Automatic industrial robot mounting and debugging equipment

Abstract

The invention provides automatic industrial robot mounting and debugging equipment, and relates to the technical field of industrial robot mounting and debugging, the automatic industrial robot mounting and debugging equipment comprises a sliding rail, a first conveying table is fixed at one end of the sliding rail, a second conveying table is fixed at the other end of the sliding rail, and operation panels are fixed on the top surfaces of the first conveying table and the second conveying table at equal intervals; the positions of the two adjacent sets of operation boards on the first conveying table and the second conveying table are positioned through the guide assembly, the position of the clamping assembly is determined, the mechanical arm is clamped by the clamping assembly after rotating to one side, and the clamping assembly pulls the operation end of the mechanical arm to move to be close to the operation boards. In the traction process of the mechanical arm by the clamping assembly, the rotating angles of the first rotating arm, the second rotating arm and the rotating shaft and the moving distance along the sliding rail are recorded, the mechanical arm is debugged and calibrated, it is kept that the mechanical arm can conduct continuous machining treatment on the operation board on the conveying table, debugging of the mechanical arm is more convenient and faster in the process, and the machining efficiency is improved. And the positioning is more accurate.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of industrial robot installation and debugging, and particularly relates to an automatic industrial robot installation and debugging device. BACKGROUND

[0002] The automatic industrial robot is an important part in the field of modern industrial automation production and belongs to the intelligent manufacturing equipment industry. The automatic robot includes an industrial robot, a special operation robot and a service consumer robot and is mainly used for additive manufacturing equipment manufacturing. The automatic robot can autonomously complete a series of complex production tasks through pre-set programs and instructions, thereby greatly improving production efficiency and production quality. Before installation of the automatic industrial robot, an automatic industrial robot installation and debugging device needs to be used to adjust the working condition of the automatic industrial robot to ensure normal operation of the automatic industrial robot.

[0003] In the prior art, the automatic industrial robot needs to be used with a conveying table to clamp and transfer or perform other operations on the objects on the conveying table. These need one-to-one correspondence between the clamping operation end of the automatic industrial robot and the objects on the conveying table. However, the process needs to be repeatedly adjusted by a person, and the existence of errors will cause misalignment between the automatic industrial robot and the objects on the conveying table, thereby affecting the flow production process. In the process of calibration and debugging, the efficiency of simple mechanical repeated testing is low. SUMMARY

[0004] The present disclosure aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, the purpose of the present disclosure is to provide an automatic industrial robot installation and debugging device.

[0006] To achieve the above object, the present disclosure provides an automated industrial robot installation and debugging device, comprising: a slide rail, one end of the slide rail is fixed with a first conveying table, and the other end of the slide rail is fixed with a second conveying table, the top surface of the first conveying table and the second conveying table is fixed with an operation panel at equal intervals, a mechanical arm is slidingly installed on the slide rail, a clamping assembly is arranged on the outside of the first conveying table and the second conveying table corresponding to the position of the slide rail, and a guide assembly is arranged on the bottom of the first conveying table and the second conveying table corresponding to the position of the slide rail; the mechanical arm comprises a mounting plate, a first rotating arm is rotatably installed on the top of the mounting plate, a second rotating arm is rotatably installed on the top of the first rotating arm, a rotating shaft is rotatably installed on the other end of the second rotating arm, and an operating end is fixedly installed on the bottom of the rotating shaft; the clamping assembly comprises a vertical plate, a horizontal plate is slidingly installed on the surface of the vertical plate, two insert frames are slidingly inserted on the two sides of the horizontal plate, a sliding frame is fixed on one end of the insert frame facing the mechanical arm, the front end and the rear end of the sliding frame are hollowed out, a first clamping plate is slidingly installed on one side of the sliding frame, and a second clamping plate is slidingly installed on the other end of the sliding frame, and the first clamping plate and the second clamping plate are clamped on the two sides of the rotating shaft; the guide assembly comprises a first positioning block, a first positioning block is fixed on the bottom of the first conveying table and the second conveying table corresponding to the position of the middle one group of operation panels, a second positioning block is arranged on one side of the first positioning block, and the first positioning block and the second positioning block correspond to the bottom of the two adjacent operation panels, and the vertical plate is fixedly connected with the outer end of the first positioning block.

[0007] Optionally, a sliding seat is slidingly installed on the slide rail, a sliding groove is formed on the top of the sliding seat, a first bidirectional screw rod is rotatably installed in the sliding groove, two clamping frames are symmetrically slidingly installed on the top of the sliding seat, and the bottom of the clamping frame is threadedly connected with the first bidirectional screw rod to slide in the sliding groove; wherein the two clamping frames are clamped on the two sides of the mounting plate, and a rotating column is rotatably installed on one end of the sliding seat corresponding to the position of the first bidirectional screw rod.

[0008] Optionally, the guide assembly further comprises: a first scale and a second scale, the first positioning block and the second positioning block are fixed with the first scale on one end away from the slide rail, the first scale of the first positioning block is fixed with the second scale on the outer end, and the second scale is slidingly inserted into the outer end of the first scale of the second positioning block; wherein the bottom of the vertical plate is fixedly connected with the first scale of the first positioning block.

[0009] Optionally, a slide is fixed on the bottom surface of the outside of the first conveying table and the second conveying table, two sliding blocks are slidingly connected in the slide, and the first scale slides through the sliding block.

[0010] Optionally, the clamping assembly further comprises a reinforcing rib, a first electric push rod, a first spring and a connecting plate, the outer side of the sliding block is fixed with the reinforcing rib, the other end of the reinforcing rib is fixedly connected with the vertical plate, the connecting plate is slidingly connected to the surface of the bottom of the horizontal plate, the two sides of the connecting plate are fixed with the first electric push rod, and the elongated end of the first electric push rod is fixedly connected with the horizontal plate; wherein the bottom of the horizontal plate is fixed with the first spring, and the two ends of the bottom of the first spring are fixedly connected with the vertical plate.

[0011] Optionally, the top of the vertical plate is slidingly sleeved with a positioning plate, the bottom of the positioning plate is fixed with a second electric push rod, and the elongated end of the second electric push rod is fixedly connected with the connecting plate; wherein the outer side of the positioning plate is threadedly inserted with a first locking bolt, and the first locking bolt is in extrusion contact with the vertical plate.

[0012] Optionally, the inside of the sliding frame is rotatably installed with a second bidirectional screw rod, the first clamping plate is threadedly sleeved on the surface of the second bidirectional screw rod, the inside of the second clamping plate is provided with a screw block, and the screw block is threadedly sleeved on the surface of the other end of the second bidirectional screw rod; wherein one end of the sliding frame is fixed with a motor, and the output end of the motor at the outer end of the sliding frame is fixedly connected with the second bidirectional screw rod.

[0013] Optionally, the tail end of the second clamping plate is fixedly connected with the horizontal plate, the surface of the second clamping plate is provided with a moving groove, and the screw block is slidingly connected in the moving groove.

[0014] Optionally, the end of the horizontal plate away from the sliding frame is installed with a driving screw rod, the bottom of the horizontal plate is fixed with a shaft support, the two ends of the driving screw rod are rotatably installed in the inside of the shaft support, and the rear end of the insertion frame is threadedly sleeved on the surface of the driving screw rod; wherein the outer end of the shaft support of the horizontal plate is fixedly installed with a motor for driving the driving screw rod to rotate.

[0015] Optionally, the outer side of the sliding block is threadedly inserted with a second locking bolt, and the second locking bolt is in extrusion contact with the outer side of the sliding channel.

[0016] The technical scheme provided by the present disclosure can include the following beneficial effects: 1. This invention uses only the first clamping plate on the first and second conveyor platforms to obstruct the rotation path of the robotic arm. When the robotic arm rotates from the first conveyor platform to the upper part of the second conveyor platform, it will encounter the obstruction of the first clamping plate on the second conveyor platform. At this time, the angle of horizontal rotation of the robotic arm can be recorded. Rotating the robotic arm at this angle ensures that the operating end of the robotic arm always corresponds to different operating discs on the first and second conveyor platforms. When the robotic arm contacts the first clamping plate of the first conveyor platform, the robotic arm moves along the slide rail toward the first conveyor platform, and the drive screw resets the first clamping plate and slide frame. This ensures that the first and second clamping plates are aligned on the same straight line again. The second bidirectional screw controls the first and second clamping plates to clamp the rotating shaft. At this time, the operating end corresponds to the operating disk, and the operating end is on the same vertical line as the first positioning block at the bottom of the first conveyor table. This ensures that the position of the robotic arm moving along the slide rail is exactly perpendicular to the operating disk. Subsequently, as the second electric push rod pushes the first and second clamping plates to descend, the bottom of the robotic arm will also move along the slide rail to keep the operating end able to continuously move downward in the vertical direction. During this process, the distance the robotic arm moves along the slide rail is adjusted and confirmed. 2. In this invention, the first electric push rod drives the horizontal plate to slide along the vertical plate, and then the first clamping plate and the second clamping plate clamp the front end of the robotic arm, so as to drive the operating end to move closer to the operating plate. Through this movement and calibration, the angle of rotation between each arm of the robotic arm can be determined to ensure that the operating end can be lowered to a sufficient height. 3. The present invention measures and records the distance between two sets of adjacent operating panels by a guide component, thereby determining the installation position of the second electric push rod. Then, it determines the time spent switching between the two sets of operating panels on the first and second conveyor platforms. This time is used to determine the extension and retraction time of the second electric push rod, thereby determining the descent time of the operating end of the robotic arm, ensuring the accuracy and stability of the robotic arm when performing continuous operations on the first and second conveyor platforms. 4. Based on the positions of two sets of adjacent operating discs on the first and second conveyor tables, the first and second positioning blocks correspond to the positions of the operating discs. The first scale slides through the bottom of the slider, which can accurately locate the precise position inside the operating disc. Simply put, if it is a jig, such as welding or cutting, a more precise position is required instead of the entire operating disc. In this case, because the first and second positioning blocks are both small positioning blocks, the processing position can be accurately located. The distance between the two sets of adjacent operating discs, as well as the positioning block and the position to be processed, are determined by the first and second scales. The slider slides along the slide rail, and the position of the slider is locked by the second locking bolt. The operating disc is positioned from the middle position of the first and second conveyor tables, which facilitates the connection between the clamping component and the robotic arm. 5. Compared with the prior art, the present invention uses a guiding component to position the adjacent sets of operating discs on the first and second conveyor tables and determine the position of the clamping component. After the robotic arm rotates to one side, it is clamped by the clamping component. The clamping component pulls the operating end of the robotic arm to move closer to the operating disc. During the process of the robotic arm being pulled by the clamping component, the rotation angles of the first rotating arm, the second rotating arm, and the rotating shaft, as well as the distance moved along the slide rail, are recorded. The robotic arm is then adjusted and calibrated to ensure that it can continuously process the operating discs on the conveyor table. This process makes the adjustment of the robotic arm more convenient and faster, and the positioning more accurate.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of the overall structure of an automated industrial robot installation and commissioning equipment according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the connection between the robotic arm and the slide rail in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure on the slide rail surface in an automated industrial robot installation and debugging equipment according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the guide component structure in an automated industrial robot installation and debugging equipment according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram illustrating the positional relationship between the robotic arm and the first conveyor table in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; Figure 6 This is a schematic diagram of the connection between the clamping component and the guiding component in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; Figure 7 This is a schematic diagram of a clamping component structure in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; Figure 8 This is a schematic diagram of the internal structure of a sliding frame in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; Figure 9 This is a schematic diagram of the connection between the insertion frame and the sliding frame in an automated industrial robot installation and debugging equipment according to an embodiment of this disclosure; As shown in the figure: 1. Slide rail; 11. First conveyor table; 12. Second conveyor table; 13. Control panel; 14. Slide block; 15. Clamping frame; 16. First bidirectional screw; 17. Slide groove; 2. Clamping assembly; 21. Vertical plate; 22. Horizontal plate; 23. Insert frame; 24. Reinforcing rib; 25. First electric push rod; 26. First spring; 27. Slide frame; 28. Drive screw; 29. ​​Positioning plate; 210. First locking bolt; 211. Second electric push rod; 212. Second bidirectional screw; 213. First clamping plate; 214. Second clamping plate; 215. Moving groove; 216. Screw block; 217. Connecting plate; 3. Robotic arm; 31. Mounting plate; 32. First rotating arm; 33. Second rotating arm; 34. Operating end; 35. Rotation shaft; 4. Guide assembly; 41. Slide rail; 42. Slider; 43. First scale; 44. First positioning block; 45. Second positioning block; 46. Second scale; 47. Second locking bolt. Detailed Implementation

[0019] Embodiments of this disclosure are described in detail below, examples of which are illustrated 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 used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8As shown in the figure, this disclosure proposes an automated industrial robot installation and debugging device, including: a slide rail 1, one end of which is fixed with a first conveyor platform 11, and the other end of which is fixed with a second conveyor platform 12. Operating disks 13 are equidistantly fixed on the top surfaces of the first and second conveyor platforms 11 and 12. A robotic arm 3 is slidably mounted on the slide rail 1. Clamping components 2 are provided on the outer sides of the first and second conveyor platforms 11 and 12 corresponding to the positions of the slide rail 1, and guide components 4 are provided on the bottom of the first and second conveyor platforms 11 and 12 corresponding to the positions of the slide rail 1. The robotic arm 3 includes a mounting plate 31, and a first rotating arm 32 is rotatably mounted on the top of the mounting plate 31. The top of the clamping assembly 2 is rotatably mounted with a second rotating arm 33, and the other end of the second rotating arm 33 is rotatably mounted with a rotating shaft 35, and the bottom of the rotating shaft 35 is fixedly mounted with an operating end 34; the clamping assembly 2 includes a vertical plate 21, a horizontal plate 22 is slidably mounted on the surface of the vertical plate 21, and insert frames 23 are slidably inserted into both sides of the horizontal plate 22. A sliding frame 27 is fixed to one end of the insert frame 23 facing the robotic arm 3. The front and rear ends of the sliding frame 27 are hollowed out. A first clamping plate 213 is slidably mounted on one side of the sliding frame 27, and a second clamping plate 214 is slidably mounted on the other end of the sliding frame 27. The first clamping plate 213 and the second clamping plate 214 clamp the two sides of the rotating shaft 35; the guide assembly 4 includes a first positioning block. 44. A first positioning block 44 is fixed at the bottom of the first conveyor table 11 and the second conveyor table 12, corresponding to the position of the middle set of operating discs 13. A second positioning block 45 is provided on one side of the first positioning block 44. The first positioning block 44 and the second positioning block 45 correspond to the bottom of the two sets of adjacent operating discs 13. The vertical plate 21 is fixedly connected to the outer end of the first positioning block 44. In this scheme, the first rotating arm 32, the second rotating arm 33, and the rotating shaft 35 of the robotic arm 3 are all controlled by separate motors, thereby adjusting the position of the operating end 34. When using the device, the robotic arm 3 is installed on the slide rail 1, and the positions of the two sets of adjacent operating discs 13 on the first conveyor table 11 and the second conveyor table 12 are positioned by the guide assembly 4. Furthermore, the position of the clamping component 2 is determined. After the robotic arm 3 rotates to one side, it is clamped by the clamping component 2. The operating end 34 of the robotic arm 3 is pulled by the clamping component 2 to move closer to the operating plate 13. During the process of the robotic arm 3 being pulled by the clamping component 2, the rotation angle of the first rotating arm 32, the second rotating arm 33 and the rotating shaft 35 and the distance of movement along the slide rail 1 are recorded. The robotic arm 3 is debugged and calibrated to ensure that the robotic arm 3 can continuously process the operating plate 13 on the conveyor. This process makes the debugging of the robotic arm 3 more convenient and faster, and the positioning more accurate. The robotic arm 3 in this solution follows the control principle of intelligent robots and is similar to the programming control principle of existing industrial robots, special operation robots and service consumption robots.

[0021] like Figure 2 and Figure 3As shown, in some embodiments, a slide block 14 is slidably mounted on the slide rail 1. The top of the slide block 14 is provided with a slide groove 17, and a first bidirectional screw 16 is rotatably mounted inside the slide groove 17. Two clamping frames 15 are symmetrically slidably mounted on the top of the slide block 14, and the bottom of the clamping frames 15 is threadedly engaged with the first bidirectional screw 16 and slides along the inside of the slide groove 17. The two clamping frames 15 are clamped on both sides of the mounting plate 31, and a rotating column is rotatably mounted on one end of the slide block 14 corresponding to the position of the first bidirectional screw 16.

[0022] Understandably, the mounting plate 31 of the robotic arm 3 is placed on the slide block 14. By rotating the first bidirectional screw 16, the two clamping frames 15 are controlled to slide along the slide groove 17 to clamp the two sides of the mounting plate 31 and fix the entire robotic arm 3. The slide rail 1 is equipped with a drive device. Referring to the existing electrically driven moving slide rail 1, the slide block 14 is controlled to move along the slide rail 1 to get closer to the first conveyor table 11 and the second conveyor table 12.

[0023] like Figure 4 and Figure 6 As shown, in some embodiments, the guide assembly 4 further includes: a first scale 43 and a second scale 46. The first scale 43 is fixed to one end of the first positioning block 44 and the second positioning block 45 away from the slide rail 1. The second scale 46 is fixed to the outer end of the first scale 43 of the first positioning block 44. The second scale 46 is slidably inserted into the outer end of the first scale 43 of the second positioning block 45. The bottom of the vertical plate 21 is fixedly connected to the first scale 43 of the first positioning block 44. A slide rail 41 is fixed on the outer bottom surface of the first conveyor table 11 and the second conveyor table 12. Two sliders 42 are slidably connected inside the slide rail 41. The first scale 43 slides through the slider 42. A second locking bolt 47 is threaded into the outer side of the slider 42. The second locking bolt 47 is in contact with the outer side of the slide rail 41.

[0024] Understandably, based on the positions of the two sets of adjacent operating discs 13 on the first conveyor table 11 and the second conveyor table 12, the first positioning block 44 and the second positioning block 45 correspond to the positions of the operating discs 13. Furthermore, by sliding the first scale 43 along the bottom of the slider 42, the accurate position inside the operating disc 13 can be precisely located. Simply put, if it is a fixture, such as for welding or cutting, a more accurate position is required instead of the entire operating disc 13. In this case, because the first positioning block 44 and the second positioning block 45 are both relatively small positioning blocks, the processing position can be accurately located. The distance between the two sets of adjacent operating discs 13, as well as the positioning block and the position to be processed, is determined by the first scale 43 and the second scale 46. The slider 42 slides along the slide rail 41, and the position of the slider 42 is locked by the second locking bolt 47. The operating disc 13 located between the first conveyor table 11 and the second conveyor table 12 is positioned, which facilitates the connection between the clamping assembly 2 and the robotic arm 3.

[0025] like Figure 6 , Figure 7 , Figure 8 and Figure 9As shown, in some embodiments, the clamping assembly 2 further includes: a reinforcing rib 24, a first electric push rod 25, a first spring 26, and a connecting plate 217. The reinforcing rib 24 is fixed to the outer side of the slider 42, and the other end of the reinforcing rib 24 is fixedly connected to the vertical plate 21. The connecting plate 217 is slidably connected to the surface of the vertical plate 21 located at the bottom of the horizontal plate 22, and the first electric push rod 25 is fixed to both sides of the connecting plate 217. The extended end of the first electric push rod 25 is fixedly connected to the horizontal plate 22. In the middle, the bottom two sides of the horizontal plate 22 are fixed with first springs 26, and the bottom ends of the first springs 26 are fixedly connected to the vertical plate 21. The top of the vertical plate 21 is slidably fitted with a positioning plate 29, and the bottom of the positioning plate 29 is fixed with a second electric push rod 211, and the extended end of the second electric push rod 211 is fixedly connected to the connecting plate 217. A first locking bolt 210 is threaded into the outer side of the positioning plate 29, and the first locking bolt 210 is in pressing contact with the vertical plate 21. A second bidirectional screw 212 is rotatably mounted inside the frame 27. The first clamping plate 213 is threaded onto the surface of the second bidirectional screw 212. A screw block 216 is provided inside the second clamping plate 214, and the screw block 216 is threaded onto the surface of the other end of the second bidirectional screw 212. A motor is fixed to one end of the sliding frame 27, and the motor output end at the outer end of the sliding frame 27 is fixedly connected to the second bidirectional screw 212. The tail end of the second clamping plate 214 is fixedly connected to the horizontal plate 22. The second clamping plate 214 has a moving groove 215 on its surface, and the screw block 216 is slidably engaged in the moving groove 215. The end of the horizontal plate 22 away from the slide frame 27 is equipped with a drive screw 28, and the bottom of the horizontal plate 22 is fixed with a shaft frame. The two ends of the drive screw 28 are rotatably installed inside the shaft frame. The rear end of the insert frame 23 is threaded onto the surface of the drive screw 28. A motor that drives the drive screw 28 to rotate is fixedly installed at the outer end of the shaft frame of the horizontal plate 22.

[0026] It should be noted that the vertical plate 21 is fixedly connected to the first scale 43 of the first positioning block 44 by the reinforcing rib 24 and maintains stability. A horizontal plate 22, a connecting plate 217, and a positioning plate 29 are slidably mounted on the vertical plate 21. The positioning plate 29 is located at the top of the horizontal plate 22, and the connecting plate 217 is at the bottom of the horizontal plate 22. The extended end of the second electric push rod 211 mounted on the positioning plate 29 is fixedly connected to the connecting plate 217. The position of the positioning plate 29 is locked by the first locking bolt 210. The extended end of the second electric push rod 211 can drive the connecting plate 217 and the first electric push rod 217. 5. The horizontal plate 22 moves up and down synchronously along the vertical plate 21. Because the first clamping plate 213 and the second clamping plate 214 clamp the rotating shaft 35 and the operating end 34, the operating end 34 can be inserted into the operating disc 13 for operation. The movement of the extended end of the second electric push rod 211 includes a cycle of descending and ascending. The distance that the extended end of the second electric push rod 211 can move is exactly the distance between the two operating discs 13. Measured by the second scale 46, the positioning plate 29 is fixed to the vertical plate 21 by the first locking bolt 210. Simply put, the second electric push rod 211 drives... Downward movement occurs when the horizontal plate 22, the first electric push rod 25, and the sliding frame 27 move downwards. The first clamping plate 213 and the second clamping plate 214 clamp the rotating shaft 35 and the operating end 34, inserting them into the operating plate 13 for operation. During this process, the first conveyor table 11 and the second conveyor table 12 pause their movement. After the robotic arm 3 completes its operation, the operating end 34 retracts and moves upwards via the extended end of the second electric push rod 211. Simultaneously, the first conveyor table 11 and the second conveyor table 12 activate to transport the operating plate 13. After the next set of operating plates 13 moves to the bottom of the operating end 34 of the robotic arm 3, the operating end 34 then... The robot arm 3 descends and extends into the operating plate 13. In this step, firstly, the distance between two adjacent operating plates 13 is measured and recorded by the guide component 4 to determine the installation position of the second electric push rod 211. Then, the time taken to switch between the two operating plates 13 on the first conveyor table 11 and the second conveyor table 12 is determined. The extension and retraction time of the second electric push rod 211 is determined by this time, thereby determining the descent time of the operating end 34 of the robot arm 3, ensuring the accuracy and stability of the robot arm 3 when performing continuous operations on the first conveyor table 11 and the second conveyor table 12. Because the devices installed at the bottom of the operating end 34 are different, such as clamps or jigs, the distance that the operating end 34 needs to get close to the operating disk 13 is different when pushed by the same second electric push rod 211. At this time, the first electric push rod 25 is used to drive the horizontal plate 22 to slide along the vertical plate 21, and then the first clamping plate 213 and the second clamping plate 214 are used to clamp the front end of the robotic arm 3, so as to drive the operating end 34 to get closer to the operating disk 13. Through this distance movement and calibration, the angle of rotation between each arm of the robotic arm 3 can also be known to ensure that the operating end 34 can be lowered to a sufficient height. When the first clamping plate 213 and the second clamping plate 214 installed inside the sliding frame 27, which is parallel to the horizontal plate 22, are on the same straight line, the second bidirectional screw 212 driven by the motor can be rotated to clamp both sides of the rotating shaft 35, thereby facilitating the subsequent movement of the operating end 34 of the robotic arm 3. The position of the operating end 34 is then positioned and calibrated. Before this process, the robotic arm 3 can be used only for one set of conveyor tables, and the horizontal rotation of the robotic arm 3 does not need to be considered. If the first conveyor table 11 and the second conveyor table 12 are arranged side by side on both sides of the robotic arm 3, and the robotic arm 3 needs to rotate alternately to work on the two sets of conveyor tables, the motor must first drive the mechanical arm 3. When the lead screw 28 rotates, the insert frame 23 slides through the inside of the horizontal plate 22, threadedly engaged with the drive lead screw 28. Because the second clamping plate 214 has a moving groove 215 and a screw block 216 on its surface, the first clamping plate 213 and the second clamping plate 214 can be misaligned when the insert frame 23 moves. The first clamping plate 213 moves independently toward the robotic arm 3, while the first clamping plate 213 on the first conveyor table 11 and the second conveyor table 12 can act as a stop plate to calibrate and adjust the horizontal rotation angle of the robotic arm 3. Simply put, because the second clamping plate 214 and the first clamping plate 213 are misaligned, it is equivalent to only the first clamping plate 213 on the first conveyor table 11 and the second conveyor table 12 being aligned with the robotic arm 3. The rotation path of robotic arm 3 is blocked. When robotic arm 3 rotates from the first conveyor table 11 to the upper end of the second conveyor table 12, it will encounter the obstruction of the first clamping plate 213 on the second conveyor table 12. At this time, the horizontal rotation angle of robotic arm 3 can be recorded. Rotating robotic arm 3 at this angle can ensure that the operating end 34 of robotic arm 3 always corresponds to the different operating disks 13 on the first conveyor table 11 and the second conveyor table 12. When robotic arm 3 contacts the first clamping plate 213 of the first conveyor table 11, robotic arm 3 moves along the slide rail 1 toward the first conveyor table 11, and the drive screw 28 resets the first clamping plate 213 and the slide frame 27, so that the first clamping plate 213 and the second clamping plate 214 are blocked. Once back on the same straight line, the second bidirectional screw 212 controls the first clamping plate 213 and the second clamping plate 214 to clamp the rotating shaft 35. At this time, the operating end 34 corresponds to the operating disk 13, and the operating end 34 and the first positioning block 44 at the bottom of the first conveyor table 11 are on the same vertical line, ensuring that the position of the robotic arm 3 moving along the slide rail 1 is exactly perpendicular to the operating disk 13. Subsequently, during the process of the second electric push rod 211 pushing the first clamping plate 213 and the second clamping plate 214 to descend, the bottom of the robotic arm 3 will also move along the slide rail 1 to keep the operating end 34 able to continuously move downward in the vertical direction. During this process, the distance that the robotic arm 3 moves along the slide rail 1 is adjusted and confirmed.

[0027] Working principle: When using the device, the robotic arm 3 is mounted on the slide rail 1, and the mounting plate 31 of the robotic arm 3 is placed on the slide block 14. By rotating the first bidirectional screw 16, the two clamping frames 15 are controlled to slide along the slide groove 17, clamping the two sides of the mounting plate 31 and fixing the entire robotic arm 3. A drive device is installed inside the slide rail 1. Referring to the existing electrically driven moving slide rail 1, the slide block 14 is individually controlled to move along the slide rail 1, thereby approaching the first conveyor table 11 and the second conveyor table 12. According to the positions of the two sets of adjacent operating discs 13 on the first conveyor table 11 and the second conveyor table 12, the first positioning block 44 and the second positioning block 45 correspond to the positions of the operating discs 13. Furthermore, the first scale 43 slides through the bottom of the slider 42, which can accurately locate the precise position inside the operating disc 13. In simple terms, for jigs and fixtures, such as welding and cutting, a more precise position is needed instead of an entire operating panel 13. Because the first positioning block 44 and the second positioning block 45 are both relatively small, the processing position can be precisely located. The distance between two adjacent operating panels 13, as well as the positioning blocks and the position to be processed, is determined by the first scale 43 and the second scale 46. The slider 42 slides along the slide rail 41, and the position of the slider 42 is locked by the second locking bolt 47. The operating panel 13 is positioned between the first conveyor table 11 and the second conveyor table 12, facilitating the connection between the clamping assembly 2 and the robotic arm 3. The vertical plate 21 is fixedly connected to the first scale 43 of the first positioning block 44 via reinforcing ribs 24 and maintains... To maintain stability, a horizontal plate 22, a connecting plate 217, and a positioning plate 29 are slidably mounted on the vertical plate 21. The positioning plate 29 is located at the top of the horizontal plate 22, and the connecting plate 217 is at the bottom of the horizontal plate 22. The extended end of the second electric push rod 211 mounted on the positioning plate 29 is fixedly connected to the connecting plate 217. The position of the positioning plate 29 is locked by a first locking bolt 210. The extended end of the second electric push rod 211 can drive the connecting plate 217, the first electric push rod 25, and the horizontal plate 22 to move up and down synchronously along the vertical plate 21. Because the first clamping plate 213 and the second clamping plate 214 clamp the rotating shaft 35 and the operating end 34, the operating end 34 can be inserted into the operating disc 13 for operation. The movement of the extended end of the second electric push rod 211 includes a downward movement and an upward movement. In this cycle, the distance that the extended end of the second electric push rod 211 can move is exactly the distance between the two operating discs 13. Measured by the second scale 46, the positioning plate 29 is fixed to the vertical plate 21 by the first locking bolt 210. Simply put, driven by the second electric push rod 211, the horizontal plate 22, the first electric push rod 25, and the sliding frame 27 move downwards. The first clamping plate 213 and the second clamping plate 214 clamp the rotating shaft 35 and the operating end 34, inserting them into the operating disc 13 for operation. During this process, the first conveyor table 11 and the second conveyor table 12 pause their movement. After the robotic arm 3 completes its operation, the operating end 34 retracts and moves upwards via the extended end of the second electric push rod 211. Simultaneously, the first conveyor table 11 and the second conveyor table 12 activate to transport the operating disc 13.After the next set of operating discs 13 moves to the bottom of the operating end 34 of the robotic arm 3, the operating end 34 descends again and extends into the interior of the operating disc 13. In this step, firstly, the distance between the two sets of adjacent operating discs 13 needs to be measured and recorded by the guide assembly 4 to determine the installation position of the second electric push rod 211. Then, the time spent switching between the two sets of operating discs 13 on the first conveyor table 11 and the second conveyor table 12 is determined. This time is used to determine the extension and retraction time of the second electric push rod 211, thereby determining the descent time of the operating end 34 of the robotic arm 3. This ensures the accuracy and stability of the robotic arm 3 when performing continuous operations on the first conveyor table 11 and the second conveyor table 12. Because the devices installed at the bottom of the operating end 34 are different, they can be... The fixture can be a jig or a fixture. Therefore, under the same push of the second electric push rod 211, the distance the operating end 34 needs to approach the operating disk 13 varies. In this case, the first electric push rod 25 drives the horizontal plate 22 to slide along the vertical plate 21, and then the first clamping plate 213 and the second clamping plate 214 clamp the front end of the robotic arm 3, driving the operating end 34 closer to the operating disk 13. Through this movement and calibration, the required rotation angle between the arms of the robotic arm 3 can be determined to ensure that the operating end 34 can descend to a sufficient height. When the first clamping plate 213 and the second clamping plate 214 installed inside the slide frame 27 parallel to the horizontal plate 22 are on the same straight line, the second bidirectional... When the screw 212 rotates, it can clamp both sides of the rotating shaft 35, thus facilitating the subsequent movement of the operating end 34 of the robotic arm 3. The position of the operating end 34 is then positioned and calibrated. Before this process, the robotic arm 3 can be used only for one set of conveyor tables, and the horizontal rotation of the robotic arm 3 does not need to be considered. If the first conveyor table 11 and the second conveyor table 12 are arranged side-by-side on both sides of the robotic arm 3, and the robotic arm 3 needs to alternately rotate to work on the two sets of conveyor tables, the motor first needs to drive the drive screw 28 to rotate. The insert frame 23, threadedly engaged with the drive screw 28, slides through the inside of the horizontal plate 22. Because the surface of the second clamping plate 214 has a moving groove 215 and a screw block 216, the insert frame 213... 3. During movement, the first clamping plate 213 and the second clamping plate 214 can be misaligned. The first clamping plate 213 moves independently toward the robotic arm 3, while the first clamping plate 213 on the first conveyor table 11 and the second conveyor table 12 can act as a barrier to calibrate and adjust the horizontal rotation angle of the robotic arm 3. Simply put, because the second clamping plate 214 and the first clamping plate 213 are misaligned, it is equivalent to only the first clamping plate 213 on the first conveyor table 11 and the second conveyor table 12 blocking the rotation path of the robotic arm 3. When the robotic arm 3 rotates from the first conveyor table 11 to the upper end of the second conveyor table 12, it will encounter the obstruction of the first clamping plate 213 on the second conveyor table 12. At this time, the horizontal rotation angle of the robotic arm 3 can be recorded, and the robotic arm 3 can be rotated at this angle.This ensures that the operating end 34 of the robotic arm 3 always corresponds to different operating discs 13 on the first conveyor table 11 and the second conveyor table 12. When the robotic arm 3 contacts the first clamping plate 213 of the first conveyor table 11, the robotic arm 3 moves along the slide rail 1 toward the first conveyor table 11, and the drive screw 28 resets the first clamping plate 213 and the slide frame 27, so that the first clamping plate 213 and the second clamping plate 214 are back on the same straight line. The second bidirectional screw 212 controls the first clamping plate 213 and the second clamping plate 214 to clamp the rotating shaft 35. At this time, the operating end 34 corresponds to the operating disc 13, and the operating end 34 corresponds to the first operating disc 13 at the bottom of the first conveyor table 11. A positioning block 44 is positioned on a vertical line to ensure that the position of the robotic arm 3 moving along the slide rail 1 corresponds perpendicularly to the operating plate 13. Subsequently, as the second electric push rod 211 pushes the first clamping plate 213 and the second clamping plate 214 downwards, the bottom of the robotic arm 3 will also move along the slide rail 1 to ensure that the operating end 34 can continuously move downwards vertically. During this process, the distance the robotic arm 3 moves along the slide rail 1 is adjusted and confirmed, and the robotic arm 3 is adjusted and calibrated to ensure that the robotic arm 3 can continuously process the operating plate 13 on the conveyor table. This process makes the adjustment of the robotic arm 3 more convenient and faster, and the positioning more accurate.

[0028] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0029] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0030] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. An automated industrial robot installation and debugging device, characterized in that, include: A slide rail (1) is fixed at one end with a first conveyor platform (11) and at the other end with a second conveyor platform (12). An operating disk (13) is fixed at equal intervals on the top surfaces of the first conveyor platform (11) and the second conveyor platform (12). A robotic arm (3) is slidably mounted on the slide rail (1). A clamping component (2) is provided on the outer side of the first conveyor platform (11) and the second conveyor platform (12) at a position corresponding to the slide rail (1). A guide component (4) is provided at the bottom of the first conveyor platform (11) and the second conveyor platform (12) at a position corresponding to the slide rail (1). The robotic arm (3) includes a mounting plate (31), a first rotating arm (32) is rotatably mounted on the top of the mounting plate (31), a second rotating arm (33) is rotatably mounted on the top of the first rotating arm (32), a rotating shaft (35) is rotatably mounted on the other end of the second rotating arm (33), and an operating end (34) is fixedly mounted on the bottom of the rotating shaft (35). The clamping assembly (2) includes a vertical plate (21), a horizontal plate (22) is slidably mounted on the surface of the vertical plate (21), and insert frames (23) are slidably inserted into both sides of the horizontal plate (22). A sliding frame (27) is fixed to one end of the insert frame (23) facing the robotic arm (3). The front and rear ends of the sliding frame (27) are hollowed out. A first clamping plate (213) is slidably mounted on one side of the sliding frame (27), and a second clamping plate (214) is slidably mounted on the other end of the sliding frame (27). The first clamping plate (213) and the second clamping plate (214) are clamped on both sides of the rotating shaft (35). The guide component (4) includes a first positioning block (44). The bottom of the first conveyor (11) and the second conveyor (12) are fixed with the first positioning block (44) at the position corresponding to the middle set of operation disks (13). A second positioning block (45) is provided on one side of the first positioning block (44). The first positioning block (44) and the second positioning block (45) correspond to the bottom of the two adjacent sets of operation disks (13). The vertical plate (21) is fixedly connected to the outer end of the first positioning block (44).

2. The automated industrial robot installation and debugging equipment according to claim 1, characterized in that, A slide block (14) is slidably installed on the slide rail (1). A slide groove (17) is provided on the top of the slide block (14). A first bidirectional screw (16) is rotatably installed inside the slide groove (17). Two clamping frames (15) are symmetrically slidably installed on the top of the slide block (14). The bottom of the clamping frame (15) is threadedly engaged with the first bidirectional screw (16) and slides inside the slide groove (17). The two clamping frames (15) are clamped on both sides of the mounting plate (31), and a rotating column is rotatably installed at one end of the slide block (14) corresponding to the position of the first bidirectional screw (16).

3. The automated industrial robot installation and debugging equipment according to claim 1, characterized in that, The guide component (4) also includes: First scale (43), second scale (46), the first positioning block (44) and the second positioning block (45) are fixed with the first scale (43) at the end away from the slide rail (1), the second scale (46) is fixed at the outer end of the first scale (43) of the first positioning block (44), and the second scale (46) is slidably inserted into the outer end of the first scale (43) of the second positioning block (45); The bottom of the vertical plate (21) is fixedly connected to the first scale (43) of the first positioning block (44).

4. The automated industrial robot installation and debugging equipment according to claim 3, characterized in that, A slide rail (41) is fixed on the outer bottom surface of the first conveyor (11) and the second conveyor (12). Two sliders (42) are slidably connected inside the slide rail (41), and the first scale (43) slides through the sliders (42).

5. The automated industrial robot installation and debugging equipment according to claim 4, characterized in that, The clamping assembly (2) further includes: The slider (42) is fixed with a reinforcing rib (24), a first electric push rod (25), a first spring (26), and a connecting plate (217). The other end of the reinforcing rib (24) is fixedly connected to the vertical plate (21). The vertical plate (21) is slidably connected to the connecting plate (217) on the surface of the bottom of the horizontal plate (22). The first electric push rod (25) is fixed on both sides of the connecting plate (217), and the extended end of the first electric push rod (25) is fixedly connected to the horizontal plate (22). The bottom two sides of the horizontal plate (22) are fixed with a first spring (26), and the bottom two ends of the first spring (26) are fixedly connected to the vertical plate (21).

6. The automated industrial robot installation and commissioning equipment according to claim 5, characterized in that, The top of the vertical plate (21) is slidably sleeved with a positioning plate (29), and the bottom of the positioning plate (29) is fixed with a second electric push rod (211), and the extended end of the second electric push rod (211) is fixedly connected to the connecting plate (217). The positioning plate (29) is threaded with a first locking bolt (210) on its outer side, and the first locking bolt (210) is in contact with the vertical plate (21).

7. The automated industrial robot installation and commissioning equipment according to claim 6, characterized in that, The sliding frame (27) is rotatably mounted with a second bidirectional screw (212), the first clamping plate (213) is threaded onto the surface of the second bidirectional screw (212), the second clamping plate (214) is provided with a screw block (216) inside, and the screw block (216) is threaded onto the surface of the other end of the second bidirectional screw (212); One end of the slide frame (27) is fixed with a motor, and the motor output end at the outer end of the slide frame (27) is fixedly connected to the second bidirectional screw (212).

8. The automated industrial robot installation and commissioning equipment according to claim 7, characterized in that, The tail end of the second clamping plate (214) is fixedly connected to the horizontal plate (22). A moving groove (215) is provided on the surface of the second clamping plate (214), and the screw block (216) is slidably engaged in the moving groove (215).

9. The automated industrial robot installation and debugging equipment according to claim 8, characterized in that, The horizontal plate (22) is equipped with a drive screw (28) at one end away from the slide frame (27), and the horizontal plate (22) is fixed with a shaft frame at the bottom of the drive screw (28). The two ends of the drive screw (28) are rotatably installed inside the shaft frame, and the rear end of the insert frame (23) is threaded onto the surface of the drive screw (28). Among them, the outer end of the shaft frame of the horizontal plate (22) is fixedly installed with a motor that drives the drive screw (28) to rotate.

10. The automated industrial robot installation and debugging equipment according to claim 4, characterized in that: The outer side of the slider (42) is threaded with a second locking bolt (47), which is in contact with the outer side of the slide (41).

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