CN115256466A

CN115256466A - Balance testing device for robot assembly clamping jaw

Info

Publication number: CN115256466A
Application number: CN202210926604.3A
Authority: CN
Inventors: 王继冬
Original assignee: Jiayou Construction Engineering Decoration Zaozhuang Co ltd
Current assignee: Jiayou Construction Engineering Decoration Zaozhuang Co ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-11-01

Abstract

The invention discloses a balance testing device of a robot assembly clamping jaw, which belongs to the field of mechanical balance testing, wherein a controller controls a stepping motor to rotate forwards and backwards to indirectly drive a lower shell to rotate horizontally compared with an upper shell, so that the upper shell and the lower shell can be in a horizontal state or in a horizontal mutually vertical state, and an upper infrared emitter and a lower infrared emitter which tend to be horizontal or not can be used for judging whether the upper shell and the lower shell are in the horizontal state or not by matching the upper shell and the lower shell with an upper receiver and a lower receiver which are in the horizontal state or not, so that the testing result is more accurate, the upper receiver and the lower receiver can be matched with the upper infrared emitter and the lower infrared emitter to judge whether the upper shell and the lower receiver are in the horizontal state or not, namely whether the upper shell and the lower receiver are in the horizontal state or not, and inconvenience and complexity caused by frequent observation of testers are avoided, and the balance testing is more facilitated.

Description

Balance testing device for robot assembly clamping jaw

Technical Field

The invention relates to a balance testing device, in particular to a balance testing device of a robot assembly clamping jaw.

Background

The multi-joint manipulator belongs to one of industrial robots, and has high degree of freedom due to the adoption of diversified driving systems, sensing systems and control systems, so that the multi-joint manipulator can replace manpower to a certain extent to perform high-efficiency and high-accuracy industrial production, can reduce labor consumption and improve the capacity of a factory, and can manufacture more economic values for the factory. For a multi-joint manipulator with an assembly clamping jaw, the assembly clamping jaw can shake due to certain errors caused by accuracy problems, and the assembly clamping jaw can shake when parts have the problems of damage, fatigue and the like; further, errors are reduced as much as possible, in order to ensure that the assembly clamping jaw can ensure certain stability in the movement process of the assembly clamping jaw, and avoid that the relative position of the clamped object is accidentally changed due to shaking or instability of the assembly clamping jaw, so that accurate assembly can not be finally carried out, the clamping jaw of the robot needs to be subjected to a pre-simulation test in the movement process, and then corresponding processing is carried out according to data obtained by the pre-simulation test until the stability meets the requirement.

Disclosure of Invention

The invention aims to provide a balance testing device for a robot assembly clamping jaw, which aims to solve the technical problem.

In order to achieve the purpose, the invention adopts the following technical scheme:

a balance testing device of a robot assembly clamping jaw comprises an upper shell, an upper horizontal ruler, an upper storage battery, an electromagnet, an upper supporting frame, an upper limiting groove, an upper supporting frame, an upper transmission ring, an upper supporting rod, an upper balancing weight, an upper infrared emitter, an upper jacking platform, an upper weight, an upper jacking bolt, an upper receiver, a control part and an auxiliary part, wherein the horizontal upper horizontal ruler is fixed at the front end of the upper shell, the horizontal upper storage battery is fixed at the rear end of the upper shell, the horizontal electromagnets are respectively fixed at the left part and the right part of the top end of the upper shell, the horizontal upper supporting frame is respectively fixed at the left lower part and the right lower part of the inner wall of the upper shell, the two vertical upper limiting grooves are jointly inserted with the vertical upper supporting frame, and the upper supporting frame is fastened at the middle part of the top end of the upper shell through bolts, and rotate and be connected with horizontally last driving ring, go up driving ring front and back two parts and rotate jointly and be connected with horizontally last supporting ring, go up the supporting ring middle part and be fixed with horizontally last bracing piece, and the bottom is fixed with vertical last balancing weight, go up the bracing piece about both ends respectively be fixed with the horizontally infrared emitter that goes up, and control two tops and respectively be equipped with the tight platform in horizontally last top, go up the bracing piece about both parts respectively sliding connection have vertical weight, two go up weight upper portion and run through threaded connection respectively and have vertical last tight bolt in top, two go up tight bolt bottom and can support respectively in two tight platform tops in top, and can carry out the axial slip along last bracing piece, go up the casing about both parts respectively install horizontal last receiver, and the bottom installs control part, the auxiliary part is installed to the control part.

On the basis of the technical scheme, the control part comprises a lower support seat, a middle shell, a heat dissipation groove, a controller, a middle limit groove, a middle support seat, a transmission shaft, a worm wheel, a stepping motor, a bearing seat, a worm, a support half rail, a connecting seat and a support rail, wherein the upper support seat is fastened with the horizontal lower support seat through a bolt, the middle part of the bottom end of the lower support seat is fixed with the horizontal middle shell, the left part and the right part of the middle shell are respectively penetrated with the heat dissipation grooves inclined towards the outer lower part, the left part of the inner wall of the middle shell is fastened with the vertical controller through a bolt, the front part and the rear part of the inner wall are respectively provided with the vertical middle limit groove and the vertical middle support seat, the middle part of the middle support seat is connected with the vertical transmission shaft in a rotating mode, the upper part of the transmission shaft is coaxially fixed with the worm wheel, the right front end and the front end of the inner wall of the middle shell are fastened with the horizontal stepping motor through a bolt, the right end and the rear end of the inner wall is connected with the horizontal bearing seat through a bolt, the two bolt are connected with the two bolt fastening connection seats, the two bolt fastening connection seats are connected with the two support connection seats, and the two bolt fastening connection seats.

On the basis of the technical scheme, the auxiliary part includes lower casing, lower carriage, lower spacing groove, lower receiver, under bracing frame, lower driving ring, lower support bar, lower balancing weight, lower infrared emitter, lower tight platform in top, lower weight, lower top tight bolt, lower apron, sliding seat, lower horizontal ruler, lower battery, support rail below installation horizontally under the casing, lower shells inner wall left side lower part and right lower part respectively are fixed with horizontally under bracing frame, and the inner wall middle part is equipped with two vertical lower spacing grooves, the lower casing is controlled both sides and is respectively installed horizontally under the receiver, and inner wall middle part top has vertical under bracing frame through the bolt fastening, under bracing frame pegs graft mutually with two lower spacing grooves, and the middle part rotates and is connected with horizontally under driving ring, both parts rotate jointly around the under driving ring and are connected with horizontally under bracing ring, the lower support ring middle part is fixed with horizontal under bracing piece, and the bottom is fixed with vertical under bracing weight, both ends respectively fix horizontal under bracing frame about the support bar, and the top is equipped with each lower horizontal under bracing bolt and is connected with two lower horizontal under bracing bolt and the lower supporting bolt and the lower horizontal bolt top is fixed and is connected with two horizontal under bracing frame respectively along the lower horizontal bolt fastening bolt.

On the basis of the technical scheme, the axis of the rotation direction of the upper transmission ring is in the horizontal direction, the axis of the rotation direction of the upper support ring is ninety degrees vertical to the axis of the rotation direction of the upper transmission ring in the horizontal plane, the upper support rod can indirectly drive the upper transmission ring to rotate along the upper support frame under the action of the gravity of the upper weights and the upper balancing weight until the upper balancing weight keeps the vertical state, the upper support rod can swing up and down by taking the rotation axis of the upper support ring as the axis under the action of the lever of the upper weights, the two upper infrared transmitters can be parallel to the two upper receivers and the upper horizontal ruler in the process of moving up and down along with the upper support rod, the bottom of the transmission shaft is connected with the lower shell in a vertical sliding manner through a flat key, the worm wheel meshes with the worm mutually, the axle center at support rail place is coaxial with the axle center of transmission shaft, the driving ring can rotate under in the carriage around, the lower support ring can rotate about in the driving ring down, the lower support rod can rotate until the balancing weight keeps vertical state down along the lower support frame under the weight and the action of gravity of balancing weight down indirectly drive down the driving ring, the lower support rod can carry out the luffing motion as the axle center with the rotation axle center of support ring under the lever effort of weight down, two infrared emitter can parallel with two receivers and lower horizontal ruler down with the in-process that the lower support rod reciprocated down following, two the sliding seat can carry out annular horizontal slip along supporting the rail.

On the basis of the technical scheme, the top end faces of the two electromagnets are coplanar, the upper storage battery, the electromagnets, the upper infrared emitter, the upper receiver, the controller, the stepping motor, the lower receiver, the lower infrared emitter and the lower storage battery are electrically connected, two infrared rays emitted by the upper infrared emitter can be simultaneously received by the two upper receivers, two infrared rays emitted by the lower infrared emitter can be simultaneously received by the two lower receivers, a radio transmission module is arranged in the controller, the controller can control the stepping motor to rotate forwards and backwards after receiving a specific radio signal, the stepping motor can drive the transmission shaft to rotate ninety degrees through meshing of the worm and the worm wheel when rotating every step angle, the transmission shaft can drive the lower shell to synchronously rotate through a flat key when rotating, and the lower shell can drive the sliding seat to horizontally slide along the support rail when horizontally rotating.

Compared with the prior art, the invention has the following advantages: the controller controls the stepping motor to rotate forwards and backwards to indirectly drive the lower shell to rotate horizontally compared with the upper shell, so that the upper shell and the lower shell are in a horizontal state or in a horizontal mutually vertical state, and the upper infrared emitter and the lower infrared emitter which tend to be horizontal along with the cooperation of the upper shell and the lower shell with the upper receiver and the lower receiver which are horizontal can judge whether the upper shell and the lower shell are in the horizontal state or not in a double-judgment mode, so that the test result is more accurate, the upper infrared emitter which tends to be horizontal along with the cooperation of the upper receiver and the lower receiver which vertically cross the upper shell and the lower shell with the cooperation of the upper receiver and the lower receiver can judge whether the upper shell and the lower shell are horizontal or not in the horizontal state or not, namely whether the upper shell, the lower receiver, the lower infrared emitter and the controller are completely horizontal or not in the double-judgment mode, and the result can be rapidly and accurately judged and wirelessly transmitted by utilizing the upper receiver, the lower infrared emitter and the controller when the stability of the assembly clamping jaw in any position in the movement stroke is tested, the complex and the complex balance test is more favorable for carrying out the inconvenience of the balance test.

Drawings

FIG. 1 is a schematic view of the present invention.

FIG. 2 is a schematic view of the lower support seat and the upper housing according to the present invention.

Fig. 3 is a schematic view of the upper weight and the upper support rod of the present invention.

Fig. 4 is a schematic view of the support frame and the middle housing of the present invention.

Fig. 5 is a schematic view of the lower cover plate and the lower housing according to the present invention.

FIG. 6 is a schematic view of the support frame, drive ring and support ring of the present invention in combination.

Fig. 7 is a schematic diagram of the operation of the present invention.

In the figure: 1. an upper shell, 2, an upper horizontal rule, 3, an upper storage battery, 4, an electromagnet, 5, an upper support frame, 6, an upper limit groove, 7, an upper support frame, 8, an upper transmission ring, 9, an upper support ring, 10, an upper support rod, 11, an upper balancing weight, 12, an upper infrared emitter, 13, an upper jacking platform, 14, an upper weight, 15, an upper jacking bolt, 16, an upper receiver, 17, a control part, 18, an auxiliary part, 19, a lower support seat, 20, a middle shell, 21, a radiating groove, 22, a controller, 23, a middle limit groove, 24 and a middle support frame, 25, a transmission shaft, 26, a worm wheel, 27, a stepping motor, 28, a bearing seat, 29, a worm, 30, a supporting half rail, 31, a connecting seat, 32, a supporting rail, 33, a lower shell, 34, a lower supporting frame, 35, a lower limiting groove, 36, a lower receiver, 37, a lower supporting frame, 38, a lower transmission ring, 39, a lower supporting ring, 40, a lower supporting rod, 41, a lower balancing weight, 42, a lower infrared emitter, 43, a lower jacking platform, 44, a lower weight, 45, a lower jacking bolt, 46, a lower cover plate, 47, a sliding seat, 48, a lower horizontal ruler, 49 and a lower storage battery.

Detailed Description

The invention is explained in further detail below with reference to the figures and the specific embodiments.

As shown in fig. 1-7, a balance testing device for a robot assembly clamping jaw comprises an upper shell 1, an upper horizontal rule 2, an upper storage battery 3, an electromagnet 4, an upper support frame 5, an upper limiting groove 6, an upper support frame 7, an upper transmission ring 8, an upper support ring 9, an upper support rod 10, an upper balancing weight 11, an upper infrared emitter 12, an upper tightening platform 13, an upper weight 14, an upper tightening bolt 15, an upper receiver 16, a control part 17 and an auxiliary part 18, wherein the horizontal upper horizontal rule 2 is fixed at the front end of the upper shell 1, the horizontal upper storage battery 3 is fixed at the rear end of the upper shell, the upper horizontal rule is used for indirectly determining whether the upper shell 1 is horizontal, the horizontal electromagnet 4 is fixed at the left part and the right part of the top end of the upper shell 1, the horizontal upper support frame 5 is fixed at the left lower part and the right lower part of the inner wall of the upper shell 1, and the two vertical upper limiting grooves 6 are arranged in the middle of the inner wall, the two upper limiting grooves 6 are jointly inserted with a vertical upper supporting frame 7, the upper limiting grooves 6 are used for assisting and limiting the left and right positions of the upper supporting frame 7, so that the upper supporting frame 7 is prevented from shaking left and right relative to the upper shell, the upper supporting frame 7 is fastened in the middle of the top end of the upper shell 1 through bolts and is rotatably connected with a horizontal upper transmission ring 8, the front and rear parts of the upper transmission ring 8 are jointly and rotatably connected with a horizontal upper supporting ring 9, a horizontal upper supporting rod 10 is fixed in the middle of the upper supporting ring 9, a vertical upper balancing weight 11 is fixed at the bottom of the upper supporting ring, the upper balancing weight 11 is used for assisting the upper supporting ring 9 to approach to a vertical state, horizontal upper infrared emitters 12 are respectively fixed at the left end and the right end of the upper supporting rod 10, horizontal upper jacking tables 13 are respectively arranged at the top ends of the left part and the right part, the upper jacking tables 13 are used for improving the contact area with upper jacking bolts 15, thereby be favorable to more prescribing a limit to the axial position that upper balance 14 compares in upper strut 10 through last top tension bolt 15 supporting on last top tension table 13, upper strut 10 about each sliding connection of two parts have vertical upper balance 14, two go up 14 upper portions of balance and run through threaded connection respectively and have vertical last top tension bolt 15, two go up top tension bolt 15 bottom can support respectively in two last top tension table 13 tops, and can carry out axial slip along last bracing piece 10 to can utilize lever principle to guarantee that upper strut 10 tends to the level, upper housing 1 about each install horizontally last receiver 16, and the bottom installs control part 17, control part 17 installs auxiliary part 18.

The control part 17 comprises a lower support base 19, a middle shell 20, a heat dissipation groove 21, a controller 22, a middle limit groove 23, a middle support frame 24, a transmission shaft 25, a worm wheel 26, a stepping motor 27, a bearing seat 28, a worm 29, a support half rail 30, a connecting seat 31 and a support rail 32, wherein the two upper support frames 5 are jointly fastened with the horizontal lower support base 19 through bolts, the horizontal middle shell 20 is fixed in the middle of the bottom end of the lower support base 19, the left part and the right part of the middle shell 20 are respectively penetrated with a plurality of heat dissipation grooves 21 which incline towards the outer lower part, the left part of the inner wall of the middle shell 20 is fastened with a vertical controller 22 through bolts, the front part and the rear part of the inner wall are respectively provided with a vertical middle limit groove 23, the two middle limit grooves 23 are jointly inserted with a vertical middle support frame 24, and the middle limit groove 23 is used for assisting in limiting the left and right positions of the middle support frame 24 compared with the middle shell 20, thereby avoiding the support frame 24 from shaking left and right compared with the middle casing 20, the middle part of the support frame 24 is rotatably connected with a vertical transmission shaft 25 and is fastened at the bottom end of the inner wall of the middle casing 20 through bolts, the upper part of the transmission shaft 25 is coaxially fixed with a worm wheel 26, the right front end of the inner wall of the middle casing 20 is fastened with a horizontal stepping motor 27 through bolts, the right rear end of the inner wall is fastened with a horizontal bearing seat 28 through bolts, the rotating shaft of the stepping motor 27 is coaxially fixed with a horizontal worm 29, and the rear part of the rotating shaft is rotatably connected with the bearing seat 28, so as to support the rotating shaft of the stepping motor 27, ensure the position stability of the worm 29 during rotation, the left and right parts of the bottom end of the lower support seat 19 are respectively provided with a horizontal support half rail 30 through bolts, and the front and rear parts of the two support half rails 30 are respectively and are respectively inserted with a vertical connecting seat 31, the left part and the right part of the connecting seat 31 are connected with the supporting half rail 30 through bolts, so that the position of the supporting half rail 30 is limited again, the position stability of the spliced supporting half rail 30 is ensured, the problem that the position of the supporting half rail 30 is changed to cause unsmooth sliding with the sliding seat 47 is avoided, and the supporting half rail 30 is spliced together through the two connecting seats 31 to form the regular circular supporting rail 32.

The auxiliary part 18 comprises a lower shell 33, a lower support frame 34, a lower limiting groove 35, a lower receiver 36, a lower support frame 37, a lower transmission ring 38, a lower support ring 39, a lower support rod 40, a lower balancing weight 41, a lower infrared emitter 42, a lower tightening platform 43, a lower weight 44, a lower tightening bolt 45, a lower cover plate 46, a sliding seat 47, a lower horizontal ruler 48 and a lower storage battery 49, wherein the lower horizontal shell 33 is arranged below the support rail 32, the left lower part and the right lower part of the inner wall of the lower shell 33 are respectively fixed with the horizontal lower support frame 34, the middle part of the inner wall is provided with two vertical lower limiting grooves 35, the horizontal lower receiver 36 is respectively arranged at the left part and the right part of the lower shell 33, the top end of the middle part of the inner wall is fastened with the vertical lower support frame 37 through a bolt, the lower support frame 37 is inserted into the two lower limiting grooves 35, the lower limiting groove 35 is used for limiting the left and right positions of the lower support frame 37, the lower support frame 37 is prevented from shaking leftwards and rightwards compared with the lower shell 33, the middle part of the lower support frame 37 is rotatably connected with a horizontal lower transmission ring 38, the front part and the rear part of the lower transmission ring 38 are rotatably connected with a horizontal lower support ring 39 together, the middle part of the lower support ring 39 is fixed with a horizontal lower support rod 40, the bottom of the lower support ring 39 is fixed with a vertical lower balancing weight 41, the lower balancing weight 41 is used for assisting the lower support ring 39 to tend to be in a vertical state, the left end and the right end of the lower support rod 40 are respectively fixed with a horizontal lower infrared emitter 42, the left end and the right end of the lower support rod 40 are respectively provided with a horizontal lower tightening platform 43, the lower tightening platform 43 is used for improving the contact area with a lower tightening bolt 45, so that the axial position of the lower weight 44 compared with the lower support rod 40 is more favorably limited by the lower tightening bolt 45 abutting against the lower tightening platform 43, the left part and the right part of the lower support rod 40 are respectively connected with a vertical lower tightening platform 44 in a sliding manner, two there is vertical lower tight bolt 45 in top, two lower weight 44 upper portion through thread connection respectively tight bolt 45 bottom can support in two tight platform 43 tops in top down, and can carry out axial slip along lower support bar 40 to can utilize lever principle to guarantee that lower support bar 40 tends to the level, two apron 46 is installed jointly to lower carriage 34, two portions respectively have vertical sliding seat 47 through the bolt fastening about lower casing 33 top, casing 33 front end is fixed with horizontally lower horizontal ruler 48 down, and the rear end is fixed with horizontally lower battery 49 down, lower horizontal ruler 48 is used for indirect definite lower casing 33 whether is in the horizontality.

The axle center that goes up the direction of rotation place of rotating ring 8 is horizontal direction, the axle center that goes up the direction of rotation place of supporting ring 9 and the axle center at last direction of rotation place of rotating ring 8 are ninety degrees vertical in the horizontal plane, go up bracing piece 10 and can indirectly drive under the action of gravity of last weight 14 and last balancing weight 11 and go up rotating ring 8 and rotate until last balancing weight 11 keeps vertical state along last carriage 7, go up bracing piece 10 and can go up supporting ring 9's rotation axle center and carry out the luffing motion as the axle center under the lever action force of last weight 14, two go up infrared emitter 12 and follow the in-process that last bracing piece 10 reciprocated and can parallel with two receivers 16 and last level bar 2, sliding connection about transmission shaft 25 bottom through parallel key and lower casing 33, worm wheel 26 meshes with worm 29 mutually, worm wheel 26 and worm 29's meshing, on one hand, the high rotation speed of the stepping motor 27 can be converted into the low rotation speed of the worm wheel 26, so as to reduce the horizontal rotation speed of the lower housing 33, avoid the damage of parts caused by the over-high speed under the action of inertia, and simultaneously avoid the accidental rotation of the lower housing 33 by utilizing the characteristic that the worm wheel 26 cannot actively rotate compared with the worm 29, the axis of the support rail 32 is coaxial with the axis of the transmission shaft 25, the lower transmission ring 38 can rotate back and forth in the lower support frame 37, the lower support ring 39 can rotate left and right in the lower transmission ring 38, the lower support rod 40 can indirectly drive the lower transmission ring 38 to rotate along the lower support frame 37 under the gravity action of the lower weight 44 and the lower balancing weight 41 until the lower balancing weight 41 keeps a vertical state, the lower support rod 40 can swing up and down under the lever action force of the lower weight 44 by taking the rotation axis of the lower support ring 39 as the axis, the two lower infrared emitters 42 can be parallel to the two lower receivers 36 and the lower horizontal ruler 48 in the process of moving up and down along the lower support rod 40, and the two sliding seats 47 can horizontally slide in a circular ring shape along the support rail 32, so that the stability of the lower shell 33 in the horizontal rotation process is ensured.

Two the top terminal surface coplane of electro-magnet 4, go up battery 3, electro-magnet 4, go up infrared emitter 12, go up receiver 16, controller 22, step motor 27, lower receiver 36, infrared emitter 42 and battery 49 looks electrical connection down, two the infrared ray of going up infrared emitter 12 and launching can be received simultaneously by two last receivers 16, two the infrared ray of infrared emitter 42 transmission down can be received simultaneously by two lower receivers 36, the built-in radio transmission module of controller 22, controller 22 can control step motor 27 and just reverse the rotation after receiving specific radio signal, step motor 27 every rotates a step angle and can drive transmission shaft 25 through the meshing of worm 29 with worm wheel 26 and rotate ninety degrees, transmission shaft 25 can drive lower casing 33 through the parallel key and carry out synchronous rotation when rotating, lower casing 33 can drive sliding seat 47 when carrying out the horizontal rotation and along support rail 32 horizontal slip.

The working principle of the invention is as follows: in the initial state, the upper shell 1 and the lower shell 33 are parallel to each other and are in a horizontal state, the upper support rod 10 and the lower support rod 40 are also in a horizontal state under the lever action force of the upper weight 14 and the lower weight 44, the upper shell 1 is horizontally attracted on a certain horizontal plane of the assembly clamping jaw through the electromagnet 4, the horizontal plane should be a plane which should theoretically keep completely horizontal during the action process of the robot, a specific radio signal is transmitted through an external radio transmission device, the controller 22 receives the signal to control the stepping motor 27 to rotate forwards by one step angle, so that the transmission shaft 25 and the lower shell 33 are driven to rotate forwards by meshing of the worm 29 and the worm wheel 26 by ninety degrees horizontally, at the moment, the upper shell 1 should be in a horizontal state theoretically, the lower shell 33 is in a longitudinal horizontal state, and then whether the actual state of the upper shell 1 and the lower shell 33 accords with the theoretical state is determined by observing the upper horizontal ruler 2 and the lower horizontal ruler 48, when the state is not in accordance with the theoretical state, that is, the magnetic attraction position of the electromagnet 4 is not horizontal, other attraction planes are additionally selected, and when the state is in accordance with the theoretical state, the two upper infrared emitters 12 emit horizontal transverse infrared rays to be received by the two receivers, and the two lower infrared emitters 42 emit horizontal longitudinal infrared rays to be received by the two infrared emitters, at the moment, the multi-joint manipulator can be controlled to carry out related actions in actual production to carry out tests, because the plane where the installation position of the upper shell 1 is theoretically horizontal, when any place is paused in the movement process, the lower shell 33 indirectly follows the upper shell 1 to be in the horizontal state, and the upper infrared emitters 12 and the lower infrared emitters 42 finally tend to be in the horizontal state under the action of gravity and lever force, therefore, the upper receiver 16 and the lower receiver 36 can both receive infrared rays, and it can be verified that the position of the mounting jaw at this position is completely horizontal, and when the upper receiver 16 cannot receive a signal, it indicates that the upper housing 1 is not in a horizontal position, that is, it indicates that the position is vertically shifted around the vertical axis, and when the lower receiver 36 cannot receive a signal, that the lower housing 33 is not in a vertical position, that is, it indicates that the position is vertically shifted around the horizontal axis, the controller 22 controls the stepping motor 27 to perform forward and reverse rotation, so that the upper housing 1 and the lower housing 33 are controlled to be in a horizontal state or a vertical crossing state, and the upper housing 1 and the lower housing 33 that are parallel to each other can perform only horizontal determination, that the upper infrared ray emitter 12 emits horizontal infrared rays to be received by the upper receiver 16, and the lower infrared emitter 42 emits horizontal infrared rays to be received by the lower receiver 36, so that whether the position is in a horizontal state is doubly determined according to whether the upper receiver 16 and the lower receiver 36 receive infrared rays, thereby achieving a more accurate balance test.

The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.

Claims

1. The utility model provides a balance test device of robot assembly clamping jaw, including last casing (1), go up level (2), go up battery (3), electro-magnet (4), go up support frame (5), go up spacing groove (6), go up braced frame (7), go up transmission ring (8), go up braced ring (9), go up bracing piece (10), go up balancing weight (11), go up infrared emitter (12), go up tight platform (13) in top, go up weight (14), go up tight bolt in top (15), go up receiver (16), control part (17), auxiliary part (18), its characterized in that: the front end of the upper shell (1) is fixed with a horizontal upper horizontal ruler (2), the rear end of the upper shell is fixed with a horizontal upper storage battery (3), the left and right parts of the top end of the upper shell (1) are respectively fixed with a horizontal electromagnet (4), the left and right lower parts of the inner wall of the upper shell (1) are respectively fixed with a horizontal upper support frame (5), the middle part of the inner wall is provided with two vertical upper limit grooves (6), the two upper limit grooves (6) are jointly inserted with a vertical upper support frame (7), the upper support frame (7) is fastened in the middle part of the top end of the upper shell (1) through bolts and is rotatably connected with a horizontal upper support ring (8), the front and back parts of the upper support ring (8) are jointly rotated and connected with a horizontal upper support ring (9), the middle part of the upper support ring (9) is fixed with a horizontal upper support rod (10), the bottom part of the upper support ring is fixed with a vertical upper balancing weight (11), the left and right ends of the upper support rod (10) are respectively fixed with a horizontal upper infrared emitter (12), the top end of the left and right top end of the upper support rod (13) is respectively connected with two upper support bolts (14), the upper top end of the upper weight (14), and the upper weight (14) are respectively connected with two top end of the upper weight tightly screwed on the upper weight tightly and can be respectively, and can axially slide along the upper supporting rod (10), the horizontal upper receivers (16) are respectively arranged at the left part and the right part of the upper shell (1), the bottom of the upper shell is provided with a control part (17), and the control part (17) is provided with an auxiliary part (18).

2. A balance testing device of a robot assembly jaw according to claim 1, characterized in that: the control part (17) comprises a lower support seat (19), a middle shell (20), heat dissipation grooves (21), a controller (22), a middle limit groove (23), a middle support frame (24), a transmission shaft (25), a worm wheel (26), a stepping motor (27), a bearing seat (28), a worm (29), a support half rail (30), a connecting seat (31) and a support rail (32), wherein the upper support frame (5) is jointly fastened with a horizontal lower support seat (19) through bolts, the middle part of the bottom end of the lower support seat (19) is fixedly provided with the horizontal middle shell (20), the left and right parts of the middle shell (20) are respectively penetrated with a plurality of heat dissipation grooves (21) inclined outwards and downwards, the left part of the inner wall of the middle shell (20) is fastened with a vertical controller (22) through bolts, the front and rear parts of the inner wall are respectively provided with a vertical middle limit groove (23), the middle limit grooves (23) are jointly inserted with the vertical middle support frame (24), the middle part of the middle support frame (24) is rotatably connected with a vertical transmission shaft (25) and is fastened on the inner wall of the middle shell (20) through bolts, the upper part of the middle shell (20) through bolts, the coaxial upper part of the middle shell is fixedly provided with the right limit groove (26), the inner wall of the horizontal middle shell (27), the horizontal middle support frame (24) through the horizontal middle support frame (20), the coaxial horizontally worm (29) that is fixed with of pivot of step motor (27), and its pivot rear portion rotates with bearing frame (28) mutually and is connected, two respectively install horizontally support half rail (30) through the bolt about lower carriage (19) bottom, two support half rail (30) front and back two respectively peg graft jointly and have vertical connecting seat (31), two about connecting seat (31) two be connected with support half rail (30) through the bolt, two support half rail (30) and be regular annular support rail (32) through two connecting seat (31) amalgamation jointly.

3. A balance testing device of a robot assembly jaw according to claim 2, characterized in that: the auxiliary part (18) comprises a lower shell (33), a lower support frame (34), a lower limiting groove (35), a lower receiver (36), a lower support frame (37), a lower transmission ring (38), a lower support ring (39), a lower support rod (40), a lower balancing weight (41), a lower infrared transmitter (42), a lower tightening platform (43), a lower weight (44), a lower tightening bolt (45), a lower cover plate (46), a sliding seat (47), a lower horizontal ruler (48) and a lower storage battery (49), the horizontal lower shell (33) is arranged below the support rail (32), the left lower part and the right lower part of the inner wall of the lower shell (33) are respectively fixed with the horizontal lower support frame (34), the middle part of the inner wall is provided with two vertical lower limiting grooves (35), the horizontal lower receiver (36) is arranged on the left part and the right part of the lower shell (33), the top end of the middle part of the inner wall is fastened with the vertical lower support frame (37) through bolts, the lower support frame (37) is connected with the two lower supporting grooves (35) in an inserting manner, the middle part is rotatably connected with the horizontal lower transmission ring (38), the front and back of the lower transmission ring (38), the lower support ring (39) is connected with the horizontal lower support ring (39), the lower support ring (41), both ends respectively are fixed with horizontally infrared emitter (42) down about lower bracing piece (40), and the top respectively is equipped with the tight platform in horizontally top down (43), each sliding connection in both ends has vertical lower weight (44), two about lower bracing piece (40) lower weight (44) upper portion has vertical lower puller bolt (45), two through threaded connection respectively down puller bolt (45) bottom can support in tight platform (43) top under two, and can carry out axial slip along lower bracing piece (40), two apron (46) down is installed jointly to lower carriage (34), two respectively have vertical sliding seat (47) through the bolt fastening about lower casing (33) top, casing (33) front end is fixed with horizontally lower horizontal ruler (48) down, and the rear end is fixed with horizontally lower battery (49).

4. A balance testing arrangement of a robot assembly jaw according to claim 3, characterized in that: the axle center that the direction of rotation place of last transmission ring (8) is horizontal direction, the axle center that the direction of rotation place of going up supporting ring (9) is ninety degrees vertical in the horizontal plane with the axle center that the direction of rotation place of last transmission ring (8), go up bracing piece (10) can indirectly drive under the action of gravity of last weight (14) and last balancing weight (11) and go up transmission ring (8) and rotate until last balancing weight (11) keep vertical state, go up supporting rod (10) and can go up the rotation axle center of supporting ring (9) and carry out luffing motion as the axle center under the lever action power of last weight (14), two go up infrared emitter (12) and follow the in-process that last bracing piece (10) reciprocated and can parallel with two last receivers (16) and last level bar (2), transmission shaft (25) bottom is through flat key and lower casing (33) sliding connection from top to bottom, worm wheel (26) mesh mutually with worm (29), the axle center that support rail (32) place and transmission shaft (25), the coaxial transmission shaft (38) can drive down the weight ring (38) and lower support ring (38) and can drive down the action of weight (38) and lower support ring (38) and can be along the action of weight (41) under the action of weight (38) and lower support ring (38) about the action of weight (38) under the action ) The lower support rod (40) can swing up and down by taking the rotation axis of the lower support ring (39) as the axis under the lever action force of the lower weight (44), the two lower infrared emitters (42) can be parallel to the two lower receivers (36) and the lower horizontal ruler (48) in the process of moving up and down along the lower support rod (40), and the two sliding seats (47) can horizontally slide along the support rail (32) in an annular manner.

5. A balance testing arrangement of a robot assembly jaw according to claim 4, characterized in that: two the top terminal surface coplane of electro-magnet (4), go up battery (3), electro-magnet (4), go up infrared emitter (12), go up receiver (16), controller (22), step motor (27), receiver (36) down, infrared emitter (42) and battery (49) looks electrical connection down, two the infrared ray of going up infrared emitter (12) transmission can be received simultaneously by two last receivers (16), two infrared emitter (42) transmission can be received simultaneously by two receivers (36) down, controller (22) built-in radio transmission module, controller (22) can control step motor (27) and carry out just reversing rotation after receiving specific radio signal, step motor (27) are every to rotate a step angle and can drive transmission shaft (25) through the meshing of worm (29) with worm wheel (26) and rotate ninety degrees, transmission shaft (25) can drive down casing (33) through the parallel key and carry out synchronous rotation when rotating, casing (33) can drive support rail (47) along horizontal slip track (32) when carrying out the horizontal rotation down.