 7, and an anti-drop detection unit 8. The frame 5 is provided with a moving unit 9, and the moving unit 9 is fixed with a fixing plate 10, and the fixing plate 10 is used to fix the front shell 1. The end of the frame 5 is fixed with an anti-collision detection unit 7, and the anti-collision detection unit 7 is fixed with a distance detection unit 6. The frame 5 is fixed with an anti-drop detection unit 8. The distance detection unit 6 is used to detect whether the accuracy of each ultrasonic sensor 3 is qualified when completing the detection of the obstacle in front, and the anti-collision detection unit 7 is used to detect whether the anti-collision strip 21 is sensitive when an obstacle hits the anti-collision strip 21. The anti-drop unit is used to detect the installation height of the laser distance sensor 4 and whether its accuracy is qualified.

[0026] The mobile unit 9 includes a driving device 91, a lead screw 92, a nut 93 and a fixed seat 94. The output end of the driving device 91 is fixed with a lead screw 92, the lead screw 92 is rotatably arranged on the frame 5, the lead screw 92 is threadedly connected with a nut 93, the nut 93 is fixedly connected with a fixed seat 94, and the fixed seat 94 is fixedly connected with a fixed plate 10. The driving device 91 drives the lead screw 92 to rotate, and when the nut 93 threadedly connected with the lead screw 92 moves along the lead screw 92, the fixed seat 94 drives the fixed plate 10 to move, and the fixed plate 10 and the robot front shell 1 move in the direction toward the detection plate 71 at the same time. The mobile unit 9 can smoothly drive the robot front shell to achieve position change, and detect whether the ultrasonic sensor 3 and the laser ranging sensor 4 are qualified during the movement.

[0027] The frame 5 further comprises a guide unit 95, which comprises a guide rail 951 and a slider 952. The frame 5 is fixed with the guide rail 951 at the bottom, and the guide rail 951 is slidably provided with a slider 952, and the slider 952 is fixedly connected to the fixing seat 94. The guide rail 951 and the slider 952 play a guiding role.

[0028] The fixing plate 10 is fixed with a column 101, and a protrusion 102 is fixed to the side wall of the column 101. The front shell 1 and the protrusion 102 are mutually clamped. The fixing plate 10 is fixed with a positioning bar 103, and the positioning bar 103 is in contact with the inner contour of the front shell 1. The fixing plate 10 is fixed with a first positioning seat 104 and a second positioning seat 105, and the first positioning seat 104 and the second positioning seat 105 are respectively clamped on both sides of the connecting plate 11. The fixing plate 10 is used to carry the front shell of the robot. The cross section of the protrusion 102 is L-shaped, which is used to clamp with the connecting plate 11. The positioning bar 103 limits the arc position of the front shell 1. The protrusion 102, the positioning bar 103, the first positioning seat 104 and the second positioning seat 105 fix the front shell of the robot in different directions and positions to prevent the shaking of the front shell 1 from affecting the detection results.

[0029] The anti-collision detection unit 7 includes a detection plate 71, and the detection plate 71 has a recessed portion, and the recessed portion is adapted to the outer contour of the front shell 1. At least three impact blocks 72 are fixed on one side of the detection plate 71 having the recessed portion. When the fixed plate 10 carries the front shell 1 and moves until the anti-collision strip 21 and the impact blocks 72 contact each other, if the sensitivity of the anti-collision strip 21 is qualified, the host computer will output a qualified indication. The impact blocks 72 are used to simulate obstacles encountered by the robot during its forward movement. Multiple different data at multiple positions in different directions are set at different positions of the detection plate 71, and the sensitivity of different positions of the anti-collision strip 21 is detected.

[0030] The distance detection unit 6 is a baffle structure fixed to the upper part of the detection plate 71, and the baffle structure has a horizontal baffle 61, a first inclined baffle 62, and a second inclined baffle 63. The first inclined baffle 62 is integrally formed on both sides of the horizontal baffle 61, and the second inclined baffle 63 is integrally formed beside the first inclined baffle 62. The horizontal baffle 61, the first inclined baffle 62, and the second inclined baffle 63 simulate the long-distance obstacles encountered by the robot in the process of moving forward, and the actual distances between them and the ultrasonic sensor 3 are different. The front housing 1 completes the detection of multiple situations in one experiment.

[0031] The anti-fall detection unit 8 includes a stepped structure 81 fixed to the frame 5, the height difference between two adjacent steps is kept consistent, the stepped structure 81 is parallel to the axis of the lead screw 92, and a through slot 82 is provided on the fixed plate 10, the through slot 82 is arranged directly below the laser ranging sensor 4, and the number of the through slots 82 is consistent with the number of the laser ranging sensor 4 and the stepped structure 81. The stepped structure 81 imitates the working state with steps such as stairs, realizes the test of the laser ranging sensor 4 at steps of different heights, and the test result is more in line with the actual situation.

[0032] The robot front shell sensor assembly detection method includes step 1: adjusting the initial state, the fixing plate 10 is located at the end of the frame 5, the fixing plate 10 and the detection plate 71 are respectively located at the two ends of the frame 5, and the front shell 1 of each sensor has been assembled and clamped on the fixing plate 10.

[0033] Step 2: Start the driving device 91, and the driving device 91 drives the fixed plate 10 to move along the screw 92. During the movement of the fixed plate 10, the laser ranging sensor 4 continuously emits laser signals to the stepped structure 81, and the host computer receives the laser signal and determines whether the installation height of the laser ranging sensor 4 is qualified. The ultrasonic sensor 3 continuously emits ultrasonic waves to the baffle structure, and the host computer receives the ultrasonic signal and determines whether the installation height of the ultrasonic sensor 3 is qualified. After the fixed plate 10 moves to the impact block 72 and contacts the anti-collision strip, it transmits data to the host computer and determines whether the sensitivity of the anti-collision strip is qualified.

[0034] The working principle of the laser ranging sensor is as follows: First, the laser diode aims at the target and emits a laser pulse. After being reflected by the target, the laser is scattered in all directions. Part of the scattered light returns to the sensor receiver, is received by the optical system and imaged on the avalanche photodiode. The avalanche photodiode is an optical sensor with an internal amplification function, so it can detect extremely weak light signals. By recording and processing the time from the light pulse being emitted to the return being received, the target distance can be measured. Since the distance between the two adjacent steps in the stepped structure 81 is consistent, the difference between the distance values ​​received by the host computer during the movement of the robot front shell along the stepped structure 81 should also be the same. For the same laser ranging sensor, if the difference in the distance values ​​calculated by the host computer is relatively different, it means that the accuracy of the laser ranging sensor is unqualified. If there is a large difference between the results measured by different laser ranging sensors, it means that the installation height of the sensor with obvious data differences compared with other laser ranging sensors is unqualified.

[0035] The ultrasonic sensor can measure the distance between the ultrasonic sensor and the obstacle in front. Each ultrasonic sensor corresponds to a part of the baffle structure. Specifically, the ultrasonic sensor can measure the distance between it and the horizontal baffle 61, the first inclined baffle 62 and the second inclined baffle 63. In this embodiment, there are 5 ultrasonic sensors, which correspond to the second inclined baffle 63, the first inclined baffle 62, the horizontal baffle 61, the first inclined baffle 62 and the second inclined baffle 63 from left to right. Each ultrasonic sensor detects the distance between the corresponding baffle structure. For the two ultrasonic sensors corresponding to the first inclined baffle 62, the distance data obtained by ultrasonic measurement should be consistent in theory. If the two data are inconsistent, it means that the accuracy of one of the ultrasonic sensors is unqualified. For each ultrasonic sensor, when the front shell of the robot moves the same distance, the distance change value measured by the ultrasonic sensor should be consistent. If the value change of a certain ultrasonic sensor is inconsistent, the installation height or installation position of the ultrasonic sensor is unqualified.

[0036] Step 3: Mark the positions of unqualified ultrasonic sensors 3, laser ranging sensors 4 and anti-collision strips 21.

[0037] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A robot front shell sensor detection device, characterized in that: The device is suitable for use in a front shell of a robot, the front shell comprising a front shell (1), a horizontal detection unit being fixed on the upper part of the front shell (1), an anti-collision component (2) being fixed on the outer bottom of the front shell (1), and a low-position detection unit being fixed on the lower part of the front shell (1); the anti-collision component (2) comprising an anti-collision strip (21) and a socket (22), the socket (22) being fixed to the front shell (1), and both ends of the anti-collision strip (21) being plugged into the socket (22); the horizontal detection unit comprising a plurality of ultrasonic sensors (3) distributed on the upper part of the front shell (1), and the low-position detection unit comprising a plurality of laser distance measuring sensors (4) distributed on the lower part of the front shell (1); the front shell (1 ) is arranged in an arc shape, and a connecting plate (11) is fixed to the end of the front shell (1); the device is used to detect whether the accuracy and installation position of multiple ultrasonic sensors (3) and multiple laser distance measuring sensors (4) are qualified, and the device comprises a frame (5), a distance detection unit (6), an anti-collision detection unit (7), and an anti-fall detection unit (8); a moving unit (9) is provided on the frame (5), and a fixing plate (10) is fixed to the moving unit (9), and the fixing plate (10) is used to fix the front shell (1); an anti-collision detection unit (7) is fixed to the end of the frame (5), and a distance detection unit (6) is fixed to the anti-collision detection unit (7); and an anti-fall detection unit (8) is fixed to the frame (5); The anti-collision detection unit (7) comprises a detection plate (71), the detection plate (71) having a recessed portion, the recessed portion being adapted to the outer contour of the front housing (1), and at least three collision blocks (72) being fixed to one side of the detection plate (71) having the recessed portion; The distance detection unit (6) is a baffle structure fixed to the upper part of the detection plate (71), the baffle structure comprising a horizontal baffle (61), a first inclined baffle (62) and a second inclined baffle (63), the first inclined baffle (62) being integrally formed on both sides of the horizontal baffle (61), and the second inclined baffle (63) being integrally formed on the side of the first inclined baffle (62); The moving unit (9) comprises a driving device (91), a lead screw (92), a nut (93) and a fixing seat (94); the output end of the driving device (91) is fixed with a lead screw (92); the lead screw (92) is rotatably arranged on the frame (5); the lead screw (92) is threadedly connected with a nut (93); the nut (93) is fixedly connected with a fixing seat (94); and the fixing seat (94) is fixedly connected with a fixing plate (10); The anti-fall detection unit (8) comprises a stepped structure (81) having a plurality of steps fixed to the frame (5), the height difference between two adjacent steps being kept consistent, the stepped structure (81) being parallel to the axis of the lead screw (92), the fixed plate (10) being provided with a through slot (82), the through slot (82) being arranged directly below the laser distance measuring sensor (4), and the number of the through slots (82) being consistent with the number of the laser distance measuring sensors (4) and the stepped structure (81).

2. A robot front shell sensor detection device according to claim 1, characterized in that: A column (101) is fixed on the fixing plate (10), a protrusion (102) is fixed on the side wall of the column (101), the front shell (1) and the protrusion (102) are mutually clamped, a positioning strip (103) is fixed on the fixing plate (10), the positioning strip (103) and the inner contour of the front shell (1) are in contact with each other, a first positioning seat (104) and a second positioning seat (105) are fixed on the fixing plate (10), and the first positioning seat (104) and the second positioning seat (105) are respectively clamped on both sides of the connecting plate (11).

3. A robot front shell sensor assembly detection method, characterized in that: A robot front shell sensor detection device according to any one of claims 1 to 2, comprising step 1: adjusting the initial state, the fixing plate (10) is located at the end of the frame (5), the fixing plate (10) and the detection plate (71) are respectively located at the two ends of the frame (5), and the front shells (1) of the assembled sensors are clamped on the fixing plate (10); Step 2: Start the driving device (91), the driving device (91) drives the fixed plate (10) to move along the lead screw (92), during the movement of the fixed plate (10), the laser distance sensor (4) continuously emits laser signals to the stepped structure (81), the upper computer receives the laser signals and determines whether the installation height of the laser distance sensor (4) or the quality of the laser distance sensor (4) is qualified, the ultrasonic sensor (3) continuously emits ultrasonic waves to the baffle structure, the upper computer receives the ultrasonic signals and determines whether the installation height of the ultrasonic sensor (3) or the quality of the ultrasonic sensor (3) is qualified, and the fixed plate (10) moves until the impact block (72) contacts the anti-collision strip (21), and then transmits data to the upper computer and determines whether the sensitivity of the impact strip is qualified; Step 3: Mark the positions of unqualified ultrasonic sensors (3), laser distance sensors (4) and anti-collision strips (21).

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