Robot debugging platform

Abstract

The utility model relates to the technical field of robots, in particular to a robot debugging platform which comprises a debugging table frame and a displacement structure. The displacement structure is arranged on one side of the table top of the debugging table frame and drives the robot to move horizontally. A dynamic debugging structure is arranged on the left side of the desktop of the debugging table frame, the dynamic debugging structure comprises a rotating disc, the rotating disc is arranged on the debugging table frame, and at least four first grabbing blocks are uniformly and circumferentially distributed on a circular plate surface at the top of the rotating disc; and during dynamic grabbing debugging, the rotating disc rotates, and the robot grabs the first grabbing block rotating along with the rotating disc. A supporting layer plate is arranged on the middle layer of the debugging table frame, a height and angle debugging structure is arranged on the supporting layer plate, and the height and angle debugging structure comprises an adjusting table, a second sliding block and a rotating rod. The second sliding block slides up and down in the vertical sliding groove of the vertical supporting plate to adjust the height of the adjusting table, the second sliding block is rotationally connected with a rotating rod, and the rotating rod rotates to adjust the angle of the adjusting table. According to the utility model, the technical problems of single debugging data and incapability of forming track data for comparison during robot debugging are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a robot debugging platform. Background Art

[0002] The debugging of industrial robots refers to the operations such as programming, parameter setting, motion path adjustment and external mounting structure inspection of the robot at the industrial site, so that the robot can accurately complete the predetermined work tasks. The existing robot debugging requires staff to debug directly at the work site. The debugging process may be disturbed by the working environment, which will affect the robot's debugging data and make it impossible to obtain correct trajectory data. In addition, the data obtained during debugging is relatively single, making debugging more difficult.

[0003] The Chinese utility model patent with the name of "An Industrial Robot Testing / Debugging Platform" and the publication number of CN220137578U, which has been published, includes a box body, and universal casters are installed at the four corners of the lower end of the box body; there are no box boards at the front and rear ends of the box body; the top plate of the box body also serves as a desktop, and the back side of the desktop extends upward to form a baffle, and the touch screen device is installed on the baffle; the circuit breaker, terminal, switch power supply, controller with IO board, Profinet module and PLC are installed on the left side board from top to bottom and from left to right; multiple drivers are installed on the left side board; a teaching pendant is hung on the back side of the desktop; and motors equal to the number of drivers are installed in the box body. The device realizes the testing and debugging of industrial robots in a laboratory environment, reducing the working time of engineers at the industrial site. However, in the actual debugging of industrial robots, the robot may fail to work due to the improper installation of the external mechanical arm, so only debugging the internal program of the robot cannot completely debug the working state of the robot. Utility Model Content

[0004] The purpose of the present application is to provide a robot debugging platform, which solves the technical problem that the debugging data is single and trajectory data cannot be formed for comparison during robot debugging.

[0005] In order to solve the above technical problems, the solution adopted by this application is as follows:

[0006] The utility model provides a robot debugging platform, comprising a debugging table frame, a displacement structure, a dynamic debugging structure, a height and angle debugging structure, a supporting layer plate, and a vertical supporting plate.

[0007] Preferably, the displacement structure is arranged on one side of the desktop of the debugging table frame, and the displacement structure includes a placement plate. The robot is fixedly installed on the placement plate. The displacement structure drives the robot on the placement plate to perform horizontal displacement on the desktop of the debugging table frame by moving the placement plate.

[0008] Preferably, a dynamic debugging structure is arranged on the left side of the desktop of the debugging table, and the dynamic debugging structure includes a rotating disk, which is arranged on the debugging table, and the top of the rotating disk is a circular plate, and the first grabbing block is fixedly installed on the rotating disk; when performing dynamic grabbing debugging, the displacement structure drives the robot to move above the dynamic debugging structure, the rotating disk rotates, and the robot grabs the first grabbing block that rotates with the rotating disk.

[0009] Preferably, a supporting layer plate is provided in the middle layer of the debugging table frame, and a height and angle debugging structure is provided on the supporting layer plate, and the height and angle debugging structure includes an adjustment table, a second sliding block, and a rotating rod.

[0010] Preferably, the adjustment platform is arranged in the partition between the debugging table frame and the supporting layer plate, a vertical support plate is vertically fixedly connected between the debugging table frame and the partition of the supporting layer plate, a through vertical slide groove is arranged on the vertical support plate, the second slider slides up and down in the vertical slide groove of the vertical support plate, and the second slider is rotatably connected to a rotating rod.

[0011] Preferably, the adjustment platform includes a fixed plate, an adjustment column base, and a second grabbing block; the fixed plate is fixedly mounted on the axis of the rotating rod, the fixed plate is fixedly connected to the adjustment column base, the top of the adjustment column base is a cylinder, and the cylinder at the top of the adjustment column base is provided with cross sections in three directions, and a second grabbing block is fixedly provided on each cross section.

[0012] Preferably, the displacement structure includes a first motor, which is fixedly mounted on one side of the desktop of the debugging table frame, a driving shaft of the first motor is fixedly connected to one end of the shaft of the first screw, and the two are coaxial, a slide rail is fixedly mounted on the desktop of the debugging table frame, parallel to the axial direction of the first screw, and the two are separated by a certain distance, a first slider is threadedly matched on the shaft of the first screw, a placement plate is fixedly mounted on the first slider, the slide rail includes a track and a slider, the placement plate is fixedly connected to the slider in the slide rail, and when the first screw rotates, the first slider moves along the axial direction of the first screw.

[0013] Preferably, the dynamic debugging structure includes a rotating disk, a circular hole is provided on the left side of the desktop of the debugging table frame, the rotating disk is rotatably installed inside the circular hole of the debugging table frame, a second motor is fixedly installed at a corresponding position of the circular hole of the debugging table frame at the bottom of the desktop of the debugging table frame, and the driving shaft of the second motor is fixedly connected to the bottom of the rotating disk.

[0014] Preferably, the height and angle adjustment structure includes a third motor, and the third motor is fixedly arranged on the left side of the bottom surface of the supporting layer. The driving shaft of the third motor is fixedly connected to one end of the shaft of the second screw rod, and the second screw rod is located in the partition between the debugging table frame and the supporting layer plate, and the second screw rod is rotatably connected to the bottom of the desktop of the debugging table frame and the top surface of the supporting layer plate respectively.

[0015] Preferably, the vertical support plate is located between the debugging table frame and the partition of the supporting layer plate, and two layers of vertical support plates are provided, which are respectively located on both sides of the middle part of the device, and an adjustment table is provided between the two layers of vertical support plates. A through vertical slide groove is provided on the vertical support plate, and a second sliding block is slidably provided in the vertical slide groove of the vertical support plate. The second sliding block in the vertical slide groove of the left layer of vertical support plate matches the axial thread of the second screw rod. When the second screw rod rotates, the second sliding block moves axially along the second screw rod.

[0016] Preferably, a rotating rod is rotatably connected between the two second sliding blocks sliding on the vertical slide grooves of the two vertical support plates, the rotating rod is located between the two vertical support plates, and an adjustment platform is provided on the rotating rod.

[0017] Preferably, the second screw is located outside the left vertical support plate, the second slider slidingly connected to the right vertical support plate matches the auxiliary screw thread, the auxiliary screw is located in the interlayer between the debugging table frame and the supporting layer plate, the auxiliary screw is rotatably connected to the bottom of the desktop of the debugging table frame and the top surface of the supporting layer plate respectively, the auxiliary screw is located outside the right vertical support plate, and when the second slider on the right vertical support plate slides, the auxiliary screw rotates.

[0018] Preferably, the height and angle adjustment structure also includes a fourth motor, which is fixedly mounted on the bottom surface of the second slider on the left vertical support plate, and the driving shaft of the fourth motor is fixedly connected to the first gear, the first gear is meshingly connected to the second gear, and the second gear is fixedly mounted on one end of the shaft of the rotating rod, and an adjustment platform is provided on the rotating rod.

[0019] Preferably, a manual debugging station is provided on the right side of the desktop of the debugging table.

[0020] Preferably, the trajectory detection structure includes a protective grid, the protective grid is fixedly mounted on the desktop of the debugging table frame, and the protective grid includes a left shielding component and a right shielding component.

[0021] Preferably, a protective door is provided on the side of the right shielding component of the protective grid close to the manual debugging station, and the protective door corresponds to the position of the manual debugging station. When the robot moves, the protective door is closed, and during manual debugging, the protective door is opened.

[0022] Preferably, the trajectory detection structure also includes a first camera module, which is fixedly mounted on the inner wall of the left shielding part of the protective grid, and a second camera module is fixedly mounted on the inner wall of the right shielding part of the protective grid. The first camera module and the second camera module include industrial cameras and movable sheet metal inside, and the height of the camera is adjusted by the movable sheet metal.

[0023] Preferably, an industrial computer is arranged outside the right shielding part of the protective grid, and the industrial computer is placed on the desktop of the debugging table frame. The signal transmission line of the industrial computer is connected to the first camera module and the second camera module to transmit the captured image.

[0024] The technical solution of the present application has at least the following advantages and beneficial effects:

[0025] Place the industrial robot on the placement board of the device, and test whether the dynamic grasping of the industrial robot is normal through the dynamic grasping test of the dynamic debugging structure. Adjust the height and angle of the grasping block through the height and angle debugging structure to test whether the position grasping of the industrial robot is normal. Multiple test data ensure the accuracy of debugging;

[0026] The trajectory detection structure, height and angle detection structure are used to detect whether there are any problems with the external robotic arm installation structure of the industrial robot. The trajectory detection structure is then used to detect whether there are any problems with the program settings of the industrial robot. The staff debugs the external part of the industrial robot through the manual debugging station and debugs the internal program of the industrial robot through an industrial computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the utility model;

[0028] Figure 2 Schematic diagram of the displacement structure of the device.

[0029] Figure 3 It is a schematic cross-sectional view of the displacement structure of the device.

[0030] Figure 4 This is a structural schematic diagram of the height and angle adjustment structure of the device.

[0031] Figure 5 This is a schematic cross-sectional view of the height and angle adjustment structure of the device.

[0032] Figure 6It is a schematic diagram of the cross-sectional structure of the device.

[0033] Figure 7 It is a schematic diagram of the cross-sectional structure of the adjustment platform in the device.

[0034] In the figure: 1-debugging table frame; 2-displacement structure; 3-dynamic debugging structure; 4-height and angle debugging structure; 5-track detection structure; 11-supporting layer plate; 12-working table; 13-manual debugging station; 111-vertical support plate; 201-first motor; 202-first screw rod; 203-support block; 204-slide rail; 205-first slider; 206-placing plate; 301-rotating disk; 302-second motor; 303 -first grabbing block; 401-third motor; 402-second screw; 403-second slider; 404-rotating rod; 405-auxiliary screw; 406-fourth motor; 407-first gear; 408-second gear; 409-fixed plate; 410-adjusting column; 411-second grabbing block; 501-protective grid; 502-protective door; 503-first camera module; 504-second camera module; 505-industrial computer. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further defined and explained in the subsequent figures. If the terms "center", "upper", "lower", "inner", "outer", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the figure, or the orientation or position relationship in which the product of the application is usually placed when in use, it is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. It should also be noted that unless otherwise clearly specified and limited, if the terms "set", "install", and "connect" appear, they should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] Example

[0038] Please refer to Figure 1-Figure 7 The utility model provides a robot debugging platform, including a debugging table frame 1, a displacement structure 2, a dynamic debugging structure 3, a height and angle debugging structure 4, a trajectory detection structure 5, a supporting layer plate 11, a working table 12, a manual debugging station 13, and a vertical supporting plate 111.

[0039] Furthermore, the displacement structure 2 is arranged on one side of the desktop of the debugging table frame 1, and the displacement structure 2 includes a placement plate 206. The robot is fixedly installed on the placement plate 206. The displacement structure 2 drives the robot on the placement plate 206 to perform horizontal displacement on the desktop of the debugging table frame 1 by moving the placement plate 206.

[0040] Furthermore, a dynamic debugging structure 3 is arranged on the left side of the desktop of the debugging table frame 1, and the dynamic debugging structure 3 includes a rotating disk 301, which is rotatably installed on the debugging table frame 1, and the top of the rotating disk 301 is a circular plate surface. The first grabbing block 303 is fixedly installed on the circular plate surface at the top of the rotating disk 301, and at least four first grabbing blocks 303 are evenly distributed in a circle; when performing dynamic grabbing debugging, the displacement structure 2 drives the robot to move above the dynamic debugging structure 3, the rotating disk 301 rotates, and the robot grabs the first grabbing block 303 that rotates with the rotating disk 301.

[0041] Whether the dynamic grasping of the robot meets the working requirements is judged by the grasping success rate of the robot on the rotating first grasping block 303. If the grasping success rate does not meet the working requirements, the robot is debugged for dynamic grasping.

[0042] Furthermore, a supporting layer plate 11 is provided in the middle layer of the debugging table frame 1, and a height and angle debugging structure 4 is installed on the supporting layer plate 11. The height and angle debugging structure 4 includes an adjustment table, a sliding block, and a rotating rod 404.

[0043] A partition is formed between the desktop of the debugging table frame 1 and the supporting layer plate 11 , and a vertical supporting plate 111 vertically located in the partition is provided between the desktop of the debugging table frame 1 and the supporting layer plate 11 .

[0044] A through vertical slide groove is provided on the vertical support plate 111 , and the sliding block slides up and down in the vertical slide groove of the vertical support plate 111 . A rotating rod 404 is connected to the sliding block for horizontal rotation.

[0045] The adjustment platform includes a fixed plate 409, an adjustment column 410, and a second grabbing block 411, wherein the fixed plate 409 is fixedly mounted on the rotating rod 404 and rotates with the rotating rod; the fixed plate 409 is fixedly connected to the adjustment column 410, the top of the adjustment column 410 is a cylinder, and the cylinder at the top of the adjustment column 410 is provided with three directional sections, and the second grabbing block 411 is fixedly provided on each section.

[0046] When the device is not working, the adjustment column 410 is in the initial position. At this time, the sections of the adjustment column 410 in three directions are the horizontal section of the top of the adjustment column 410 and the vertical sections of the front and rear ends of the adjustment column 410.

[0047] When performing angle grasping and debugging, the displacement structure 2 drives the robot to move above the height and angle debugging structure 4 to grasp the adjustment column 410. When the sliding block slides along the vertical slide groove of the vertical support plate 111, it will drive the height of the fixed plate 409 to increase or decrease. When the rotating rod 404 rotates on the sliding block, it will drive the section angle on the adjustment column 410 to change.

[0048] By adjusting the height of the column 410, the robot is tested for its success rate in grasping the adjustment column 410 on the horizontal section of the top of the adjustment column 410 when it contacts the top of the adjustment column 410 at different heights. By rotating the rotating rod 404 to drive the change in the angle of the adjustment column 410, the robot is tested for its success rate in grasping the second grasping block 411 on the horizontal section of the top of the adjustment column 410 and the vertical sections at the front and back when it contacts the three sections of the adjustment column 410 at different angles.

[0049] The success rate of the robot's grasping of the second grasping block 411 with height and angle changes is used to determine whether the robot's height and angle grasping meet the work requirements. If the grasping success rate does not meet the work requirements, the robot is debugged for angle and height grasping.

[0050] In some embodiments, the displacement structure 2 includes a first motor 201 , a first screw rod 202 , a support block 203 , a slide rail 204 , a first slider 205 , and a placement plate 206 .

[0051] Furthermore, a first motor 201 is fixedly installed on one side of the desktop of the debugging table frame 1, and a driving shaft of the first motor 201 is fixedly connected to one end of the shaft of the first screw 202, driving the first screw 202 to rotate, and the two are coaxial, and both ends of the shaft of the first screw 202 are respectively rotatably installed on the support block 203, and the support block 203 supports the first screw 202, and the support block 203 is fixedly installed on the desktop of the debugging table frame 1, and a slide rail 204 is fixedly installed on the desktop of the debugging table frame 1, and the length of the slide rail 204 exceeds the axial length of the first screw 202, and is axially parallel to the first screw 202, and the two are separated by a certain distance, and the first slider 205 is matched with the thread on the shaft of the first screw 202, and when the first screw 202 rotates, a placement plate 206 is fixedly installed on the first slider 205, and the slide rail 204 includes a track and a slider, and the placement plate 206 is fixedly connected to the slider in the slide rail 204, and the first slider 205 moves axially on the first screw 202.

[0052] When debugging the robot, the robot is placed and fixed on the placement plate 206, the first motor 201 is started, driving the first slider 205 to move on the axis of the first screw 202, and the placement plate 206 is horizontally displaced on the desktop of the debugging table frame 1. Different debugging is performed at different positions on the debugging table frame 1, and the slide rail 204 ensures that the placement plate 206 slides smoothly.

[0053] In some embodiments, the dynamic debugging structure 3 further includes a second motor 302 .

[0054] Furthermore, a round hole is provided on the left side of the desktop of the debugging table frame 1, and the rotating disk 301 is rotatably installed inside the round hole of the debugging table frame 1. A second motor 302 is fixedly installed at the corresponding position of the round hole at the bottom of the desktop of the debugging table frame 1. The driving shaft of the second motor 302 is fixedly connected to the bottom of the rotating disk 301. When dynamic grasping and debugging are performed, the second motor 302 is started to drive the rotating disk 301 to rotate continuously.

[0055] In some embodiments, the height and angle adjustment structure 4 includes a third motor 401 , a second screw 402 , a rotating rod 404 , and an auxiliary screw 405 .

[0056] Further, a third motor 401 is fixedly arranged on the left side of the bottom surface of the support layer plate 11, and the driving shaft of the third motor 401 is fixedly connected to one end of the shaft of the second screw 402. The second screw 402 is located in the interlayer between the debugging table frame 1 and the support layer plate 11. The second screw 402 is rotatably connected to the bottom of the desktop of the debugging table frame 1 and the top surface of the support layer plate 11, respectively. The second screw 402 is threadedly matched with a second slider 403. The rotation of the second screw 402 drives the second slider 403 to move axially along the second screw 402. The vertical support plate 111 is located between the interlayers, and two layers of vertical support plates 111 are arranged, which are respectively located on both sides of the middle part of the device. An adjustment platform is arranged between the two layers of vertical support plates 111, and a through vertical slide groove is arranged on the vertical support plate 111. A second slider 403 is slidably arranged in the vertical slide groove of each vertical support plate 111. The second slider is the above-mentioned sliding block.

[0057] The second screw rod 402 is located outside the left vertical support plate 111, and the auxiliary screw rod is located outside the right vertical support plate 111; the second screw rod 402 and the auxiliary screw rod are both threadedly connected with a second slider, and the two second sliders are connected by a rotating rod. The rotating rod enables the two second sliders to move synchronously. The two second sliders slide in the vertical slide grooves on the left vertical support plate and the right vertical support plate respectively.

[0058] When the second sliding block 403 on the right vertical support plate 111 slides, it drives the auxiliary screw 405 to rotate, and the auxiliary screw 405 performs auxiliary support and guidance on one side of the dynamic debugging structure 3.

[0059] The rotating rod 404 is located between the two vertical support plates 111, and an adjustment platform is provided on the rotating rod 404. When the third motor 401 is started, the second screw rod 402 rotates to drive the second slider 403 to slide vertically on the vertical support plate 111, and the rotating rod 404 between the two second sliders 403 changes the height position of the adjustment platform.

[0060] In some embodiments, the height and angle adjustment structure 4 also includes a fourth motor 406 , a first gear 407 , and a second gear 408 .

[0061] Furthermore, the fourth motor 406 is fixedly mounted on the bottom surface of the second slider 403 on the left vertical support plate 111, and the driving shaft of the fourth motor 406 is fixedly connected to the first gear 407, the first gear 407 is meshingly connected to the second gear 408, and the second gear 408 is fixedly mounted on one end of the axis of the rotating rod 404, and the rotating rod 404 is provided with an adjustment platform; when the angle of the adjustment platform is changed, the fourth motor 406 is started, the first gear 407 is meshingly rotated with the second gear 408, driving the rotating rod 404 to rotate, thereby changing the angular position of the adjustment platform on the rotating rod 404.

[0062] In some embodiments, a manual debugging station 13 is provided on the right side of the desktop of the debugging table frame 1, and the manual debugging station 13 is a working position for the staff to perform manual debugging.

[0063] In some embodiments, the trajectory detection structure 5 includes a protective grid 501 , a protective door 502 , a first camera module 503 , a second camera module 504 , and an industrial computer 505 .

[0064] Furthermore, a protective grid 501 is fixedly installed on the desktop of the debugging table frame 1. The protective grid 501 prevents the robot from malfunctioning during debugging and posing a safety hazard to personnel outside the device. The protective grid 501 includes a left-side shielding component and a right-side shielding component, which respectively protect and shield the dynamic debugging structure 3 and the displacement structure 2.

[0065] Furthermore, a protective door 502 is provided on the side of the right shielding component of the protective grid 501 close to the manual debugging station 13, and the protective door 502 protects and shields the working window of the manual debugging station 13. When manually debugging the robot's rotating arm, the displacement structure 2 moves the robot to a position close to the manual debugging station 13, opens the protective door 502, and personnel debug the robot's rotating arm.

[0066] Furthermore, a first camera module 503 is fixedly installed on the inner wall of the left shielding part of the protective frame 501, and the first camera module 503 takes pictures when the robot is performing dynamic debugging of structure 3. A second camera module 504 is fixedly installed on the inner wall of the right shielding part of the protective frame 501, and the second camera module 504 takes pictures when the robot is performing height and angle debugging of structure 4. The first camera module 503 and the second camera module 504 include industrial cameras and movable sheet metals. The height of the camera can be adjusted by the movable sheet metal, so as to facilitate taking pictures at different clamping positions of the robot.

[0067] An industrial computer 505 is arranged outside the right shielding part of the protective grid 501. The industrial computer 505 is placed on the desktop of the debugging table frame 1. The signal transmission line of the industrial computer 505 is connected to the first camera module 503 and the second camera module 504. Several images taken by the first camera module 503 and the second camera module 504 are transmitted to the industrial computer 505. The industrial computer 505 is installed with corresponding industrial camera software to process the input image data and generate a motion trajectory diagram when the robot grasps.

[0068] When the robot moves to the dynamic debugging structure 3 or the height and angle debugging structure 4 for debugging, the first camera module 503 and the second camera module 504 will record the complete grasping process of the robot through a number of images, and transmit them to the industrial camera software in the industrial computer 505 to generate the motion trajectory of the robot. The industrial computer 505 stores a robot grasping motion state trajectory diagram in normal working state. By comparing the detection diagram, it is detected whether the motion trajectory of the robot during grasping meets the work requirements, so as to avoid the motion trajectory being inconsistent with the normal working state and causing safety accidents.

[0069] For robots that do not meet the working requirements, manual debugging or robot program programming debugging can be used to restore the robots to normal working status.

[0070] So far, various embodiments of the present invention have been described in detail. In order to avoid obscuring the concept of the present invention, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution of the present invention, and the scope of the present invention is defined by the attached claims.

Claims

1. A robot debugging platform, characterized in that: It comprises a debugging table frame (1), a displacement structure (2), a dynamic debugging structure (3), a height and angle debugging structure (4), a supporting layer plate (11), and a vertical supporting plate (111); The displacement structure (2) is arranged on one side of the desktop of the debugging table frame (1); the displacement structure (2) includes a placement plate (206); the robot is fixedly mounted on the placement plate (206); the displacement structure (2) drives the robot on the placement plate (206) to perform horizontal displacement on the desktop of the debugging table frame (1) by moving the placement plate (206); A dynamic debugging structure (3) is arranged on the left side of the desktop of the debugging table frame (1), wherein the dynamic debugging structure (3) includes a rotating disk (301), and a first grabbing block (303) is fixedly mounted on the top of the rotating disk (301); when dynamic grabbing debugging is performed, the displacement structure (2) drives the robot to move to the top of the dynamic debugging structure (3), the rotating disk (301) rotates, and the robot grabs the first grabbing block (303) that rotates following the rotating disk (301); The middle layer of the debugging table frame (1) is provided with a supporting layer plate (11), and the supporting layer plate (11) is provided with a height and angle debugging structure (4), and the height and angle debugging structure (4) includes an adjustment table, a sliding block, and a rotating rod (404); a vertical supporting plate (111) is vertically fixedly connected between the debugging table frame (1) and the partition of the supporting layer plate (11). The vertical support plate (111) is provided with a through vertical slide groove, and the sliding block slides up and down in the vertical slide groove of the vertical support plate (111), and the sliding block is rotatably connected to a rotating rod (404); The adjustment platform includes a fixed plate (409), an adjustment column (410), and a second grabbing block (411); the fixed plate (409) is fixedly installed on the axis of the rotating rod (404), the fixed plate (409) is fixedly connected to the adjustment column (410), the top of the adjustment column (410) is a cylinder, and the cylinder at the top of the adjustment column (410) is provided with cross sections in three directions, and the second grabbing block (411) is fixedly provided on each cross section.

2. A robot debugging platform according to claim 1, characterized in that: The displacement structure (2) comprises a first motor (201), the first motor (201) is fixedly mounted on one side of the desktop of the debugging table frame (1), the driving shaft of the first motor (201) is fixedly connected to one end of the shaft of the first screw rod (202), and the two are coaxial, a slide rail (204) is fixedly mounted on the desktop of the debugging table frame (1), and is axially parallel to the first screw rod (202), and the two are separated by a certain distance, a first slider (205) is threadedly matched on the shaft of the first screw rod (202), a placement plate (206) is fixedly mounted on the first slider (205), the slide rail (204) comprises a track and a slider, the placement plate (206) is fixedly connected to the slider in the slide rail (204), and when the first screw rod (202) rotates, the first slider (205) moves axially along the first screw rod (202).

3. According to the robot debugging platform described in claim 1, it is characterized in that: The dynamic debugging structure (3) comprises a rotating disk (301), a circular hole is arranged on the left side of the desktop of the debugging table frame (1), the rotating disk (301) is rotatably mounted inside the circular hole of the debugging table frame (1), a second motor (302) is fixedly mounted on the circular hole of the debugging table frame (1) at a corresponding position at the bottom of the desktop of the debugging table frame (1), and a driving shaft of the second motor (302) is fixedly connected to the bottom of the rotating disk (301).

4. A robot debugging platform according to claim 1, characterized in that: The height and angle adjustment structure (4) includes a third motor (401), the third motor (401) is fixedly arranged on the left side of the bottom surface of the supporting layer plate (11), the driving shaft of the third motor (401) is fixedly connected to one end of the shaft of the second screw rod (402), the second screw rod (402) is located in the partition between the adjustment table frame (1) and the supporting layer plate (11), and the second screw rod (402) is rotatably connected to the bottom of the desktop of the adjustment table frame (1) and the top surface of the supporting layer plate (11) respectively; The vertical support plate (111) is located between the debugging table frame (1) and the partition of the supporting layer plate (11), and two layers of vertical support plates (111) are provided, and an adjustment platform is provided between the two layers of vertical support plates (111). A through vertical slide groove is provided on the vertical support plate (111), and a second slider (403) is slidably provided in the vertical slide groove of the vertical support plate (111). The second slider (403) matches the axial thread of the second screw rod (402). When the second screw rod (402) rotates, the second slider (403) moves axially along the second screw rod (402); the second slider (403) is the above-mentioned sliding block; A rotating rod (404) is rotatably connected between two second sliding blocks (403) sliding on the vertical sliding grooves of the two layers of vertical support plates (111); the rotating rod (404) is located between the two layers of vertical support plates (111); and an adjustment platform is arranged on the rotating rod (404).

5. A robot debugging platform according to claim 4, characterized in that: It also includes a rotatable auxiliary screw rod, which is parallel to the second screw rod. The auxiliary screw rod and the second screw rod are both threadedly connected to the second slider (403). The auxiliary screw rod (405) is located in the interlayer between the debugging table frame (1) and the supporting layer plate (11). The second slider is connected by a rotating rod to achieve synchronous movement.

6. A robot debugging platform according to claim 1, characterized in that: The height and angle adjustment structure (4) also includes a fourth motor (406), which is fixedly mounted on the bottom surface of the second slider (403) on the left vertical support plate (111), and a driving shaft of the fourth motor (406) is fixedly connected to a first gear (407), the first gear (407) is meshingly connected to a second gear (408), and the second gear (408) is fixedly mounted on one end of the shaft of a rotating rod (404), and an adjustment platform is provided on the rotating rod (404).

7. A robot debugging platform according to claim 1, characterized in that: A manual debugging station (13) is arranged on the right side of the desktop of the debugging table frame (1).

8. A robot debugging platform according to claim 1, characterized in that: It also comprises a track detection structure (5), wherein the track detection structure (5) comprises a protective grid frame (501), wherein the protective grid frame (501) is fixedly mounted on the desktop of the debugging table frame (1), and wherein the protective grid frame (501) comprises a left shielding component and a right shielding component; A protective door (502) is provided on the side of the right shielding component of the protective grid (501) close to the manual debugging station (13); the protective door (502) corresponds to the position of the manual debugging station (13); when the robot moves, the protective door (502) is closed; when manual debugging is performed, the protective door (502) is opened.

9. A robot debugging platform according to claim 8, characterized in that: The track detection structure (5) further comprises a first camera module (503), the first camera module (503) being fixedly mounted on the inner wall of the left shielding component of the protection grid (501), and a second camera module (504) being fixedly mounted on the inner wall of the right shielding component of the protection grid (501), the first camera module (503) and the second camera module (504) comprising an industrial camera and a movable sheet metal inside, and the height of the camera is adjusted by the movable sheet metal; An industrial computer (505) is arranged outside the right shielding component of the protection grid (501); the industrial computer (505) is placed on the desktop of the debugging desk frame (1); and a signal transmission line of the industrial computer (505) is connected to the first camera module (503) and the second camera module (504) to transmit the captured images.

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