Mechanical arm clamping force testing device for welding robot

Abstract

The invention relates to the technical field of welding robot mechanical arm clamping detection, in particular to a mechanical arm clamping force testing device for a welding robot, which comprises a conversion disc, a rear side frame and a rotating piece, a central supporting shaft is arranged on the bottom side of the conversion disc, and a fixed shell is mounted on one side of the central supporting shaft; according to the scheme, the possibility that clamping jaws are damaged and cannot be predicted to be found and replaced in time due to long-time frequent clamping of the mechanical arm is reduced, the complexity of overall operation of the device is reduced, the multifunctional testing effect of the device is improved, and the testing efficiency is improved. According to the clamping jaw detection device, different detection can be carried out on various clamping jaws in different shapes, the fatigue detection effect of the device is improved, the possibility that the clamping jaws are damaged after being clamped for about many times can be roughly detected, the clamping jaws can be conveniently and directly replaced after being clamped for the times within a certain range in the follow-up work period, and the influence on welding is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of clamping detection of robotic arm for welding robots, and particularly to a clamping force testing device for robotic arm of welding robots. Background Art

[0002] Welding robots are a type of robots widely used in industrial automation, mainly used to efficiently and accurately complete welding tasks. The robotic arm of a welding robot is the core execution mechanism of an automated welding system, and its performance directly determines the welding quality and efficiency. Therefore, a clamping force testing device for the robotic arm of a welding robot is needed.

[0003] Currently, during the operation of the robotic arm of a welding robot, various workpieces with different shapes are usually clamped. Different-shaped clamping arms are used when clamping these workpieces. During a certain number of clamping processes, problems such as pits or wear will appear on the inner side of the clamping arm. These problems easily lead to the loosening of the workpiece during the clamping process, and the clamping force gradually decreases, indirectly leading to the possibility of the welding position shifting during the welding process, reducing the welding accuracy of the workpiece. For this reason, a clamping force testing device for the robotic arm of a welding robot is proposed. Summary of the Invention

[0004] The purpose of the present invention is to solve the disadvantages existing in the prior art, and to propose a clamping force testing device for the robotic arm of a welding robot.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A clamping force testing device for the robotic arm of a welding robot, including a conversion disk, a rear side frame, and a rotating member. A central support shaft is provided at the bottom side of the conversion disk. A fixed shell is installed on one side of the central support shaft. A reciprocating member is installed on the top surface of the central support shaft. A plurality of telescopic mechanisms are provided on the conversion disk. A horizontal clamp, a serrated clamp, and a V-shaped clamp are respectively installed on the plurality of telescopic mechanisms. A movable frame is installed at the bottom side of each telescopic mechanism; The rear side frame is provided on one side of the conversion disk. A frame block is installed on the rear side frame. A guide plate is provided on the frame block. An outer support piece is movably connected to the bottom side of the guide plate. A driving block is also connected inside the rear side frame; The rotating member is installed on the rear side frame. The rotating member includes two fixed seats and a switching roller. The switching roller is installed between the fixed seats. A first test piece, a second test piece, and a third test piece are respectively installed on the switching roller. A switching motor is installed on one of the fixed seats.

[0006] Preferably, an outer convex disk is installed on the outer surface of the top end of the central support shaft, a through hole is opened at the center position of the conversion disk, an embedded groove is opened on the inner wall of the through hole, the outer convex disk is connected to the embedded groove, the conversion disk is rotatably connected to the outer side of the central support shaft, a toothed disk is installed on the bottom surface of the through hole, the fixed shell is vertically installed on one side of the central support shaft, a conversion motor is installed on the top surface of the fixed shell, a bevel gear is arranged on the output end of the conversion motor, the bevel gear and the toothed disk are meshed with each other, a lifting screw is also installed in the fixed shell, a lifting plate is connected to the lifting screw, a clamping workpiece is screwed on one side of the lifting plate, a lifting motor is installed on the top of the lifting screw, and the clamping workpiece is respectively connected between the horizontal clamp, the serrated clamp and the V-clamp.

[0007] Preferably, the conversion disk is provided with a plurality of bearing grooves arranged in a ring, the movable frames are all movably connected in the bearing grooves, and the plurality of telescopic mechanisms are all installed on the movable frames at different positions, the telescopic mechanism comprises an outer frame, a main bracket, a slider and a stretching block, the main bracket is provided with a "丄"-shaped main support rod, the main support rod is fixedly installed between the inner walls of the outer frame, two sliders are provided, the two sliders are slidably connected to the main support rod in the horizontal direction, the stretching block is slidably connected to the main support rod in the vertical direction, a first spring is connected between the stretching block and the main bracket, a plurality of stretching plates are respectively connected between the two sliders and the stretching block, one side of the stretching block is in a "concave" shape, and two hooks are symmetrically installed thereon, the stretching block is limited in the outer frame, and the horizontal clamp, serrated clamp and V-shaped clamp are respectively installed on the sliders at corresponding positions.

[0008] Preferably, the reciprocating member includes a reciprocating push block, a top frame, a first motor, a turntable and a rotating connecting arm, the top frame is mounted on the top surface of the central support shaft, the first motor is installed on the top surface of the top frame, the output end of the first motor passes through the inner top surface of the top frame, and the turntable is installed on it, and the bottom surface of the turntable is installed with a vertical push rod, the reciprocating push block is arranged on the top surface of the central support shaft, and it is located on the bottom side of the turntable, the reciprocating push block is cross-shaped, a transverse groove is opened on the horizontal reciprocating push block, the vertical push rod is movably connected in the transverse groove, an intermediate limit groove is symmetrically opened on the vertical reciprocating push block, a vertical limit rod is installed in the intermediate limit groove, and the vertical limit rod is fixedly installed on the top surface of the central support shaft, the intermediate limit groove is respectively located on both sides of the transverse groove, and a rotating connecting arm is symmetrically installed on the outer side surface of one end of the vertical reciprocating push block, and the outer ends of the two rotating connecting arms are connected in the hook.

[0009] Preferably, a chute is formed between the inner walls of the bearing groove. The movable frames are all slidably connected in the chute. A spring block is installed at the outer port of the chute. The movable frames are limited to one side of the spring block. The rear frame is erected outside the conversion disk. Horizontally opened first corresponding grooves are symmetrically formed on the rear frame. The positions of the first corresponding grooves correspond to those of the chutes. A driving screw is installed in the first corresponding groove. A driving motor is arranged at the tail end of the driving screw. A driving block is threadedly connected to the driving screw. The driving block is movably connected in the first corresponding groove. An extension bar is fixed to one side of the driving block. An outer notch is formed at the outer end of the movable frame. The outer side surface of the spring block is arc-shaped. The extension bar is connected to the spring block. An electromagnetic block and a magnetic block are respectively installed in the outer notch and the extension bar, and are magnetically connected to each other. The movable frame is movably connected in the first corresponding groove.

[0010] Preferably, there are two support blocks, which are symmetrically installed on the top surface of the rear frame. The guide plate is erected on the top surfaces of the two support blocks. An eight-shaped inclined groove is formed on the guide plate. Wall grooves are symmetrically formed between the inner walls of the two support blocks. A sliding rod is movably connected between the wall grooves. Both ends of the sliding rod are spring-connected to the wall grooves. Two outer support pieces are arranged on the sliding rod. The two outer support pieces are slidably connected to the outside of the sliding rod. The top ends of the outer support pieces are movably connected in the corresponding inclined grooves.

[0011] Preferably, the first test piece includes a first mounting frame, a first limiting rod, a mounting plate and an intermediate motor. The first mounting frame is fixedly installed on the outer surface of the switching roller. Two groups of first limiting rods are symmetrically installed on both sides of the first mounting frame. Mounting plates are connected to the outer surfaces of the two groups of first limiting rods. An intermediate motor is installed on the top surface of the first mounting frame. An elliptical push block is installed at the output end of the intermediate motor. The elliptical push block is connected to the inner side surfaces of the two side mounting plates. A horizontal groove is formed on the mounting plate. A first rotating lead screw is arranged in the horizontal groove. A first convex block is connected to the rotating lead screw. An installation shell is arranged outside the first convex block. A lifting motor is installed on the top surface of the installation shell. A second rotating lead screw is arranged at the output end of the lifting motor. A second convex block is installed outside the second rotating lead screw. An adjusting frame plate is fixed to the second convex block. A guide roller is arranged on the installation shell. The adjusting frame plate is slidably connected to the outside of the guide roller. A compression frame is spring-connected in the adjusting frame plate. A plurality of vertical rods are vertically installed on the top surface of the compression frame. A detection thin sheet is movably connected to the outer surface of the vertical rod. An outer pulling spring is connected between the detection thin sheet and the compression frame. The outer end of the detection thin sheet is connected to the serrated clip.

[0012] Preferably, the second test piece includes a second mounting bracket, second limiting rods, guiding brackets, an intermediate moving bracket, and a trapezoidal pushing block. One end of the second mounting bracket is fixed on the switching roller. Two groups of second limiting rods are symmetrically mounted on both sides of the second mounting bracket. Two guiding brackets are provided, and the two guiding brackets are respectively movably connected to the outer surfaces of the two groups of second limiting rods. An observation paper is mounted on the guiding bracket and connected to a horizontal clamp. A driving lead screw is mounted on the top side of the second mounting bracket, and an intermediate moving bracket is movably connected to the driving lead screw. A turning block is movably connected inside the second mounting bracket, a turning roller is provided on the turning block, the top end of the turning roller is connected to the bottom surface of the intermediate moving bracket, and the bottom end of the turning roller is connected to a bottom block. The bottom block is movably connected inside the second mounting bracket. A first toothed plate is mounted on the outer surface of the top end of the turning roller. A turning motor is further provided on the bottom surface of the intermediate moving bracket, and a second toothed plate is mounted on the output end of the turning motor. The first toothed plate and the second toothed plate are meshed with each other. A plurality of spring pressing rods are provided on both sides of the turning block, and the spring pressing rods are all spring-connected inside the turning block. The outer ends of the spring pressing rods are in the shape of balls, and the positions of the spring pressing rods on both sides are stagger-corresponding. The outer ends of the spring pressing rods are connected to the observation paper. Push rods are mounted on one side of each guiding bracket. A first cylinder is provided on the second mounting bracket, and a trapezoidal pushing block is provided on the telescopic end of the first cylinder. The trapezoidal pushing block is connected to the outer side of the push rod.

[0013] Preferably, the third test piece includes a third mounting bracket, bending brackets, and a detecting piece. Two groups of bending brackets are provided and symmetrically mounted on both sides of the third mounting bracket. A displacement lead screw driven by electricity is horizontally mounted inside the third mounting bracket. The detecting piece is connected to the outside of the displacement lead screw in a threaded manner. The detecting piece includes a driving plate, telescopic blocks, a detecting plate, limiting rollers, and a clamping plate. Two telescopic blocks are provided, and the two telescopic blocks are spring-connected to both ends of the driving plate. Limiting rollers are mounted on the top and bottom surfaces of the telescopic blocks, and the limiting rollers are respectively movably connected between the corresponding bending brackets. Detecting plates are evenly spring-connected to the outer sides of the telescopic blocks, and pressure detectors are arranged inside the detecting plates. The outer ends of the detecting plates are inclined and connected to the inner wall surface of a V-shaped clamp. A clamping rod is further mounted on the outer side of the telescopic block. The clamping plate is rotatably connected to the outside of the clamping rod, and the clamping plate is clamped on the outer end of the detecting plate.

[0014] The beneficial effects of the present invention are as follows: Due to the setting of the conversion disk in this solution, the position of the fixture can be conveniently changed to achieve the effect of detecting different fixtures. Due to the setting of the reciprocating piece, the telescopic mechanism can be controlled to continuously clamp the workpiece to realize the detection after different clamping times. Through the setting of the fixed shell and the clamped workpiece, the workpiece matched therewith can be moved upward during the clamping process to avoid the influence of the wear on the outer surface of the workpiece after multiple clamps on the fixture. Due to the settings of the guiding plate and the outer support pieces, the slider during the moving process can be moved to both sides, achieving the effect of expanding the fixture outward, which facilitates subsequent detection; Due to the setting of the first test piece, it can perform simple defect detection on the serrations of the serrated clamp, and the position can be adjusted within a left - right range to detect each serration; Due to the setting of the second test piece, it can detect the defective groove area on the horizontal clamp. By the movement of the spring pressure rod on the observation paper, traces can be left on the observation paper according to the defect position, thereby simply distinguishing the damage degree of the horizontal clamp; Due to the setting of the third test piece, it can perform a matching test on the V - shaped clamp. Through the induction of the pressure detector, the pressure change during the detection process can be detected by the detection plate, and the internal damage condition of the V - shaped clamp can be simply judged.

[0015] In this solution, it reduces the possibility that the clamping jaws are damaged due to the long - term frequent clamping of the robotic arm, which cannot be predicted and timely detected and replaced. It reduces the complexity of the overall operation of the equipment, improves the effect of the multi - functional test of the device, can perform different detections on clamping jaws of various different shapes, and also improves the effect of the fatigue detection of the device. It can roughly detect the possible number of times the clamping jaw will be damaged after clamping, which is convenient for directly replacing after clamping a certain number of times during subsequent work, avoiding affecting the welding. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of the robotic arm clamping force test device for a welding robot proposed by the present invention; Figure 2 It is a front - view structural schematic diagram of the robotic arm clamping force test device for a welding robot proposed by the present invention; Figure 3 It is a schematic structural diagram of the conversion disk and the workpiece clamping part; Figure 4 It is a schematic structural diagram of the rear side frame and the telescopic mechanism part; Figure 5 It is a schematic structural diagram of the guiding plate part; Figure 6 It is a schematic structural diagram of the sliding groove and the spring catch part; Figure 7 It is a front - side structural schematic diagram of the telescopic mechanism and the reciprocating part; Figure 8 It is a rear - side structural schematic diagram of the telescopic mechanism and the reciprocating part; Figure 9 It is a schematic structural diagram of the rotating part; Figure 10 It is a schematic structural diagram of the second test piece part; Figure 11Schematic diagram of the internal structure of the second test piece part; Figure 12 Schematic diagram of the structure of the middle moving frame part; Figure 13 Front view structural schematic diagram of the middle moving frame part; Figure 14 Schematic diagram of the structure of the first test piece part; Figure 15 Top view structural schematic diagram of the first test piece part; Figure 16 Schematic diagram of the structure of the mounting plate and the mounting shell part; Figure 17 Schematic diagram of the structure of the adjusting frame plate and the detection thin sheet part; Figure 18 Schematic diagram of the structure of the third test piece part; Figure 19 Schematic diagram of the structure of the detection piece part.

[0017] In the figure: 1, conversion disk; 11, central support shaft; 12, fixed shell; 121, clamped workpiece; 13, horizontal clamp; 14, serrated clamp; 15, V-shaped clamp; 16, toothed disk; 17, helical gear; 18, chute; 181, spring catch; 2, reciprocating part; 21, reciprocating push block; 22, first motor; 23, top frame; 24, transverse groove; 25, rotating connecting arm; 26, turntable; 3, rear side frame; 31, frame block; 32, driving block; 321, driving motor; 33, guide plate; 34, inclined groove; 35, slide bar; 36, outer support piece; 37, wall groove; 4, rotating part; 41, fixed seat; 42, switching motor; 43, switching roller; 5, telescopic mechanism; 51, movable frame; 511, outer slot opening; 52, outer frame; 53, slider; 54, stretching block; 55, main support; 56, first spring; 6, first test piece; 61, first mounting frame; 62, mounting plate; 63, mounting shell; 631, lifting motor; 64, first limiting rod; 65, adjusting frame plate; 651, vertical rod; 652, outer pulling spring; 66, middle motor; 661, elliptical push block; 67, compression frame; 68, detection thin sheet; 7, second test piece; 71, second mounting frame; 72, observation paper; 721, guide frame; 722, push rod; 73, second limiting rod; 74, middle moving frame; 75, first cylinder; 751, trapezoidal push block; 76, driving lead screw; 77, spring pressure rod; 78, turning block; 79, turning motor; 8, third test piece; 81, third mounting frame; 82, bending frame; 83, detection piece; 84, telescopic block; 85, detection plate; 86, limiting roller; 87, positioning plate. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0019] Embodiment 1: Refer to Figure 1-13 , a mechanical arm clamping force test device for a welding robot, including a conversion disk 1, a rear frame 3 and a rotating member 4. A central support shaft 11 is provided on the bottom side of the conversion disk 1. A fixed shell 12 is installed on one side of the central support shaft 11. A reciprocating member 2 is installed on the top surface of the central support shaft 11. A plurality of telescopic mechanisms 5 are provided on the conversion disk 1. Different jaws are respectively installed on the plurality of telescopic mechanisms 5, namely a horizontal clamp 13, a serrated clamp 14 and a V-shaped clamp 15. Moving frames 51 are installed on the bottom sides of the telescopic mechanisms 5; The rear frame 3 is arranged on one side of the conversion disk 1. A frame block 31 is installed on the rear frame 3. A guide plate 33 is provided on the frame block 31. An outer support piece 36 is movably connected to the bottom side of the guide plate 33. A driving block 32 is also connected inside the rear frame 3; The rotating member 4 is installed on the rear frame 3. The rotating member 4 includes two fixed seats 41 and a switching roller 43. The switching roller 43 is installed between the fixed seats 41. A first test piece 6, a second test piece 7 and a third test piece 8 are respectively installed on the switching roller 43. A switching motor 42 is installed on one of the fixed seats 41.

[0020] Specifically, an outer convex disk is installed on the outer surface of the top end of the central support shaft 11. A through hole is opened at the central position of the conversion disk 1. An embedded groove is opened on the inner wall of the through hole. The outer convex disk is connected in the embedded groove to support the rotation of the conversion disk 1. The conversion disk 1 is rotatably connected to the outside of the central support shaft 11 to facilitate the rotational switching of the positions of the horizontal clamp 13, the serrated clamp 14 and the V-shaped clamp 15. A toothed disk 16 is installed on the bottom surface of the through hole. The fixed shell 12 is vertically installed on one side of the central support shaft 11. A conversion motor is installed on the top surface of the fixed shell 12. A helical gear 17 is provided on the output end of the conversion motor. The helical gear 17 and the toothed disk 16 are meshed with each other to control the rotation of the conversion disk 1. A lifting lead screw is also installed inside the fixed shell 12. A lifting plate is connected to the lifting lead screw. A clamping workpiece 121 is screwed on one side of the lifting plate, which is convenient for disassembling and replacing the clamping workpiece 121 to adapt to workpieces with corresponding shapes of other jaws. A lifting motor is installed on the top end of the lifting lead screw. The clamping workpiece 121 is respectively connected between the horizontal clamp 13, the serrated clamp 14 and the V-shaped clamp 15, which can facilitate the continuous replacement of the position of the clamping workpiece 121 during the long-term clamping process to avoid the influence of workpiece damage on the jaws.

[0021] Furthermore, a plurality of bearing grooves are arranged in a ring on the conversion disk 1, and the movable frames 51 are movably connected in the bearing grooves for easy placement and movement. A plurality of telescopic mechanisms 5 are installed on the movable frames 51 at different positions. The telescopic mechanism 5 comprises an outer frame 52, a main bracket 55, a slider 53 and a stretching block 54. A main support rod in the shape of "丄" is installed on the main bracket 55, and the main support rod is fixedly installed between the inner walls of the outer frame 52 to realize the opening and closing of the clamping claws. Two sliders 53 are provided, and the two sliders 53 are slidably connected to the main support rod in the horizontal direction, and the stretching block 54 is slidably connected to the main support rod in the vertical direction. A first spring 56 is connected between the stretching block 54 and the main bracket 55, and a plurality of stretching sheets are respectively connected between the two sliders 53 and the stretching block 54. One side of the stretching block 54 is in the shape of "concave", and two hooks are symmetrically installed on it. The stretching block 54 is limited in the outer frame 52, and the horizontal clamp 13, the serrated clamp 14 and the V-shaped clamp 15 are respectively installed on the sliders 53 at corresponding positions.

[0022] The reciprocating member 2 includes a reciprocating push block 21, a top frame 23, a first motor 22, a turntable 26 and a rotating connecting arm 25. The top frame 23 is mounted on the top surface of the central support shaft 11, and the first motor 22 is mounted on the top surface of the top frame 23. The output end of the first motor 22 passes through the inner top surface of the top frame 23, on which a turntable 26 is mounted, and a vertical push rod is mounted on the bottom surface of the turntable 26. The rotation of the first motor 22 acts to control the reciprocating push of the reciprocating push block 21. The reciprocating push block 21 is set on the top surface of the central support shaft 11 and is located on the bottom side of the turntable 26. The reciprocating push block 21 is cross-shaped and reciprocates horizontally. A transverse groove 24 is provided on the push block 21, and a vertical push rod is movably connected in the transverse groove 24. An intermediate limit groove is symmetrically provided on the vertical reciprocating push block 21, and a vertical limit rod is installed in the intermediate limit groove to limit the linear position of the reciprocating push block 21. The vertical limit rod is fixedly installed on the top surface of the central support shaft 11, and the intermediate limit grooves are respectively located on both sides of the transverse groove 24. Rotating connecting arms 25 are symmetrically installed on the outer side surface of one end of the vertical reciprocating push block 21. The outer ends of the two rotating connecting arms 25 are connected in the hook to act on the connection between the reciprocating push block 21 and the stretching block 54, so as to achieve the effect of reciprocating clamping of the clamping claws.

[0023] In this embodiment, a sliding groove 18 is formed between the inner walls of the bearing groove. The movable frames 51 are all slidably connected in the sliding groove 18. A spring catch 181 is installed at the outer port of the sliding groove 18. The movable frame 51 is limited to one side of the spring catch 181, which can reduce the movement of the movable frame 51 during rotation. The rear frame 3 is erected outside the conversion disk 1. Horizontally symmetric first corresponding grooves are formed on the rear frame 3. The positions of the first corresponding grooves correspond to those of the sliding grooves 18 to facilitate the smooth entry of the movable frames 51. A driving screw is installed in the first corresponding groove. A driving motor 321 is arranged at the tail end of the driving screw. A driving block 32 is threadedly connected to the driving screw. The driving block 32 is movably connected in the first corresponding groove. An extension bar is fixed to one side of the driving block 32. An outer notch 511 is formed at the outer end of the movable frame 51. The outer side surface of the spring catch 181 is arc-shaped to facilitate the spring catch 181 to be pressed into the conversion disk 1 when the extension bar contacts it. The extension bar is connected to the spring catch 181. An electromagnet and a magnetic block are respectively installed in the outer notch 511 and the extension bar. The magnetic connection between the two facilitates the control of the connection and disconnection between the extension bar and the movable frame 51. The movable frame 51 is movably connected in the first corresponding groove and functions to move the fixture to the detection position.

[0024] There are two frame blocks 31. The two frame blocks 31 are symmetrically installed on the top surface of the rear frame 3. A guide plate 33 is erected on the top surfaces of the two frame blocks 31. An eight-shaped inclined groove 34 is formed on the guide plate 33. Wall grooves 37 are symmetrically formed between the inner walls of the two frame blocks 31. A sliding rod 35 is movably connected between the wall grooves 37. Both ends of the sliding rod 35 are spring-connected to the wall grooves 37 to ensure the stability of the position of the outer support piece 36 and avoid the phenomenon of deviation. Two outer support pieces 36 are arranged on the sliding rod 35. The two outer support pieces 36 are slidably connected to the outside of the sliding rod 35. The top ends of the outer support pieces 36 are movably connected in the corresponding inclined grooves 34, and the outer support pieces 36 can be opened according to the angle of the inclined grooves 34 to realize the pre-opening of the fixture before detection.

[0025] The second test piece 7 includes a second mounting bracket 71, a second limiting rod 73, a guiding bracket 721, an intermediate moving bracket 74, and a trapezoidal pushing block 751. One end of the second mounting bracket 71 is fixed on the switching roller 43. Two groups of second limiting rods 73 are symmetrically mounted on both sides of the second mounting bracket 71. Two guiding brackets 721 are provided, and the two guiding brackets 721 are respectively movably connected to the outer surfaces of the two groups of second limiting rods 73. An observation paper 72 is vertically mounted on the guiding bracket 721, and the observation paper 72 is parallel and tension-connected to the horizontal clamp 13. A driving lead screw 76 is mounted on the top side of the second mounting bracket 71 for adjusting during the front and rear tests of the spring pressure rod 77. An intermediate moving bracket 74 is movably connected to the driving lead screw 76. A turning block 78 is movably connected inside the second mounting bracket 71. A turning roller is provided on the turning block 78. The top end of the turning roller is connected to the bottom surface of the intermediate moving bracket 74. The bottom end of the turning roller is connected with a bottom block, and the bottom block is movably connected inside the second mounting bracket 71 to realize the stable movement of the turning block 78. A first toothed piece is mounted on the outer surface of the top end of the turning roller. A turning motor 79 is further provided on the bottom surface of the intermediate moving bracket 74. A second toothed piece is mounted on the output end of the turning motor 79. The first toothed piece and the second toothed piece are meshed with each other to control the rotation of the turning block 78. A plurality of spring pressure rods 77 are provided on both sides of the turning block 78. The spring pressure rods 77 are all spring-connected inside the turning block 78. The outer ends of the spring pressure rods 77 are in the shape of small-volume balls to reduce the friction with the observation paper 72 during movement, and it is less likely to break the paper while generating indentations during the movement. The positions of the spring pressure rods 77 on both sides are stagger-corresponding to realize the alternating detection of the spring pressure rods 77 on both sides, and the detection positions are more comprehensive. The outer ends of the spring pressure rods 77 are connected to the observation paper 72. Push rods 722 are mounted on one side of each guiding bracket 721. A first cylinder 75 is provided on the second mounting bracket 71. A trapezoidal pushing block 751 is provided on the telescopic end of the first cylinder 75. The trapezoidal pushing block 751 is connected to the outside of the push rod 722 to control the outward movement of the guiding bracket 721 to realize the fitting of the observation paper 72.

[0026] Working principle: When it is necessary to detect the horizontal clamp 13, control the rotation of the conversion disk 1 to rotate the horizontal clamp 13 to the specified position. After rotating to the specified position, control the rotation of the switching motor 42 to rotate the second test piece 7 to the horizontal position. Control the driving motor 321 to rotate, and the driving block 32 will move towards one side of the movable frame 51. After moving to the specified position, the extension bar will press the spring catch 181 into the conversion disk 1, and the extension bar will be inserted into the outer slot 511. Control the electromagnet in the extension bar to be energized, and the connection between the driving block 32 and the movable frame 51 will be completed. Reverse-control the driving motor 321 to rotate, and the horizontal clamp 13 will move towards the detection area; During the movement, the outer support piece 36 will pass through the gap between the horizontal clamps 13 until it abuts against the slider 53. During the continuous movement, the outer support piece 36 will move along with the slider 53. During the movement, the outer support piece 36 will open to both sides along the inclined groove 34. During the opening process, it will push the slider 53 outwards, and the horizontal clamp 13 will open until it reaches the other end of the inclined groove 34 and the horizontal clamp 13 is fully opened. At this time, the horizontal clamp 13 is located outside the second test piece 7. Control the first air cylinder 75 to extend forward. The trapezoidal push block 751 will move forward. During the movement, it will push the two push rods 722 outwards, and the guide frame 721 will move to both sides until the observation paper 72 is tightly attached to the horizontal clamp 13. Then control the steering motor 79 to rotate. The steering block 78 will rotate by 90 degrees. During the rotation, the spring pressure rod 77 that fully protrudes under the action of the spring will contact the two horizontal clamps 13. And under the resistance of the horizontal clamp 13, the spring pressure rod 77 will be pressed back into the steering block 78 until the spring pressure rod 77 is vertically connected to the observation paper 72. At this time, control the driving lead screw 76 to rotate. The middle moving frame 74 will move horizontally back and forth. When the spring pressure rod 77 continuously contacts the observation paper 72 during the movement, if there is a defective area on the horizontal clamp 13 at this time, when the end of the spring pressure rod 77 moves to the corresponding position, an indentation will be left at the corresponding position. If the defective area is relatively deep, it will directly pierce the observation paper 72. After completing the forward and backward movement, control the steering motor 79 to rotate again. The steering block 78 will rotate by 180 degrees. The two spring pressure rods 77 will change positions to detect the gap area of the previous spring pressure rod 77. After completing the same test, return the steering block 78 to its original position. Control the trapezoidal push block 751 to move backward. After losing the resistance, the guide frame 721 will reset. Control the driving motor 321 to rotate to restore the horizontal clamp 13 to the turntable 1. During this period, the outer support piece 36 will return to its original position, and the spring catch 181 will position the movable frame 51 again. At this time, remove the observation paper 72 and replace it. After the second test piece 7 reaches its in-place position, rotate the rear rotary connecting arm 25 and connect it to the stretching block 54. Install the clamping workpiece 121 corresponding to the shape of the horizontal clamp 13 on the lifting plate, and control the lifting plate to extend upward so that the clamping workpiece 121 of the corresponding shape is connected between the horizontal clamps 13. At this time, control the first motor 22 to rotate. During the rotation process, the reciprocating push block 21 will drive the stretching block 54 to move back and forth, and the horizontal clamp 13 will continuously clamp the clamping workpiece 121 back and forth. After clamping 100 times, reverse the above operations and perform the above detection on the clamped horizontal clamp 13 again. After the detection is completed, replace the observation paper 72 and perform 100 clamps again. Before clamping, control the clamping workpiece 121 to move upward by a certain distance to avoid clamping the area that has just been clamped. After clamping, perform the above detection again. After repeating the test multiple times, observe the observation paper 72 in sequence, and distinguish the degree of wear of the horizontal clamp 13 according to the damaged area and range of the observation paper 72, so as to simply distinguish within approximately how many clamps the damage degree of the horizontal clamp 13 is the smallest, and how many clamps outside the range require replacing the horizontal clamp 13.

[0027] Embodiment 2: Refer to Figure 14-17 , on the basis of Embodiment 1, the following technical solutions are also provided: Preferably, the first test piece 6 includes a first mounting frame 61, a first limiting rod 64, a mounting plate 62 and an intermediate motor 66. The first mounting frame 61 is fixedly mounted on the outer surface of the switching roller 43. Two groups of first limiting rods 64 are symmetrically mounted on both sides of the first mounting frame 61 to prevent the position of the mounting plate 62 from shifting during movement. The outer surfaces of the two groups of first limiting rods 64 are connected to the mounting plates 62. The intermediate motor 66 is mounted on the top surface of the first mounting frame 61. An elliptical push block 661 is mounted on the output end of the intermediate motor 66. The elliptical push block 661 is connected to the mounting plates on both sides. The inner side surface of the plate 62 acts to push the mounting plate 62 outward so that the detection sheet 68 can contact the sawtooth to be tested. A horizontal groove is provided on the mounting plate 62, and a first rotating screw is provided in the horizontal groove. A first convex block is connected to the rotating screw. A mounting shell 63 is provided on the outer side of the first convex block, which acts to adjust the position of the detection sheet 68 to the left and right to facilitate the detection of each sawtooth position. A lifting motor 631 is installed on the top surface of the mounting shell 63, and a second rotating screw is provided on the output end of the lifting motor 631. A second convex block is installed on the outer side of the second rotating screw. The second protrusion is fixed with an adjustment frame plate 65, which acts on the detection sheet 68 to detect the lifting and lowering of the saw teeth, so that the detection is more comprehensive. A guide roller is arranged on the mounting shell 63, and the adjustment frame plate 65 is slidably connected to the outer side of the guide roller to achieve more stability and reduce shaking during the lifting process. The spring in the adjustment frame plate 65 is connected with a compression frame 67. After the compression frame 67 is compressed inwardly, the detection sheet 68 can be continuously horizontally connected to the saw teeth to avoid the problem of disconnection. A plurality of groups of vertical rods 651 are vertically installed on the top surface of the compression frame 67, and the outer surface of the vertical rods 651 is movably connected There is a detection sheet 68, and an external pull spring 652 is connected between the detection sheet 68 and the compression frame 67 to facilitate observation during detection, and a pressure sensor is also installed therein. When the defect at the sawtooth position is not large, the detection sheet 68 will be reset under the action of the external pull spring 652. When the defect is too deep, the detection sheet 68 will be directly inserted, and the external pull spring 652 will gradually stretch to distinguish the size of the defect. The outer end of the detection sheet 68 is connected to the sawtooth clamp 14, and a sensor is set on the top of the vertical rod 651, which can stop the equipment when the detection sheet 68 is in contact.

[0028] Working principle: When it is necessary to detect the serrated clip 14, control the rotation of the conversion disk 1 to rotate the first test piece 6 to the specified position. At the same time, control the rotation of the switching motor 42. After controlling the rotation of the switching motor 42, repeat the operations in Embodiment 1 to first move the serrated clip 14 to the detection position on the rear side frame 3. After reaching the specified position, control the rotation of the intermediate motor 66. The elliptical push block 661 will push the two side mounting plates 62 outwards until the detection thin plate 68 contacts the serrations of the serrated clip 14, and the compression frame 67 is pushed into the adjustment frame plate 65 by a certain distance to ensure that the detection thin plate 68 continuously abuts against the serrations. Then control the rotation of the lifting motor 631, and the adjustment frame plate 65 will move downward. During the movement, the detection thin plate 68 will detect the serrated clip 14 in the vertical direction. When there are small defects, the detection thin plate 68 will get stuck in them, and the adjustment frame plate 65 continues to move downward, and the outer pull spring 652 will be pulled upwards. Due to the small contact point between the detection thin plate 68 and the defect, under the tensile force of the outer pull spring 652, the detection thin plate 68 will return to the compression frame 67. When the existing defect is large, the detection thin plate 68 will get stuck deeper and will not return under the tension of the outer pull spring 652. At this time, the detection thin plate 68 will contact the top of the vertical rod 651 and the device will stop, indicating that the damage is too large; After the detection is completed, repeat the operations in Embodiment 1 again to install the clamping workpiece 121 of the corresponding shape on the lifting plate, repeat the clamping of the serrated clip 14 and the clamping workpiece 121 of the corresponding shape. After the clamping is completed, perform the above detection again, and then repeat the clamping again. According to the situation of the detection thin plate 68 getting stuck and the situation of the device stopping during multiple reciprocating tests, determine the clamping range in which the damage to the serrated clip 14 is the smallest.

[0029] Embodiment 3: Refer to Figure 18-19 , on the basis of Embodiment 1, the following technical solutions are also provided: Preferably, the third test piece 8 includes a third mounting frame 81, a bending frame 82, and a detection piece 83. The bending frame 82 is provided with two groups, both of which are symmetrically installed on both sides of the third mounting frame 81. An electrically driven displacement screw is horizontally installed in the third mounting frame 81. The detection piece 83 is connected to the outer side of the displacement screw through a thread. The detection piece 83 includes a driving plate, a telescopic block 84, a detection plate 85, a limiting roller 86 and a clamping plate 87. Two telescopic blocks 84 are provided, and the two telescopic blocks 84 are spring-connected to both ends of the driving plate. Limiting rollers 86 are installed on the top and bottom surfaces of the telescopic blocks 84, and the limiting rollers 86 are movably connected between the corresponding bending frames 82, which can ensure that the telescopic blocks 84 are as close to the clamping plate as possible. The distance between the V-clamps 15 remains unchanged, and the outer side of the telescopic block 84 is evenly spring-connected with a detection plate 85. A pressure detector is arranged inside the telescopic block 84. When the detection plate 85 is moved to the defective position, a jamming phenomenon will occur on the detection plate 85, and the detection sensing force of the pressure detector will gradually increase. The outer end of the detection plate 85 is inclined, and it is connected to the inner wall of the V-clamp 15. A locking rod is also installed on the outer side of the telescopic block 84. The locking plate 87 is rotatably connected to the outer side of the locking rod. The locking plate 87 is clamped on the outer side end of the detection plate 85 to position the detection plate 85 that has not been detected, and the locking plate 87 is flush with the outer side end of the V-clamp 15, and the limit is automatically opened during detection.

[0030] Working principle: When the V-clamp 15 needs to be inspected, the rotating conversion disk 1 moves the position of the V-clamp 15 to the specified position, controls the switching motor 42 to rotate, moves the third test piece 8 to the horizontal position, repeats the operation in Example 1, moves the V-clamp 15 to the inspection position, and after reaching the specified position, controls the displacement screw to rotate, and the telescopic block 84 moves. During the movement, the positioning plate 87 contacts the extension of the V-clamp 15. At this time, the inspection plate 85 loses contact and extends outward to connect to the V-clamp 15. In addition, during the movement of the inspection piece 83, the telescopic block 84 telescopes forward and backward along the angle of the bending frame 82 to avoid the distance. This causes inaccurate data from the pressure sensor. When there is a shallow defect on the V-clamp 15, when the detection plate 85 comes into contact, the detection plate 85 will be briefly compressed backwards by the force, and the detection plate 85 will be separated from the defective area as the detection member 83 continues to move. When the defective area is deeper, the detection plate 85 will be directly stuck in the defect and cannot be moved out again. When the pressure detected by the pressure detector reaches a certain value, the rotation of the displacement screw will also stop. After the detection is completed, the operation in Example 1 is repeated, and the clamping workpiece 121 of the corresponding shape is clamped repeatedly. After clamping, the detection is performed again. The operation is repeated multiple times, and the degree of wear of the V-clamp 15 is identified based on the clamping condition of the detection plate 85.

[0031] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0032] All the standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the attached drawings. The specific connection methods of each part all adopt the conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0033] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A mechanical arm clamping force test device for a welding robot, characterized in that, Comprising: A conversion disk (1), a central support shaft (11) is provided on the bottom side of the conversion disk (1), a fixed shell (12) is installed on one side of the central support shaft (11), a reciprocating member (2) is installed on the top surface of the central support shaft (11), a plurality of telescopic mechanisms (5) are provided on the conversion disk (1), a horizontal clamp (13), a serrated clamp (14) and a V-shaped clamp (15) are respectively installed on the plurality of telescopic mechanisms (5), and movable frames (51) are installed on the bottom sides of the telescopic mechanisms (5); A rear side frame (3), the rear side frame (3) is arranged on one side of the conversion disk (1), a frame block (31) is installed on the rear side frame (3), a guide plate (33) is provided on the frame block (31), an outer support piece (36) is movably connected to the bottom side of the guide plate (33), and a driving block (32) is further connected inside the rear side frame (3); A rotating member (4), the rotating member (4) is installed on the rear side frame (3), the rotating member (4) includes two fixed seats (41) and a switching roller (43), the switching roller (43) is installed between the fixed seats (41), a first test piece (6), a second test piece (7) and a third test piece (8) are respectively installed on the switching roller (43), and a switching motor (42) is installed on one of the fixed seats (41).

2. The manipulator clamping force testing device for a welding robot according to claim 1, characterized in that, An outer convex disk is installed on the outer surface of the top end of the central support shaft (11), a through hole is opened at the central position of the conversion disk (1), an embedded groove is opened on the inner wall of the through hole, the outer convex disk is connected in the embedded groove, the conversion disk (1) is rotatably connected to the outside of the central support shaft (11), a toothed disk (16) is installed on the bottom surface of the through hole, the fixed shell (12) is vertically installed on one side of the central support shaft (11), a conversion motor is installed on the top surface of the fixed shell (12), a helical gear (17) is provided at the output end of the conversion motor, the helical gear (17) meshes with the toothed disk (16), a lifting lead screw is further installed inside the fixed shell (12), a lifting plate is connected to the lifting lead screw, a clamping workpiece (121) is screw-mounted on one side of the lifting plate, a lifting motor is installed on the top end of the lifting lead screw, and the clamping workpiece (121) is respectively connected between the horizontal clamp (13), the serrated clamp (14) and the V-shaped clamp (15).

3. The manipulator clamping force test device for a welding robot according to claim 1, wherein, The conversion plate (1) is provided with a plurality of bearing grooves arranged in an annular pattern. The movable frames (51) are all movably connected in the bearing grooves. The plurality of telescopic mechanisms (5) are all mounted on the movable frames (51) at different positions. The telescopic mechanisms (5) comprise an outer frame (52), a main support (55), a slider (53) and a stretching block (54). A main support rod in the shape of a Chinese character "丄" is mounted on the main support (55). The main support rod is fixedly mounted between the inner walls of the outer frame (52). Two sliders (53) are provided. The two sliders (53) are slidably connected in a horizontal direction. The stretching block (54) is slidably connected to the main support rod in the vertical direction; a first spring (56) is connected between the stretching block (54) and the main support (55); a plurality of stretching sheets are respectively connected between the two sliders (53) and the stretching block (54); one side of the stretching block (54) is in a "concave" shape, and two hooks are symmetrically mounted thereon; the stretching block (54) is limited in position within the outer frame (52); and the horizontal clamp (13), the serrated clamp (14) and the V-shaped clamp (15) are respectively mounted on the sliders (53) at corresponding positions.

4. The manipulator clamping force testing device for a welding robot according to claim 3, characterized in that, The reciprocating member (2) comprises a reciprocating push block (21), a top frame (23), a first motor (22), a turntable (26) and a rotating connecting arm (25); the top frame (23) is mounted on the top surface of the central support shaft (11); the first motor (22) is mounted on the top surface of the top frame (23); the output end of the first motor (22) passes through the inner top surface of the top frame (23), on which a turntable (26) is mounted; a vertical push rod is mounted on the bottom surface of the turntable (26); the reciprocating push block (21) is arranged on the top surface of the central support shaft (11) and is located on the bottom side of the turntable (26); The reciprocating push block (21) is cross-shaped, a horizontal groove (24) is provided on the reciprocating push block (21), the vertical push rod is movably connected in the horizontal groove (24), an intermediate limit groove is symmetrically provided on the reciprocating push block (21) in the vertical direction, a vertical limit rod is installed in the intermediate limit groove, and the vertical limit rod is fixedly installed on the top surface of the central support shaft (11), the intermediate limit grooves are respectively located on both sides of the horizontal groove (24), and rotating connecting arms (25) are symmetrically installed on the outer side surface of one end of the vertical reciprocating push block (21), and the outer ends of the two rotating connecting arms (25) are connected in the hook.

5. The manipulator clamping force test device for a welding robot according to claim 3, characterized in that, A chute (18) is formed between the inner walls of the bearing groove. The movable frames (51) are all slidably connected in the chute (18). A spring catch (181) is installed at the outer port of the chute (18). The movable frames (51) are limited to one side of the spring catch (181). The rear frame (3) is erected outside the conversion disc (1). Horizontally symmetrical first corresponding slots are formed on the rear frame (3). The first corresponding slots correspond to the positions of the chutes (18). A driving screw is installed in the first corresponding slot. A driving motor (321) is arranged at the tail end of the driving screw. A driving block (32) is threadedly connected to the driving screw. The driving block (32) is movably connected in the first corresponding slot. An extension strip is fixed to one side of the driving block (32). An outer notch (511) is formed at the outer end of the movable frame (51). The outer side surface of the spring catch (181) is arc-shaped. The extension strip is connected to the spring catch (181). An electromagnetic block and a magnetic block are respectively installed in the outer notch (511) and the extension strip, and they are magnetically connected to each other. The movable frame (51) is movably connected in the first corresponding slot.

6. The manipulator clamping force test device for a welding robot according to claim 1, characterized in that There are two support blocks (31), and the two support blocks (31) are symmetrically installed on the top surface of the rear frame (3). The guide plate (33) is erected on the top surfaces of the two support blocks (31). An eight-shaped inclined slot (34) is formed on the guide plate (33). Wall slots (37) are symmetrically formed between the inner walls of the two support blocks (31). A sliding rod (35) is movably connected between the wall slots (37). Springs are connected between the two ends of the sliding rod (35) and the wall slots (37). Two outer support pieces (36) are arranged on the sliding rod (35). The two outer support pieces (36) are slidably connected to the outside of the sliding rod (35). The top ends of the outer support pieces (36) are movably connected in the corresponding inclined slots (34).

7. The manipulator clamping force test device for a welding robot according to claim 1, characterized in that, The first test piece (6) includes a first mounting bracket (61), a first limiting rod (64), a mounting plate (62), and an intermediate motor (66). The first mounting bracket (61) is fixedly installed on the outer surface of the switching roller (43). Two groups of first limiting rods (64) are symmetrically installed on both sides of the first mounting bracket (61). Mounting plates (62) are connected to the outer surfaces of the two groups of first limiting rods (64). An intermediate motor (66) is installed on the top surface of the first mounting bracket (61). An elliptical push block (661) is installed on the output end of the intermediate motor (66). The elliptical push block (661) is connected to the inner side surfaces of the two side mounting plates (62). A horizontal groove is provided on the mounting plate (62). A first rotating lead screw is arranged in the horizontal groove. A first convex block is connected to the rotating lead screw. An installation shell (63) is arranged on the outer side of the first convex block. A lifting motor (631) is installed on the top surface of the installation shell (63). A second rotating lead screw is arranged on the output end of the lifting motor (631). A second convex block is installed on the outer side of the second rotating lead screw. An adjusting frame plate (65) is fixed to the second convex block. A guiding roller is arranged on the installation shell (63). The adjusting frame plate (65) is slidably connected to the outer side of the guiding roller. A compression frame (67) is spring-connected inside the adjusting frame plate (65). A plurality of vertical rods (651) are vertically installed on the top surface of the compression frame (67). A detection thin sheet (68) is movably connected to the outer surface of the vertical rod (651). An external pulling spring (652) is connected between the detection thin sheet (68) and the compression frame (67). The outer side end of the detection thin sheet (68) is connected to the serrated clip (14).

8. The mechanical arm clamping force testing device for a welding robot according to claim 1, characterized in that, The second test piece (7) includes a second mounting bracket (71), a second limiting rod (73), a guide frame (721), an intermediate moving frame (74) and a trapezoidal push block (751). One end of the second mounting bracket (71) is fixed on the switching roller (43). Two groups of second limiting rods (73) are symmetrically mounted on both sides of the second mounting bracket (71). Two guide frames (721) are provided, and the two guide frames (721) are respectively movably connected to the outer surfaces of the two groups of second limiting rods (73). An observation paper (72) is mounted on the guide frame (721), and the observation paper (72) is connected to the horizontal clamp (13). A driving lead screw (76) is mounted on the top side of the second mounting bracket (71), and an intermediate moving frame (74) is movably connected to the driving lead screw (76). A steering block (78) is movably connected inside the second mounting bracket (71). A steering roller is provided on the steering block (78). The top end of the steering roller is connected to the bottom surface of the intermediate moving frame (74), and the bottom end of the steering roller is connected to a bottom block. The bottom block is movably connected inside the second mounting bracket (71). A first tooth piece is mounted on the outer surface of the top end of the steering roller. A steering motor (79) is further provided on the bottom surface of the intermediate moving frame (74), and a second tooth piece is mounted on the output end of the steering motor (79). The first tooth piece and the second tooth piece are meshed with each other. A plurality of spring pressure rods (77) are provided on both sides of the steering block (78), and the spring pressure rods (77) are spring-connected inside the steering block (78). The outer ends of the spring pressure rods (77) are in the shape of balls, and the positions of the spring pressure rods (77) on both sides are stagger-corresponding. The outer ends of the spring pressure rods (77) are connected to the observation paper (72). A push rod (722) is mounted on one side of each of the guide frames (721). A first cylinder (75) is provided on the second mounting bracket (71), and a trapezoidal push block (751) is provided on the telescopic end of the first cylinder (75). The trapezoidal push block (751) is connected to the outside of the push rod (722).

9. The manipulator clamping force test device for a welding robot according to claim 1, wherein, The third test piece (8) includes a third mounting bracket (81), a bending bracket (82) and a detection piece (83). There are two groups of the bending brackets (82), which are symmetrically installed on both sides of the third mounting bracket (81). A displacement lead screw driven by electricity is horizontally installed in the third mounting bracket (81). The detection piece (83) is connected to the outside of the displacement lead screw in a threaded manner. The detection piece (83) includes a driving plate, a telescopic block (84), a detection plate (85), a limiting roller (86) and a clamping plate (87). There are two telescopic blocks (84), and the two telescopic blocks (84) are connected to both ends of the driving plate by springs. Limiting rollers (86) are installed on both the top surface and the bottom surface of the telescopic block (84), and the limiting rollers (86) are movably connected between the corresponding bending brackets (82). Detection plates (85) are evenly connected to the outer side surface of the telescopic block (84) by springs, and pressure detectors are arranged therein. The outer end of the detection plate (85) is inclined, and it is connected to the inner wall surface of the V-shaped clamp (15). A clamping rod is also installed on the outer side surface of the telescopic block (84). The clamping plate (87) is rotatably connected to the outside of the clamping rod, and the clamping plate (87) is clamped on the outer end of the detection plate (85).

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