Track detection device for industrial robot

Abstract

The invention discloses a track detection device for an industrial robot. Comprising a workbench, a fixing rod is movably installed at the top of the workbench, a fourth connecting rod and a first connecting rod are movably installed at the top of the fixing rod, and first moving rods are movably installed at the two ends of the fourth connecting rod. According to the device, the first auxiliary rods and the movable blocks are arranged, when the robot manipulator moves to the position area among the four first auxiliary rods, the robot moves according to the preset advancing track, and the first auxiliary rods and the movable blocks can keep synchronous movement with the manipulator; the background control system compares data detected by the laser distance measuring sensor in the operation process with a standard data value, if the data value measured by the laser distance measuring sensor exceeds a preset data value in the equipment operation process, it is indicated that the robot manipulator deviates during operation, and if the data value measured by the laser distance measuring sensor exceeds the preset data value, the robot manipulator does not deviate during operation. Through the operation mode, detection of the moving track of the robot can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly relates to a trajectory detection device for an industrial robot. Background Art

[0002] An industrial robot is a fixed or mobile, automatically controlled, reprogrammable, multi-purpose manipulator that can be programmed for three or more axes, and can realize various industrial processing and manufacturing functions relying on its own power source and control ability. It can either be commanded by humans or operate according to a pre-programmed procedure. Modern industrial robots can also make autonomous decision-making actions according to the principles and guidelines specified by artificial intelligence technology. With the development of technology and the progress of industrial technology.

[0003] The reliability of an industrial robot is mainly reflected in its operating accuracy. During the production process, it is necessary to ensure the operating accuracy of the robot to guarantee the stability of its function usage during the production process. Currently, there often appears a phenomenon that the production operation process is out of joint due to insufficient motion accuracy of the industrial robot. Therefore, before the robot is installed and used or after it has been used for a period of time, it is necessary to detect the accuracy of its operating trajectory to ensure the stability of the robot's use. Thus, a device that can detect the trajectory of the robot is needed. Summary of the Invention

[0004] Aiming at the defects in the prior art, the present invention provides a trajectory detection device for an industrial robot, including a workbench. A fixed rod is movably installed on the top of the workbench. A fourth connecting rod and a first connecting rod are movably installed on the top of the fixed rod. Both ends of the fourth connecting rod are movably installed with first moving rods. Two first auxiliary rods are movably installed on the first moving rods. An activity block is movably installed on the top of the first auxiliary rods. Laser distance sensors are installed on the activity block and the top of the fourth connecting rod. Both ends of the first connecting rod are movably installed with second connecting rods. A third connecting rod is movably installed at one end of the second connecting rod close to the fourth connecting rod. An auxiliary mechanism is provided on the third connecting rod.

[0005] Preferably, a first slot is opened on the top of the workbench. A lead screw is rotatably installed inside the first slot. A first rotating motor is installed on one side of the workbench. The output end of the first rotating motor movably penetrates through the side wall of the workbench and is connected to the lead screw. A fixed slider is installed at the bottom of the fixed rod. The fixed slider is slidably installed inside the first slot. The lead screw threadedly penetrates through the fixed slider.

[0006] Preferably, a first sliding groove is formed at the top of the fixed rod, a first support rod is provided at the bottom of the fourth connecting rod, a first electric slider is installed at the bottom of the first support rod, the first electric slider is slidably installed inside the first sliding groove, a first electric lifting rod is embedded at the top of the first support rod, the lifting end of the first electric lifting rod faces upward, and the lifting end of the first electric lifting rod is connected to the bottom of the fourth connecting rod.

[0007] Preferably, a second support rod is provided at the bottom of the first connecting rod, a second electric slider is connected to the bottom of the second support rod, the second electric slider is slidably installed inside the first sliding groove, a third electric lifting rod is embedded at the top of the second support rod, the lifting end of the third electric lifting rod faces upward, and the lifting end of the third electric lifting rod is connected to the bottom of the first connecting rod.

[0008] Preferably, second electric telescopic rods are embedded at both ends of the fourth connecting rod, the telescopic ends of the second electric telescopic rods are away from the fourth connecting rod, the telescopic ends of the second electric telescopic rods are connected to the first moving rod, a displacement sliding groove is formed at the top of the first moving rod, a second electric lifting rod is embedded at the bottom of the first auxiliary rod, the mounting end of the second electric lifting rod faces downward, and a displacement electric slider is connected to the mounting end of the second electric lifting rod, the displacement electric slider is slidably installed inside the displacement sliding groove.

[0009] Preferably, a second rotating motor is embedded at the top of the first auxiliary rod, the output end of the second rotating motor faces upward, and the output end of the second rotating motor is connected to the bottom of the movable block.

[0010] Preferably, second electric extension rods are embedded at both ends of the first connecting rod, the extension ends of the second electric extension rods are away from the first connecting rod, and one side of the second connecting rod close to the second electric extension rod is connected to the extension end of the second electric extension rod.

[0011] Preferably, a rotating motor is embedded at one end of the second connecting rod close to the third connecting rod, the output end of the rotating motor is away from the second connecting rod, and one end of the third connecting rod close to the rotating motor is connected to the output end of the rotating motor.

[0012] Preferably, the auxiliary mechanism includes a second auxiliary rod and a vibration sensor. Two second auxiliary rods are movably installed on one side of the two third connecting rods close to each other. A vibration sensor is installed at the bottom of the second auxiliary rod, and a cleaning block is sleeved on the outer side of the second auxiliary rod.

[0013] Preferably, third sliding grooves are formed on one side of the two third connecting rods close to each other. One end of the second auxiliary rod close to the third connecting rod is embedded with a first electric telescopic rod. The installation end of the first electric telescopic rod is far away from the second auxiliary rod, and a third electric slider is installed at the installation end of the first electric telescopic rod. The third electric slider is slidably installed inside the third sliding groove.

[0014] The beneficial effects of the present invention are reflected in:

[0015] In the present invention, by providing the first auxiliary rod and the movable block, when the robotic manipulator moves to the position area between the four first auxiliary rods, the robot moves according to the preset travel trajectory. The first auxiliary rod and the movable block can move synchronously with the manipulator. The background control system compares the data detected by the laser range finder sensor during the operation with the standard data value. If during the operation of the device, the data value measured by the laser range finder sensor exceeds the preset data value, it indicates that the operation of the robotic manipulator is off track. Through this operation method, the detection of the robot's operation trajectory can be completed.

[0016] In the present invention, by providing the third connecting rod and the second auxiliary rod, before detecting the trajectory operation of the manipulator, the vibration sensor can be abutted against the outside of the manipulator. Then the manipulator travels according to the preset trajectory. The vibration sensor always maintains the state of abutting against the manipulator during the operation of the manipulator. The vibration sensor can detect the vibration value generated during the travel of the manipulator. If the vibration value exceeds the preset vibration value, it indicates that the manipulator runs unstably on the truss. Through this operation method, the detection of the operation stability of the manipulator can be completed;

[0017] When a jaw of the manipulator moves to the use position between the four first auxiliary rods, the second auxiliary rod can clamp the outside of the jaw of the manipulator. Then the second auxiliary rod shakes while clamping the jaw of the manipulator. At this time, the displacement change during the shaking of the jaw is detected by the laser range finder sensor. If the measured value of the laser range finder sensor exceeds the preset change value range, it indicates that the jaw of the manipulator is loose. Through this operation method, the detection of the stability of the jaw of the manipulator can be completed;

[0018] The third connecting rod clamps a first auxiliary rod, and the remaining laser range finder sensors are aligned with the clamped first auxiliary rod. In the operation mode of the second auxiliary rod clamping the first auxiliary rod and shaking, if the change in the measured value of the laser range finder sensor exceeds the preset value change range, it indicates that the first auxiliary rod is loose. The staff should immediately maintain it. The same detection operation can be performed on the remaining first auxiliary rods according to the above operation method. Through this operation method, the function self-check of the device can be completed, and the functional stability of the device can be increased;

[0019] The third connecting rod moves to the first auxiliary rod. Under the extension of the second auxiliary rod, the cleaning block wipes the surface of the laser ranging sensor. Through this operation method, the automatic cleaning of the laser ranging sensor can be completed. A second auxiliary rod moves above the fourth connecting rod, and by extending the second auxiliary rod, the cleaning block wipes the surface of the laser ranging sensor, and the cleaning of the laser ranging sensor on the fourth connecting rod can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0021] Figure 1 is the overall structural schematic diagram of the present invention;

[0022] Figure 2 is of the present invention Figure 1 amplified structural schematic diagram at A in;

[0023] Figure 3 is of the present invention Figure 1 amplified structural schematic diagram at B in;

[0024] Figure 4 is the installation structural schematic diagram of the first electric lifting rod of the present invention;

[0025] Figure 5 is the installation structural schematic diagram of the displacement electric slider and the second electric telescopic rod of the present invention;

[0026] Figure 6 is the installation structural schematic diagram of the second rotary motor of the present invention;

[0027] Figure 7 is the installation structural schematic diagram of the second electric lifting rod of the present invention;

[0028] Figure 8 is the installation structural schematic diagram of the third electric lifting rod of the present invention;

[0029] Figure 9 is the installation structural schematic diagram of the second electric extension rod and the third electric slider of the present invention;

[0030] Figure 10 is the installation structural schematic diagram of the rotating motor of the present invention;

[0031] Figure 11 is the installation structural schematic diagram of the first electric telescopic rod of the present invention.

[0032] In the attached drawings, 1 is a workbench; 2 is a fixed rod; 3 is a first chute; 4 is a first slot; 5 is a lead screw; 6 is a first rotary motor; 7 is a first electric slider; 8 is a first support rod; 9 is a first moving rod; 10 is a first auxiliary rod; 11 is a movable block; 12 is a first connecting rod; 13 is a second connecting rod; 14 is a third connecting rod; 17 is a fourth connecting rod; 18 is a second electric slider; 19 is a second support rod; 21 is a first electric lifting rod; 22 is a displacement chute; 23 is a displacement electric slider; 24 is a second rotary motor; 25 is a second electric lifting rod; 26 is a third electric lifting rod; 27 is a second electric extension rod; 28 is a third chute; 29 is a third electric slider; 30 is a second auxiliary rod; 31 is a vibration sensor; 32 is a cleaning block; 33 is a first electric telescopic rod; 34 is a fixed slider; 35 is a second electric telescopic rod; 36 is a rotating motor. Detailed implementation manners

[0033] The embodiments of the technical solution of the present invention will be described in detail below with reference to the attached drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, so they are only examples and cannot be used to limit the protection scope of the present invention.

[0034] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0035] As Figures 1 - 11 shown, a trajectory detection device for an industrial robot includes a workbench 1. A fixed rod 2 is movably installed on the top of the workbench 1. A fourth connecting rod 17 and a first connecting rod 12 are movably installed on the top of the fixed rod 2. Both ends of the fourth connecting rod 17 are movably installed with first moving rods 9. Two first auxiliary rods 10 are movably installed on the first moving rods 9. The top of the first auxiliary rod 10 is movably installed with a movable block 11. Laser distance sensors are installed on the movable block 11 and the top of the fourth connecting rod 17. Both ends of the first connecting rod 12 are movably installed with second connecting rods 13. One end of the second connecting rod 13 close to the fourth connecting rod 17 is movably installed with a third connecting rod 14. An auxiliary mechanism is provided on the third connecting rod 14. By combining the laser distance sensors with the movement of the first moving rods 9 and the first auxiliary rods 10, and then cooperating with the manipulator to move synchronously with it, the accuracy of the movement trajectory of the manipulator can be detected. The auxiliary mechanism can cooperate with the laser distance sensors to detect the stability of the manipulator gripper and the stability of the equipment itself.

[0036] As a technical optimization solution of the present invention, a first slot 4 is opened at the top of the workbench 1. A lead screw 5 is rotatably installed inside the first slot 4. A first rotary motor 6 is installed on one side of the workbench 1. The output end of the first rotary motor 6 movably penetrates the side wall of the workbench 1 and is connected to the lead screw 5. A fixed slider 34 is installed at the bottom of the fixed rod 2. The fixed slider 34 is slidably installed inside the first slot 4. The lead screw 5 threadedly penetrates the fixed slider 34. By means of driving the lead screw 5 to rotate by the first rotary motor 6, the fixed slider 34 can slide inside the first slot 4, so that the fixed rod 2 can be moved on the workbench 1 according to different usage requirements.

[0037] As a technical optimization solution of the present invention, a first chute 3 is opened at the top of the fixed rod 2. A first support rod 8 is provided at the bottom of the fourth connecting rod 17. A first electric slider 7 is installed at the bottom of the first support rod 8. The first electric slider 7 is slidably installed inside the first chute 3. A first electric lifting rod 21 is embeddedly installed at the top of the first support rod 8. The lifting end of the first electric lifting rod 21 faces upward, and the lifting end of the first electric lifting rod 21 is connected to the bottom of the fourth connecting rod 17. By the sliding of the first electric slider 7 in the first chute 3, the first support rod 8 can be driven to move on the fixed rod 2 according to different usage requirements, and the first electric lifting rod 21 can adjust the usage height position of the fourth connecting rod 17.

[0038] As a technical optimization solution of the present invention, a second support rod 19 is provided at the bottom of the first connecting rod 12. A second electric slider 18 is connected to the bottom of the second support rod 19. The second electric slider 18 is slidably installed inside the first chute 3. A third electric lifting rod 26 is embeddedly installed at the top of the second support rod 19. The lifting end of the third electric lifting rod 26 faces upward, and the lifting end of the third electric lifting rod 26 is connected to the bottom of the first connecting rod 12. By the sliding of the second electric slider 18 in the first chute 3, the second support rod 19 can be driven to move on the fixed rod 2 according to different usage requirements, and the third electric lifting rod 26 can drive the first connecting rod 12 to adjust the usage height position.

[0039] As a technical optimization solution of the present invention, both ends of the fourth connecting rod 17 are embedded with a second electric telescopic rod 35. The telescopic end of the second electric telescopic rod 35 is away from the fourth connecting rod 17, and the telescopic end of the second electric telescopic rod 35 is connected to the first moving rod 9. A displacement chute 22 is provided at the top of the first moving rod 9. The bottom of the first auxiliary rod 10 is embedded with a second electric lifting rod 25. The installation end of the second electric lifting rod 25 faces downward, and the installation end of the second electric lifting rod 25 is connected with a displacement electric slider 23. The displacement electric slider 23 is slidably installed inside the displacement chute 22. The second electric telescopic rod 35 can drive the first moving rod 9 to extend according to different usage requirements. By the sliding of the displacement electric slider 23 in the displacement chute 22, the first auxiliary rod 10 can be driven to move on the first moving rod 9, and the second electric lifting rod 25 can adjust the usage height position of the first auxiliary rod 10.

[0040] As a technical optimization solution of the present invention, a second rotating motor 24 is embedded at the top of the first auxiliary rod 10. The output end of the second rotating motor 24 faces upward, and the output end of the second rotating motor 24 is connected to the bottom of the movable block 11. The second rotating motor 24 can adjust the usage angle of the movable block 11 according to different usage requirements.

[0041] As a technical optimization solution of the present invention, both ends of the first connecting rod 12 are embedded with a second electric extension rod 27. The extension end of the second electric extension rod 27 is away from the first connecting rod 12, and one side of the second connecting rod 13 close to the second electric extension rod 27 is connected to the extension end of the second electric extension rod 27. By the telescoping of the second electric extension rod 27, the usage position of the second connecting rod 13 can be adjusted.

[0042] As a technical optimization solution of the present invention, a rotating motor 36 is embedded at one end of the second connecting rod 13 close to the third connecting rod 14. The output end of the rotating motor 36 is away from the second connecting rod 13, and one end of the third connecting rod 14 close to the rotating motor 36 is connected to the output end of the rotating motor 36. The rotation of the rotating motor 36 can adjust the usage angles of the third connecting rod 14 and the second auxiliary rod 30.

[0043] As a technical optimization solution of the present invention, the auxiliary mechanism includes a second auxiliary rod 30 and a vibration sensor 31. Two second auxiliary rods 30 are movably installed on the side of the two third connecting rods 14 close to each other. The vibration sensor 31 is installed at the bottom of the second auxiliary rod 30, and a cleaning block 32 is sleeved outside the second auxiliary rod 30. The vibration sensor 31 always maintains a state of abutting against the manipulator during the operation of the manipulator. The vibration sensor 31 can detect the vibration value generated during the movement of the manipulator. If the vibration value exceeds the preset vibration value, it indicates that the manipulator runs unstably on the truss. Through this operation method, the detection of the running stability of the manipulator can be completed. Under the extension of the second auxiliary rod 30, the cleaning block 32 wipes the surface of the laser range finder sensor. Through this operation method, the automatic cleaning of the laser range finder sensor can be completed.

[0044] As a technical optimization solution of the present invention, third chutes 28 are provided on the side of the two third connecting rods 14 close to each other. One end of the second auxiliary rod 30 close to the third connecting rod 14 is embedded with a first electric telescopic rod 33. The installation end of the first electric telescopic rod 33 is far from the second auxiliary rod 30, and a third electric slider 29 is installed at the installation end of the first electric telescopic rod 33. The third electric slider 29 is slidably installed inside the third chute 28. By sliding the third electric slider 29 in the third chute 28, the second auxiliary rod 30 can be driven to move on the third connecting rod 14 according to different usage requirements, and the first electric telescopic rod 33 can drive the second auxiliary rod 30 to extend.

[0045] When the present invention is in use, the electric drive devices used in this device are all powered by connecting to an external power supply through wires. The electrical equipment in this device is controlled by presetting a control system. The laser range finder sensor and the vibration sensor 31 used in this device are both existing mature technologies, so no more elaboration will be made on them here. This device is applicable to the detection of truss manipulator robots. The truss manipulator robot is an existing mature technology, so no more elaboration will be made on it here.

[0046] When the robot needs to be detected, the workbench 1 moves to the bottom of the robot to be detected. The manipulator of the robot moves to a position above the fourth connecting rod 17. Subsequently, the first moving rod 9 is extended by driving the first moving rod 9 to extend through the second electric telescopic rod 35, so that the first moving rod 9 extends to the preset use position. And by driving the first auxiliary rod 10 to extend upward through the second electric lifting rod 25, the movable block 11 extends upward to the preset use height position. At this time, the robot manipulator is located in the position area between the four first auxiliary rods 10. The laser range sensors on the four movable blocks 11 all measure the preset positions on the manipulator, and the laser range sensor on the top of the fourth connecting rod 17 measures the preset position on the bottom of the manipulator. Subsequently, the robot moves according to the preset travel trajectory. At the same time, the first support rod 8 moves on the fixed rod 2 by the sliding of the first electric slider 7 in the first chute 3. Combining with the first rotating motor 6 driving the lead screw 5 to rotate, the fixed rod 2 moves on the workbench 1. And by the first electric lifting rod 21 driving the fourth connecting rod 17 to extend upward, the first moving rod 9, the first auxiliary rod 10 and the movable block 11 can move synchronously with the manipulator. After the first moving rod 9, the first auxiliary rod 10 and the movable block 11 and the robot manipulator have run through the synchronous trajectory, the background control system compares the data detected by the laser range sensor during the operation with the standard data value. If the data value measured by the laser range sensor exceeds the preset data value during the operation of the equipment, it means that the operation of the robot manipulator is off track. Through this operation method, the detection of the robot operation trajectory can be completed.

[0047] Before detecting the trajectory operation of the manipulator, by driving the third connecting rod 14 to rotate through the rotating motor 36, the second auxiliary rod 30 is rotated to the vertical upward use state. Then, the second connecting rod 13 is extended by driving the second connecting rod 13 to extend through the second electric extension rod 27, so that the second connecting rod 13 extends to the preset use position. By the sliding of the second electric slider 18 in the first chute 3 and combining with the movement of the second auxiliary rod 30 on the third connecting rod 14, the vibration sensor 31 can be abutted against the outside of the manipulator. Subsequently, the manipulator travels according to the preset trajectory. Through the movement of the first connecting rod 12, the third connecting rod 14 and the second support rod 19, the vibration sensor 31 always maintains the use state of abutting against the manipulator during the operation of the manipulator. The vibration sensor 31 can detect the vibration value generated during the travel of the manipulator. If the vibration value exceeds the preset vibration value, it means that the manipulator runs unstably on the truss. Through this operation method, the detection of the operation stability of the manipulator can be completed.

[0048] One jaw of the manipulator moves to the use position between the four first auxiliary rods 10, and then the manipulator remains stationary in the use state. At this time, the second auxiliary rod 30 moves according to Figure 1 the shown use state. Then, the third connecting rod 14 moves to the position of the manipulator jaw, and through the movement of the third connecting rod 14 and the second auxiliary rod 30, the second auxiliary rod 30 can clamp the outside of the manipulator jaw. Then, the second auxiliary rod 30 shakes while clamping the manipulator jaw. At this time, the displacement change during the shaking of the jaw is detected by the laser distance sensor. If the measured value of the laser distance sensor exceeds the preset change value range, it indicates that there is looseness in the manipulator jaw itself. Through this operation method, the stability detection of the manipulator jaw can be completed.

[0049] Before the device detects the robot, the first connecting rod 12 moves to the position of the first moving rod 9. Through the movement of the second auxiliary rod 30 on the third connecting rod 14, the third connecting rod 14 can clamp one first auxiliary rod 10. Then, the other three movable blocks 11 rotate driven by the second rotating motor 24, so that the laser distance sensor can be aligned with the clamped first auxiliary rod 10. Then, in the operation mode of shaking the first auxiliary rod 10 while the second auxiliary rod 30 clamps it, if the measured value change of the laser distance sensor exceeds the preset value change range, it indicates that the first auxiliary rod 10 is loose, and the staff should immediately maintain it. According to the above operation method, the same detection operation can be performed on the remaining first auxiliary rods 10. Through this operation method, the function self-check of the device can be completed, and the functional use stability of the device can be increased.

[0050] Before detecting the robot, by driving the first connecting rod 12 to extend upward by the second support rod 19, the third connecting rod 14 rises to the use position at the same horizontal height as the movable block 11. Then, the third connecting rod 14 moves to the first auxiliary rod 10, and the two second auxiliary rods 30 respectively move to both sides of a movable block 11. By driving the movable block 11 to rotate by the second rotating motor 24, the laser distance sensor rotates to face one side of the second auxiliary rod 30. Then, under the extension of the second auxiliary rod 30, the cleaning block 32 wipes the surface of the laser distance sensor. Through this operation method, the automatic cleaning of the laser distance sensor can be completed. One second auxiliary rod 30 moves above the fourth connecting rod 17, and by extending the second auxiliary rod 30, the cleaning block 32 wipes the surface of the laser distance sensor, and the cleaning of the laser distance sensor on the fourth connecting rod 17 can be completed.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the specification of the present invention.

Claims

1. A trajectory detection device for an industrial robot, comprising a workbench (1), characterized in that, A fixed rod (2) is movably installed on the top of the workbench (1). A fourth connecting rod (17) and a first connecting rod (12) are movably installed on the top of the fixed rod (2). First moving rods (9) are movably installed at both ends of the fourth connecting rod (17). Two first auxiliary rods (10) are movably installed on the first moving rods (9). An active block (11) is movably installed at the top of the first auxiliary rod (10). Laser distance sensors are installed on both the active block (11) and the top of the fourth connecting rod (17). Second connecting rods (13) are movably installed at both ends of the first connecting rod (12). A third connecting rod (14) is movably installed at one end of the second connecting rod (13) close to the fourth connecting rod (17). An auxiliary mechanism is provided on the third connecting rod (14).

2. The trajectory detection device for an industrial robot according to claim 1, characterized in that, A first slot (4) is opened on the top of the workbench (1). A lead screw (5) is rotatably installed inside the first slot (4). A first rotating motor (6) is installed on one side of the workbench (1). The output end of the first rotating motor (6) movably penetrates the side wall of the workbench (1) and is connected to the lead screw (5). A fixed slider (34) is installed at the bottom of the fixed rod (2). The fixed slider (34) is slidably installed inside the first slot (4). The lead screw (5) threadedly penetrates the fixed slider (34).

3. The trajectory detection device for an industrial robot according to claim 1, wherein A first chute (3) is opened on the top of the fixed rod (2). A first support rod (8) is provided at the bottom of the fourth connecting rod (17). A first electric slider (7) is installed at the bottom of the first support rod (8). The first electric slider (7) is slidably installed inside the first chute (3). A first electric lifting rod (21) is embedded at the top of the first support rod (8). The lifting end of the first electric lifting rod (21) faces upward, and the lifting end of the first electric lifting rod (21) is connected to the bottom of the fourth connecting rod (17).

4. The trajectory detection device for an industrial robot according to claim 1, characterized in that, A second support rod (19) is provided at the bottom of the first connecting rod (12). A second electric slider (18) is connected to the bottom of the second support rod (19). The second electric slider (18) is slidably installed inside the first chute (3). A third electric lifting rod (26) is embedded at the top of the second support rod (19). The lifting end of the third electric lifting rod (26) faces upward, and the lifting end of the third electric lifting rod (26) is connected to the bottom of the first connecting rod (12).

5. The trajectory detection device for an industrial robot according to claim 1, characterized in that, Second electric telescopic rods (35) are embedded at both ends of the fourth connecting rod (17). The telescopic ends of the second electric telescopic rods (35) are away from the fourth connecting rod (17). The telescopic ends of the second electric telescopic rods (35) are connected to the first moving rods (9). A displacement chute (22) is opened on the top of the first moving rod (9). A second electric lifting rod (25) is embedded at the bottom of the first auxiliary rod (10). The installation end of the second electric lifting rod (25) faces downward. A displacement electric slider (23) is connected to the installation end of the second electric lifting rod (25). The displacement electric slider (23) is slidably installed inside the displacement chute (22).

6. The trajectory detection device for an industrial robot according to claim 1, wherein, The top of the first auxiliary rod (10) is embedded with a second rotating motor (24). The output end of the second rotating motor (24) faces upward, and the output end of the second rotating motor (24) is connected to the bottom of the movable block (11).

7. The trajectory detection device for an industrial robot according to claim 1, characterized in that, Both ends of the first connecting rod (12) are embedded with second electric extension rods (27). The extension ends of the second electric extension rods (27) are far away from the first connecting rod (12). The side of the second connecting rod (13) close to the second electric extension rod (27) is connected to the extension end of the second electric extension rod (27).

8. The trajectory detection device for an industrial robot according to claim 1, characterized in that, One end of the second connecting rod (13) close to the third connecting rod (14) is embedded with a rotating motor (36). The output end of the rotating motor (36) is far away from the second connecting rod (13). One end of the third connecting rod (14) close to the rotating motor (36) is connected to the output end of the rotating motor (36).

9. The trajectory detection device for an industrial robot according to claim 1, wherein, The auxiliary mechanism includes a second auxiliary rod (30) and a vibration sensor (31). Two second auxiliary rods (30) are movably installed on the side where the two third connecting rods (14) are close to each other. The vibration sensor (31) is installed at the bottom of the second auxiliary rod (30). A cleaning block (32) is sleeved on the outer side of the second auxiliary rod (30).

10. The trajectory detection device for an industrial robot according to claim 9, characterized in that, Both sides of the two third connecting rods (14) close to each other are provided with third sliding grooves (28). One end of the second auxiliary rod (30) close to the third connecting rod (14) is embedded with a first electric telescopic rod (33). The installation end of the first electric telescopic rod (33) is far away from the second auxiliary rod (30). The installation end of the first electric telescopic rod (33) is provided with a third electric slider (29). The third electric slider (29) is slidably installed inside the third sliding groove (28).

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