Industrial robot trajectory detection device

Abstract

An industrial robot trajectory detection device, comprising a base plate (1), wherein a support plate (2) is fixedly mounted on the base plate (1), a disk (3) is provided on the support plate (2), a driving assembly is provided on the disk (3), a track assembly is provided on the driving assembly, a tension sensor (4) is provided on the track assembly, a tension spring (5) is provided on the tension sensor (4), and a first magnet (6) is fixedly mounted at the end of the tension spring (5) away from the tension sensor (4). A track plate (15) is driven by an electric motor (12) of the driving assembly for angular rotation adjustment, the position of a sliding block (17) on the track plate (15) may also be adjusted by means of an electric push rod (16), and a second magnet (10) on a robotic arm (9) and the first magnet (6) are attracted such that an industrial robot performs trajectory detection on the disk (3), and different trajectory data is detected by changing a trajectory, thereby effectively improving the work efficiency, precision and adaptability of the industrial robot.

Description

Industrial robot trajectory detection device TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot detection equipment, in particular relates to an industrial robot trajectory detection device. BACKGROUND

[0002] In life, industrial robots play an increasingly important role, and the working mode of the present industrial robot has developed from simple manual mode teaching to high automation off-line programming mode, and the prerequisite for realizing off-line programming is that the industrial robot system itself has high control precision, however, in the existing detection method, only a small part of industrial robot production enterprises purchase part of the detection equipment to undertake part of the performance of the industrial robot product factory inspection, but due to the lack of professional detection research, the detection level is low, the instrument supporting is poor, the reliability of the test result is low, there is lack of comparability between each other, and the test project cannot meet the needs of product quality control.

[0003] However, the prior art still has great deficiencies, such as:

[0004] In the industrial robot trajectory detection device in the prior art, the industrial robot is usually tested on the specified motion trajectory, and the industrial robot is tested on different motion trajectories when needed, so it is necessary to adjust the position of the industrial robot and test on the specified motion trajectory, and the specified motion trajectory cannot completely simulate the real working environment, resulting in inaccurate test data.

[0005] Therefore, we provide an industrial robot trajectory detection device to solve the above problems.

[0006] SUMMARY

[0007] The purpose of the present application is to provide an industrial robot trajectory detection device, which solves the problem that the specified motion trajectory in the prior art cannot completely simulate the real working environment by the cooperation of the starting assembly and the track assembly.

[0008] To solve the above technical problems, the present application is realized by the following technical scheme:

[0009] The present application is an industrial robot trajectory detection device, comprising a bottom plate, a support plate is fixedly installed on the bottom plate, a disc is arranged on the support plate, a driving assembly is arranged on the disc, a track assembly is arranged on the driving assembly, a tension sensor is arranged on the track assembly, a tension spring is arranged on the tension sensor, and a first magnet is fixedly installed on the end of the tension spring away from the tension sensor.

[0010] The robot base is arranged on the bottom plate and at one side of the support plate, the industrial robot body is arranged on the robot base, the mechanical arm is arranged on the industrial robot body, and the second magnet is fixedly installed on the mechanical arm.

[0011] The driving assembly comprises a mounting rack plate, the mounting rack plate is fixedly installed on the bottom plate, the motor is fixedly installed on the mounting rack plate, the output end of the motor is fixedly installed with the rotating shaft, the rotating shaft is fixedly installed with the bearing, and the bearing is fixedly installed on the disc.

[0012] The track assembly comprises a track plate, the electric push rod is fixedly installed on the track plate, the output end of the electric push rod is fixedly installed with the sliding block, the tension sensor is fixedly installed on the sliding block, and the track plate is fixedly installed on the rotating shaft.

[0013] The side end surface of the track plate is fixedly installed with the sliding groove, and the sliding block is slidingly installed in the sliding groove.

[0014] The sound sensor is fixedly installed on the bottom plate and between the support plate and the robot base, the side end surface of the mounting rack plate is fixedly installed with the controller, and the sound sensor, the controller and the electric push rod are signal connected.

[0015] The lower end surface of the track plate is fixedly installed with the positioning plate, the positioning plate is slidingly connected with the disc, the fastening bolt is threadedly installed on the positioning plate, the bottom end of the fastening bolt is fixedly installed with the hexagonal handle, and the top end of the fastening bolt is in contact with the disc.

[0016] The laser ranging sensor is fixedly installed on the mechanical arm and electrically connected with the controller.

[0017] The track plate is fixedly installed with the limiting block, the disc is provided with a circular groove, and the limiting block is movably installed in the circular groove.

[0018] The first magnet and the second magnet are magnetically connected.

[0019] The number of the support plates is two, the two support plates are symmetrically arranged, and the shape of the support plate is L-shaped.

[0020] The present application has the following advantages:

[0021] 1. This invention utilizes a motor in the drive assembly to adjust the angle of the track plate and cause the second magnet on the robotic arm to attract the first magnet. During trajectory movement, the robotic arm is tested at different positions on the disc. By changing the trajectory to detect different trajectory data, the working efficiency, accuracy and adaptability of industrial robots can be effectively improved.

[0022] 2. This invention adjusts the position of the slider on the track plate by using an electric push rod and drives the track plate to rotate by a motor. Different data can be recorded by recording different circular trajectories on the disc. By comparing the data, the trajectory characteristics of the industrial robot can be accurately measured.

[0023] 3. In this invention, when the trajectory changes significantly, the first magnet adsorbed on the second magnet will be instantly separated by the tension of the spring. The force generated by the separated first magnet will act on the disk and will not directly act on the robotic arm, ensuring that the industrial robot will not be damaged during trajectory testing, and effectively improving the practicality of the device.

[0024] 4. In this invention, when the motor drives the track plate to adjust its angle, the fastening bolt is turned by a hex wrench. The fastening bolt will fix the position of the track plate after the position adjustment, ensuring that the track plate will not wobble after the angle adjustment, thereby improving the trajectory detection effect of the industrial robot.

[0025] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0027] Figure 1 is a three-dimensional structural view of an industrial robot trajectory detection device.

[0028] Figure 2 is a three-dimensional structural view of an industrial robot trajectory detection device.

[0029] Figure 3 is a cross-sectional view of a disk in an industrial robot trajectory detection device;

[0030] Figure 4 is a cross-sectional view of a disk in an industrial robot trajectory detection device.

[0031] Figure 5 is an enlarged view of point A in Figure 4;

[0032] Figure 6 is an enlarged view of point B in Figure 5.

[0033] In the drawings: 1, bottom plate; 2, support plate; 3, disc; 4, tension sensor; 5, tension spring; 6, first magnet; 7, robot base; 8, industrial robot body; 9, mechanical arm; 10, second magnet; 11, mounting bracket plate; 12, motor; 13, rotating shaft; 14, bearing; 15, track plate; 16, electric push rod; 17, sliding block; 18, sliding groove; 19, sound sensor; 20, controller; 21, positioning plate; 22, fastening bolt; 23, hexagonal handle; 24, laser ranging sensor; 25, limiting block; 26, circular ring groove. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. The described embodiments are only some of the embodiments of the present application, not all.

[0035] Embodiment I

[0036] Please refer to Figs. 1-6, the present application is an industrial robot trajectory detection device, comprising a bottom plate 1, the bottom plate 1 is fixedly installed with a support plate 2, the support plate 2 is provided with a disc 3, the disc 3 is provided with a driving assembly, the driving assembly is provided with a track assembly, the track assembly is provided with a tension sensor 4, the tension sensor 4 is provided with a tension spring 5, one end of the tension spring 5 away from the tension sensor 4 is fixedly installed with a first magnet 6;

[0037] The bottom plate 1 and at one side of the support plate 2 is provided with a robot base 7, the robot base 7 is provided with an industrial robot body 8, the industrial robot body 8 is provided with a mechanical arm 9, the mechanical arm 9 is fixedly installed with a second magnet 10;

[0038] The driving assembly comprises a mounting bracket plate 11, the mounting bracket plate 11 is fixedly installed on the bottom plate 1, the mounting bracket plate 11 is fixedly installed with a motor 12, the output end of the motor 12 is fixedly installed with a rotating shaft 13, the rotating shaft 13 is fixedly installed with a bearing 14, the bearing 14 is fixedly installed on the disc 3, the power source of the motor 12 can be installed on the mounting bracket plate 11, which ensures that the motor 12 can work normally, and when the motor 12 drives the rotating shaft 13 to rotate, the disc 3 will not rotate with the rotating shaft 13 by the action of the bearing 14;

[0039] The mechanical arm 9 is fixedly installed with a laser ranging sensor 24, the laser ranging sensor 24 is electrically connected with the controller 20, the track plate 15 is fixedly installed with a limiting block 25, the disc 3 is provided with a circular groove 26, the limiting block 25 is movably installed in the circular groove 26, the first magnet 6 is magnetically connected with the second magnet 10, the number of the support plates 2 is two, and the two support plates 2 are symmetrically arranged, the shape of the support plate 2 is L-shaped, the limiting block 25 rotates in the circular groove 26, the stability of the track plate 15 during rotation is ensured, and the stability of the disc 3 on the bottom plate 1 is ensured by the two L-shaped support plates 2.

[0040] In the embodiment, the track plate 15 is driven by the motor 12 in the driving assembly to rotate and adjust the angle, and the second magnet 10 and the first magnet 6 on the mechanical arm 9 are adsorbed, so that the robot arm can be tested at different positions on the disc 3 when moving along the track, and the working efficiency, precision and adaptability of the industrial robot can be effectively improved by changing the track to detect different track data, and when the track changes greatly, the first magnet 6 adsorbed on the second magnet 10 is separated instantaneously by the pulling force of the tension spring 5, so that the force generated by the separated first magnet 6 acts on the disc 3 and does not directly act on the mechanical arm 9, so that the industrial robot is not damaged when testing the track, and the practicability of the device is effectively improved.

[0041] Specific embodiment two

[0042] Please refer to FIGS. 1-6, on the basis of the specific embodiment one, the track assembly comprises a track plate 15, the track plate 15 is fixedly installed with an electric push rod 16, the output end of the electric push rod 16 is fixedly installed with a sliding block 17, the tension sensor 4 is fixedly installed on the sliding block 17, and the track plate 15 is fixedly installed on the rotating shaft 13; the power source of the electric push rod 16 can be installed on the track plate 15, so as to ensure that the track does not affect the track detection of the industrial robot;

[0043] The side end surface of the track plate 15 is fixedly installed with a sliding groove 18, and the sliding block 17 is slidably installed in the sliding groove 18.

[0044] In the embodiment, the position of the sliding block 17 on the track plate 15 is adjusted by the electric push rod 16, and the track plate 15 is driven to rotate by the motor 12, different data can be recorded by different circular tracks on the disc 3, and the track characteristics of the industrial robot can be accurately measured by comparing the data.

[0045] Specific embodiment three

[0046] Please refer to Figures 1-6, on the basis of the first embodiment, the sound sensor 19 is fixedly installed on the bottom plate 1 and between the support plate 2 and the robot base 7, the side end face of the mounting plate 11 is fixedly installed with the controller 20, the sound sensor 19, the controller 20 and the electric push rod 16 are signal connected, the lower end face of the track plate 15 is fixedly installed with the positioning plate 21, the positioning plate 21 is slidingly connected with the disc 3, the positioning plate 21 is threadedly installed with the fastening bolt 22, the bottom end of the fastening bolt 22 is fixedly installed with the hexagonal handle 23, the top end of the fastening bolt 22 is in contact with the disc 3, and the fastening bolt 22 is conveniently rotated by the hexagonal wrench.

[0047] In the embodiment, when the motor 12 drives the track plate 15 to adjust the angle, the fastening bolt 22 is rotated by the hexagonal wrench, and the fastening bolt 22 can fix the position of the track plate 15 after position adjustment, so that the track plate 15 will not shake after angle adjustment, and the effect of industrial robot trajectory detection is improved.

[0048] The working principle of the present application is as follows:

[0049] In use, the industrial robot body 8 is moved to the bottom plate 1, the laser ranging sensor 24 and the second magnet 10 are installed on the mechanical arm 9, then the first magnet 6 on the tension spring 5 is attracted to the second magnet 10, the sliding block 17 is slid in the sliding groove 18 on the track plate 15 through the movement of the mechanical arm 9, the distance between the mechanical arm 9 and the track plate 15 can be monitored in real time through the laser ranging sensor 24, so that the movement trajectory of the robot can be better detected in cooperation with the tension sensor 4 and other structures, and the value output by the tension sensor 4 will not change greatly, otherwise an abnormal value will be sensed, so that the detection result of the movement trajectory can be intuitively displayed and recorded, and when the sliding block 17 slides in the sliding groove 18, the electric push rod 16 is in a working state, so that the sliding block 17 can normally slide in the sliding groove 18;

[0050] After the industrial robot performs the first detection on the disc 3, the first magnet 6 and the second magnet 10 are disconnected, the rotating shaft 13 is driven to rotate by the motor 12, the rotating shaft 13 drives the track plate 15 to adjust the position on the disc 3, then the first magnet 6 and the second magnet 10 are re-attracted, and the second detection of the movement trajectory of the industrial robot is realized through the above description;

[0051] After the second detection, the track plate 15 is driven to rotate on the disc 3 by the motor 12, and the mechanical arm 9 on the industrial robot will rotate according to the track plate 15, so that the third detection of the movement trajectory of the industrial robot is realized;

[0052] The detection of different trajectory data by changing the trajectory can effectively improve the working efficiency, precision and adaptability of the industrial robot.

[0053] When the motion trajectory has a large difference, the first magnet 6 will be separated from the second magnet 10 by the pulling force of the tension spring 5, the first magnet 6 will hit the sliding block 17 by the pulling force of the tension spring 5, the impact will produce a sound, the sound sensor 19 receives the information, the information received by the sound sensor 19 will be transmitted to the controller 20, and the controller 20 will start and stop the electric push rod 16.

[0054] The standard parts used in the application can be purchased from the market, and can be ordered according to the description and drawings. The specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art. The mechanical, parts and equipment adopt the conventional type in the prior art. The control mode is automatically controlled by the control unit. The control circuit of the control unit can be realized by simple programming of the person skilled in the art, which belongs to the public knowledge in the art. Therefore, the control mode and circuit connection in the application will not be explained in detail.

[0055] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments. The description of these embodiments is selected and described in order to better explain the principles and practical applications of the application, so that the person skilled in the art can well understand and utilize the application.

Claims

1. An industrial robot trajectory detection device comprising a base plate (1), characterized in that: The bottom plate (1) is fixedly installed with a support plate (2), the support plate (2) is provided with a disc (3), the disc (3) is provided with a driving assembly, the driving assembly is provided with a track assembly, the track assembly is provided with a tension sensor (4), the tension sensor (4) is provided with a tension spring (5), and the tension spring (5) is fixedly installed with a first magnet (6) at one end away from the tension sensor (4). The bottom plate (1) is provided with a robot base (7) on one side of the support plate (2), the robot base (7) is provided with an industrial robot body (8), the industrial robot body (8) is provided with a mechanical arm (9), and the mechanical arm (9) is fixedly installed with a second magnet (10).

2. An industrial robot trajectory detection device according to claim 1, characterized in that: The driving assembly comprises a mounting rack plate (11) fixedly installed on the bottom plate (1), the mounting rack plate (11) is fixedly installed with a motor (12), the output end of the motor (12) is fixedly installed with a rotating shaft (13), the rotating shaft (13) is fixedly installed with a bearing (14), and the bearing (14) is fixedly installed on the disc (3).

3. An industrial robot trajectory detection device according to claim 1, characterized in that: The track assembly comprises a track plate (15), the track plate (15) is fixedly installed with an electric push rod (16), the output end of the electric push rod (16) is fixedly installed with a sliding block (17), the tension sensor (4) is fixedly installed on the sliding block (17), and the track plate (15) is fixedly installed on the rotating shaft (13).

4. An industrial robot trajectory detection device according to claim 3, characterized in that: The side end surface of the track plate (15) is fixedly installed with a sliding groove (18), and the sliding block (17) is slidingly installed in the sliding groove (18).

5. An industrial robot trajectory detection device according to claim 2, characterized in that: The bottom plate (1) is fixedly installed with a sound sensor (19) between the support plate (2) and the robot base (7), the side end surface of the mounting rack plate (11) is fixedly installed with a controller (20), and the sound sensor (19), the controller (20) and the electric push rod (16) are signal connected.

6. An industrial robot trajectory detection device according to claim 3, characterized in that: The lower end surface of the track plate (15) is fixedly installed with a positioning plate (21), the positioning plate (21) is slidingly connected with the disc (3), the positioning plate (21) is threadedly installed with a fastening bolt (22), the bottom end of the fastening bolt (22) is fixedly installed with a hexagonal handle (23), and the top end of the fastening bolt (22) is in contact with the disc (3).

7. An industrial robot trajectory detection device according to claim 5, characterized in that: The mechanical arm (9) is fixedly installed with a laser ranging sensor (24), and the laser ranging sensor (24) is electrically connected with the controller (20).

8. An industrial robot trajectory detection device according to claim 3, characterized in that: The track plate (15) is fixedly installed with a limiting block (25), the disc (3) is provided with a circular groove (26), and the limiting block (25) is movably installed in the circular groove (26).

9. The industrial robot trajectory detection apparatus according to claim 1, characterized in that: The first magnet (6) is magnetically connected with the second magnet (10).

10. The industrial robot trajectory detection apparatus according to claim 1, characterized in that: The number of the support plates (2) is two, and the two support plates (2) are symmetrically arranged, and the shape of the support plate (2) is L-shaped.

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