Robot testing tool

Abstract

The utility model relates to the technical field of industrial robots, in particular to a robot testing tool which comprises a tool bottom plate, a channel flat plate is fixedly arranged on the tool bottom plate, a sliding channel and an offset detection part are arranged in the channel flat plate, the offset detection part is located in the sliding channel, and the sliding channel is provided with a sliding groove. The grabbing end of the robot moves in the sliding channel of the channel flat plate, and the offset detection component detects the position offset of the grabbing end of the robot; a positioning plate is arranged outside the channel flat plate in a sliding mode, the positioning plate moves in the sliding direction of a sliding channel formed in the position of the channel flat plate through a driving assembly, and during robot testing, the grabbing end of a robot moves to the positioning plate along the sliding channel of the channel flat plate; according to the utility model, the technical problem that the robot rapidly performs displacement precision test and repeated precision test in different position states is solved.

Description

Technical Field

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

[0002] The robot test fixture is a tool and equipment used to test, evaluate and verify the performance and functions of the robot. The robot's grasping accuracy is tested by testing the robot's repeated positioning accuracy, and the machine's grasping trajectory accuracy is tested by analyzing the robot's motion trajectory. However, existing test devices require complex fixtures to achieve the detection purpose or can only detect a single accuracy and cannot achieve accuracy detection in multiple aspects.

[0003] The Chinese utility model patent with the patent name of "A kind of repeatability accuracy test tooling for industrial robots" and the authorization announcement number of CN218255261U has been published. The patent includes a support mechanism, which is used to fix and support the entire test tooling, a protective mechanism wrapped outside the support mechanism, and a test mechanism located inside the protective mechanism, including the following sub-components: The slide rail is used to guide the electric slider and the manipulator body to move in the vertical direction. The electric slider is driven by electricity to move up and down along the slide rail, driving the manipulator body to move up and down. The manipulator body is connected to the electric slider and moves up and down along the slide rail driven by the electric slider. A lifting block is installed at the front end of the manipulator body. A coupling is connected to the lower end of the lifting block. The test needle is installed at the front end of the lifting block and is used to insert into the pinhole in the test board. The device repeatedly inserts the test needle into the pinholes in the two test boards to observe whether the test needle can be accurately inserted into the pinholes in the test boards, thereby evaluating the repeatability accuracy of the manipulator body in the running state, but the device has a single detection method and cannot test the repeatability accuracy of multiple positions. Utility Model Content

[0004] The purpose of the present application is to provide a robot testing tool that solves the technical problem of quickly performing displacement accuracy testing and repeatability accuracy testing in different position states.

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

[0006] A robot testing tool comprises a tool base plate, a channel plate is fixedly arranged on the tool base plate, a sliding channel and an offset detection component are arranged in the channel plate, the offset detection component is located in the sliding channel, a gripping end of the robot moves in the sliding channel of the channel plate, and the offset detection component detects the position offset of the gripping end of the robot.

[0007] Preferably, a positioning plate is slidingly provided on the outside of the channel plate, and the positioning plate is moved along the sliding direction of the sliding channel provided here in the channel plate through a driving component. When performing a robot test, the grabbing end of the robot moves along the sliding channel of the channel plate to the positioning plate.

[0008] Preferably, a channel vertical plate is fixedly provided on the channel flat plate, a sliding channel identical to the channel flat plate is provided inside the channel vertical plate, the two sliding channels are connected, and the sliding direction of the sliding channel of the channel vertical plate is perpendicular to that of the sliding channel of the channel flat plate.

[0009] Preferably, the offset detection component includes a first proximity sensor, which is fixedly arranged on the inner wall of the sliding channel of the channel plate and the channel vertical plate, and at least one first proximity sensor is arranged in each sliding direction of the sliding channel, and there is a displacement space between the first proximity sensor and the abutment slide plate, and the first proximity sensor and the abutment slide plate are connected through an elastic member, and the abutment slide plate is located in the sliding channel, and a proximity sensing block matching the first proximity sensor is arranged on the abutment slide plate.

[0010] Preferably, a sliding member is slidably arranged in the sliding channel of the channel flat plate and the channel vertical plate, and the sliding member is fixedly connected to the grabbing end of the robot;

[0011] Preferably, when conducting a robot test, the sliding member slides in the sliding channels of the channel flat plate and the channel vertical plate, and the sliding member is in sliding contact with the surface of the abutting slide; when the grabbing end is offset during the movement of the robot, the abutting slide in sliding contact with the sliding member is elastically displaced by the elastic member, and the proximity sensing block on the abutting slide approaches the first proximity sensor to the sensing distance, and the first proximity sensor generates a proximity signal.

[0012] Preferably, the driving assembly includes a screw rod, the screw rod matches the thread of the positioning plate, and the axial direction of the screw rod is the same as the sliding direction of the positioning plate.

[0013] Preferably, the positioning plate is fixedly provided with a second proximity sensor, and when the sliding member moves to a matching position corresponding to the positioning plate, the sliding member approaches the second proximity sensor, and the second proximity sensor generates a proximity signal.

[0014] The technical solution of the present application has at least the following advantages and beneficial effects:

[0015] The sliding channels on the channel plate and the channel riser enable the robot to move along different sliding channels to achieve multiple routes of movement. The offset detection component detects the displacement accuracy of the robot's gripping end when it slides in the sliding channel. By repeatedly performing the same route of movement, the repeatability accuracy of the robot's gripping end is tested. The positioning component of the repeatability accuracy test can adjust the position to facilitate adjustment of the test distance and position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the device from a top view angle.

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the sliding channel of the channel plate in the device.

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of the sliding channel of the channel vertical plate of the device.

[0020] Figure 5 It is a schematic diagram of the structure of the sliding part of the device.

[0021] In the figure: 1-tooling bottom plate; 2-channel flat plate; 3-rectangular slider; 4-positioning plate; 5-channel vertical plate; 21-first proximity sensor; 22-spring; 23-abutting slide plate; 31-grabbing block; 32-positioning column; 33-positioning base; 41-positioning hole; 42-second proximity sensor; 601-motor; 602-screw. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] Example

[0025] Please refer to Figure 1 The utility model provides a robot testing tool, including a tool base plate 1, a channel plate 2, and a positioning plate 4.

[0026] Furthermore, a channel plate 2 is fixedly provided on the tooling base plate 1, and a sliding channel and an offset detection component are provided in the channel plate 2. The offset detection component is located in the sliding channel, and the gripping end of the robot moves in the sliding channel of the channel plate 2; the sliding channel of the channel plate 2 is a plurality of mutually interconnected rectangular channels (a plurality of rectangular channels can be connected in different layouts to form different motion trajectory lines, which is not specifically limited in this embodiment), and when the gripping end of the robot moves in the sliding channel, the offset detection component can detect whether an offset occurs when the gripping end of the robot moves.

[0027] At least one positioning plate 4 is slidingly provided on the outside of the channel plate 2, and the positioning plate 4 is moved along the outside of the channel plate 2 by a driving component, and the moving direction is consistent with the sliding direction of the sliding channel provided here on the channel plate 2; when performing a robot test, the positioning plate 4 is moved to different positions outside the channel plate 2 by the driving component, and the grasping end of the robot moves along the sliding channel of the channel plate 2 to the positioning plates 4 at different positions, thereby realizing the test of the repeatability accuracy of the robot moving to different positions.

[0028] Furthermore, a channel vertical plate 5 is fixedly provided on the channel plate 2, and a sliding channel identical to the channel plate 2 is provided inside the channel vertical plate 5, the two sliding channels are connected, and the sliding channel of the channel vertical plate 5 is perpendicular to the sliding direction of the sliding channel of the channel plate 2; the robot grasping end moves in the sliding channels of the channel plate 2 and the channel vertical plate 5, thereby realizing the repeatability accuracy test of the robot grasping end after moving in planes at different angles.

[0029] Furthermore, a sliding member is slidably arranged in the sliding channels of the channel plate 2 and the channel vertical plate 5, and the sliding member is fixedly connected to the grasping end of the robot. When the grasping end of the robot moves, the grasping end contacts the offset detection component in the sliding channel through the sliding member.

[0030] Please refer to Figure 2-Figure 4 The deviation detection component includes a first proximity sensor 21 , an elastic member, and an abutting slide plate 23 .

[0031] Furthermore, the first proximity sensor 21 is fixedly arranged on the inner wall of the sliding channel of the channel plate 2 and the channel vertical plate 5, and at least one first proximity sensor 21 is arranged in each sliding direction of the sliding channel. The abutting slide plate 23 is located in the sliding channel, and there is a displacement space between the first proximity sensor 21 and the abutting slide plate 23, so that the first proximity sensor 21 is separated from the abutting slide plate 23 far away and does not contact. The first proximity sensor 21 is connected to the abutting slide plate 23 through an elastic member, and a proximity sensing block matching the first proximity sensor 21 is arranged on the abutting slide plate 23.

[0032] Specifically, when the sliding member slides in the sliding channel, the sliding member slides in contact with the surface of the abutting slide 23, and when the grabbing end of the robot moves and deviates, the sliding member will deviate in the sliding channel, squeezing the surface of the abutting slide 23, and the abutting slide 23 is elastically displaced through the elastic member, so that the first proximity sensor 21 and the proximity sensing block on the abutting slide 23 approach the sensing distance of the first proximity sensor 21, and the first proximity sensor 21 generates a proximity signal, which is fed back to the control system of the device, and the signal feedback indicates that the robot test fails.

[0033] Preferably, the elastic member is configured as a spring 22 .

[0034] Furthermore, the driving assembly includes a motor 601 and a screw 602.

[0035] The motor 601 is fixedly mounted on the tooling base plate 1 , and is fixedly connected to the screw 602 to drive the screw 602 to rotate. The screw 602 is thread-matched with the positioning plate 4 , and the axial direction of the screw 602 is the same as the sliding direction of the positioning plate 4 .

[0036] Please refer to Figure 2 and Figure 5 A second proximity sensor 42 is fixedly provided on the positioning plate 4. When the robot is testing, the sliding part will move to the matching position corresponding to the positioning plate 4 through the sliding channels of the channel plate 2 and the channel vertical plate 5. The sliding part approaches the second proximity sensor 42 on the positioning plate 4, and the second proximity sensor 42 generates a proximity signal. The signal is fed back to the control system of the device. The signal feedback indicates that the robot test position is in place, and the test is successfully completed.

[0037] Preferably, if the second proximity sensor 42 does not send a proximity signal when the test is completed, it means that the robot has not reached the designated test position, and the signal feedback indicates that the robot has failed the test.

[0038] Furthermore, a positioning hole 41 is provided on the positioning plate 4 , and a positioning base 33 is fixedly installed in the sliding channel of the channel plate 2 ; the sliding member includes a rectangular sliding block 3 , a grab block 31 , and a positioning column 32 .

[0039] The sliding ends of the rectangular slider 3 slide in the sliding channels of the channel plate 2 and the channel vertical plate 5. A grab block 31 is fixedly arranged in the middle of the rectangular slider 3. The grab block 31 is at a certain distance from each sliding end of the rectangular slider 3 and does not affect the sliding of the rectangular slider 3 in the sliding channels of the channel plate 2 and the channel vertical plate 5. A positioning column 32 is fixedly arranged at the bottom of the rectangular slider 3. The positioning column 32 is respectively fitted with the positioning base 33 and the positioning hole 41.

[0040] Preferably, when the robot is testing, the robot grabs the sliding part and moves it upward to separate the positioning column 32 from the positioning base 33, and then drives the sliding part to move in the sliding channel, and detects the displacement accuracy during movement through the offset detection component. The robot then moves the sliding part out of the sliding channel, moves it to the positioning plate 4, and then drives the sliding part to move downward, so that the positioning column 32 fits and matches the positioning hole 41 on the positioning plate 4, thereby completing the displacement accuracy test.

[0041] Preferably, there is an avoidance groove on the outer wall of the sliding channel of the channel plate 2 located at the driving component position, and the length of the avoidance groove is the same as the movable distance of the positioning plate 4, so as to facilitate the sliding part sliding in the sliding channel to slide out of the sliding channel and move to the positioning plate 4 outside the sliding channel.

[0042] Preferably, when the robot performs a repeatability accuracy test, the positioning column 32 moves from the positioning base 33 to the positioning hole 41 on the positioning plate 4 through the sliding channel, and then returns to reset along the original path, and repeats the above test steps several times. If the robot cannot achieve the fit and match between the positioning column 32 and the positioning base 33 or the positioning hole 41 during the test, the robot fails the repeatability accuracy test.

[0043] 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 testing tool, characterized in that: The tooling bottom plate (1) comprises a tooling bottom plate (1), a channel plate (2) being fixedly arranged on the tooling bottom plate (1), a sliding channel and a deviation detection component being arranged in the channel plate (2), the deviation detection component being located in the sliding channel, a gripping end of a robot moving in the sliding channel of the channel plate (2), and the deviation detection component detecting the position deviation of the gripping end of the robot; The channel plate (2) is provided with a positioning plate (4) on the outside thereof for sliding. The positioning plate (4) is moved along the sliding direction of the sliding channel provided on the channel plate (2) by a driving assembly. When the robot is tested, the gripping end of the robot moves along the sliding channel of the channel plate (2) to the positioning plate (4).

2. A robot testing tool according to claim 1, characterized in that: A channel vertical plate (5) is fixedly arranged on the channel flat plate (2), and a sliding channel identical to that of the channel flat plate (2) is arranged inside the channel vertical plate (5), the two sliding channels are connected, and the sliding direction of the sliding channel of the channel vertical plate (5) is perpendicular to that of the sliding channel of the channel flat plate (2).

3. A robot testing tool according to claim 1, characterized in that: The displacement detection component comprises a first proximity sensor (21), the first proximity sensor (21) being fixedly arranged on the inner wall of the sliding channel of the channel plate (2), the sliding channel of the channel plate (2) being connected to the sliding channel of the channel vertical plate (5), the first proximity sensor (21) being fixedly arranged on the inner wall of the sliding channel of the channel vertical plate (5), at least one first proximity sensor (21) being arranged in each sliding direction of the sliding channel, a displacement space being provided between the first proximity sensor (21) and the abutting slide plate (23), the first proximity sensor (21) being connected to the abutting slide plate (23) via an elastic member, the abutting slide plate (23) being located in the sliding channel, and a proximity sensing block matching the first proximity sensor (21) being arranged on the abutting slide plate (23).

4. A robot testing tool according to claim 3, characterized in that: A sliding member is slidably arranged in the sliding channels of the channel flat plate (2) and the channel vertical plate (5), and the sliding member is fixedly connected to the grasping end of the robot; When testing the robot, the sliding member slides in the sliding channels of the channel plate (2) and the channel vertical plate (5), and the sliding member is in sliding contact with the plate surface of the abutting slide plate (23); when the gripping end is offset during the movement of the robot, the abutting slide plate (23) in sliding contact with the sliding member is elastically displaced by the elastic member, and the proximity sensing block on the abutting slide plate (23) approaches the first proximity sensor (21) to the sensing distance, and the first proximity sensor (21) generates a proximity signal.

5. A robot testing tool according to claim 1, characterized in that: The driving assembly comprises a screw rod (602), the screw rod (602) is threadably matched with the positioning plate (4), and the axial direction of the screw rod (602) is the same as the sliding direction of the positioning plate (4).

6. The robot testing tool according to claim 1, characterized in that: A second proximity sensor (42) is fixedly arranged on the positioning plate (4); when the sliding member moves to a matching position corresponding to the positioning plate (4), the sliding member approaches the second proximity sensor (42), and the second proximity sensor (42) generates a proximity signal.

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