Robot controller delivery test equipment

Abstract

The invention relates to the field of controller testing, in particular to robot controller factory test equipment which comprises a box body, an assembly part is arranged in the center of the top end of the box body, a transmission belt is arranged on the edge of the top end of the assembly part, a conveying machining opening is formed in the edge of the transmission belt, and the transmission machining opening is formed in the transmission belt. A conveying processing opening is formed in the base, an extrusion device is arranged at the horizontal position of the conveying processing opening, a first fixed plate and a second movable plate are arranged on the extrusion device, an adjusting device is arranged at the top end of the second movable plate, and a tilting testing device is arranged at the end of the adjusting device. According to the technical scheme, the tilting detection piece, the inclination detection piece and the connecting block are driven to rotate, the stitch tilting degree is judged according to the middle distance of the tilting adjustment column in the tilting adjustment rod, and the problem that when a camera shoots a stitch, the stitch is staggered up and down and is difficult to observe is solved.

Description

Technical Field

[0001] The invention belongs to the field of controller testing, in particular to a robot controller factory testing device. Background Art

[0002] Robot controller testing refers to a series of testing activities performed on the robot control system to verify and ensure the functionality, performance, stability and reliability of the controller. The controller is the brain of the robot system and is responsible for interpreting instructions, planning motion trajectories, controlling the robot's actuators, etc.

[0003] The robot controller is generally equipped with pins, which are connected to the robot through wires. The pins will be tested before leaving the factory to prevent the pins from failing to connect to the wires during the insertion process.

[0004] Since the force on the pins is difficult to control, problems such as up and down misalignment and bending may occur during the installation of the pins, and bending may occur due to extrusion and vibration during transportation and installation. Currently, the inspection of the pins after installation is generally carried out by taking pictures and then inputting them into the computer for observation. This method cannot clearly reflect the height difference between the upper and lower pins, resulting in an increase in the workload of inspection. Summary of the invention

[0005] The present invention provides a factory test device for a robot controller, which solves the technical problem in the related art that when pins are installed, they are misaligned and bent, and the height difference of the pins cannot be clearly reflected by taking pictures.

[0006] The present invention discloses a factory test device for a robot controller, comprising a placement table, a conveyor belt and an extrusion device are arranged on the placement table, a first controller is placed on the conveyor belt at equal intervals, a controller pin is installed on the first controller, a transmission member is arranged on the placement table and connected with the extrusion device, and is used to drive the extrusion device to approach and move away from the first controller, the extrusion device comprises a first fixed plate and a second movable plate, the first fixed plate is used to place the controller pin, the second movable plate moves on the first fixed plate, and is used to extrude the controller pin, and a rotating driving mechanism is arranged on the surface of the second movable plate The rotary drive mechanism comprises a driving end connected with an adjusting device; the adjusting device comprises a third telescopic rod, and the movable end of the third telescopic rod is connected with a tilting test device; the tilting test device comprises a tilting detection member and a twisting detection member, after the rotary drive mechanism drives the twisting detection member to rotate to a position perpendicular to the surface of the controller pin, the twisting detection member detects the height position of the controller pin based on the height position of the controller pin, and the tilting detection member and the twisting detection member are used to detect the degree of twisting and tilting of the controller pin; the device also comprises an image acquisition device, and the image acquisition device takes an image of the tilting detection member just above the controller pin.

[0007] As a further optimization scheme of the present invention, the rotation drive mechanism includes a limit groove opened on one side of the first fixed plate, and a first arc-shaped protrusion and a second arc-shaped protrusion are arranged on one side of the limit groove. A transmission device is fixedly installed on the right side of the second movable plate, and the transmission device is connected to the adjusting device. The transmission device is used to drive the tilting test device to rotate with the adjusting device when the second movable plate moves.

[0008] As a further optimization scheme of the present invention, the extrusion device includes a first telescopic rod fixedly installed on the placing table, a first fixed plate is fixedly installed on the top of the first telescopic rod, a third movable plate is fixedly installed on the side wall of the first fixed plate away from the conveyor belt, a second telescopic rod is fixedly installed on the top of the third movable plate, a second movable plate is fixedly installed on the end of the second telescopic rod close to the conveyor belt, the second movable plate slides on the top of the first fixed plate, a pin placement groove is provided on the top of the first fixed plate, and the controller pin is placed on the pin placement groove.

[0009] As a further optimization scheme of the present invention, a moving protrusion is fixedly installed on the top of the second moving plate, and an adjusting device is rotatably installed on the moving protrusion. The adjusting device includes a rotating column rotatably installed on the moving protrusion, and three second fixed blocks equidistantly arranged are fixedly installed on the rotating column. The position of the second fixed block corresponds to the position of the pin placement groove. A warping test device is arranged on the second fixed block, and a third telescopic rod is arranged on the second fixed block located in the middle position of the rotating column. An adjusting plate is fixedly installed on the third telescopic rod, and the adjusting plate is connected to multiple of the warping test devices.

[0010] As a further optimization scheme of the present invention, the transmission device includes a third fixed block fixedly mounted on one side of the moving protrusion, the third fixed block is located above the limiting groove, the first transmission rod is slidably mounted inside the third fixed block, the first spring is fixedly mounted on the top of the third fixed block, the first transmission block is fixedly mounted on the top of the first spring, the first transmission block is fixedly mounted on the outer wall of the first transmission rod, the top of the first transmission rod is fixedly mounted with an annular block, the inner part of the annular block is slidably mounted with a rotating protrusion, the rotating protrusion is fixedly mounted on the rotating column, the bottom of the first transmission rod is fixedly mounted with a second transmission block, the inner part of the second transmission block is slidably mounted with a sliding rod, the side of the second transmission block away from the first fixed plate is symmetrically mounted with a third transmission rod, the third transmission rod is fixedly mounted with the second transmission block, the third transmission rod is sleeved on the outside of the sliding rod, the installation position of the sliding rod is located at the center of the distance between the two third transmission rods, the end of the third transmission rod away from the second transmission block is fixedly mounted with the first transmission plate, the end of the sliding rod away from the first fixed plate is connected with a second spring, the end of the second spring is connected to the first transmission plate, and the second spring is inside the third transmission rod.

[0011] As a further optimization scheme of the present invention, the tilting testing device includes a tilting detection piece slidably mounted on a second fixed block, a tilting detection piece is fixedly mounted on the tilting detection piece, the tilting detection piece detects the tilting condition of the controller pin, the tilting detection piece is used to detect the bending condition of the controller pin, a connecting block is slidingly provided on the outside of the tilt detection piece, a comparison block is fixedly mounted on the connecting block, the comparison block is used to compare the movement of the connecting block, and a distortion detection piece is rotatably mounted on the connecting block, the distortion detection piece is used to detect the distortion degree of the controller pin.

[0012] As a further optimization scheme of the present invention, the tilting detection member includes a tilting adjustment rod slidably mounted on a second fixed block, the tilting adjustment rod is fixedly mounted on the adjustment plate, a tilting adjustment column is slidably mounted inside the tilting adjustment rod, a third spring is fixedly mounted on the tilting adjustment rod, the third spring is concentric with the tilting adjustment column, the third spring is sleeved on the outside of the tilting adjustment column, the tilting adjustment column is fixedly mounted on the tilting detection member, the tilting detection member includes a tilting fixed block fixedly mounted on the end of the tilting adjustment column, and both ends of the third spring are fixedly connected to the end of the tilting adjustment rod and the side wall of the tilting adjustment column.

[0013] As a further optimization scheme of the present invention, the tilt detection component includes a tilt fixing block fixedly installed at the end of the tilt adjustment column, two tilt protrusions are fixedly installed on the tilt fixing block away from the side of the tilt adjustment column, the two tilt protrusions are symmetrically arranged on the side wall of the tilt fixing block, and the two side walls of the tilt protrusions are fixedly installed with a tilt adjustment column, the tilt adjustment column is arranged between the two tilt protrusions, and a connecting block is slidably installed on the tilt adjustment column, two fourth springs are fixedly installed on both sides of the connecting block, and the two fourth springs are sleeved on the outside of the tilt adjustment column, and the two ends of the fourth spring are fixedly connected to the side walls of the tilt protrusions and the side walls of the connecting block.

[0014] As a further optimization scheme of the present invention, the distortion detection part includes a distortion limit block rotatably mounted on the connecting block, distortion fixing plates are respectively fixedly mounted at both ends of the distortion limit block, distortion rollers are rotatably mounted inside the two distortion fixing plates, a fifth spring is fixedly mounted on the side wall of the distortion fixing plate, a distortion adaptation plate is fixedly mounted on the end of the fifth spring away from the distortion fixing plate, the two distortion adaptation plates are symmetrically sleeved on the outside of the distortion roller, the fifth spring is sleeved on the outside of the distortion roller, the two ends of the fifth spring are connected to the side walls of the distortion adaptation plate and the side walls of the distortion fixing plate, and a distortion protrusion is fixedly mounted on the distortion limit block.

[0015] As a further optimization solution of the present invention, the twisting protrusion passes through the connecting block, and a twisting marking block is fixedly mounted on the twisting protrusion.

[0016] The beneficial effects of the present invention are:

[0017] A robot controller factory test device described in the present invention drives the rotation of the lift detection member, the tilt detection member and the connecting block by moving the first fixed plate and the second movable plate inside the extrusion device and the lift test device, and judges the lift degree of the controller pin by the middle distance of the lift adjustment column inside the lift adjustment rod, thereby solving the problem that the controller pins are staggered and difficult to observe when the camera shoots the controller pins. The moving distance of the tilt detection member and the twist detection member can be judged by observing whether the comparison block and the twist mark block are at the center angle of the tilt fixed block and the connecting block, thereby reducing the error rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the testing equipment of the present invention;

[0019] Figure 2 is an overall diagram of the test equipment of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the extrusion device of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the regulating device of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the tilting test device of the present invention;

[0023] Figure 6 It is a schematic diagram of the transmission structure of the present invention;

[0024] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0025] In the figure:

[0026] 1. Placement table; 12. Conveyor belt; 13. Baffle; 14. First controller; 15. Controller pin;

[0027] 2. Extrusion device; 21. First telescopic rod; 22. First fixed plate; 221. Pin placement slot; 222. Limiting slot; 223. First arc-shaped protrusion; 224. Second arc-shaped protrusion; 23. Second movable plate; 231. Moving convex block; 24. Third movable plate; 25. Second telescopic rod;

[0028] 3. Adjustment device; 31. Rotating column; 32. Second fixed block; 33. Third telescopic rod; 34. Adjustment plate;

[0029] 4. Warp test device; 41. Warp detection member; 411. Warp adjustment rod; 412. Warp adjustment column; 413. Third spring; 42. Tilt detection member; 421. Tilt fixing block; 422. Tilt protrusion; 423. Fourth spring; 424. Tilt adjustment column; 43. Connecting block; 431. Comparison block; 44. Distortion detection member; 441. Distortion limit block; 442. Distortion protrusion; 443. Distortion marking block; 444. Distortion fixing plate; 445. Fifth spring; 446. Distortion adaptation plate; 447. Distortion roller;

[0030] 5. Transmission device; 51. Third fixed block; 52. First spring; 53. First transmission block; 54. First transmission rod; 55. Ring block; 56. Rotating protrusion; 57. Second transmission block; 58. Sliding rod; 581. Second spring; 582. Third transmission rod; 583. First transmission plate. DETAILED DESCRIPTION

[0031] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0032] like Figure 1 to Figure 2 As shown, a robot controller factory test device according to an embodiment of the present invention comprises a placement table 1, on which a conveyor belt 12 and an extrusion device 2 are arranged, on which first controllers 14 are equidistantly placed, on which controller pins 15 are installed, and on which a transmission member is arranged on the placement table 1 and connected with the extrusion device 2, for driving the extrusion device 2 to approach and move away from the first controller 14;

[0033] like Figure 3 to Figure 4 As shown, the extrusion device 2 includes a first fixed plate 22 and a second movable plate 23, the first fixed plate 22 is used to place the controller pins 15, the second movable plate 23 moves on the first fixed plate 22, and is used to extrude the controller pins 15, and a rotation drive mechanism is provided on the surface of the second movable plate 23, and the driving end of the rotation drive mechanism is connected to the adjustment device 3; the adjustment device 3 includes a third telescopic rod 33, and the moving end of the third telescopic rod 33 is connected to the tilting test device 4;

[0034] like Figures 5 and 6As shown, the warping test device 4 includes a warping detection member 41 and a twisting detection member 44. After the rotation drive mechanism drives the twisting detection member 44 to rotate to a position perpendicular to the surface of the controller pin 15, the twisting detection member 44 detects the height position of the controller pin 15. The warping detection member 41 and the twisting detection member 44 are used to detect the degree of twisting and warping of the controller pin 15. The device also includes an image acquisition device, which captures an image of the warping detection member 41 directly above the controller pin 15.

[0035] It should be noted that, considering that after the controller pin 15 on the robot controller is installed, due to collision and extrusion during installation and transportation, the controller pin 15 may be bent, warped and twisted. During the production and assembly process, the controller pin 15 on the controller is generally detected by taking photos with a camera, which is then transmitted through a computer and then judged by manual observation. However, since the photos taken by the camera are two-dimensional pictures, it is not easy to judge whether the controller pin 15 is warped and twisted after installation, and when continuously viewing multiple sets of photos, fatigue and blurred vision are likely to occur. In order to solve this problem, the following improvements have been made:

[0036] First, the first controller 14 is placed equidistantly on the conveyor belt 12, and the conveyor belt 12 is driven to rotate by a motor, so that the first controller 14 can be driven to move. A baffle 13 is provided on the conveyor belt 12, and the baffle 13 is used to block the first controller 14 to prevent the first controller 14 from tilting during movement. When the first controller 14 is transferred to the upper part of the placement table 1 and is located at the center of the placement table 1, the extrusion device 2 is started, and the extrusion device 2 rises upward from the lowest point until the top of the controller pin 15 is at the same horizontal plane as the top of the first fixed plate 22, and then the second movable plate 23 is moved in a direction close to the first controller 14, so that the second movable plate 23 can slide over the top of the controller pin 15, so that the controller pin 1 5 is straightened again. If the tilting degree and angle of the controller pin 15 are different, bending and tilting will still occur. Therefore, the controller pin 15 needs to be tested again. At this time, the adjustment device 3 and the tilting test device 4 are located at the top of the second movable plate 23, and the third telescopic rod 33 is fixedly installed with an adjustment plate 34. The position of the adjustment plate 34 is adjusted by starting the third telescopic rod 33. Then, when the tilting test device 4 contacts with the controller pin 15, the elasticity of the tilting detection member 41 is compressed to the middle position, and the adjustment device 3 is driven by a motor to rotate. At the same time, the transmission member on the placement table 1 is driven by a motor to drive the extrusion device 2 to move away from the first controller 14, so that the third telescopic rod 33 and the adjustment plate 34 are adjusted. During the rotation, it will not contact the first controller 14. When the second movable plate 23 moves to the nearest end close to the first controller 14, the adjusting device 3 starts to rotate, and the transmission member on the placement table 1 drives the extrusion device 2 to move. When the tilting test device 4 contacts the controller pin 15, the controller pin 15 is separated from the inside of the second movable plate 23, and the adjusting device 3 rotates, driving the tilting detection member 41 and the twisting detection member 44 to approach the controller pin 15 and contact the top of the controller pin 15. When the tilting detection member 41 contacts the controller pin 15, the tilting detection member 41 is in a squeezed state, and the tilting detection member 41 is in the center of the squeeze, so that the tilting detection member 41 has the ability to continue to shrink and can also The controller pin 15 is opened by elastic force, and the adjusting device 3 makes the warping detection member 41 extend and retract to the same horizontal plane. Then, when the top of the controller pin 15 moves, if the controller pin 15 is in a warped state, the warping detection member 41 can be driven to rise. The warping detection member 41 is provided with a twisting detection member 44, which can clamp the two ends of the controller pin 15. When the controller pin 15 is twisted, the twisting detection member 44 can rotate with the controller pin 15. Therefore, the curvature of the controller pin 15 can be detected by comparing the rotation angle of the twisting detection member 44. When the second movable plate 23 moves away from the farthest end of the insulating member controller pin 15, the motor is started to drive the adjusting device 3 to rotate.Thus, the adjustment device 3 and the tilting test device 4 are reset, the detection work of the controller pin 15 is completed, and the extrusion device 2 is moved to the bottom again.

[0037] Please pay attention to Figure 4 and Figure 7 As shown, the rotation drive mechanism includes a limiting groove 222 opened on one side of the first fixed plate 22, and a first arc-shaped protrusion 223 and a second arc-shaped protrusion 224 are arranged on one side of the limiting groove 222. A transmission device 5 is fixedly installed on the right side of the second movable plate 23, and the transmission device 5 is connected to the adjusting device 3. The movement of the second movable plate 23 drives the transmission device 5 to rise and fall, thereby rotating the adjusting device 3. The transmission device 5 is used to drive the tilting test device 4 to rotate with the adjusting device 3 when the second movable plate 23 moves.

[0038] It should be noted that a transmission device 5 is provided on the side wall of the second movable plate 23, so that the positions of the adjusting device 3 and the tilting test device 4 can be automatically adjusted according to the positions of the first fixed plate 22 and the second movable plate 23. When the transmission device 5 slides inside the limiting groove 222, the states of the adjusting device 3 and the tilting test device 4 can be adjusted. When the transmission device 5 passes through the second arc-shaped protrusion 224, the tilting test device 4 and the adjusting device 3 can be placed at the top position of the second movable plate 23. When the transmission device 5 passes through the position of the first arc-shaped protrusion 223, the transmission device 5 drives the adjusting device 3 and the tilting test device 4 to rotate toward a position close to the controller pin 15. The limiting groove 222 is divided into two sections. The adjusting device 3 and the tilting test device 4 are rotated according to the position of the second movable plate 23 sliding on the first fixed plate 22.

[0039] Please pay attention to Figure 3 to Figure 4 As shown, the extrusion device 2 includes a first telescopic rod 21 fixedly mounted on the placement table 1, a first fixed plate 22 is fixedly mounted on the top of the first telescopic rod 21, a third movable plate 24 is fixedly mounted on the side wall of the first fixed plate 22 away from the conveyor belt 12, a second telescopic rod 25 is fixedly mounted on the top of the third movable plate 24, a second movable plate 23 is fixedly mounted on the end of the second telescopic rod 25 close to the conveyor belt 12, the second movable plate 23 slides on the top of the first fixed plate 22, a pin placement groove 221 is provided on the top of the first fixed plate 22, and the controller pin 15 is placed on the pin placement groove 221.

[0040] It should be noted that in the initial state, the first telescopic rod 21 and the second telescopic rod 25 are in the minimum contraction state. When it is necessary to detect the bending degree of the controller pin 15, the first telescopic rod 21 is started to drive the first fixed plate 22 to rise to the top. At this time, the second telescopic rod 25 is extended to drive the second movable plate 23 to slide on the first fixed plate 22. The second telescopic rod 25 is started to contract to drive the second movable plate 23 to move toward the second telescopic rod 25. When the second movable plate 23 moves to the middle position of the first fixed plate 22, the motor is used to drive the adjustment device 3 and the tilting test device 4 to move, and the controller pin 15 can be detected.

[0041] Please pay attention to Figure 3 to Figure 4 As shown, a moving protrusion 231 is fixedly installed on the top of the second moving plate 23, and an adjusting device 3 is rotatably installed on the moving protrusion 231. The adjusting device 3 includes a rotating column 31 rotatably installed on the moving protrusion 231, and three second fixed blocks 32 equidistantly arranged are fixedly installed on the rotating column 31. The position of the second fixed block 32 corresponds to the position of the pin placement groove 221. A lift test device 4 is arranged on the second fixed block 32, and a third telescopic rod 33 is arranged on the second fixed block 32 located in the middle position of the rotating column 31. An adjusting plate 34 is fixedly installed on the third telescopic rod 33, and the adjusting plate 34 is connected to multiple lift test devices 4.

[0042] It should be noted that, in the initial state, the adjusting device 3 and the tilting test device 4 are located at the top of the second movable plate 23. The third telescopic rod 33 is started to drive the adjusting plate 34 to move, and the adjusting plate 34 can drive multiple tilting test devices 4 to slide at the end of the second fixed block 32, so that the tilting test device 4 has elastic force and contraction force when it contacts the controller pin 15, and the rotating column 31 is driven by the motor to rotate, thereby adjusting the position of the adjusting plate 34 and the tilting test device 4, so that the tilting test device 4 contacts the surface and side wall of the controller pin 15, thereby completing the detection purpose.

[0043] Please pay attention to Figure 6 to Figure 7As shown, the transmission device 5 includes a third fixed block 51 fixedly installed on one side of the moving protrusion 231, the third fixed block 51 is located above the limiting groove 222, a first transmission rod 54 is slidably installed inside the third fixed block 51, a first spring 52 is fixedly installed on the top of the third fixed block 51, a first transmission block 53 is fixedly installed on the top of the first spring 52, the first transmission block 53 is fixedly installed on the outer wall of the first transmission rod 54, an annular block 55 is fixedly installed on the top of the first transmission rod 54, a rotating protrusion 56 is slidably installed inside the annular block 55, and the rotating protrusion 56 is fixedly installed on the rotating column 31, a second transmission block 57 is fixedly installed on the bottom of the first transmission rod 54, and the second transmission block A sliding rod 58 is slidably installed inside 57, and a third transmission rod 582 is symmetrically installed on the side of the second transmission block 57 away from the first fixed plate 22. The third transmission rod 582 is fixedly installed with the second transmission block 57, and the third transmission rod 582 is sleeved on the outside of the sliding rod 58. The installation position of the sliding rod 58 is located at the center of the distance between the two third transmission rods 582. The end of the third transmission rod 582 away from the second transmission block 57 is fixedly installed with the first transmission plate 583, and the end of the sliding rod 58 away from the first fixed plate 22 is connected to the second spring 581, the end of the second spring 581 is connected to the first transmission plate 583, and the second spring 581 is inside the third transmission rod 582.

[0044] It should be noted that when the slide bar 58 slides inside the limiting groove 222, the second spring 581 pushes up the slide bar 58 so that the slide bar 58 will not slide out of the limiting groove 222. The internal height of the limiting groove 222 is different. Therefore, when the slide bar 58 moves, the second transmission block 57 and the first transmission rod 54 can be pulled up and down, thereby driving the annular block 55 to move. A rotating protrusion 56 is provided inside the annular block 55. The end of the rotating protrusion 56 is connected to the end of the rotating column 31, so that the rotating column 31 can be rotated when the rotating protrusion 56 is raised and lowered. When passing through the first arc-shaped protrusion 223 and the second arc-shaped protrusion 224, 58 disengages from the interior of the limiting groove 222 and slides on the side wall of the first fixed plate 22. Therefore, under the action of the first spring 52 and the first transmission block 53, the annular block 55 is driven to lift the rotating protrusion 56, so that the rotating protrusion 56 is at the top end of the side wall of the rotating column 31, so that the adjustment plate 34 on the outer wall of the rotating column 31 and the tilting test device 4 are at the top position of the second movable plate 23. When the sliding rod 58 moves to the interior of the limiting groove 222 again, it can drive the tilting test device 4 to rotate.

[0045] Please pay attention to Figures 3 to 6As shown in the structure, the tilting test device 4 includes a tilting detection member 41 slidably mounted on the second fixed block 32, a tilting detection member 42 is fixedly mounted on the tilting detection member 41, the tilting detection member 41 detects the tilting condition of the controller pin 15, the tilting detection member 42 is used to detect the bending condition of the controller pin 15, a connecting block 43 is slidingly provided on the outside of the tilting detection member 42, a comparison block 431 is fixedly mounted on the connecting block 43, the comparison block 431 is used to compare the movement of the connecting block 43, a distortion detection member 44 is rotatably mounted on the connecting block 43, and the distortion detection member 44 is used to detect the distortion degree of the controller pin 15.

[0046] It should be noted that when the third telescopic rod 33 moves to drive the tilting detection member 41 to move, so that the distortion detection member 44 contacts the controller pin 15, the tilting detection member 41 has the ability to shrink and pop out at the same time, and the end of the tilting detection member 41 is provided with a tilting detection member 42, and the tilting detection member 42 can detect the degree of tilting of the controller pin 15 when the distortion detection member 44 is attached to the controller pin 15, and the tilting detection member 42 is provided with a connecting block 43 on the outside, so that the distortion detection member 44 can detect the planar bending degree of the controller pin 15, and the internal rotation of the connecting block 43 is provided with a distortion detection member 44, and the distortion detection member 44 contacts the top and side wall of the controller pin 15, thereby realizing the detection of the distortion degree of the side wall of the controller pin 15.

[0047] Please pay attention to Figures 3 to 6 In the structure shown, the tilting detection member 41 includes a tilting adjustment rod 411 slidably mounted on the second fixed block 32, the tilting adjustment rod 411 is fixedly mounted on the adjustment plate 34, a tilting adjustment column 412 is slidably mounted inside the tilting adjustment rod 411, a third spring 413 is fixedly mounted on the tilting adjustment rod 411, the third spring 413 is concentric with the tilting adjustment column 412, the third spring 413 is sleeved on the outside of the tilting adjustment column 412, the tilting adjustment column 412 is fixedly mounted on the tilting detection member 42, the tilting detection member 42 includes a tilting fixed block 421 fixedly mounted on the end of the tilting adjustment column 412, and both ends of the third spring 413 are fixedly connected to the end of the tilting adjustment rod 411 and the side wall of the tilting adjustment column 412.

[0048] It should be noted that when the distortion detection member 44 contacts the controller pin 15, the tilt adjustment column 412 slides inside the tilt adjustment rod 411. At this time, the tilt adjustment column 412 is in the middle part of the tilt adjustment rod 411, so that the tilt adjustment column 412 and the third spring 413 have the ability to shrink and pop out. When the distortion detection member 44 slides on the outer wall of the controller pin 15, the tilt adjustment column 412 slides inside the tilt adjustment rod 411. By detecting the height of the tilt adjustment column 412 above and below the tilt adjustment rod 411, the tilt degree of the controller pin 15 is detected.

[0049] Please pay attention to Figures 3 to 6 In the structure shown, the tilt detection member 42 includes a tilt fixing block 421 fixedly installed at the end of the tilt adjustment column 412, and two tilt protrusions 422 are fixedly installed on the side wall of the tilt fixing block 421 away from the tilt adjustment column 412, and the two tilt protrusions 422 are symmetrically arranged on the side wall of the tilt fixing block 421, and the two side walls of the tilt protrusions 422 are fixedly installed with tilt adjustment columns 424, and the tilt adjustment column 424 is arranged between the two tilt protrusions 422, and a connecting block 43 is slidably installed on the tilt adjustment column 424, and two fourth springs 423 are fixedly installed on both sides of the connecting block 43, and the two fourth springs 423 are sleeved on the outside of the tilt adjustment column 424, and the two ends of the fourth spring 423 are fixedly connected to the side walls of the tilt protrusion 422 and the side walls of the connecting block 43.

[0050] It should be noted that a connecting block 43 is provided on the outer wall of the tilt adjustment column 424, and the fourth spring 423 makes the connecting block 43 located in the middle position of the tilt adjustment column 424. When the distortion detection part 44 contacts the controller pin 15 and bending occurs on the controller pin 15, the connecting block 43 can be driven to move, thereby judging the degree of bending of the controller pin 15 by comparing the distance between the comparison block 431 and the center of the tilt fixing block 421.

[0051] Please pay attention to Figures 3 to 6In the structure shown, the distortion detection member 44 includes a distortion limit block 441 rotatably mounted on the connecting block 43, distortion fixing plates 444 are fixedly mounted on both ends of the distortion limit block 441, distortion rollers 447 are rotatably mounted on the side walls of the two distortion fixing plates 444, a fifth spring 445 is fixedly mounted on the side wall of the distortion fixing plate 444, a distortion adaptation plate 446 is fixedly mounted on the end of the fifth spring 445 away from the side of the distortion fixing plate 444, two distortion adaptation plates 446 are symmetrically sleeved on the outside of the distortion roller 447, the fifth spring 445 is sleeved on the outside of the distortion roller 447, two ends of the fifth spring 445 are connected to the side walls of the distortion adaptation plate 446 and the side walls of the distortion fixing plate 444, and a distortion protrusion 442 is fixedly mounted on the distortion limit block 441.

[0052] Please pay attention to Figures 3 to 6 The twisted protrusion 442 passes through the connecting block 43 , and a twisted marking block 443 is fixedly mounted on the twisted protrusion 442 .

[0053] It should be noted that the two torsion adaptation plates 446 can clamp the controller pin 15, and then determine the degree of distortion of the controller pin 15 through the rotation angle of the distortion protrusion 442 and the distortion marking block 443, and detect the controller pin 15.

[0054] The above describes an embodiment of the present embodiment, but the present embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, all of which are within the protection of the present embodiment.

Claims

1. A robot controller factory test device, comprising a placement table (1), characterized in that: The placement table (1) is provided with a conveyor belt (12) and an extrusion device (2), the conveyor belt (12) is equidistantly provided with a first controller (14), the first controller (14) is provided with a controller pin (15), the placement table (1) is provided with a transmission member connected to the extrusion device (2), and used to drive the extrusion device (2) to approach and move away from the first controller (14), the extrusion device (2) comprises a first fixed plate (22) and a second movable plate (23), the first fixed plate (22) is used to place the controller pin (15), the second movable plate (23) moves on the first fixed plate (22), and is used to extrude the controller pin (15), the surface of the second movable plate (23) is provided with a rotation drive mechanism, and the driving end of the rotation drive mechanism is connected to the adjustment device (3); The adjusting device (3) comprises a third telescopic rod (33), and the movable end of the third telescopic rod (33) is connected to a tilting testing device (4); The warping test device (4) comprises a warping detection member (41) and a twisting detection member (44); after the rotation drive mechanism drives the twisting detection member (44) to rotate to a position perpendicular to the surface of the controller pin (15), the twisting detection member (44) detects the height position of the controller pin (15); the warping detection member (41) and the twisting detection member (44) are used to detect the degree of twisting and the degree of warping of the controller pin (15); The device also includes an image acquisition device, wherein the image acquisition device captures an image of the warping detection member (41) directly above the controller pin (15).

2. A robot controller factory test equipment according to claim 1, characterized in that: The rotation drive mechanism comprises a limiting groove (222) provided on one side of the first fixed plate (22), a first arc-shaped protrusion (223) and a second arc-shaped protrusion (224) being provided on one side of the limiting groove (222), a transmission device (5) being fixedly mounted on the right side of the second movable plate (23), the transmission device (5) being connected to the adjustment device (3), the second movable plate (23) moving to drive the transmission device (5) to rise and fall, thereby causing the adjustment device (3) to rotate, the transmission device (5) being used to drive the tilting test device (4) to rotate following the adjustment device (3) when the second movable plate (23) moves.

3. A robot controller factory test equipment according to claim 2, characterized in that: The extrusion device (2) comprises a first telescopic rod (21) fixedly mounted on a placement table (1); a first fixed plate (22) is fixedly mounted on the top of the first telescopic rod (21); a third movable plate (24) is fixedly mounted on the side wall of the first fixed plate (22) away from the conveyor belt (12); a second telescopic rod (25) is fixedly mounted on the top of the third movable plate (24); a second movable plate (23) is fixedly mounted on the end of the second telescopic rod (25) close to the conveyor belt (12); the second movable plate (23) slides on the top of the first fixed plate (22); a pin placement groove (221) is provided on the top of the first fixed plate (22); and the controller pin (15) is placed on the pin placement groove (221).

4. A robot controller factory test equipment according to claim 3, characterized in that: A moving protrusion (231) is fixedly mounted on the top of the second moving plate (23), and an adjusting device (3) is rotatably mounted on the moving protrusion (231). The adjusting device (3) comprises a rotating column (31) rotatably mounted on the moving protrusion (231), and three second fixed blocks (32) are fixedly mounted on the rotating column (31) and are arranged at equal intervals, and the positions of the second fixed blocks (32) correspond to the positions of the pin placement grooves (221). A tilting test device (4) is arranged on the second fixed block (32), and a third telescopic rod (33) is arranged on the second fixed block (32) located in the middle of the rotating column (31), and an adjusting plate (34) is fixedly mounted on the third telescopic rod (33), and the adjusting plate (34) is connected to the plurality of tilting test devices (4).

5. A robot controller factory test equipment according to claim 4, characterized in that: The transmission device (5) comprises a third fixed block (51) fixedly mounted on one side of the moving protrusion (231), the third fixed block (51) being located above the limiting groove (222), a first transmission rod (54) being slidably mounted inside the third fixed block (51), a first spring (52) being fixedly mounted on the top of the third fixed block (51), a first transmission block (53) being fixedly mounted on the top of the first spring (52), the first transmission block (53) being fixedly mounted on the outer wall of the first transmission rod (54), an annular block (55) being fixedly mounted on the top of the first transmission rod (54), a rotating protrusion (56) being slidably mounted inside the annular block (55), the rotating protrusion (56) being fixedly mounted on the rotating column (31), a second transmission block (57) being fixedly mounted on the bottom of the first transmission rod (54), the second transmission block A slide bar (58) is slidably installed inside the second transmission block (57), and a third transmission bar (582) is symmetrically installed on the side of the second transmission block (57) away from the first fixed plate (22). The third transmission bar (582) is fixedly installed with the second transmission block (57), and the third transmission bar (582) is sleeved on the outside of the slide bar (58). The installation position of the slide bar (58) is located at the center of the distance between the two third transmission rods (582). The end of the third transmission rod (582) away from the second transmission block (57) is fixedly installed with the first transmission plate (583), and the end of the slide bar (58) away from the first fixed plate (22) is connected to the second spring (581), the end of the second spring (581) is connected to the first transmission plate (583), and the second spring (581) is inside the third transmission rod (582).

6. A robot controller factory test equipment according to claim 5, characterized in that: The tilting test device (4) comprises a tilting detection member (41) slidably mounted on a second fixed block (32); a tilting detection member (42) is fixedly mounted on the tilting detection member (41); the tilting detection member (41) detects the tilting condition of the controller pin (15); the tilting detection member (42) is used to detect the bending condition of the controller pin (15); a connecting block (43) is slidably arranged outside the tilting detection member (42); a comparison block (431) is fixedly mounted on the connecting block (43); the comparison block (431) is used to compare the movement condition of the connecting block (43); a twisting detection member (44) is rotatably mounted on the connecting block (43); the twisting detection member (44) is used to detect the degree of twisting of the controller pin (15).

7. A robot controller factory test equipment according to claim 6, characterized in that: The tilt detection member (41) comprises a tilt adjustment rod (411) slidably mounted on a second fixed block (32); the tilt adjustment rod (411) is fixedly mounted on the adjustment plate (34); a tilt adjustment column (412) is slidably mounted inside the tilt adjustment rod (411); a third spring (413) is fixedly mounted on the tilt adjustment rod (411); the third spring (413) is concentric with the tilt adjustment column (412); the third spring (413) is sleeved outside the tilt adjustment column (412); the tilt adjustment column (412) is fixedly mounted on the tilt detection member (42); the tilt detection member (42) comprises a tilt fixing block (421) fixedly mounted on an end of the tilt adjustment column (412); and two ends of the third spring (413) are fixedly connected to an end of the tilt adjustment rod (411) and a side wall of the tilt adjustment column (412).

8. A robot controller factory test equipment according to claim 7, characterized in that: Two inclined protrusions (422) are fixedly mounted on the side wall of the inclined fixing block (421) away from the tilting adjustment column (412); the two inclined protrusions (422) are symmetrically arranged on the side wall of the inclined fixing block (421); an inclined adjustment column (424) is fixedly mounted on the side walls of the two inclined protrusions (422); the inclined adjustment column (424) is arranged between the two inclined protrusions (422); a connecting block (43) is slidably mounted on the inclined adjustment column (424); two fourth springs (423) are fixedly mounted on both sides of the connecting block (43); the two fourth springs (423) are sleeved on the outside of the inclined adjustment column (424); and two ends of the fourth spring (423) are fixedly connected to the side wall of the inclined protrusion (422) and the side wall of the connecting block (43).

9. A robot controller factory test equipment according to claim 8, characterized in that: The distortion detection member (44) comprises a distortion limiting block (441) rotatably mounted on the connection block (43); distortion fixing plates (444) are respectively fixedly mounted on both ends of the distortion limiting block (441); a distortion roller (447) is rotatably mounted between the two distortion fixing plates (444); a fifth spring (445) is fixedly mounted on the side wall of the distortion fixing plate (444); a distortion adaptation plate (446) is fixedly mounted on the end of the fifth spring (445) away from the distortion fixing plate (444); the two distortion adaptation plates (446) are symmetrically sleeved on the outside of the distortion roller (447); the fifth spring (445) is sleeved on the outside of the distortion roller (447); both ends of the fifth spring (445) are connected to the side wall of the distortion adaptation plate (446) and the side wall of the distortion fixing plate (444); and a distortion protrusion (442) is fixedly mounted on the distortion limiting block (441).

10. A robot controller factory test equipment according to claim 9, characterized in that: The twisted protrusion (442) passes through the connecting block (43), and a twisted marking block (443) is fixedly mounted on the twisted protrusion (442).

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