A magnetic door contact calibration robot

Abstract

The present invention discloses a magnetic suction door bump calibration manipulator, including an end, a motor part and a clamping part, wherein the motor part is installed in the end and is used to control the clamping of the clamping part, and the clamping part is connected to the end; the clamping part is provided with a detection part for calibration. The present invention clamps the door bumper, and the pressure sensor 1 on the detection shaft 1 and the detection shaft 2 is squeezed, the opening of the clamping part is closed, the pressure sensor 2 is squeezed, and one or both of the pressure sensor 1 and the pressure sensor 2 are not squeezed, then the door bump quality is unqualified; after the door bumper is clamped, the controller drives the servo motor to rotate, and the door bumper is rotated by the rotation effect, and the door bumper has a local unqualified position that can make one or both of the pressure sensor 1 and the pressure sensor 2 not squeezed, then the door bump quality is unqualified, and the outer wall of the door bumper circumference is detected.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a calibration manipulator for magnetic door contact. Background Art

[0002] Door stoppers, also known as door catches, are practical devices installed on doors. Door stoppers can effectively buffer the closing speed of the door, prevent the door from violently hitting the wall or other objects, and reduce the noise and vibration caused by the impact. By slowing down the closing speed of the door, the door stopper can protect the door and the wall from impact damage and extend its service life.

[0003] Stainless steel door stoppers are known for their durability and long service life. They have a delicate appearance and are moisture-proof and anti-corrosive, and can resist the erosion of humid environments such as toilets or bathrooms. Plastic door stoppers, especially those made of silicone, rubber and other materials, mainly use the force of people pushing the door to suck the door shut, which plays a role in preventing collisions. They are affordable and easy to install, and have also been widely promoted.

[0004] Plastic door bumpers are generally produced by injection molding, which has the advantages of high production efficiency, low cost, and high complexity of shape. However, injection molded door bumpers often have burrs, or local positions are not filled during the injection molding process, resulting in differences in the shape of the door bumpers, which require further recycling. In order to facilitate packaging or transportation, the finished door bumpers are often clamped by a robot to change the position of the door bumpers and improve operational efficiency. However, during the clamping of the door bumpers, unqualified door bumpers will also be clamped, resulting in the need for further selection. However, local defects or shape differences in the door bumpers are difficult to observe and require tools to detect. The area of ​​the door bumpers in contact with the robot during packaging or transportation is the largest, so testing during the robot clamping process can maximize efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a magnetic door collision calibration robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a magnetic door collision calibration manipulator, comprising an end, a motor part and a clamping part, wherein the motor part is installed in the end and is used to control the clamping of the clamping part, and the clamping part is connected to the end;

[0007] The clamping part is provided with a detection part for checking and calibrating, and the detection part can rotate. In the process of the clamping part clamping the door bump, the detection part is pressed against the door bump and drives the door bump to rotate, so as to detect defects of the door bump.

[0008] Furthermore, the clamping part includes two groups of symmetrical outer support frames, two groups of inner support frames for clamping movement are arranged between the two groups of outer support frames, and the motor part is used to drive the clamping movement of the two groups of inner support frames.

[0009] Furthermore, the two groups of the outer support frames are fixed to the end portions, and the inner and outer sides of the outer support frames are respectively provided with a second guide groove and a first guide groove which are connected and arranged in communication, the second guide groove and the first guide groove overlap, and the width of the first guide groove is greater than the width of the second guide groove;

[0010] The inner support frame is provided in two halves, and a connecting shaft for connection is fixed to the outer ends of the two halves of the inner support frame, and an outer connecting block is provided on the sliding card of the guide groove 1, and an inner connecting block is fixed on the outer sides of the two halves of the inner support frame, and a bolt is passed through the outer connecting block, and the bolt passes through the guide groove 2 and is threadedly connected to the inner connecting block;

[0011] A rack is fixed on the outer wall of the connecting shaft, a rotating shaft is connected to the output end of the motor part, a driving gear is fixed to the end of the rotating shaft, the driving gear is meshed with the rack, and the two racks connected to the connecting shaft are respectively located on both sides of the driving gear.

[0012] Furthermore, the axes of the guide groove 2, the guide groove 1 and the inner support frame are all coincident, the inner support frame is fitted on the inner side of the arc of the outer support frame, and the inner connecting block is fitted on the inner side of the straight side of the outer support frame.

[0013] Furthermore, the detection part includes multiple groups of detection frames for limiting the door impact, wherein the multiple groups of detection frames are respectively installed on the inner side of the arc of the outer support frame and the inner sides of the two groups of inner support frames, the number of detection frames on the two groups of inner support frames is the same, and when the two groups of inner support frames are clamped, the multiple groups of detection frames are distributed in a circle with the same spacing distance.

[0014] Furthermore, the detection frame on the outer support frame includes a detection shaft 2, both ends of the detection shaft 2 are rotatably connected with a fastening plate 2, and the two fastening plates 2 are respectively fixed to the two groups of outer support frames; the detection frame on the inner support frame includes a detection shaft 1, both ends of the detection shaft 1 are rotatably connected with a fastening plate 1, and the two fastening plates 1 are respectively fixed to the two outer sides of the inner support frame, and the fastening plate 2 and the outer side of the fastening plate 1 on one side are fixed with a servo motor for driving the detection shaft 2 and the detection shaft 1 to rotate.

[0015] Furthermore, the second detection axis and the first detection axis are in the shape of an axis, and the outer walls of both have a rubber layer, and the outer walls of both are in contact with the door.

[0016] Furthermore, the detection unit further includes a plurality of pressure sensors 1, a plurality of pressure sensors 2 and a controller, the pressure sensor 1 is in a circular ring shape, and the plurality of pressure sensors 1 are respectively fixedly sleeved on the outside of the detection shaft 2 and the detection shaft 1, and are used for contact and compression with the door;

[0017] The plurality of pressure sensors 2 are respectively fixed on the outsides of the two connecting shafts, and when clamped, the pressure sensors 2 on the two connecting shafts are pressed against each other;

[0018] The pressure sensor 1, pressure sensor 2 and servo motor are all connected to the controller signal. During the clamping detection, both the pressure sensor 1 and the pressure sensor 2 are squeezed. After the pressure sensor 1 and the pressure sensor 2 are squeezed together, the controller controls the servo motor to rotate, so that the door stopper rotates. As long as one of the pressure sensor 1 and the pressure sensor 2 is not squeezed, it will be detected as a defective product.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0020] 1. When clamping, the detection axis 1 and the detection axis 2 can fit with the door bumper to prevent the door bumper from slipping. The detection axis 1 pushes the door bumper and rotates itself to make the axis of the door bumper coincide with the axis of the clamping part, so that the door bumper is in the best position every time it is clamped.

[0021] 2. The driving gear drives the clamping part to clamp. The two groups of internal support frames move to the same extent, and the force applied on both sides is uniform and consistent, which can achieve accurate clamping of objects and help reduce the risk of door damage or slipping caused by uneven clamping force. The clamping structure is simple and the risk of damage is reduced.

[0022] 3. After the door is clamped, the pressure sensor 1 on the detection axis 1 and the detection axis 2 is squeezed, the opening of the clamping part is closed, the pressure sensor 2 is squeezed, and one or both of the pressure sensor 1 and the pressure sensor 2 are not squeezed, the door quality is unqualified.

[0023] 4. After the door bumper is clamped, the controller drives the servo motor to rotate, and the door bumper is also rotated under the rotation effect. If there is a local unqualified position on the door bumper, one or both of the pressure sensor 1 and the pressure sensor 2 will not be squeezed, and the quality of the door bumper is unqualified. The outer wall of the door bumper circumference will be tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the separation structure of the clamping part of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the clamping part of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the detection unit of the present invention;

[0029] Figure 5 It is a schematic diagram of the top view of the clamping part and the detection part of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the clamping part and the detection part after clamping of the present invention;

[0031] Figure 7 It is a control block diagram of the detection unit of the present invention.

[0032] In the figure: 1, end; 2, motor part; 21, rotating shaft; 22, driving gear; 3, clamping part; 31, outer support frame; 311, guide groove one; 312, guide groove two; 32, inner support frame; 321, connecting shaft; 322, rack; 323, inner connecting block; 324, outer connecting block; 4, detection part; 41, detection shaft one; 42, detection shaft two; 43, servo motor; 44, pressure sensor one; 45, fastening plate one; 46, fastening plate two; 47, pressure sensor two. DETAILED DESCRIPTION

[0033] 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.

[0034] See also Figure 1-Figure 7The present invention provides a technical solution: the precision of the injection mold is not enough, resulting in deviations in the shape of the door bumper, such as uneven edges and inconsistent sizes. The temperature, pressure, time and other parameters in the injection molding process are improperly controlled, resulting in uneven plastic flow, forming defects such as bubbles and shrinkage holes, which will affect the shape and quality of the door bumper. Therefore, the door bumper needs to be calibrated in the subsequent processing to ensure the quality of the door bumper. However, in the processing process, the calibration and calibration are generally carried out by manual selection, and the other steps are generally operated by a manipulator. Based on this, a calibration and calibration manipulator for a magnetic door bumper is proposed, including an end 1, a motor part 2 and a clamping part 3. The motor part 2 is installed in the end 1, which is used to control the clamping of the clamping part 3. The clamping part 3 is connected to the end 1. During the clamping process of the manipulator, the movement and clamping of the manipulator are both existing technologies, but the need to calibrate the door bumper during the clamping process needs to be solved. Based on this, a detection part 4 is set;

[0035] A detection part 4 for verification and calibration is provided inside the clamping part 3, and the detection part 4 can rotate. In the process of the clamping part 3 clamping the door bumper, the detection part 4 is squeezed with the door bumper and drives the door bumper to rotate to detect defects of the door bumper. A detection part 4 is provided inside the clamping part 3, and the detection part 4 is used to detect the quality of the door bumper after clamping. The detection part 4 detects whether the door bumper quality is unqualified or qualified, and the door bumps can be classified and stored. The detection part 4 detects the signals of qualified and unqualified door bumps and transmits them to the manipulator, so that the manipulator can store the door bumpers in two positions. The technology of storing the door bumpers in two positions and adjusting according to different clamped objects is widely used in the current industrial automation and robotics fields.

[0036] The clamping part 3 includes two groups of symmetrical outer support frames 31, and two groups of inner support frames 32 for clamping movement are arranged between the two groups of outer support frames 31. The motor part 2 is used to drive the clamping movement of the two groups of inner support frames 32. The clamping movement is driven by the motor part 2 to realize the clamping movement of the door.

[0037] Two sets of outer support frames 31 are fixed to the end 1, and the inner and outer sides of the outer support frames 31 are respectively provided with a second guide groove 312 and a first guide groove 311 which are connected and arranged, the second guide groove 312 and the first guide groove 311 overlap, and the width of the first guide groove 311 is greater than the width of the second guide groove 312;

[0038] The inner support frame 32 is arranged in two halves, and the outer ends of the two halves of the inner support frame 32 are fixed with a connecting shaft 321 for connection, and the guide groove 1 311 is slidably provided with an outer connecting block 324, and the outer sides of the two halves of the inner support frame 32 are fixed with an inner connecting block 323, and a bolt is penetrated through the outer connecting block 324, and the bolt penetrates the guide groove 2 312 and is threadedly connected to the inner connecting block 323. The above-mentioned implementation of the installation of the inner support frame 32 enables the inner support frame 32 to perform a clamping movement, and the bolts on the outer connecting block 324 can be removed to separate the inner support frame 32. At the same time, the bolts on the outer connecting block 324 are used to adjust the tightness of the movement of the inner support frame 32. It is necessary to keep the inner support frame 32 at an appropriate tightness to avoid being too loose or too tight, and it is necessary to enable the inner support frame 32 to move;

[0039] A rack 322 is fixed on the outer wall of the connecting shaft 321, the output end of the motor part 2 is connected to the rotating shaft 21, and a driving gear 22 is fixed to the end of the rotating shaft 21. The driving gear 22 is meshed with the rack 322. The racks 322 connected to the two connecting shafts 321 are respectively located on both sides of the driving gear 22. Through the two racks 322, the inner support frames 32 on both sides can move to the same extent. When clamping, the door can be clamped as accurately as possible.

[0040] The axes of guide groove 2 312, guide groove 1 311 and inner support frame 32 all coincide with each other, so that during clamping movement, the movement is smoother and local jamming is avoided. The inner support frame 32 fits against the inner side of the arc of outer support frame 31, and the inner connecting block 323 fits against the inner side of the straight side of outer support frame 31, so that the inner support frame 32 moves along the outer support frame 31 and runs smoothly.

[0041] The detection part 4 includes multiple groups of detection frames for limiting the door impact, wherein the multiple groups of detection frames are respectively installed on the inner side of the arc of the outer support frame 31 and the inner sides of the two groups of inner support frames 32. The number of detection frames on the two groups of inner support frames 32 is the same, and when the two groups of inner support frames 32 are clamped, the multiple groups of detection frames are distributed in a circle with the same spacing distance. The door impact is clamped in the clamping part 3, and the detection frame of the detection part 4 is squeezed against the outer wall of the door impact. The squeezing direction is evenly distributed in a circle, so that the force on the door impact is stable and the local force is avoided to be too large, which may cause the door impact to deviate.

[0042] The detection frame on the outer support frame 31 includes a detection shaft 42, both ends of the detection shaft 42 are rotatably connected with a fastening plate 46, and the two fastening plates 46 are respectively fixed to the two groups of outer support frames 31, and the detection frame on the inner support frame 32 includes a detection shaft 41, both ends of the detection shaft 41 are rotatably connected with a fastening plate 45, and the two fastening plates 45 are respectively fixed to the two outer sides of the inner support frame 32, and the fastening plate 46 on one side and the outer side of the fastening plate 45 are fixed with a servo motor 43 for driving the detection shaft 42 and the detection shaft 41 to rotate, so that the detection shaft 42 can move when clamped, so that the detection shaft 41 and the detection shaft 42 are in a uniform circular distribution, and the force of squeezing the door in all directions is the same, so as to maintain the stability of the door and achieve clamping.

[0043] The detection shaft 2 42 and the detection shaft 1 41 are shaft-shaped, and the outer walls of both have a rubber layer for increasing resistance and preventing the door from falling. The outer walls of the detection shaft 2 42 and the detection shaft 1 41 are in contact with the door. The rubber layer on the outer walls of the detection shaft 2 42 and the detection shaft 1 41 has a certain elasticity and adaptability, and can be fine-tuned according to objects of different shapes and sizes to make the clamping tighter and closer, which not only improves the stability of the robot in clamping the door, but also enables the robot to handle door bumps that are slightly deformed or partially protruded or depressed.

[0044] The detection unit 4 further includes a plurality of pressure sensors 1 44, a plurality of pressure sensors 2 47 and a controller. The pressure sensor 1 44 is in a ring shape. The plurality of pressure sensors 1 44 are respectively fixedly sleeved on the outside of the detection shaft 2 42 and the detection shaft 1 41 for contact and compression with the door.

[0045] A plurality of pressure sensors 47 are respectively fixed on the outside of the two connecting shafts 321. When clamped, the pressure sensors 47 on the two connecting shafts 321 are pressed against each other.

[0046] The pressure sensor 1 44, the pressure sensor 2 47 and the servo motor 43 are all connected to the controller signal. During the clamping detection, the pressure sensor 1 44 and the pressure sensor 2 47 are both squeezed. After the pressure sensor 1 44 and the pressure sensor 2 47 are squeezed together, the controller controls the servo motor 43 to rotate, so that the door touch rotates. Among them, as long as one of the pressure sensor 1 44 and the pressure sensor 2 47 is not squeezed, it is detected as a defective product. The above-mentioned pressure sensor 1 44 and the pressure sensor 2 47 are used to detect the quality of the door touch. In the process of clamping the door touch, as long as one is not squeezed, it is detected as a defective product. When the pressure sensor 1 44 and the pressure sensor 2 47 are both squeezed, the controller can drive the servo motor 43 to rotate to achieve further detection, because the local position of the door touch cannot be detected, the door touch is staggered with the detection frame, and the rotated door touch can make the circumferential direction All detected, the detection is more comprehensive, after the servo motor 43 rotates, as long as one of the pressure sensor 1 44 and the pressure sensor 2 47 is not squeezed, it is also detected as a defective product.

[0047] The working principle of the present invention is as follows: the manipulator clamps the door bumper and transfers it. During the clamping process, the motor part 2 controls the driving gear 22 to rotate, and the racks 322 on both sides are acted upon to move to both sides respectively, so that the inner support frames 32 on both sides are in a clamping motion, the door bumper is clamped in the clamping part 3, and the door bumper is picked up and placed by the manipulator.

[0048] During clamping, the detection axis 1 41 and the detection axis 2 42 can fit with the door bumper to prevent the door bumper from slipping. At the same time, the detection axis 1 41 and the detection axis 2 42 can be set to rotate, so the door bumper first contacts the detection axis 1 41 and the detection axis 2 42. Even if the door bumper is not on the axis of the clamping part 3, the detection axis 1 41 pushes the door bumper under the clamping action and rotates itself to make the axis of the door bumper coincide with the axis of the clamping part 3, thereby clamping the door bumper and making the door bumper be in the best position as much as possible during each clamping.

[0049] In addition, the clamping part 3 is driven by the driving gear 22, and the two groups of inner support frames 32 move to the same extent, ensuring that the force applied by the manipulator on both sides when clamping the door bump is uniform and consistent, thereby achieving precise clamping of the object, helping to reduce the risk of damage or slipping of the door bump caused by uneven clamping force. At the same time, the clamping structure is simple and the risk of damage is reduced.

[0050] After clamping, the detection shaft 1 41 and the detection shaft 2 42 are squeezed with the door, so that the pressure sensor 1 44 on the detection shaft 1 41 and the detection shaft 2 42 is squeezed. In addition, after the clamping part 3 is clamped, the opening of the clamping part 3 is closed, that is, the two groups of connecting shafts 321 are squeezed against each other, so that the pressure sensor 2 47 is squeezed. If one or both of the pressure sensor 1 44 and the pressure sensor 2 47 are not squeezed, the door collision quality is unqualified.

[0051] If the pressure sensor 1 44 is not squeezed, the door diameter will be too small or the local position will be defective; if the pressure sensor 2 47 is not squeezed, the door diameter will be too large or the local position will be protruding.

[0052] After the door bumper is clamped, the pressure sensor 1 44 and the pressure sensor 2 47 are squeezed, and the controller drives the servo motor 43 to rotate. The door bumper is also rotated by the rotation action, and the outer wall of the door bumper in circular motion is detected. If the door bumper has a local unqualified position, one or both of the pressure sensor 1 44 and the pressure sensor 2 47 can be free from compression, then the quality of the door bumper is unqualified. The outer wall of the door bumper circle is detected, based on which the door bumper can be checked and calibrated while the robot clamps the door bumper for pick-up and placement.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetic door contact calibration robot, characterized in that: It comprises an end portion (1), a motor portion (2) and a clamping portion (3), wherein the motor portion (2) is installed in the end portion (1) and is used to control the clamping of the clamping portion (3), and the clamping portion (3) is connected to the end portion (1); The clamping portion (3) is provided with a detection portion (4) for checking and calibrating, and the detection portion (4) is rotatable. When the clamping portion (3) clamps the door bump, the detection portion (4) is pressed against the door bump and drives the door bump to rotate, thereby detecting defects of the door bump. The clamping portion (3) comprises two groups of symmetrical outer support frames (31), two groups of inner support frames (32) for performing clamping movements are arranged between the two groups of outer support frames (31), and the motor portion (2) is used to drive the two groups of inner support frames (32) to perform clamping movements; The two groups of the outer support frames (31) are fixed to the end portion (1), and the outer and inner sides of the outer support frames (31) are respectively provided with a second guide groove (312) and a first guide groove (311) which are connected to each other, the second guide groove (312) and the first guide groove (311) are overlapped, and the width of the first guide groove (311) is greater than the width of the second guide groove (312); The inner support frame (32) is provided in two halves, and a connecting shaft (321) for connection is fixed to the outer ends of the two halves of the inner support frame (32), and an outer connecting block (324) is slidably provided in the guide groove 1 (311), and an inner connecting block (323) is fixed to the outer sides of the two halves of the inner support frame (32), and a bolt is passed through the outer connecting block (324), and the bolt passes through the guide groove 2 (312) and is threadedly connected to the inner connecting block (323); A rack (322) is fixed on the outer wall of the connecting shaft (321); the output end of the motor part (2) is connected to a rotating shaft (21); a driving gear (22) is fixed to the end of the rotating shaft (21); the driving gear (22) is meshed with the rack (322); and the two racks (322) connected to the connecting shaft (321) are respectively located on both sides of the driving gear (22); The detection portion (4) comprises a plurality of detection frames for limiting the door impact, wherein the plurality of detection frames are respectively mounted on the inner side of the arc of the outer support frame (31) and the inner sides of the two groups of inner support frames (32), the number of detection frames on the two groups of inner support frames (32) is the same, and when the two groups of inner support frames (32) are clamped, the plurality of detection frames are distributed in a circle with the same spacing; The detection frame on the outer support frame (31) comprises a second detection shaft (42), both ends of the second detection shaft (42) are rotatably connected to a second fastening plate (46), and two pieces of the second fastening plates (46) are respectively fixed to the two sets of outer support frames (31); the detection frame on the inner support frame (32) comprises a first detection shaft (41), both ends of the first detection shaft (41) are rotatably connected to a first fastening plate (45), and the two pieces of the first fastening plates (45) are respectively fixed to the two outer sides of the inner support frame (32), and the outer sides of the second fastening plate (46) and the first fastening plate (45) on one side are both fixed with a servo motor (43) for driving the second detection shaft (42) and the first detection shaft (41) to rotate; The detection unit (4) further comprises a plurality of pressure sensors one (44), a plurality of pressure sensors two (47) and a controller, wherein the pressure sensor one (44) is in a circular ring shape, and the plurality of pressure sensors one (44) are respectively fixedly sleeved on the outside of the detection shaft two (42) and the detection shaft one (41) for contact and compression with the door; The plurality of second pressure sensors (47) are respectively fixed on the outside of the two connecting shafts (321), and when clamped, the second pressure sensors (47) on the two connecting shafts (321) are pressed against each other; The pressure sensor 1 (44), the pressure sensor 2 (47) and the servo motor (43) are all connected to the controller signal. During the clamping detection, both the pressure sensor 1 (44) and the pressure sensor 2 (47) are squeezed. After the pressure sensor 1 (44) and the pressure sensor 2 (47) are squeezed together, the controller controls the servo motor (43) to rotate, so that the door stopper rotates. If only one of the pressure sensor 1 (44) and the pressure sensor 2 (47) is not squeezed, it is detected as a defective product.

2. The magnetic door contact calibration robot according to claim 1 is characterized in that: The axes of the second guide groove (312), the first guide groove (311) and the inner support frame (32) are all coincident; the inner support frame (32) is fitted on the inner side of the arc of the outer support frame (31); and the inner connection block (323) is fitted on the inner side of the straight side of the outer support frame (31).

3. The magnetic door contact calibration robot according to claim 1 is characterized in that: The second detection shaft (42) and the first detection shaft (41) are shaft-shaped, and the outer walls of both have a rubber layer, and the outer walls of both are in contact with the door.

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