Manipulator motion point position testing device

Abstract

The invention provides a manipulator motion point position testing device, and relates to the related technical field of manipulator testing, and the device comprises a test board which is of a circular structure and is provided with manipulator equipment at the axis; the two longitudinal frames extend in the axial direction of the test board, and the two longitudinal frames are arranged around the axis of the test board; the object placing plate longitudinally slides along the longitudinal frame and is used for placing workpieces; the rotating mechanism comprises a first rotating assembly and a second rotating assembly. The visual detection mechanisms are arranged at the grabbing end of the mechanical arm equipment and the storage plate correspondingly, and when the grabbing end of the mechanical arm equipment grabs the workpiece, the visual detection mechanisms can accurately capture the image of the workpiece grabbed by the grabbing end of the mechanical arm equipment; the device can detect the point position information and the precision degree of the grabbing end of the manipulator equipment when the grabbing end stays each time, can cope with the point position change condition when the workpiece is placed in cooperation with the two longitudinal frames and the object placing plates on the longitudinal frames, and can simulate the condition that the workpiece is located at different point positions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot testing, in particular to a robot motion point testing device. BACKGROUND

[0002] A robot is an automated mechanical device that can imitate human hand and arm movements to complete tasks such as grabbing, carrying, assembling, and operating according to pre-set programs or instructions. It is a core equipment in the fields of industrial automation, intelligent manufacturing, and special operations. Its design integrates knowledge from multiple disciplines such as mechanical engineering, control theory, and camera technology, aiming to improve production efficiency, reduce labor costs, and replace high-risk environment operations. The structure of a robot is complex, and its performance is mainly determined by four core parts: the actuator, the drive system, the control system, and the perception system.

[0003] According to the Chinese patent document with publication number CN217168578U, a robot testing platform is disclosed, which includes a cabinet with multiple test stations, a control module, and a counting module electrically connected to the control module for counting the number of times the robot is moved.

[0004] Based on the above patent search and combined with existing devices in the prior art, the above device can drive the robot to move back and forth between the first and second placement areas when the robot is equipped with a heavy object. The counting module is electrically connected to the control module and can count the number of times the robot is moved. However, this device can only test the vertical distance of the robot's grabbing end, and the starting and ending points of the robot's movement are relatively simple. The device lacks a structure for testing multiple points of the robot, which reduces the effectiveness of the robot's point-to-point movement test. SUMMARY

[0005] The purpose of the present application is to solve the problems existing in the prior art and to provide a robot motion point testing device.

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

[0007] The mechanical hand motion point testing device comprises a testing table, which is in a circular shape and has a mechanical hand device installed at the axis; longitudinal frames, which extend along the axis of the testing table and are arranged in two, and each of the two longitudinal frames is arranged around the axis of the testing table; a placement plate, which slides along the longitudinal frame in the longitudinal direction and is used for placing a workpiece; a rotating mechanism, which comprises rotating assembly one and rotating assembly two, wherein the rotating assembly one and the rotating assembly two are arranged on the testing table and are respectively used for driving the two longitudinal frames to rotate around the axis of the testing table; a visual detection mechanism, which is used for acquiring image information when the grabbing end of the mechanical hand device grabs the workpiece; and a laser tracking detection mechanism, which is used for recording the point coordinate information of the grabbing end of the mechanical hand device in real time.

[0008] Preferably, the device further comprises two telescopic members, which are respectively connected to the rotating assembly one and the rotating assembly two, and the two longitudinal frames are respectively connected to the two telescopic members, and the longitudinal frames are driven by the telescopic members to move along the radial direction of the testing table.

[0009] Further, the telescopic member comprises a radial plate, a telescopic rod and a sliding frame, wherein one end of the radial plate extends along the radial direction of the testing table and is provided with a radial slot, the sliding frame is slidingly connected to the radial slot, the telescopic rod is installed at one end of the radial plate, and the movable end of the telescopic rod is connected to the sliding frame.

[0010] Based on the foregoing scheme, the testing table comprises a circular base plate, a support column connected to the axis of the base plate in the longitudinal direction and a platform connected to the top end of the support column, and the mechanical hand device is connected to the platform; the base plate is provided with a support ring close to the edge of the base plate, the top of the support ring is provided with a support sliding rail, the outer side wall of the support ring is provided with a side sliding rail, and the sliding plate is slidingly connected in the side sliding rail.

[0011] In the foregoing scheme, the rotating assembly one comprises a rotating table one, a gear ring one, a gear one, a driving shaft one and a first motor, wherein the rotating table one is in a closed ring shape and has an axis that is collinear with the axis of the platform, the inner side wall of the rotating table is slidingly connected to the outer side wall of the platform, the gear ring one is connected to the bottom of the rotating table one, the driving shaft one is connected to the platform through a shaft support one, the gear one is connected to one end of the driving shaft one, the first motor is installed on the base plate, the output end of the first motor is connected to the end of the driving shaft one away from the gear one, and the gear one is engaged with the gear ring one.

[0012] As a further scheme of the present application: the rotating assembly two comprises a rotating table two, a gear ring two, a gear two, a driving shaft two and a second motor; wherein the rotating table two is a closed annular structure, and its axis is collinear with the axis of the rotating table one, the inner side wall of the rotating table is slidingly connected with the outer side wall of the rotating table one, the gear ring two is connected to the bottom of the rotating table two, the driving shaft two is connected to the support ring through the shaft support two, the gear two is connected to one end of the driving shaft two, the second motor is installed on the base plate, the output end of the second motor is connected to the end of the driving shaft two away from the gear two, and the gear two is engaged with the gear ring two.

[0013] Meanwhile, the rotating assembly two further comprises a stabilizing ring and universal beads; wherein the stabilizing ring is arranged at the bottom of the rotating table two near the edge of the outer side wall, the universal beads are provided in plurality, and the plurality of universal beads are equidistantly arranged around the central axis of the stabilizing ring, and the universal beads are connected to the side of the stabilizing ring near the support ring.

[0014] As a preferred scheme of the present application: the longitudinal frame comprises a vertical plate frame, a motor plate frame, a sliding piece, a hinged protrusion, a driving piece, a threaded rod and a servo motor; wherein the vertical plate frame extends along the axis of the test table, the vertical plate frame is connected to the sliding frame, the vertical plate frame is provided with a sliding groove, the sliding piece is slidingly connected in the sliding groove, the threaded rod is rotatably arranged on the side surface of the vertical plate frame away from the mechanical hand device, the sliding piece is threadedly connected with the threaded rod, the motor plate frame is connected to the side surface of the vertical plate frame near the threaded rod, one end of the threaded rod is rotatably connected to the motor plate frame, the driving piece is arranged on the motor plate frame and used for driving the threaded rod to rotate, the hinged protrusion is connected to the sliding piece and located on the side of the vertical plate frame near the mechanical hand device, the servo motor is installed on the hinged protrusion, the object plate is rotatably connected to the hinged protrusion, and the output end of the servo motor is connected to the object plate; the driving piece comprises a third motor installed on the motor plate frame, two pulleys respectively connected to the output end of the third motor and the end of the threaded rod, and a transmission belt commonly sleeved on the two pulleys.

[0015] Meanwhile, the visual detection mechanism comprises a support and a camera; wherein the camera is connected to the support, the camera is provided in plurality and arranged on the sliding piece and the grabbing end of the mechanical hand device respectively.

[0016] As a more preferred scheme of the present application: the laser tracking detection mechanism comprises a laser tracking instrument and a target ball; wherein the laser tracking instrument is connected to the sliding plate through a high stand, the emitting end face of the laser tracking instrument faces the mechanical hand device, and the target ball is connected to the grabbing end of the mechanical hand device.

[0017] The present application has the following beneficial effects:

[0018] 1. Through setting visual detection mechanism on the mechanical hand equipment grabbing end and the placing plate respectively, when the mechanical hand equipment grabbing end grabs the workpiece, the visual detection mechanism can accurately capture the image of the mechanical hand equipment grabbing end grabbing the workpiece, and then can detect the point position information and the precision degree of the mechanical hand equipment grabbing end each time stopping working.

[0019] 2. Secondly, under the action of the laser tracking detection mechanism, the point position coordinate information of the mechanical hand equipment grabbing end and the trajectory information of the mechanical hand equipment grabbing end moving can be recorded in real time, cooperating with the two longitudinal frames and the placing plate on the longitudinal frame, the point position change condition of the workpiece placing can be coped with, and the condition of the workpiece being at different point positions can be simulated.

[0020] 3. And under the action of the rotating assembly one and the rotating assembly two, the start end and the end position of the workpiece placing can be adjusted at any time, compared with the test device in the prior art, the device can not only test the mechanical hand grabbing condition in the vertical distance area, but also enriches the start end and the end point position change condition of the mechanical hand moving, and then improves the moving test effect between the point positions of the mechanical hand. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the three-dimensional structure schematic view provided by the embodiment of the application;

[0022] Figure 2 is the left view provided by the embodiment of the application;

[0023] Figure 3 is the cross-sectional structure schematic view provided by the embodiment of the application;

[0024] Figure 4 is the structure schematic view provided by the embodiment of the application; Figure 3 is the structure enlarged schematic view at A in the embodiment of the application;

[0025] Figure 5 is the structure enlarged schematic view at B in the embodiment of the application; Figure 3

[0026] Figure 6 is the mechanical hand equipment structure schematic view provided by the embodiment of the application;

[0027] Figure 7 is the longitudinal frame three-dimensional structure schematic view provided by the embodiment of the application;

[0028] Figure 8 is the longitudinal frame plane structure schematic view provided by the embodiment of the application;

[0029] Figure 9 is the rotating mechanism structure schematic view provided by the embodiment of the application.

[0030] ​In the diagram: 1. Robotic arm device; 2. Test bench; 3. Longitudinal frame; 4. Shelf; 5. Radial plate; 6. Telescopic rod; 7. Sliding frame; 8. Radial groove; 9. Base plate; 10. Support column; 11. Platform; 12. Support ring; 13. Support slide rail; 14. Side slide rail; 15. Sliding plate; 16. Rotary table one; 17. Gear ring one; 18. Gear one; 19. Drive shaft one; 20. First motor; 21. Shaft bracket one; 22. Rotary table 23. Gear ring II; 24. Gear II; 25. Drive shaft II; 26. Second motor; 27. Shaft bracket II; 28. Stabilizing ring; 29. ​​Universal ball; 30. Vertical plate frame; 31. Motor plate frame; 32. Sliding component; 33. Hinge protrusion; 34. Third motor; 35. Threaded rod; 36. Servo motor; 37. Sliding groove; 38. Pulley; 39. Transmission belt; 40. Bracket; 41. Camera; 42. Laser tracker; 43. Target ball. Detailed Implementation

[0031] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0032] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0033] Robotic arm motion point testing device, such as Figures 1-9 As shown, the system includes a test platform 2, longitudinal frames 3, a shelf 4, a rotating mechanism, a vision inspection mechanism, and a laser tracking inspection mechanism. Specifically, the test platform 2 has a circular structure, and a robotic arm 1 is installed at its axis; the longitudinal frames 3 extend axially along the test platform 2, and there are two of them, both of which are arranged around the axis of the test platform 2; the shelf 4 slides longitudinally along the longitudinal frames 3 and is used to place workpieces; the rotating mechanism includes a rotating component one and a rotating component two, both of which are located on the test platform 2 and are used to drive the two longitudinal frames 3 to rotate around the axis of the test platform 2; the vision inspection mechanism... The mechanism is used to acquire image information when the gripping end of the robotic arm device 1 grips the workpiece. This vision inspection mechanism is set on both the gripping end of the robotic arm device 1 and the placement plate 4. The laser tracking inspection mechanism is used to record the position coordinate information of the gripping end of the robotic arm device 1 in real time. The laser tracking inspection mechanism includes a laser tracker 42 and a target ball 43. The emitting end of the laser tracker 42 faces the robotic arm device 1, and the target ball 43 is connected to the gripping end of the robotic arm device 1. In order to control the above-mentioned electrical equipment, a controller is also set in the device, which is mainly used to receive information, process information, store information, upload information, and send instructions.

[0034] In use, the above-mentioned device consists of two longitudinal frames 3 arranged around the periphery of the robotic arm 1, with a longitudinally sliding shelf 4 mounted on each frame 3. The two longitudinal frames 3 serve as the beginning and end points for workpiece transfer. Next, visual inspection mechanisms are installed on the gripping end of the robotic arm 1 and on the shelf 4. When the robotic arm 1 grips a workpiece, the visual inspection mechanisms accurately capture the image of the workpiece, thereby detecting the position information and accuracy of the gripping end during each stop operation. Furthermore, under the action of the laser tracking detection mechanism, the machine's position can be recorded in real time. The robotic arm device 1, with its grasping end coordinates and trajectory information, along with two longitudinal frames 3 and a placement plate 4 on the longitudinal frames 3, can handle changes in the workpiece's position during placement and simulate the workpiece at different positions. Furthermore, with the assistance of rotating components one and two, the starting and ending positions of the workpiece can be adjusted at any time. Compared to the test device in the comparative document, this device not only tests the robotic arm's grasping behavior within a vertical distance area but also enriches the changes in the starting and ending points of the robotic arm's movement, thereby improving the testing effect of movement between robotic arm positions.

[0035] It also includes telescopic components, which are set as two and are respectively connected to the rotating component one and the rotating component two. The two longitudinal frames 3 are respectively connected to the two telescopic components. The longitudinal frames 3 are driven by the telescopic components to move radially back and forth along the test table 2.

[0036] To enable the telescopic component to reciprocate longitudinally along the radial direction of the test platform 2, the telescopic component includes a radial plate 5, a telescopic rod 6, and a sliding frame 7. One end of the radial plate 5 extends radially along the test platform 2 and has a radial groove 8. The sliding frame 7 is slidably connected within the radial groove 8. The telescopic rod 6 is installed at one end of the radial plate 5, and the movable end of the telescopic rod 6 is connected to the sliding frame 7. When the telescopic rod 6 is activated, the movable end of the telescopic rod 6 will cause the sliding frame 7 to slide within the radial groove 8, thereby causing the longitudinal frame 3 located on the sliding frame 7 to move radially along the test platform 2.

[0037] like Figure 3 As shown, in order to facilitate the stability of the above structure, the test bench 2 includes a circular base plate 9, a support column 10 longitudinally connected to the axis of the base plate 9, and a platform 11 connected to the top of the support column 10. The robotic arm device 1 is connected to the platform 11, and the base plate 9 provides stable support for the platform 11 through the support column 10.

[0038] A support ring 12 is connected to the base plate 9. The support ring 12 is close to the edge of the base plate 9. A support slide rail 13 is connected to the top of the support ring 12. A side slide rail 14 is connected to the outer side wall of the support ring 12. A sliding plate 15 is slidably connected inside the side slide rail 14.

[0039] The rotating assembly one comprises a rotating table one 16, a gear ring one 17, a gear one 18, a driving shaft one 19 and a first motor 20. The rotating table one 16 is a closed annular structure, and its axis is collinear with the axis of the platform 11. The inner side wall of the rotating table is slidingly connected with the outer side wall of the platform 11. The gear ring one 17 is connected to the bottom of the rotating table one 16. The driving shaft one 19 is connected to the platform 11 through a shaft support one 21. The gear one 18 is connected to one end of the driving shaft one 19. The first motor 20 is installed on the base plate 9. The output end of the first motor 20 is connected to the end of the driving shaft one 19 away from the gear one 18. The gear one 18 is engaged with the gear ring one 17. When the first motor 20 is started, its output end outputs torque to drive the driving shaft one 19 to rotate on the shaft support one 21, and then drive the gear one 18 connected to the end to rotate synchronously. Since the gear one 18 is engaged with the gear ring one 17, the rotating gear one 18 drives the gear ring one 17 to rotate, and the gear ring one 17 drives the rotating table one 16 fixedly connected thereto to rotate. At this time, the rotating table one 16 performs circumferential motion with the center axis of the platform 11 as the center, and then drives the longitudinal frame 3 connected to the rotating table one 16 to rotate synchronously, and finally drives the placement plate 4 to change position.

[0040] As shown in Figure 3 and Figure 9 The rotating assembly two comprises a rotating table two 22, a gear ring two 23, a gear two 24, a driving shaft two 25 and a second motor 26. The rotating table two 22 is a closed annular structure, and its axis is collinear with the axis of the rotating table one 16. The inner side wall of the rotating table is slidingly connected with the outer side wall of the rotating table one 16. The gear ring two 23 is connected to the bottom of the rotating table two 22. The driving shaft two 25 is connected to the support ring 12 through a shaft support two 27. The gear two 24 is connected to one end of the driving shaft two 25. The second motor 26 is installed on the base plate 9. The output end of the second motor 26 is connected to the end of the driving shaft two 25 away from the gear two 24. The gear two 24 is engaged with the gear ring two 23.

[0041] When the rotating assembly two is used, the second motor 26 is started first. Its output end outputs torque to drive the driving shaft two 25 to rotate on the shaft support two 27, and then drive the gear two 24 connected to the end to rotate synchronously. Since the gear two 24 is engaged with the gear ring two 23, the rotating gear two 24 drives the gear ring two 23 to rotate, and the gear ring two 23 drives the rotating table two 22 fixedly connected thereto to rotate. At this time, the rotating table two 22 performs circumferential motion with the center axis of the rotating table one 16 as the center, and then drives the longitudinal frame 3 connected to the rotating table two 22 to rotate synchronously, and finally drives the placement plate 4 to change position.

[0042] When the positions of the two longitudinal frames 3 need to be changed, the point position information between the two storage plates 4 can be changed by respectively operating the rotating assembly one and the rotating assembly two, thereby increasing the diversity of the end point position test of the mechanical hand device 1;

[0043] The rotating assembly two further comprises a stabilizing ring 28 and universal beads 29; the stabilizing ring 28 is arranged at the bottom of the rotating table two 22 near the edge of the outer side wall, the universal beads 29 are arranged equidistantly around the central axis of the stabilizing ring 28, the universal beads 29 are connected to one side of the stabilizing ring 28 near the support ring 12, and the universal beads 29 are adapted to slide on the support slide rail 13, which provides stable support for the rotation of the rotating table two 22;

[0044] Secondly, in order to better solve the problem of longitudinal sliding of the device plate, as shown in Figure 7 and Figure 8 The longitudinal frame 3 comprises a vertical plate frame 30, a motor plate frame 31, a sliding piece 32, a hinged protrusion 33, a driving piece, a threaded rod 35 and a servo motor 36; the vertical plate frame 30 extends along the axis of the test table 2, is connected to the sliding frame 7, and is provided with a sliding groove 37; the sliding piece 32 is slidably connected in the sliding groove 37; the threaded rod 35 is rotatably connected to the side surface of the vertical plate frame 30 away from the mechanical hand device 1, and is threadedly connected between the sliding piece 32 and the threaded rod 35; the motor plate frame 31 is connected to the side surface of the vertical plate frame 30 near the threaded rod 35; one end of the threaded rod 35 is rotatably connected to the motor plate frame 31; the driving piece is arranged on the motor plate frame 31 and is used for driving the threaded rod 35 to rotate; the hinged protrusion 33 is connected to the sliding piece 32 and is located on the side of the vertical plate frame 30 near the mechanical hand device 1; the servo motor 36 is installed on the hinged protrusion 33, and the storage plate 4 is rotatably connected to the hinged protrusion 33; the output end of the servo motor 36 is connected to the storage plate 4;

[0045] The driving piece comprises a third motor 34 installed on the motor plate frame 31, two pulleys 38 respectively connected to the output end of the third motor 34 and the end of the threaded rod 35, and a transmission belt 39 jointly sleeved on the two pulleys 38;

[0046] When the device plate needs to be moved, the third motor 34 is first operated to drive the belt pulley 38 on the output end thereof to rotate, the transmission belt 39 is driven to rotate in a transmission connection mode, the belt pulley 38 connected with the threaded rod 35 is driven to rotate, and finally the threaded rod 35 is driven to rotate. When the threaded rod 35 rotates, the sliding piece 32 is driven to slide on the sliding groove 37. According to the height information of the placement plate 4 set in the controller, the controller outputs a control instruction to control the third motor 34 to operate and drive the threaded rod 35 to rotate. Since the threads on the threaded rod 35 have a constant pitch, the number of turns of the threaded rod 35 is proportional to the lifting distance of the sliding piece 32. The output torque of the third motor 34 can also be adjusted according to the measurement of the operator. The height of the placement plate 4 is adjusted as required without limitation.

[0047] The visual detection mechanism includes a support 40 and a camera 41. The camera 41 is an industrial camera 41 with appropriate resolution and frame rate, which has the characteristics of high-definition image acquisition and high-speed image data transmission, thereby avoiding data transmission delay. The camera 41 is connected to the support 40, and the camera 41 is provided in several sets and arranged on the sliding piece 32 and the grabbing end of the mechanical hand device 1. The visual detection mechanism realizes non-contact position measurement of the grabbing end of the mechanical hand device 1 through optical imaging and image processing technology. In the present application, it is suitable for high-speed motion of the grabbing end of the mechanical hand device 1, can overcome complex environment, and can perform precision evaluation. It has the advantages of large field coverage, fast dynamic response, and strong anti-environmental interference ability. When used in cooperation with the laser tracking detection mechanism, the two are complementary in function and information acquisition. The visual detection mechanism uses the camera 41 to shoot and mark the key stopping points of the grabbing end of the mechanical hand device 1, uploads the information to the controller, and then calculates the deviation between the actual coordinates and the theoretical coordinates by the controller.

[0048] The laser tracker 42 is connected to the sliding plate 15 through a high stand, the emitting end of the laser tracker 42 faces the mechanical hand device 1, the target ball 43 is connected to the grabbing end of the mechanical hand device 1, and the emitting end of the laser tracker 42 emits laser. The laser beam dynamically tracks the target on the grabbing end of the mechanical hand device 1 to realize high-precision coordinate measurement.

[0049] The above is only a preferred specific embodiment 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 solution 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 mechanical hand motion point position testing device, characterized by, The utility model relates to a test platform, which comprises: a test platform (2) in the shape of a circle and provided with a mechanical arm device (1) on the axis; two longitudinal frames (3) extending along the axis of the test platform (2) and arranged around the axis of the test platform (2); a placement plate (4) sliding along the longitudinal frames (3) and used for placing workpieces; a rotating mechanism comprising a rotating assembly I and a rotating assembly II, wherein the rotating assembly I and the rotating assembly II are arranged on the test platform (2) and used for driving the two longitudinal frames (3) to rotate around the axis of the test platform (2), respectively; a visual detection mechanism used for acquiring image information of the workpiece gripped by the gripping end of the mechanical arm device (1); and a laser tracking detection mechanism used for recording the coordinate information of the gripping end of the mechanical arm device (1) in real time.

2. The device of claim 1, wherein, The utility model further comprises two telescopic members connected to the rotating assembly I and the rotating assembly II, respectively, and the two longitudinal frames (3) are connected to the two telescopic members, respectively, and the longitudinal frames (3) are driven by the telescopic members to move along the radial direction of the test platform (2) reciprocally.

3. The device of claim 2, wherein, The telescopic member comprises a radial plate (5), a telescopic rod (6) and a sliding frame (7), wherein one end of the radial plate (5) extends along the radial direction of the test platform (2) and is provided with a radial slot (8), the sliding frame (7) is slidingly connected to the radial slot (8), the telescopic rod (6) is arranged at one end of the radial plate (5), and the movable end of the telescopic rod (6) is connected to the sliding frame (7).

4. The device of claim 1, wherein, The test platform (2) comprises a base plate (9) in the shape of a circle, a support column (10) longitudinally connected to the axis of the base plate (9) and a platform (11) connected to the top end of the support column (10), and the mechanical arm device (1) is connected to the platform (11). The base plate (9) is provided with a support ring (12) close to the edge of the base plate (9), the top of the support ring (12) is provided with a support sliding rail (13), and the outer side wall of the support ring (12) is provided with a side sliding rail (14), and the sliding plate (15) is slidingly connected to the side sliding rail (14).

5. The device of claim 4, wherein the device is configured to be attached to the robot hand at the point of interest. The rotating assembly I comprises a rotating table I (16), a gear ring I (17), a gear I (18), a driving shaft I (19) and a first motor (20), wherein the rotating table I (16) is in the shape of a closed ring and has the same axis as the platform (11), the inner side wall of the rotating table I (16) is slidingly connected to the outer side wall of the platform (11), the gear ring I (17) is connected to the bottom of the rotating table I (16), the driving shaft I (19) is connected to the platform (11) through a shaft support I (21), the gear I (18) is connected to one end of the driving shaft I (19), the first motor (20) is arranged on the base plate (9), the output end of the first motor (20) is connected to the end of the driving shaft I (19) away from the gear I (18), and the gear I (18) is engaged with the gear ring I (17).

6. The device of claim 5, wherein, The rotating assembly two comprises a rotating table two (22), a gear ring two (23), a gear two (24), a driving shaft two (25) and a second motor (26); the rotating table two (22) is a closed annular structure, and its axis is collinear with the axis of the rotating table one (16); the inner side wall of the rotating table is slidably connected with the outer side wall of the rotating table one (16); the gear ring two (23) is connected to the bottom of the rotating table two (22); the driving shaft two (25) is connected to the support ring (12) through a shaft support two (27); the gear two (24) is connected to one end of the driving shaft two (25); the second motor (26) is installed on the base plate (9); the output end of the second motor (26) is connected to the end of the driving shaft two (25) away from the gear two (24); the gear two (24) is engaged with the gear ring two (23).

7. The device of claim 6, wherein the device is configured to test the point of the robot. The rotating assembly two further comprises a stabilizing ring (28) and a universal bead (29); the stabilizing ring (28) is arranged at the bottom of the rotating table two (22) near the edge of the outer side wall; the universal bead (29) is provided with a plurality of universal beads (29) which are equidistantly arranged around the central axis of the stabilizing ring (28); the universal bead (29) is connected to one side of the stabilizing ring (28) near the support ring (12); the universal bead (29) is adapted to slide on the support slide rail (13).

8. The device of claim 2, wherein, The longitudinal frame (3) comprises a vertical plate frame (30), a motor plate frame (31), a sliding member (32), a hinged protrusion (33), a driving member, a threaded rod (35) and a servo motor (36); the vertical plate frame (30) extends along the axis of the test table (2); the vertical plate frame (30) is connected to the sliding frame (7); a sliding groove (37) is formed in the vertical plate frame (30); the sliding member (32) is slidably connected in the sliding groove (37); the threaded rod (35) is rotatably connected to the side surface of the vertical plate frame (30) away from the robot device (1); the sliding member (32) is threadedly connected with the threaded rod (35); the motor plate frame (31) is connected to the side surface of the vertical plate frame (30) near the threaded rod (35); one end of the threaded rod (35) is rotatably connected to the motor plate frame (31); the driving member is arranged on the motor plate frame (31) and is used for driving the threaded rod (35) to rotate; the hinged protrusion (33) is connected to the sliding member (32) and is located on the side of the vertical plate frame (30) near the robot device (1); the servo motor (36) is installed on the hinged protrusion (33); the object placing plate (4) is rotatably connected to the hinged protrusion (33); the output end of the servo motor (36) is connected to the object placing plate (4). The driving member comprises a third motor (34) installed on the motor plate frame (31), two pulleys (38) respectively connected to the output end of the third motor (34) and the end of the threaded rod (35), and a transmission belt (39) commonly sleeved on the two pulleys (38).

9. The device of claim 8, wherein the device is configured to test the point of the robot. The visual detection mechanism comprises a support (40) and a camera (41); the camera (41) is connected to the support (40), the camera (41) is provided in a plurality of sets, and each set is arranged on the sliding piece (32) and the grabbing end of the manipulator device (1).

10. The device of claim 4, wherein, The laser tracking detection mechanism comprises a laser tracker (42) and a target ball (43); the laser tracker (42) is connected to the sliding plate (15) through a high stand, the emitting end of the laser tracker (42) faces the manipulator device (1), and the target ball (43) is connected to the grabbing end of the manipulator device (1).

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