Mechanical hand motion point position testing device

Abstract

The application provides a mechanical hand motion point position testing device, and relates to the related technical field of mechanical hand testing, which comprises a testing table, a longitudinal frame, a placing plate and a rotating mechanism. The testing table is a circular structure and is provided with a mechanical hand device at an axis. The longitudinal frame extends along the axis of the testing table and is provided in two, and the two longitudinal frames are both provided around the axis of the testing table. The placing plate slides along the longitudinal frame in the longitudinal direction and is used for placing a workpiece. The rotating mechanism comprises rotating assembly one and rotating assembly two. The application sets visual detection mechanisms on the grabbing end of the mechanical hand device and the placing plate respectively. When the grabbing end of the mechanical hand device grabs the workpiece, the visual detection mechanisms can accurately capture the image of the workpiece grabbed by the grabbing end of the mechanical hand device, and can detect the point position information and the precision degree of the workpiece when the grabbing end of the mechanical hand device stops working each time. In cooperation with the two longitudinal frames and the placing plate on the longitudinal frame, the point position change of the workpiece when placed can be coped with, and the situation that the workpiece is at different point positions can be simulated.

Description

Technical Field

[0001] This invention relates to the field of robotic arm testing technology, and more particularly to a robotic arm motion point testing device. Background Technology

[0002] A robotic arm is an automated mechanical device that can mimic the movements of a human hand and arm, performing tasks such as grasping, handling, assembling, and manipulating according to preset programs or instructions. It is a core piece of equipment in 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 environmental operations. The robotic arm has a complex structure, and its performance is mainly determined by four core components: the actuator, the drive system, the control system, and the sensing system.

[0003] According to Chinese patent document CN217168578U, a robotic arm testing platform includes: a cabinet with multiple testing stations; a control module; wherein the testing station includes: a moving device electrically connected to the control module for mounting the robotic arm to be tested and for driving the robotic arm holding a heavy object to reciprocate between a first placement area and a second placement area; and a counting module electrically connected to the control module for counting the number of times the robotic arm moves.

[0004] Based on the search of the aforementioned patents and the findings of existing equipment, the aforementioned equipment, when applied, is equipped with multiple test stations. Each test station includes a moving device for mounting the robot arm under test, which can be used to drive the robot arm holding a heavy object to reciprocate between a first placement area and a second placement area. The counting module is electrically connected to the control module and can be used to count the number of times the robot arm moves. However, when using this device, it can only test the robot arm's gripping end within a vertical distance area. The changes in the starting and ending points of the robot arm's movement are relatively simple. The device structure lacks a structure for multi-point testing of the robot arm, thereby reducing the effectiveness of the movement test between robot arm points. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm motion point testing device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic arm motion point testing device includes: a test platform, which is circular in shape and has a robotic arm mounted on its axis; two longitudinal frames extending along the axial direction of the test platform, each frame surrounding the axis of the test platform; a placement plate that slides longitudinally along the longitudinal frames and is used to place workpieces; a rotation mechanism including a first rotation component and a second rotation component, both mounted on the test platform and used to drive the two longitudinal frames to rotate around the axis of the test platform; a vision inspection mechanism for acquiring image information when the robotic arm grips a workpiece; and a laser tracking detection mechanism for recording the coordinate information of the gripping point of the robotic arm in real time.

[0008] Preferably, the system further includes two telescopic components, which are respectively connected to the first rotating component and the second rotating component. The two longitudinal frames are respectively connected to the two telescopic components, and the longitudinal frames are driven by the telescopic components to move radially back and forth along the test platform.

[0009] Further: the telescopic component includes a radial plate, a telescopic rod, and a sliding frame; wherein, one end of the radial plate extends radially along the test platform and has a radial groove, the sliding frame is slidably connected in the radial groove, 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 aforementioned scheme: the test platform includes a circular base plate, a support column longitudinally connected to the axis of the base plate, and a platform connected to the top of the support column. The robotic arm is connected to the platform. A support ring is connected to the base plate. Near the edge of the base plate, a support rail is connected to the top of the support ring. A side rail is connected to the outer side wall of the support ring. A sliding plate is slidably connected inside the side rail.

[0011] A preferred embodiment of the aforementioned scheme is as follows: the rotating assembly includes a rotating platform, a gear ring, a gear, a drive shaft, and a first motor; wherein the rotating platform is a closed ring structure and its axis is collinear with the axis of the platform; the inner sidewall of the rotating platform is slidably connected to the outer sidewall of the platform; the gear ring is connected to the bottom of the rotating platform; the drive shaft is connected to the platform via a shaft bracket; the gear is connected to one end of the drive shaft; the first motor is mounted on a base plate; the output end of the first motor is connected to the end of the drive shaft away from the gear; and the gear and the gear ring mesh with each other.

[0012] As a further embodiment of the present invention: the rotating assembly two includes a rotating platform two, a gear ring two, a gear two, a drive shaft two, and a second motor; wherein, the rotating platform two is a closed ring structure, and its axis is collinear with the axis of the rotating platform one; the inner sidewall of the rotating platform is slidably connected to the outer sidewall of the rotating platform one; the gear ring two is connected to the bottom of the rotating platform two; the drive shaft two is connected to the support ring through a shaft bracket two; the gear two is connected to one end of the drive shaft two; the second motor is mounted on the base plate; the output end of the second motor is connected to the end of the drive shaft two away from the gear two; and the gear two meshes with the gear ring two.

[0013] Meanwhile, the rotating assembly two also includes a stabilizing ring and universal joints; wherein, the stabilizing ring is located at the bottom of the rotating platform two near the edge of the outer wall, and there are several universal joints, which are equidistantly arranged around the central axis of the stabilizing ring, and the universal joints are connected to the side of the stabilizing ring near the support ring.

[0014] In a preferred embodiment of the present invention: the longitudinal frame includes a vertical plate frame, a motor plate frame, a sliding member, a hinge protrusion, a driving member, a threaded rod, and a servo motor; wherein, the vertical plate frame extends axially along the test bench, the vertical plate frame is connected to the sliding frame, the vertical plate frame has a sliding groove, the sliding member is slidably connected in the sliding groove, the threaded rod rotates on the side of the vertical plate frame away from the robotic arm device, the sliding member and the threaded rod are threadedly connected, the motor plate frame is connected to the side of the vertical plate frame near the threaded rod, and the threaded rod... One end of the rod is rotatably connected to the motor plate frame. The driving component is mounted on the motor plate frame and is used to drive the threaded rod to rotate. The hinge protrusion is connected to the sliding component and is located on the side of the vertical plate frame closer to the robot. The servo motor is mounted on the hinge protrusion. The storage plate is rotatably connected to the hinge protrusion. The output end of the servo motor is connected to the storage plate. The driving component includes a third motor mounted 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 is sleeved on both pulleys.

[0015] Meanwhile, the visual inspection mechanism includes a support and a camera; wherein, the camera is connected to the support, and there are several cameras, which are respectively set on the slider and the gripping end of the robotic arm device.

[0016] As a preferred embodiment of the present invention: the laser tracking detection mechanism includes a laser tracker and a target ball; wherein, the laser tracker is connected to the sliding plate via an overhead connection, the emitting end of the laser tracker faces the robotic arm device, and the target ball is connected to the gripping end of the robotic arm device.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. By setting vision inspection mechanisms at the gripping end and the placement plate of the robotic arm, the vision inspection mechanism can accurately capture the image of the workpiece gripped by the gripping end of the robotic arm when it grips the workpiece, thereby detecting the position information and accuracy of the gripping end of the robotic arm during each stop operation.

[0019] 2. Secondly, under the action of the laser tracking and detection mechanism, the coordinate information of the gripping end of the robotic arm and the trajectory information of the gripping end of the robotic arm can be recorded in real time. With the help of two longitudinal frames and the placement plate on the longitudinal frames, it can cope with the position changes of the workpiece when it is placed, and can simulate the situation of the workpiece being in different positions.

[0020] 3. Furthermore, under the action of rotating component one and rotating component two, the starting and ending positions of the workpiece can be adjusted at any time. Compared with the test device in the comparative document, this device can not only test the gripping situation of the robot in the vertical distance area, but also enrich the changes in the starting and ending points of the robot's movement, thereby improving the movement test effect between robot points. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram provided in an embodiment of the present invention;

[0022] Figure 2 This is the left view provided in an embodiment of the present invention;

[0023] Figure 3 This is a cross-sectional structural schematic diagram provided in an embodiment of the present invention;

[0024] Figure 4 This is provided by the embodiments of the present invention. Figure 3 Enlarged schematic diagram of the structure at point A in the middle;

[0025] Figure 5 This is provided by the embodiments of the present invention. Figure 3 Enlarged schematic diagram of the structure at point B;

[0026] Figure 6 This is a schematic diagram of the robotic arm device provided in an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the three-dimensional structure of the longitudinal frame provided in an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the longitudinal frame planar structure provided in an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram of the rotating mechanism structure provided in an embodiment of the present invention.

[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 aforementioned rotating assembly includes a rotary table 16, a gear ring 17, a gear 18, a drive shaft 19, and a first motor 20. The rotary table 16 is a closed ring structure with its axis collinear with the axis of the platform 11. The inner wall of the rotary table is slidably connected to the outer wall of the platform 11. The gear ring 17 is connected to the bottom of the rotary table 16. The drive shaft 19 is connected to the platform 11 via a shaft bracket 21. The gear 18 is connected to one end of the drive shaft 19. The first motor 20 is mounted on the base plate 9, and its output end is connected to the end of the drive shaft 19 away from the gear 18. 8 meshes with the gear ring 17, starting the first motor 20, which outputs torque to drive the drive shaft 19 to rotate on the shaft frame 21, thereby driving the gear 18 connected to its end to rotate synchronously. Since the gear 18 meshes with the gear ring 17, the rotating gear 18 will drive the gear ring 17 to rotate, and the gear ring 17 will drive the rotating table 16 fixedly connected to it to rotate. At this time, the rotating table 16 will perform a circular motion with the central axis of the platform 11 as the center, thereby driving the longitudinal frame 3 connected to the rotating table 16 to rotate synchronously, and finally driving the shelf 4 to change position.

[0040] like Figure 3 as well as Figure 9 As shown, the rotating assembly 2 includes a rotating platform 22, a gear ring 23, a gear 24, a drive shaft 25, and a second motor 26. The rotating platform 22 is a closed ring structure, and its axis is collinear with the axis of the rotating platform 16. The inner sidewall of the rotating platform is slidably connected to the outer sidewall of the rotating platform 16. The gear ring 23 is connected to the bottom of the rotating platform 22. The drive shaft 25 is connected to the support ring 12 through the shaft bracket 27. The gear 24 is connected to one end of the drive shaft 25. The second motor 26 is mounted on the base plate 9. The output end of the second motor 26 is connected to the end of the drive shaft 25 away from the gear 24. The gear 24 meshes with the gear ring 23.

[0041] When the rotating component 2 is in use, the second motor 26 is started first, and its output end outputs torque, which drives the second drive shaft 25 to rotate on the second shaft frame 27, thereby driving the second gear 24 connected to its end to rotate synchronously. Since the second gear 24 meshes with the second gear ring 23, the rotating gear 24 will drive the second gear ring 23 to rotate, and the second gear ring 23 will drive the rotating table 22 fixedly connected to it to rotate. At this time, the rotating table 22 will perform a circular motion with the central axis of the rotating table 16 as the center, thereby driving the longitudinal frame 3 connected to the rotating table 22 to rotate synchronously, and finally driving the shelf 4 to change position.

[0042] When it is necessary to change the position of the shelf 4 on the two longitudinal frames 3, simply run the rotating component one and the rotating component two respectively to change the point information between the two shelf 4, thereby increasing the diversity of the gripping end point position test of the robotic arm device 1.

[0043] The second rotating assembly also includes a stabilizing ring 28 and universal joints 29; wherein, the stabilizing ring 28 is located at the bottom of the second rotating platform 22 near the edge of the outer wall, and there are several universal joints 29, which are equidistantly arranged around the central axis of the stabilizing ring 28. The universal joints 29 are connected to the side of the stabilizing ring 28 near the support ring 12, and the universal joints 29 are adapted to slide on the support slide rail 13, which provides stable support for the rotation of the second rotating platform 22;

[0044] Secondly, in order to better solve the problem of longitudinal sliding of the device plate, such as Figure 7 as well as Figure 8 As shown, the longitudinal frame 3 includes a vertical plate frame 30, a motor plate frame 31, a sliding member 32, a hinge protrusion 33, a driving member, a threaded rod 35, and a servo motor 36; wherein, the vertical plate frame 30 extends axially along the test bench 2, the vertical plate frame 30 is connected to the sliding frame 7, a sliding groove 37 is provided on the vertical plate frame 30, the sliding member 32 is slidably connected in the sliding groove 37, the threaded rod 35 rotates on the side of the vertical plate frame 30 away from the robot device 1, and the sliding member 32 and the threaded rod 35 are threadedly connected, and the motor... The machine plate frame 31 is connected to the side 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 component is located on the motor plate frame 31 and is used to drive the threaded rod 35 to rotate. The hinge protrusion 33 is connected to the sliding component 32, and the hinge protrusion 33 is located on the side of the vertical plate frame 30 near the robot device 1. The servo motor 36 is mounted on the hinge protrusion 33. The placement plate 4 is rotatably connected to the hinge protrusion 33. The output end of the servo motor 36 is connected to the placement plate 4.

[0045] The driving component includes a third motor 34 mounted on a motor 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 is fitted on the two pulleys 38.

[0046] When the device plate needs to be moved, the third motor 34 is first started, which drives the pulley 38 on its output end to rotate. Through the transmission connection of the transmission belt 39, the pulley 38 connected to the threaded rod 35 is driven to rotate, and finally the threaded rod 35 is driven to rotate. When the threaded rod 35 rotates, it will drive the sliding member 32 to slide on the sliding groove 37. As needed, the height information of the shelf 4 is set in the controller, and the controller will output control commands to control the third motor 34 to run, which in turn drives the threaded rod 35 to rotate. Since the thread on the threaded rod 35 has a constant pitch, there is a direct proportional relationship between the number of turns of the threaded rod 35 and the rising distance of the sliding member 32. The torque of the output end of the third motor 34 can also be adjusted according to the operator's measurement. The height adjustment of the shelf 4 can be selected as needed and is not limited.

[0047] The visual inspection mechanism includes a support 40 and a camera 41. The camera 41 is an industrial camera with appropriate resolution and frame rate, which has the characteristics of high-definition image acquisition and high-speed transmission of image data, thereby avoiding data transmission delay. The camera 41 is connected to the support 40. Several cameras 41 are set and respectively set on the slider 32 and the gripping end of the robot arm device 1. The visual inspection mechanism realizes non-contact position measurement of the gripping end of the robot arm device 1 through optical imaging and image processing technology. In this invention, it is suitable for the high-speed movement of the gripping end of the robot arm device 1, and can overcome complex environments and perform accuracy evaluation. It has the advantages of large field of view coverage, fast dynamic response and strong anti-environment interference capability. When used in conjunction with the laser tracking inspection mechanism, the two complement each other in terms of function and information acquisition. The visual inspection mechanism uses the camera 41 to capture features and mark the key stopping points of the gripping end of the robot arm device 1, and uploads the information to the controller. Then the controller calculates the deviation between the actual coordinates and the theoretical coordinates.

[0048] The laser tracker 42 is connected to the sliding plate 15 via an overhead connection. The emitting end of the laser tracker 42 faces the robotic arm device 1. The target ball 43 is connected to the gripping end of the robotic arm device 1. The emitting end of the laser tracker 42 emits a laser beam, which dynamically tracks the target at the gripping end of the robotic arm device 1 to achieve high-precision coordinate measurement.

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for testing the movement points of a robotic arm, characterized in that, include: The test stand (2) has a circular structure and a robotic arm (1) is installed at its axis. The longitudinal frame (3) extends along the axial direction of the test bench (2) and is provided in two, with both longitudinal frames (3) arranged around the axis of the test bench (2); The shelf (4) slides longitudinally along the longitudinal frame (3) and is used to place workpieces; The rotating mechanism includes a rotating component one and a rotating component two, wherein the rotating component one and the rotating component two are both mounted on the test bench (2) and are used to drive two longitudinal frames (3) to rotate around the axis of the test bench (2); A visual inspection mechanism is used to acquire image information of the workpiece when the gripping end of the robotic arm (1) grips it; A laser tracking and detection mechanism is used to record the coordinate information of the grasping endpoint of the robotic arm device (1) in real time; 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). A support ring (12) is connected to the base plate (9). The support ring (12) is located near 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). The rotating assembly includes a rotating platform (16), a gear ring (17), a gear (18), a drive shaft (19), and a first motor (20); wherein the rotating platform (16) is a closed ring structure and its axis is collinear with the axis of the platform (11), the inner sidewall of the rotating platform is slidably connected to the outer sidewall of the platform (11), the gear ring (17) is connected to the bottom of the rotating platform (16), the drive shaft (19) is connected to the platform (11) through a shaft bracket (21), the gear (18) is connected to one end of the drive shaft (19), the first motor (20) is mounted on the base plate (9), the output end of the first motor (20) is connected to the end of the drive shaft (19) away from the gear (18), and the gear (18) meshes with the gear ring (17); The rotating assembly two includes a rotating platform two (22), a gear ring two (23), a gear two (24), a drive shaft two (25), and a second motor (26); wherein, the rotating platform two (22) is a closed ring structure and its axis is collinear with the axis of the rotating platform one (16), the inner sidewall of the rotating platform two is slidably connected to the outer sidewall of the rotating platform one (16), the gear ring two (23) is connected to the bottom of the rotating platform two (22), the drive shaft two (25) is connected to the support ring (12) through the shaft bracket two (27), the gear two (24) is connected to one end of the drive shaft two (25), the second motor (26) is mounted on the base plate (9), the output end of the second motor (26) is connected to the end of the drive shaft two (25) away from the gear two (24), and the gear two (24) meshes with the gear ring two (23); The second rotating assembly also includes a stabilizing ring (28) and universal joints (29); wherein, the stabilizing ring (28) is located at the bottom of the second rotating platform (22) near the edge of the outer wall, and there are several universal joints (29), which are equidistantly arranged around the central axis of the stabilizing ring (28). The universal joints (29) are connected to the side of the stabilizing ring (28) near the support ring (12), and the universal joints (29) are adapted to slide on the support slide rail (13).

2. The robotic arm motion point testing device according to claim 1, characterized in that, It also includes telescopic components, which are provided as two and are respectively connected to rotating component one and 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 and move radially back and forth along the test platform (2).

3. The robotic arm motion point testing device according to claim 2, characterized in that, The telescopic component includes a radial plate (5), a telescopic rod (6), and a sliding frame (7); wherein, 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 in 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).

4. The robotic arm motion point testing device according to claim 2, characterized in that, The longitudinal frame (3) includes a vertical plate frame (30), a motor plate frame (31), a sliding member (32), a hinge protrusion (33), a driving member, a threaded rod (35), and a servo motor (36); wherein, the vertical plate frame (30) extends axially along the test bench (2), the vertical plate frame (30) is connected to the sliding frame (7), the vertical plate frame (30) is provided with a sliding groove (37), the sliding member (32) is slidably connected in the sliding groove (37), the threaded rod (35) rotates on the side of the vertical plate frame (30) away from the robot arm device (1), the sliding member (32) and the threaded rod (35) are threadedly connected. The motor plate frame (31) is connected to the side 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 component is located on the motor plate frame (31) and is used to drive the threaded rod (35) to rotate. The hinge protrusion (33) is connected to the sliding component (32), and the hinge protrusion (33) is located on the side of the vertical plate frame (30) near the robot arm device (1). The servo motor (36) is mounted on the hinge protrusion (33). The storage plate (4) is rotatably connected to the hinge protrusion (33). The output end of the servo motor (36) is connected to the storage plate (4). The drive unit includes a third motor (34) mounted on a motor plate (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) is fitted on both pulleys (38).

5. The robotic arm motion point testing device according to claim 4, characterized in that, The visual inspection mechanism includes a support (40) and a camera (41); wherein the camera (41) is connected to the support (40), and there are several cameras (41), which are respectively set on the slider (32) and the gripping end of the robotic arm device (1).

6. The robotic arm motion point testing device according to claim 1, characterized in that, The laser tracking and detection mechanism includes a laser tracker (42) and a target ball (43); wherein the laser tracker (42) is connected to the sliding plate (15) via an overhead connection, 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).

Images