Robot joint detection mechanism

Abstract

The utility model relates to the technical field of robot detection, in particular to a robot joint detection mechanism which comprises a supporting plate, a groove is formed in the outer side of the supporting plate, the bottom of the inner wall of the groove is rotationally connected with a pair of gear rings, the bottom of the inner wall of the groove is rotationally connected with gears meshed with the gear rings, and the gears are meshed with the gear rings. A detection assembly is arranged on the outer side of the gear ring; the detection assembly comprises a rotating rod rotationally connected with the inner side of the gear ring, the top end of the rotating rod is fixedly connected with a threaded rod, the outer side of the threaded rod is in threaded connection with a sliding block, and a laser distance measuring sensor is arranged on the outer side of the sliding block. Through cooperative arrangement of the motor, the gear, the gear ring, the rotating rod, the threaded rod, the sliding block and the laser distance measuring sensor, the horizontal position of the laser distance measuring sensor can be adjusted conveniently, through cooperative arrangement of the motor, the rotating rod and the threaded rod, the height of the laser distance measuring sensor can be adjusted conveniently, and the situation that the laser distance measuring sensor is shielded by robot arm operation is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot detection technical field, especially a kind of robot joint detection mechanism. BACKGROUND

[0002] In the production process of industrial robot, joint detection mechanism is used for the quality detection of robot joint before leaving factory. Through the detection of parameters such as position accuracy, speed performance, torque bearing capacity of joint, it is ensured that each robot joint meets design standard, so as to guarantee the performance and quality of robot as a whole, laser ranging sensor will be used to detect the straight-line distance between each part joint.

[0003] For the related technology in the above, the defects of the existing joint detection device are that the position of laser ranging sensor is usually fixedly arranged, since robot arm will swing in the working process, it will cause shielding, affect detection accuracy, therefore, the utility model provides a kind of robot joint detection mechanism. UTILITY MODEL CONTENT

[0004] The purpose of the present application is to provide a kind of robot joint detection mechanism, to solve the problem that the position of laser ranging sensor is usually fixedly arranged in the above background art, since robot arm will swing in the working process, it will cause shielding, affect detection accuracy.

[0005] To achieve the above object, the present application provides the following technical scheme: a kind of robot joint detection mechanism, including support plate, the outer side of the support plate is provided with recess, the inner wall bottom of the recess is rotatably connected with a pair of gear rings, the inner wall bottom of the recess is rotatably connected with the gear ring engaged with the gear ring, the outer side of the gear ring is provided with detection assembly;The detection assembly includes the rotation rod rotatably connected with the inner side of the gear ring, the top of the rotation rod is fixedly connected with threaded rod, the outer side of the threaded rod is connected with sliding block, the outer side of the sliding block is provided with laser ranging sensor.

[0006] Preferably, the top of the gear ring is fixedly connected with guide rod, the outer side of the sliding block is fixedly connected with guide block, the guide rod passes through the guide block.

[0007] Preferably, the bottom of the support plate is fixedly connected with fixed frame, the inner wall of the fixed frame is fixedly connected with motor, the output end of the motor is fixedly connected with the rotation rod, the outer side of the support plate is provided with the sliding slot matched with the rotation rod.

[0008] Preferably, the top of the guide rod is fixedly connected with connecting frame, the threaded rod is rotatably connected with the inner wall of the connecting frame.

[0009] Preferably, the bottom of the support plate is fixedly connected with a pair of support frames made of stainless steel.

[0010] Preferably, the inner side of the gear ring is provided with a groove hole matched with the rotating rod, and the outer side of the support plate is detachably connected with a shielding plate matched with the groove.

[0011] Preferably, the bottom of the support plate is fixedly connected with a bearing frame, the inner wall of the bearing frame is fixedly connected with a motor, the output end of the motor penetrates through the support plate, and the output end of the motor is fixedly connected with the gear.

[0012] In conclusion, the technical effects and advantages of the utility model are as follows:

[0013] 1. In the utility model, the horizontal position of the laser ranging sensor is adjusted through the cooperation of the motor, the gear, the gear ring, the rotating rod, the threaded rod, the sliding block and the laser ranging sensor, the height of the laser ranging sensor is adjusted through the cooperation of the motor, the rotating rod and the threaded rod, the laser ranging sensor is more flexible to use, and the shielding of the laser ranging sensor by the robot arm operation is avoided.

[0014] 2. In the utility model, the cooperation of the sliding block, the guide block and the guide rod ensures that the sliding block does not deviate or shake during movement, the outer side of the support plate is detachably connected with a shielding plate matched with the groove, the shielding plate can shield the groove, plays a role in protecting the internal structure, and the detachable connection facilitates the installation and disassembly of the shielding plate, and facilitates maintenance and repair. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 It is a first perspective view of the axial side structure of the utility model;

[0017] Figure 2 It is a second perspective view of the axial side structure of the utility model;

[0018] Figure 3 It is a structure diagram of the fixed frame and the motor in the utility model;

[0019] Figure 4 It is Figure 2 the enlarged structure diagram of A in the utility model.

[0020] In the figure: 1, support plate; 2, groove; 3, shielding plate; 4, gear ring; 5, gear; 6, fixed frame; 7, motor; 8, rotating rod; 9, threaded rod; 10, sliding block; 11, connecting frame; 12, guide rod; 13, guide block; 14, support frame; 15, sliding slot; 16, slot hole; 17, motor; 18, bearing frame. DETAILED DESCRIPTION

[0021] 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. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. 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.

[0022] In the description of the utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood in a broad sense. For example, "connected" can be fixedly connected, or can be detachably connected, or integrally connected. It can be mechanically connected, or electrically connected. It can be directly connected, or indirectly connected through an intermediate medium. It can be the communication inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the utility model according to the specific circumstances.

[0023] Embodiment one: reference Figures 1-4The robot joint detection mechanism shown comprises a support plate 1, which plays a main supporting role and provides a stable mounting base for the whole detection mechanism, the outer side of the support plate 1 is provided with a groove 2, which provides a spatial position for the installation of subsequent components, the inner wall bottom of the groove 2 is rotationally connected with a pair of gear rings 4, the gear rings 4 serve as transmission components and can rotate under the action of power, thereby driving the relevant detection components to move and realizing detection at different positions, the inner wall bottom of the groove 2 is rotationally connected with a gear 5 meshing with the gear rings 4, the gear 5 can be driven by the meshing transmission with the gear rings 4 to provide power for the rotation of the gear rings 4 and control the rotating direction and speed of the gear rings 4; the outer side of the gear rings 4 is provided with a detection component; the detection component comprises a rotating rod 8 rotationally connected with the inner side of the gear rings 4, the rotating rod 8 serves as a connecting and transmission component to transmit the power of a motor 7 to a threaded rod 9 and also provide support for the threaded rod 9, the top end of the rotating rod 8 is fixedly connected with the threaded rod 9, the threaded rod 9 rotates under the driving of the rotating rod 8, moves the sliding block 10 through the threaded connection, and realizes adjustment of the detection position, the outer side of the threaded rod 9 is threadedly connected with the sliding block 10, the sliding block 10 serves as a carrier for the installation of a laser ranging sensor and can accurately move under the action of the threaded rod 9, thereby adjusting the position of the laser ranging sensor to adapt to different detection requirements, the outer side of the sliding block 10 is provided with the laser ranging sensor, the laser ranging sensor can accurately measure the distance between the laser ranging sensor and the detected object and provide key data for the detection of the robot joint, the top of the gear rings 4 is fixedly connected with a guide rod 12, the guide rod 12 provides a guiding action for the movement of the sliding block 10 and ensures that the sliding block 10 can stably and accurately move along the predetermined direction; the outer side of the sliding block 10 is fixedly connected with a guide block 13, the guide block 13 cooperates with the guide rod 12 to ensure that the sliding block 10 will not deviate or shake during movement, the bottom of the support plate 1 is fixedly connected with a fixing frame 6, the fixing frame 6 provides a stable mounting position for the motor 7 and ensures that the motor 7 will not loosen or displace during work, the inner wall of the fixing frame 6 is fixedly connected with the motor 7, the motor 7 serves as a power source to provide power for the rotation of the rotating rod 8, thereby driving the whole detection component to work, the outer side of the support plate 1 is provided with a sliding groove 15 matched with the rotating rod 8, the sliding groove 15 provides space for the rotation and movement of the rotating rod 8 and ensures that the rotating rod 8 can work smoothly.

[0024] In this embodiment, the control motor 17 drives a pair of gear rings 4 to rotate through the gear 5, the gear rings 4 drive the sliding block 10 and the laser ranging sensor to deflect through the rotating rod 8 and the threaded rod 9, which facilitates detection of the relative position between joint components from multiple angles, the control motor 7 drives the rotating rod 8 and the threaded rod 9 to rotate, thereby realizing height adjustment of the sliding block 10 and the laser ranging sensor, which is more flexible to use and realizes that the laser ranging sensor can measure the linear distance between two components when the robot is in operation, thereby judging whether the stretching or contraction state of the joint is normal, and the detection of the robot joint is more comprehensive.

[0025] Embodiment two: reference Figures 1-4 , based on the same idea as the above embodiment one, this embodiment also proposes that the top end of the guide rod 12 is fixedly connected with the connecting frame 11, the connecting frame 11 plays the role of connecting the guide rod 12 and the threaded rod 9, so that the threaded rod 9 can be stably connected with the inner wall of the connecting frame 11, which ensures the stability of the structure and the smoothness of the movement, the bottom of the support plate 1 is fixedly connected with a pair of support frames 14, the support frames 14 are made of stainless steel, which has the characteristics of corrosion resistance, high strength and the like, the support frames 14 can provide stable support for the whole device, ensuring that the device will not shake or tilt during operation; the inner side of the gear ring 4 is provided with a groove hole 16 matched with the rotating rod 8, the groove hole 16 enables the rotating rod 8 to be closely matched with the gear ring 4, realizing the function of the rotating rod 8 driving the gear ring 4 to rotate, ensuring the accuracy and reliability of transmission, the outer side of the support plate 1 is detachably connected with a shielding plate 3 matched with the groove 2, the shielding plate 3 can shield the groove 2, playing the role of protecting the internal structure, and the detachable connection facilitates the installation and disassembly of the shielding plate 3, facilitating maintenance and overhaul; the bottom of the support plate 1 is fixedly connected with a bearing frame 18, the bearing frame 18 can bear the weight of the motor 17, providing a stable mounting position for the motor 17. The inner wall of the bearing frame 18 is fixedly connected with the motor 17, the output end of the motor 17 penetrates the support plate 1, the output end of the motor 17 is fixedly connected with the gear 5, and the motor 17 provides power for the whole device, so that the gear 5 can rotate, thereby driving other components to move.

[0026] Finally, it should be pointed out that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A robot joint detection mechanism comprising a support plate (1), characterized in that: The outer side of the support plate (1) is provided with a groove (2), the inner wall bottom of the groove (2) is rotatably connected with a pair of tooth rings (4), the inner wall bottom of the groove (2) is rotatably connected with a gear (5) engaged with the tooth ring (4), and the outer side of the tooth ring (4) is provided with a detection assembly; The detection assembly comprises a rotating rod (8) rotatably connected to the inner side of the tooth ring (4), a threaded rod (9) fixedly connected to the top end of the rotating rod (8), a sliding block (10) threadedly connected to the outer side of the threaded rod (9), and a laser ranging sensor provided on the outer side of the sliding block (10).

2. The robot joint detection mechanism of claim 1, wherein: The top of the tooth ring (4) is fixedly connected with a guide rod (12), and the outer side of the sliding block (10) is fixedly connected with a guide block (13), and the guide rod (12) penetrates the guide block (13).

3. A robot joint detection mechanism according to claim 2, wherein: The bottom of the support plate (1) is fixedly connected with a fixed frame (6), the inner wall of the fixed frame (6) is fixedly connected with a motor (7), the output end of the motor (7) is fixedly connected with the rotating rod (8), and the outer side of the support plate (1) is provided with a sliding groove (15) matched with the rotating rod (8).

4. A robot joint detection mechanism according to claim 3, wherein: The top end of the guide rod (12) is fixedly connected with a connecting frame (11), and the threaded rod (9) is rotatably connected with the inner wall of the connecting frame (11).

5. A robot joint detection mechanism according to claim 4, wherein: The bottom of the support plate (1) is fixedly connected with a pair of support frames (14), and the support frame (14) is made of stainless steel frame.

6. The robot joint detection mechanism of claim 1, wherein: The inner side of the tooth ring (4) is provided with a slot hole (16) matched with the rotating rod (8), and the outer side of the support plate (1) is detachably connected with a shielding plate (3) matched with the groove (2).

7. A robot joint detection mechanism according to claim 6, wherein: The bottom of the support plate (1) is fixedly connected with a bearing frame (18), the inner wall of the bearing frame (18) is fixedly connected with an electric motor (17), The output end of the electric motor (17) penetrates the support plate (1), The output end of the electric motor (17) is fixedly connected with the gear (5).

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