Collaborative robot grabbing test platform

Abstract

The invention discloses a cooperative robot grabbing test platform, and particularly relates to the technical field of cooperative robot grabbing test.The cooperative robot grabbing test platform is provided with a correction insertion test unit, a laser sensor embedded in the bottom face of a moving plate identifies the shape of a connector, feeds back the state of the connector in real time and judges whether bending occurs or not; the connector enters from the inlet groove and reaches the correction groove, the two offset blocks slide to get close to each other, the pressing wheel is driven to conduct online straightening and dynamic correction on the connector entering the connector, the form of the connector is guaranteed, correction and straightening treatment is conducted before the connector is connected with the signal base, and the problem of poor contact or damage caused by direct insertion of the signal base is avoided. The correction seat and the signal seat move in the connection seat together, the signal seat and the connection joint are in butt joint in the same direction, and the connection seat slides in the horizontal direction, so that the signal seat and the connection joint are quickly inserted, and subsequent power-on signal testing is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robot grasping tests, and specifically to a collaborative robot grasping test platform. Background Technique

[0002] With the development of robot technology, in order to enable robots to work safely and collaboratively with humans in the same working environment, collaborative robots have emerged. Collaborative robots are often used in occasions such as grasping, assembling, or detecting lightweight, small-batch, and multi-variety parts. They grasp small parts from a rack or assembly line and place them on an assembly workstation for inspection; they are suitable for the assembly of lightweight components in industries such as automotive electronics and home appliances. By using sensors (such as laser rangefinders, industrial cameras, load cells, etc.) or special inspection equipment to inspect workpieces, it is determined whether the workpieces meet specific indicators (dimensional accuracy, shape, appearance defects, etc.), and the data is transmitted back to the control system in real time, and the processes of grasping, transporting, and reinspecting are repeated to form a stable cyclic test ability.

[0003] After retrieval, the invention patent with the publication number CN116652944B discloses an intelligent grasping control device based on a collaborative robot. When the object has an irregular shape, multiple clamping components will extend adaptively according to the clamping position to ensure that the clamping forces between multiple contact plates I and the object all reach preset values.

[0004] In the existing solution, when the workpiece is plugged into the signal socket during test signal transmission, there is a situation where a bent connector is directly inserted into the signal socket, resulting in contact problems or physical damage. On the one hand, it causes unstable signal transmission, and on the other hand, it requires manual intervention or shutdown to handle the bent connector, reducing the automation efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a collaborative robot grasping test platform to solve the problems mentioned in the above background technique.

[0006] The main technical problem to be solved by the present invention is:

[0007] In the existing solution, a bent connector is directly inserted into the signal socket, resulting in contact problems or physical damage. On the one hand, it causes unstable signal transmission, and on the other hand, it requires manual intervention or shutdown to handle the bent connector, reducing the automation efficiency.

[0008] The present invention can be realized through the following technical solutions:

[0009] A collaborative robot grasping test platform includes a material box arranged on a detection table;

[0010] A positioning component for testing the workpiece, and a connection connector is provided at the edge of the workpiece;

[0011] The grasping component is used to transfer the workpiece in the cartridge to the positioning component;

[0012] The test stand is arranged above the positioning component and slides on the upper surface of the detection table. A moving plate is installed vertically inside it. The bottom surface of the moving plate is connected with a hollow frame, and a notch is arranged at one side edge of the hollow frame;

[0013] The calibration plug-in test unit is used to correct the deviation of the connection joint, and is arranged at the bottom edge of the moving plate and inside the notch;

[0014] The detection unit slides on the bottom surface of the moving plate and tests the static voltage at different positions of the workpiece in the power-off state;

[0015] The calibration plug-in test unit includes a sliding plate that slides horizontally. The end of the sliding plate is fixed with a connecting seat in an L-shaped structure. The bottom surface of the connecting seat slides along a direction perpendicular to the horizontal direction with a signal seat and a calibration seat. The signal seat is fixed to the calibration seat;

[0016] An entry groove for cooperating with the connection joint is arranged on the side surface of the calibration seat. A calibration groove is communicated at the end of the entry groove. Two offset blocks slide in the inner cavity of the calibration groove, and a pressing wheel for straightening the connection joint online is installed on the surface of the offset block.

[0017] A further technical improvement of the present invention is that: two screws driven by the same double-shaft motor are arranged in the middle of the end far from the calibration groove in the inner cavity of the calibration seat, and the screws are threadedly arranged with the corresponding offset blocks.

[0018] A further technical improvement of the present invention is that: the outer opening of the entry groove is large, the inner opening is small and has the same diameter as the calibration groove.

[0019] A further technical improvement of the present invention is that: the calibration plug-in test unit further includes a vertical block fixed to the bottom surface of the moving plate, and a cylinder one for pushing the sliding plate to slide is installed on the surface of the vertical block;

[0020] A cylinder two for pushing the signal seat and the calibration seat to slide simultaneously is installed on the outer wall surface of the connecting seat. A limiting seat that slides on the vertical block is arranged on the side surface of the signal seat. The limiting seat is in the same sliding direction as the signal seat and the calibration seat. Two limiting rods are fixedly arranged at both ends inside the limiting seat;

[0021] The T-shaped rod on the side surface of the signal seat extends into the limiting seat and is slidably arranged with the limiting rods at both ends.

[0022] A further technical improvement of the present invention lies in that: the detection unit includes at least one linear guide rail provided on the bottom surface of the moving plate. A lifting seat is installed on the sliding seat outside the linear guide rail. An electromagnet is provided on the top surface of the inner cavity of the lifting seat, and a blocking plate is provided below the electromagnet inside the lifting seat. The armature in the electromagnet is connected to a T-shaped rod passing through the inside of the blocking plate. A probe is installed on the bottom surface of the T-shaped rod, and a second spring is sleeved outside the T-shaped rod. One end of the second spring is fixed to the blocking plate.

[0023] A further technical improvement of the present invention lies in that: the positioning assembly includes a material plate fixedly provided on the top surface of the detection table. Positioning seats for limiting the workpiece are provided at two diagonal corners of the material plate. The positioning seats are arranged in an L-shaped structure and are fixed to the material plate;

[0024] Both inner wall surfaces of the positioning seat are provided with reset grooves. Clamping blocks are movably installed in the reset grooves. A slope is provided on the top of the clamping block, and the end of the slope extends into the inside of the reset groove. A telescopic column fixed to the clamping block is installed on the inner wall surface of the reset groove, and a first spring is sleeved outside the telescopic column.

[0025] A further technical improvement of the present invention lies in that: the grasping assembly includes a robotic arm, and a suction cup is provided for lifting and lowering at the grasping end of the robotic arm.

[0026] A further technical improvement of the present invention lies in that: four material bins of the same size are provided in the material box. Two of the material bins are used for placing workpieces, and the other two material bins are used for placing qualified and unqualified workpiece products.

[0027] A further technical improvement of the present invention lies in that: a positioning pin is provided on the bottom surface of the hollow frame, and a buffer pad is provided outside the positioning pin on the bottom surface of the hollow frame. The edge of the upper surface of the hollow frame is fixed to the moving plate through a reinforcing plate;

[0028] The bottom of the positioning pin is a frustum of a cone, and the positioning pin is inserted into the through hole on the workpiece, and the buffer pad is in contact with the upper surface of the workpiece.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. By setting up a calibration plug-in test unit, the laser sensor embedded in the bottom surface of the moving plate identifies the shape of the connection joint, provides real-time feedback on the joint status, determines whether bending occurs. If bending occurs, the calibration seat aligns with the connection joint. When the sliding plate slides horizontally, it drives the connection joint to enter from the entry slot and reach the calibration slot. The two offset blocks slide closer to each other, driving the pressure wheel to straighten the incoming connection joint online, dynamically calibrating to ensure the shape of the connection joint, and performing deviation correction and straightening before connecting to the signal seat to avoid problems such as poor contact or damage caused by direct plugging of the signal seat. If no bending occurs, the calibration seat and the signal seat move together in the connection seat at this time. The signal seat and the connection joint are docked in the same direction. Through the horizontal sliding of the connection seat, rapid plugging of the signal seat and the connection joint is achieved, facilitating subsequent power-on signal testing and improving automation efficiency.

[0031] 2. By setting up a detection unit, when the hollow frame presses on the top surface of the workpiece, the electromagnet is in a normal powered state. The armature inside the electromagnet pulls the T-shaped rod to move within the lifting seat. At this time, the second spring is in a contracted state, and the bottom end of the probe does not contact the test point of the workpiece. As the lifting seat slides on the linear guide, the test area of the measurement point changes. Then the electromagnet is powered off, the second spring restores its deformation, driving the probe to the test point of the workpiece to test the residual voltage of the workpiece.

[0032] 3. Through two positioning seats arranged diagonally, the workpiece enters from the slope at the top of the clamping block. Under the pushing of the inclined surface, the clamping block enters the reset slot, compressing the telescopic column and the first spring. Relying on the inner side surface of the clamping block to limit the adjacent side surface of the workpiece, the hollow frame descends in height until the positioning pin enters the through hole of the workpiece. At this time, the buffer pad contacts the surface of the workpiece, avoiding the shaking of the workpiece during testing and improving its stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0034] Figure 1 is the external structural schematic diagram of the present invention;

[0035] Figure 2 is the three-dimensional structural schematic diagram of the moving plate and the material plate of the present invention;

[0036] Figure 3 is the three-dimensional installation structural schematic diagram of the clamping block and the positioning seat of the present invention;

[0037] Figure 4 For the present invention Figure 2 is the partial enlarged view at A in;

[0038] Figure 5 is the installation structural schematic diagram of the vertical block and the sliding plate of the present invention;

[0039] Figure 6 For the present invention Figure 5 Partial enlarged view at position B in the present invention;

[0040] Figure 7 Schematic diagram of the three-dimensional installation structure of the connection seat and the calibration seat of the present invention;

[0041] Figure 8 Schematic diagram of the installation structure of the pressure wheel and the calibration seat of the present invention.

[0042] In the figure: 1, detection table; 2, robotic arm; 3, suction cup; 4, material box; 5, test stand; 6, moving plate; 7, hollow frame; 8, positioning pin; 10, material plate; 11, positioning seat; 12, reset groove; 13, telescopic column; 14, clamping block; 15, first spring; 16, notch; 17, pressure wheel; 19, vertical block; 20, connection joint; 21, first cylinder; 22, sliding plate; 23, connection seat; 24, signal seat; 25, limit seat; 26, limit rod; 27, linear guide rail; 28, lifting seat; 29, electromagnet; 30, blocking plate; 31, probe; 32, second spring; 33, second cylinder; 34, entry groove; 35, calibration groove; 36, offset block; 37, screw; 38, calibration seat. Detailed implementation manners

[0043] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and their effects of the present invention as follows.

[0044] Please refer to Figures 1-8 As shown, the present invention provides a collaborative robot grasping test platform, including a detection table 1, on the top surface of the detection table 1 there are provided a material box 4, a positioning component for testing workpieces, and a grasping component for transferring the workpieces in the material box 4 to the positioning component. There is a connection joint 20 at the edge of the workpiece;

[0045] Above the positioning component, there is a test stand 5 sliding on the upper surface of the detection table 1. Inside the test stand 5, a moving plate 6 is installed for lifting. The bottom surface of the moving plate 6 is connected with a hollow frame 7. At one side edge of the hollow frame 7, there is a notch 16. Inside the notch 16 at the bottom edge of the moving plate 6, there is a calibration plug-in test unit for correcting the deviation of the connection joint 20, and on the bottom surface of the moving plate 6, there is a detection unit for static voltage testing of different positions of the workpiece in the power-off state;

[0046] The calibration plug-in test unit includes a sliding plate 22 sliding in the horizontal direction. At the end of the sliding plate 22, there is a connection seat 23 with an L-shaped structure. Along the direction of the rail groove perpendicular to the horizontal direction, a signal seat 24 and a calibration seat 38 are slidably arranged on the bottom surface of the connection seat 23, and the signal seat 24 and the calibration seat 38 are fixed;

[0047] On the side of the calibration seat 38, there is an access groove 34 for cooperating with the connection joint 20. At the end of the access groove 34, a calibration groove 35 is communicated. Two offset blocks 36 are slidably arranged in the inner cavity of the calibration groove 35. A pressing wheel 17 for straightening the connection joint 20 online is installed on the surface of the offset block 36;

[0048] It should be noted that the workpiece is a circuit board installed on the battery pack. Before installing the circuit board on the battery pack, a power-off test is carried out to check whether the circuit is conducting and the welding quality of the components;

[0049] When the workpiece enters the positioning assembly, the test frame 5 slides away from above the positioning assembly. At this time, the workpiece is moved to the positioning assembly by the grasping assembly at a fixed point to ensure the unity of the workpiece position during each detection. Then the test frame 5 resets above the positioning assembly;

[0050] Then, the moving plate 6 and the hollow frame 7 move downward. At this time, the hollow frame 7 presses the top of the workpiece. First, a power-off test is carried out on the test points of the workpiece through the detection unit, and the line conductivity and residual voltage of the test area are detected (unreleased charge or residual voltage) to prevent damage to the components. Usually, a safety threshold is set for the residual voltage detection, and exceeding it is regarded as abnormal;

[0051] Such as Figure 5 and Figure 7 As shown, since the moving plate 6 and the hollow frame 7 move downward, it drives the calibration plug-in test unit to align with the connection joint 20. Then, the laser sensor embedded in the bottom surface of the moving plate 6 identifies the shape of the connection joint 20 and real-time feedbacks the joint state, that is, judges whether there is a bend. If there is a bend, at this time, the calibration seat 38 is aligned with the connection joint 20. Under the horizontal sliding state of the sliding plate 22, it drives the connection joint 20 to enter from the access groove 34 and reach the calibration groove 35. Due to the mutual sliding and approaching of the two offset blocks 36, it drives the pressing wheel 17 to straighten the incoming connection joint 20 online. Dynamic calibration avoids manual intervention and ensures the form of the connection joint 20 during use. Before connecting with the signal seat 24, deviation correction and straightening treatment are carried out to avoid problems such as poor contact or damage caused by direct insertion of the signal seat 24;

[0052] If there is no bend, at this time, the calibration seat 38 and the signal seat 24 move together in the connection seat 23, and the sliding distance does not exceed the notch 16. At this time, the signal seat 24 and the connection joint 20 are butted in the same direction. Through the horizontal sliding of the connection seat 23, the rapid insertion of the signal seat 24 and the connection joint 20 is realized, which is convenient for subsequent power-on signal testing;

[0053] Power on, insert the signal seat 24 and the connection joint 20, test the signal transmission ability of the circuit board, and verify its basic communication.

[0054] Refer toFigure 8 As shown, two screws 37 driven by the same biaxial motor are provided in the cavity inside the calibration seat 38 and away from the middle of the end of the calibration groove 35. The screws 37 are threadedly arranged with the offset blocks 36 on the corresponding sides.

[0055] The outer opening of the inlet groove 34 is large, the inner opening is small and has the same diameter as the calibration groove 35. When the connecting joint 20 enters through the inlet groove 34, due to the large opening, it can adapt to the bending of the connecting joint 20 for straightening. When passing through the inlet groove 34 into the calibration groove 35, the offset blocks 36 on the corresponding sides are driven by the screws 37 to move, so as to drive the pressing wheel 17 to roll and straighten the connecting joint 20.

[0056] Refer to Figure 5 and Figure 7 As shown, the calibration plug-in test unit further includes a vertical block 19 fixed to the bottom surface of the moving plate 6. A cylinder 21 for pushing the sliding plate 22 to slide is installed on the surface of the vertical block 19.

[0057] An outer wall surface of the connecting seat 23 is provided with a cylinder 33 for pushing the signal seat 24 and the calibration seat 38 to slide simultaneously. A limiting seat 25 that slides on the vertical block 19 is provided on the side of the signal seat 24. The sliding directions of the limiting seat 25, the signal seat 24, and the calibration seat 38 are the same. Two limiting rods 26 are fixedly arranged at both ends inside the limiting seat 25.

[0058] A T-shaped rod on the side of the signal seat 24 extends into the limiting seat 25 and is slidably arranged with the limiting rods 26 at both ends.

[0059] When the moving plate 6 drives the hollow frame 7 to press down, it drives the vertical block 19 to move downward together. The cylinder 21 is used to push the sliding plate 22 to slide horizontally, so as to plug the signal seat 24 or the calibration seat 38 into the connecting joint 20. During this process, the T-shaped rod on the signal seat 24 slides externally limited by the limiting rods 26.

[0060] According to the result of the laser sensor feedback on the shape of the joint, its movement process is controlled. If it is not bent, the cylinder 33 is used to push the signal seat 24 to slide. Since the signal seat 24 and the calibration seat 38 are fixed together, both slide simultaneously. At this time, the signal seat 24 reaches the same direction as the connecting joint 20, which is convenient for the signal seat 24 to be aligned and plugged into the connecting joint 20.

[0061] Refer to Figure 6As shown in the figure, the detection unit includes at least one linear guide rail 27 provided on the bottom surface of the moving plate 6. A lifting seat 28 is installed on the sliding seat outside the linear guide rail 27. An electromagnet 29 is provided on the top surface of the inner cavity of the lifting seat 28. A blocking plate 30 is provided below the electromagnet 29 inside the lifting seat 28. The armature in the electromagnet 29 is connected to a T-shaped rod passing through the inside of the blocking plate 30. A probe 31 is installed on the bottom surface of the T-shaped rod. A second spring 32 is sleeved outside the T-shaped rod, and one end of the second spring 32 is fixed to the blocking plate 30;

[0062] The top surface of the workpiece is pressed by the hollow frame 7, and the bottom end of the probe 31 does not contact the test point of the workpiece. Initially, the electromagnet 29 is in a normal energized state. The armature in the electromagnet 29 pulls the T-shaped rod to move inside the lifting seat 28. At this time, the second spring 32 is in a contracted state; as the lifting seat 28 slides on the linear guide rail 27 to reach the test point, then the electromagnet 29 is powered off, and the second spring 32 restores its deformation, driving the probe 31 to the test point of the workpiece to test the residual voltage of the workpiece.

[0063] Refer to Figure 2 and Figure 3 As shown in the figure, the positioning component includes a material plate 10 fixedly provided on the top surface of the detection table 1. Positioning seats 11 for limiting the workpiece are provided at two diagonal corners of the material plate 10. The positioning seats 11 are set in an L-shaped structure and fixed to the material plate 10;

[0064] Reset grooves 12 are provided on both inner wall surfaces of the positioning seat 11. Clamping blocks 14 are movably installed in the reset grooves 12. The top of the clamping blocks 14 is provided with a slope extending upward. A telescopic column 13 is installed on the inner wall surface of the reset groove 12. One end of the telescopic column 13 is fixed to the inner wall surface of the clamping block 14. A first spring 15 is sleeved outside the telescopic column 13;

[0065] After the workpiece is grabbed by the grabbing component and placed into the two positioning seats 11, the workpiece enters through the slope at the top of the clamping block 14. Under the pushing of the inclined surface, the clamping block 14 enters into the reset groove 12 and compresses the telescopic column 13 and the first spring 15, and the adjacent side surface of the workpiece is limited by the inner side surface of the clamping block 14.

[0066] Refer to Figure 1 As shown in the figure, the grabbing component includes a robotic arm 2, and a suction cup 3 is provided for lifting and lowering at the grabbing end of the robotic arm 2.

[0067] Four bins of the same size are provided in the material box 4. Two of the bins are used to place workpieces, and the other two bins are used to place qualified and unqualified workpiece products. Prompt labels are pasted on the outer wall surface of the material box 4 corresponding to the positions of the other two bins.

[0068] Refer to Figure 2 and Figure 5As shown in the figure, a positioning pin 8 is provided on the bottom surface of the hollow frame 7, and a buffer pad is provided outside the positioning pin 8 on the bottom surface of the hollow frame 7. The edge of the upper surface of the hollow frame 7 is fixed to the moving plate 6 through a reinforcing plate;

[0069] The bottom of the positioning pin 8 is a frustum, and the positioning pin 8 is inserted into the through hole on the workpiece, and the buffer pad contacts the upper surface of the workpiece;

[0070] After fixing the side surface of the workpiece, due to the hollow frame 7 descending in height until the positioning pin 8 enters the through hole of the workpiece, at this time the buffer pad contacts the surface of the workpiece, avoiding the shaking of the workpiece during the test and improving its stability.

[0071] When the present invention is in use, by setting a calibration plug-in test unit, the laser sensor embedded in the bottom surface of the moving plate 6 identifies the shape of the connection joint 20, and real-time feedbacks the joint state to judge whether bending occurs. If bending occurs, the calibration seat 38 is aligned with the position of the connection joint 20. Under the horizontal sliding state of the sliding plate 22, the connection joint 20 is driven to enter and reach the calibration groove 35 from the entry groove 34. The two offset blocks 36 slide close to each other, driving the pressure wheel 17 to straighten the incoming connection joint 20 online, dynamically calibrating to ensure the shape of the connection joint 20, and performing deviation correction and straightening treatment before connecting with the signal seat 24 to avoid problems such as poor contact or damage caused by direct insertion of the signal seat 24; if no bending occurs, at this time the calibration seat 38 and the signal seat 24 move together in the connection seat 23, and the signal seat 24 and the connection joint 20 are docked in the same direction. Through the horizontal sliding of the connection seat 23, the quick insertion of the signal seat 24 and the connection joint 20 is realized, which is convenient for subsequent power-on signal testing;

[0072] By setting a detection unit, when the hollow frame 7 presses on the top surface of the workpiece, the electromagnet 29 is in a normal energized state, and the armature in the electromagnet 29 pulls the T-shaped rod to move in the lifting seat 28. At this time, the second spring 32 is in a contracted state, and the bottom end of the probe 31 does not contact the test point of the workpiece; as the lifting seat 28 slides on the linear guide 27, the test area of the test point is changed, and then the electromagnet 29 is powered off, and the second spring 32 restores its deformation, driving the probe 31 to the test point of the workpiece to test the residual voltage of the workpiece;

[0073] Through the two positioning seats 11 arranged diagonally, the workpiece enters from the slope at the top of the clamping block 14. Under the pushing of the inclined surface, the clamping block 14 enters the reset groove 12 and compresses the telescopic column 13 and the first spring 15. The adjacent side surface of the workpiece is limited by the inner side surface of the clamping block 14. The hollow frame 7 descends in height until the positioning pin 8 enters the through hole of the workpiece. At this time, the buffer pad contacts the surface of the workpiece, avoiding the shaking of the workpiece during the test and improving its stability.

[0074] The above are only the preferred embodiments of the present invention and do not impose any formal restrictions on the present invention. Although the present invention has been disclosed above in the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the equivalent embodiments with equivalent changes within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A collaborative robot grasping test platform, characterized in that: It includes a magazine (4) provided on a detection table (1); A positioning component for testing a workpiece, with a connection joint (20) provided at the edge of the workpiece; A grasping component for transferring the workpiece in the magazine (4) to the positioning component; A test stand (5) is provided above the positioning component and slides on the upper surface of the detection table (1). A moving plate (6) is installed in it for lifting. The bottom surface of the moving plate (6) is connected to a hollow frame (7). A notch (16) is provided at one edge of the hollow frame (7); A calibration plug-in test unit for correcting the deviation of the connection joint (20), and is provided at the bottom edge of the moving plate (6) and inside the notch (16); A detection unit slides on the bottom surface of the moving plate (6) and tests the static voltage at different positions of the workpiece in a power-off state; The calibration plug-in test unit includes a sliding plate (22) that slides in the horizontal direction. An L-shaped connecting seat (23) is fixed at the end of the sliding plate (22). A signal seat (24) and a calibration seat (38) are slidably provided on the bottom surface of the connecting seat (23) along a direction perpendicular to the horizontal direction. The signal seat (24) is fixed to the calibration seat (38); An entry groove (34) that cooperates with the connection joint (20) is provided on the side surface of the calibration seat (38). A calibration groove (35) is communicated at the end of the entry groove (34). Two offset blocks (36) are slidably provided in the inner cavity of the calibration groove (35). A pressing wheel (17) for straightening the connection joint (20) online is installed on the surface of the offset block (36).

2. The collaborative robot grasping test platform according to claim 1, characterized in that, Two screws (37) driven by the same biaxial motor are provided in the middle of the end of the inner cavity of the calibration seat (38) far from the calibration groove (35). The screws (37) are threadedly arranged with the corresponding offset blocks (36).

3. The collaborative robot grasping test platform according to claim 1, characterized in that, The outer opening of the entry groove (34) is large, the inner opening is small, and the diameter is the same as that of the calibration groove (35).

4. A collaborative robot grasping test platform according to claim 1, characterized in that, The calibration plug-in test unit further includes a vertical block (19) fixed to the bottom surface of the moving plate (6). A cylinder one (21) for pushing the sliding plate (22) to slide is installed on the surface of the vertical block (19); A cylinder two (33) for pushing the signal seat (24) and the calibration seat (38) to slide simultaneously is installed on the outer wall surface of the connecting seat (23). A limiting seat (25) that slides on the vertical block (19) is provided on the side surface of the signal seat (24). The limiting seat (25) is in the same sliding direction as the signal seat (24) and the calibration seat (38). Two limiting rods (26) are fixedly provided at both ends inside the limiting seat (25); The T-shaped rod on the side surface of the signal seat (24) extends into the limiting seat (25) and is slidably arranged with the two limiting rods (26) at both ends.

5. The collaborative robot grasping test platform according to claim 1, wherein The detection unit includes at least one linear guide rail (27) provided on the bottom surface of the moving plate (6). A lifting seat (28) is installed on the sliding seat outside the linear guide rail (27). An electromagnet (29) is provided on the top surface of the inner cavity of the lifting seat (28). A blocking plate (30) is provided below the electromagnet (29) inside the lifting seat (28). The armature in the electromagnet (29) is connected to a T-shaped rod that penetrates inside the blocking plate (30). A probe (31) is installed on the bottom surface of the T-shaped rod. A second spring (32) is sleeved outside the T-shaped rod. One end of the second spring (32) is fixed to the blocking plate (30).

6. A collaborative robot grasping test platform according to claim 1, characterized in that, The positioning component includes a material plate (10) fixedly provided on the top surface of the detection table (1). Positioning seats (11) for limiting the workpiece are provided at two diagonal corners of the material plate (10). The positioning seats (11) are arranged in an L-shaped structure and fixed to the material plate (10). Reset grooves (12) are provided on both inner wall surfaces of the positioning seat (11). Clamping blocks (14) are movably installed in the reset grooves (12). The top of the clamping block (14) is provided with a slope, and the end of the slope extends into the interior of the reset groove (12). A telescopic column (13) fixed to the clamping block (14) is installed on the inner wall surface of the reset groove (12). A first spring (15) is sleeved outside the telescopic column (13).

7. A collaborative robot grasping test platform according to claim 1, characterized in that, The grasping component includes a robotic arm (2). A suction cup (3) is provided for lifting and lowering at the grasping end of the robotic arm (2).

8. A collaborative robot grasping test platform according to claim 1, wherein, Four bins of the same size are provided in the material box (4). Two of the bins are used to place workpieces, and the other two bins are used to place qualified and unqualified workpiece products.

9. A collaborative robot grasping test platform according to claim 1, characterized in that, A positioning pin (8) is provided on the bottom surface of the hollow frame (7). A buffer pad is provided outside the positioning pin (8) on the bottom surface of the hollow frame (7). The edge of the upper surface of the hollow frame (7) is fixed to the moving plate (6) through a reinforcing plate. The bottom of the positioning pin (8) is a frustum of a cone. The positioning pin (8) is inserted into the through hole on the workpiece, and the buffer pad contacts the upper surface of the workpiece.

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