Industrial robot track detection device

Abstract

The utility model discloses an industrial robot trajectory detection device, which relates to the technical field of industrial robot trajectory detection, and comprises an industrial robot assembly and an adjusting frame, the output end of the industrial robot assembly is provided with a detection assembly, and one side of the industrial robot assembly is provided with a detection table group. And the adjusting frame is mounted at the bottom of the detection table group. According to the industrial robot track detection device, the adjusting frame is mounted at the bottom of the detection table group, and the detection table group connected with the detection table group can be driven to perform left-right swing adjustment at a certain angle in the vertical direction by means of structural movable adjustment of the adjusting frame; and meanwhile, a three-dimensional detection sensor, a laser distance measuring sensor and a torque sensor are combined for use, so that the operation track of the five-axis robot can be detected to the maximum extent, and the operation flexibility of the device is ensured. Therefore, the accuracy and sufficiency of detection are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot trajectory detection, and specifically relates to an industrial robot trajectory detection device. Background Art

[0002] Industrial robot trajectory detection mainly involves the detection of the accuracy and stability of the movement trajectory of the robot during the task execution. This includes the detection of position accuracy and trajectory accuracy, as well as a detailed explanation of the overshoot state. Position accuracy includes absolute position accuracy and pose repeatability accuracy, and these indicators reflect the deviation between the programmed position and the actual occupied position of the robot. Trajectory accuracy is divided into linear trajectory accuracy and circular motion trajectory accuracy, which involves the measurement of the absolute accuracy and trajectory repeatability of the movement trajectory of the robot at different speeds;

[0003] The trajectory detection of industrial robots is crucial for ensuring the precise operation of robots in automated production; through precise trajectory detection, it can be ensured that when the robot performs tasks such as assembly, welding, and spraying, it can accurately move along the preset path, thereby improving production efficiency and product quality; at the same time, trajectory detection can also help to discover and solve problems such as overshoot that may occur during the movement of the robot, further improving the performance and reliability of the robot;

[0004] Among them, the industrial robot trajectory detection device is a technical device designed to detect the position of the robot arm in real time and transmit the position data to the computer of the detector for data processing, so as to obtain the position information of the industrial robot in three-dimensional space. This device can continue to record its position information when the industrial robot arm moves outside the standard template by integrating a laser range finder sensor and a three-axis acceleration sensor.

[0005] For example, the utility model with the application number 202111624040.X discloses an industrial robot trajectory detection device. This industrial robot trajectory detection device is detachably connected to the force sensing module through a detachable connection module. If the moving tentacle of the robot deviates from its specified standard trajectory during detection, it is obvious that the elastic force of the elastic member will change in real time through the force sensing module, so as to visually display and record the detection result of the robot's movement trajectory. The detection is accurate and convenient. And when the moving tentacle deviates from the slider by more than a certain distance, it will automatically disconnect from the elastic member to avoid damage to the device if the movement trajectory deviation is too large. However, for the industrial robot trajectory detection device similar to the above document, the trajectory detection table is in a fixed structure during operation and cannot be adjusted according to needs to meet different detection requirements, resulting in relatively limited structural flexibility.

[0006] Therefore, in view of this, research and improvement are carried out on the existing structure and deficiencies, and an industrial robot trajectory detection device is proposed. Summary of the Utility Model

[0007] The purpose of the present utility model is to provide an industrial robot trajectory detection device to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above purpose, the present utility model provides the following technical solution: An industrial robot trajectory detection device includes an industrial robot component and an adjustment frame. A detection component is installed at the output end of the industrial robot component, and a detection table group is arranged on one side of the industrial robot component. The adjustment frame is installed at the bottom of the detection table group, and support frames are installed at the bottoms of the left and right ends of the adjustment frame. The adjustment frame includes an adjustment cylinder, an assembly frame, a transmission frame, a connecting rod, and a fixed angle plate. One end of the adjustment cylinder is connected to the assembly frame, and the power output end of the adjustment cylinder is connected to the transmission frame. Moreover, the upper end of the transmission frame is horizontally penetrated and installed with the connecting rod, and fixed angle plates are installed at both ends of the connecting rod through bearing connections.

[0009] Further, the industrial robot component includes a five-axis robot, a base, and a connecting frame. The bottom end of the five-axis robot is installed with the base, and a connecting frame is installed at one end of the five-axis robot away from the base.

[0010] Further, the detection component includes a three-dimensional detection sensor, an adapter frame, a laser distance sensor, a data line, a torque sensor, and a trajectory detection head. One end of the three-dimensional detection sensor is connected to the adapter frame, and a laser distance sensor is installed on one side of the three-dimensional detection sensor. Moreover, a data line is connected to the other side of the three-dimensional detection sensor, and a torque sensor is installed at one end of the three-dimensional detection sensor away from the adapter frame. At the same time, a trajectory detection head is installed at one end of the torque sensor away from the three-dimensional detection sensor.

[0011] Further, the five-axis robot is connected and fixed to the detection component through a threaded connection between the connecting frame and the adapter frame. An elastic telescopic structure is arranged in the middle of the torque sensor.

[0012] Further, the detection table group includes a trajectory detection table, a data transmission line, and a connection bracket. A data transmission line is installed on one side of the trajectory detection table, and connection brackets are symmetrically installed at the left and right of the bottom of the trajectory detection table.

[0013] Further, the connecting rod horizontally penetrates the middle section of the connection bracket, and the connection bracket and the connecting rod are fixedly connected.

[0014] Further, the support frame includes a support beam, a stabilizing column, and a limiting angle plate. Stabilizing columns are symmetrically installed at both ends of the support beam, and limiting angle plates are symmetrically connected to the lower ends of the stabilizing columns.

[0015] Further, the fixed angle plate is fixedly connected to the top surface of the stabilizing column through bolts, and one end of the mounting frame away from the adjusting cylinder is fixedly connected to the middle section of the support beam through bolts.

[0016] The utility model provides an industrial robot trajectory detection device, which has the following beneficial effects:

[0017] 1. In the utility model, an adjusting frame is connected to the top of the support frame. When the adjusting cylinder at the upper end of the mounting frame operates, it will drive the lower end of the transmission frame connected to its power output end to move forward. Since the upper end of the transmission frame is fixedly connected to the connecting rod, under the drive of the transmission frame, the connecting rod will rotate axially along the horizontal direction. At the same time, both ends of the connecting rod are connected to the fixed angle plate through bearings, so that the connecting rod can rotate axially stably. Thereby driving the trajectory detection table connected to the connecting rod by the connecting bracket to swing left and right at a certain angle with the connecting rod as the center. The use of the above structure makes the trajectory detection table have sufficient structural flexibility to cooperate with the detection component to detect the operation trajectory of the industrial robot component at as many angles as possible to ensure the effectiveness of the detection data. The support frame provides sufficient structural support at both bottom ends of the adjusting frame to ensure that the adjusting frame drives the detection table group to operate stably and prevent unnecessary structural shaking and offset.

[0018] 2. In the utility model, a detection component is installed at one end of the industrial robot component, and a three-dimensional detection sensor, a laser ranging sensor and a torque sensor are respectively arranged therein. By the combined use of the above structures, the three-dimensional detection sensor is used to monitor the precise position and dimensional information of the five-axis robot during operation in three-dimensional space. At the same time, the laser ranging sensor installed on one side of the three-dimensional detection sensor can emit laser pulses through its internal structure, and make inductive reception and detection of the extremely weak reflected optical signal by reflecting it between the detection component and the detection table group, record and process the time elapsed from the emission of the optical pulse to its return and reception, and then the target distance can be measured, so as to provide relevant data for detecting the five-axis robot. The use of the trajectory detection head and the torque sensor, in cooperation with the trajectory detection table, can record and monitor the trajectory of the five-axis robot moving, and at the same time can record the force of the trajectory detection head pressing on the surface of the trajectory detection table, thereby further increasing the relevant pressure parameters generated during the detection and recording and saving them in the form of data for subsequent analysis and use, so as to improve the accuracy of the operation detection of the five-axis robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axonometric view structural schematic diagram of the body of an industrial robot trajectory detection device of the utility model;

[0020] Figure 2 Schematic three-dimensional structure diagram of the detection component of a trajectory detection device for an industrial robot of the present utility model;

[0021] Figure 3 Schematic three-dimensional structure diagram of the detection table group of a trajectory detection device for an industrial robot of the present utility model;

[0022] Figure 4 Schematic three-dimensional structure diagram of the adjustment frame of a trajectory detection device for an industrial robot of the present utility model.

[0023] In the figure: 1. Industrial robot component; 101. Five-axis robot; 102. Base; 103. Connecting frame; 2. Detection component; 201. Three-dimensional detection sensor; 202. Adaptation frame; 203. Laser range finder; 204. Data line; 205. Torque sensor; 206. Trajectory detection head; 3. Detection table group; 301. Trajectory detection table; 302. Data transmission line; 303. Connection bracket; 4. Adjustment frame; 401. Adjustment cylinder; 402. Assembly frame; 403. Transmission frame; 404. Connecting rod; 405. Fixed angle plate; 5. Support frame; 501. Support beam; 502. Stabilizing column; 503. Limit angle plate. Specific embodiments

[0024] The following further describes in detail the embodiments of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0025] As Figures 1 to 4As shown in the figure, an industrial robot trajectory detection device includes an industrial robot component 1 and an adjustment frame 4. A detection component 2 is installed at the output end of the industrial robot component 1, and a detection table group 3 is arranged on one side of the industrial robot component 1. The adjustment frame 4 is installed at the bottom of the detection table group 3, and support frames 5 are installed at the bottoms of the left and right ends of the adjustment frame 4. The adjustment frame 4 includes an adjustment cylinder 401, an assembly frame 402, a transmission frame 403, a connecting rod 404, and a fixed angle plate 405. One end of the adjustment cylinder 401 is connected to the assembly frame 402, and the power output end of the adjustment cylinder 401 is connected to the transmission frame 403. Moreover, the upper end of the transmission frame 403 is horizontally penetrated and installed with the connecting rod 404, and both ends of the connecting rod 404 are connected and installed with the fixed angle plate 405 through bearings. The connecting rod 404 horizontally penetrates the middle section of the connection bracket 303, and the connection bracket 303 and the connecting rod 404 are fixedly connected. The support frame 5 includes a support beam 501, a stabilizing column 502, and a limiting angle plate 503. The two ends of the support beam 501 are symmetrically installed with the stabilizing column 502, and the lower ends of the stabilizing column 502 are symmetrically connected with the limiting angle plate 503 on the left and right. The fixed angle plate 405 is fixedly connected to the top surface of the stabilizing column 502 through bolts. One end of the assembly frame 402 away from the adjustment cylinder 401 is fixedly connected to the middle section of the support beam 501 through bolts. When the adjustment cylinder 401 at the upper end of the assembly frame 402 operates, it will drive the lower end of the transmission frame 403 connected to its power output end to move forward. Driven by the transmission frame 403, the connecting rod 404 will rotate axially along the horizontal direction, thereby driving the trajectory detection table 301 connected to the connecting rod 404 through the connection bracket 303 to swing left and right at a certain angle with the connecting rod 404 as the center of the circle.

[0026] As Figures 1 to 4As shown in the figure, the industrial robot assembly 1 includes a five-axis robot 101, a base 102, and a connecting frame 103. The base 102 is installed at the bottom end of the five-axis robot 101, and the connecting frame 103 is installed at the end of the five-axis robot 101 away from the base 102. The detection assembly 2 includes a three-dimensional detection sensor 201, an adapter frame 202, a laser ranging sensor 203, a data line 204, a torque sensor 205, and a trajectory detection head 206. One end of the three-dimensional detection sensor 201 is connected to the adapter frame 202, and the laser ranging sensor 203 is installed on one side of the three-dimensional detection sensor 201. Moreover, the data line 204 is connected to the other side of the three-dimensional detection sensor 201, and the torque sensor 205 is installed at the end of the three-dimensional detection sensor 201 away from the adapter frame 202. At the same time, the trajectory detection head 206 is installed at the end of the torque sensor 205 away from the three-dimensional detection sensor 201. The five-axis robot 101 is connected and fixed to the detection assembly 2 through the threaded connection between the connecting frame 103 and the adapter frame 202. An elastic telescopic structure is provided in the middle of the torque sensor 205. The detection table group 3 includes a trajectory detection table 301, a data transmission line 302, and an adapter bracket 303. The data transmission line 302 is installed on one side of the trajectory detection table 301, and the adapter brackets 303 are symmetrically installed on the left and right at the bottom of the trajectory detection table 301. By installing the detection assembly 2 at one end of the industrial robot assembly 1 and respectively providing the three-dimensional detection sensor 201, the laser ranging sensor 203, and the torque sensor 205 therein, the accurate position and dimension information in three-dimensional space can be obtained respectively. At the same time, by recording and processing the time elapsed from the emission of the light pulse to its return and being received, the target distance can be measured. The use of the trajectory detection head 206 and the torque sensor 205, in cooperation with the trajectory detection table 301, can record and monitor the trajectory of the movement of the five-axis robot 101, and at the same time, the force of the trajectory detection head 206 pressing on the surface of the trajectory detection table 301 can also be recorded.

[0027] In summary, as Figures 1 to 4 shown, for the integrated bracket used in the adjustable photovoltaic power engineering, during use, first connect and fix the adapter frame 202 and the connecting frame 103 by using bolts, so that the industrial robot assembly 1 and the detection assembly 2 are combined and connected. Then, connect the data line 204 on one side of the three-dimensional detection sensor 201 and the data transmission line 302 on one side of the trajectory detection table 301 to the detection data recording and analysis device respectively;

[0028] When detecting, start the five-axis robot 101 on the top of the base 102 according to the set method as needed. As the five-axis robot 101 operates, the connected detection assembly 2 will move synchronously. Among them, the trajectory detection head 206 at one end of the torque sensor 205 will slide on the surface of the trajectory detection table 301;

[0029] At the same time, the adjustment frame 4 between the detection platform group 3 and the support frame 5 will operate synchronously, wherein the adjustment cylinder 401 installed on the assembly frame 402 will be telescopically adjusted, thereby driving the transmission frame 403 connected thereto to swing, and at the same time, the connecting rod 404 horizontally penetrating the upper end of the transmission frame 403 will be pulled by it to perform horizontal axial rotation, and the trajectory detection platform 301 is connected to the connecting bracket 303 and the connecting rod 404 by means of a certain angle of swing adjustment, thereby assisting the detection platform group 3 to perform multi-directional angle trajectory detection on the industrial robot assembly 1

[0030] As the detection component 2 operates, the laser diode inside the laser ranging sensor 203 aims at the trajectory detection platform 301 to emit laser pulses. After being reflected by the trajectory detection platform 301, the laser is scattered in all directions, and part of the scattered light returns to the sensor receiver, is received by the optical system and imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor with an internal amplification function, so it can detect extremely weak light signals, record and process the time from the emission of the light pulse to the return and reception, and thus determine the target distance. The three-dimensional detection sensor 201 uses a variety of technologies such as optics, mechanics, and electronics to capture and analyze the reflected or emitted light, mechanical displacement, etc. of the object to obtain the three-dimensional data of the object, thereby cooperating with the laser ranging sensor 203 to monitor the operation trajectory of the five-axis robot 101 until the entire detection is completed.

[0031] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An industrial robot trajectory detection device, comprising an industrial robot component (1) and an adjusting frame (4), characterized in that: A detection component (2) is installed at the output end of the industrial robot component (1), and a detection table group (3) is arranged on one side of the industrial robot component (1). The adjustment frame (4) is installed at the bottom of the detection table group (3), and support frames (5) are installed at the bottoms of the left and right ends of the adjustment frame (4). The adjustment frame (4) includes an adjustment cylinder (401), an assembly frame (402), a transmission frame (403), a connecting rod (404), and a fixed angle plate (405). One end of the adjustment cylinder (401) is connected to the assembly frame (402), and the power output end of the adjustment cylinder (401) is connected to the transmission frame (403). Moreover, the connecting rod (404) is horizontally installed through the upper end of the transmission frame (403), and fixed angle plates (405) are installed at both ends of the connecting rod (404) through bearing connections.

2. The industrial robot trajectory detection device according to claim 1, characterized in that, The industrial robot component (1) includes a five-axis robot (101), a base (102), and a connecting frame (103). The bottom end of the five-axis robot (101) is installed with the base (102), and one end of the five-axis robot (101) away from the base (102) is installed with the connecting frame (103).

3. The industrial robot trajectory detection device according to claim 2, wherein, The detection component (2) includes a three-dimensional detection sensor (201), an adapter frame (202), a laser ranging sensor (203), a data line (204), a torque sensor (205), and a trajectory detection head (206). One end of the three-dimensional detection sensor (201) is connected to the adapter frame (202), and a laser ranging sensor (203) is installed on one side of the three-dimensional detection sensor (201). Moreover, a data line (204) is connected to the other side of the three-dimensional detection sensor (201), and a torque sensor (205) is installed at the end of the three-dimensional detection sensor (201) away from the adapter frame (202). At the same time, a trajectory detection head (206) is installed at the end of the torque sensor (205) away from the three-dimensional detection sensor (201).

4. An industrial robot trajectory detection device according to claim 3, characterized in that, The five-axis robot (101) is connected and fixed to the detection component (2) through a threaded connection between the connecting frame (103) and the adapter frame (202). An elastic telescopic structure is arranged in the middle of the torque sensor (205).

5. An industrial robot trajectory detection device according to claim 1, characterized in that, The detection table group (3) includes a trajectory detection table (301), a data transmission line (302), and a connection bracket (303). A data transmission line (302) is installed on one side of the trajectory detection table (301), and connection brackets (303) are symmetrically installed at the left and right of the bottom of the trajectory detection table (301).

6. An industrial robot trajectory detection device according to claim 5, characterized in that, The connecting rod (404) horizontally penetrates through the middle section of the connection bracket (303), and the connection bracket (303) and the connecting rod (404) are fixedly connected.

7. An industrial robot trajectory detection device according to claim 1, characterized in that, The support frame (5) includes a support beam (501), a stabilizing column (502), and a limiting angle plate (503). Stabilizing columns (502) are symmetrically installed at both ends of the support beam (501), and limiting angle plates (503) are symmetrically connected to the lower ends of the stabilizing columns (502).

8. An industrial robot trajectory detection device according to claim 7, characterized in that, The fixed angle plate (405) is fixedly connected to the top surface of the stabilizing column (502) by bolts, and one end of the mounting frame (402) away from the adjusting cylinder (401) is fixedly connected to the middle section of the support beam (501) by bolts.

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