CN117863234A - Industrial robot debugging device - Google Patents

Abstract

The invention belongs to the technical field of robots, in particular to an industrial robot debugging device, which aims at the technical problems that after a sample is debugged by a traditional robot debugging device, the sample is damaged and inconvenient to clean, and the debugging device needs frequent cleaning by workers. According to the invention, the rotating shaft and the threaded rotating rod are driven to rotate through the connecting belt and the belt pulley, and due to the effect of the threaded connection of the outer wall, the rotating threaded rotating rod drives the threaded sleeve block arranged in the rotating threaded rotating rod to move, and drives the movable cleaning rod and devices such as a scraping plate, hard bristles, a sponge wiping block and the like below the movable cleaning rod to move, so that a sample scattered on the debugging bottom plate can be pushed and cleaned, and the sample is wiped.

Description

Industrial robot debugging device

Technical Field

The invention relates to the technical field of robot mechanical arms, in particular to an industrial robot debugging device.

Background

Industrial robots are automated robots used in the field of industrial manufacturing and production, and are mainly used for performing repetitive, high-precision, high-efficiency mechanical operations. They can perform various operations on a production line, such as assembly, welding, spraying, packaging, etc., to improve productivity, reduce labor costs, improve product quality, etc., industrial robots are generally composed of robotic arms, control systems, sensors, etc. The robot arm typically has multiple degrees of freedom that can be flexibly moved and rotated to accomplish work pieces of different shapes and sizes. The control system automatically controls the action and the position of the mechanical arm through programming, the sensor can sense the information such as temperature, pressure, light and the like in the working environment and make real-time adjustment and feedback to the action of the robot, along with the development of industry 4.0, the industrial robot becomes more and more intelligent and flexible, can autonomously learn and autonomously make decisions according to different tasks, and can also perform networking cooperation with other equipment and systems to jointly complete complex production tasks.

A manipulator, also called a robotic arm, in an industrial robot is a multi-joint mechanical device for performing various operations and actions. It mimics the structure and movement of a human arm, has flexibility and accuracy, and can perform a variety of tasks in a variety of industrial and non-industrial fields, and a manipulator is typically composed of a plurality of joints and links, each of which can be driven by electric motors, hydraulic or pneumatic means. The connecting piece between the joints generally adopts structures such as a hinge and a sliding block, so that the manipulator can freely move and rotate, has wide functions and application range, can be used for assembly, carrying, welding, spraying and other works on an industrial production line, and can also be used in the fields of medical operation, food processing, storage logistics and the like. With the continuous progress of technology, the flexibility and the intelligent degree of the manipulator are also continuously improved, for example, the manipulator performs target tracking and accurate operation through a visual recognition system, or cooperates with other robots and equipment to complete complex tasks, and the advantages of the manipulator include high precision, high efficiency, good repeatability and strong adaptability to dangerous environments. The device can improve the production efficiency, reduce the labor cost and reduce the damage of repeated labor to human bodies.

At present, when the mechanical arm of the industrial robot is used for debugging, samples are required to be taken and placed, debugging is carried out, in order to meet the accuracy of debugging data, the robot used for fruit picking can directly carry out debugging experiments with target fruits, the samples are broken due to the difference of clamping force of the mechanical arm of the robot, and the debugging device is inconvenient to clean, so that the industrial robot debugging device is required.

Disclosure of Invention

Based on the technical problems that after a traditional robot debugging device is used for debugging a sample, the sample is damaged and inconvenient to clean, and a worker is required to clean the debugging device frequently, the invention provides an industrial robot debugging device.

The invention provides an industrial robot debugging device which comprises a debugging bottom plate, wherein rectangular open holes are formed in two sides of the top of the debugging bottom plate, a same guard plate is welded and fixed at two ends and one side of the top of the debugging bottom plate, a base plate is welded and fixed at the middle part of one side, far away from the guard plate, of the top of the base plate, a base pipe is welded and fixed at the middle part of one side, far away from the guard plate, of the base plate, a rotatable bearing ring is mounted at the top of the inner wall of the base pipe, a mechanical arm mounting base table is welded and fixed at the top of the inner wall of the bearing ring, a robot is detachably mounted at the top of the mechanical arm mounting base table through bolts, a metal fixing plate is welded and fixed at the middle part, far away from one side, of the guard plate, of the inner wall of the guard plate, a storage mechanism is arranged at the middle part, near one side, near to the metal fixing plate, of the top of the guard plate, a base rod is welded and fixed at the middle part, near one side, of the mechanical arm mounting base table, a swinging mechanism is mounted through bolts, a lifting plate is welded and fixed at the top of the front end of the inner wall, a lifting plate is fixed at the rear end, and a cleaning mechanism is fixedly mounted at the bottom plate, and a flap is welded and fixed at one side, far from the mechanical arm mounting base plate.

The mechanical arm is characterized in that the power mechanism comprises two bases, the two bases are respectively welded and fixed on the tops of the metal fixing plates, the tops of the two metal fixing plates are fixedly provided with the same servo motor through screws, one end of an output shaft of the servo motor is welded and fixed with a rotary fluted disc, a pushing rod is welded and fixed at the position, close to one side of the mechanical arm mounting base, of the rotary fluted disc, and protruding teeth are arranged on the circumferential outer wall of the rotary fluted disc.

The invention further provides that the object placing mechanism comprises two rectangular plates, the two rectangular plates are welded and fixed at two ends of one side, close to the mechanical arm installation base, of the top of the metal fixing plate, rotating blocks are welded and fixed at one side, close to the mechanical arm installation base, of the two rectangular plates, rotatable perforated rotating plates are arranged at one sides, far from the metal fixing plate, of the two rotating blocks, elliptical holes are formed in the tops of the middle parts of the two sides of the two perforated rotating plates, inserting rods capable of moving up and down are inserted into the inner walls of the elliptical holes of the two perforated rotating plates, one swinging plate is welded and fixed at one side, close to the mechanical arm installation base, of the two inserting rods, inserting holes are formed in the middle parts of the two sides of the swinging plates, and the pushing rods are inserted into the inserting holes of the swinging plates.

The invention further provides that the bottoms of the two rotating plates with holes are fixedly provided with object placing plates through bolts, one sides, close to the rotating plates with holes, of the two object placing plates are provided with grooves, and the tops of the two object placing plates are provided with a plurality of object placing plates at equal intervals through bolts.

The invention is further characterized in that a fixed base block is fixedly welded at the rear end of one side, close to the metal fixed plate, of the inner wall of the guard plate, a rotating shaft is arranged at the middle part, close to one side of the mechanical arm installation base, of the fixed base block through a bearing, belt pulleys are fixedly welded at the middle parts of the circumferential outer wall of the rotating shaft and the circumferential outer wall of the output shaft of the servo motor, grooves of the circumferential outer walls of the two belt pulleys are sleeved with one connecting belt, a threaded rotating rod is fixedly welded at one end, far away from the fixed base block, of the rotating shaft, a fixed block is rotatably arranged at one end, far away from the fixed base block, of the circumferential outer wall of the threaded rotating rod, and the rear end of the fixed block is fixedly welded at the rear end of the inner wall of the guard plate.

The cleaning mechanism is further arranged in that the cleaning mechanism comprises a sliding rail, the sliding rail is fixedly arranged in the middle of the rear end of the hanging plate through a screw, the rear end of the sliding rail is slidably provided with a sliding block, the rear end of the sliding block is fixedly welded with a movable cleaning rod, the rear end of the movable cleaning rod is fixedly welded with the front end of an internally threaded sleeve block, the bottom of the movable cleaning rod is fixedly provided with a scraping plate through a screw, the top of one side, close to the servo motor, of the scraping plate is fixedly provided with a brushing plate through a screw, and the bottom of the brushing plate is provided with hard bristles.

The invention is further characterized in that a sponge wiping block is fixedly arranged on one side, far away from the brush plate, of the bottom of the movable cleaning rod, and a wringing plate is fixedly welded on one side, close to the mechanical arm mounting base, of the top of the debugging bottom plate.

The invention is further characterized in that a rectangular rod is welded and fixed on one side of the fixed base block, which is close to the mechanical arm installation base, and the outer wall of the rectangular rod is sleeved with a pressure spring, one side of the circumferential outer wall of the rotating shaft, which is close to the threaded rotating rod, is sleeved with a sleeve plate, the middle parts of the front ends of the two sides of the sleeve plate are provided with rectangular holes, and the rectangular rod penetrates through the rectangular holes of the sleeve plate.

The invention further provides that the swinging mechanism comprises a sliding groove, the sliding groove is fixed on one side of the base rod, which is close to the mechanical arm installation base table, through a screw, a reciprocating rod is slidably arranged on one side of the sliding groove, which is close to the mechanical arm installation base table, a plurality of swinging rods are arranged on one side of the reciprocating rod, which is close to the mechanical arm installation base table, a connecting rod is fixedly welded at the middle part of the top of the reciprocating rod, a toothed rod is fixedly welded at the top of the connecting rod, and convex teeth at the top of the toothed rod are meshed with convex teeth at the peripheral outer wall part of the rotating fluted disc.

The invention is further characterized in that a limiting plate is fixedly welded in the middle of the rear end of the connecting rod, round holes are formed in the middle of the two ends of the limiting plate, side plates are fixedly welded at the two ends of one side, far away from the mechanical arm installation base, of the base rod, the same plug rod is fixedly welded in the middle of one end between the two side plates, the plug rod penetrates through the round holes of the limiting plate, and transverse springs are sleeved at the front end and the rear end of the circumferential outer wall of the plug rod.

The beneficial effects of the invention are as follows: 1. the device is provided with the rotating fluted disc, the swinging plate, the object placing plate and other devices, when the device is used, a damaged sample can be in the object placing plate during debugging of the mechanical arm, and the servo motor operates to drive the rotating fluted disc to rotate, so that the swinging plate is driven to swing back and forth, the object placing plate below is driven to overturn, the sample in the object placing plate is poured out, and the device is self-cleaned, so that time and labor are saved, and frequent cleaning of workers is avoided.

2. When the device is used, the running servo motor drives the rotating shaft and the threaded rotating rod to rotate through the connecting belt and the belt pulley, and the rotating threaded rotating rod drives the threaded sleeve block arranged in the rotating threaded rotating rod to move under the action of the threaded connection of the outer wall, so that the movable cleaning rod and devices such as a scraping plate, hard bristles and a sponge wiping block below the movable cleaning rod are driven to move, and samples scattered on a debugging bottom plate are pushed to be cleaned and wiped.

3. The device is provided with the devices such as the swinging rod, the toothed rod, the connecting rod and the reciprocating rod, and the like, and the toothed rod and the reciprocating rod and the like can be meshed with the toothed rod below when the rotary fluted disc rotates, so that the toothed rod and the reciprocating rod and the like can move to one side, after the toothed rod and the reciprocating rod are meshed, the transverse spring can push and reset the toothed rod and the reciprocating rod to drive the toothed rod and the reciprocating rod to move, and when the movable cleaning rod moves onto the rotary shaft on the threaded rotary rod, the swinging rod on the reciprocating rod can be inserted into the hard brush hair to shake back and forth, and impurities pushed and cleaned in the hard brush hair are shaken down to achieve the effect of cleaning the hard brush hair.

4. The device is provided with the pressure spring, the sleeve plate and other devices, when the servo motor drives the rotation to rotate in one direction, the movable cleaning rod moves towards the rotating shaft and moves to the outer wall of the rotating shaft, the sleeve plate is extruded by continuous rotation and stays on the outer wall of the rotating shaft, and when the device rotates reversely, the threaded hole is pushed to be in threaded connection with the threaded rotating rod by the pushing of the sleeve plate and the pressure spring, so that the effect of moving in the direction is achieved, and the movable cleaning rod is ensured to stay on one side of the debugging bottom plate.

5. According to the device, the sponge wiping block, the wringing plate and other devices are arranged, after the cleaning rod is moved to clean the debugging bottom plate, the sponge wiping block returns to one side close to the mechanical arm installation base, contacts with the cambered surface of the wringing plate, extrudes sewage and stains, and flows out from the opening of the debugging bottom plate, so that the effect of cleaning the sponge wiping block is achieved.

Drawings

Fig. 1 is a schematic perspective view of an industrial robot debugging device according to the present invention.

Fig. 2 is a schematic view of a rear end perspective structure of an industrial robot debugging device according to the present invention.

Fig. 3 is a schematic top perspective view of an industrial robot debugging device according to the present invention.

Fig. 4 is a schematic perspective view of a hanger plate of an industrial robot debugging device according to the present invention.

Fig. 5 is a schematic perspective view of a tray of an industrial robot debugging device according to the present invention.

Fig. 6 is a schematic perspective view of a swing plate of an industrial robot debugging device according to the present invention.

Fig. 7 is a schematic perspective view of a swing rod of an industrial robot debugging device according to the present invention.

Fig. 8 is an enlarged schematic view of the industrial robot debugging device shown in fig. 7 at a.

Fig. 9 is a schematic perspective view of a reciprocating rod of an industrial robot debugging device according to the present invention.

Fig. 10 is a schematic top perspective view of a movable cleaning rod of an industrial robot debugging device according to the present invention.

Fig. 11 is a schematic bottom perspective view of a movable cleaning rod of an industrial robot debugging device according to the present invention.

In the figure: 1. debugging the bottom plate; 2. a substrate; 3. a base pipe; 4. a bearing ring; 5. the mechanical arm is provided with a base station; 6. a fixed block; 7. a thread sleeve block is arranged in the inner part; 8. a guard board; 9. a storage tray; 10. a threaded rotating rod; 11. a rotation shaft; 12. a connecting belt; 13. a fixed base block; 14. rotating the fluted disc; 15. a servo motor; 16. a base; 17. a metal fixing plate; 18. a rectangular plate; 19. a folded plate; 20. a storage plate; 21. a sliding block; 22. a slide rail; 23. a hanger plate; 24. a swinging plate; 25. a push rod; 26. brushing a plate; 27. a wringing plate; 28. moving the cleaning rod; 29. a sponge wipe block; 30. a scraper; 31. a belt pulley; 32. a rotating block; 33. a rod; 34. a perforated rotating plate; 35. a base rod; 36. a swinging rod; 37. a reciprocating lever; 38. a chute; 39. inserting a connecting rod; 40. a side plate; 41. a toothed bar; 42. a limiting plate; 43. a connecting rod; 44. a transverse spring; 45. a sleeve plate; 46. a rectangular bar; 47. a pressure spring; 48. hard bristles.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

In this embodiment, referring to fig. 1-11, an industrial robot debugging device comprises a debugging bottom plate 1, rectangular openings are formed on two sides of the top of the debugging bottom plate 1, two ends and one side of the top of the debugging bottom plate 1 are welded and fixed with a same guard plate 8, a base plate 2 is welded and fixed at the middle part of the top of the debugging bottom plate 1 far away from the guard plate 8, a base pipe 3 is welded and fixed at the middle part of the top of the base plate 2, a rotatable bearing ring 4 is mounted at the top of the inner wall of the base pipe 3, a mechanical arm mounting base 5 is welded and fixed at the top of the inner wall of the bearing ring 4, a robot is detachably mounted at the top of the mechanical arm mounting base 5 through bolts, different mechanical arms to be debugged can be replaced, a metal fixing plate 17 is welded and fixed at the middle part of the side of the inner wall of the guard plate 8 far away from the mechanical arm mounting base 5, a power mechanism is arranged at the middle part of the top of the metal fixing plate 17, the two ends of one side of the top of the metal fixing plate 17, which is close to the mechanical arm installation base 5, are provided with a storage mechanism, one side of the top of the debugging bottom plate 1, which is close to the metal fixing plate 17, is welded and fixed with a base rod 35, the middle of one side of the base rod 35, which is close to the mechanical arm installation base 5, is fixedly provided with a swinging mechanism through bolts, the top of the front end of the inner wall of the guard plate 8 is welded and fixed with a hanging plate 23, the rear end of the hanging plate 23 is fixedly provided with a cleaning mechanism through bolts, one side of the bottom of the debugging bottom plate 1, which is far away from the mechanical arm installation base 5, is welded and fixed with a folded plate 19, when in use, a mechanical arm of a robot to be debugged is installed at the top of the mechanical arm installation base 5, when different samples are placed at the top of the storage plate 9, operations such as taking and placing are performed, damages generated by the samples can fall to the top of the debugging bottom plate 1 and the storage plate 9, the power mechanism can start running, the sample inside the object placing disc 9 can be poured out by driving the object placing mechanism to overturn, meanwhile, the running power mechanism can drive the cleaning mechanism to run from the robot mechanical arm to the power mechanism, the scattered sample on the debugging bottom plate 1 can be pushed to the rectangular opening to fall off for cleaning, meanwhile, the same direction is kept to rotate continuously, the cleaning mechanism can be caused to stay at the position, the power mechanism can drive the lower swinging mechanism to run back and forth, the cleaning mechanism can be cleaned, and the next cleaning effect is guaranteed.

Referring to fig. 1, fig. 2, fig. 4, fig. 5 and fig. 6, the power mechanism comprises two bases 16, the two bases 16 are respectively welded and fixed on the tops of the metal fixing plates 17, the same servo motor 15 is fixedly installed on the tops of the two metal fixing plates 17 through screws, one end of an output shaft of the servo motor 15 is welded and fixed with a rotating fluted disc 14, a pushing rod 25 is welded and fixed at a position, which is close to one side of the mechanical arm installation base 5, of the rotating fluted disc 14 and is eccentric to the center, a convex tooth is arranged on the circumferential outer wall of the rotating fluted disc 14, after the mechanical arm of the robot completes debugging, the damage generated by a sample can fall into the top of the debugging bottom plate 1 and the object placing plate 9, the power mechanism can start to operate, and the servo motor 15 operates to drive the front rotating fluted disc 14 to rotate, so that the pushing rod 25 is driven to rotate in a circular track.

Referring to fig. 1, 2, 3, 4, 5 and 6, the object placing mechanism comprises two rectangular plates 18, the two rectangular plates 18 are welded and fixed at two ends of one side of the top of the metal fixing plate 17, which is close to the mechanical arm installation base 5, the two rectangular plates 18 are welded and fixed with rotating blocks 32 on one side of the mechanical arm installation base 5, one side of the two rotating blocks 32, which is far away from the metal fixing plate 17, is provided with rotatable rotating plates 34 with holes, the tops of the middle parts of the two sides of the two rotating plates 34 with holes are respectively provided with an elliptical opening, the inner walls of the elliptical openings of the two rotating plates 34 with holes are respectively provided with a plugging rod 33 capable of moving up and down, one side of the two plugging rods 33, which is close to the mechanical arm installation base 5, is welded and fixed with the same swinging plate 24, the middle parts of the two sides of the swinging plate 24 are provided with plugging holes, the push rod 25 is inserted into the insertion hole of the swinging plate 24, the bottoms of the two perforated rotating plates 34 are fixedly provided with the object placing plates 20 through bolts, one sides, close to the perforated rotating plates 34, of the two object placing plates 20 are provided with grooves, the tops of the two object placing plates 20 are provided with a plurality of object placing plates 9 at equal intervals through bolts, during operation, the rotating fluted disc 14 drives the push rod 25 to move in the insertion hole of the swinging plate 24, during rotation, the swinging plate 24 is pushed to move back and forth, and during movement towards the two ends, the perforated rotating plates 34 are driven to rotate through the insertion rod 33, so that the object placing plates 20 arranged at the bottoms of the perforated rotating plates 34 are driven to overturn, samples in the object placing plates 9 are poured out, and the rotating fluted disc 14 continuously rotates to drive the object placing plates 20 to overturn frequently, so that the samples can be poured out fully.

Referring to fig. 1 and 4, a fixed base block 13 is welded and fixed at the rear end of the inner wall of a guard plate 8 near one side of a metal fixed plate 17, a rotating shaft 11 is installed at the middle of the side of the fixed base block 13 near the mechanical arm installation base 5 through a bearing, belt pulleys 31 are welded and fixed at the middle of the circumferential outer wall of the rotating shaft 11 and the middle of the circumferential outer wall of an output shaft of a servo motor 15, grooves of the circumferential outer walls of the two belt pulleys 31 are sleeved with one connecting belt 12, a threaded rotating rod 10 is welded and fixed at one end of the rotating shaft 11 far away from the fixed base block 13, a fixed block 6 is rotatably installed at one end of the circumferential outer wall of the threaded rotating rod 10 far away from the fixed base block 13, an internally provided threaded sleeve block 7 is welded and fixed at the rear end of the inner wall of the guard plate 8, the circumferential outer wall of the threaded rotating rod 10 is in threaded connection with an internally provided threaded sleeve block 7, the servo motor 15 drives the rotating shaft 11 at the rear end of the inner wall through the belt pulley 31 to rotate, the rotating shaft 11 drives the threaded rotating rod 10 to rotate, and when the threaded rotating rod 10 rotates, the threaded rotating rod 10 is limited by the internally provided threaded sleeve 10, and the threaded rotating rod 10 is driven by the internally provided with a limit sleeve 10 to move by the limit block 28.

Referring to fig. 4, 7, 10, 11, the cleaning mechanism includes a slide rail 22, and the slide rail 22 is fixedly mounted at the middle of the rear end of the hanger plate 23 by a screw, the rear end of the slide rail 22 is slidably mounted with a slide block 21, and the rear end of the slide block 21 is fixedly welded with a movable cleaning rod 28, the rear end of the movable cleaning rod 28 is fixedly welded with the front end of the internally threaded sleeve block 7, and the bottom of the movable cleaning rod 28 is fixedly mounted with a scraper 30 by a bolt, and the top of the scraper 30 near the side of the servo motor 15 is fixedly mounted with a brush plate 26 by a screw, and the bottom of the brush plate 26 is provided with hard bristles 48, the rear end of the movable cleaning rod 28 is fixedly mounted at the front end of the internally threaded sleeve block 7, and the front end of the movable cleaning rod 28 is fixedly mounted at the rear end of the slide block 21, defining the internally threaded sleeve block 7 and not being provided with a threaded rotating rod 10 for rotation, so that when the threaded rotating rod 10 is rotated, the movable cleaning rod 28 is driven to move on the slide rail 22, when the movable cleaning rod 28 moves to one side of the base rod 35, the hard brush hair 48 and the scraping plate 30 push and clean sample sundries falling from the top of the debugging bottom plate 1, the sample sundries fall to the rectangular opening of the debugging bottom plate 1, the sponge wiping block 29 is fixedly arranged on one side of the bottom of the movable cleaning rod 28 far away from the brush plate 26 through screws, the wringing plate 27 is fixedly welded on one side of the top of the debugging bottom plate 1 close to the mechanical arm mounting base 5, meanwhile, the front scraping plate 30 and the hard brush hair 48 clean, the sponge wiping block 29 wipes the top of the debugging bottom plate 1 to wipe and clean sewage which flows out from damaged samples, when the sponge wiping block 29 returns to the position close to the mechanical arm mounting base 5, the sponge wiping block 29 contacts with the wringing plate 27 and extrudes the sewage, from this side.

Referring to fig. 7 and 8, a rectangular rod 46 is welded and fixed on the side of the fixed base block 13 close to the mechanical arm mounting base 5, a pressure spring 47 is sleeved on the outer wall of the rectangular rod 46, a sleeve plate 45 is sleeved on the side of the circumferential outer wall of the rotating shaft 11 close to the threaded rotating rod 10, rectangular holes are formed in the middle parts of the front ends of two sides of the sleeve plate 45, the rectangular rod 46 penetrates through the rectangular holes of the sleeve plate 45, when the rectangular rod 46 moves to one side of the rotating shaft 11, the sleeve plate 45 and the pressure spring 47 thereof are extruded to continuously rotate in the same direction, the rotating shaft 11 rotates in the same direction, the internally-arranged threaded sleeve block 7 stays at a designated position on the outer wall of the rotating shaft 11, and naturally, when the rotating shaft rotates reversely, the sleeve plate 45 and the pressure spring 47 push the internally-arranged threaded sleeve block 7 to contact the threaded rotating rod 10, so that the threaded sleeve block 7 is screwed in the threaded rotating rod 10, and the reversely moves.

Referring to fig. 1, 2, 3, 4, 7 and 9, the swinging mechanism comprises a chute 38, the chute 38 is fixed on one side of a base rod 35, which is close to a mechanical arm installation base 5, through screws, the chute 38 is slidably provided with a reciprocating rod 37 on one side of the chute 38, which is close to the mechanical arm installation base 5, a plurality of swinging rods 36 are arranged on one side of the reciprocating rod 37, which is close to the mechanical arm installation base 5, a connecting rod 43 is welded and fixed on the middle part of the top of the reciprocating rod 37, a toothed rod 41 is welded and fixed on the top of the connecting rod 43, protruding teeth on the top of the toothed rod 41 are meshed with protruding teeth on the circumferential outer wall part of a rotating fluted disc 14, a limiting plate 42 is welded and fixed on the middle part of the rear end of the connecting rod 43, round holes are formed in the middle parts of two ends of the limiting plate 42, two ends of the base rod 35, which are far away from the mechanical arm installation base 5, are welded and fixed with side plates 40, one end middle part between the two side plates 40 is welded and fixed with the same plugging rod 39, and the plug rod 39 passes through the round hole of the limiting plate 42, the front end and the rear end of the circumferential outer wall of the plug rod 39 are both sleeved with the transverse spring 44, when the rotary fluted disc 14 rotates, as part of the convex teeth of the circumferential outer wall are meshed with the toothed rod 41, the connecting rod 43, the reciprocating rod 37 and the swinging rod 36 can be driven to move on one side of the sliding groove 38, when the connecting rod 43 moves, the limiting plate 42 at the rear end can be driven to move, the transverse spring 44 can be extruded, when the toothed rod 41 and the rotary fluted disc 14 are out of meshing, the transverse spring 44 can be reacted to push the limiting plate 42 to lose reset, the next meshing is facilitated, when the hard bristles 48 are close to the swinging rod 36 and stay, the swinging rod 36 can be inserted into the hard bristles 48 to reciprocate back and forth, impurities in the hard bristles 48 can be shaken off and cleaned, and the hard bristles 48 can be cleaned.

When in use, the robot mechanical arm to be debugged is arranged at the top of the mechanical arm installation base 5, different samples are placed at the top of the object placing tray 9 to be taken, placed and the like, after the robot mechanical arm completes debugging, the damage generated by the samples can fall to the top of the debugging bottom plate 1 and the object placing tray 9, the power mechanism can start to run, the servo motor 15 runs to drive the front rotating fluted disc 14 to rotate so as to drive the pushing rod 25 thereof to rotate in a circular track, the rotating fluted disc 14 drives the pushing rod 25 to move in the inserting holes of the swinging plate 24, when in rotation, the swinging plate 24 is pushed to move back and forth, when in movement towards both ends, the inserting rod 33 drives the perforated rotating plate 34 thereof to rotate so as to drive the object placing plate 20 arranged at the bottom of the perforated rotating plate 34 to overturn, and the samples in the object placing tray 9 can be poured out, the rotating fluted disc 14 continuously rotates to drive the object placing plate 20 to frequently overturn, the object placing plate 9 is poured out, meanwhile, the servo motor 15 drives the rotating shaft 11 at the rear end to rotate through the belt pulley 31 and the connecting belt 12 thereof, the rotating shaft 11 rotates to drive the threaded rotating rod 10 to rotate, when the threaded rotating rod 10 rotates, the threaded rotating rod 10 is fixedly limited because the threads on the outer wall of the circumference are screwed on the inner wall of the internally-arranged threaded sleeve block 7, the internally-arranged threaded sleeve block 7 is limited by the movable cleaning rod 28, the threaded rotating rod 10 rotates to drive the internally-arranged threaded sleeve block 7 to move on the threaded rotating rod 10, the rear end of the movable cleaning rod 28 is fixed at the front end of the internally-arranged threaded sleeve block 7, the front end of the movable cleaning rod 28 is fixed at the rear end of the sliding block 21, the internally-arranged threaded sleeve block 7 is limited, and the threaded rotating rod 10 is not arranged to rotate, therefore, when the screw rotating rod 10 rotates, the movable cleaning rod 28 is driven to move on the sliding rail 22, when the moving cleaning rod 28 moves to one side of the base rod 35, the hard brush hair 48 and the scraping plate 30 push and clean sample sundries falling from the top of the debugging bottom plate 1 to the rectangular opening of the debugging bottom plate 1, the front scraping plate 30 and the hard brush hair 48 clean, then the sponge wiping block 29 wipes the top of the debugging bottom plate 1, the broken and discharged sewage is wiped and cleaned, when the sponge wiping block 29 returns to the position close to the mechanical arm mounting base 5, the sponge wiping block 29 contacts with the wringing plate 27 and extrudes the sewage mutually, the sewage is discharged from the rectangular opening on one side, when the internal thread sleeve block 7 moves to one side of the rotating shaft 11 and moves to the outer wall of the rotating shaft 11, the sleeve plate 45 and the pressure spring 47 thereof are extruded, the rotation in the same direction is continued, the rotating shaft 11 in the same direction rotates the internally threaded sleeve block 7 to stay at the designated position on the outer wall of the rotating shaft 11, of course, when the rotating shaft rotates reversely, the sleeve plate 45 and the pressure spring 47 push the internally threaded sleeve block 7 to contact the threaded rotating rod 10 to be in threaded connection, the internally threaded sleeve block 7 moves reversely, the rotating fluted disc 14 rotates, part of the convex teeth on the circumferential outer wall are meshed with the toothed bar 41 to drive the toothed bar 41 and the connecting rod 43 thereof, the reciprocating bar 37 and the swinging rod 36 to move at one side of the sliding groove 38, when the connecting rod 43 moves, the limiting plate 42 at the rear end is driven to move, the transverse spring 44 is extruded, when the toothed bar 41 and the rotating fluted disc 14 are out of meshing, the transverse spring 44 pushes the limiting plate 42 reversely to lose resetting, and when the hard brush hair 48 approaches the swinging rod 36 next time, and stays, the swing rod 36 is inserted into the hard bristles 48 to reciprocate back and forth, and foreign matters in the hard bristles 48 are shaken off.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims (10)

1. The utility model provides an industrial robot debugging device, its characterized in that, including debugging bottom plate (1), and both sides at debugging bottom plate (1) top all open rectangular trompil, the same backplate (8) of equal welded fastening in debugging bottom plate (1) top both ends and one side, the middle part welded fastening in backplate (8) one side is kept away from at debugging bottom plate (1) top has base plate (2), and the middle part welded fastening at base plate (2) top has base pipe (3), and rotatable race (4) are installed at the top of base pipe (3) inner wall, the inner wall top welded fastening of race (4) inner wall inner race has arm installation base (5), and the top of arm installation base (5) is through bolt demountable installation robot, the middle part welded fastening in backplate (8) inner wall is kept away from arm installation base (5) one side has metal fixed plate (17), and metal fixed plate (17) top middle part is equipped with power unit, one side both ends that metal fixed plate (17) top is close to arm installation base (5) are equipped with put thing mechanism, the inner wall top of bottom plate (1) is close to metal fixed plate (17) one side is close to arm installation base (35) and is equipped with cantilever (35) through cantilever (35), cantilever (35) fixed screw (35) one side of installing the cantilever (5), and the rear end of the hanging plate (23) is fixedly provided with a cleaning mechanism through a screw, and a folded plate (19) is welded and fixed on one side, far away from the mechanical arm installation base (5), of the bottom of the debugging bottom plate (1).

2. The industrial robot debugging device according to claim 1, wherein the power mechanism comprises two bases (16), the two bases (16) are respectively welded and fixed on the tops of the metal fixing plates (17), the same servo motor (15) is fixedly arranged on the tops of the two metal fixing plates (17) through screws, a rotary fluted disc (14) is fixedly welded at one end of an output shaft of the servo motor (15), a pushing rod (25) is fixedly welded at a position, close to one side of the mechanical arm installation base (5), of the rotary fluted disc (14), and protruding teeth are arranged on the part of the circumferential outer wall of the rotary fluted disc (14).

3. The industrial robot debugging device according to claim 2, wherein the object placing mechanism comprises two rectangular plates (18), the two rectangular plates (18) are welded and fixed at two ends of one side, close to the mechanical arm installation base (5), of the top of the metal fixing plate (17), the two rectangular plates (18) are welded and fixed with rotating blocks (32) on one side, close to the mechanical arm installation base (5), of the two rectangular plates (18), one side, far from the metal fixing plate (17), of the two rotating blocks (32) is provided with rotatable perforated rotating plates (34), the tops of the middle parts of the two sides of the two perforated rotating plates (34) are provided with elliptical holes, the inner walls of the elliptical holes of the two perforated rotating plates (34) are provided with inserting rods (33) capable of moving up and down in an inserting mode, one side, close to the mechanical arm installation base (5), of the two inserting rods (33) are welded and fixed with the same swinging plate (24), the middle parts of the two sides of the swinging plate (24) are provided with inserting holes, and the pushing rods (25) are inserted into the inserting holes of the swinging plate (24).

4. An industrial robot debugging device according to claim 3, wherein the bottoms of the two rotating plates (34) with holes are fixedly provided with object placing plates (20) through bolts, grooves are formed in one sides, close to the rotating plates (34) with holes, of two object placing plates (20), and a plurality of object placing discs (9) are equidistantly arranged on the tops of the two object placing plates (20) through bolts.

5. The industrial robot debugging device according to claim 4, wherein the rear end welded fastening of backplate (8) inner wall near metal fixed plate (17) one side has fixed base block (13), and fixed base block (13) are close to the middle part of arm installation base (5) one side and install rotation axis (11) through the bearing, and the equal welded fastening in middle part of the circumference outer wall of rotation axis (11) and servo motor (15) output shaft circumference outer wall has belt pulley (31), and the recess of two belt pulley (31) circumference outer wall cup joints same connecting band (12), the one end welded fastening of rotation axis (11) keep away from fixed base block (13) has screw thread dwang (10), and the one end rotation of keeping away from fixed base block (13) of screw thread dwang (10) circumference outer wall installs fixed block (6), and the rear end welded fastening of fixed block (6) is fixed in the rear end of backplate (8) inner wall, the circumference outer wall of screw thread dwang (10) has interior screw thread sleeve piece (7) through the spiro union.

6. The industrial robot debugging device according to claim 5, wherein the cleaning mechanism comprises a sliding rail (22), the sliding rail (22) is fixedly mounted on the middle of the rear end of the hanging plate (23) through a screw, a sliding block (21) is slidably mounted at the rear end of the sliding rail (22), a movable cleaning rod (28) is fixedly welded at the rear end of the sliding block (21), the rear end of the movable cleaning rod (28) is fixedly welded at the front end of the internally threaded sleeve block (7), a scraping plate (30) is fixedly mounted at the bottom of the movable cleaning rod (28) through a screw, a brush plate (26) is fixedly mounted at the top of one side of the scraping plate (30) close to the servo motor (15) through a screw, and hard bristles (48) are arranged at the bottom of the brush plate (26).

7. The industrial robot debugging device according to claim 6, wherein a sponge wiping block (29) is fixedly arranged on one side, far away from the brush plate (26), of the bottom of the movable cleaning rod (28), and a wringing plate (27) is fixedly welded on one side, close to the mechanical arm mounting base (5), of the top of the debugging bottom plate (1).

8. The industrial robot debugging device according to claim 6, wherein a rectangular rod (46) is welded and fixed on one side of the fixed base block (13) close to the mechanical arm installation base (5), a pressure spring (47) is sleeved on the outer wall of the rectangular rod (46), a sleeve plate (45) is sleeved on one side of the circumferential outer wall of the rotating shaft (11) close to the threaded rotating rod (10), rectangular holes are formed in the middle of the front ends of two sides of the sleeve plate (45), and the rectangular rod (46) penetrates through the rectangular holes of the sleeve plate (45).

9. An industrial robot debugging device according to claim 8, characterized in that the swinging mechanism comprises a chute (38), the chute (38) is fixed on one side of the base rod (35) close to the mechanical arm installation base (5) through a screw, a reciprocating rod (37) is slidably installed on one side of the chute (38) close to the mechanical arm installation base (5), a plurality of swinging rods (36) are installed on one side of the reciprocating rod (37) close to the mechanical arm installation base (5), a connecting rod (43) is fixedly welded at the middle part of the top of the reciprocating rod (37), a toothed bar (41) is fixedly welded at the top of the connecting rod (43), and convex teeth at the top of the toothed bar (41) are meshed with convex teeth at the circumferential outer wall part of the rotating fluted disc (14).

10. The industrial robot debugging device according to claim 9, wherein a limiting plate (42) is welded and fixed at the middle part of the rear end of the connecting rod (43), round holes are formed in the middle parts of two ends of the limiting plate (42), side plates (40) are welded and fixed at two ends of one side, far away from the mechanical arm installation base (5), of the base rod (35), the same inserting rod (39) is welded and fixed at the middle part of one end between the two side plates (40), the inserting rod (39) penetrates through the round holes of the limiting plate (42), and transverse springs (44) are sleeved at the front end and the rear end of the circumferential outer wall of the inserting rod (39).