Robot debugging device

Abstract

The invention discloses a robot debugging device, which relates to the technical field related to robot debugging, can realize accurate movement of a debugging and positioning probe in a three-dimensional space through precise matching of three groups of linear guide rails and a one-way driving arm, and ensures that the probe can accurately reach a preset coordinate position through the design. The three groups of one-way driving arms are arranged on the base, so that the three groups of one-way driving arms are accurately contacted with the arms of the industrial robot, a reliable reference point is provided for debugging, and the positioning accuracy of the industrial robot can be accurately evaluated and adjusted by comparing the movement position of the industrial robot with the deviation of a debugging positioning probe. By means of the design, it is ensured that when one linear guide rail drives the positioning table to move, the other two one-way driving arms do not interfere with each other, the debugging positioning probe can conveniently move to any three-dimensional coordinate position within the range through the design, and higher flexibility and adaptability are provided for debugging.

Description

Technical Field

[0001] The present invention relates to the technical field related to robot debugging, and in particular to a robot debugging device. Background Art

[0002] Industrial robots, as key equipment in modern automated production lines, are widely used in many fields such as automobile manufacturing, electronic assembly, food processing, material handling, welding and spraying. With their efficient, precise and repeatable operating characteristics, they have greatly improved production efficiency and quality. However, with the continuous advancement of industrial technology and the increasing precision requirements of the manufacturing industry, the rotation and positioning accuracy of industrial robots has become an important indicator to measure their performance. The accuracy of industrial robots directly affects the quality, production efficiency and cost of products. If the positioning of the robot is inaccurate, it may lead to product defects, production line shutdowns, and even more serious safety accidents. Therefore, regular debugging and maintenance of industrial robots to ensure that their rotation and positioning accuracy are in the best state is a necessary link to ensure smooth production.

[0003] Traditional industrial robot debugging methods mainly rely on manual measurement and calibration. This method is not only time-consuming and labor-intensive, but also limited by human errors and difficult to achieve high-precision requirements. In addition, traditional methods can often only calibrate the robot at a single point or a limited number of points, and cannot fully evaluate the robot's motion and positioning accuracy in three-dimensional space. For complex production line environments, especially scenarios that require robots to perform high-precision operations over a large range and at multiple angles, traditional debugging methods are unable to cope with the situation. Summary of the invention

[0004] The purpose of the present invention is to provide a robot debugging device to solve the problem that the traditional debugging device proposed in the above background can only calibrate the robot at a single point or a limited number of points and cannot comprehensively evaluate the movement and positioning accuracy of the robot in three-dimensional space.

[0005] To achieve the above object, the present invention provides the following technical solutions: a robot debugging device, comprising a robot positioning and debugging seat, on which an industrial robot to be debugged is fixedly mounted, and a three-dimensional positioning debugger is arranged on one side of the robot positioning and debugging seat;

[0006] The robot positioning and debugging seat comprises a mobile debugging plate, a robot connecting flange is fixedly connected to the top of the mobile debugging plate, the industrial robot is fixedly connected to the robot connecting flange by bolts, and the four corners of the mobile debugging plate are rotatably connected to a first driving arm, a second driving arm, a third driving arm and a fourth driving arm, and the first driving arm, the second driving arm, the third driving arm and the fourth driving arm cooperate to drive the mobile debugging plate to rotate and move;

[0007] The three-dimensional positioning debugger consists of three groups of guide rails, which are the first guide rail, the second guide rail and the third guide rail. The first guide rail is movably connected to the positioning platform through a first unidirectional driving arm, the second guide rail is movably connected to the positioning platform through a second unidirectional driving arm, and the third guide rail is movably connected to the positioning platform through a third unidirectional driving arm. A debugging positioning probe is fixedly connected to the positioning platform.

[0008] Furthermore, the first driving arm includes a first driven arm rotationally connected to a corner of a mobile debugging disk via a rotating shaft, the first driven arm rotationally connected to a first active arm via a rotating shaft, a corner of the robot positioning and debugging seat is fixedly connected to a first rotary motor, and the first active arm is fixedly connected to an output shaft of the first rotary motor.

[0009] Furthermore, the second driving arm includes a second driven arm rotationally connected to a corner of the mobile debugging disk via a rotating shaft, the second driven arm is rotationally connected to a second active arm via a rotating shaft, a second rotary motor is fixedly connected to a corner of the robot positioning and debugging seat, and the second active arm is fixedly connected to an output shaft of the second rotary motor.

[0010] Furthermore, the third driving arm includes a third driven arm rotationally connected to a corner of the mobile debugging disk through a rotating shaft, the third driven arm is rotationally connected to a third active arm through a rotating shaft, a corner of the robot positioning and debugging seat is fixedly connected to a third rotary motor, and the third active arm is fixedly connected to the output shaft of the third rotary motor.

[0011] Furthermore, the fourth driving arm includes a fourth driven arm rotationally connected to a corner of the mobile debugging disk through a rotating shaft, the fourth driven arm is rotationally connected to a fourth active arm through a rotating shaft, a corner of the robot positioning and debugging seat is fixedly connected to a fourth rotary motor, and the fourth active arm is fixedly connected to the output shaft of the fourth rotary motor.

[0012] Further, the first guide rail includes a first linear guide rail, a first slider is slidably connected to the first linear guide rail, a first linear motor is arranged at one end of the first linear guide rail, the first linear motor is used to drive the first slider to move along the first linear guide rail, the first unidirectional driving arm is rotatably connected to the first slider, the first unidirectional driving arm includes a first folding arm, the first folding arm is rotatably connected to the first slider, a first transverse rotating axis is arranged between the first folding arm and the first slider, the first folding arm is also rotatably connected to the second folding arm via the second transverse rotating axis, a third transverse rotating axis is arranged on the positioning platform, and the second folding arm is rotatably connected to the positioning platform via the third transverse rotating axis.

[0013] Furthermore, the second guide rail includes a second linear guide, the second linear guide is perpendicular to the first linear guide, a second slider is slidably connected to the second linear guide, a second linear motor is provided at one end of the second linear guide, the second linear motor is used to drive the second slider to move along the second linear guide, the second unidirectional driving arm is rotatably connected to the second slider, the second unidirectional driving arm includes a third folding arm, the third folding arm is rotatably connected to the second slider, a first longitudinal rotation axis is provided between the third folding arm and the second slider, the third folding arm is also rotatably connected to the second folding arm via a second transverse rotation axis, a third longitudinal rotation axis is provided on the positioning platform, and the second folding arm is rotatably connected to the positioning platform via the third longitudinal rotation axis.

[0014] Furthermore, the third guide rail includes a third linear guide, the third linear guide is perpendicular to the first linear guide and the second linear guide, a third slider is slidably connected to the third linear guide, a third linear motor is provided at one end of the third linear guide, the third linear motor is used to drive the third slider to move along the third linear guide, the third unidirectional driving arm is rotatably connected to the third slider, the third unidirectional driving arm includes a fifth folding arm, the fifth folding arm is rotatably connected to the third slider, a first vertical rotation axis is provided between the fifth folding arm and the third slider, the fifth folding arm is also rotatably connected to the sixth folding arm via the second vertical rotation axis, a third vertical rotation axis is provided on the positioning platform, and the sixth folding arm is rotatably connected to the positioning platform via the third vertical rotation axis.

[0015] Furthermore, the first transverse rotation axis, the second transverse rotation axis and the third transverse rotation axis are parallel to each other, the first longitudinal rotation axis, the second longitudinal rotation axis and the third longitudinal rotation axis are parallel to each other, and the first vertical rotation axis, the second vertical rotation axis and the third vertical rotation axis are parallel to each other.

[0016] Furthermore, the third transverse rotation axis, the third longitudinal rotation axis and the third vertical rotation axis are perpendicular to each other, and the third transverse rotation axis is parallel to the X-axis, the third longitudinal rotation axis is parallel to the Y-axis, and the third vertical rotation axis is parallel to the Z-axis.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. A robot debugging device proposed in the present invention can realize the precise movement of the debugging positioning probe in three-dimensional space through the precise cooperation of three sets of linear guides and unidirectional drive arms. This design ensures that the probe can accurately reach the predetermined coordinate position, thereby making precise contact with the industrial robot arm, providing a reliable reference point for debugging. By comparing the deviation between the moving position of the industrial robot and the debugging positioning probe, accurate evaluation and adjustment of the positioning accuracy of the industrial robot can be achieved.

[0019] 2. The present invention proposes a robot debugging device, in which three groups of unidirectional driving arms rotate in perpendicular directions to each other, ensuring that when one group of linear guide rails drives the positioning platform to move, the other two groups of unidirectional driving arms will not interfere with each other. This design enables the debugging positioning probe to be easily moved to any three-dimensional coordinate position within the range, providing greater flexibility and adaptability for debugging. Whether it is simple single-point calibration or complex spatial trajectory debugging, the device can easily cope with it. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the installation structure of an industrial robot of a robot debugging device of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a robot debugging device of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the robot positioning and debugging seat of the present invention;

[0023] Figure 4 It is a schematic diagram of the structures of the first driving arm, the second driving arm, the third driving arm and the fourth driving arm of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the three-dimensional positioning debugger of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the first guide rail and the first unidirectional driving arm of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the second guide rail and the second unidirectional driving arm of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the third guide rail and the third unidirectional driving arm of the present invention.

[0028] Numbers in the figure: 1. Robot positioning and debugging seat; 2. Industrial robot; 3. Three-dimensional positioning and debugging device; 4. Mobile debugging plate; 401. Robot connecting flange; 5. First driving arm; 501. First slave arm; 502. First active arm; 503. First rotary motor; 6. Second driving arm; 601. Second slave arm; 602. Second active arm; 603. Second rotary motor; 7. Third driving arm; 701. Third slave arm; 702. Third active arm; 703. Third rotary motor; 8. Fourth driving arm; 801. Fourth slave arm; 802. Fourth active arm; 803. Fourth rotary motor; 9. First guide rail; 901. First linear guide rail; 902. First slider; 903. First linear motor; 10. First unidirectional driving arm; 1001. First folding arm; 1002. First lateral rotation axis; 1003, second lateral rotation axis; 1004, second folding arm; 11, positioning table; 1101, debugging and positioning probe; 1102, third lateral rotation axis; 1103, third longitudinal rotation axis; 1104, third vertical rotation axis; 12, second guide rail; 1201, second linear guide rail; 1202, second slider; 1203, second linear motor; 13, second unidirectional drive arm; 1301, third folding arm; 1302, first longitudinal rotation axis; 1303, second longitudinal rotation axis; 1304, fourth folding arm; 14, third guide rail; 1401, third linear guide rail; 1402, third slider; 1403, third linear motor; 15, third unidirectional drive arm; 1501, fifth folding arm; 1502, first vertical rotation axis; 1503, second vertical rotation axis; 1504, sixth folding arm. DETAILED DESCRIPTION

[0029] 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.

[0030] like Figure 1 As shown, a robot debugging device includes a robot positioning and debugging seat 1, an industrial robot 2 to be debugged is fixedly mounted on the robot positioning and debugging seat 1, and a three-dimensional positioning debugger 3 on one side of the robot positioning and debugging seat 1 is used to debug the positioning accuracy of the industrial robot 2.

[0031] like Figure 2 - Figure 4As shown, the robot positioning and debugging seat 1 includes a mobile debugging disk 4, a robot connecting flange 401 is fixedly connected to the top of the mobile debugging disk 4, the industrial robot 2 is fixedly connected to the robot connecting flange 401 by bolts, and the four corners of the mobile debugging disk 4 are rotatably connected with a first driving arm 5, a second driving arm 6, a third driving arm 7 and a fourth driving arm 8, and the first driving arm 5, the second driving arm 6, the third driving arm 7 and the fourth driving arm 8 cooperate to drive the mobile debugging disk 4 to rotate and move.

[0032] like Figure 3 and Figure 4 As shown, the first driving arm 5 includes a first driven arm 501, which is rotatably connected to a corner of the mobile debugging disk 4 through a rotating shaft, and the first driven arm 501 is rotatably connected to a first active arm 502 through a rotating shaft, and a first rotary motor 503 is fixedly connected to a corner of the robot positioning and debugging seat 1, and the first active arm 502 is fixedly connected to the output shaft of the first rotary motor 503. The first rotary motor 503 can drive the first active arm 502 to rotate, and then drive the first driven arm 501 to move, so as to push or pull the mobile debugging disk 4.

[0033] like Figure 3 and Figure 4 As shown, the second driving arm 6 includes a second driven arm 601, which is rotatably connected to a corner of the mobile debugging disk 4 through a rotating shaft, and the second driven arm 601 is rotatably connected to a second active arm 602 through a rotating shaft, and a second rotary motor 603 is fixedly connected to a corner of the robot positioning and debugging seat 1, and the second active arm 602 is fixedly connected to the output shaft of the second rotary motor 603. The second rotary motor 603 can drive the second active arm 602 to rotate, and then drive the second driven arm 601 to move, so as to push or pull the mobile debugging disk 4.

[0034] like Figure 3 and Figure 4 As shown, the third driving arm 7 includes a third driven arm 701, which is rotatably connected to a corner of the mobile debugging disk 4 through a rotating shaft, and the third driven arm 701 is rotatably connected to a third active arm 702 through a rotating shaft, and a third rotary motor 703 is fixedly connected to a corner of the robot positioning and debugging seat 1, and the third active arm 702 is fixedly connected to the output shaft of the third rotary motor 703. The third rotary motor 703 can drive the third active arm 702 to rotate, and then drive the third driven arm 701 to move, so as to push or pull the mobile debugging disk 4.

[0035] like Figure 3 and Figure 4As shown, the fourth driving arm 8 includes a fourth driven arm 801, which is rotatably connected to a corner of the mobile debugging disk 4 through a rotating shaft, and the fourth driven arm 801 is rotatably connected to a fourth active arm 802 through a rotating shaft, and a fourth rotary motor 803 is fixedly connected to a corner of the robot positioning and debugging seat 1, and the fourth active arm 802 is fixedly connected to the output shaft of the fourth rotary motor 803. The fourth rotary motor 803 can drive the fourth active arm 802 to rotate, and then drive the fourth driven arm 801 to move, so as to push or pull the mobile debugging disk 4.

[0036] like Figure 2 , Figure 3 and Figure 4 As shown, the first driving arm 5, the second driving arm 6, the third driving arm 7 and the fourth driving arm 8 cooperate with each other and can freely drive the mobile debugging disk 4 to accurately move to any coordinate within the range, and can rotate freely within a limited angle. During debugging, the industrial robot 2 body can be driven to move and rotate to test the positioning accuracy of the industrial robot 2 in a moving state and perform debugging.

[0037] like Figure 5 and Figure 6 As shown, the three-dimensional positioning debugger 3 is composed of three groups of guide rails, which are a first guide rail 9 , a second guide rail 12 and a third guide rail 14 . The first guide rail 9 is movably connected to a positioning platform 11 through a first unidirectional driving arm 10 . The first guide rail 9 includes a first linear guide rail 901, on which a first slider 902 is slidably connected, a first linear motor 903 is provided at one end of the first linear guide rail 901, and the first linear motor 903 is used to drive the first slider 902 to move along the first linear guide rail 901, a first unidirectional driving arm 10 is rotatably connected to the first slider 902, the first unidirectional driving arm 10 includes a first folding arm 1001, the first folding arm 1001 is rotatably connected to the first slider 902, a first transverse rotating axis 1002 is provided between the first folding arm 1001 and the first slider 902, the first folding arm 1001 is also rotatably connected to the second folding arm 1004 via the second transverse rotating axis 1003, a third transverse rotating axis 1102 is provided on the positioning platform 11, and the second folding arm 1004 is rotatably connected to the positioning platform 11 via the third transverse rotating axis 1102. In this way, the first linear motor 903 can drive the first slider 902 to move along the first linear guide rail 901 , and the first slider 902 can also drive the positioning platform 11 to move along the first linear guide rail 901 through the first unidirectional driving arm 10 .

[0038] like Figure 5 and Figure 7As shown, the second guide rail 12 is movably connected to the positioning platform 11 through a second unidirectional driving arm 13 . The second guide rail 12 includes a second linear guide rail 1201, which is perpendicular to the first linear guide rail 901. A second slider 1202 is slidably connected to the second linear guide rail 1201. A second linear motor 1203 is provided at one end of the second linear guide rail 1201. The second linear motor 1203 is used to drive the second slider 1202 to move along the second linear guide rail 1201. The second unidirectional driving arm 13 is rotatably connected to the second slider 1202. The second unidirectional driving arm 13 includes a third folding arm 1301, which is rotatably connected to the second slider 1202. A first longitudinal rotation axis 1302 is provided between the third folding arm 1301 and the second slider 1202. The third folding arm 1301 is also rotatably connected to the second folding arm 1304 via the second transverse rotation axis 1303. A third longitudinal rotation axis 1103 is provided on the positioning platform 11. The second folding arm 1304 is rotatably connected to the positioning platform 11 via the third longitudinal rotation axis 1103. In this way, the second linear motor 1203 can drive the second slider 1202 to move along the second linear guide rail 1201 , and the second slider 1202 can also drive the positioning platform 11 to move along the second linear guide rail 1201 through the second unidirectional driving arm 13 .

[0039] like Figure 5 and Figure 8 As shown, the third guide rail 14 is movably connected to the positioning platform 11 through a third unidirectional driving arm 15. The third guide rail 14 includes a third linear guide rail 1401, which is perpendicular to the first linear guide rail 901 and the second linear guide rail 1201. A third slider 1402 is slidably connected to the third linear guide rail 1401. A third linear motor 1403 is provided at one end of the third linear guide rail 1401. The third linear motor 1403 is used to drive the third slider 1402 to move along the third linear guide rail 1401. The third unidirectional driving arm 15 is rotatably connected to the third slider 1402. The unidirectional driving arm 15 includes a fifth folding arm 1501, which is rotatably connected to the third slider 1402. A first vertical rotation axis 1502 is provided between the fifth folding arm 1501 and the third slider 1402. The fifth folding arm 1501 is also rotatably connected to a sixth folding arm 1504 via a second vertical rotation axis 1503. A third vertical rotation axis 1104 is provided on the positioning platform 11, and the sixth folding arm 1504 is rotatably connected to the positioning platform 11 via the third vertical rotation axis 1104. In this way, the third linear motor 1403 can drive the third slider 1402 to move along the third linear guide rail 1401, and the third slider 1402 can also drive the positioning platform 11 to move along the third linear guide rail 1401 through the third unidirectional driving arm 15.

[0040] like Figure 5 - Figure 8As shown, the first transverse rotation axis 1002, the second transverse rotation axis 1003 and the third transverse rotation axis 1102 are parallel to each other, the first longitudinal rotation axis 1302, the second longitudinal rotation axis 1303 and the third longitudinal rotation axis 1103 are parallel to each other, and the first vertical rotation axis 1502, the second vertical rotation axis 1503 and the third vertical rotation axis 1104 are parallel to each other. The third transverse rotation axis 1102, the third longitudinal rotation axis 1103 and the third vertical rotation axis 1104 are perpendicular to each other, and the third transverse rotation axis 1102 is parallel to the X axis, the third longitudinal rotation axis 1103 is parallel to the Y axis, and the third vertical rotation axis 1104 is parallel to the Z axis. In this way, the first transverse rotation axis 1002, the second transverse rotation axis 1003 and the third transverse rotation axis 1102 all point to the X-axis direction, the first longitudinal rotation axis 1302, the second longitudinal rotation axis 1303 and the third longitudinal rotation axis 1103 all point to the Y-axis direction, and the first vertical rotation axis 1502, the second vertical rotation axis 1503 and the third vertical rotation axis 1104 all point to the Z-axis direction. Therefore, when the first slider 902 moves along the X-axis, the first transverse rotation axis 1002, the second transverse rotation axis 1003 and the third transverse rotation axis 1102 cannot rotate and can only move with the positioning platform 11, while the first longitudinal rotation axis 1302, the second longitudinal rotation axis 1303 and the third longitudinal rotation axis 1103 as well as the first vertical rotation axis 1502, the second vertical rotation axis 1503 and the third vertical rotation axis 1104 can all rotate without affecting the movement of the positioning platform 11 in the X-axis direction; when the second slider 1202 moves along the Y-axis, the first longitudinal rotation axis 1302, the second longitudinal rotation axis 1303 and the third longitudinal rotation axis 1103 cannot rotate and can only move along the Y axis with the positioning platform 11, while the first transverse rotation axis 1002, the second transverse rotation axis 1003 and the third transverse rotation axis 1102 and the first vertical rotation axis 1502, the second vertical rotation axis 1503 and the third vertical rotation axis 1104 can all rotate, which will not affect the movement of the positioning platform 11 in the Y axis direction; when the third slider 1402 moves along the Z axis, the first vertical rotation axis 1502, the second vertical rotation axis 1503 and the third vertical rotation axis 1104 cannot rotate and can only move up and down along the Z axis with the positioning platform 11, while the first transverse rotation axis 1002, the second transverse rotation axis 1003 and the third transverse rotation axis 1102 and the first longitudinal rotation axis 1302, the second longitudinal rotation axis 1303 and the third longitudinal rotation axis 1103 can all rotate, thereby not affecting the movement of the positioning platform 11 in the Z axis direction.

[0041] like Figure 5 - Figure 8As shown, a debugging positioning probe 1001 is fixedly connected to the positioning platform 11. The debugging positioning probe 1001 is used as a coordinate calibration point to measure and calibrate the positioning deviation of the industrial robot 2 when it moves, thereby facilitating precision debugging of the industrial robot 2.

[0042] 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", "comprises" or any other variations 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.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot debugging device, comprising a robot positioning and debugging seat (1), characterized in that: An industrial robot (2) to be debugged is fixedly mounted on the robot positioning and debugging seat (1), and a three-dimensional positioning debugger (3) is provided on one side of the robot positioning and debugging seat (1); The robot positioning and debugging seat (1) comprises a mobile debugging plate (4), a robot connecting flange (401) is fixedly connected to the top of the mobile debugging plate (4), the industrial robot (2) is fixedly connected to the robot connecting flange (401) by bolts, and the four corners of the mobile debugging plate (4) are respectively rotatably connected to a first driving arm (5), a second driving arm (6), a third driving arm (7) and a fourth driving arm (8), and the first driving arm (5), the second driving arm (6), the third driving arm (7) and the fourth driving arm (8) cooperate to drive the mobile debugging plate (4) to rotate and move; The three-dimensional positioning debugger (3) is composed of three groups of guide rails, which are respectively a first guide rail (9), a second guide rail (12) and a third guide rail (14); the first guide rail (9) is movably connected to a positioning platform (11) via a first unidirectional driving arm (10); the second guide rail (12) is movably connected to the positioning platform (11) via a second unidirectional driving arm (13); the third guide rail (14) is movably connected to the positioning platform (11) via a third unidirectional driving arm (15); and a debugging positioning probe (1001) is fixedly connected to the positioning platform (11).

2. A robot debugging device according to claim 1, characterized in that: The first driving arm (5) comprises a first driven arm (501), the first driven arm (501) is rotationally connected to a corner of the mobile debugging plate (4) via a rotating shaft, the first driven arm (501) is rotationally connected to a first active arm (502) via a rotating shaft, a first rotary motor (503) is fixedly connected to a corner of the robot positioning and debugging seat (1), and the first active arm (502) is fixedly connected to an output shaft of the first rotary motor (503).

3. A robot debugging device according to claim 1, characterized in that: The second driving arm (6) comprises a second driven arm (601), the second driven arm (601) is rotationally connected to a corner of the mobile debugging plate (4) via a rotating shaft, the second driven arm (601) is rotationally connected to a second active arm (602) via a rotating shaft, a second rotary motor (603) is fixedly connected to a corner of the robot positioning and debugging seat (1), and the second active arm (602) is fixedly connected to an output shaft of the second rotary motor (603).

4. A robot debugging device as claimed in claim 1, characterized in that: The third driving arm (7) comprises a third driven arm (701), the third driven arm (701) is rotationally connected to a corner of the mobile debugging plate (4) via a rotating shaft, the third driven arm (701) is rotationally connected to a third active arm (702) via a rotating shaft, a third rotary motor (703) is fixedly connected to a corner of the robot positioning debugging seat (1), and the third active arm (702) is fixedly connected to an output shaft of the third rotary motor (703).

5. A robot debugging device according to claim 1, characterized in that: The fourth driving arm (8) comprises a fourth driven arm (801), the fourth driven arm (801) is rotationally connected to a corner of the mobile debugging plate (4) via a rotating shaft, the fourth driven arm (801) is rotationally connected to a fourth active arm (802) via a rotating shaft, a fourth rotary motor (803) is fixedly connected to a corner of the robot positioning and debugging seat (1), and the fourth active arm (802) is fixedly connected to an output shaft of the fourth rotary motor (803).

6. A robot debugging device according to claim 1, characterized in that: The first guide rail (9) comprises a first linear guide rail (901), a first slider (902) is slidably connected to the first linear guide rail (901), a first linear motor (903) is arranged at one end of the first linear guide rail (901), the first linear motor (903) is used to drive the first slider (902) to move along the first linear guide rail (901), the first unidirectional driving arm (10) is rotatably connected to the first slider (902), the first unidirectional driving arm (10) comprises a first folding arm (1001), the The first folding arm (1001) is rotatably connected to the first slider (902); a first transverse rotation axis (1002) is arranged between the first folding arm (1001) and the first slider (902); the first folding arm (1001) is also rotatably connected to the second folding arm (1004) via a second transverse rotation axis (1003); a third transverse rotation axis (1102) is arranged on the positioning platform (11); and the second folding arm (1004) is rotatably connected to the positioning platform (11) via the third transverse rotation axis (1102).

7. A robot debugging device as claimed in claim 6, characterized in that: The second guide rail (12) comprises a second linear guide rail (1201), the second linear guide rail (1201) and the first linear guide rail (901) are perpendicular to each other, a second slider (1202) is slidably connected to the second linear guide rail (1201), a second linear motor (1203) is arranged at one end of the second linear guide rail (1201), the second linear motor (1203) is used to drive the second slider (1202) to move along the second linear guide rail (1201), the second unidirectional driving arm (13) is rotatably connected to the second slider (1202), and the second unidirectional driving arm (13) is rotatably connected to the second slider (1202). 13) includes a third folding arm (1301), the third folding arm (1301) is rotatably connected to the second slider (1202), a first longitudinal rotation axis (1302) is arranged between the third folding arm (1301) and the second slider (1202), the third folding arm (1301) is also rotatably connected to the second folding arm (1304) via a second transverse rotation axis (1303), a third longitudinal rotation axis (1103) is arranged on the positioning platform (11), and the second folding arm (1304) is rotatably connected to the positioning platform (11) via the third longitudinal rotation axis (1103).

8. A robot debugging device as claimed in claim 7, characterized in that: The third guide rail (14) comprises a third linear guide rail (1401), the third linear guide rail (1401) is perpendicular to the first linear guide rail (901) and the second linear guide rail (1201), a third slider (1402) is slidably connected to the third linear guide rail (1401), a third linear motor (1403) is arranged at one end of the third linear guide rail (1401), the third linear motor (1403) is used to drive the third slider (1402) to move along the third linear guide rail (1401), the third unidirectional driving arm (15) is rotatably connected to the third slider (1402), and the third linear motor (1403) is used to drive the third slider (1402) to move along the third linear guide rail (1401). The three unidirectional driving arms (15) include a fifth folding arm (1501), the fifth folding arm (1501) is rotatably connected to the third slider (1402), a first vertical rotation axis (1502) is arranged between the fifth folding arm (1501) and the third slider (1402), the fifth folding arm (1501) is also rotatably connected to the sixth folding arm (1504) via a second vertical rotation axis (1503), a third vertical rotation axis (1104) is arranged on the positioning platform (11), and the sixth folding arm (1504) is rotatably connected to the positioning platform (11) via the third vertical rotation axis (1104).

9. A robot debugging device as claimed in claim 8, characterized in that: The first transverse rotation axis (1002), the second transverse rotation axis (1003) and the third transverse rotation axis (1102) are parallel to each other, the first longitudinal rotation axis (1302), the second longitudinal rotation axis (1303) and the third longitudinal rotation axis (1103) are parallel to each other, and the first vertical rotation axis (1502), the second vertical rotation axis (1503) and the third vertical rotation axis (1104) are all parallel to each other.

10. A robot debugging device as claimed in claim 9, characterized in that: The third transverse rotation axis (1102), the third longitudinal rotation axis (1103) and the third vertical rotation axis (1104) are all perpendicular to each other, and the third transverse rotation axis (1102) is parallel to the X-axis, the third longitudinal rotation axis (1103) is parallel to the Y-axis, and the third vertical rotation axis (1104) is parallel to the Z-axis.

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