Simulation device for robot debugging

Abstract

The utility model provides a simulation device for robot debugging, and relates to the technical field of robot debugging, and the simulation device comprises a substrate, a simulation assembly and a connecting piece. The base plate is used for being placed on a carrying structure of the robot and used for placing a counter weight. The simulation assembly comprises a mounting plate, a control unit, a plurality of driving parts and a plurality of simulation plates, the control unit is arranged on the mounting plate, the plurality of simulation plates are uniformly arranged at intervals in the circumferential direction of the substrate, the control unit is electrically connected with the plurality of driving parts, and the plurality of driving parts are connected with the plurality of simulation plates in a one-to-one correspondence manner; the driving devices are used for driving the corresponding simulation plates to get close to or away from the mounting plate in the horizontal direction. The two ends of the connecting piece are connected with the base plate and the mounting plate correspondingly, so that a space used for containing the counter weight is formed between the base plate and the mounting plate. According to the invention, the space volume and weight of various materials can be simulated more conveniently, and the device is more suitable for actual materials, so that the debugging accuracy and rapidness can be ensured.

Description

Technical Field

[0001] The present application relates to the technical field of robot debugging, and in particular to a simulation device for robot debugging. Background Art

[0002] At present, with the development of relevant technologies of smart factories, more and more equipment processing manufacturers choose to use transport robots (for example, automatic guided vehicles, AGVs for short) to carry out on-site material transportation operations. The notable features of these robots are that they can be unmanned and controlled by communication. The transport robots are equipped with automatic guidance systems and can automatically travel along the routes set or predetermined by the system without manual navigation, so as to realize the rapid transfer of materials on-site.

[0003] During the process of equipment processing manufacturers building smart factories, it is necessary to carry out on-site transportation debugging of the transport robot to ensure that the transport robot can fully exert its transportation performance in the smart factory.

[0004] However, since the corresponding production line was not put into production at the beginning of the construction of the smart factory, it is not convenient to use the transport robot to debug the materials that need to be transported during normal transportation, and the accuracy and speed of the debugging cannot be guaranteed. Utility Model Content

[0005] In order to solve the technical problems in the related art, the present application provides a simulation device for robot debugging. Through the simulation device for robot debugging of the present application, it is possible to quickly and conveniently simulate the materials that the robot needs to carry during normal transportation, and can effectively ensure the accuracy and speed of debugging.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted in this application is: a simulation device for robot debugging, comprising:

[0007] A base plate, used to be placed on the carrying structure of the robot and used to place a counterweight;

[0008] A simulation component, comprising a mounting plate, a control unit, a plurality of driving members and a plurality of simulation boards, wherein the control unit is arranged on the mounting plate, the plurality of simulation boards are evenly spaced along the circumference of the substrate, the control unit is electrically connected to the plurality of driving members, respectively, and the plurality of driving members are connected to the plurality of simulation boards one by one, respectively, for driving the corresponding simulation boards to approach or move away from the mounting plate in the horizontal direction;

[0009] A connecting piece, two ends of which are respectively connected to the base plate and the mounting plate, so that a space for accommodating a counterweight is formed between the base plate and the mounting plate.

[0010] Optionally, the base plate includes a plate body and a limit frame, wherein the limit frame is formed into a ring structure and is arranged on a side of the plate body close to the mounting plate.

[0011] Optionally, in the vertical direction, the projection of the mounting plate falls within the projection of the base plate.

[0012] Optionally, the bottommost positions of the multiple simulation boards are all on the same horizontal plane as the top surface of the substrate.

[0013] Optionally, the simulation board includes a first plate body and a second plate body arranged in sequence along the up and down directions, the first plate body is arranged above the second plate body, the first plate body is connected to the output end of the driving member, and the second plate body is rotatably connected to the first plate body.

[0014] Optionally, the simulation board further includes a buckle rope and a buckle block which match each other, the buckle rope is arranged at an end of the second plate body away from the first plate body, and the buckle block is arranged at an end of the first plate body away from the second plate body.

[0015] Optionally, the buckle rope includes a connecting section and a buckle section that are connected to each other, one end of the connecting section away from the buckle section is connected to the second plate body, and the buckle section is formed into a ring structure.

[0016] Optionally, the snap-in block is formed as an L-shaped structure, and the snap-in block includes a first section and a second section connected to each other, the first section extends in a horizontal direction, and an end of the first section away from the second section is connected to a side of the first plate body close to the driving member, and the second section extends in a vertical direction and is arranged below the first section.

[0017] Optionally, a length of the first plate body in the vertical direction is the same as a length of the second plate body in the vertical direction.

[0018] Optionally, the connecting member is configured as an electric telescopic rod, and the connecting member is electrically connected to the control unit.

[0019] Beneficial effects:

[0020] 1. Through the above technical solution, the base plate provided in the present application can be used to carry the counterweight, so that the weight of the simulation device for robot debugging in the present application and the counterweight together can be more closely matched to the weight of the actual transported material. At the same time, multiple simulation boards are provided to extend in different directions at different lengths to simulate the dimensions of the transported material in each direction, so that the robot can be debugged more accurately. In this way, the spatial volume and weight of various materials can be simulated more conveniently, so that the accuracy and speed of robot debugging can be effectively guaranteed.

[0021] 2. Other beneficial effects or advantages of the present application will be described in detail in conjunction with the specific structure in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor. In addition, it should be understood that the proportional relationship of the various components in the drawings of this specification does not represent the proportional relationship in the actual material selection and design, which is only a schematic diagram of the structure or position, where:

[0023] Figure 1 is a schematic diagram of a three-dimensional structure of a simulation device for robot debugging provided by an exemplary embodiment of the present application, wherein a robot is also shown;

[0024] Figure 2 is a schematic diagram of an assembly structure of a substrate, a connecting member, a mounting plate, a control unit, and a driving member provided by an exemplary embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a three-dimensional structure of a simulation board provided by an exemplary embodiment of the present application from one viewing angle;

[0026] Figure 4 yes Figure 3 A schematic diagram of the enlarged local structure at point A in the middle;

[0027] Figure 5 is a schematic diagram of a three-dimensional structure of a simulation board provided by an exemplary embodiment of the present application from another perspective;

[0028] Figure 6 yes Figure 5 A magnified schematic diagram of the local structure at point B in the middle.

[0029] Description of the reference numerals in the accompanying drawings:

[0030] 100-simulation device for robot debugging; 200-robot; 1-base plate; 11-board body; 12-limiting frame; 2-simulation component; 21-mounting plate; 22-control unit; 23-driving member; 24-simulation board; 241-first board body; 242-second board body; 243-fastening rope; 2431-connecting section; 2432-fastening section; 244-fastening block; 2441-first section; 2442-second section; 3-connecting member. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0033] In order to facilitate relevant technical personnel to have a clearer and more accurate understanding of the technical solution of the present application, the technical problems existing in the existing related technologies are first described in more detail below.

[0034] In the process of equipment processing manufacturers building smart factories, for example, in the process of vehicle manufacturing companies building automatic welding workshops, after the relevant infrastructure and equipment are installed in place, it is necessary to debug the transport robot.

[0035] In the normal production process of the automatic welding workshop, the transport robot may be involved in the need to carry materials of various sizes and shapes, such as roof parts, door parts, etc. One of the construction requirements of the automatic welding workshop is to maximize the use of the production site, so the relevant structures or equipment are generally set up more compactly. Therefore, during the commissioning of the transport robot, a very important commissioning aspect is to determine whether the transport robot will cause spatial interference with the relevant structures or equipment during the transportation of the material.

[0036] Since the automatic welding workshop has not been put into production and the corresponding materials have not been delivered, in the current debugging process, objects or structures with similar shapes and sizes are generally used to replace materials for robot transportation debugging. However, such objects and structures are not only difficult to find, but also cannot be guaranteed to be completely the same as the materials. This will make the debugging process inconvenient and the debugging effect less accurate.

[0037] In view of this, the present application provides a new solution, namely, a simulation device for robot debugging of the present application. Through this simulation device, the spatial volume and weight of various materials can be simulated more conveniently and more easily, which is more in line with the actual materials, thereby ensuring the accuracy and speed of debugging.

[0038] The technical solution of the present application is described in detail below with reference to the accompanying drawings.

[0039] Example 1

[0040] like Figures 1 to 6 As shown, this embodiment provides a simulation device for robot debugging, including a substrate, a simulation component and a connector. The substrate is used to be placed on the carrying structure of the robot and to place a counterweight. The simulation component includes a mounting plate, a control unit, a plurality of driving members and a plurality of simulation boards. The control unit is arranged on the mounting plate. The plurality of simulation boards are evenly spaced along the circumference of the substrate. The control unit is electrically connected to the plurality of driving members, respectively. The plurality of driving members are respectively connected to the plurality of simulation boards one by one, so as to respectively drive the corresponding simulation boards to approach or move away from the mounting plate in the horizontal direction. The two ends of the connector are respectively connected to the substrate and the mounting plate, so that a space for accommodating the counterweight is formed between the substrate and the mounting plate.

[0041] Through the above technical solution, the base plate provided in the present application can be used to carry the counterweight, so that the weight of the simulation device for robot debugging in the present application and the counterweight together can be more closely matched to the weight of the actual transported material. At the same time, the dimensions of the transported material in each direction can be simulated by extending different lengths of multiple simulation plates in different directions, so that the robot can be debugged more accurately. In this way, the spatial volume and weight of various materials can be simulated more conveniently, so that the accuracy and speed of robot debugging can be effectively guaranteed.

[0042] In this embodiment, it should be noted that

[0043] First, since materials (especially intermediate parts) have various shapes and weights, the number of simulation boards in the present application can be designed as needed. For example, for relatively regular materials such as car doors, the number of simulation boards can be set as follows: Figure 1As shown, four simulation boards are provided to simulate the spatial dimensions of a car door. For another example, for a material such as an anti-collision beam, which is relatively protruding in one direction but very small in other directions, the number of simulation boards can be set to two to simulate the spatial dimensions of the anti-collision beam. Therefore, this application does not specifically limit the number and position of the simulation boards.

[0044] Second, the driving component of the present application has a variety of specific implementation methods. For example, it can be selected as a hydraulic driving device, a pneumatic driving device, a linear motor or other devices capable of linear driving. As long as it can drive the corresponding simulation plate to move closer to or away from the mounting plate in the horizontal direction to simulate the approximate spatial volume of the material, the present application does not make specific limitations on this.

[0045] Third, the connector of the present application should have a certain height so that the space formed between the base plate and the mounting plate is sufficient to accommodate the counterweight. The actual height can be selected according to actual conditions, and the present application does not make any specific restrictions on this.

[0046] Fourth, the counterweights mentioned in this application can be selected according to the actual situation at the debugging site. For example, stones, steel, wood, etc. can be selected. As long as their weight plus the weight of the simulation device itself for robot debugging in this application can be close to the weight of the actual material, this application does not make specific limitations on this.

[0047] In one embodiment of the present application, Figure 2 As shown, the base plate of the present application may include a plate body and a limit frame, wherein the limit frame is formed into a ring structure and is arranged on one side of the plate body close to the mounting plate. In this way, the plate body can be used as a bearing structure for the counterweight, and the limit frame can be used as a limit structure for the counterweight, so that the counterweight can be stably and reliably placed on the base plate during the movement of the robot, so as to ensure that the debugging process is carried out efficiently and smoothly.

[0048] In one embodiment of the present application, in the vertical direction, the projection of the mounting plate can fall within the projection of the base plate. That is, the size of the mounting plate is smaller than the size of the base plate. For example, see Figure 2 .

[0049] In this way, the moving range of the simulation board can be expanded (i.e., the simulation board can be moved above the substrate to meet the simulation needs of materials with smaller sizes), so that the spatial dimensions of the materials simulated by multiple simulation boards can be larger and can be suitable for the simulation of various materials.

[0050] In one embodiment of the present application, the bottom of the plurality of simulation boards of the present application is at the same level as the top of the base plate, so that not only can the simulation board avoid spatial interference with the base plate during movement, but also the problem of weights being scattered can be prevented to a certain extent.

[0051] For example, when the material to be simulated is small (less than or equal to the spatial size of the substrate), the simulation plate can form a spatial limit for the counterweight placed between the substrate and the mounting plate, thereby preventing the counterweight from scattering to a certain extent.

[0052] In one embodiment of the present application, Figure 3 and Figure 5 As shown, the simulation board of the present application may include a first plate body and a second plate body arranged in sequence along the up-down direction, the first plate body is arranged above the second plate body, the first plate body is connected to the output end of the driving member, and the second plate body is rotatably connected to the first plate body. In this way, when it is necessary to place a counterweight, the second plate body can be rotated to a certain angle to facilitate the placement of the counterweight from the side, which is not only very convenient but also reduces the difficulty of placing the counterweight.

[0053] For example, when the simulation board is an integrated structure, the space between the base plate and the mounting plate is blocked to a certain extent by the simulation board, and the counterweight generally needs to be placed on the base plate from above the mounting plate, which is difficult and inconvenient to operate. By setting the simulation board as the structure of the first plate body and the second plate body in the above embodiment, the counterweight can be placed very conveniently from the side.

[0054] In one embodiment of the present application, Figures 3 to 6 As shown, the simulation board of the present application may also include mutually matching buckle ropes and buckle blocks, the buckle rope is arranged at one end of the second plate body away from the first plate body, and the buckle block is arranged at one end of the first plate body away from the second plate body.

[0055] In this way, when a counterweight needs to be placed, the second plate body can be rotated to a certain angle, and then the buckle rope is buckled on the buckle block to keep the second plate body in a rotating state, thereby making it easier to place the counterweight.

[0056] In one embodiment of the present application, Figure 4 As shown, the buckle rope of the present application includes a connecting section and a buckle section connected to each other, one end of the connecting section away from the buckle section is connected to the second plate body, and the buckle section forms a ring structure. In this way, through the buckle rope arranged in this way, it is very convenient and quick to make the buckle rope and the buckle block reach or release the buckle state.

[0057] In one embodiment of the present application, Figure 6As shown, the buckle block of the present application is formed into an L-shaped structure, and the buckle block includes a first section and a second section connected to each other, the first section extends in the horizontal direction, and one end of the first section away from the second section is connected to a side of the first plate body close to the driving member, and the second section extends in the vertical direction and is arranged below the first section. In this way, by means of the buckle block arranged in this way, the stability of the buckle rope when buckled on the buckle block can be effectively guaranteed, thereby effectively avoiding the problem of the buckle rope falling off from the buckle block.

[0058] In one embodiment of the present application, the length of the first plate body of the present application in the vertical direction is the same as the length of the second plate body in the vertical direction. In other words, the height dimension of the first plate body of the present application is the same as the height dimension of the second plate body, so that not only can the space available for placing the counterweight be large enough to facilitate the placement of the counterweight, but also the processing difficulty of the simulation board can be reduced (the first plate body and the second plate body can be plates of the same size, and the first plate body and the second plate body can be manufactured through a set of manufacturing equipment or production molds to reduce the processing difficulty).

[0059] In one embodiment of the present application, the connector of the present application can be set as an electric telescopic rod, and the connector is electrically connected to the control unit. In this way, the distance between the base plate and the mounting plate can be adjusted by adjusting the telescopic height of the connector, which can not only effectively adjust the placement space of the counterweight, but also adjust the position of the simulation board in the vertical direction, so that the simulation board can better simulate materials of different heights and sizes.

[0060] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A simulation device for robot debugging, characterized in that: include: A base plate (1) is used to be placed on a carrying structure of a robot (200) and to place a counterweight; A simulation component (2), comprising a mounting plate (21), a control unit (22), a plurality of driving members (23) and a plurality of simulation boards (24), wherein the control unit (22) is arranged on the mounting plate (21), the plurality of simulation boards (24) are evenly spaced along the circumference of the substrate (1), the control unit (22) is electrically connected to the plurality of driving members (23), and the plurality of driving members (23) are connected to the plurality of simulation boards (24) in a one-to-one correspondence, so as to drive the corresponding simulation boards (24) to move closer to or farther from the mounting plate (21) in a horizontal direction; A connecting member (3), wherein two ends of the connecting member (3) are respectively connected to the base plate (1) and the mounting plate (21), so that a space for accommodating a counterweight is formed between the base plate (1) and the mounting plate (21).

2. The simulation device for robot debugging according to claim 1, characterized in that: The base plate (1) comprises a plate body (11) and a limiting frame (12); the limiting frame (12) is formed into a ring structure and is arranged on one side of the plate body (11) close to the mounting plate (21).

3. The simulation device for robot debugging according to claim 1, characterized in that: In the vertical direction, the projection of the mounting plate (21) falls within the projection of the base plate (1).

4. The simulation device for robot debugging according to claim 1, characterized in that: The bottommost positions of the plurality of simulation plates (24) are all located at the same horizontal plane as the top surface of the substrate (1).

5. The simulation device for robot debugging according to claim 1, characterized in that: The simulation board (24) includes a first plate body (241) and a second plate body (242) which are arranged in sequence along the up and down directions, wherein the first plate body (241) is arranged above the second plate body (242), the first plate body (241) is connected to the output end of the driving member (23), and the second plate body (242) is rotatably connected to the first plate body (241).

6. The simulation device for robot debugging according to claim 5, characterized in that: The simulation board (24) further comprises a buckle rope (243) and a buckle block (244) which match each other, wherein the buckle rope (243) is arranged at one end of the second board body (242) away from the first board body (241), and the buckle block (244) is arranged at one end of the first board body (241) away from the second board body (242).

7. The simulation device for robot debugging according to claim 6, characterized in that: The buckle rope (243) comprises a connecting section (2431) and a buckle section (2432) which are connected to each other, and one end of the connecting section (2431) away from the buckle section (2432) is connected to the second plate body (242), and the buckle section (2432) is formed into a ring structure.

8. The simulation device for robot debugging according to claim 7, characterized in that: The snap-fit ​​block (244) is formed into an L-shaped structure, and the snap-fit ​​block (244) includes a first section (2441) and a second section (2442) connected to each other, the first section (2441) extends in a horizontal direction, and an end of the first section (2441) away from the second section (2442) is connected to a side of the first plate (241) close to the driving member (23), and the second section (2442) extends in a vertical direction and is arranged below the first section (2441).

9. The simulation device for robot debugging according to claim 5, characterized in that: The length of the first plate body (241) in the vertical direction is the same as the length of the second plate body (242) in the vertical direction.

10. The simulation device for robot debugging according to any one of claims 1 to 9, characterized in that: The connecting member (3) is configured as an electric telescopic rod, and the connecting member (3) is electrically connected to the control unit (22).

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