Robot track route practice platform

Abstract

The utility model provides a robot track route practice platform, which comprises a working table, the bottom of the working table is fixedly connected with a support frame, the surface of the working table is provided with a mounting hole, and the rear side of the top of the working table is detachably provided with a robot; the top of the workbench is provided with a mounting structure used in cooperation with the mounting hole. The top of the mounting structure is fixedly connected with an adjusting structure, and the top of the adjusting structure is fixedly connected with a placing disc. By arranging the workbench, the supporting frame, the mounting hole, the robot, the mounting structure, the adjusting structure and the placing disc, workpieces are fixed to different positions through the mounting structure, the position of the placing disc is adjusted through the adjusting structure, and the robot can practice in a repeated track route; the problem that the position of an existing robot track route practice workpiece cannot be adjusted is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot trajectory practice technical field especially relates to a robot trajectory route practice platform. BACKGROUND

[0002] Robot trajectory practice is an important link in robot technology, it involves robot motion planning, path generation, trajectory control and multiple aspects. The following is a simplified robot trajectory practice example:

[0003] I. Determine the practice goal

[0004] 1. Master the basic principles and methods of robot trajectory planning.

[0005] 2. Can design reasonable robot motion trajectory according to specific task requirements.

[0006] 3. Master trajectory control algorithm, ensure that the robot can move accurately according to the predetermined trajectory.

[0007] II. Prepare tools and environment

[0008] 1. A robot with trajectory control function (such as industrial robot, mobile robot, etc.).

[0009] 2. Corresponding robot control software and simulation environment (such as ROS, Mat l ab / Simu l i nk, etc.).

[0010] 3. Necessary sensors and actuators for real-time sensing of environmental information and execution of control instructions.

[0011] III. Practice steps

[0012] 1. Understand task requirements: clearly define the tasks the robot needs to complete, including starting position, target position, path constraints, etc.

[0013] 2. Design trajectory: according to task requirements, design appropriate robot motion trajectory, which usually involves path planning, speed planning, acceleration planning and other aspects.

[0014] 3. Write control algorithm: according to the designed trajectory, write the corresponding control algorithm, which includes trajectory tracking algorithm, obstacle avoidance algorithm, etc.

[0015] 4. Simulation test: simulate the robot in the simulation environment to verify the rationality of the trajectory design and the effectiveness of the control algorithm.

[0016] 5. Actual debugging: deploy the control algorithm to the actual robot, perform actual debugging and optimization, which includes adjusting control parameters, optimizing trajectory, etc.

[0017] 6. Summary evaluation: Conduct a summary evaluation of the practice process, analyze the problems and deficiencies, and propose improvement measures.

[0018] IV. Notes

[0019] 1. When designing the trajectory, fully consider the kinematic constraints and dynamic characteristics of the robot.

[0020] 2. When writing the control algorithm, pay attention to the real-time and stability of the algorithm.

[0021] 3. During actual debugging, pay attention to safety issues to avoid accidents such as robot collision or loss of control.

[0022] Through the above steps of practice, you can gradually master the basic skills of robot trajectory planning and control, and lay a solid foundation for subsequent robot research and application.

[0023] In the existing technology, the robot trajectory route practice in the industrial environment, the production line often needs to repeat the same operation, in order to ensure the consistency and repeatability of each operation, must ensure that the workpiece is placed in the same position each time, different workpiece positions may affect the path planning of the robot, adjusting the position of the workpiece can help optimize the motion trajectory of the robot, reduce the motion time or avoid obstacles, so as to achieve the purpose of efficient movement. Content of the utility model

[0024] In view of the deficiencies existing in the prior art, the utility model aims to provide a robot trajectory route practice platform, which can conveniently place workpieces and conveniently adjust the positions of the workpieces, so as to solve the problem that the positions of workpieces cannot be adjusted in the existing robot trajectory route practice.

[0025] In order to achieve the above-mentioned purpose, the utility model is implemented by the following technical scheme: a robot trajectory route practice platform, comprising a workbench, a support frame is fixedly connected to the bottom of the workbench, a mounting hole is formed in the surface of the workbench, and a robot is detachably installed on the rear side of the top of the workbench;

[0026] The top of the workbench is provided with a mounting structure matched with the mounting hole;

[0027] The top of the mounting structure is fixedly connected with an adjusting structure, and the top of the adjusting structure is fixedly connected with a placing disc.

[0028] Further, the mounting structure comprises a mounting plate, the bottom of the mounting plate is in contact with the top of the workbench, the front side and the rear side inside the mounting plate are provided with first studs, the bottom of the first stud penetrates through the workbench and extends to the bottom of the workbench, the bottom of the first stud is fixedly connected with a disc, the top of the mounting plate is provided with a nut, the inside of the nut is in threaded connection with the surface of the first stud, the top of the mounting plate is fixedly connected with a support, and the top of the support is fixedly connected with the bottom of the adjusting structure.

[0029] Further, the adjusting structure comprises an adjusting shell, the bottom of the adjusting shell is fixedly connected with the top of the support, the inside of the adjusting shell is movably connected with a movable block, the top of the movable block penetrates through the adjusting shell and extends to the top of the adjusting shell, the top of the movable block is fixedly connected with the bottom of the placing disc, the front side of the movable block is movably connected with a screw rod, the front side of the screw rod penetrates through the adjusting shell and extends to the front side of the adjusting shell, and the surface of the screw rod is in threaded connection with the inside of the adjusting shell.

[0030] Further, the two sides of the disc are fixedly connected with hanging blocks, and the front side and the rear side of the mounting hole are provided with grooves matched with the hanging blocks.

[0031] Further, the rear side of the surface of the screw rod is fixedly connected with a bearing, the rear side of the bearing is fixedly connected with the front side of the movable block, and the top of the adjusting shell is provided with a first opening matched with the movable block.

[0032] Further, the surface of the screw rod is in threaded connection with a threaded seat, the surface of the threaded seat is fixedly connected with the inside of the adjusting shell, the front side of the screw rod is fixedly connected with a first handle, the surface of the first handle is provided with a plurality of first rotation grooves which are uniformly distributed.

[0033] Further, the inside of the movable block is provided with a second stud, the left side of the second stud penetrates through the movable block and extends to the left side of the adjusting shell, the left side of the second stud is fixedly connected with a second handle, the surface of the second handle is provided with a plurality of second rotation grooves which are uniformly distributed.

[0034] Further, the surface of the second stud is fixedly connected with a pressing plate, the surface of the pressing plate is matched with the left side of the adjusting shell, and the two sides of the adjusting shell are provided with second openings matched with the second stud.

[0035] The beneficial effects of the utility model are as follows:

[0036] 1. The utility model discloses a workbench, support frame, mounting hole, robot, mounting structure, adjusting structure and placing disc are set up, use mounting structure to fix workpiece at different positions, adjust the position of placing disc through adjusting structure, make robot can repeatedly track route practice, solve the problem that the workpiece position of current robot track route practice can not be adjusted.

[0037] 2. The utility model discloses a mounting structure is set up, and the mounting plate is placed on the workbench, and the first stud passes through the workbench and mounting plate, and is fixed through the nut, reaches the purpose that mounting plate is fixed at different positions, and the support is supported to adjusting structure, and the adjusting structure is conveniently installed at different workbench positions.

[0038] 3. The utility model discloses a adjusting structure is set up, and the rotation screw rod is used in cooperation with adjusting shell, and the screw rod can drive movable block to move in the inside of adjusting shell, and movable block drives placing disc to move, reaches the purpose that the position of placing disc is adjusted.

[0039] 4. The utility model discloses a hanging block and recess are set up, can make hanging block hang at the bottom of workbench, and recess can conveniently make hanging block pass mounting hole, through ninety degree rotation hanging block, make hanging block be stuck below workbench, increase the stability of structural fixation.

[0040] 5. The utility model discloses a bearing and first opening are set up, and conveniently, the screw rod drives movable block to move through bearing, and first opening can conveniently move movable block, and movable block is limited.

[0041] 6. The utility model discloses a threaded seat, first handle and first rotary groove are set up, can increase the stability between screw rod and adjusting shell, increase the service life of structure, and first handle can conveniently rotate screw rod, and first rotary groove can increase the friction of user's hand and first handle, and conveniently rotate first handle.

[0042] 7. The utility model discloses a second stud, second handle and second rotary groove are set up, can rotate second handle, and second handle drives second stud to rotate through rotating second handle, and can mark the position through the number of screwing in second stud, and second rotary groove can increase the friction of user's hand and second handle.

[0043] 8. The utility model discloses a pressing plate and second opening are set up, can reach the purpose that pressing plate and adjusting shell contact fixed through rotating second handle, and second opening can conveniently move second stud. DRAWINGS

[0044] The drawings are used to provide further understanding of the utility model, and constitute a part of the specification, are used to explain the utility model with the embodiments of the utility model, and do not constitute the limitation to the utility model. In the drawings:

[0045] Figure 1 It is a structural schematic view of the utility model.

[0046] Figure 2 It is a three-dimensional schematic view of the installation structure and the adjusting structure.

[0047] Figure 3 It is a three-dimensional schematic view of the installation structure.

[0048] Figure 4 It is a sectional view of the adjusting shell.

[0049] Figure 5 It is Figure 4 It is a local enlarged view of A in the middle.

[0050] In the figure: 1, workbench; 2, support frame; 3, mounting hole; 4, robot; 5, placing disc; 6, mounting plate; 7, first stud; 8, disc; 9, nut; 10, support; 11, adjusting shell; 12, movable block; 13, screw rod; 14, hanging block; 15, groove; 16, bearing; 17, first opening; 18, threaded seat; 19, first handle; 20, first rotation groove; 21, second stud; 22, second handle; 23, second rotation groove; 24, pressing plate; 25, second opening. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. In order to understand the technical contents of the utility model more clearly, specific embodiments are shown and described below with reference to the accompanying drawings. In the disclosure, various aspects of the utility model are described with reference to the accompanying drawings, and many embodiments are shown in the drawings. It should be understood that the various concepts and embodiments introduced above, and those concepts and embodiments described in more detail below can be implemented in any one of many ways. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0052] Please refer to Figure 1 , Figure 1 It is a structural schematic view of the utility model.

[0053] A robot trajectory route practice platform, including workbench 1, the bottom of workbench 1 is fixedly connected with support frame 2, the surface of workbench 1 is provided with mounting hole 3, and the rear side of the top of workbench 1 is detachably installed with robot 4;

[0054] The top of workbench 1 is provided with installation structure used in cooperation with mounting hole 3;

[0055] The top of the mounting structure is fixedly connected with an adjusting structure, and the top of the adjusting structure is fixedly connected with the placing disc 5.

[0056] Please refer to Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , Figure 2 is a perspective view of the mounting structure and the adjusting structure; Figure 3 is a perspective view of the mounting structure; Figure 4 is a sectional perspective view of the adjusting shell; Figure 5 is Figure 4 a local enlarged view at A in FIG.

[0057] The mounting structure comprises a mounting plate 6, the bottom of the mounting plate 6 is in contact with the top of the workbench 1, the front side and the rear side inside the mounting plate 6 are both provided with a first stud 7, the bottom of the first stud 7 penetrates through the workbench 1 and extends to the bottom of the workbench 1, the bottom of the first stud 7 is fixedly connected with a disc 8, the top of the mounting plate 6 is provided with a nut 9, the inside of the nut 9 is threadedly connected with the surface of the first stud 7, the top of the mounting plate 6 is fixedly connected with a support 10, the top of the support 10 is fixedly connected with the bottom of the adjusting structure, the mounting plate 6 is placed on the workbench 1, the first stud 7 penetrates through the workbench 1 and the mounting plate 6 and is fixed through the nut 9, so as to fix the mounting plate 6 at different positions, and the support 10 supports the adjusting structure, so as to facilitate the installation of the adjusting structure at different positions of the workbench 1.

[0058] The adjusting structure comprises an adjusting shell 11, the bottom of the adjusting shell 11 is fixedly connected with the top of the support 10, the inside of the adjusting shell 11 is movably connected with a movable block 12, the top of the movable block 12 penetrates through the adjusting shell 11 and extends to the top of the adjusting shell 11, the top of the movable block 12 is fixedly connected with the bottom of the placing disc 5, the front side of the movable block 12 is movably connected with a screw rod 13, the front side of the screw rod 13 penetrates through the adjusting shell 11 and extends to the front side of the adjusting shell 11, the surface of the screw rod 13 is threadedly connected with the inside of the adjusting shell 11, the screw rod 13 is rotated, the screw rod 13 is used in cooperation with the adjusting shell 11, the screw rod 13 can drive the movable block 12 to move inside the adjusting shell 11, the movable block 12 drives the placing disc 5 to move, so as to adjust the position of the placing disc 5.

[0059] Both sides of the disc 8 are fixedly connected with a hanging block 14, the front side and the rear side of the mounting hole 3 are both provided with a groove 15 used in cooperation with the hanging block 14, so that the hanging block 14 can be hung at the bottom of the workbench 1, the groove 15 can facilitate the passing of the hanging block 14 through the mounting hole 3, the hanging block 14 is clamped under the workbench 1 by rotating the hanging block 14 by 90 degrees, so as to increase the stability of the structure.

[0060] The rear side of the screw rod 13 is fixedly connected with a bearing 16, the rear side of the bearing 16 is fixedly connected with the front side of the movable block 12, the top of the adjusting shell 11 is provided with a first opening 17 matched with the movable block 12, so that the screw rod 13 drives the movable block 12 to move through the bearing 16, and the first opening 17 facilitates the movement of the movable block 12 and limits the movable block 12.

[0061] The surface of the screw rod 13 is threadedly connected with a threaded seat 18, the surface of the threaded seat 18 is fixedly connected with the inside of the adjusting shell 11, the front side of the screw rod 13 is fixedly connected with a first handle 19, the surface of the first handle 19 is provided with a first rotation groove 20, the number of the first rotation groove 20 is several, and the first rotation groove 20 is uniformly distributed, so that the stability between the screw rod 13 and the adjusting shell 11 is increased, the service life of the structure is increased, the first handle 19 facilitates the rotation of the screw rod 13, and the first rotation groove 20 increases the friction between the hands of the user and the first handle 19, so that the first handle 19 is conveniently rotated.

[0062] The inside of the movable block 12 is provided with a second stud 21, the left side of the second stud 21 penetrates through the movable block 12 and extends to the left side of the adjusting shell 11, the left side of the second stud 21 is fixedly connected with a second handle 22, the surface of the second handle 22 is provided with a second rotation groove 23, the number of the second rotation groove 23 is several, and the second rotation groove 23 is uniformly distributed, so that the second handle 22 drives the second stud 21 to rotate by rotating the second handle 22, the position is marked by the number of the second stud 21, and the second rotation groove 23 increases the friction between the hands of the user and the second handle 22.

[0063] The surface of the second stud 21 is fixedly connected with a pressing plate 24, the surface of the pressing plate 24 is matched with the left side of the adjusting shell 11, both sides of the adjusting shell 11 are provided with a second opening 25 matched with the second stud 21, the second handle 22 is rotated to achieve the purpose that the pressing plate 24 is in contact with the adjusting shell 11, and the second opening 25 facilitates the movement of the second stud 21.

[0064] Working principle: when the robot 4 needs to be practiced on the track route, the mounting plate 6 is placed on the workbench 1, the first stud 7 passes through the workbench 1 and the mounting plate 6, the hanging block 14 is clamped under the workbench 1 by rotating 90 degrees, the stability of the structure is increased, and the mounting plate 6 is fixed in different positions by the nut 9, the support 10 supports the adjusting structure, the first rotating handle 19 is rotated, the first rotating handle 19 drives the screw rod 13 to rotate, the screw rod 13 is used in cooperation with the threaded seat 18, the screw rod 13 can drive the bearing 16 to move, the bearing 16 drives the movable block 12 to move in the inside of the adjusting shell 11, the movable block 12 drives the placing disc 5 to move, the purpose of adjusting the position of the workpiece in the placing disc 5 is achieved, and the robot 4 can be practiced on different track routes by placing the workpiece in different positions.

[0065] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions.

[0066] Although the present application has been disclosed in connection with the preferred embodiments shown, it should be understood that certain modifications would be readily apparent to those skilled in the art, and this application is intended to embrace those modifications which fall within the scope of the appended claims.

Claims

1. A robotic trajectory routing exercise platform comprising a workbench (1), characterized in that: The bottom of the workbench (1) is fixedly connected with a support frame (2), the surface of the workbench (1) is provided with a mounting hole (3), and the rear side of the top of the workbench (1) is detachably installed with a robot (4). The top of the workbench (1) is provided with a mounting structure used in cooperation with the mounting hole (3); The top of the mounting structure is fixedly connected with an adjusting structure, and the top of the adjusting structure is fixedly connected with a placing disc (5).

2. The robotic trajectory routing practice platform of claim 1, wherein: The mounting structure comprises a mounting plate (6), the bottom of the mounting plate (6) is in contact with the top of the workbench (1), the front side and the rear side of the inside of the mounting plate (6) are provided with first studs (7), the bottom of the first stud (7) penetrates through the workbench (1) and extends to the bottom of the workbench (1), the bottom of the first stud (7) is fixedly connected with a disc (8), the top of the mounting plate (6) is provided with a nut (9), the inside of the nut (9) is threadedly connected with the surface of the first stud (7), the top of the mounting plate (6) is fixedly connected with a support (10), and the top of the support (10) is fixedly connected with the bottom of the adjusting structure.

3. The robotic trajectory routing practice platform of claim 2, wherein: The adjusting structure comprises an adjusting shell (11), the bottom of the adjusting shell (11) is fixedly connected with the top of the support (10), the inside of the adjusting shell (11) is movably connected with a movable block (12), the top of the movable block (12) penetrates through the adjusting shell (11) and extends to the top of the adjusting shell (11), the top of the movable block (12) is fixedly connected with the bottom of the placing disc (5), the front side of the movable block (12) is movably connected with a screw rod (13), the front side of the screw rod (13) penetrates through the adjusting shell (11) and extends to the front side of the adjusting shell (11), and the surface of the screw rod (13) is threadedly connected with the inside of the adjusting shell (11).

4. The robotic trajectory routing practice platform of claim 2, wherein: Both sides of the disc (8) are fixedly connected with hanging blocks (14), and the front side and the rear side of the mounting hole (3) are provided with grooves (15) used in cooperation with the hanging blocks (14).

5. The robotic trajectory routing practice platform of claim 3, wherein: The rear side of the surface of the screw rod (13) is fixedly connected with a bearing (16), the rear side of the bearing (16) is fixedly connected with the front side of the movable block (12), and the top of the adjusting shell (11) is provided with a first opening (17) used in cooperation with the movable block (12).

6. The robotic trajectory routing practice platform of claim 3, wherein: The surface of the screw rod (13) is threadedly connected with a threaded seat (18), the surface of the threaded seat (18) is fixedly connected with the inside of the adjusting shell (11), the front side of the screw rod (13) is fixedly connected with a first handle (19), the surface of the first handle (19) is provided with a first rotation groove (20), the number of the first rotation groove (20) is several, and they are uniformly distributed.

7. The robotic trajectory routing practice platform of claim 3, wherein: The inside of the movable block (12) is provided with a second stud (21), the left side of the second stud (21) penetrates through the movable block (12) and extends to the left side of the adjusting shell (11), the left side of the second stud (21) is fixedly connected with a second handle (22), the surface of the second handle (22) is provided with a second rotation groove (23), the number of the second rotation groove (23) is several, and they are uniformly distributed.

8. The robotic trajectory routing practice platform of claim 7, wherein: The surface of the second stud (21) is fixedly connected with a pressing plate (24), the surface of the pressing plate (24) is matched with the left side of the adjusting shell (11), and the two sides of the adjusting shell (11) are both provided with a second opening (25) matched with the second stud (21).

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