Industrial robot motion trajectory testing device

Abstract

The utility model discloses an industrial robot motion trail testing arrangement belongs to robot testing technical field, including sleeve, sleeve rotation is arranged on the chassis, and sleeve with the coaxial of chassis, the upper surface of sleeve top parallelly arranged has the connecting rod, and the end fixedly connected with the camera of connecting rod, the coaxial of robot main body is arranged on the chassis, and camera is in the mechanical arm motion trail of robot main body outside, still include, positioning assembly is used for making sleeve synchronous rotation with robot main body, and adjusting assembly is used for adjusting the interval of camera and robot main body, the utility model discloses can effectively avoid the camera being shielded in the testing process.

Description

Technical Field

[0001] This utility model belongs to the field of robot testing technology, and in particular relates to an industrial robot motion trajectory testing device. Background Technology

[0002] Testing the motion trajectory of industrial robots is to ensure their accuracy, efficiency, and safety in practical applications, thereby defining their safety range and avoiding collisions during operation. Since cameras are needed to record the motion trajectory during testing, the robot's robotic arm primarily achieves circumferential displacement through the rotation of its main body. This causes the robot's main body to obstruct the view of the robotic arm at its end during rotation, preventing the camera from capturing the motion trajectory of the end-effector. Therefore, a testing device that prevents camera obstruction is proposed. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides an industrial robot motion trajectory testing device, which solves the aforementioned problems.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an industrial robot motion trajectory testing device, comprising a sleeve rotatably mounted on a chassis and coaxial with the chassis, a connecting rod parallel to the upper surface of the sleeve, and a camera fixedly connected to the end of the connecting rod, a robot body coaxially mounted on the chassis, and the camera positioned outside the mechanical arm motion trajectory of the robot body; further comprising a positioning component for synchronizing the rotation of the sleeve with the robot body; and an adjustment component for adjusting the distance between the camera and the robot body.

[0005] Beneficial effects

[0006] This utility model provides an industrial robot motion trajectory testing device, which has the following advantages compared with the prior art:

[0007] The user starts the motor, causing the robotic arm at the end of the robot to rotate directly above the camera. The user then starts motor A, causing the transmission gear fixed to the output shaft of motor A to rotate at a constant speed. At this time, the gear ring, in cooperation with the meshing transmission gear, also begins to rotate at a constant speed. This rotation of the gear ring, in turn, drives the shaft fixed to its center to rotate at a constant speed. Simultaneously, the multiple cams surrounding the robot begin to rotate synchronously, causing their protrusions to gradually contact the outer wall of the robot. Before the cams have rotated a certain degree, all cams simultaneously contact the outer wall of the robot. The user then continues to start motor A, causing the multiple cams to cooperate and press firmly against the outer wall of the robot until the cams reach their contact points with the robot. When the rubber pads deform, the user can turn off motor A. Since motor A has a self-locking effect, it also provides a limiting function for the cams after entering standby mode, keeping them pressed against the cams. This allows multiple cams to work together to clamp the robot body. The user can then start the motor to rotate the robot body, causing the multiple cams to rotate synchronously. Because the cams are mounted on the sleeve, the sleeve rotates synchronously with the robot body, ensuring the camera is always positioned to the side of the robot body. This prevents the camera and the robotic arm at the end of the robot from being positioned on opposite sides during rotation, which would obstruct the view of the robotic arm and prevent the camera from effectively capturing the movement of the robotic arm. Attached Figure Description

[0008] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0009] Figure 2 This utility model Figure 1 An enlarged schematic diagram of structure A in the image.

[0010] Figure 3 This is a top view of the structure of this utility model.

[0011] Figure reference numerals: chassis 101, sleeve 201, connecting rod 202, camera 203, base rod 204, sliding sleeve 205, bolt 206, robot body 207, motor 208, collar 209, cam 301, shaft 302, gear 303, gear ring 304, transmission gear 305, motor A 306, bolt B 307. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0013] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0014] Please see Figures 1-3 This invention provides an embodiment of an industrial robot motion trajectory testing device, comprising a sleeve 201, which is rotatably mounted on a chassis 101 and coaxial with the chassis 101. A connecting rod 202 is arranged parallel above the upper surface of the sleeve 201, and a camera 203 is fixedly connected to the end of the connecting rod 202. A robot body 207 is coaxially mounted on the chassis 101, and the camera 203 is located outside the mechanical arm motion trajectory of the robot body 207.

[0015] It also includes a positioning component for making the sleeve 201 rotate synchronously with the robot body 207; and an adjustment component for adjusting the distance between the camera 203 and the robot body 207.

[0016] Regarding the above examples, those skilled in the art should understand that the implementation of the above technical solutions is not limited to the specific chassis 101 described in the above embodiments. For example, the chassis 101 is provided with a counterweight at the bottom. The purpose of this arrangement is to increase the stability of the chassis 101 and prevent the chassis 101 from tilting during the rotation of the robot body 207. The camera 203 can be selected from various models such as Nikoni GPSLS-V2, Leica AT960LR, or Baslerace2acA4112-30gc.

[0017] Specifically, the robot body 207 is rotatably connected to the output shaft of the motor 208, and the motor 208 is located inside the collar 209. The collar 209 is fixedly connected to the chassis 101, and a bolt B307 is threaded into the collar 209. The end of the bolt B307 abuts against the outer wall of the motor 208.

[0018] Specifically, the positioning component includes a cam 301 and a shaft 302. Multiple cams 301 are symmetrically arranged around the outside of the robot body 207, and all of the multiple cams 301 are in the same horizontal plane. The shaft 302 is fixedly connected to its corresponding cam 301, and the multiple shafts 302 are rotatably connected to the sleeve 201.

[0019] It also includes a transmission assembly for rotating the cam 301 to contact the robot body 207.

[0020] Regarding the above examples, those skilled in the art should know that the implementation of the above technical solutions is not limited to the specific cam 301 described in the above embodiments. For example, the parts of the multiple cams 301 that are used to contact the robot body 207 are provided with anti-slip rubber pads. The purpose of this setting is to increase the stability of their contact with the robot body 207, thereby facilitating the multiple cams 301 to cooperate with each other to apply pressure to the robot body 207.

[0021] Specifically, the transmission assembly includes a gear 303 and a gear ring 304. The gear ring 304 is rotatably connected to the inner wall of the upper surface of the sleeve 201, and multiple gears 303 are meshed with the gear ring 304.

[0022] It also includes a drive assembly for making the gear ring 304 rotate at a constant speed.

[0023] Specifically, a transmission gear 305 is meshed with the inner side of the gear ring 304, and the transmission gear 305 is fixedly connected to the output shaft of the motor A306. The motor A306 is fixedly connected to the sleeve 201.

[0024] For the above examples, those skilled in the art should know that the implementation of the above technical solutions is not limited to the specific motor A306 described in the above embodiments. For example, the motor A306 should be set as a motor with a self-locking effect. The purpose of this setting is to facilitate the increase of its rotation limit effect on the cam 301, thereby preventing it from disengaging from the robot body 207.

[0025] Specifically, the adjustment assembly includes a base rod 204 and a sliding sleeve 205. The connecting rod 202 extends through the axis of the sliding sleeve 205, and the sliding sleeve 205 is slidably connected to the connecting rod 202. The sliding sleeve 205 is horizontally fixedly connected to the top of the base rod 204, and the base rod 204 is vertically fixedly connected to the eccentric part of the sleeve 201.

[0026] For the above examples, those skilled in the art should know that the implementation of the above technical solutions is not limited to the specific connecting rod 202 described in the above embodiments. For example, the connecting rod 202 should be tightly fitted to the inner wall of the sliding sleeve 205. The purpose of this arrangement is to facilitate the avoidance of the connecting rod 202 from becoming skewed.

[0027] Specifically, the sliding sleeve 205 is threaded with a bolt 206, and the end of the bolt 206 abuts against the outer wall of the connecting rod 202.

[0028] For the above examples, those skilled in the art should know that the implementation of the above technical solutions is not limited to the specific bolt 206 described in the above embodiments. For example, the end of the bolt 206 is provided with a damping pad. The purpose of this arrangement is to increase the stability of its connection with the connecting rod 202.

[0029] In this embodiment of the invention, the user starts motor 208, which rotates the robotic arm at the end of the robot body 207 to directly above the camera 203. The user then starts motor A306, causing the transmission gear 305 fixedly connected to the output shaft of motor A306 to rotate at a constant speed. At this time, the gear ring 304, in cooperation with the meshing transmission gear 305, begins to rotate at a constant speed. This means that multiple gears 303 meshing on the gear ring 304 begin to rotate at a constant speed, driving the shaft 302 fixedly connected to its center to rotate at a constant speed. Simultaneously, multiple cams 301 surrounding the robot body 207 begin to rotate synchronously, causing their protrusions to gradually contact the outer wall of the robot body 207. Before the cams 301 rotate 180°, they synchronously contact the outer wall of the robot body 207. The user then continues to start motor A306, causing the multiple cams 301 to cooperate and press against the outer wall of the robot body 207 until the cams 301 contact the robot body. When the rubber pads at the contact points of the main body 207 deform, the user can turn off the motor A306. Since the motor A306 has a self-locking effect, it also provides a limiting function for the cam 301 after entering standby mode, keeping it pressed against the cam 301. This allows multiple cams 301 to cooperate in clamping the robot body 207. The user can then start the motor 208 to rotate the robot body 207, causing the multiple pressed cams 301 to rotate synchronously. Because the cams 301 are mounted on the sleeve 201, the sleeve 201 can rotate synchronously with the robot body 207 with the cooperation of the multiple cams 301. This ensures that the camera 203 is always positioned to the side of the robot body 207, preventing the camera 203 and its end-mounted robotic arm from being positioned on opposite sides during the rotation of the robot body 207, thus avoiding the robot body 207 obscuring the end-mounted robotic arm and preventing the camera 203 from effectively capturing the movement of the end-mounted robotic arm.

[0030] Meanwhile, during the angle adjustment of the robot body 207, the user can pull the connecting rod 202 laterally to move the camera 203, which is fixedly connected to its end, closer to or further away from the robot body 207. This prevents the camera 203 from being within the movement trajectory of the robot body 207, thus avoiding contact with the camera 203 during rotation and causing damage. After adjusting the position of the connecting rod 202, the user should tighten the bolt 206 so that its end is pressed against the connecting rod 202, thereby increasing the stability of the connecting rod 202 fixed in the sliding sleeve 205 and preventing the connecting rod 202 from sliding during rotation.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] The term "fixed connection" as used in this application refers to a connection in which parts or components are fixed without any relative movement. This includes both detachable and non-detachable connections.

[0033] (1) Detachable connection: The components are fixed together using screws, splines, wedges, etc. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of the bolts, keys, wedges) and properly tightened.

[0034] (2) Non-removable connections: These mainly refer to welding, riveting, and tenon joints. Since disassembly requires forging, sawing, or oxyacetylene cutting for repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction and polishing) during connection.

[0035] The sliding connection referred to in this application means that the component can slide along a linear trajectory, and the hinge referred to in this application means that the component can rotate along an axial constraint.

[0036] In some cases, the sliding connection and hinge referred to in this application may also be damped, enabling the component to maintain in the desired position.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot motion trajectory testing device, characterized in that, The system includes a sleeve (201), which is rotatably mounted on a chassis (101) and coaxial with the chassis (101). A connecting rod (202) is arranged parallel above the upper surface of the sleeve (201), and a camera (203) is fixedly connected to the end of the connecting rod (202). A robot body (207) is coaxially mounted on the chassis (101), and the camera (203) is located outside the movement trajectory of the robotic arm of the robot body (207). It also includes a positioning component for synchronizing the rotation of the sleeve (201) with the robot body (207); And an adjustment component for adjusting the distance between the camera (203) and the robot body (207).

2. The industrial robot motion trajectory testing device according to claim 1, characterized in that, The robot body (207) is rotatably connected to the output shaft of the motor (208), and the motor (208) is located inside the collar (209). The collar (209) is fixedly connected to the chassis (101), and a bolt B (307) is threadedly connected in the collar (209). The end of the bolt B (307) abuts against the outer wall of the motor (208).

3. The industrial robot motion trajectory testing device according to claim 1, characterized in that, The positioning component includes a cam (301) and a shaft (302). Multiple cams (301) are symmetrically arranged around the outside of the robot body (207), and all multiple cams (301) are in the same horizontal plane. The shaft (302) is fixedly connected to its corresponding cam (301), and the multiple shafts (302) are rotatably connected to the sleeve (201). It also includes a transmission assembly for rotating the cam (301) to contact the robot body (207).

4. The industrial robot motion trajectory testing device according to claim 3, characterized in that, The transmission assembly includes gears (303) and gear rings (304), the gear rings (304) being rotatably connected to the inner wall of the upper surface of the sleeve (201), and a plurality of gears (303) being meshed with the gear rings (304); It also includes a drive assembly for making the gear ring (304) rotate at a constant speed.

5. The industrial robot motion trajectory testing device according to claim 4, characterized in that, The gear ring (304) is meshed with a transmission gear (305) on its inner side, and the transmission gear (305) is fixedly connected to the output shaft of the motor A (306). The motor A (306) is fixedly connected to the sleeve (201).

6. The industrial robot motion trajectory testing device according to claim 1, characterized in that, The adjusting assembly includes a base rod (204) and a sliding sleeve (205). The connecting rod (202) extends through the axis of the sliding sleeve (205), and the sliding sleeve (205) is slidably connected to the connecting rod (202). The sliding sleeve (205) is horizontally fixedly connected to the top of the base rod (204), and the base rod (204) is vertically fixedly connected to the eccentric part of the sleeve (201).

7. The industrial robot motion trajectory testing device according to claim 6, characterized in that, The sliding sleeve (205) is threaded with a bolt (206), and the end of the bolt (206) abuts against the outer wall of the connecting rod (202).

8. The industrial robot motion trajectory testing device according to claim 7, characterized in that, The bolt (206) is provided with a damping rubber pad at its end.

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