Robotic hand adjustment platform

Abstract

The utility model relates to debugging device technical field especially is mechanical hand debugging platform, including debugging component, debugging component includes crossbeam and two position adjustment module, position adjustment module includes base, a plurality of gyro wheel, lifting drive mechanism, lifting platform, Y axis drive mechanism, Z axis drive mechanism, Z axis sliding block and X axis drive mechanism, the both ends of crossbeam are respectively installed in the Z axis sliding block of two position adjustment module, X axis drive mechanism is provided with one or more X axis sliding blocks, and X axis sliding block can move along crossbeam, base is equipped with a plurality of guide sleeves, the bottom surface of lifting platform is equipped with a plurality of lifting rods, a plurality of guide sleeves are set up with a plurality of lifting rods one to one respectively, and lifting rod sliding penetrates guide sleeve, and the bottom end of lifting rod is equipped with support foot, and support foot is located below base. The application can be on line and debugs mechanical hand, shortens the debugging and installation time of mechanical hand, improves production efficiency, and the movement of position adjustment module is convenient, and convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of debugging device technology, and in particular to a robotic arm debugging platform. Background Technology

[0002] In modern manufacturing, especially in automated production fields such as injection molding and die casting, mold robots (also known as "parts-picking robots" or "end-arm tools") have become indispensable core equipment. Their main responsibility is to quickly and accurately remove the molded product from the mold cavity and place it in a designated location after the mold is opened. Their performance directly affects the efficiency, stability, and product yield of the production line.

[0003] Currently, the industry generally adopts an "online debugging" mode for the installation and debugging of mold robotic arms. The specific process is as follows: when a new mold or a repaired mold needs to be put into operation, the entire production line must be stopped, and the robotic arm is actually installed on the injection molding machine or die-casting machine. Subsequently, technicians, in a real production environment, gradually set and optimize various parameters such as the robotic arm's motion trajectory, part-picking position, placement angle, and timing coordination through a "trial run-adjustment-re-trial run" process. This process often needs to be repeated multiple times until the robotic arm's movements can perfectly coordinate with the mold opening and closing, ejector pin movement, etc., and can stably and without damage remove the product. This traditional online debugging method has many significant drawbacks: 1. It seriously affects production progress, causing huge economic losses; 2. The debugging window is tight, and the working environment is harsh; 3. Any minor modification to the program requires re-testing and verification, resulting in high development and verification costs.

[0004] In existing technologies, robotic arms are also debugged online and offline through a debugging platform. For example, Chinese patent application number 202020130361.9 discloses a robotic arm debugging device, which includes a machine base, two robotic arms disposed opposite to each other on the machine base, and a mold placement mechanism located between the two robotic arms. The robotic arms include holding members and a drive module for driving the holding members to move. The two holding members are respectively facing the mold placement mechanism. The mold placement mechanism includes multiple support members movably disposed on the machine base for supporting the mold. Furthermore, Chinese patent application number 202220479789.3 discloses a robotic arm debugging platform, including a platform body, a first limiting frame, and a second limiting frame. Both ends of the platform body are welded with a first fixing frame and a second fixing frame. A second lead screw is installed on the inner wall of the first fixing frame, and a first lead screw is installed on the inner wall of the second fixing frame. Both ends of the first limiting frame are welded with a second connecting frame, and a fourth lead screw is installed on the inner wall of the second connecting frame. Both ends of the second limiting frame are welded with a first connecting frame, and a third lead screw is installed on the inner wall of the first connecting frame. A first fixing block is slidably sleeved on the first limiting frame, and a second fixing block is slidably sleeved on the second limiting frame. The robotic arm body is installed on the inner walls of both the first and second fixing blocks. While both patents enable the debugging of the robotic arm, their movement is inconvenient, hindering position adjustment and transfer.

[0005] Therefore, the defects are very obvious, and a solution is urgently needed. Utility Model Content

[0006] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a robotic arm debugging platform.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm debugging platform includes a debugging component, which comprises a crossbeam and two position adjustment modules. Each position adjustment module includes a base, multiple rollers mounted on the bottom surface of the base, a lifting drive mechanism mounted on the base, a lifting platform mounted on the lifting end of the lifting drive mechanism, a Y-axis drive mechanism mounted on the lifting platform, a Z-axis drive mechanism mounted on the drive end of the Y-axis drive mechanism, a Z-axis slider mounted on the drive end of the Z-axis drive mechanism, and an X-axis drive mechanism mounted on the crossbeam. Z-axis sliders from the two position adjustment modules are mounted at both ends of the crossbeam. The X-axis drive mechanism has one or more X-axis sliders that can move along the crossbeam and are used to mount one or more robotic arms. The base has multiple guide sleeves, and the bottom surface of the lifting platform has multiple lifting rods. Each guide sleeve corresponds to one lifting rod, and the lifting rods slide through the guide sleeves. Each lifting rod has a support foot at its bottom, located below the base, and the support foot can extend and retract relative to the base.

[0008] Furthermore, there are two sets of debugging components, which are set in parallel and relative to each other.

[0009] Furthermore, the bottom surface of the main body of the Y-axis drive mechanism is equipped with an adjustment plate, which is connected to the lifting platform via multiple leveling components. The leveling components are used to adjust the flatness of the adjustment plate.

[0010] Furthermore, the leveling assembly includes a leveling pad installed on the lifting platform and located between the lifting platform and the adjusting plate, and a leveling screw that passes through the adjusting plate and is threadedly connected to the leveling pad.

[0011] Furthermore, the leveling assembly also includes several butterfly springs sleeved on the screw of the leveling screw, with the butterfly springs clamped between the nut of the leveling screw and the adjusting plate or between the lifting platform and the leveling pad.

[0012] Furthermore, the X-axis slider has multiple mounting holes arranged along the X-axis.

[0013] Furthermore, a mounting block is detachably mounted on the mounting hole, and a T-shaped latch protrusion is provided on one side of the mounting block.

[0014] The beneficial effects of this utility model are as follows: In practical applications, the lifting drive mechanism drives the lifting platform to rise, and the rising lifting platform drives the lifting rod and support feet to rise until multiple rollers support the base. At this time, the position adjustment module can be pushed to the target position. After each position adjustment module moves to the target position, the lifting drive mechanism drives the lifting platform, along with the lifting rod and support feet, to fall until the support feet support the base, so that the position adjustment module is stably located in the target position. Then, the required number of robotic arms are installed on the X-axis slider. The Y-axis drive mechanism drives the robotic arms to adjust their positions on the Y-axis, the Z-axis drive mechanism drives the robotic arms to adjust their positions on the Z-axis, and the X-axis drive mechanism drives the robotic arms to adjust their positions on the X-axis, so as to adjust the coordinate position of the robotic arms on the XYZ axes, so that the robotic arms meet the usage requirements, and the position information of the robotic arms at this time is recorded. Then, the robotic arms are installed on the production line equipment according to the obtained position information. This invention enables the debugging of robotic arms without affecting production line equipment. Off-line debugging shortens the debugging and installation time of robotic arms, improves production efficiency, and the position adjustment module is easy to move, which is conducive to position adjustment and transfer. It can be moved to the required position according to the actual situation and is easy to use. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention with a robotic arm installed.

[0016] Figure 2 This is a three-dimensional structural diagram of the debugging component of this utility model.

[0017] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0018] Figure 4 This is a three-dimensional structural diagram of the X-axis slider of this utility model.

[0019] Explanation of reference numerals in the attached figures: 1. Debugging component; 2. Crossbeam; 3. Position adjustment module; 4. Base; 5. Roller; 6. Lifting drive mechanism; 7. Lifting platform; 8. Y-axis drive mechanism; 9. Z-axis drive mechanism; 10. Z-axis slider; 11. X-axis drive mechanism; 12. X-axis slider; 13. Robotic arm; 14. Guide sleeve; 15. Lifting rod; 16. Support foot; 17. Adjustment plate; 18. Leveling component; 19. Leveling pad; 20. Leveling screw; 21. Mounting hole; 22. Mounting block; 23. T-shaped locking protrusion. Detailed Implementation To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0020] like Figures 1 to 4 As shown, the robotic arm debugging platform provided by this utility model includes a debugging component 1. The debugging component 1 includes a crossbeam 2 and two position adjustment modules 3. The position adjustment module 3 includes a base 4, multiple rollers 5 mounted on the bottom surface of the base 4, a lifting drive mechanism 6 mounted on the base 4, a lifting platform 7 mounted on the lifting end of the lifting drive mechanism 6, a Y-axis drive mechanism 8 mounted on the lifting platform 7, a Z-axis drive mechanism 9 mounted on the drive end of the Y-axis drive mechanism 8, a Z-axis slider 10 mounted on the drive end of the Z-axis drive mechanism 9, and an X-axis drive mechanism 11 mounted on the crossbeam 2. The two ends of the crossbeam 2 are respectively... The Z-axis slider 10 is installed on the two position adjustment modules 3. The X-axis drive mechanism 11 is provided with one or more X-axis sliders 12. The X-axis sliders 12 can move along the crossbeam 2. The X-axis sliders 12 are used to install one or more robotic arms 13. The base 4 is provided with multiple guide sleeves 14. The bottom surface of the lifting platform 7 is provided with multiple lifting rods 15. The multiple guide sleeves 14 are respectively provided with multiple lifting rods 15. The lifting rods 15 slide through the guide sleeves 14. The bottom end of each lifting rod 15 is provided with a support foot 16. The support foot 16 is located below the base 4. The support foot 16 can be extended and retracted relative to the base 4.

[0021] In practical applications, the lifting drive mechanism 6 drives the lifting platform 7 to rise, and the rising lifting platform 7 drives the lifting rod 15 and support foot 16 to rise until multiple rollers 5 support the base 4. At this time, the position adjustment module 3 can be pushed to the target position. After each position adjustment module 3 moves to the target position, the lifting drive mechanism 6 drives the lifting platform 7, along with the lifting rod 15 and support foot 16, to fall until the support foot 16 supports the base 4, so that the position adjustment module 3 is stably located in the target position. Then, the required number of robot arms 13 are installed on the X-axis slider 12. The Y-axis drive mechanism 8 drives the robot arm 13 to adjust its position on the Y-axis, the Z-axis drive mechanism 9 drives the robot arm 13 to adjust its position on the Z-axis, and the X-axis drive mechanism 11 drives the robot arm 13 to adjust its position on the X-axis, so as to adjust the coordinate position of the robot arm 13 on the XYZ axes, so that the robot arm 13 meets the usage requirements, and the position information of the robot arm 13 at this time is recorded. Then, the robot arm 13 is installed on the production line equipment according to the obtained position information. This invention enables the debugging of the robotic arm 13 without affecting the production line equipment. Offline debugging shortens the debugging and installation time of the robotic arm 13, improves production efficiency, and the position adjustment module 3 is easy to move, which is conducive to position adjustment and transfer. It can be moved to the required position according to the actual situation and is easy to use.

[0022] In this embodiment, there are two sets of debugging components 1, which are arranged in parallel and opposite directions. This structural design allows for the installation of multiple robotic arms 13, meeting the needs of simulating more complex production line application scenarios.

[0023] In this embodiment, an adjustment plate 17 is mounted on the bottom surface of the main body of the Y-axis drive mechanism 8. The adjustment plate 17 is connected to the lifting platform 7 via multiple leveling components 18, which are used to adjust the flatness of the adjustment plate 17. In practical applications, the flatness of the adjustment plate 17 is adjusted by the leveling components 18 to ensure that the installation position of the robot arm 13 is horizontal.

[0024] In this embodiment, the leveling assembly 18 includes a leveling pad 19 installed on the lifting platform 7 and located between the lifting platform 7 and the adjusting plate 17, and a leveling screw 20 that passes through the adjusting plate 17 and is threadedly connected to the leveling pad 19. Specifically, the leveling assembly 18 also includes several butterfly springs sleeved on the screw of the leveling screw 20, with the butterfly springs sandwiched between the nut of the leveling screw 20 and the adjusting plate 17 or between the lifting platform 7 and the leveling pad 19. In practical applications, the flatness of the adjusting plate 17 is adjusted by tightening or loosening the screw.

[0025] In this embodiment, the X-axis slider 12 has multiple mounting holes 21 arranged along the X-axis. Specifically, mounting blocks 22 are detachably mounted on the mounting holes 21, and a T-shaped locking protrusion 23 protrudes from one side of the mounting block 22. By mounting the mounting block 22 on the mounting holes 21 at different horizontal positions, the position of the mounting block 22 is changed, thereby changing the mounting position of the robot arm 13. The T-shaped locking protrusion 23 of the mounting block 22 quickly engages with the gourd-shaped locking hole on the mounting plate of the robot arm 13, enabling rapid installation of the robot arm 13 and the mounting block 22.

[0026] All technical features in this embodiment can be freely combined according to actual needs.

[0027] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A robotic arm debugging platform, characterized in that: The system includes a debugging component (1), which includes a crossbeam (2) and two position adjustment modules (3). The position adjustment module (3) includes a base (4), multiple rollers (5) mounted on the bottom surface of the base (4), a lifting drive mechanism (6) mounted on the base (4), a lifting platform (7) mounted on the lifting end of the lifting drive mechanism (6), a Y-axis drive mechanism (8) mounted on the lifting platform (7), a Z-axis drive mechanism (9) mounted on the drive end of the Y-axis drive mechanism (8), a Z-axis slider (10) mounted on the drive end of the Z-axis drive mechanism (9), and an X-axis drive mechanism (11) mounted on the crossbeam (2). The two ends of the crossbeam (2) are respectively mounted on the two position adjustment modules. (3) The Z-axis slider (10) and the X-axis drive mechanism (11) are provided with one or more X-axis sliders (12). The X-axis slider (12) can move along the crossbeam (2). The X-axis slider (12) is used to install one or more robotic arms (13). The base (4) is provided with multiple guide sleeves (14). The bottom surface of the lifting platform (7) is provided with multiple lifting rods (15). The multiple guide sleeves (14) are respectively provided with multiple lifting rods (15). The lifting rods (15) slide through the guide sleeves (14). The bottom end of each lifting rod (15) is provided with a support foot (16). The support foot (16) is located below the base (4). The support foot (16) can be extended and retracted relative to the base (4).

2. The robotic arm debugging platform according to claim 1, characterized in that: The number of debugging components (1) is two sets, and the two sets of debugging components (1) are set in parallel and relative to each other.

3. The robotic arm debugging platform according to claim 1, characterized in that: The bottom surface of the main body of the Y-axis drive mechanism (8) is equipped with an adjustment plate (17). The adjustment plate (17) is connected to the lifting platform (7) via multiple leveling components (18). The leveling components (18) are used to adjust the flatness of the adjustment plate (17).

4. The robotic arm debugging platform according to claim 3, characterized in that: The leveling assembly (18) includes a leveling pad (19) installed on the lifting platform (7) and located between the lifting platform (7) and the adjusting plate (17), and a leveling screw (20) threaded through the adjusting plate (17) and connected to the leveling pad (19).

5. The robotic arm debugging platform according to claim 4, characterized in that: The leveling assembly (18) also includes several butterfly springs sleeved on the screw of the leveling screw (20). The butterfly springs are sandwiched between the nut of the leveling screw (20) and the adjusting plate (17) or between the lifting platform (7) and the leveling pad (19).

6. The robotic arm debugging platform according to claim 1, characterized in that: The X-axis slider (12) has multiple mounting holes (21) arranged along the X-axis.

7. The robotic arm debugging platform according to claim 6, characterized in that: The mounting hole (21) is detachably fitted with a mounting block (22), and a T-shaped clip (23) protrudes from one side of the mounting block (22).

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