Simulation robot operation angle detection device and deviation correction detection system thereof

Abstract

The invention provides a simulation robot operation angle detection device and a deviation rectification detection system thereof, and relates to the technical field of industrial robot equipment, the simulation robot operation angle detection device comprises a shell, a sliding rail support is arranged in the shell, reset mechanisms are arranged at the two ends in the sliding rail support, and a detection mechanism is arranged in the sliding rail support. The detection mechanism is in telecommunication connection with the deviation correction detection system, the robot pushes the grip to pass through a mountain-shaped fluctuation at a constant speed, and stress data of a hand compensated by a taking-out algorithm in the process is obtained, so that the angular deviation of the hand of the robot is reflected; a plurality of joints of the robot arm are controlled to be calibrated, so that the working angle of the robot hand is calibrated; a real working scene can be simulated through a corridor channel detection equipment mode, passing is convenient and rapid, and the working efficiency of the robot is greatly improved as an effective mode for prolonging the operation and maintenance period of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot equipment, and in particular to a simulation robot operation angle detection device and a deviation correction detection system thereof. Background Art

[0002] The overall structure of the simulated humanoid robot can highly restore the movement of the human body, has a high degree of freedom, can achieve a variety of limb movements, and has flexible and coordinated movements. The more degrees of freedom the robot structure has, the higher the simulation index. While achieving freedom through numerous movable joints will inevitably lead to errors in the overall direction and angles of various parts of the robot after running for a period of time.

[0003] Most existing technologies obtain error data through visual inspection and sensor detection, and then compensate through algorithm-controlled operating actions. This is a solution that only treats the symptoms but not the root cause, resulting in shorter inspection and maintenance cycles and higher maintenance costs. Summary of the invention

[0004] In view of the above problems, the present invention provides a simulation robot operation angle detection device and a correction detection system thereof, the purpose of which is to solve the technical problem of correcting the angles of the entire robot and each active joint during the operation of the simulation robot proposed in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a simulation robot operation angle detection device, comprising a shell, a slide rail bracket is provided inside the shell, reset mechanisms are provided at both ends of the slide rail bracket, a detection mechanism is provided inside the slide rail bracket, and the detection mechanism is electrically connected to a deviation correction detection system.

[0006] Furthermore, the slide rail bracket includes a load-bearing frame, and mountain-shaped slide rails are symmetrically provided on both sides of the interior of the load-bearing frame. The two sides of the detection mechanism are respectively rollingly connected to the middle part of the mountain-shaped slide rails. The mountain-shaped slide rail includes a plurality of slide rail bodies, and the middle parts of the plurality of slide rail bodies are each provided with a starting straight section, one end of the starting straight section is connected to the lower end of the uphill section, the upper end of the uphill section is connected to one end of the crest straight section, the other end of the crest straight section is connected to the upper end of the downhill section, and the lower end of the downhill section is connected to one end of the correcting straight section.

[0007] Furthermore, the reset mechanism includes a reset moving unit, both sides of which are respectively arranged at the middle of the reset screw unit, a reset driving unit is respectively provided at both ends of the upper part of the multiple reset screw units, and both ends of the multiple reset screw units are respectively arranged on both sides of the interior of the slide rail bracket.

[0008] Furthermore, the reset moving unit includes a reset top plate, both ends of the reset top plate are respectively threadedly connected to the upper part of the reset screw unit, both ends of the bottom surface of the reset top plate are respectively provided with multiple vertical guide rods, the middle parts of the multiple vertical guide rods are respectively slidably connected to multiple detection connecting blocks, the multiple detection connecting blocks are respectively arranged on both sides of the detection mechanism, the lower ends of the multiple vertical guide rods are respectively provided with lower displacement blocks, and the multiple lower displacement blocks are respectively threadedly connected to the lower parts of the multiple reset screw units.

[0009] Furthermore, the reset screw unit includes an upper screw and a lower screw, the two ends of the upper screw and the lower screw are coaxially connected to the screw toothed belt pulleys, the adjacent screw toothed belt pulleys on the upper screw and the lower screw are connected through a toothed belt transmission, the two ends of the upper screw and the lower screw are rotatably connected to screw connecting blocks, and the multiple screw connecting blocks are respectively arranged at the two ends inside the slide rail bracket, and the two ends of the upper screw are coaxially connected to the reset drive unit.

[0010] Furthermore, the reset drive unit includes a reset motor, which is arranged on the top surface of the motor bracket, and the motor bracket is arranged on the top of the slide rail bracket. The output end of the reset motor is coaxially connected to two driving toothed belt wheels, and the two driving toothed belt wheels are respectively connected to the linkage toothed belt wheels through toothed belt transmission, and the two linkage toothed belt wheels are respectively coaxially connected to the upper end of the reset screw unit.

[0011] Furthermore, the detection mechanism includes a detection bracket, both sides of which are arranged on both sides of the middle part of the reset mechanism, a plurality of sliding units are symmetrically arranged on both sides of the detection bracket, and arm sensing units and waist clamping units are symmetrically arranged on both sides of the interior of the detection bracket.

[0012] Furthermore, the sliding unit includes a sliding wheel group, which is rollingly connected to the inner middle part of the sliding rail bracket, one side of the sliding wheel group is rotationally connected to one end of the connecting shaft block, the other end of the connecting shaft block is pin-connected to the middle part of the wheel group bracket, and one side of the wheel group bracket is arranged on one side of the detection bracket.

[0013] Furthermore, the arm sensing unit includes a handle, one end of which is provided with a vertical pressure sensor and a horizontal pressure sensor in sequence; the waist clamping unit includes a clamping shaft, both ends of which are rotatably connected to the middle part of one side of the detection bracket, one side of the clamping shaft is provided with a clamping arm, one end of the clamping arm is provided with a clamping head, the middle part of the clamping arm is rotatably connected to the execution end of the clamping telescopic cylinder, and the other end of the clamping telescopic cylinder is provided at the middle part of one side of the detection bracket.

[0014] According to the above technical scheme, a simulation robot operation angle correction detection system will also be provided, including a data receiving module, a data analysis module, a correction module, an instruction module and a reset control unit. The data receiving module is electrically connected to the arm sensing unit, the reset motor and the operation data of the robot. The data receiving module is used to receive the real-time data acquired by the vertical pressure sensor and the horizontal pressure sensor in the arm sensing unit, as well as the step data of the reset motor and the operation data of the robot; the data analysis module is used to determine the angle of the robot arm according to the acquired data; the correction module formulates a correction strategy according to the result determined by the data analysis module; the instruction module remotely controls the robot and controls the joint movements of the robot to complete the correction; the reset control unit is used to control the start of the reset motor in the reset mechanism.

[0015] Compared with the prior art, the present invention has the following beneficial effects: By letting the robot push the handle and pass through a mountain-shaped undulation at a constant speed, the force data of the hand after algorithm compensation is obtained in this process, thereby reflecting the angle deviation of the robot's hand; then, by controlling the calibration of multiple joints of the robot arm, the working angle of the robot's hand is calibrated; the detection equipment in the corridor can simulate the real work scene and pass through quickly and conveniently. As an effective way to extend the robot's operation and maintenance cycle, it greatly improves the robot's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the appearance structure of the present invention; Figure 2 It is a schematic cross-sectional view of the internal structure of the present invention; Figure 3 It is a schematic diagram of the internal structure of the present invention; Figure 4 It is a schematic diagram of the structure of the slide rail bracket of the present invention; Figure 5 This is a schematic diagram of the disassembly of the slide rail support structure of the present invention; Figure 6 It is a schematic diagram of the structure of the reset mechanism of the present invention; Figure 7 It is a schematic diagram of the disassembly of the reset mechanism structure of the present invention; Figure 8 It is a schematic diagram of the structure of the reset mobile unit of the present invention; Fig. 9 It is a schematic diagram of the structure of the reset screw unit of the present invention; Fig.10 It is a schematic diagram of the structure of the reset drive unit of the present invention; Fig.11 It is a schematic diagram of the structure of the detection mechanism of the present invention; Fig.12 It is a schematic diagram of the structural disassembly of the detection mechanism of the present invention; Fig.13 It is a schematic diagram of the disassembly of the sliding unit structure of the present invention; Fig.14 It is a schematic diagram of the structure of the waist clamping unit of the present invention.

[0017] In the figure: 1. housing; 2. rail bracket; 21. load-bearing frame; 22. mountain rail; 221. rail body; 222. starting straight section; 223. uphill section; 224. wave crest straight section; 225. downhill section; 226. correction straight section; 3. reset mechanism; 31. reset moving unit; 311. reset top plate; 312. vertical guide rod; 313. detection connection block; 314. lower displacement block; 32. reset screw unit; 321. upper screw; 322. screw toothed belt wheel; 323. lower screw; 324. screw connection block ; 33. Reset drive unit; 331. Reset motor; 332. Motor bracket; 333. Drive toothed pulley; 334. Linked toothed pulley; 4. Detection mechanism; 41. Detection bracket; 42. Sliding unit; 421. Sliding wheel set; 422. Connecting shaft block; 423. Wheel set bracket; 43. Arm sensing unit; 431. Handle; 432. Vertical pressure sensor; 433. Horizontal pressure sensor; 44. Waist clamping unit; 441. Clamping shaft; 442. Clamping arm; 443. Chuck; 444. Clamping telescopic cylinder. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0019] The following describes an embodiment of the present invention based on its overall structure.

[0020] For example, please refer to Figure 1-3 The simulation robot operation angle detection device comprises a shell 1, a slide rail bracket 2 is arranged inside the shell 1, reset mechanisms 3 are arranged at both ends of the slide rail bracket 2, a detection mechanism 4 is arranged inside the slide rail bracket 2, and the detection mechanism 4 is connected to the correction detection system by telecommunication.

[0021] For example, please refer to Figure 4-5The slide rail bracket 2 includes a load-bearing frame 21, and mountain-shaped slide rails 22 are symmetrically arranged on both sides of the load-bearing frame 21. The two sides of the detection mechanism 4 are respectively rollingly connected to the middle of the mountain-shaped slide rail 22. The mountain-shaped slide rail 22 includes a plurality of slide rail bodies 221, and the middle of the plurality of slide rail bodies 221 are each provided with a starting straight section 222. One end of the starting straight section 222 is connected to the lower end of the uphill section 223, and the upper end of the uphill section 223 is connected to one end of the crest straight section 224, and the other end of the crest straight section 224 is connected to the downhill section 225. The lower end of the downhill section 225 is connected to one end of the correcting straight section 226. This design forms an obstacle for the robot to push and grip through through multiple mountain-shaped slide rails 22 arranged in parallel. The starting straight section 222 detects the hand angle of the robot when exerting force horizontally, the uphill section 223 simulates the hand angle when pushing upward, the crest straight section 224 simulates the hand angle when lifting at a high position, the downhill section 225 simulates the hand angle when lifting and slowly descending, and the correcting straight section 226 continuously detects the hand angle during and after the correction.

[0022] For example, please refer to Figure 6-10The reset mechanism 3 includes a reset moving unit 31, both sides of the reset moving unit 31 are respectively arranged at the middle of the reset screw unit 32, and the upper ends of the multiple reset screw units 32 are respectively provided with reset driving units 33, and the two ends of the multiple reset screw units 32 are respectively arranged on both sides of the interior of the slide rail bracket 2. The reset moving unit 31 includes a reset top plate 311, and the two ends of the reset top plate 311 are respectively threadedly connected to the upper part of the reset screw unit 32, and the two ends of the bottom surface of the reset top plate 311 are respectively provided with a plurality of vertical guide rods 312, and the middle parts of the multiple vertical guide rods 312 are respectively slidably connected to a plurality of detection connection blocks. 313, a plurality of detection connection blocks 313 are respectively arranged on both sides of the detection mechanism 4, a plurality of lower displacement blocks 314 are respectively arranged at the lower ends of the plurality of vertical guide rods 312, and a plurality of lower displacement blocks 314 are respectively threadedly connected to the lower parts of the plurality of reset screw units 32, the reset screw unit 32 comprises an upper screw 321 and a lower screw 323, the ends of the upper screw 321 and the lower screw 323 are respectively coaxially connected to the screw toothed belt pulley 322, the screw toothed belt pulley 322 on the upper screw 321 and the lower screw 323 is connected by a toothed belt transmission, and the ends of the upper screw 321 and the lower screw 323 are respectively rotatably connected The screw connecting blocks 324 are respectively arranged at the two ends of the inner part of the slide rail bracket 2, and the two ends of the upper screw 321 are respectively coaxially connected to the reset drive unit 33, and the reset drive unit 33 includes a reset motor 331, and the reset motor 331 is arranged on the top surface of the motor bracket 332, and the motor bracket 332 is arranged on the top of the slide rail bracket 2. The output end of the reset motor 331 is coaxially connected to two driving toothed belt wheels 333, and the two driving toothed belt wheels 333 are respectively connected to the linkage toothed belt wheels 334 through toothed belt transmission, and the two linkage toothed belt wheels 334 are respectively coaxially connected to the reset screw unit 32 At the upper end of the robot, this design drives the two driving toothed pulleys 333 to rotate through the reset motor 331, and then drives the upper screw 321 to rotate through the two linked toothed pulleys 334, and then drives the two lower screws 323 to rotate synchronously, and drives the reset moving unit 31 to move along the direction of the four screws through the threaded cooperation between the reset moving unit 31 and the two upper screws 321 and the two lower screws 323; in the process of the robot passing the detection, the forward resistance of the detection mechanism 4 to the robot detection is controlled by adjusting the speed of the reset motor 331, and the position of the detection operation is obtained by decoding the motor; when the detection is completed, the detection mechanism 4 is driven back to the initial position.

[0023] For example, please refer to Figure 11-14The detection mechanism 4 includes a detection bracket 41, and the two sides of the detection bracket 41 are arranged on both sides of the middle part of the reset mechanism 3. A plurality of sliding units 42 are symmetrically arranged on both sides of the detection bracket 41. The inner sides of the detection bracket 41 are symmetrically provided with arm sensing units 43 and waist clamping units 44. The sliding unit 42 includes a sliding wheel group 421, and the sliding wheel group 421 is rollingly connected to the inner middle part of the slide rail bracket 2. One side of the sliding wheel group 421 is rotatably connected to one end of the connecting shaft block 422, and the other end of the connecting shaft block 422 is connected to the middle part of the wheel group bracket 423 by a latch. One side of the wheel group bracket 423 is arranged on one side of the detection bracket 41. The arm sensing unit 43 includes a handle 431, and one end of the handle 431 is sequentially provided with a vertical pressure sensor 432 and a horizontal pressure sensor 433; the waist clamping unit 44 includes a sliding wheel group 421. The invention comprises a clamping shaft 441, both ends of which are rotatably connected to the middle part of one side of the detection bracket 41, a clamping arm 442 is provided on one side of the clamping shaft 441, one end of the clamping arm 442 is provided with a chuck 443, the middle part of the clamping arm 442 is rotatably connected to the execution end of the clamping telescopic cylinder 444, and the other end of the clamping telescopic cylinder 444 is provided at the middle part of one side of the detection bracket 41. This design ensures that the detection bracket 41 can stably slide along the multiple mountain-shaped slide rails 22 through multiple sliding units 42, and simultaneously obtains the real-time force data of the robot hand through the vertical pressure sensor 432 and the horizontal pressure sensor 433 in the arm sensing unit 43; when the detection is completed, the clamping telescopic cylinder 444 drives the clamping arm 442 to rotate, and clamps the waist of the robot through two chucks 443, so as to reduce the force on the robot arm and facilitate the movement of the joints during the correction process.

[0024] An embodiment, a simulation robot operation angle correction detection system includes a data receiving module, a data analysis module, a correction module, an instruction module and a reset control unit, wherein the data receiving module is telecommunication-connected to the arm sensing unit 43 and the data receiving module is used to receive the real-time data acquired by the vertical pressure sensor 432 and the horizontal pressure sensor 433 in the arm sensing unit 43, and the step data of the reset motor 331; the data analysis module is used to determine the angle of the robot arm according to the acquired data; the correction module formulates a correction strategy according to the result determined by the data analysis module; the instruction module remotely controls the robot and controls the joint movements of the robot to complete the correction; the reset control unit is used to control the start of the reset motor 331 in the reset mechanism 3.

[0025] Operation principle: First, the robot enters from one end of the slide rail bracket 2, holds the handle 431 with both hands, and starts to move toward the other end of the slide rail bracket 2. At the same time, the data receiving module starts to receive the real-time data obtained by the vertical pressure sensor 432 and the horizontal pressure sensor 433, as well as the step data of the reset motor 331; during the robot's advance, multiple mountain-shaped slide rails 22 arranged in parallel form obstacles for the robot to push and pass through, the starting straight section 222 detects the hand angle of the robot when exerting force horizontally, the uphill section 223 simulates the hand angle when pushing upward, the wave peak straight section 224 simulates the hand angle when lifting at a high position, and the downhill section 225 simulates the hand angle when lifting and slowly descending. In this process, The forward resistance of the detection mechanism 4 during detection of the robot is controlled by adjusting the rotation speed of the reset motor 331; after passing the downhill section 225, the data analysis module determines the angle of the robot arm based on the acquired data, and the correction module formulates a correction strategy based on the result determined by the data analysis module, namely, the multi-axis rotation adjustment of the robot arm joint; the clamping telescopic cylinder 444 drives the clamping arm 442 to rotate, and the waist of the robot is clamped by two clamps 443 to reduce the force on the robot arm and facilitate the movement of the joints during the correction process; the hand angle is continuously detected during and after the correction process through the correction straight section 226; finally, the robot leaves, and the reset mechanism 3 drives the detection mechanism 4 back to the initial position, and the process is completed.

[0026] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A simulation robot operation angle detection device, comprising a housing (1), characterized in that: A slide rail bracket (2) is provided inside the housing (1), reset mechanisms (3) are provided at both ends of the slide rail bracket (2), a detection mechanism (4) is provided inside the slide rail bracket (2), and the detection mechanism (4) is connected to a telecommunications deviation correction detection system.

2. The simulation robot operation angle detection device according to claim 1, characterized in that: The slide rail bracket (2) comprises a load-bearing frame (21), and mountain-shaped slide rails (22) are symmetrically arranged on both sides of the interior of the load-bearing frame (21). Both sides of the detection mechanism (4) are respectively rollingly connected to the middle of the mountain-shaped slide rail (22). The mountain-shaped slide rail (22) comprises a plurality of slide rail bodies (221), and a starting straight section (222) is arranged in the middle of each of the plurality of slide rail bodies (221). One end of the starting straight section (222) is connected to the lower end of the uphill section (223), the upper end of the uphill section (223) is connected to one end of the wave crest straight section (224), the other end of the wave crest straight section (224) is connected to the upper end of the downhill section (225), and the lower end of the downhill section (225) is connected to one end of the correcting straight section (226).

3. The simulation robot operation angle detection device according to claim 1, characterized in that: The reset mechanism (3) comprises a reset moving unit (31), two sides of the reset moving unit (31) are respectively arranged at the middle of a reset screw unit (32), two ends of the upper parts of a plurality of reset screw units (32) are respectively provided with reset driving units (33), and two ends of the plurality of reset screw units (32) are respectively arranged at two sides inside the slide rail bracket (2).

4. The simulation robot operation angle detection device according to claim 3, characterized in that: The reset moving unit (31) comprises a reset top plate (311), the two ends of the reset top plate (311) are respectively threadedly connected to the upper part of the reset screw unit (32), the two ends of the bottom surface of the reset top plate (311) are respectively provided with a plurality of vertical guide rods (312), the middle parts of the plurality of vertical guide rods (312) are respectively slidably connected to a plurality of detection connection blocks (313), the plurality of detection connection blocks (313) are respectively arranged on both sides of the detection mechanism (4), the lower ends of the plurality of vertical guide rods (312) are respectively provided with lower displacement blocks (314), and the plurality of lower displacement blocks (314) are respectively threadedly connected to the lower parts of the plurality of reset screw units (32).

5. The simulation robot operation angle detection device according to claim 3, characterized in that: The reset screw unit (32) comprises an upper screw (321) and a lower screw (323); the two ends of the upper screw (321) and the lower screw (323) are respectively coaxially connected to a screw toothed belt wheel (322); the screw toothed belt wheels (322) on the upper screw (321) and the lower screw (323) are connected via a toothed belt transmission; the two ends of the upper screw (321) and the lower screw (323) are respectively rotatably connected to a screw connecting block (324); a plurality of the screw connecting blocks (324) are respectively arranged at the two ends inside the slide rail bracket (2); and the two ends of the upper screw (321) are respectively coaxially connected to the reset drive unit (33).

6. The simulation robot operation angle detection device according to claim 3, characterized in that: The reset drive unit (33) comprises a reset motor (331), the reset motor (331) being arranged on the top surface of a motor bracket (332), the motor bracket (332) being arranged on the top of the slide rail bracket (2), the output end of the reset motor (331) being coaxially connected to two driving toothed belt wheels (333), the two driving toothed belt wheels (333) being respectively connected to linkage toothed belt wheels (334) through toothed belt transmission, and the two linkage toothed belt wheels (334) being respectively coaxially connected to one end of the upper portion of the reset screw unit (32).

7. The simulation robot operation angle detection device according to claim 1, characterized in that: The detection mechanism (4) comprises a detection bracket (41), the two sides of the detection bracket (41) being arranged on the two sides of the middle part of the reset mechanism (3), a plurality of sliding units (42) being symmetrically arranged on the two sides of the detection bracket (41), and arm sensing units (43) and waist clamping units (44) being symmetrically arranged on the two sides of the interior of the detection bracket (41).

8. The simulation robot operation angle detection device according to claim 7, characterized in that: The sliding unit (42) comprises a sliding wheel group (421), the sliding wheel group (421) is rollingly connected to the middle part of the inner side of the slide rail bracket (2), one side of the sliding wheel group (421) is rotationally connected to one end of a connecting shaft block (422), the other end of the connecting shaft block (422) is connected to the middle part of a wheel group bracket (423) by a latch, and one side of the wheel group bracket (423) is arranged on one side of the detection bracket (41).

9. The simulation robot operation angle detection device according to claim 7, characterized in that: The arm sensing unit (43) comprises a handle (431), one end of which is provided with a vertical pressure sensor (432) and a horizontal pressure sensor (433) in sequence; the waist clamping unit (44) comprises a clamping shaft (441), both ends of which are rotatably connected to the middle part of one side of the detection bracket (41), one side of the clamping shaft (441) is provided with a clamping arm (442), one end of the clamping arm (442) is provided with a clamping head (443), the middle part of the clamping arm (442) is rotatably connected to the execution end of a clamping telescopic cylinder (444), and the other end of the clamping telescopic cylinder (444) is provided at the middle part of one side of the detection bracket (41).

10. A simulation robot operation angle correction detection system, using the simulation robot operation angle detection device according to claims 1 to 9, characterized in that: The invention comprises a data receiving module, a data analysis module, a correction module, an instruction module and a reset control unit. The data receiving module is connected to the arm sensing unit (43), the reset motor (331) and the operation data of the robot by telecommunication. The data receiving module is used to receive the real-time data acquired by the vertical pressure sensor (432) and the horizontal pressure sensor (433) in the arm sensing unit (43), the stepping data of the reset motor (331), and the operation data of the robot. The data analysis module is used to determine the angle of the robot arm according to the acquired data. The correction module formulates a correction strategy according to the result determined by the data analysis module. The instruction module remotely controls the robot to control the joint movement of the robot, thereby completing the deviation correction. The reset control unit is used to control the start of the reset motor (331) in the reset mechanism (3).

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