A trajectory detection device for industrial robots

Abstract

The present invention discloses a trajectory detection device for an industrial robot. The device comprises a workbench, a fixed rod movably mounted on the top of the workbench, a fourth connecting rod and a first connecting rod movably mounted on the top of the fixed rod, and first movable rods movably mounted on both ends of the fourth connecting rod. The device is provided with first auxiliary rods and movable blocks, and the robot manipulator moves to the position area between the four first auxiliary rods. The robot moves according to a preset travel trajectory. The first auxiliary rods and movable blocks can keep synchronous movement with the manipulator. The background control system compares the data detected by the laser ranging sensor during operation with the standard data value. If the data value measured by the laser ranging sensor exceeds the preset data value during the operation of the equipment, it indicates that the operation of the robot manipulator has deviated. This operation method can complete the detection of the robot's operation trajectory.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular 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 with three or more axes that can be programmed. It relies on its own power and control capabilities to perform various industrial processing and manufacturing functions. It can accept human commands or operate according to pre-programmed programs. Modern industrial robots can also make autonomous decisions and actions based on principles specified by artificial intelligence technology, as science and technology develop and industrial technology advances.

[0003] The reliability of industrial robots is mainly reflected in their operating accuracy. During the production process, it is necessary to ensure the functional stability of the robot by ensuring its operating accuracy. At present, industrial robots often fail to meet the production operation requirements due to insufficient motion accuracy. Therefore, the robot needs to be tested for operating trajectory accuracy before installation or after a period of use to ensure the stability of the robot. Therefore, a device that can detect the robot's trajectory is needed. Summary of the Invention

[0004] In response to the defects in the prior art, the present invention provides a trajectory detection device for an industrial robot, comprising a workbench, a fixed rod movably mounted on the top of the workbench, a fourth connecting rod and a first connecting rod movably mounted on the top of the fixed rod, first movable rods movably mounted on both ends of the fourth connecting rod, two first auxiliary rods movably mounted on the first movable rod, a movable block movably mounted on the top of the first auxiliary rod, laser ranging sensors are mounted on the movable block and the top of the fourth connecting rod, second connecting rods movably mounted on both ends of the first connecting rod, a third connecting rod movably mounted on one end of the second connecting rod close to the fourth connecting rod, and an auxiliary mechanism is provided on the third connecting rod.

[0005] Preferably, a first slot is provided on the top of the workbench, a 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 passes through the side wall of the workbench and is connected to the screw, a fixed slider is installed at the bottom of the fixed rod, the fixed slider is slidably installed inside the first slot, and the screw thread passes through the fixed slider.

[0006] Preferably, a first sliding groove is provided 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, and a first electric lifting rod is embedded in the top of the first support rod, the lifting end of the first electric lifting rod is facing 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, and a second electric slider is connected to the bottom of the second support rod. The second electric slider is slidably installed inside the first slide groove, and a third electric lifting rod is embedded in 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, both ends of the fourth connecting rod are embedded with a second electric telescopic rod, the telescopic end of the second electric telescopic rod is away from the fourth connecting rod, the telescopic end of the second electric telescopic rod is connected to the first moving rod, a displacement slide groove is provided on the top of the first moving rod, and a second electric lifting rod is embedded with the bottom of the first auxiliary rod, the installation end of the second electric lifting rod faces downward, and the installation end of the second electric lifting rod is connected to a displacement electric slider, which is slidably installed inside the displacement slide groove.

[0009] Preferably, a second rotary motor is embedded in the top of the first auxiliary rod, with the output end of the second rotary motor facing upward, and the output end of the second rotary motor is connected to the bottom of the movable block.

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

[0011] Preferably, a rotating motor is embedded in 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 the 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, and two second auxiliary rods are movably installed on the side close to each other of the two third connecting rods. The vibration sensor is installed at the bottom of the second auxiliary rod, and a cleaning block is installed on the outer side of the second auxiliary rod.

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

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

[0015] In the present invention, a first auxiliary rod and a movable block are provided, and the robot manipulator moves to a position area between four first auxiliary rods. The robot moves according to a preset travel trajectory. The first auxiliary rod and the movable block can keep synchronous movement with the manipulator. The background control system compares the data detected by the laser ranging sensor during operation with the standard data value. If the data value measured by the laser ranging sensor exceeds the preset data value during the operation of the equipment, it indicates that the operation of the robot manipulator is deviated. This operation method can complete the detection of the robot's operation trajectory.

[0016] In the present invention, by providing a third connecting rod and a second auxiliary rod, before the trajectory operation detection of the manipulator is performed, the vibration sensor can be abutted against the outer side of the manipulator, and then the manipulator moves according to the preset trajectory. The vibration sensor always maintains the use state of abutting the manipulator during the operation of the manipulator. The vibration sensor can detect the vibration value generated during the movement of the manipulator. If the vibration value exceeds the preset vibration value, it means that the manipulator is running unstably on the truss. Through this operation method, the stability of the manipulator operation can be detected.

[0017] One of the manipulator's grippers moves to the operating position between the four first auxiliary rods. The second auxiliary rod can clamp the outer side of the manipulator's gripper. Then, the second auxiliary rod shakes while holding the manipulator's gripper. At this time, the laser distance sensor detects the displacement change of the gripper during shaking. If the value measured by the laser distance sensor exceeds the preset change value range, it indicates that the manipulator's gripper itself is loose. This operation method can complete the test of the manipulator's gripper stability.

[0018] The third connecting rod clamps one of the first auxiliary rods, and the remaining laser distance sensors are aimed at the clamped first auxiliary rod. When the second auxiliary rod clamps the first auxiliary rod and shakes it, if the value measured by the laser distance sensor changes beyond the preset value change range, it means that the first auxiliary rod is loose and the staff should immediately perform maintenance on it. The same detection operation can be performed on the remaining first auxiliary rods according to the above operation method. This operation method can complete the functional self-test of the device and increase the functional stability of the device;

[0019] The third connecting rod moves to the first auxiliary rod, and the second auxiliary rod is extended to enable the cleaning block to wipe the surface of the laser ranging sensor. This operation method can complete the automatic cleaning of the laser ranging sensor. A second auxiliary rod moves to the top of the fourth connecting rod, and the second auxiliary rod is extended to enable the cleaning block to wipe the surface of the laser ranging sensor. The laser ranging sensor on the fourth connecting rod can be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 For the present invention Figure 1 A in the middle is an enlarged structural diagram;

[0023] Figure 3 For the present invention Figure 1 The enlarged structural diagram at B in the middle;

[0024] Figure 4 This is a schematic diagram of the installation structure of the first electric lift rod of the present invention;

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

[0026] Figure 6 This is a schematic diagram of the installation structure of the second rotating electrical machine of the present invention;

[0027] Figure 7 This is a schematic diagram of the installation structure of the second electric lift rod of the present invention;

[0028] Figure 8 This is a schematic diagram of the installation structure of the third electric lift rod of the present invention;

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

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

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

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

[0033] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

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

[0035] like Figures 1-11 As shown, a trajectory detection device for an industrial robot includes a workbench 1, with a fixed rod 2 movably mounted on the top of the workbench 1. A fourth connecting rod 17 and a first connecting rod 12 are movably mounted on the top of the fixed rod 2. A first movable rod 9 is movably mounted on both ends of the fourth connecting rod 17. Two first auxiliary rods 10 are movably mounted on the first movable rod 9. A movable block 11 is movably mounted on the top of the first auxiliary rod 10. Laser ranging sensors are mounted on the movable block 11 and on the top of the fourth connecting rod 17. A second connecting rod 13 is movably mounted on both ends of the first connecting rod 12. A third connecting rod 14 is movably mounted on the end of the second connecting rod 13 near the fourth connecting rod 17. An auxiliary mechanism is provided on the third connecting rod 14. The laser ranging sensor combines the movement of the first movable rod 9 and the first auxiliary rod 10 with the movement of the robot arm in synchronization with them to accurately detect the robot's trajectory. The auxiliary mechanism can cooperate with the laser ranging sensor to detect the stability of the robot's gripper and the stability of the device itself.

[0036] As a technical optimization solution of the present invention, a first slot 4 is provided on the top of the workbench 1, a screw rod 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 passes through the side wall of the workbench 1 and is connected to the screw rod 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, and the screw rod 5 threadedly passes through the fixed slider 34. By driving the screw rod 5 to rotate by the first rotary motor 6, the fixed slider 34 can slide inside the first slot 4, thereby allowing the fixed rod 2 to move on the workbench 1 according to different usage requirements.

[0037] As a technical optimization solution of the present invention, a first chute 3 is defined at the top of the fixed rod 2, a first support rod 8 is defined at the bottom of the fourth connecting rod 17, a first electric slider 7 is mounted at the bottom of the first support rod 8, and the first electric slider 7 is slidably mounted within the first chute 3. A first electric lift rod 21 is embedded and mounted at the top of the first support rod 8, with the lifting end of the first electric lift rod 21 facing upward and connected to the bottom of the fourth connecting rod 17. By sliding 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 lift rod 21 can adjust the 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. The bottom of the second support rod 19 is connected to a second electric slider 18, which is slidably mounted within the first chute 3. A third electric lift rod 26 is embedded and mounted on the top of the second support rod 19. The lifting end of the third electric lift rod 26 faces upward and is connected to the bottom of the first connecting rod 12. By sliding 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 lift rod 26 can drive the first connecting rod 12 to adjust its height position for use.

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

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

[0041] As a technical optimization solution of the present invention, second electric extension rods 27 are embedded in both ends of the first connecting rod 12. The extended end of the second electric extension rod 27 is away from the first connecting rod 12, and the side of the second connecting rod 13 closest to the second electric extension rod 27 is connected to the extended end of the second electric extension rod 27. The use position of the second connecting rod 13 can be adjusted by extending and retracting the second electric extension rod 27.

[0042] As a technical optimization solution of the present invention, a rotary motor 36 is embedded in the end of the second connecting rod 13 near the third connecting rod 14. The output end of the rotary motor 36 is remote from the second connecting rod 13, and the end of the third connecting rod 14 near the rotary motor 36 is connected to the output end of the rotary motor 36. Rotation of the rotary motor 36 can adjust the operating angle between 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 mounted on the side of the two third connecting rods 14 that are close to each other. The vibration sensor 31 is mounted on the bottom of the second auxiliary rod 30, and a cleaning block 32 is sleeved and mounted on the outer side of the second auxiliary rod 30. The vibration sensor 31 always remains in contact with the manipulator during operation. 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 is operating unstably on the truss. This operation method can complete the detection of the manipulator's operating stability. When the second auxiliary rod 30 is extended, the cleaning block 32 wipes the surface of the laser ranging sensor, and this operation method can complete the automatic cleaning of the laser ranging sensor.

[0044] As a technical optimization solution of the present invention, both third connecting rods 14 have a third chute 28 on their adjacent sides. A first electric telescopic rod 33 is embedded and mounted on the end of the second auxiliary rod 30 that is adjacent to the third connecting rod 14. The mounting end of the first electric telescopic rod 33 is away from the second auxiliary rod 30. A third electric slider 29 is mounted on the mounting end of the first electric telescopic rod 33. The third electric slider 29 is slidably mounted within the third chute 28. By sliding the third electric slider 29 in the third chute 28, the second auxiliary rod 30 can be moved 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 equipment used in the device is powered by an external power supply through a wire. The electrical equipment in the device is controlled by a preset control system. The laser ranging sensor and vibration sensor 31 used in the device are both existing mature technologies, so they will not be elaborated on in detail. The device is suitable for detection and use of a truss manipulator robot. The truss manipulator robot is an existing mature technology, so it will not be elaborated on in detail.

[0046] When the robot needs to be inspected, the workbench 1 moves to the bottom of the robot to be inspected, and the robot's manipulator moves to the position above the fourth connecting rod 17. Then, the second electric telescopic rod 35 drives the first moving rod 9 to extend, so that the first moving rod 9 extends to the preset use position, and the second electric lifting rod 25 drives the first auxiliary rod 10 to extend upward, so that 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, and the laser ranging sensors on the four movable blocks 11 all measure the preset position of the manipulator, and the laser ranging sensor on the top of the fourth connecting rod 17 measures the preset position of the bottom of the manipulator. Then the robot moves according to the preset travel trajectory. At the same time, the first electric slider 7 is used to move the robot in the first position. The sliding in a slide groove 3 causes the first support rod 8 to move on the fixed rod 2. Combined with the first rotating motor 6 driving the screw rod 5 to rotate, the fixed rod 2 moves on the workbench 1, and the first electric lifting rod 21 drives the fourth connecting rod 17 to extend upward, so that the first moving rod 9, the first auxiliary rod 10 and the movable block 11 can keep synchronous movement with the manipulator. After the first moving rod 9, the first auxiliary rod 10 and the movable block 11 have run through the synchronous trajectory with the robot manipulator, the background control system compares the data detected by the laser ranging sensor during operation with the standard data value. If the data value measured by the laser ranging sensor exceeds the preset data value during the operation of the equipment, it means that the operation of the robot manipulator has deviated. This operation method can complete the detection of the robot's operation trajectory.

[0047] Before the trajectory operation detection of the manipulator is performed, the third connecting rod 14 is driven to rotate by the rotating motor 36, so that the second auxiliary rod 30 is rotated to a vertical upward use state, and then the second electric extension rod 27 drives the second connecting rod 13 to extend, so that the second connecting rod 13 is extended to a preset use position, and the second electric slider 18 slides in the first slide groove 3, and combined with the movement of the second auxiliary rod 30 on the third connecting rod 14, the vibration sensor 31 can abut against the outside of the manipulator, and then the manipulator moves 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 the manipulator during the operation of the manipulator. The vibration sensor 31 can detect the vibration value generated by the manipulator during its movement. If the vibration value exceeds the preset vibration value, it means that the manipulator is unstable on the truss. This operation method can complete the detection of the manipulator's operation stability.

[0048] One of the grippers of the manipulator moves to the use position between the four first auxiliary rods 10, and then the manipulator remains in a stationary use state. At this time, the second auxiliary rods 30 are moved in accordance with the Figure 1 In the usage state shown, the third connecting rod 14 then moves to the position of the manipulator claw, and through the movement of the third connecting rod 14 and the second auxiliary rod 30, the second auxiliary rod 30 can clamp the outer side of the manipulator claw, and then the second auxiliary rod 30 shakes while clamping the manipulator claw. At this time, the displacement change of the claw during shaking is detected by the laser ranging sensor. If the value measured by the laser ranging sensor exceeds the preset change value range, it means that the manipulator claw itself is loose. Through this operation method, the stability of the manipulator claw can be detected.

[0049] Before the device detects the robot, the first connecting rod 12 moves to the position of the first moving rod 9, and the second auxiliary rod 30 moves on the third connecting rod 14, so that the third connecting rod 14 can clamp one first auxiliary rod 10, and then the other three movable blocks 11 are rotated under the drive of the second rotating motor 24, so that the laser ranging sensor can be aligned with the clamped first auxiliary rod 10, and then the second auxiliary rod 30 clamps the first auxiliary rod 10 and shakes it. If the value measured by the laser ranging sensor changes beyond the preset value change range, it means that the first auxiliary rod 10 is loose, and the staff should maintain it immediately. The same detection operation can be performed on the remaining first auxiliary rods 10 according to the above operation method. Through this operation method, the functional self-test of the equipment can be completed, and the functional stability of the device can be increased.

[0050] Before inspecting the robot, the first connecting rod 12 is extended upward by the second support rod 19, so that the third connecting rod 14 rises to the use position at the same horizontal height as the movable block 11, and then the third connecting rod 14 moves to the first auxiliary rod 10, and the two second auxiliary rods 30 are respectively moved to the two sides of a movable block 11, and the movable block 11 is rotated by the second rotary motor 24, so that the laser ranging sensor is rotated to the side facing the second auxiliary rod 30, and then, under the extension of the second auxiliary rod 30, the cleaning block 32 wipes the surface of the laser ranging sensor. This operation method can complete the automatic cleaning of the laser ranging sensor. A second auxiliary rod 30 moves to the top of the fourth connecting rod 17, and the second auxiliary rod 30 is extended so that the cleaning block 32 wipes the surface of the laser ranging sensor, which can complete the cleaning of the laser ranging sensor on the fourth connecting rod 17.

[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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A trajectory detection device for an industrial robot, comprising a workbench (1), characterized in that: The top of the workbench (1) is movably mounted with a fixed rod (2), the top of the fixed rod (2) is movably mounted with a fourth connecting rod (17) and a first connecting rod (12), both ends of the fourth connecting rod (17) are movably mounted with a first moving rod (9), two first auxiliary rods (10) are movably mounted on the first moving rod (9), a movable block (11) is movably mounted on the top of the first auxiliary rod (10), a laser distance measuring sensor is mounted on the movable block (11) and the top of the fourth connecting rod (17), both ends of the first connecting rod (12) are movably mounted with a second connecting rod (13), one end of the second connecting rod (13) close to the fourth connecting rod (17) is movably mounted with a third connecting rod (14), and an auxiliary mechanism is provided on the third connecting rod (14); The auxiliary mechanism comprises a second auxiliary rod (30) and a vibration sensor (31); two second auxiliary rods (30) are movably mounted on the sides of the two third connecting rods (14) close to each other; the vibration sensor (31) is mounted on the bottom of the second auxiliary rod (30); and a cleaning block (32) is sleeved and mounted on the outer side of the second auxiliary rod (30); The two third connecting rods (14) are both provided with a third sliding groove (28) on the side close to each other, and the first electric telescopic rod (33) is embedded and installed at one end of the second auxiliary rod (30) close to the third connecting rod (14), and the installation end of the first electric telescopic rod (33) is away from the second auxiliary rod (30). The installation end of the first electric telescopic rod (33) is installed with a third electric slider (29), and the third electric slider (29) is slidably installed inside the third sliding groove (28).

2. A trajectory detection device for an industrial robot according to claim 1, characterized in that: The top of the workbench (1) is provided with a first slot (4), a screw rod (5) is rotatably installed inside the first slot (4), a first rotary motor (6) is installed on one side of the workbench (1), an output end of the first rotary motor (6) movably passes through the side wall of the workbench (1) and is connected to the screw rod (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), and the screw rod (5) is threadedly passed through the fixed slider (34).

3. A trajectory detection device for an industrial robot according to claim 1, characterized in that: A first sliding groove (3) is provided at the top of the fixed rod (2), a first supporting 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 supporting rod (8), the first electric slider (7) is slidably installed inside the first sliding groove (3), a first electric lifting rod (21) is embedded and installed at the top of the first supporting 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. A 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), and 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 slide groove (3). A third electric lifting rod (26) is embedded and installed on the top of the second support rod (19), and 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: The second electric telescopic rod (35) is embedded and installed at both ends of the fourth connecting rod (17), the telescopic end of the second electric telescopic rod (35) is away from the fourth connecting rod (17), the telescopic end of the second electric telescopic rod (35) is connected to the first moving rod (9), the top of the first moving rod (9) is provided with a displacement chute (22), the bottom of the first auxiliary rod (10) is embedded and installed with a second electric lifting rod (25), the installation end of the second electric lifting rod (25) faces downward, the installation end of the second electric lifting rod (25) is connected to a displacement electric slider (23), and the displacement electric slider (23) is slidably installed inside the displacement chute (22).

6. A trajectory detection device for an industrial robot according to claim 1, characterized in that: A second rotary motor (24) is embedded in the top of the first auxiliary rod (10), the output end of the second rotary motor (24) faces upward, and the output end of the second rotary motor (24) is connected to the bottom of the movable block (11).

7. A trajectory detection device for an industrial robot according to claim 1, characterized in that: A second electric extension rod (27) is embedded and installed at both ends of the first connecting rod (12), the extension end of the second electric extension rod (27) is away from the first connecting rod (12), and 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: A rotating motor (36) is embedded and installed 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 the end of the third connecting rod (14) close to the rotating motor (36) is connected to the output end of the rotating motor (36).

Images