CN218947658U

CN218947658U - Robot alignment debugging device

Info

Publication number: CN218947658U
Application number: CN202221874112.6U
Authority: CN
Inventors: 孙士欣; 洪敬伟; 岳彩清; 谢丰
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2023-05-02
Anticipated expiration: 2032-07-20

Abstract

The utility model discloses a robot alignment debugging device which comprises a fixed frame, wherein the upper surface of the fixed frame is rotationally connected with a rotating table, a protection frame is fixedly arranged on the upper surface of the rotating table, a first servo cylinder is fixedly arranged in the middle of the upper surface of the rotating table, a vertical sliding frame is arranged at the output end of the first servo cylinder, and a transverse sliding frame is connected on the upper surface of the vertical sliding frame in a sliding manner. According to the robot alignment debugging device, through the cooperation of the handheld primary remote controller, the secondary controller, the first servo cylinder, the second servo cylinder, the third servo cylinder, the vertical sliding frame, the transverse sliding frame, the connecting plate and the alignment mark head, each point in the three-dimensional space can be pointed out, and a worker can accurately and rapidly determine the moving track by operating the industrial robot to enable the working end of a single industrial robot to be aligned with the end part of the debugging plate.

Description

Robot alignment debugging device

Technical Field

The utility model relates to the field of electrical engineering, in particular to the field of robot alignment debugging devices.

Background

The robot is a multi-joint manipulator widely used in the field of electrical engineering, as shown in fig. 1, in the process of equipment automated production, a workpiece is placed in the middle of a workbench a, a plurality of robots b are usually arranged around the workbench a to carry out operations of different procedures, after the robots b are installed in a production working environment, angles among the robots b are determined, debugging is needed, the robots b can be ensured to move according to a specified path during operation, the current debugging method is to lay a drawing on the workbench a, then a worker adjusts the working end of the robots b through a handheld control panel, the working end of the robots b moves along lines on a drawing, the moving path is programmed and recorded, the robots b can repeatedly reproduce the moving path according to the recorded programming, but the working end of the robots b moves along the drawing, only plane moving tracks can be recorded, when the working end of the robots b needs to move at a certain height from the workbench, the working end of the robots b is difficult to accurately determine the moving tracks of the robots b in the three-dimensional space, deviation is easy to occur, the working end of the robots b needs to be adjusted at a certain angle when the working end of the robots b needs to be adjusted, and the other debugging device needs to be adjusted at one side of the working end of the robots b, and the debugging device is required to be adjusted at one side of the other side, and the debugging speed is not to be further needed.

Disclosure of Invention

The utility model mainly aims to provide a robot alignment debugging device which can effectively solve the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a robot alignment debugging device, includes the mount, the upper surface of mount rotates and is connected with the rotation platform, the upper surface fixed mounting of rotation platform has the guard frame, the upper surface middle part fixed mounting of rotation platform has a servo cylinder, the output of a servo cylinder is provided with vertical sliding frame, the upper surface sliding connection of vertical sliding frame has the horizontal sliding frame, the upper surface sliding connection of horizontal sliding frame has vertical sliding frame, the side fixed mounting of vertical sliding frame has the connecting plate, the tip fixed mounting of connecting plate has the alignment mark head, the upper surface mounting of alignment mark head has the clamp plate.

The utility model is further improved in that a second servo cylinder is fixedly arranged in the vertical sliding frame, the output end of the second servo cylinder is fixedly provided with a first sliding plate, the first sliding plate is fixedly connected with the bottom of the transverse sliding frame, a third servo cylinder is fixedly arranged in the transverse sliding frame, the bottom of the longitudinal sliding frame is fixedly provided with a second sliding plate, the second sliding plate slides in the transverse sliding frame, the output end of the third servo cylinder is fixedly connected with the second sliding plate, the first servo cylinder is connected with a second controller through the arranged handheld first remote controller, the first servo cylinder, the second servo cylinder and the third servo cylinder are controlled to move, the first servo cylinder moves to push the vertical sliding frame, the transverse sliding frame, the connecting plate and the alignment mark to form integral vertical coordinate positions of test points, the second servo cylinder moves to push the transverse sliding frame, the connecting plate and the alignment mark to form integral transverse coordinate positions of test points, the third servo cylinder pushes the connecting plate and the alignment mark to move longitudinally, the alignment mark moves to the two ends of the two industrial robot to the two ends of the industrial robot, and the two industrial robot can move accurately and the two industrial robot can move to the two ends of the industrial robot through the corresponding position of the connecting plate.

The utility model is further improved in that a pressure sensor is arranged between the pressure plate and the alignment mark head, an alignment alarm is fixedly arranged in the alignment mark head, the pressure plate is arranged on the upper surface of the alignment mark head, the pressure plate is connected with the alignment mark head through the pressure sensor, when the working end aligns to the extrusion pressure plate, the pressure sensor senses pressure change, and the secondary controller triggers sound by controlling the operation of the alignment alarm to remind that the alignment mark is aligned, so that the moving track can be quickly determined.

The utility model is further improved in that a driving motor is fixedly arranged in the middle of the fixing frame, the output end of the driving motor is fixedly connected with the middle of the rotating table, an angle dial is fixedly arranged on the side face of the fixing frame, a pointer is fixedly arranged on the side face of the rotating table, the bottom end of the pointer slides on the surface of the angle dial, the bottom of the fixing frame is fixedly arranged in the middle of the operating table a, when one robot b is aligned and debugged, and other robots b are required to be debugged, the driving motor is controlled to drive the rotating table to rotate so as to drive the pointer to slide on the surface of the angle dial, and therefore the angle of the integral structure of the upper part of the rotating table is adjusted.

The utility model is further improved in that the side surface of the rotating table is fixedly provided with the fixing plate above the pointer, the bottom of the fixing plate is fixedly provided with the first camera, and the first camera arranged at the bottom of the fixing plate performs shooting identification on the position of the angle disc and the pointer, so that the integral structure at the upper part of the rotating table is rapidly rotated to the position aligned with other robots b, and the moving track of a plurality of robots b on one workbench is rapidly determined.

The utility model is further improved in that a handheld primary remote controller is arranged outside the fixing frame, a secondary controller is fixedly arranged on the surface of the protection frame, the handheld primary remote controller controls the driving motor, the third servo cylinder, the second servo cylinder and the first servo cylinder to operate through the secondary controller, and the output ends of the first camera and the second camera are connected with the handheld primary remote controller.

Compared with the prior art, the utility model has the following beneficial effects:

1. through handheld one-level remote controller, the second grade controller, servo cylinder, no. two servo cylinders, no. three servo cylinders, vertical sliding frame, horizontal sliding frame, connecting plate and alignment mark head cooperation that set up are used, can point out the each point in the three-dimensional space, the staff makes the tip of single industrial robot's work end alignment debugging board through operating industrial robot, just can accurate quick definite moving track, and set up the quick observation of position to industrial robot's work end of No. two cameras in the upper and lower both sides of connecting plate being convenient for, the time of having practiced thrift the alignment, set up clamp plate and pressure sensor cooperation at the upper surface of alignment mark head simultaneously, the second grade controller is through controlling alignment alarm operation and is triggered the sound, remind and the alignment has been convenient for quick definite moving track.

2. Through driving motor, the rolling platform that set up, pointer, angle scale and a camera cooperation use to make the overall structure on rolling platform upper portion rotate fast to the position of aiming at other robot b, with the quick a plurality of robots b to on the workstation confirm the removal orbit.

Drawings

Fig. 1 is a schematic diagram of a robot table to which the robot alignment adjustment device of the present utility model is applied.

Fig. 2 is a schematic diagram of the overall structure of a robot alignment debugging device according to the present utility model.

Fig. 3 is a schematic diagram of the upper part of the first servo cylinder of the robot alignment debugging device according to the present utility model.

Fig. 4 is a schematic diagram of a connection structure of a transverse sliding frame, a third servo cylinder and a connection plate of the robot alignment debugging device.

Fig. 5 is a schematic diagram of a connection section of a fixing frame and a rotating table of the robot alignment debugging device.

Fig. 6 is a schematic diagram illustrating connection between an alignment header and a platen of a robot alignment debugging device according to the present utility model.

In the figure: 1. a fixing frame; 2. a rotating table; 3. a protective frame; 4. a secondary controller; 5. a first-level remote controller is held; 6. a fixing plate; 7. a first camera; 8. an angle scale; 9. a pointer; 10. a second camera; 11. a first servo cylinder; 12. aligning the header; 13. a vertical sliding frame; 14. a second servo cylinder; 15. a lateral sliding frame; 16. a third servo cylinder; 17. a longitudinal carriage; 18. a connecting plate; 19. a first slide plate; 20. a second slide plate; 21. a pressing plate; 22. a driving motor; 23. a pressure sensor; 24. an alarm is aligned.

Detailed Description

In order that the technical means, the creation characteristics, the achievement of the objects and the effects of the present utility model may be easily understood, it should be noted that in the description of the present utility model, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "a", "an", "the" and "the" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The utility model is further described below in conjunction with the detailed description.

Example 1

As shown in fig. 2 and 3, a robot alignment debugging device comprises a fixed frame 1, wherein the upper surface of the fixed frame 1 is rotationally connected with a rotating table 2, the upper surface of the rotating table 2 is fixedly provided with a protection frame 3, the middle part of the upper surface of the rotating table 2 is fixedly provided with a first servo cylinder 11, the output end of the first servo cylinder 11 is provided with a vertical sliding frame 13, the upper surface of the vertical sliding frame 13 is slidingly connected with a transverse sliding frame 15, the upper surface of the transverse sliding frame 15 is slidingly connected with a longitudinal sliding frame 17, the side surface of the longitudinal sliding frame 17 is fixedly provided with a connecting plate 18, the end part of the connecting plate 18 is fixedly provided with an alignment mark head 12, and the upper surface of the alignment mark head 12 is provided with a pressing plate 21;

specifically, as shown in fig. 2, 3 and 4, a second servo cylinder 14 is fixedly arranged in the vertical sliding frame 13, a first slide plate 19 is fixedly arranged at the output end of the second servo cylinder 14, the first slide plate 19 is fixedly connected with the bottom of the transverse sliding frame 15, a third servo cylinder 16 is fixedly arranged in the transverse sliding frame 15, a second slide plate 20 is fixedly arranged at the bottom of the longitudinal sliding frame 17, the second slide plate 20 slides in the transverse sliding frame 15, the output end of the third servo cylinder 16 is fixedly connected with the second slide plate 20, the first servo cylinder 11, the second servo cylinder 14 and the third servo cylinder 16 are controlled to operate through the arranged handheld first-stage remote controller 5, the first servo cylinder 11 operates to push the vertical sliding frame 13, the transverse sliding frame 15, the connecting plate 18 and the alignment mark 12 to form an integral vertical movement, the alignment mark head 12 is moved to the vertical coordinate position of the test point, the second servo cylinder 14 operates to push the transverse sliding frame 15, the connecting plate 18 and the alignment mark head 12 to form an integral transverse movement, the alignment mark head 12 is moved to the transverse coordinate position of the test point, the third servo cylinder 16 pushes the connecting plate 18 and the alignment mark head 12 to longitudinally move, the alignment mark head 12 is moved to the longitudinal coordinate position of the test point, each point in the three-dimensional space can be pointed out through the adjustment, a worker can accurately and quickly determine the movement track by operating the industrial robot to align the working end of a single industrial robot with the end of the debugging plate, the second cameras 10 are arranged on the upper side and the lower side of the connecting plate 18 to facilitate quick observation of the position of the working end of the industrial robot, the alignment time is saved;

specifically, as shown in fig. 6, a pressure sensor 23 is installed between the pressure plate 21 and the alignment head 12, an alignment alarm 24 is fixedly installed in the alignment head 12, thus, the pressure plate 21 is arranged on the upper surface of the alignment head 12, the pressure plate 21 is connected with the alignment head 12 through the pressure sensor 23, when the working end aligns to the pressure plate 21, the pressure sensor 23 senses the pressure change, and the secondary controller 4 triggers sound by controlling the operation of the alignment alarm 24 to remind that the alignment is performed, so that the moving track can be conveniently and quickly determined;

specifically, as shown in fig. 1, a handheld primary remote controller 5 is arranged outside the fixing frame 1, a secondary controller 4 is fixedly arranged on the surface of the protection frame 3, and the handheld primary remote controller 5 controls the driving motor 22, the third servo cylinder 16, the second servo cylinder 14 and the first servo cylinder 11 to operate through the secondary controller 4.

The implementation of the embodiment can be realized: the handheld primary remote controller 5 is connected with the secondary controller 4, the first servo cylinder 11, the second servo cylinder 14 and the third servo cylinder 16 are controlled to operate, the first servo cylinder 11 operates to push the vertical sliding frame 13, the horizontal sliding frame 15, the connecting plate 18 and the alignment mark 12 to form integral vertical movement, the alignment mark 12 moves to the vertical coordinate position of a test point, the second servo cylinder 14 operates to push the horizontal sliding frame 15, the connecting plate 18 and the alignment mark 12 to form integral horizontal movement, the alignment mark 12 moves to the horizontal coordinate position of the test point, the third servo cylinder 16 pushes the connecting plate 18 and the alignment mark 12 to longitudinally move, the alignment mark 12 moves to the longitudinal coordinate position of the test point, points in a three-dimensional space can be pointed out through the adjustment, a worker can accurately and quickly determine a moving track by operating the end of a work end alignment debugging plate of the industrial robot, the second servo cylinder 10 is convenient to quickly observe the position of the work end of the industrial robot, the time is saved, the pressure sensor 21 is simultaneously pressed on the surface of the connecting plate 12 to be aligned with the pressure sensor 21, and the pressure sensor 21 is conveniently triggered when the pressure sensor is connected with the pressure sensor 21 in the pressure sensor is connected with the pressure sensor, and the pressure sensor is triggered to the pressure sensor is connected with the pressure sensor 23.

Example 2

specifically, as shown in fig. 2 and 5, a driving motor 22 is fixedly installed in the middle of the fixing frame 1, the output end of the driving motor 22 is fixedly connected with the middle of the rotating table 2, an angle scale 8 is fixedly installed on the side surface of the fixing frame 1, a pointer 9 is fixedly installed on the side surface of the rotating table 2, the bottom end of the pointer 9 slides on the surface of the angle scale 8, the bottom of the fixing frame 1 is fixedly installed in the middle of the operating table a in such a way, when one robot b is aligned and debugged, and other robots b are required to be debugged, the driving motor 22 drives the rotating table 2 to rotate so as to drive the pointer 9 to slide on the surface of the angle scale 8, so that the angle of the integral structure at the upper part of the rotating table 2 is adjusted;

specifically, as shown in fig. 2 and 5, a fixed plate 6 is fixedly installed on the side surface of the rotating table 2 and above the pointer 9, a first camera 7 is fixedly installed at the bottom of the fixed plate 6, and thus the first camera 7 arranged at the bottom of the fixed plate 6 photographs and identifies the positions of the angle disc 8 and the pointer 9, so that the integral structure on the upper part of the rotating table 2 is quickly rotated to the position aligned with other robots b, the moving track of a plurality of robots b on one workbench is quickly determined, and the output ends of the first camera 7 and the second camera 10 are connected with the handheld primary remote controller 5.

The implementation of the embodiment can be realized: the bottom of the fixing frame 1 is fixedly arranged in the middle of the operating platform a, when one robot b is aligned and debugged, and other robots b are required to be debugged, the driving motor 22 drives the rotating platform 2 to rotate by controlling the driving motor 22 so as to drive the pointer 9 to slide on the surface of the angle scale 8, so that the angle of the integral structure on the upper part of the rotating platform 2 is adjusted, and meanwhile, the position of the angle scale 8 and the pointer 9 is photographed and identified by the camera 7 on the bottom of the fixing plate 6, so that the integral structure on the upper part of the rotating platform 2 is rapidly rotated to the position aligned with the other robots b, and the moving track of the robots b on the workbench is rapidly determined.

It should be noted that, when the robot alignment debugging device is used, firstly, the bottom of the fixing frame 1 is fixedly arranged in the middle of the operation platform a, the first servo cylinder 11, the second servo cylinder 14 and the third servo cylinder 16 are controlled to operate by being connected with the second controller 4 through the arranged handheld first-stage remote controller 5, the first servo cylinder 11 operates to push the whole vertical movement formed by the vertical sliding frame 13, the horizontal sliding frame 15, the connecting plate 18 and the alignment mark 12 to move the alignment mark 12 to the vertical coordinate position of the test point, the second servo cylinder 14 operates to push the whole horizontal movement formed by the horizontal sliding frame 15, the connecting plate 18 and the alignment mark 12 to move the alignment mark 12 to the horizontal coordinate position of the test point, the third servo cylinder 16 operates to push the connecting plate 18 and the alignment mark 12 to move longitudinally to move the alignment mark 12 to the longitudinal coordinate position of the test point, through the adjustment, each point in the three-dimensional space can be pointed out, a worker can accurately and quickly determine the moving track by operating the industrial robot to align the working end of a single industrial robot with the end part of the debugging plate, the two cameras 10 are arranged on the upper side and the lower side of the connecting plate 18 to facilitate quick observation of the position of the working end of the industrial robot, the alignment time is saved, meanwhile, the pressing plate 21 is arranged on the upper surface of the alignment head 12, the pressing plate 21 is connected with the alignment head 12 through the pressure sensor 23, when the working end is aligned with the pressing plate 21, the pressure sensor 23 senses the pressure change, the two-stage controller 4 triggers the sound by controlling the alignment alarm 24 to remind that the alignment is already performed, the moving track is convenient to quickly determine, when the alignment and the debugging of one robot b are completed and the other robots b are required to be debugged, through controlling the operation of driving motor 22, thereby driving motor 22 drives rotation platform 2 rotation and drives pointer 9 and slide on the surface of angle scale 8 to adjust the angle of the overall structure on rotation platform 2 upper portion, photographic discernment is carried out to angle scale 8 and the position of pointer 9 to camera 7 of fixed plate 6 bottom simultaneously, so that the overall structure on rotation platform 2 upper portion rotates to the position of aiming at other robot b fast, with the quick movement track of confirming a plurality of robots b on the workstation.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a robot alignment debugging device, includes mount (1), its characterized in that: the upper surface of mount (1) rotates and is connected with rolling table (2), the upper surface fixed mounting of rolling table (2) has guard frame (3), the upper surface middle part fixed mounting of rolling table (2) has servo cylinder (11) No. one, the output of servo cylinder (11) is provided with vertical slip frame (13), the upper surface sliding connection of vertical slip frame (13) has horizontal slip frame (15), the upper surface sliding connection of horizontal slip frame (15) has vertical slip frame (17), the side fixed mounting of vertical slip frame (17) has connecting plate (18), the tip fixed mounting of connecting plate (18) has alignment mark head (12), the upper surface mounting of alignment mark head (12) has clamp plate (21).

2. The robot alignment debugging device of claim 1, wherein: the automatic control device is characterized in that a second servo cylinder (14) is fixedly arranged in the vertical sliding frame (13), a first sliding plate (19) is fixedly arranged at the output end of the second servo cylinder (14), the first sliding plate (19) is fixedly connected with the bottom of the transverse sliding frame (15), a third servo cylinder (16) is fixedly arranged in the transverse sliding frame (15), a second sliding plate (20) is fixedly arranged at the bottom of the longitudinal sliding frame (17), the second sliding plate (20) slides in the transverse sliding frame (15), the output end of the third servo cylinder (16) is fixedly connected with the second sliding plate (20), and a second camera (10) is arranged on the upper side and the lower side of the connecting plate (18).

3. The robot alignment debugging device of claim 1, wherein: a pressure sensor (23) is arranged between the pressing plate (21) and the alignment mark head (12), and an alignment alarm (24) is fixedly arranged in the alignment mark head (12).

4. The robot alignment debugging device of claim 1, wherein: the novel rotary table is characterized in that a driving motor (22) is fixedly arranged in the middle of the fixing frame (1), the output end of the driving motor (22) is fixedly connected with the middle of the rotary table (2), an angle scale (8) is fixedly arranged on the side face of the fixing frame (1), a pointer (9) is fixedly arranged on the side face of the rotary table (2), and the bottom end of the pointer (9) slides on the surface of the angle scale (8).

5. The robot alignment debugging device of claim 1, wherein: the rotary table is characterized in that a fixing plate (6) is fixedly arranged on the side face of the rotary table (2) and above the pointer (9), and a first camera (7) is fixedly arranged at the bottom of the fixing plate (6).

6. The robot alignment debugging device of claim 1, wherein: the outside of mount (1) is provided with handheld one-level remote controller (5), the fixed surface mounting of protection frame (3) has second grade controller (4), operation that handheld one-level remote controller (5) passed through second grade controller (4) control driving motor (22), no. three servo cylinder (16), no. two servo cylinder (14) and No. one servo cylinder (11).