Robot alignment debugging tool

Abstract

The utility model relates to the technical field of tool equipment, in particular to a robot alignment debugging tool, which comprises a bottom plate for preventing the device from randomly moving, a lifting structure for adjusting the height and a measuring column aligned with the axis of a clamping jaw of a robot, and the lifting structure is arranged in a sliding chute of the bottom plate in a sliding manner. The lifting structure comprises a driving assembly and a cross lifting assembly, the driving assembly drives the cross lifting assembly to vertically lift, the center position of the cross lifting assembly is not changed in the lifting process, and a top plate is fixedly mounted at the top of the cross lifting assembly; when the top plate vertically moves along with the cross lifting assembly, the plate face of the top plate is parallel to the bottom face of the bottom plate all the time. The axial direction of the measuring column is perpendicular to the plate face of the top plate, the measuring column changes the relative height with the top plate on the top plate, and the measuring column is aligned with the axis of a robot clamping jaw, and through the arrangement of the supporting structure and the adjusting structure, the technical problem that in the prior art, the height position and the parallel position of a tool are rapidly and accurately adjusted is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of tooling equipment, in particular to a robot alignment and debugging tooling. Background Art

[0002] The alignment and debugging tool is a device used to detect and adjust the alignment accuracy between mechanical parts. The purpose of the alignment test tool is to ensure that mechanical parts (such as shafts, holes, gears, etc.) have good alignment accuracy during the assembly process, thereby improving the performance and reliability of the entire mechanical system. Nowadays, in the process of product delivery involving robots, due to the complexity of robot programming and debugging, adjusting the robot's grasping position is not as good as directly adjusting the product tooling to save labor costs.

[0003] The Chinese utility model patent with the name of "An alignment tool for electrode rod splicing" and the publication number CN209698885U that has been published includes the following components: a bearing frame, a sliding frame, a fixed frame, a support tube, a fixed support and a clamp. The inner wall of the bearing frame is provided with strip grooves on both sides, and the two sliding frames are slidably connected to the bearing frame through the strip grooves. The interior of the sliding frame is fixedly connected to the fixed frame. The right side of the fixed frame is fixedly connected to the support tube. The interior of the support tube is provided with a threaded through hole, which is connected to the fixed support through a threaded rod. The strip through hole of the fixed support is slidably connected to the clamp. This structure allows the electrode rods to be spliced ​​in the bearing frame, and the design of the sliding frame allows the device for fixing the electrode rods to be stably connected, which is convenient for adjusting the position according to actual needs. However, the design of the cylinder does not allow for high precision in position adjustment of the device. Alignment is achieved by setting pneumatic or electric drive components (such as cylinders, motors, etc.) for displacement, which not only increases the production cost of the test tooling, but also requires adjusting the internal parameters of the pneumatic or electric drive components when performing alignment tests at different positions in order to achieve alignment and debugging of various types of equipment, and adjustment in multiple directions is not possible. Utility Model Content

[0004] The purpose of the present application is to provide a robot alignment and debugging tool, which solves the technical problem of quickly and accurately adjusting the height position and parallel position of the tool for alignment and 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 alignment and debugging tool, comprising a bottom plate for preventing a device from moving randomly, a lifting structure for adjusting the height, a measuring column aligned with the axis of the robot gripper, and a lifting structure slidably arranged in a slide groove of the bottom plate.

[0007] Preferably, the lifting structure includes a driving assembly and a cross-lifting assembly. The driving assembly drives the cross-lifting assembly to perform vertical lifting. During the lifting process, the center position of the cross-lifting assembly remains unchanged, and a top plate is fixedly installed on the top of the cross-lifting assembly. During the vertical movement of the top plate following the cross-lifting assembly, the surface of the top plate is always parallel to the bottom surface of the bottom plate. The axial direction of the measuring column is perpendicular to the surface of the top plate, and the measuring column changes its relative height with the top plate on the top plate to be aligned with the axis of the robot gripper.

[0008] Preferably, the driving assembly includes a first slide rail, and a first slide rail is correspondingly arranged on both sides along the linear direction of movement of the driving assembly. The connecting plate fixes and connects the first slide rail sliders on both sides together for synchronous movement. A threaded slider is fixed to the center of the plate surface of the connecting plate. The threaded screw fixed on the adjusting base plate drives the threaded slider that can slide through the first slide rail to move through the threaded rotation. The threaded slider performs a linear motion along the axial direction of the threaded screw, driving the cross lifting assembly to rise and fall in the vertical direction.

[0009] Preferably, the cross lifting assembly includes a first cross plate, the lower right end of the first cross plate rotates on the fourth support block, the center of the first cross plate is hinged to the center of the second cross plate, the lower left end of the second cross plate is connected to the driving assembly, the upper right end of the second cross plate is rotatable on the fifth support block, and the second slide rail has the same structure as the first slide rail of the driving assembly; when the cross lifting assembly is lifted, the lower left end of the second cross plate is driven to move laterally by the driving assembly, the angle between the first cross plate and the second cross plate changes to offset the lateral thrust applied by the second cross plate, and the upper left end of the first cross plate moves laterally to eliminate the lateral displacement caused by the swinging of the first cross plate and the second cross plate, and the cross lifting assembly only moves in the vertical direction without tilting.

[0010] Preferably, the top surface of the top plate has a positioning groove surface, and the material tray is installed in the groove surface of the top plate for quick disconnection and disassembly, and the material to be grabbed is placed on the material tray; when the device performs an alignment test, the material tray is quickly removed and the measuring column is installed on the top plate; when the device test is completed, the measuring column is rotated to remove the material tray, and the material tray is quickly inserted into the groove surface of the top plate, and the robot starts working.

[0011] Preferably, an adjustment structure is also included, which includes a fixed plate, which is coaxially threaded with the threaded shaft, the axial direction of the threaded shaft is consistent with the linear motion direction of the driving assembly, the clamping block is located in the through groove of the adjusting base plate, the clamping block is clamped in the groove, and the threaded shaft is connected to the clamping block through the side opening of the groove; when lateral displacement adjustment is performed, the threaded shaft rotates and moves in the threaded hole of the fixed plate, and the clamping block applies pressure to the inner wall of the groove, driving the adjusting base plate to slide laterally in the sliding groove at the top of the base plate, thereby adjusting the lateral position of the measuring column at the top of the device.

[0012] The technical solution of the present application has at least the following advantages and beneficial effects:

[0013] During alignment and debugging, the lifting structure quickly lifts vertically to bring the measuring column close to the robot, and then rotates the measuring column so that it fits the axis of the robot's gripper to detect whether they are aligned; the lifting structure uses manual height adjustment, which not only saves costs, but also allows robots of different heights to quickly approach and align. The handle on the side of the device is easy to rotate, and the height of the cross-lifting assembly can be adjusted more effortlessly through the transmission of the threaded screw; the adjustment structure accurately adjusts the lateral position of the measuring column through the thread to align it, remove the measuring column, install the material tray and start working; the material tray and the measuring column can be quickly disassembled and assembled, making it convenient for the tooling to quickly complete debugging and carry out work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the cross-sectional structure of the height adjustment structure.

[0016] Figure 3 A schematic diagram of the structure showing a height adjustment structure at one angle.

[0017] Figure 4 This is a structural schematic diagram of the height adjustment structure from another angle.

[0018] Figure 5 It is a structural schematic diagram of the parallel adjustment structure.

[0019] Figure 6 It is a schematic diagram of the structure after the debugging of the utility model is completed.

[0020] In the figure: 1-bottom plate; 2-handle; 3-material tray; 4-measuring column; 5-lifting structure; 6-adjusting structure; 501-adjusting bottom plate; 502-first slide rail; 503-connecting plate; 504-first support block; 505-threaded slider; 506-threaded screw; 507-second support block; 508-third support block; 509-handle; 510-fourth support block; 511-first connecting shaft; 512-first cross plate; 513-second cross plate; 514-second connecting shaft; 515-third connecting shaft; 516-fifth support block; 517-fourth connecting shaft; 518-sixth support block; 519-second slide rail; 520-top plate; 601-fixed plate; 602-threaded shaft; 603-handle; 604-block. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] Example

[0024] Please refer to Figure 1-Figure 4 The utility model provides a robot alignment and debugging tool, which includes a base plate 1, a handle 2, a measuring column 4, and a lifting structure 5.

[0025] Furthermore, the bottom surface of the bottom plate 1 contacts the ground or the material platform, the top surface of the bottom plate 1 has a slide groove, the bottom of the lifting structure 5 slides in the slide groove of the bottom plate 1, and at least two handles 2 are fixedly arranged and installed on the convex surface outside the slide groove of the bottom plate 1, and at least one handle 2 is distributed on each of the convex surfaces on both sides of the slide groove. When performing the alignment test, the handle 2 is manually pulled to move the device from the ground at the storage position to the material platform directly below the material robot. The bottom plate 1 is placed flat on the platform. The weight of the bottom plate 1 itself is heavy to prevent external personnel from touching the device after the personnel move it to the material platform, causing the device to deviate from the initial position of the transportation, affecting the accuracy of the alignment and debugging that is already in progress.

[0026] Furthermore, the lifting structure 5 includes an adjusting base plate 501, a driving assembly, a cross lifting assembly, and a top plate 520.

[0027] A top plate 520 is fixedly installed on the top of the cross-lifting assembly, and a measuring column 4 is installed on the central thread of the top plate 520, so that the top plate 520 is threadedly connected with the measuring column 4. When the driving assembly drives the cross-lifting group to rise and fall, the height of the top plate 520 will change, and the axial direction of the measuring column 4 is perpendicular to the plate surface of the top plate 520.

[0028] When the top plate 520 is raised by the cross-lifting assembly, the measuring column 4 is temporarily close to the robot, and then the measuring column 4 is rotated and the vertical height of the measuring column 4 is adjusted so that the top end of the measuring column 4 slowly approaches the axial position inside the robot's gripper, making it easier to observe whether it is aligned.

[0029] The slide groove at the top of the base plate 1 is slidably connected to the adjustment base plate 501, and a driving assembly is fixedly installed on the adjustment base plate 501. The driving assembly drives the left side of the bottom of the cross-lifting assembly to move linearly along the direction of the spiral linear motion of the driving assembly through spiral transmission inside the driving assembly. The right side of the bottom of the cross-lifting assembly is fixed on the adjustment base plate 501, so that the cross angle of the cross-lifting assembly changes, and the overall height of the cross-lifting assembly is changed. The left side of the top of the cross-lifting assembly can also move linearly along the movement direction of the driving assembly. The right side of the top of the cross-lifting assembly is also fixed, so the left side of the top of the transversely moving lifting assembly will move to offset the transverse movement change caused by the assembly, so that the lifting assembly only performs vertical displacement, and will not change the parallel angle between the first slide rail 502 board surface and the ground of the base plate 1.

[0030] Furthermore, the driving assembly in the lifting structure 5 also includes a first slide rail 502 , a connecting plate 503 , a first support block 504 , a threaded slider 505 , a threaded screw 506 , a second support block 507 , a third support block 508 , and a handle 509 .

[0031] A notch is provided on the top surface of the adjusting base plate 501, and the first slide rail 502 is fixed in the notch of the adjusting base plate 501. A first slide rail 502 is provided on each side of the linear direction of movement of the driving component. The first slide rail 502 is composed of a linear track and a slider. The slider can slide freely on the linear track. The connecting plate 503 connects the sliders of the first slide rail 502 at both ends together for synchronous movement. A threaded slider 505 is fixedly installed on the center of the plate surface of the connecting plate 503. A threaded hole is passed through the middle of the threaded slider 505 along the linear direction of movement of the driving component. The threaded hole of the threaded slider 505 is coaxial with the axis of the threaded screw 506. There are extended cylinders at both ends, and the cylinders are fixedly installed in the first support block 504. The first support blocks 504 are set at both ends of the threaded slider 505. The first support block 504 is connected to the threaded slider 505 on the inside to support it. The first support block 504 is connected to the left side of the bottom end of the cross lifting assembly on the outside. The threaded screw 506 and the threaded slider 505 are coaxially matched through threads. The two ends of the axis of the threaded screw 506 are rotatably connected to the second support block 507 and the third support block 508 respectively. The second support block 507 and the third support block 508 are fixedly installed on the top surface of the adjusting base plate 501, and the shaft end where the threaded screw 506 and the third support block 508 are connected is fixed with a handle 509.

[0032] When the driving assembly is working, the handle 509 is manually turned to drive the threaded screw 506 to rotate. The threaded screw 506 in a fixed position drives the slidable threaded slider 505 to move through the rotation of the thread. The threaded slider 505 moves linearly along the axial direction of the threaded screw 506. The first support block 504 moves with the threaded slider 505, driving the bottom left part of the cross lifting assembly to move horizontally.

[0033] Furthermore, the cross lifting assembly in the lifting structure 5 also includes a fourth support block 510, a first connecting shaft 511, a first cross plate 512, a second cross plate 513, a second connecting shaft 514, a third connecting shaft 515, a fifth support block 516, a fourth connecting shaft 517, a sixth support block 518, and a second slide rail 519.

[0034] The fourth support block 510 is fixedly mounted on the top surface of the adjusting base plate 501 away from the driving assembly. The fourth support block 510 is rotationally connected via the first connecting shaft 511, so that the lower right end of the first cross plate 512 can rotate on the fourth support block 510. The center of the first cross plate 512 is hinged to the center of the second cross plate 513 via the second connecting shaft 514. The lower left end of the second cross plate 513 is rotationally connected to the first support block 504 of the driving assembly, so that the lower left end of the second cross plate 513 moves laterally. The upper right end of the second cross plate 513 can rotate on the fifth support block 516 via the third connecting shaft 515. The fifth support block 516 is fixedly mounted on the bottom surface of the top plate 520, and its position is opposite to the position of the fourth support block 510 directly below it. The upper left end of the first cross plate 512 is rotatable on the sixth support block 518 through the fourth connecting shaft 517, and the sixth support block 518 is fixed on the slider of the second slide rail 519. The second slide rail 519 has the same structure as the first slide rail 502 of the driving assembly. The second slide rail 519 is fixed in the bottom groove of the top plate 520, and its position corresponds to the position of the first slide rail 502 directly below it; the left side of the bottom of the cross lifting assembly moves linearly along the linear motion direction of the driving assembly through the first slide rail 502, and the right side of the bottom of the cross lifting assembly is fixed on the fourth support block 510; the left side of the top of the cross lifting assembly moves linearly along the motion direction of the driving assembly through the second slide rail 519, and the right side of the top of the cross lifting assembly is fixed on the fifth support block 516.

[0035] There are two of each of the fourth support block 510, the first cross plate 512, the second cross plate 513, the fifth support block 516, the sixth support block 518, and the second slide rail 519 in the cross lifting assembly, and they are symmetrically distributed on both sides along the linear motion direction of the driving assembly. The remaining parts of the assembly, the first connecting shaft 511, the second connecting shaft 514, the third connecting shaft 515, and the fourth connecting shaft 517, are one in number and are used to connect the parts symmetrically distributed at both ends.

[0036] When the cross lifting assembly is lifted or lowered, the driving assembly drives the lower left end of the second cross plate 513 to move laterally. Since one end of the first cross plate 512 and the second cross plate 513 are fixed, the first cross plate 512 and the second cross plate 513 will offset the lateral thrust applied by the second cross plate 513 by changing the angle between the first cross plate 512 and the second cross plate 513. The upper left end of the first cross plate 512 is configured to be movable. By sliding the other ends of the first cross plate 512 and the second cross plate 513, the lateral displacement caused by the swinging of the first cross plate 512 and the second cross plate 513 is eliminated, so that the cross lifting assembly only moves in the vertical direction, driving the top plate 520 to move up and close to the robot.

[0037] Please refer to Figure 5-Figure 6In some embodiments, a robot alignment and debugging tool also includes a material tray 3.

[0038] The top surface of the top plate 520 has a positioning groove surface, and the material tray 3 can slide into the groove surface of the top plate 520 for quick disconnection. The material tray 3 is used to place the material to be grabbed. When the device progress robot alignment test is performed, the material tray 3 is manually quickly disassembled, and the measuring column 4 is installed on the top plate 520 to perform the alignment test; when the device test is completed, the measuring column 4 is manually rotated to remove the measuring column 4, and the material tray 3 is quickly inserted into the groove surface of the top plate 520 to perform the robot's material grabbing work.

[0039] In some embodiments, a robot alignment and debugging tool further includes an adjustment structure 6 for performing lateral displacement adjustment.

[0040] Furthermore, the adjustment structure 6 includes a fixing plate 601 , a threaded shaft 602 , a handle 603 , and a clamping block 604 .

[0041] The fixing plate 601 is L-shaped, one end of the L-shaped fixing plate 601 is fixed to a side of the bottom plate 1 away from the driving assembly, and a threaded hole is penetrated through the other end surface of the fixing plate 601, and the threaded hole is coaxially threaded with the threaded shaft 602, and the axial direction of the threaded shaft 602 is consistent with the linear motion direction of the driving assembly. A handle 603 is fixed to an axial end of the threaded shaft 602 away from the device, and a clamping block 604 is fixed to an axial end of the threaded shaft 602 close to the device. The clamping block 604 is cylindrical and is located in a T-shaped through-slot on the side of the adjusting bottom plate 501 away from the driving assembly. The clamping block 604 is clamped in the T-shaped slot, and the threaded shaft 602 is connected to the clamping block 604 through the side opening of the T-shaped slot. .

[0042] When the device is manually placed on the material platform for alignment test, the installed measuring column 4 is first lifted by the lifting structure 5 so that the top of the measuring column 4 is close to the robot's clamping jaws, and then the measuring column 4 is rotated and lifted between the clamping jaws. At this time, the axis of the measuring column 4 is not coaxial with the axis of the robot's clamping jaws. The handle 603 is manually turned, and the threaded shaft 602 rotates in the threaded hole of the fixed plate 601. The adjusting base plate 501 is driven to slide horizontally in the top slide groove of the base plate 1 through the clamping block 604, and the transverse position of the measuring column 4 on the top of the device is adjusted so that the axis of the measuring column 4 is coaxial with the axis of the robot's clamping jaws for alignment.

[0043] So far, various embodiments of the utility model have been described in detail. In order to avoid obscuring the concept of the utility model, 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 utility model here, and the scope of the utility model is defined by the attached claims.

Claims

1. A robot alignment and debugging tool, characterized in that: It comprises a base plate (1) for preventing the device from moving randomly, a lifting structure (5) for adjusting the height, and a measuring column (4) aligned with the axis of the robot gripper. The lifting structure (5) is slidably arranged in a slide groove of the base plate (1); The lifting structure (5) comprises a driving component and a cross lifting component. The driving component drives the cross lifting component to perform vertical lifting. A top plate (520) is fixedly installed on the top of the cross lifting component. When the top plate (520) follows the vertical movement of the cross lifting component, the surface of the top plate (520) is always parallel to the bottom surface of the bottom plate (1). The measuring column (4) is height-adjustably arranged on the top plate. The axial direction of the measuring column (4) is perpendicular to the surface of the top plate (520). The measuring column (4) changes its relative height with the top plate (520) on the top plate (520) to align with the axis of the robot gripper.

2. A robot alignment and debugging tool according to claim 1, characterized in that: The driving assembly includes a first slide rail (502), and a first slide rail (502) is correspondingly arranged on both sides along the linear direction of movement of the driving assembly. The connecting plate (503) fixes and connects the sliders of the first slide rails (502) on both sides together for synchronous movement. A threaded slider (505) is fixed at the center of the plate surface of the connecting plate (503). The threaded screw (506) is threadedly matched with the threaded slider (505). The threaded screw (506) rotates to drive the threaded slider (505) to move on the first slide rail (502). The threaded slider (505) moves linearly along the axial direction of the threaded screw (506), driving the cross lifting assembly to rise and fall in the vertical direction.

3. The robot alignment and debugging tool according to claim 1, characterized in that: The cross lifting assembly includes a first cross plate (512), the lower right end of the first cross plate (512) rotates on the fourth support block (510), the center of the first cross plate (512) is hinged to the center of the second cross plate (513), the lower left end of the second cross plate (513) is connected to the driving assembly, the upper right end of the second cross plate (513) is rotatable on the fifth support block (516), and the second slide rail (519) has the same structure as the first slide rail (502) of the driving assembly; when the cross lifting assembly is lifted, the lower left end of the second cross plate (513) is driven by the driving assembly to move laterally, the angle between the first cross plate (512) and the second cross plate (513) changes to offset the lateral thrust applied by the second cross plate (513), the upper left end of the first cross plate (512) moves laterally, eliminating the lateral displacement caused by the swing of the first cross plate (512) and the second cross plate (513), and the cross lifting assembly only moves in the vertical direction without tilting.

4. The robot alignment and debugging tool according to claim 1, characterized in that: The top surface of the top plate (520) is provided with a positioning groove surface, and the material tray (3) is installed in the groove surface of the top plate (520) for quick disconnection and disconnection, and the material to be grasped is placed on the material tray (3); when the device performs an alignment test, the material tray (3) is quickly removed and the measuring column (4) is installed on the top plate (520); when the device test is completed, the measuring column (4) is rotated to remove the measuring column (4), and the material tray (3) is quickly inserted into the groove surface of the top plate (520), and the robot starts working.

5. The robot alignment and debugging tool according to claim 1, characterized in that: The device also includes an adjustment structure (6), wherein the adjustment structure (6) includes a fixed plate (601), the fixed plate (601) and the threaded shaft (602) are coaxially threadedly matched, the axial direction of the threaded shaft (602) is consistent with the linear motion direction of the drive assembly, the clamping block (604) is located in the through groove of the adjustment base plate (501), the clamping block (604) is clamped in the groove, and the threaded shaft (602) is connected to the clamping block (604) through the side opening of the groove; when performing lateral displacement adjustment, the threaded shaft (602) rotates and moves in the threaded hole of the fixed plate (601), the clamping block (604) applies pressure to the inner wall of the groove surface, and drives the adjustment base plate (501) to slide transversely in the top sliding groove of the base plate (1), and the lateral displacement position of the measuring column (4) at the top of the device is adjusted.

6. The robot alignment and debugging tool according to claim 1, characterized in that: The top plate (520) is threadedly connected to the measuring column (4).

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