Robot motion trail simulation device

Abstract

The utility model relates to a robot motion trail simulation device which comprises a base plate, a rear side plate is fixedly installed on the top of the base plate, a top plate is fixedly installed on the top of the rear side plate, a test plate is inserted in the top of the base plate, and a sliding plate is movably installed on the top of the base plate. According to the robot motion trail simulation device, four sets of displacement sensors are arranged, displacement sensors are arranged at all parts, needing to be rotated, moved or adjusted in direction, of a robot body, and the first displacement sensor can sense motion data of a sliding plate in the horizontal direction; the second displacement sensor can timely sense the height adjustment data of the operation shaft at the vertical height; a third displacement sensor can sense the motion trail of the sliding column on the trail slide way, a fourth displacement sensor can sense the rotation direction data of the rotating disc in time, and the accurate rotation angle and rotation direction of the robot body during motion can be rapidly obtained on the basis of manual simulation.

Description

Technical Field

[0001] The utility model relates to the technical field of robot testing, in particular to a robot motion track simulation device. Background Art

[0002] Robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Robots can improve production efficiency, avoid unnecessary rework, adjust design parameters in a timely manner, verify the effectiveness of solutions, and improve business operation efficiency through simulation of motion trajectories.

[0003] According to an industrial robot trajectory detection device mentioned in the utility model patent with Chinese application number 202111624040.X, the industrial robot trajectory detection device can solve the problem of insufficient motion accuracy of existing industrial robots when in use, thereby causing disconnection in production operations. However, the industrial robot trajectory detection device cannot measure the robot's motion trajectory when in use, making it difficult to conduct targeted testing and improvement of the robot's motion trajectory. Therefore, it is necessary to propose a robot motion trajectory simulation device to solve the above-mentioned problems. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a robot motion trajectory simulation device, which has the advantages of being able to perform actual simulation tests on the robot's motion trajectory, and solves the problem of being unable to measure the robot's motion trajectory.

[0005] In order to achieve the above-mentioned purpose of being able to perform actual simulation testing on the motion trajectory of the robot, the utility model provides the following technical solutions: a robot motion trajectory simulation device, comprising a base plate, a rear side plate is fixedly installed on the top of the base plate, a top plate is fixedly installed on the top of the rear side plate, a test plate is plugged into the top of the base plate, a slide plate is movably installed on the top of the base plate, a turntable is movably installed on the top of the slide plate, a robot body is installed on the top of the turntable, a second optical camera and a first optical camera are fixedly installed on the side surfaces of the rear side plate and the top plate respectively, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor and an infrared rangefinder are fixedly installed on the outer surface of the robot body, and a trajectory slide is arranged on the side surface of the test plate.

[0006] Furthermore, a limiting block is arranged on the left side of the test plate, and a limiting groove is arranged on the right side of the top plate, and the test plate slides inside the limiting groove through the limiting block.

[0007] Further, a plug-in block is provided at the bottom of the test board, and the test board is plugged into the top of the substrate.

[0008] Further, a data display screen is fixedly installed at the rear side of the substrate, a sliding groove is formed at the top of the substrate, and the sliding plate slides inside the sliding groove.

[0009] Further, an operating shaft is installed at the top of the robot body. At the outermost right end of the operating shaft, a third displacement sensor and an infrared rangefinder are fixedly installed on the outer surface, and a sliding column is fixedly installed on the right side surface of the third displacement sensor.

[0010] Further, an annular groove is provided on the outer surface of the sliding column, and a ball is movably installed inside the annular groove.

[0011] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0012] In this robot motion trajectory simulation device, by setting four displacement sensors, displacement sensors are arranged at various parts of the robot body that need to rotate, move or adjust the direction. The first displacement sensor can sense the motion data of the sliding plate in the horizontal direction, and the second displacement sensor can timely sense the height adjustment data of the operating shaft in the vertical height; the third displacement sensor can sense the motion trajectory of the sliding column on the trajectory slideway, and the fourth displacement sensor can timely sense the rotation direction data of the turntable. On the basis of manual simulation, it can quickly obtain the accurate rotation angle and rotation direction when the robot body moves. Therefore, it can quickly obtain the trajectory parameters of the robot, and thus can conveniently and quickly fit the motion trajectory of the robot, thereby improving the efficiency of obtaining the motion trajectory curve of the robot body.

[0013] In this robot motion trajectory simulation device, by setting the first optical camera and the second optical camera, when in use, the first optical camera and the second optical camera can be respectively set at the top and the rear side of the robot on a large scale, and can obtain the trajectory shape and smoothness data of the robot body moving in the horizontal and vertical directions, ensuring that the robot body can move smoothly when performing tasks, avoiding sudden acceleration or deceleration, and thus ensuring the stability and safety of the movement of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structure diagram of the motion trajectory simulation device of the present invention;

[0015] Figure 2 It is a bottom three-dimensional structure diagram of the motion trajectory simulation device of the present invention;

[0016] Figure 3 It is a three-dimensional structure diagram of the robot of the present invention.

[0017] In the figure: 1, substrate; 2, rear side plate; 3, top plate; 4, test plate; 5, data display screen; 6, chute; 7, sliding plate; 8, robot body; 9, first optical camera; 10, second optical camera; 11, limit groove; 12, limit block; 13, track slideway; 14, plug-in block; 15, first displacement sensor; 16, second displacement sensor; 17, third displacement sensor; 18, fourth displacement sensor; 19, turntable; 20, sliding column; 21, annular groove; 22, ball; 23, infrared rangefinder; 24, operating shaft. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1-3 , a robot motion trajectory simulation device in this embodiment includes a substrate 1. A rear side plate 2 is fixedly installed on the top of the substrate 1. A top plate 3 is fixedly installed on the top of the rear side plate 2. A test plate 4 is inserted into the top of the substrate 1. A sliding plate 7 is movably installed on the top of the substrate 1. A turntable 19 is movably installed on the top of the sliding plate 7. A robot body 8 is installed on the top of the turntable 19. A second optical camera 10 and a first optical camera 9 are respectively fixedly installed on the sides of the rear side plate 2 and the top plate 3. A first displacement sensor 15, a second displacement sensor 16, a third displacement sensor 17, a fourth displacement sensor 18 and an infrared rangefinder 23 are fixedly installed on the outer surface of the robot body 8. A track slideway 13 is arranged on the side of the test plate 4.

[0020] In the case implementation, displacement sensors are arranged at each part of the robot body 8 that needs to rotate, move or adjust the direction. The first displacement sensor 15 can sense the movement data of the sliding plate 7 in the horizontal direction. The second displacement sensor 16 can timely sense the height adjustment data of the operating shaft 24 at the vertical height. The third displacement sensor 17 can sense the movement track of the sliding column 20 on the track slideway 13. The fourth displacement sensor 18 can timely sense the rotation direction data of the turntable 19. It can quickly obtain the accurate rotation angle and rotation direction when the robot body 8 moves on the basis of manual simulation. Therefore, the trajectory parameters of the robot can be quickly obtained, and thus the movement trajectory of the robot can be conveniently and quickly fitted, thereby improving the efficiency of obtaining the movement trajectory curve of the robot body 8.

[0021] In the case implementation, a first optical camera 9 and a second optical camera 10 are respectively arranged on the top and the rear side of the robot, which can obtain the trajectory shape and smoothness data of the movement of the robot body 8 in a large range in the horizontal and vertical directions, ensuring that the robot body 8 can move smoothly when performing tasks, avoiding sudden acceleration or deceleration, so as to ensure the stability and safety of the movement of the robot body 8.

[0022] In the case implementation, by setting the test board 4, the sliding column 20 slides inside the track slideway 13 through the ball 22. The insertion depth, turning angle and direction set inside the track slideway 13 are all different, mainly for testing the accuracy, turning and trajectory acquisition of direction adjustment when the robot operating shaft 24 performs operations, and the infrared rangefinder 23 is used to sense in real time that the rightmost side of the sliding column 20 maintains the same distance from different depths of the track slideway 13.

[0023] During implementation, the operations are carried out according to the following steps:

[0024] 1) First, place the robot body 8 to be tested on the top of the substrate 1;

[0025] 2) Then, place the test board 4 on the top of the substrate 1;

[0026] 3) Next, preset the movement trajectory of the robot body 8 through the data display screen 5;

[0027] 4) Finally, under the combined action of multiple displacement sensors, the first optical camera 9 and the second optical camera 10, the movement trajectory data of the robot body 8 are obtained.

[0028] To sum up, in this robot movement trajectory simulation device, by setting four groups of displacement sensors, displacement sensors are arranged at each part of the robot body 8 that needs to rotate, move or adjust the direction. The first displacement sensor 15 can sense the movement data of the slide plate 7 in the horizontal direction, and the second displacement sensor 16 can timely sense the height adjustment data of the operating shaft 24 in the vertical height; the third displacement sensor 17 can sense the movement trajectory of the sliding column 20 on the track slideway 13, and the fourth displacement sensor 18 can timely sense the rotation direction data of the turntable 19. It can quickly obtain the accurate rotation angle and rotation direction when the robot body 8 moves on the basis of manual simulation, so it can quickly obtain the trajectory parameters of the robot, and thus can conveniently and quickly fit the movement trajectory of the robot, thereby improving the efficiency of obtaining the movement trajectory curve of the robot body 8.

[0029] Moreover, by providing the first optical camera 9 and the second optical camera 10, during use, the first optical camera 9 and the second optical camera 10 can be respectively provided on the top and the rear side of the robot over a large range, and the trajectory shape and smoothness data of the movement of the robot body 8 can be obtained in the horizontal and vertical directions, ensuring that the robot body 8 can move smoothly when performing tasks, avoiding sudden acceleration or deceleration, thereby ensuring the stability and safety of the movement of the robot body 8.

[0030] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot motion trajectory simulation device, comprising a substrate (1), characterized in that: A rear side plate (2) is fixedly installed at the top of the substrate (1). A top plate (3) is fixedly installed at the top of the rear side plate (2). A test plate (4) is inserted into the top of the substrate (1). A sliding plate (7) is movably installed at the top of the substrate (1). A turntable (19) is movably installed at the top of the sliding plate (7). A robot body (8) is installed at the top of the turntable (19). A second optical camera (10) and a first optical camera (9) are respectively fixedly installed at the side surfaces of the rear side plate (2) and the top plate (3). A first displacement sensor (15), a second displacement sensor (16), a third displacement sensor (17), a fourth displacement sensor (18) and an infrared rangefinder (23) are fixedly installed on the outer surface of the robot body (8). A track slideway (13) is arranged at the side surface of the test plate (4).

2. The robot motion trajectory simulation device according to claim 1, characterized in that: A limit block (12) is arranged at the left side surface of the test plate (4). A limit groove (11) is arranged at the right side surface of the top plate (3). The test plate (4) slides inside the limit groove (11) through the limit block (12).

3. A robot motion trajectory simulation device according to claim 1, characterized in that: A plug-in block (14) is arranged at the bottom of the test plate (4). The test plate (4) is inserted into the top of the substrate (1).

4. A robot motion trajectory simulation device according to claim 1, characterized in that: A data display screen (5) is fixedly installed at the rear side surface of the substrate (1). A chute (6) is formed at the top of the substrate (1). The sliding plate (7) slides inside the chute (6).

5. A robot motion trajectory simulation device according to claim 1, characterized in that: An operating shaft (24) is installed at the top of the robot body (8). A third displacement sensor (17) and an infrared rangefinder (23) are fixedly installed on the outer surface at the rightmost end of the operating shaft (24). A sliding column (20) is fixedly installed at the right side surface of the third displacement sensor (17).

6. The robot motion trajectory simulation device according to claim 5, wherein: An annular groove (21) is arranged on the outer surface of the sliding column (20). A ball (22) is movably installed inside the annular groove (21).

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