A dynamic positioning test platform for intelligent robotic arms

Abstract

The invention discloses a dynamic positioning test platform for an intelligent mechanical arm, which relates to the technical field of mechanical arms and comprises a base, a substrate is fixedly mounted on the top surface of the base, a supporting groove is provided on the top surface of the substrate, a baffle is fixedly mounted on the top surface of the substrate; a supporting plate one, the supporting plate one is slidably connected to one side of the base and is used for carrying equipment; an intelligent mechanical arm body is mounted on the top surface of the supporting plate one and is used for clamping a target object, and the inertia of the positioning block one can be reduced by cooperating with the arranged mounting block, the positioning block one, the pressure sensor, the DC motor, the placing plate, the positioning groove, the limiting rod, the airbag, the electric push rod one, the movable roller, the electric contact sheet, the limiting rod, the connecting block, the spring two, the electric push rod two and the blocking frame, so as to prevent the positioning block one from falling off the clamping claw of the intelligent mechanical arm body due to the inertia of the positioning block one after the intelligent mechanical arm body clamps the target positioning block one, thereby achieving a dynamic positioning test effect on the intelligent mechanical arm body.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to an intelligent mechanical arm testing platform. Background Art

[0002] An intelligent robotic arm is a highly automated robotic system that combines technologies from multiple fields such as mechanical engineering, electronic engineering, control theory, and computer science. It is equipped with a variety of sensors, such as visual sensors, force sensors, and tactile sensors, which can sense the external environment and the status of task execution. Through built-in control algorithms or artificial intelligence technology, it can process the perceived information and make corresponding decisions. The intelligent robotic arm needs to use a visual system to identify and locate targets. This involves image processing, pattern recognition, and machine learning technology, which enables the robotic arm to accurately position itself in a complex environment. Modern robotic arms are becoming more and more powerful. They can not only operate on static problems, but some also have dynamic positioning capabilities and can position high-speed moving objects. Therefore, it is necessary to test the dynamic positioning performance of the intelligent robotic arm.

[0003] After searching, it is found that there are problems with the intelligent robotic arm test platform in the prior art. During the dynamic positioning test of the intelligent robotic arm, the staff will use the intelligent robotic arm to clamp the target object that is moving. When the intelligent robotic arm clamps both sides of the target object, although the target object stops moving, the target object has inertia when it changes from motion to stillness, resulting in the target object being clamped by the gripper of the intelligent robotic arm. The target object may continue to move forward due to inertia and separate from the gripper of the intelligent robotic arm. In this process, inertia affects the result of the dynamic positioning test of the intelligent robotic arm, which reduces the accuracy of the dynamic positioning test result of the intelligent robotic arm. At the same time, in some existing test platforms, the target object rotates in a circle in the test platform, and the intelligent robotic arm is often used to sort the target objects on the conveyor belt. The target object in circular motion does not match the actual working condition of the intelligent robotic arm, which also makes the accuracy of the dynamic test result of the intelligent robotic arm of the test platform further reduced, affecting the staff to perform dynamic testing on the intelligent robotic arm. Therefore, based on the above search and combined with the prior art, a dynamic positioning test platform for intelligent robotic arms is proposed to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent robotic arm dynamic positioning test platform with the advantages of high precision, strong applicability and high stability, so as to solve the problems proposed in the above background technology that after the target object is clamped by the claws of the intelligent robotic arm, the target object may continue to move forward due to inertia and separate from the claws of the intelligent robotic arm, and the target object in circular motion is inconsistent with the actual working conditions of the intelligent robotic arm.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A dynamic positioning test platform for an intelligent mechanical arm comprises: a base, a substrate is fixedly mounted on the top surface of the base, a support groove is provided on the top surface of the substrate, and a baffle is fixedly mounted on the top surface of the substrate; a support plate 1, the support plate 1 is slidably connected to one side of the base and used to carry equipment; an intelligent mechanical arm body, the intelligent mechanical arm body is mounted on the top surface of the support plate 1 and used to clamp a target object; a warning light, the warning light is fixedly mounted on one side of the baffle and used to warn staff; a dynamic positioning test mechanism, the dynamic positioning test mechanism is arranged inside the support groove and used to perform a dynamic positioning test on the intelligent mechanical arm body;

[0007] The dynamic positioning test mechanism includes two fixing frames, both of which are slidably connected to the inside of the supporting groove, a screw rod is rotatably connected to the inside of the fixing frame, a DC motor is installed on one side of the fixing frame, and a mounting block is threadedly connected to the outer cylindrical wall of the screw rod, a positioning block 1 for allowing the intelligent mechanical arm body to clamp is installed on the top surface of the mounting block, pressure sensors are installed on both sides of the positioning block 1, a rotating block is rotatably connected to the inner bottom surface of the supporting groove, an extrusion block with adjustable distance is installed on one side of the rotating block, two fixing blocks are fixedly installed on one side of the fixing frame, a roller is rotatably connected between the two fixing blocks, a plurality of positioning blocks 2 are fixedly installed on the inner bottom surface of the supporting groove, a connecting column is fixedly installed on one side of the positioning block 2, two connecting pipes are fixedly installed on one side of the fixing frame, and the connecting pipe and the connecting column are elastically connected by a spring 1.

[0008] Furthermore, the dynamic positioning test mechanism also includes a positioning groove, the positioning groove is opened on the top surface of the mounting block, a placement plate is arranged inside the positioning groove, two limiting rods for limiting the placement plate are fixedly installed inside the positioning groove, an air bag for buffering is fixedly installed on one side of the inner part of the positioning groove, the placement plate is slidably connected to the limiting rod, both sides of the positioning block one are rotatably connected with gears, the outer circumferential wall surface of the gear is meshed with sector teeth, a support plate two is fixedly installed on one side of the sector teeth, the left end of the support plate two is rotatably connected to one side of the positioning block one, the outside of the support plate two is slidably connected with a movable frame, and an electric motor for driving the movable frame to move is fixedly installed on the inner top surface of the positioning block one. Push rod one, a damper is fixedly installed on one side of the gear, a mounting frame is fixedly installed on one end of the damper movable shaft, a movable roller is rotatably connected inside the mounting frame, two positioning frames are fixedly installed on the top surface of the mounting block, an electric contact piece is slidably connected inside the positioning frame, limiting grooves are provided on both sides of the positioning frame, limiting rods are fixedly installed inside the limiting grooves, a connecting block is slidably connected to the outer circular wall surface of the limiting rod, a spring two is movably sleeved on the outer circular wall surface of the limiting rod, a movable blocking frame is provided on one side of the positioning frame, an electric push rod two for driving the blocking frame to move is fixedly installed on one side of the positioning frame, movable holes are provided on both sides of the positioning frame, and the upper end of the blocking frame is slidably connected to the movable holes.

[0009] Furthermore, a support rod for limiting the mounting block is fixedly installed inside the fixing frame, the mounting block is slidably connected to the support rod, a fixing tube is fixedly installed on one side of the rotating block, a connecting plate is slidably connected inside the fixing tube, one side of the connecting plate is fixedly connected to one side of the extrusion block, and a screw for locking the position of the connecting plate is installed on the top surface of the fixing tube.

[0010] Furthermore, a connecting roller is fixedly installed on the bottom surface of the rotating block, a synchronous wheel is fixedly installed on the bottom surface of the connecting roller, the outer circular wall surfaces of the two synchronous wheels are rotatably connected with a synchronous belt, and a driving motor for driving the synchronous wheels to rotate is installed on the bottom surface of the base plate.

[0011] Furthermore, a second slide rail for supporting the sliding of the fixing frame is fixedly installed inside the supporting groove, and two slide grooves cooperating with the second slide rail are opened on one side of the fixing frame, and the slide grooves are slidably connected to the second slide rail.

[0012] Furthermore, a support hole is opened on one side of the baffle, and a half worm gear is rotatably connected inside the support hole. A support frame is fixedly installed on one side of the baffle, and a worm is rotatably connected inside the support frame. The worm is meshed with the half worm gear, and a camera for shooting the clamping process of the intelligent robotic arm body is fixedly installed on one side of the half worm gear.

[0013] Furthermore, a top plate is fixedly mounted on one side of the base, a hydraulic cylinder for driving the support plate 1 to move is fixedly mounted on the top surface of the top plate, and the top surface of the telescopic shaft of the hydraulic cylinder is fixedly connected to the bottom surface of the support plate 1.

[0014] Furthermore, two slide rails 1 for supporting the sliding of the support plate 1 are fixedly installed on one side of the base, and two sliders are fixedly installed on one side of the support plate 1, and the sliders are slidably connected to the slide rail 1.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Through the cooperation of the set DC motor, screw rod, mounting block, positioning block, fixed frame, rotating block, extrusion block, roller, connecting pipe, connecting column and spring one, the positioning block one can simulate the process of the object moving on the conveyor belt in a realistic way, thereby improving the accuracy of the dynamic positioning test of the intelligent robot arm body; through the set mounting block, positioning block one, pressure sensor, DC motor, placement plate, positioning groove, limiting rod, airbag, electric push rod one, movable frame, support plate two, connecting shaft, sector teeth, gears, damper, mounting frame, movable roller, electric contact sheet , limit rod, connecting block, spring 2, electric push rod 2 and blocking frame cooperate with each other to reduce the inertia of positioning block 1, shorten the travel of positioning block 1 due to inertia, and prevent positioning block 1 from falling off the clamping claw of the intelligent robotic arm body due to the inertia of positioning block 1 after the intelligent robotic arm body clamps the target positioning block 1. By comparing the two groups of positioning block 1s, the test data is detailed, which further improves the accuracy of the dynamic positioning test of the intelligent robotic arm body, achieves the dynamic positioning test effect of the intelligent robotic arm body, and is convenient for the staff to use the intelligent robotic arm body.

[0017] 2. Through the setting of the intelligent robotic arm body, the camera can record the test process during the dynamic positioning test of the intelligent robotic arm body. The angle of the camera can be adjusted by cooperating with the set worm, worm, baffle, support hole, camera, support frame and knob to better record the test process of the intelligent robotic arm body, making it convenient for the staff to use the test data to further optimize the algorithm of the intelligent robotic arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the installation structure of the support plate 1 and the base of the present invention;

[0020] Figure 3 for Figure 2 Schematic diagram of the local structure of A;

[0021] Figure 4 It is a schematic diagram of the connection structure of the fixing frame and the supporting groove of the present invention;

[0022] Figure 5 for Figure 4 Schematic diagram of the local structure of B;

[0023] Figure 6 It is a bottom view schematic diagram of the installation structure of the synchronous wheel and the connecting roller of the present invention;

[0024] Figure 7 It is a schematic diagram of the installation structure of the rotating block and the extruding block of the present invention;

[0025] Figure 8 It is a schematic diagram of the moving structure of the installation block and the positioning block 1 of the present invention;

[0026] Fig. 9 for Figure 8 Schematic diagram of the local structure of C;

[0027] Fig.10 It is a schematic diagram of the installation structure of the blocking frame and the positioning frame of the present invention;

[0028] Fig.11 It is a schematic diagram of the connection structure of the placement plate and the limiting rod of the present invention.

[0029] In the figure: 1, base; 2, substrate; 3, support groove; 4, baffle; 5, warning light; 6, support hole; 7, dynamic positioning test mechanism; 8, support plate 1; 9, intelligent robot arm body; 10, top plate; 11, hydraulic cylinder; 12, slide rail 1; 13, slider; 14, half worm gear; 15, support frame; 16, worm; 17, camera; 18, fixed frame; 19, slide groove; 20, slide rail 2; 21, fixed block; 22, roller; 23, rotating block; 24, fixed pipe; 25, extrusion block; 26, drive motor; 27, synchronous wheel; 28, synchronous belt; 29, connecting roller; 30, connecting plate; 31, screw; 32, DC motor; 3 3. Mounting block; 34. Positioning block 1; 35. Pressure sensor; 36. Screw; 37. Support rod; 38. Positioning block 2; 39. Connecting pipe; 40. Connecting column; 41. Spring 1; 42. Gear; 43. Damper; 44. Positioning frame; 45. Fan-shaped gear; 46. Support plate 2; 47. Electric push rod 1; 48. Movable frame; 49. Connecting shaft; 50. Mounting frame; 51. Movable roller; 52. Electric contact sheet; 53. Electric push rod 2; 54. Blocking frame; 55. Movable hole; 56. Limiting groove; 57. Connecting block; 58. Limiting rod; 59. Spring 2; 60. Positioning groove; 61. Placement plate; 62. Airbag; 63. Limiting rod. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In a typical implementation of this application, please refer to Figures 1 to 11 , a dynamic positioning test platform for an intelligent mechanical arm, comprising a base 1, a substrate 2 is fixedly mounted on the top surface of the base 1, a support groove 3 is provided on the top surface of the substrate 2, a baffle 4 is fixedly mounted on the top surface of the substrate 2, a support plate 8 is slidably connected to one side of the base 1 for carrying equipment, an intelligent mechanical arm body 9 is mounted on the top surface of the support plate 8 by bolts for clamping a target object, a warning light 5 is fixedly mounted on one side of the baffle 4 for warning staff, and a dynamic positioning test mechanism 7 is arranged inside the support groove 3 for performing a dynamic positioning test on the intelligent mechanical arm body 9;

[0032] The dynamic positioning test mechanism 7 includes two fixing frames 18, both fixing frames 18 are slidably connected to the inside of the support groove 3, the inside of the fixing frame 18 is rotatably connected with a screw rod 36, one end of the screw rod 36 is rotatably connected to one side of the inside of the fixing frame 18 through a bearing, a DC motor 32 is installed on one side of the fixing frame 18, one end of the driving shaft of the DC motor 32 passes through one side of the fixing frame 18 and is fixedly connected to one end of the screw rod 36, the outer circumferential wall surface of the screw rod 36 is threadedly connected with a mounting block 33, and the mounting block 33 is a T-shaped structure;

[0033] Among them, the backlash between the screw rod 36 and the mounting block 33 is small, the assembly accuracy is high, and the two are tightly meshed;

[0034] The top surface of the mounting block 33 is provided with a positioning block 34 for the intelligent mechanical arm body 9 to clamp, and pressure sensors 35 are installed on both sides of the positioning block 34. When the clamping claws of the intelligent mechanical arm body 9 contact the pressure sensors 35 on both sides of the positioning block 34, the DC motor 32 stops driving the screw rod 36 to rotate;

[0035] The inner bottom surface of the support groove 3 is rotatably connected with a rotating block 23, and a distance-adjustable extrusion block 25 is installed on one side of the rotating block 23. Two fixed blocks 21 are fixedly installed on one side of the fixed frame 18, and a roller 22 is rotatably connected between the two fixed blocks 21 through a rotating shaft. The fixed block 21 and the roller 22 cooperate to reduce the friction between the extrusion block 25 and the fixed frame 18. A plurality of positioning blocks 38 are fixedly installed on the inner bottom surface of the support groove 3, and a connecting column 40 is fixedly installed on one side of the positioning block 38. One side of the fixed frame 18 is fixed Two connecting tubes 39 are installed, one end of the connecting column 40 enters the interior of the connecting tube 39 and the connecting tube 39 slides along the connecting column 40, the connecting tube 39 and the connecting column 40 are elastically connected by a spring 1 41, the spring 1 41 is movably sleeved on the outer wall of the connecting tube 39, one end of the spring 1 41 is fixedly connected to one side of the positioning block 2 38, and the other end of the spring 1 41 is fixedly connected to one side of the fixing frame 18, the spring 1 41 provides elastic force for the connecting tube 39 and the connecting column 40, and then provides a resetting force for the fixing frame 18;

[0036] Among them, the rotation of the rotating block 23 drives the extrusion block 25 to rotate. When the extrusion block 25 rotates to contact with the roller 22, the fixed frame 18 will move outward. The outward movement of the fixed frame 18 causes the connecting pipe 39 to move along the connecting column 40 and at the same time causes the spring 41 to be compressed. The outward movement of the fixed frame 18 drives the mounting block 33 and the positioning block 34 to move backward. When the rotating block 23 contacts the roller 22, the fixed frame 18 drives the mounting block 33 and the positioning block 34 to reset, so that the positioning block 34 not only moves in a straight line but also swings back and forth in the horizontal direction, so that the positioning block 34 imitates the process of an object moving on a conveyor belt, thereby more realistically performing a dynamic positioning test on the intelligent robotic arm body 9.

[0037] The dynamic positioning test mechanism 7 also includes a positioning groove 60, which is opened on the top surface of the mounting block 33. A placement plate 61 is arranged inside the positioning groove 60. Two limiting rods 63 for limiting the placement plate 61 are fixedly installed inside the positioning groove 60. An air bag 62 for buffering is fixedly installed on one side of the interior of the positioning groove 60. The placement plate 61 is slidably connected with the limiting rod 63. When the mounting block 33 and the positioning block 34 stop moving, the positioning block 34 will continue to move forward due to inertia. The positioning block 34 moves forward to drive the placement plate 61 to move forward and squeeze the air bag 62. The air bag 62 can buffer the inertial movement of the positioning block 34, thereby reducing the influence of inertia on the positioning block 34.

[0038] Both sides of the positioning block 1 34 are rotatably connected with gears 42 through bearings, and the outer circumferential wall surface of the gear 42 is meshed with a sector tooth 45, and a support plate 2 46 is fixedly installed on one side of the sector tooth 45. The left end of the support plate 2 46 is rotatably connected to one side of the positioning block 1 34 through a rotating shaft, and the outside of the support plate 2 46 is slidably connected with a movable frame 48, and a through hole is opened on one side of the support plate 2 46. A connecting shaft 49 is fixedly installed inside the movable frame 48, and the connecting shaft 49 slides in the through hole. A shaft for driving the movable frame 48 is fixedly installed on the inner top surface of the positioning block 1 34. The movable frame 48 moves an electric push rod 47, the bottom surface of the telescopic shaft of the electric push rod 47 is fixedly connected to the top surface of the movable frame 48, a damper 43 is fixedly installed on one side of the gear 42, a mounting frame 50 is fixedly installed on one end of the movable shaft of the damper 43, and a movable roller 51 is rotatably connected to the inside of the mounting frame 50 through a rotating shaft, two positioning frames 44 are fixedly installed on the top surface of the mounting block 33, and an electric contact piece 52 is slidably connected to the inside of the positioning frame 44, and limiting grooves 56 are provided on both sides of the positioning frame 44, and limiting rods are fixedly installed inside the limiting grooves 56 58, the outer circumferential wall surface of the limiting rod 58 is slidably connected with a connecting block 57, one side of the connecting block 57 is fixedly connected to one side of the electric contact piece 52, the limiting rod 58 can limit the movement of the connecting block 57 inside the positioning groove 60, the outer circumferential wall surface of the limiting rod 58 is movably sleeved with a spring 2 59, the spring 2 59 provides a reset force for the connecting block 57 and the electric contact piece 52, one end of the spring 2 59 is fixedly connected to the bottom surface of the connecting block 57, and the other end of the spring 2 59 is fixedly connected to the inner bottom surface of the limiting groove 56, and a movable spring 59 is provided on one side of the positioning frame 44. A movable blocking frame 54 is provided, and an electric push rod 2 53 for driving the blocking frame 54 to move is fixedly installed on one side of the positioning frame 44. Both sides of the positioning frame 44 are provided with movable holes 55. The upper end of the blocking frame 54 is slidably connected to the movable hole 55. One end of the telescopic shaft of the electric push rod 2 53 is fixedly connected to the inner side of the blocking frame 54. A PLC controller is fixedly installed on one side of the baffle 4. The warning light 5, the DC motor 32, the pressure sensor 35, the electric push rod 1 47, the electric contact piece 52 and the electric push rod 2 53 are all electrically connected to the PLC controller.

[0039] Among them, the staff sets any one of the two groups of mounting blocks 33 and positioning blocks 34 as the target. When the clamping claws of the intelligent robot arm body 9 contact the pressure sensors 35 on both sides of the target positioning block 34, the mounting block 33 and the positioning block 34 stop moving, and the positioning block 34 will continue to move due to inertia. At this time, the telescopic axis of the electric push rod 47 moves downward to drive the movable frame 48 to slide along the support plate 46 and at the same time make the fan-shaped teeth 45 rotate upward. The fan-shaped teeth 45 rotate upward so that the gear 42 drives the damper 43 to rotate downward. The damper 43 rotates downward so that the movable roller 51 enters the interior of the positioning frame 44 and squeezes the electric contact sheet 52. The electric contact sheet 52 is squeezed and drives the connecting block 57 along the limit rod 58. The downward movement compresses the spring 2 59. When the electric contact piece 52 is squeezed, a signal is transmitted to the PLC controller. The PLC controller receives the signal and starts the electric push rod 2 53. The electric push rod 2 53 drives the blocking frame 54 to move backward to block the opening of the positioning frame 44. When the positioning block 1 34 moves forward under the action of inertia, the mounting frame 50 and the movable roller 51 are limited by the blocking frame 54, so that the damper 43 is stretched. The stretching of the damper 43 further reduces the inertia of the positioning block 1 34, reduces the travel of the positioning block 1 34 due to inertia, and thus reduces the possibility that the intelligent mechanical arm body 9 cannot be correctly clamped due to inertia, thereby improving the accuracy of the dynamic positioning test of the intelligent mechanical arm body 9.

[0040] By adopting the above technical features, the DC motor 32 is set, and the driving shaft of the DC motor 32 rotates to drive the screw 36 to rotate. The screw 36 rotates so that the mounting block 33 drives the positioning block 1 34 to move forward along the screw 36 inside the fixed frame 18. At the same time, the rotating block 23 drives the extrusion block 25 to rotate. When the extrusion block 25 rotates to contact the roller 22, the roller 22 rotates between the two fixed blocks 21 and makes the fixed frame 18 drive the mounting block 33 and the positioning block 1 34 to move horizontally backward. The fixed frame 18 moves horizontally backward so that the connecting pipe 39 moves along the connecting column 40 and makes The spring 1 41 is compressed. When the rotating block 23 rotates to contact the roller 22, the force of the spring 1 41 causes the connecting tube 39 to drive the fixing frame 18, the mounting block 33 and the positioning block 1 34 to reset, so that the two groups of mounting blocks 33 and the positioning block 1 34 can swing back and forth. The positioning block 1 34 as a target object not only moves linearly but also swings back and forth in the longitudinal direction, so that the positioning block 1 34 simulates the process of an object moving on a conveyor belt, thereby more realistically performing a dynamic positioning test on the intelligent robotic arm body 9, making the test fit the actual situation, improving the accuracy of the dynamic positioning test on the intelligent robotic arm body 9, and having strong applicability.

[0041] Secondly, the staff sets any one of the two groups of mounting blocks 33 and positioning blocks 34 as the target object. When the clamping claws of the intelligent robot arm body 9 contact the pressure sensors 35 on both sides of the target positioning block 34, the pressure sensors 35 will feel the pressure and transmit the signal to the PLC controller. The PLC controller will stop the DC motor 32 after receiving the signal. The driving shaft of the DC motor 32 stops rotating, so that the mounting block 33 and the positioning block 34 stop moving. The positioning block 34 will continue to move forward due to inertia. The movement of the positioning block 34 drives the placement plate 61 to move forward along the two limiting rods 63 inside the positioning groove 60 to squeeze the airbag 62. The airbag 62 is squeezed and deformed to buffer the inertial movement of the positioning block 34, reduce the inertia of the positioning block 34, shorten the movement stroke of the positioning block 34, and reduce the influence of inertia on the positioning block 34.

[0042] At the same time, the PLC controller starts the electric push rod 1 47, and the telescopic shaft of the electric push rod 1 47 moves downward, driving the movable frame 48 to slide along the support plate 2 46, and at the same time makes the connecting shaft 49 slide in the through hole on the support plate 2 46, and the sliding of the movable frame 48 along the support plate 2 46 also makes the support plate 2 46 rotate upward around the rotating shaft, and the upward rotation of the support plate 2 46 drives the sector gear 45 to rotate upward, and the upward rotation of the sector gear 45 makes the gear 42 rotate downward, and the gear 42 rotates downward and drives the damper 43 to rotate downward, and the damper 43 rotates downward and drives the mounting frame 50 and the movable roller 51 to rotate downward, and the movable roller 51 rotates downward. The rotation will enter the interior of the positioning frame 44 and squeeze the electric contact piece 52. The electric contact piece 52 is squeezed and drives the connecting block 57 to move downward along the limit rod 58, and at the same time compresses the spring 2 59. After the electric contact piece 52 is squeezed, it will also transmit a signal to the PLC controller. The PLC controller receives the signal and starts the electric push rod 2 53. The telescopic axis of the electric push rod 2 53 moves backward and drives the blocking frame 54 to move backward. The blocking frame 54 moves backward and enters the interior of the movable hole 55 to block the opening of the positioning frame 44. At this time, the force of the spring 2 59 causes the connecting block 57 to drive the electric contact piece 52 to move upward and abut against the movable roller 51.

[0043] When the positioning block 34 moves forward under the action of inertia, the movable roller 51 is located inside the positioning frame 44 and is limited by the blocking frame 54, so that the damper 43 is stretched during the movement of the positioning block 34. The stretching of the damper 43 further reduces the inertia of the positioning block 34, reduces the travel of the positioning block 34 due to inertia, and thus reduces the possibility that the intelligent mechanical arm body 9 cannot be correctly clamped due to inertia, and prevents the positioning block 34 from falling off the clamping claw of the intelligent mechanical arm body 9 due to the inertia of the positioning block 34 after the intelligent mechanical arm body 9 clamps the target positioning block 34, thereby improving the accuracy of the dynamic positioning test of the intelligent mechanical arm body 9 and reducing the influence of inertia on the dynamic positioning test results;

[0044] If the gripper of the intelligent robot arm body 9 contacts the pressure sensor 35 on another set of positioning blocks 34, the pressure sensor 35 will transmit a signal to the PLC controller, and the PLC controller will start the warning light 5 to remind the staff, thereby using the two sets of positioning blocks 34 to compare the dynamic positioning performance of the intelligent robot arm body 9, and the data is more authentic;

[0045] In this process, the test data is detailed by comparing the two groups of positioning blocks 34. Secondly, the positioning block 34 simulates the process of an object moving on a conveyor belt, so as to more realistically perform a dynamic positioning test on the intelligent robotic arm body 9, so that the test fits the actual situation. Finally, the accuracy of the dynamic positioning test on the intelligent robotic arm body 9 is further improved by reducing the influence of inertia on the positioning block 34, and the influence of inertia on the dynamic positioning test results is prevented, so as to achieve the dynamic positioning test effect on the intelligent robotic arm body 9, and facilitate the staff to use the intelligent robotic arm body 9.

[0046] A support rod 37 for limiting the position of the mounting block 33 is fixedly installed inside the fixing frame 18. The mounting block 33 is slidably connected to the support rod 37. The mounting block 33 will also move along the support rod 37 during the movement of the screw rod 36 to prevent the mounting block 33 from twisting. A fixing tube 24 is fixedly installed on one side of the rotating block 23. A connecting plate 30 is slidably connected inside the fixing tube 24. One side of the connecting plate 30 is fixedly connected to one side of the extrusion block 25. A screw 31 for locking the position of the connecting plate 30 is installed on the top surface of the fixing tube 24. A plurality of round shaped through hole, a thread groove is provided on the top surface of the connecting plate 30, one end of the screw 31 passes through the circular through hole and is threadedly connected to the inner wall of the thread groove, the staff moves the extrusion block 25 outward to drive the connecting plate 30 to move outward, and then the extrusion block 25 is moved outward to a suitable position, and the staff uses the screw 31 to lock the position of the extrusion block 25 and the connecting plate 30, and the extrusion block 25 moves outward so that the rotation radius of the extrusion block 25 increases, thereby changing the amplitude of the longitudinal movement of the mounting block 33 and the positioning block 34, so that the dynamic positioning test of the intelligent robot arm body 9 is more diversified;

[0047] Specifically, through the extrusion block 25, the staff moves the extrusion block 25 outward to drive the connecting plate 30 to move outward. After the extrusion block 25 is moved outward to a suitable position, the staff puts the screw 31 into the circular through hole on the fixing tube 24 and rotates the screw 31 so that one end of the screw 31 enters the threaded groove on the connecting plate 30, thereby locking the position of the connecting plate 30, and then determining the position of the extrusion block 25. The extrusion block 25 moves outward so that the rotation radius of the extrusion block 25 increases, thereby changing the amplitude of the lateral movement of the mounting block 33 and the positioning block 34, making the dynamic positioning test of the intelligent robot arm body 9 more diversified, and facilitating multiple different tests on the intelligent robot arm body 9;

[0048] A connecting roller 29 is fixedly installed on the bottom surface of the rotating block 23, one end of the connecting roller 29 passes through the base plate 2 and a synchronous wheel 27 is fixedly installed on the bottom surface, the outer circumferential wall surfaces of the two synchronous wheels 27 are rotatably connected with a synchronous belt 28, a driving motor 26 for driving the synchronous wheels 27 to rotate is installed on the bottom surface of the base plate 2 through a bracket, the top surface of the driving shaft of the driving motor 26 is fixedly connected to the bottom surface of the synchronous wheel 27 on the right side, the driving shaft of the driving motor 26 rotates to drive the synchronous wheel 27 to rotate, the synchronous wheel 27 rotates to drive another synchronous wheel 27 to rotate through the synchronous belt 28, the two synchronous wheels 27 rotate to drive the rotating block 23 and the extrusion block 25 to rotate through the connecting roller 29, thereby driving the mounting block 33 and the positioning block 34 to move back and forth laterally, and the driving motor 26 is electrically connected to the PLC controller;

[0049] Specifically, through the drive motor 26, the drive shaft of the drive motor 26 rotates to drive the synchronous wheel 27 to rotate, and the rotation of the synchronous wheel 27 drives another synchronous wheel 27 to rotate through the synchronous belt 28. The two synchronous wheels 27 rotate synchronously and drive the rotating block 23 and the extrusion block 25 to rotate through the connecting roller 29, thereby driving the installation block 33 and the positioning block 34 to move back and forth laterally.

[0050] As a preferred implementation in this embodiment, please refer to Figures 1 to 8 A second slide rail 20 for supporting the sliding of the fixing frame 18 is fixedly installed inside the support groove 3. Two slide grooves 19 cooperating with the second slide rail 20 are opened on one side of the fixing frame 18. The slide grooves 19 are slidably connected with the second slide rail 20. The fixing frame 18 moves along the second slide rail 20. Both the slide grooves 19 and the second slide rail 20 are T-shaped structures, which help to improve the sliding stability of the fixing frame 18.

[0051] Specifically, by setting the fixing frame 18, the fixing frame 18 drives the mounting block 33 and the positioning block 1 34 to move back and forth horizontally, and moves along the slide rail 20. The slide groove 19 and the slide rail 20 cooperate to limit the movement of the fixing frame 18, thereby improving the stability of the movement of the fixing frame 18.

[0052] A support hole 6 is provided on one side of the baffle 4, and a half worm gear 14 is rotatably connected to the interior of the support hole 6 through a bearing. A support frame 15 is fixedly installed on one side of the baffle 4, and a worm 16 is rotatably connected to the interior of the support frame 15. The worm 16 is meshed with the half worm gear 14, and the bottom end of the worm 16 is rotatably connected to the inner bottom surface of the support frame 15 through a bearing. The top end of the worm 16 passes through the support frame 15 and is fixedly installed with a knob. A camera 17 for photographing the clamping process of the intelligent mechanical arm body 9 is fixedly installed on one side of the half worm gear 14, and the camera 17 is electrically connected to the PLC controller;

[0053] Among them, during the dynamic positioning test of the intelligent robotic arm body 9, the camera 17 can record the process, and the staff rotates the knob to drive the worm 16 to rotate, and the rotation of the worm 16 drives the semi-worm gear 14 and the camera 17 to rotate, thereby adjusting the angle of the camera 17, and then better recording the test process of the intelligent robotic arm body 9;

[0054] Specifically, through the intelligent robotic arm body 9, during the dynamic positioning test of the intelligent robotic arm body 9, the camera 17 can record the test process. At the same time, the staff turns the knob to drive the worm 16 to rotate, and the rotation of the worm 16 drives the half worm gear 14 to rotate inside the support hole 6 on the baffle 4. The rotation of the half worm gear 14 will also drive the camera 17 to rotate, thereby adjusting the angle of the camera 17, and then better recording the test process of the intelligent robotic arm body 9, which is convenient for the staff to use the test data to further optimize the algorithm of the intelligent robotic arm body 9;

[0055] A top plate 10 is fixedly installed on one side of the base 1, and a hydraulic cylinder 11 for driving the support plate 8 to move is fixedly installed on the top surface of the top plate 10. The top plate 10 can support the hydraulic cylinder 11. The top surface of the telescopic shaft of the hydraulic cylinder 11 is fixedly connected to the bottom surface of the support plate 8. The hydraulic cylinder 11 is electrically connected to the PLC controller. The telescopic shaft of the hydraulic cylinder 11 moves upward to drive the support plate 8 and the intelligent mechanical arm body 9 to move upward, thereby adjusting the height of the intelligent mechanical arm body 9.

[0056] Specifically, by setting the hydraulic cylinder 11, the telescopic shaft of the hydraulic cylinder 11 moves upward to drive the support plate 18 to move upward, and the support plate 18 moves upward to drive the intelligent mechanical arm body 9 to move upward, so as to adjust the height of the intelligent mechanical arm body 9 according to the specifications of the intelligent mechanical arm body 9;

[0057] Two slide rails 12 for supporting the sliding of the support plate 8 are fixedly installed on one side of the base 1, and two sliders 13 are fixedly installed on one side of the support plate 8. The sliders 13 are slidably connected with the slide rails 12. The support plate 8 moves upward to drive the sliders 13 to move upward along the slide rails 12, thereby limiting the movement of the support plate 8 and the intelligent robot arm body 9;

[0058] Specifically, by setting the support plate 8, the movement of the support plate 8 drives the slider 13 to move along the slide rail 12, and the slide rail 12 and the slider 13 cooperate to limit the movement of the support plate 8, thereby achieving the limiting effect of the support plate 8.

[0059] Working principle: Through the hydraulic cylinder 11, the telescopic shaft of the hydraulic cylinder 11 moves upward to drive the support plate 1 8 and the intelligent mechanical arm body 9 to move upward, adjust the height of the intelligent mechanical arm body 9, and facilitate the dynamic positioning test of the intelligent mechanical arm body 9;

[0060] Secondly, the DC motor 32 is set, and the driving shaft of the DC motor 32 rotates to drive the screw rod 36 to rotate. The screw rod 36 rotates so that the mounting block 33 drives the positioning block 1 34 to move forward along the screw rod 36.

[0061] Next, during the movement of the positioning block 34, the driving shaft of the driving motor 26 rotates to drive the synchronous wheel 27 to rotate, and the synchronous wheel 27 rotates to drive another synchronous wheel 27 to rotate through the synchronous belt 28, and the two synchronous wheels 27 rotate to drive the rotating block 23 and the extrusion block 25 to rotate through the connecting roller 29, and the rotating block 23 rotates to drive the extrusion block 25 to rotate, and when the extrusion block 25 rotates to contact the roller 22, the fixed frame 18 will move outward, and the fixed frame 18 moves outward to make the connecting pipe 39 move along the connecting column 40 while causing the spring 1 41 to be compressed, and the fixed frame 18 moves outward to drive the mounting block 33 and the positioning block 1 34 to move backward, and when the rotating block 23 contacts the roller 22, the fixed frame 18 drives the mounting block 33 and the positioning block 1 34 to reset, so that the positioning block 1 34 not only moves in a straight line but also swings back and forth in the horizontal direction, so that the positioning block 1 34 imitates the process of an object moving on a conveyor belt, thereby more realistically performing a dynamic positioning test on the intelligent robotic arm body 9;

[0062] At the same time, when the clamping claws of the intelligent robot arm body 9 contact the pressure sensors 35 on both sides of the target positioning block 34, the mounting block 33 and the positioning block 34 stop moving, while the positioning block 34 continues to move due to inertia. On the one hand, the positioning block 34 moves forward to drive the placement plate 61 to move forward to squeeze the airbag 62. The airbag 62 can buffer the inertial movement of the positioning block 34, thereby reducing the influence of inertia on the positioning block 34.

[0063] On the other hand, the telescopic shaft of the electric push rod 1 47 moves downward, driving the movable frame 48 to slide along the support plate 2 46 and causing the sector tooth 45 to rotate upward. The sector tooth 45 rotates upward, causing the gear 42 to drive the damper 43 to rotate downward. The damper 43 rotates downward, causing the movable roller 51 to enter the interior of the positioning frame 44 and squeeze the electric contact piece 52. The electric contact piece 52 is squeezed and drives the connecting block 57 to move downward along the limit rod 58 and compress the spring 2 59. When the electric contact piece 52 is squeezed, the signal is transmitted to the PLC controller, and the PLC controller receives the signal. The signal starts the electric push rod 2 53, and the electric push rod 2 53 drives the blocking frame 54 to move backward to block the opening of the positioning frame 44. When the positioning block 1 34 moves forward under the action of inertia, the mounting frame 50 and the movable roller 51 are limited by the blocking frame 54, so that the damper 43 is stretched. The stretching of the damper 43 further reduces the inertia of the positioning block 1 34, reduces the travel of the positioning block 1 34 due to inertia, and thus reduces the possibility that the intelligent mechanical arm body 9 cannot be correctly clamped due to inertia, thereby improving the accuracy of the dynamic positioning test of the intelligent mechanical arm body 9;

[0064] Correspondingly, the staff moves the extrusion block 25 outward to drive the connecting plate 30 to move outward, and then after the extrusion block 25 is moved outward to a suitable position, the staff uses the screw 31 to lock the position of the extrusion block 25 and the connecting plate 30. The extrusion block 25 moves outward so that the rotation radius of the extrusion block 25 increases, thereby changing the amplitude of the longitudinal movement of the mounting block 33 and the positioning block 34, making the dynamic positioning test of the intelligent robot arm body 9 more diversified;

[0065] Finally, during the dynamic positioning test of the intelligent robotic arm body 9, the camera 17 can record the process. The staff turns the knob to drive the worm 16 to rotate, and the rotation of the worm 16 drives the semi-worm gear 14 and the camera 17 to rotate, thereby adjusting the angle of the camera 17, and then better recording the test process of the intelligent robotic arm body 9, which is convenient for the subsequent optimization of the intelligent robotic arm body 9.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent mechanical arm dynamic positioning test platform, characterized in that: include: A base (1), a substrate (2) being fixedly mounted on the top surface of the base (1), a supporting groove (3) being provided on the top surface of the substrate (2), and a baffle (4) being fixedly mounted on the top surface of the substrate (2); A support plate (8), wherein the support plate (8) is slidably connected to one side of the base (1) and is used to carry equipment; An intelligent mechanical arm body (9), the intelligent mechanical arm body (9) being mounted on the top surface of the support plate 1 (8) and being used for clamping a target object; A warning light (5), the warning light (5) being fixedly mounted on one side of the baffle (4) and used to warn staff; A dynamic positioning test mechanism (7), the dynamic positioning test mechanism (7) being arranged inside the support groove (3) and used for performing a dynamic positioning test on the intelligent mechanical arm body (9); The dynamic positioning test mechanism (7) comprises two fixing frames (18), both of which are slidably connected to the inside of the support groove (3), a screw rod (36) is rotatably connected to the inside of the fixing frame (18), a DC motor (32) is installed on one side of the fixing frame (18), an outer circumferential wall surface of the screw rod (36) is threadedly connected to a mounting block (33), a positioning block (34) for allowing the intelligent mechanical arm body (9) to clamp is installed on the top surface of the mounting block (33), pressure sensors (35) are installed on both sides of the positioning block (34), and the inner bottom surface of the support groove (3) is provided with a plurality of pressure sensors (35). A rotating block (23) is rotatably connected, and a distance-adjustable extrusion block (25) is installed on one side of the rotating block (23); two fixed blocks (21) are fixedly installed on one side of the fixed frame (18), and a roller (22) is rotatably connected between the two fixed blocks (21); a plurality of positioning blocks (38) are fixedly installed on the inner bottom surface of the support groove (3), and a connecting column (40) is fixedly installed on one side of the positioning block (38); two connecting pipes (39) are fixedly installed on one side of the fixed frame (18), and the connecting pipes (39) and the connecting column (40) are elastically connected through a spring (41); The rotation of the rotating block (23) drives the squeezing block (25) to rotate. When the squeezing block (25) rotates to contact the roller (22), the fixing frame (18) moves outward. The outward movement of the fixing frame (18) causes the connecting pipe (39) to move along the connecting column (40) and the spring 1 (41) to be compressed. The outward movement of the fixing frame (18) drives the mounting block (33) and the positioning block 1 (34) to move backward. When the rotating block (23) contacts the roller (22), the fixing frame (18) drives the mounting block (33) and the positioning block 1 (34) to reset.

2. The intelligent mechanical arm dynamic positioning test platform according to claim 1, characterized in that: The dynamic positioning test mechanism (7) further comprises a positioning groove (60), wherein the positioning groove (60) is provided on the top surface of the mounting block (33), a placement plate (61) is arranged inside the positioning groove (60), two limiting rods (63) for limiting the placement plate (61) are fixedly installed inside the positioning groove (60), an air bag (62) for buffering is fixedly installed on one side inside the positioning groove (60), the placement plate (61) is slidably connected to the limiting rod (63), and the positioning block (33) is provided with a positioning plate (61) and a positioning plate (61) and a positioning plate (61) and a positioning plate (61) are ... Both sides of the positioning block (34) are rotatably connected with gears (42), the outer circumferential wall surface of the gear (42) is meshingly connected with a sector tooth (45), one side of the sector tooth (45) is fixedly installed with a support plate 2 (46), the left end of the support plate 2 (46) is rotatably connected to one side of the positioning block 1 (34), the outside of the support plate 2 (46) is slidably connected with a movable frame (48), the inner top surface of the positioning block 1 (34) is fixedly installed with an electric push rod 1 (47) for driving the movable frame (48) to move, A damper (43) is fixedly mounted on one side of the gear (42); a mounting frame (50) is fixedly mounted on one end of a movable shaft of the damper (43); a movable roller (51) is rotatably connected inside the mounting frame (50); two positioning frames (44) are fixedly mounted on the top surface of the mounting block (33); an electric contact sheet (52) is slidably connected inside the positioning frame (44); limiting grooves (56) are provided on both sides of the positioning frame (44); limiting rods (58) are fixedly mounted inside the limiting grooves (56). The outer circular wall surface of the limiting rod (58) is slidably connected with a connecting block (57), and the outer circular wall surface of the limiting rod (58) is movably sleeved with a spring (59). A movable blocking frame (54) is provided on one side of the positioning frame (44), and an electric push rod (53) for driving the blocking frame (54) to move is fixedly installed on one side of the positioning frame (44). Both sides of the positioning frame (44) are provided with movable holes (55), and the upper end of the blocking frame (54) is slidably connected to the movable hole (55).

3. The intelligent mechanical arm dynamic positioning test platform according to claim 2, characterized in that: A support rod (37) for limiting the position of the mounting block (33) is fixedly installed inside the fixing frame (18), and the mounting block (33) is slidably connected to the support rod (37). A fixing tube (24) is fixedly installed on one side of the rotating block (23), and a connecting plate (30) is slidably connected inside the fixing tube (24), and one side of the connecting plate (30) is fixedly connected to one side of the extrusion block (25). A screw (31) for locking the position of the connecting plate (30) is installed on the top surface of the fixing tube (24).

4. The intelligent mechanical arm dynamic positioning test platform according to claim 3, characterized in that: A connecting roller (29) is fixedly mounted on the bottom surface of the rotating block (23), a synchronous wheel (27) is fixedly mounted on the bottom surface of the connecting roller (29), the outer circumferential wall surfaces of the two synchronous wheels (27) are rotatably connected with a synchronous belt (28), and a driving motor (26) for driving the synchronous wheels (27) to rotate is mounted on the bottom surface of the base plate (2).

5. The intelligent mechanical arm dynamic positioning test platform according to claim 1, characterized in that: A second slide rail (20) for supporting the sliding of the fixed frame (18) is fixedly installed inside the support groove (3); two slide grooves (19) cooperating with the second slide rail (20) are opened on one side of the fixed frame (18); the slide grooves (19) are slidably connected to the second slide rail (20).

6. The intelligent mechanical arm dynamic positioning test platform according to claim 1, characterized in that: A support hole (6) is provided on one side of the baffle (4), and a half worm gear (14) is rotatably connected inside the support hole (6). A support frame (15) is fixedly installed on one side of the baffle (4), and a worm (16) is rotatably connected inside the support frame (15). The worm (16) is meshed with the half worm gear (14). A camera (17) for photographing the clamping process of the intelligent robotic arm body (9) is fixedly installed on one side of the half worm gear (14).

7. The intelligent mechanical arm dynamic positioning test platform according to claim 1, characterized in that: A top plate (10) is fixedly mounted on one side of the base (1), a hydraulic cylinder (11) for driving the support plate 1 (8) to move is fixedly mounted on the top surface of the top plate (10), and the top surface of the telescopic shaft of the hydraulic cylinder (11) is fixedly connected to the bottom surface of the support plate 1 (8).

8. The intelligent mechanical arm dynamic positioning test platform according to claim 7, characterized in that: Two slide rails (12) for supporting the sliding of the support plate (8) are fixedly mounted on one side of the base (1), and two sliders (13) are fixedly mounted on one side of the support plate (8), and the sliders (13) are slidably connected to the slide rails (12).

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