Test board for manipulator control calibration

Abstract

The invention discloses a test board for manipulator control calibration, which comprises a test board for calibrating an execution assembly, a transverse slideway assembly is mounted at the top of the test board, a longitudinal slideway assembly is movably connected to the transverse slideway assembly, a moving table is movably connected to the longitudinal slideway assembly, and a vertical plate is welded to the outer wall of the top of the moving table. A self-locking motor is fixed to the outer wall of one side of the vertical plate, the output end of the self-locking motor is connected with a rotating plate through a coupler, and a positioning hole is formed in the surface of the rotating plate. In the calibration process, the pressure change is monitored in real time through the pressure sensor, and when the axis of the cylindrical piece and the axis of the conical block coincide with the axis of the positioning hole, butt joint can be smoothly completed to achieve accurate calibration; if deviation occurs, the rotating plate stops the conical block from moving, the pressure sensor monitors that the pressure value is greatly increased and feeds back a signal to the control system, the control system stops pressing in time, and equipment damage caused by calibration deviation is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of manipulator calibration, and particularly relates to a test bench for manipulator control calibration. BACKGROUND

[0002] In the field of industrial automation production, manipulators are widely used in material handling, assembly, welding, spraying and many other production links due to their advantages of high efficiency, precision and repeatable operation, and become indispensable key equipment in modern manufacturing industry. As the actuator of the manipulator, the mechanical arm can realize the grasping or sucking operation of the object by installing different grasping or sucking devices such as suction cups.

[0003] To ensure the stable and reliable operation of the manipulator in the production process, the grasping precision is crucial. Only when the suction cup and other grasping devices can be accurately attached to the suction position of the object, can the grasping failure and object falling be avoided, and the safety of production operation and the quality of products can be ensured. At present, different production tasks have diversified requirements for the operation angle and direction of the mechanical arm. When the mechanical arm needs to operate in a non-conventional direction such as horizontal and oblique direction, the traditional positioning monitoring device often cannot be flexibly adapted, and it is difficult to comprehensively and accurately monitor the positioning of the mechanical arm in these special directions, which is prone to monitoring blind area. At the same time, there is a lack of effective feedback mechanism. When the positioning of the mechanical arm deviates, the information cannot be fed back to the control system in time, so that the operator cannot quickly take adjustment measures, which not only affects the production efficiency, but also may damage the manipulator due to continuous deviation operation, increasing the production cost.

[0004] Therefore, it is of great significance to develop a test bench for manipulator control calibration which is simple to operate, comprehensive in function, safe and reliable, and can realize accurate calibration of the mechanical arm, to improve the working performance and production efficiency of the manipulator. SUMMARY

[0005] The present application relates to the technical field of manipulator calibration, and particularly relates to a test bench for manipulator control calibration.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0007] The utility model provides a kind of manipulator control calibration test bench, including the test bench that executes component calibration, test bench top is equipped with transverse slide assembly, and transverse slide assembly is movably connected with longitudinal slide assembly, and longitudinal slide assembly is movably connected with moving platform, the outer wall of the moving platform top is welded with vertical board, and the outer wall of vertical board one side is fixed with self-locking motor, and the output of self-locking motor is connected with rotating plate through shaft coupling, and rotating plate surface is equipped with positioning hole, and the executing component includes mechanical arm and connecting flange, and connecting flange is fixed to the bottom of mechanical arm, and connecting flange bottom is fixed with pressure sensor, and the bottom of pressure sensor is fixed with cylinder piece, and cylinder piece bottom is integrally formed with tapered block, and the recess of tapered block is movably connected with roller.

[0008] As a further scheme of the utility model: the transverse slide assembly includes limiting slide three and lead screw one, the limiting slide three is fixed to the top outer wall of test bench, and lead screw one is movably connected between the inner wall of limiting slide three two sides, and the outer wall of limiting slide three one side is fixed with drive motor one, and the output of drive motor one is connected with one end of lead screw one through shaft coupling, and the inner wall of limiting slide three is movably connected with sliding block two, and the side surface of sliding block two is equipped with nut one used in cooperation with lead screw one.

[0009] As a further scheme of the utility model: the longitudinal slide assembly includes limiting slide two, lead screw two and drive motor two, the limiting slide two is fixed to the top outer wall of sliding block two, lead screw two is movably connected between the inner wall of limiting slide two two sides, and drive motor two is fixed to the outer wall of limiting slide two one side, and the output of drive motor two is connected with one end of lead screw two through shaft coupling, and the inner wall of limiting slide two is movably connected with sliding block one, and the side surface of sliding block one is equipped with nut two used in cooperation with lead screw two, and the bottom of moving platform and the top of sliding block one are fixed by bolt.

[0010] As a further scheme of the utility model: the outer wall of limiting slide one is fixed to the top of moving platform, and the inner wall between the top and bottom of limiting slide one is fixed with guide rod one, and the outer wall of guide rod one is movably connected with moving plate one, and the outer wall of guide rod one is sleeved with spring one, and the two ends of spring one are fixed to the top outer wall of moving plate one and the top inner wall of limiting slide one respectively, and guide rod two is fixed between the two moving plate ones, and the outer wall of guide rod two is movably connected with moving plate two, and the outer wall of guide rod two is sleeved with spring two, and the two ends of spring two are fixed to the outer wall of moving plate one side and the outer wall of moving plate two side respectively.

[0011] As a further scheme of the utility model: the outer wall of connecting rod is welded to the top of moving plate two, and the outer wall of connecting rod top is welded with inclined plate two, and inclined plate one is welded to the inclined surface of inclined plate two.

[0012] As a further further scheme of the present application: the outer wall of the top of the mobile station is fixed with a fixed plate, a through hole is formed in the side of the fixed plate and is movably connected with two groups of pulley columns, the two pulley columns are driven by a synchronous belt, the pulley column at the top is fixedly connected with the side of the rotating plate, and the pulley column at the bottom is fixedly connected with a limiting plate at one end.

[0013] As a further further scheme of the present application: the outer wall of the top of the mobile station is fixed with a fixed plate, a through hole is formed in the side of the fixed plate and is movably connected with two groups of pulley columns, the two pulley columns are driven by a synchronous belt, the pulley column at the top is fixedly connected with the side of the rotating plate, and the pulley column at the bottom is fixedly connected with a limiting plate at one end.

[0014] As a further further scheme of the present application: the outer wall of the top of the mobile station is fixed with a fixed plate, a through hole is formed in the side of the fixed plate and is movably connected with two groups of pulley columns, the two pulley columns are driven by a synchronous belt, the pulley column at the top is fixedly connected with the side of the rotating plate, and the pulley column at the bottom is fixedly connected with a limiting plate at one end.

[0015] As a further further scheme of the present application: the outer wall of the top of the mobile station is fixed with a fixed plate, a through hole is formed in the side of the fixed plate and is movably connected with two groups of pulley columns, the two pulley columns are driven by a synchronous belt, the pulley column at the top is fixedly connected with the side of the rotating plate, and the pulley column at the bottom is fixedly connected with a limiting plate at one end.

[0016] As a further further scheme of the present application: the outer wall of the top of the mobile station is fixed with a fixed plate, a through hole is formed in the side of the fixed plate and is movably connected with two groups of pulley columns, the two pulley columns are driven by a synchronous belt, the pulley column at the top is fixedly connected with the side of the rotating plate, and the pulley column at the bottom is fixedly connected with a limiting plate at one end.

[0017] Compared with the prior art, the present application provides a test table for mechanical arm control calibration, which has the following advantages:

[0018] 1. In the calibration process, the pressure sensor is used to monitor the pressure change in real time, when the axis of the cylindrical part and the tapered block coincides with the axis of the positioning hole, the butt joint can be smoothly completed to realize accurate calibration; if there is deviation, the rotating plate blocks the movement of the tapered block, the pressure sensor monitors the increase of the pressure value and feeds back a signal to the control system, the control system stops pressing in time, and the damage of the equipment caused by the calibration deviation is effectively avoided.

[0019] 2. The test table is provided with transverse and longitudinal slide assembly, a lead screw is driven by a driving motor to rotate, the slide block can slide in the transverse and longitudinal directions respectively, the position of the positioning hole on the rotating plate relative to the test table is flexibly adjusted, the rotating plate and the positioning hole can be rotated by different angles by the self-locking motor, the execution assembly can be calibrated in all directions according to the position and angle change of the positioning hole, and the flexibility of the calibration operation is improved.

[0020] 3. The movement of the execution assembly is converted into the movement of the moving plate in a specific direction by the interaction of the roller and the inclined plate, the pointer is deflected relative to the protractor by the linkage of the swing arm, the deflection angle of the pointer is monitored by the visual monitoring assembly, and the deflection angle is compared with the preset accurate angle, whether the displacement of the execution assembly is accurate can be accurately judged.

[0021] 4. The self-locking motor is used to drive the rotation of the rotating plate, and through the transmission of the pulley column and the synchronous belt, the limiting plate is rotated synchronously by 90 degrees, so that when the displacement direction of the execution assembly needs to be switched, only a simple operation of the self-locking motor is needed to change the relative position of the limiting plate and the moving plate, thereby realizing the flexible switching of the displacement direction from horizontal to vertical.

[0022] 5. The moving plate is limited by the surface of the limiting plate in two top supports and the surface of the limiting plate in two side supports in different displacement directions, which ensures that the moving plate can only move in the predetermined direction, avoiding deviation and interference during movement.

[0023] The parts not involved in the device are the same as or can be realized by the existing technology, and the device has simple structure and convenient operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The overall structure diagram of the test bench for mechanical hand control calibration is provided for the present application;

[0025] Figure 2 The main explosion structure diagram of the test bench for mechanical hand control calibration is provided for the present application;

[0026] Figure 3 The execution assembly and test assembly explosion structure diagram of the test bench for mechanical hand control calibration is provided for the present application;

[0027] Figure 4 The overall structure diagram of the test assembly of the test bench for mechanical hand control calibration is provided for the present application;

[0028] Figure 5 The local structure diagram of the test assembly of the test bench for mechanical hand control calibration is provided for the present application;

[0029] Figure 6 The main structure diagram of the test assembly of the test bench for mechanical hand control calibration is provided for the present application;

[0030] Figure 7 The overall structure diagram of the execution assembly of the test bench for mechanical hand control calibration is provided for the present application;

[0031] Figure 8 The adjustment mechanism structure diagram of the test bench for mechanical hand control calibration is provided for the present application.

[0032] In the figure: test bench 1, controller 2, limit slide one 3, limit slide two 4, lead screw one 5, limit slide three 6, drive motor one 7, lead screw two 8, slider one 9, support 10, pointer 11, moving platform 12, drive motor two 13, slider two 14, self-locking motor 15, fixed plate 16, pulley column 17, guide rod one 18, synchronous belt 19, moving plate one 20, spring one 21, positioning hole 22, mechanical arm 23, rotating plate 24, vertical plate 25, visual camera 26, moving plate two 27, inclined plate one 28, inclined plate two 29, connecting rod 30, protractor 31, rotating column 32, swing arm one 33, swing arm two 34, spring two 35, guide rod two 36, connecting flange 37, cylindrical part 38, roller 39, pressure sensor 40, limit plate 41, conical block 42, vertical plate 43. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0034] Embodiment 1:

[0035] A kind of mechanical hand control calibration test bench, as shown in Figures 1 to 8 It includes the test bench 1 for calibrating execution component, test bench 1 top is equipped with transverse slide assembly, transverse slide assembly is slidably connected with longitudinal slide assembly, longitudinal slide assembly is slidably connected with moving platform 12, the outer wall of moving platform 12 top is welded with vertical plate 25, the outer wall of vertical plate 25 one side is fixed with self-locking motor 15 by bolt, the output end of self-locking motor 15 is connected with rotating plate 24 by shaft coupling, and locating hole 22 is formed in the surface of rotating plate 24, the execution component includes mechanical arm 23 and connecting flange 37, connecting flange 37 is fixed on the bottom of mechanical arm 23 by bolt, pressure sensor 40 is fixed on the bottom of connecting flange 37, pressure sensor 40 bottom is fixed with cylindrical part 38, and conical block 42 is integrally formed on the bottom of cylindrical part 38, and roller 39 is movably connected in the groove of conical block 42;

[0036] Mechanical arm 23 is used as the actuator of mechanical hand for installing different suction devices, so as to realize the suction of objects, and the remaining part of the mechanical hand further includes a driving system (such as a motor, a hydraulic or pneumatic device to provide power) and a control system 9 (to control the driving system through a program, to coordinate the actions of each part) which are not shown, when it is necessary to grasp the object by using the suction device such as suction cup on the mechanical arm 23, it is necessary to ensure the grasping precision, that is, it is necessary to ensure that the suction cup can be accurately adsorbed at the adsorption position, so as to ensure the operation safety, therefore, it is necessary to calibrate the mechanical arm 23;

[0037] The mechanical arm 23 adjusts the position of the positioning hole 22 before calibration by using the transverse sliding track assembly and the longitudinal sliding track assembly, and then assembles the execution assembly. When positioning calibration is needed, the driving system of the mechanical arm drives the cylindrical part 38 and the conical block 42 to move towards the inside of the positioning hole 22. In the initial state, the positioning hole 22 and the rotating plate 24 are parallel to the horizontal plane. Therefore, the driving system drives the cylindrical part 38 and the conical block 42 to be inserted into the positioning hole 22 in a direction perpendicular to the rotating plate 24. The driving system first drives the conical block 42 to move into the positioning hole 22. If the axis of the conical block 42 and the axis of the cylindrical part 38 coincide with the axis of the positioning hole 22, the cylindrical part 38 is finally inserted into the positioning hole 22, realizing accurate butt joint between the cylindrical part 38 and the positioning hole 22, which proves that the calibration is accurate at this time.

[0038] If there is a deviation between the axis of the cylindrical part 38, the axis of the conical block 42 and the axis of the positioning hole 22, the rotating plate 24 will block the conical surface of the conical block 42 during the movement of the conical block 42 into the positioning hole 22. The conical block 42 cannot smoothly pass through the positioning hole 22. At this time, when the driving system continues to press the conical block 42, the pressure sensor 40 will monitor a large increase in the pressure value. At this time, the pressure sensor 40 can feed back the signal to the control system. The control system stops pressing the conical block 42 after receiving the signal, thereby ensuring the safety of the calibration process.

[0039] Since the self-locking motor 15 can drive the rotating plate 24 and the positioning hole 22 to rotate, when the driving system needs to drive the execution assembly to move along the transverse direction or the oblique direction for calibration, the positioning hole 22 can rotate at different angles to adapt to the calibration of the execution assembly.

[0040] The transverse sliding track assembly comprises a limiting sliding track three 6 and a lead screw one 5. The limiting sliding track three 6 is fixed on the top outer wall of the test table 1 by bolts. The lead screw one 5 is rotatably connected between the inner walls on the two sides of the limiting sliding track three 6. The limiting sliding track three 6 has a driving motor one 7 fixed on one side of the outer wall by bolts. The output end of the driving motor one 7 is connected to one end of the lead screw one 5 through a shaft coupling. The limiting sliding track three 6 has a sliding block two 14 slidingly connected to the inner wall. The sliding block two 14 has a nut one 13 mounted on the side surface and matched with the lead screw one 5.

[0041] The longitudinal slide assembly comprises a limiting slide No. 4, a lead screw No. 8 and a driving motor No. 13, the limiting slide No. 4 is fixed on the top outer wall of the slide block No. 14 by bolts, the lead screw No. 8 is rotatably connected to the inner walls on both sides of the limiting slide No. 4, the driving motor No. 13 is fixed on the outer wall on one side of the limiting slide No. 4 by bolts, the output end of the driving motor No. 13 is connected to one end of the lead screw No. 8 through a shaft coupling, the inner wall of the limiting slide No. 4 is slidably connected with the slide block No. 9, the slide block No. 9 is provided with a nut No. 2 on the side surface for cooperation with the lead screw No. 8, and the bottom of the moving table No. 12 and the top of the slide block No. 9 are fixed by bolts.

[0042] When the driving motor No. 7 drives the lead screw No. 5 to rotate, the slide block No. 14 can slide along the limiting slide No. 3 under the guidance of the limiting slide No. 3, so as to adjust the position of the slide block No. 14 and the slide block No. 9 in the transverse direction, when the driving motor No. 13 drives the lead screw No. 8 to rotate, the slide block No. 9 slides along the limiting slide No. 4 under the guidance of the limiting slide No. 4, so as to adjust the position of the slide block No. 9 in the longitudinal direction, thereby indirectly adjusting the position of the positioning hole No. 22 on the rotating plate No. 24 relative to the test table No. 1, so as to realize the calibration of the execution assembly according to the different positions of the positioning hole No. 22, and improve the flexibility in the process of calibration operation.

[0043] The test table No. 1 is provided with a controller No. 2 on one side outer wall.

[0044] The controller No. 2 receives the signal feedback by the pressure sensor No. 40, and sends a stop command to the driving system when the pressure value abnormally increases, indicating that the calibration deviates, meanwhile, the controller No. 2 can control the start-stop and rotation of the driving motor No. 7 and the driving motor No. 13, so as to adjust the transverse and longitudinal slide assemblies, adjust the position of the positioning hole No. 22 on the rotating plate No. 24, and control the self-locking motor No. 15 to drive the rotating plate No. 24 and the positioning hole No. 22 to rotate by different angles to adapt to different calibration requirements.

[0045] Working principle: before calibration, the transverse and longitudinal slide assemblies are used to adjust the position of the positioning hole No. 22, and then the execution assembly is assembled. When positioning and calibration, the cylindrical part No. 38 and the conical block No. 42 are driven by the manipulator driving system to move towards the positioning hole No. 22, the initial state is that the positioning hole No. 22 is parallel to the rotating plate No. 24, the driving system needs to drive both to be vertically inserted into the positioning hole No. 22, if the axis coincides, the cylindrical part No. 38 is smoothly inserted, indicating that the calibration is accurate; if there is deviation, the rotating plate No. 24 blocks the conical surface of the conical block No. 42, and when the driving system continues to press, the pressure sensor No. 40 monitors that the pressure value increases greatly, and feeds back the signal to the control system, the control system stops pressing to ensure the safety of calibration, the self-locking motor No. 15 can drive the rotating plate No. 24 and the positioning hole No. 22 to rotate, and adapt to the calibration requirements of the execution assembly in different directions.

[0046] Embodiment 2

[0047] A kind of mechanical hand control calibration test bench, in order to facilitate the calibration of the movement displacement of execution component, as shown in Figures 1 to 8 The embodiment is based on the following supplements of embodiment 1: the outer wall of the top of the moving table 12 is fixed with a limiting slide No. 3, the inner wall between the top and the bottom of the limiting slide No. 3 is fixed with a guide rod No. 18 through screws, the outer wall of the guide rod No. 18 is slidingly connected with a moving plate No. 20, the outer wall of the guide rod No. 18 is sleeved with a spring No. 21, the two ends of the spring No. 21 are fixed on the top outer wall of the moving plate No. 20 and the top inner wall of the limiting slide No. 3 respectively, the outer wall of the guide rod No. 36 is slidingly connected with a moving plate No. 27 through screws between the two moving plates No. 20, the outer wall of the guide rod No. 36 is sleeved with a spring No. 35, the two ends of the spring No. 35 are fixed on the outer wall of one side of the moving plate No. 20 and the outer wall of one side of the moving plate No. 27 respectively, the top outer wall of the moving plate No. 27 is welded with a connecting rod 30, and the top outer wall of the connecting rod 30 is welded with an inclined plate No. 29, and the inclined surface of the inclined plate No. 29 is welded with an inclined plate No. 28;

[0048] The outer wall of the top of the moving table 12 is fixed with a fixed plate 16 through bolts, and two groups of pulley columns 17 are rotatably connected with the through holes formed in the side of the fixed plate 16, the two pulley columns 17 are driven by a synchronous belt 19, the pulley column 17 located at the top is fixedly connected with the side of the rotating plate 24, and the pulley column 17 located at the bottom is fixed with a limiting plate 41 at one end;

[0049] The outer wall of the top of the moving table 12 is fixed with a vertical plate 43 through bolts, the outer wall of one side of the vertical plate 43 is fixed with a protractor 31, and the through hole formed in the surface of the vertical plate 43 is rotatably connected with a rotating column 32, the circumferential outer wall of the rotating column 32 is fixed with a pointer 11, the outer wall of one side of the rotating column 32 is fixed with a swing arm No. 33, the outer wall of one side of the moving plate No. 27 is rotatably connected with a swing arm No. 34 through a rotating shaft, and the swing arm No. 34 and the swing arm No. 33 are slidingly connected, and the outer wall of one side of the vertical plate 43 is installed with a visual monitoring assembly;

[0050] The execution assembly needs to be calibrated for its displacement after completing the positioning calibration. In the initial state, the rotating plate 24 and the positioning hole 22 remain parallel to the horizontal plane. At this time, the top of the limiting plate 41 supports and limits the bottom of the moving plate two 27. The driving system drives the cylindrical part 38 and the conical block 42 on the execution assembly to pass through the positioning hole 22. When the roller 39 at the bottom of the conical block 42 moves to the inclined surface of the inclined plate two 29, the roller 39 gradually exerts pressure on the inclined surface of the inclined plate two 29. The inclined surface of the inclined plate two 29 converts the vertical movement of the conical block 42 into the lateral movement of the moving plate two 27 along the guide rod two 36. Since the bottom of the limiting plate 41 supports and limits the top of the moving plate two 27, the moving plate two 27 can only slide laterally along the top of the limiting plate 41. During the lateral movement of the moving plate two 27 along the guide rod two 36, the linkage of the swing arm two 34 and the swing arm one 33 causes the rotating column 32 and the pointer 11 to rotate relative to the vertical plate 43. Therefore, the deflection angle of the pointer 11 relative to the protractor 31 also changes. The visual monitoring assembly monitors the deflection angle to determine whether the displacement of the execution assembly is accurate (i.e., if the displacement of the execution assembly is accurate, the deflection angle of the pointer 11 is A degrees, and the visual monitoring assembly monitors the deflection angle of B degrees. Comparing A degrees and B degrees can determine whether the displacement of the execution assembly relative to the initial position is accurate).

[0051] When it is necessary to switch the displacement direction of the execution assembly, the self-locking motor 15 is used to drive the rotating plate 24 to rotate by 90 degrees. At this time, the transmission of the pulley column 17 and the synchronous belt 19 causes the limiting plate 41 to also rotate by 90 degrees. At this time, the limiting plate 41 and the side surface of the moving plate two 27 remain attached. When the driving system drives the cylindrical part 38 and the conical block 42 of the execution assembly to pass through the positioning hole 22 laterally, the roller 39 extrudes the inclined surface of the inclined plate one 28. The inclined surface of the inclined plate one 28 converts the lateral movement of the conical block 42 into the vertical movement of the moving plate two 27 along the side surface of the limiting plate 41. Since the limiting plate 41 limits the side surface of the moving plate two 27, the moving plate two 27 can only move downward along the limiting plate 41. The visual monitoring assembly determines whether the displacement of the execution assembly in the lateral direction needs to be calibrated again in the same way.

[0052] The visual monitoring assembly includes a bracket 10 and a visual camera 26. The bracket 10 is fixed to the side surface of the vertical plate 43 by bolts, and the visual camera 26 is installed on the inner wall of one side of the bracket 10.

[0053] When the visual camera 26 is working, the internal image sensor of the visual camera 26 converts the light signal received from the deflection picture of the measured object, such as the pointer 11, relative to the protractor 31, into an electric signal, which is converted into a digital image signal after analog-digital conversion, and then the digital image signal is processed by the image processing chip inside the visual camera 26, such as noise reduction, enhancement, analysis and the like, and finally the processed image data is transmitted to the control device connected thereto, so as to make subsequent judgment, monitoring and the like according to the image features, such as the deflection angle of the pointer 11.

[0054] The above merely describes the preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A test bench for calibrating a robot control, comprising a test bench (1) for calibrating an execution assembly, characterized in that, The top of the test bench (1) is provided with a transverse slide assembly, the transverse slide assembly is movably connected with a longitudinal slide assembly, the longitudinal slide assembly is movably connected with a moving table (12), the outer wall of the top of the moving table (12) is welded with a vertical plate (25), the outer wall of one side of the vertical plate (25) is fixedly connected with a self-locking motor (15), the output end of the self-locking motor (15) is connected with a rotating plate (24) through a shaft coupling, and a positioning hole (22) is formed in the surface of the rotating plate (24), the executing assembly comprises a mechanical arm (23) and a connecting flange (37), the connecting flange (37) is fixed to the bottom of the mechanical arm (23), the bottom of the connecting flange (37) is fixedly connected with a pressure sensor (40), the bottom of the pressure sensor (40) is fixedly connected with a cylindrical part (38), and the bottom of the cylindrical part (38) is integrally formed with a tapered block (42), and the groove formed in the tapered block (42) is movably connected with a roller (39).

2. The test table for calibrating a robot according to claim 1, wherein The transverse slide assembly comprises a limiting slide three (6) and a lead screw one (5), the limiting slide three (6) is fixed to the top outer wall of the test bench (1), the lead screw one (5) is movably connected between the inner walls on the two sides of the limiting slide three (6), the outer wall of one side of the limiting slide three (6) is fixedly connected with a driving motor one (7), the output end of the driving motor one (7) is connected with one end of the lead screw one (5) through a shaft coupling, and the inner wall of the limiting slide three (6) is movably connected with a sliding block two (14), and the side surface of the sliding block two (14) is provided with a nut one (5) which is used in cooperation with the lead screw one (5).

3. The test table for calibrating a robot according to claim 2, wherein The longitudinal slide assembly comprises a limiting slide two (4), a lead screw two (8) and a driving motor two (13), the limiting slide two (4) is fixed to the top outer wall of the sliding block two (14), the lead screw two (8) is movably connected between the inner walls on the two sides of the limiting slide two (4), the outer wall of one side of the limiting slide two (4) is fixedly connected with the driving motor two (13), the output end of the driving motor two (13) is connected with one end of the lead screw two (8) through a shaft coupling, the inner wall of the limiting slide two (4) is movably connected with a sliding block one (9), the side surface of the sliding block one (9) is provided with a nut two (8) which is used in cooperation with the lead screw two (8), and the bottom of the moving table (12) and the top of the sliding block one (9) are fixedly connected through bolts.

4. The test table for calibrating a robot according to claim 1, wherein The outer wall of the top of the moving table (12) is fixedly connected with a limiting slide one (3), the top inner wall and the bottom inner wall of the limiting slide one (3) are fixedly connected with a guide rod one (18), the outer wall of the guide rod one (18) is movably connected with a moving plate one (20), the outer wall of the guide rod one (18) is sleeved with a spring one (21), and the two ends of the spring one (21) are fixedly connected with the top outer wall of the moving plate one (20) and the top inner wall of the limiting slide one (3) respectively, the guide rod two (36) is fixed between the two moving plates one (20), the outer wall of the guide rod two (36) is movably connected with a moving plate two (27), the outer wall of the guide rod two (36) is sleeved with a spring two (35), and the two ends of the spring two (35) are fixedly connected with the outer wall of one side of the moving plate one (20) and the outer wall of one side of the moving plate two (27).

5. A test table for calibrating a robot according to claim 4, characterized in that The outer wall of the top of the moving plate two (27) is welded with a connecting rod (30), and the outer wall of the top of the connecting rod (30) is welded with an inclined plate two (29), and the inclined surface of the inclined plate two (29) is welded with an inclined plate one (28).

6. A test table for calibrating a robot according to claim 5, characterized in that The outer wall of the top of the moving station (12) is fixed with a fixed plate (16), the through hole opened in the side of the fixed plate (16) is movably connected with two groups of belt wheel columns (17), the two belt wheel columns (17) are driven by a synchronous belt (19), the belt wheel column (17) located at the top is fixedly connected with the side of the rotating plate (24), and the belt wheel column (17) located at the bottom is fixedly connected with a limiting plate (41) at one end.

7. A test table for calibrating a robot according to claim 6, characterized in that The outer wall of the top of the moving station (12) is fixed with a vertical plate (43), the outer wall of one side of the vertical plate (43) is fixed with a protractor (31), the through hole opened in the surface of the vertical plate (43) is movably connected with a rotating column (32), and the circumferential outer wall of the rotating column (32) is fixed with a pointer (11).

8. The test table for calibrating a robot according to claim 7, wherein The outer wall of one side of the rotating column (32) is fixed with a swing arm one (33), the outer wall of one side of the moving plate two (27) is movably connected with a swing arm two (34) through a rotating shaft, and the swing arm two (34) and the swing arm one (33) are movably connected.

9. The test table for calibrating a robot control according to claim 7, characterized in that The outer wall of one side of the vertical plate (43) is mounted with a visual monitoring assembly, the visual monitoring assembly comprises a support (10) and a visual camera (26), the support (10) is fixed to the side of the vertical plate (43), and the visual camera (26) is mounted to the inner wall of one side of the support (10).

10. The test table for calibrating a robot control according to claim 8, characterized in that The outer wall of one side of the test station (1) is mounted with a controller (2).

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