Two-dimensional force detection mechanism, detection method and robot

Abstract

The present invention discloses a two-dimensional force detection mechanism, a detection method and a robot. The two-dimensional force detection mechanism comprises: a clamping claw assembly that can be opened or clamped, a rotating assembly, a suction assembly, a push-pull assembly, a two-dimensional force detection assembly and a control device. The two-dimensional force detection mechanism provided by the present invention can detect the torque of the rotating part of a product and the push-pull force of the push-pull part of the product. The same two-dimensional force detection mechanism can be used to complete the detection of torque and push-pull force, avoiding the tedious operation of replacing the detection device in the middle, and simplifying the process of two-dimensional force detection of the product. In addition, the control device of the two-dimensional force detection mechanism provided by the present invention can compare the detected torque with the preset torque, and compare the detected push-pull force with the preset push-pull force, so that the judgment process is quick and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of product quality detection equipment, and more specifically, to a two-dimensional force detection mechanism. In addition, the present invention also relates to a detection method applied to the above two-dimensional force detection mechanism, and a robot including the above two-dimensional force detection mechanism. Background Art

[0002] In the prior art, when testing the torque and push-pull force of products such as anti-theft doors, the functions of the detection jaws are relatively simple and can only detect the torque or push-pull force alone, with a low level of integration. In addition, during the detection process, manual participation is required and full automation cannot be achieved. In addition, during the detection process, there is no database support, the criteria for judging eligibility are not clear enough, and the judgment process is cumbersome.

[0003] In summary, how to simplify the process of two-dimensional force detection of products is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a two-dimensional force detection mechanism, which can detect the torque required for the rotation of the rotating part of the product and the push-pull force required for the movement of the push-pull part of the product, and can judge whether the rotating part is qualified by comparing the detected torque with the preset torque, and judge whether the push-pull part is qualified by comparing the detected push-pull force with the preset push-pull force; the detection process is fully automated and does not require human participation. The same two-dimensional force detection mechanism can detect both push-pull force and torque, avoiding the tedious operation of replacing the detection equipment and simplifying the process of two-dimensional force detection of the product.

[0005] Another object of the present invention is to provide a detection method applied to the above-mentioned two-dimensional force detection mechanism, and a robot including the above-mentioned two-dimensional force detection mechanism.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A two-dimensional force detection mechanism, comprising:

[0008] A clamping jaw assembly that can be opened or clamped to loosen or clamp the rotating part of the product;

[0009] A rotating assembly, wherein the clamping jaw assembly is connected to an output end of the rotating assembly;

[0010] A suction component, used to suck the push-pull portion of the product;

[0011] A push-pull component, wherein the suction component is connected to an output end of the push-pull component;

[0012] A two-dimensional force detection component, to which both the rotating component and the push-pull component are connected, for real-time detection of the torque at the output end of the rotating component and the push-pull force at the output end of the push-pull component;

[0013] A control device, used for receiving the torque and push-pull force detected by the two-dimensional force detection component, and comparing the received torque with the preset torque, and comparing the received push-pull force with the preset push-pull force; when the received torque is within the preset torque range, it is judged that the rotating part of the product is qualified, and when the received torque is outside the preset torque range, it is judged that the rotating part of the product is unqualified; when the received push-pull force is within the preset push-pull force range, it is judged that the push-pull part of the product is qualified, and when the received push-pull force is outside the preset push-pull force range, it is judged that the push-pull part of the product is unqualified;

[0014] The clamping jaw assembly, the rotating assembly, the suction assembly, the push-pull assembly and the two-dimensional force detection assembly are all connected to the control device.

[0015] Preferably, the clamping jaw assembly comprises a clamping jaw power member and at least two clamping blocks that can be relatively opened or clamped, and the clamping blocks are connected to the output end of the clamping jaw power member; the clamping jaw power member is connected to the output end of the rotating assembly.

[0016] Preferably, an electrical slip ring is provided between the clamping jaw power member and the rotating assembly.

[0017] Preferably, the suction assembly includes a suction cup for sucking the push-pull portion of the product, and the push-pull assembly includes a push-pull power member, and an output end of the push-pull power member is connected to the suction cup.

[0018] Preferably, the push-pull power member comprises two push-pull cylinders, the two push-pull cylinders are symmetrically arranged on both sides of the clamping jaw assembly, and the suction cups are arranged at the output ends of the two push-pull cylinders.

[0019] Preferably, the two-dimensional force detection assembly includes a torque detection mechanism connected to the rotating assembly and a push-pull force detection mechanism connected to the push-pull assembly; the torque detection mechanism and the push-pull force detection mechanism are both connected to the control device;

[0020] Or the two-dimensional force detection component includes a two-dimensional force detection sensor for detecting the torque of the rotating component and the push-pull force of the push-pull component, the rotating component and the push-pull component are both connected to the two-dimensional force detection sensor, and the two-dimensional force detection sensor is connected to the control device.

[0021] Preferably, it also includes a laser emitter and two line scan cameras symmetrically arranged with respect to the laser emitter, and the central axes of the two line scan cameras intersect with the laser emitted by the laser emitter at the same point.

[0022] A detection method, applied to any of the above-mentioned two-dimensional force detection mechanisms, comprising:

[0023] The control device controls the rotating part of the clamping jaw assembly to clamp the product;

[0024] The control device controls the rotating assembly to drive the clamping jaw assembly to rotate, and the two-dimensional force detection assembly detects the output torque of the rotating assembly in real time during the rotation process, and transmits the detected torque to the control device;

[0025] The control device determines whether the received torque is within the preset torque range, and if not, outputs that the rotating part of the product is unqualified; if so, outputs that the rotating part of the product is qualified, and executes the next step;

[0026] The control device controls the suction component to suck the push-pull portion of the product;

[0027] The control device controls the push-pull component to drive the suction component to move, and the two-dimensional force detection component detects the output thrust or output pull of the push-pull component in real time during the movement of the push-pull component, and transmits the detected output thrust or output pull to the control device;

[0028] The control device determines whether the received output push force or the output pull force is within the preset push-pull force range. If not, the push-pull portion of the output product is unqualified; if so, the push-pull portion of the output product is qualified.

[0029] Preferably, the two-dimensional force detection mechanism further includes a photographing device and a light source for photographing illumination of the photographing device;

[0030] The detection method comprises:

[0031] The control device controls the light source to turn on, and controls the photographing device to photograph the gap of the product;

[0032] The photographing device transmits the photographing information to the control device;

[0033] The control device obtains the size of the gap according to the shooting information;

[0034] The control device determines whether the size of the gap is within a preset gap range. If so, the gap of the product is qualified; if not, the gap of the product is unqualified.

[0035] A robot comprises a manipulator and any one of the above-mentioned two-dimensional force detection mechanisms, wherein the two-dimensional force detection mechanism is installed on the manipulator.

[0036] In the process of using the two-dimensional force detection mechanism provided by the present invention, a rotating part and a push-pull part are provided in the product to be detected. During the detection, the torque of the rotating part of the product can be detected first, or the push-pull force of the push-pull part of the product can be detected first, or the rotating part and the push-pull part can be detected at the same time, which is determined according to the actual situation.

[0037] During inspection, the control device controls the clamping jaw assembly to clamp the rotating part of the product, and then controls the rotating assembly to drive the clamping jaw assembly to rotate. The two-dimensional force detection assembly detects the torque at the output end of the rotating assembly in real time, and transmits the torque to the control device in real time. The control device compares the received torque with the preset torque. When the received torque is within the preset torque range, the rotating part of the product is judged to be qualified. When the received torque is outside the preset torque range, it may be greater than the maximum value of the preset torque, or less than the minimum value of the preset torque, then the rotating part of the product is judged to be unqualified.

[0038] The control device controls the suction component to suck the push-pull part of the product, and then controls the movement of the push-pull component to push the push-pull part to another position, or pulls the push-pull part to another position. The two-dimensional force detection component detects the push-pull force of the output end of the push-pull component in real time, and transmits the push-pull force to the control device. The control device compares the received push-pull force with the preset push-pull force. When the received push-pull force is within the preset push-pull force range, the push-pull part of the product is judged to be qualified. When the received push-pull force is outside the preset push-pull force range, it may be greater than the maximum value of the preset push-pull force, or less than the minimum value of the preset push-pull force, the push-pull part of the product is judged to be unqualified.

[0039] Compared with the prior art, the two-dimensional force detection mechanism provided by the present invention can detect not only the torque of the rotating part of the product, but also the push-pull force of the push-pull part of the product. The same two-dimensional force detection mechanism can be used to complete the detection of torque and push-pull force, avoiding the tedious operation of replacing the detection equipment in the middle, and simplifying the process of two-dimensional force detection of the product; in addition, the control device of the two-dimensional force detection mechanism provided by the present invention can compare the detected torque with the preset torque, and compare the detected push-pull force with the preset push-pull force, so that the judgment process is quick and convenient.

[0040] In addition, the present invention also provides a detection method applied to the above-mentioned two-dimensional force detection mechanism, and a robot including the above-mentioned two-dimensional force detection mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0042] Figure 1 A schematic structural diagram of a specific embodiment of the two-dimensional force detection mechanism provided by the present invention;

[0043] Figure 2 for Figure 1 A top view of the middle two-dimensional force detection mechanism;

[0044] Figure 3 for Figure 1 Rear view of the mid-dimensional force detection mechanism;

[0045] Figure 4 The figure is a flow chart of a specific embodiment of the detection method provided by the present invention.

[0046] Figures 1 to 4 middle:

[0047] 1 is a clamping block, 2 is a clamping claw cylinder, 3 is a motor, 4 is an electrical slip ring, 5 is a suction cup, 6 is a push-pull cylinder, 7 is a line scan camera, 8 is a laser transmitter, 9 is a mounting bracket, 10 is a connecting part, and 11 is a two-dimensional force detection sensor. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The core of the present invention is to provide a two-dimensional force detection mechanism, which can detect the torque required during the rotation of the rotating part of the product and the push-pull force required during the movement of the push-pull part of the product, and can judge whether the rotating part is qualified by comparing the detected torque with the preset torque, and judge whether the push-pull part is qualified by comparing the detected push-pull force with the preset push-pull force; the detection process is fully automated and does not require human participation. The same two-dimensional force detection mechanism can detect both push-pull force and torque, avoiding the tedious operation of replacing the detection equipment and simplifying the process of two-dimensional force detection of products. Another core of the present invention is to provide a detection method applied to the above-mentioned two-dimensional force detection mechanism, and a robot including the above-mentioned two-dimensional force detection mechanism.

[0050] Please refer to Figures 1 to 4 , Figure 1 A schematic structural diagram of a specific embodiment of the two-dimensional force detection mechanism provided by the present invention; Figure 2 for Figure 1 A top view of the middle two-dimensional force detection mechanism; Figure 3 for Figure 1 Rear view of the mid-dimensional force detection mechanism; Figure 4 The figure is a flow chart of a specific embodiment of the detection method provided by the present invention.

[0051] The present application document discloses a two-dimensional force detection mechanism, which can detect the torque during the rotation of the rotating part of the product, the push-pull force of the push-pull part of the product, and the gap size of the product, and realizes full automation in the detection process to avoid human intervention; the control device judges whether the rotating part, the push-pull part, or the gap size of the product is qualified by comparing the data detected by the two-dimensional force detection component with the corresponding preset value; the detected product mentioned in the present application document can be a safety door installed with a door frame, the rotating part is the key turning part, and the torque is the torque required when turning the key; the push-pull part is the safety door body, and the push-pull force is the push-pull force required during the opening and closing of the safety door; the gap is the gap between the safety door body and the door frame; of course, the product can also be other structures such as window sashes and cabinets, which are determined according to actual conditions and will not be elaborated here.

[0052] During use, the two-dimensional force detection mechanism provided in this application document can simultaneously detect the rotating part, push-pull part and gap of the same product, or it can only detect one or several structures of the same product. The specific details are determined based on actual conditions and will not be elaborated here.

[0053] This specific embodiment discloses a two-dimensional force detection mechanism, including:

[0054] A clamping jaw assembly that can be opened or clamped to loosen or clamp the rotating part of the product;

[0055] A rotating assembly, wherein the clamping jaw assembly is connected to an output end of the rotating assembly;

[0056] A suction component, used to suck the push-pull part of the product;

[0057] A push-pull component, wherein the suction component is connected to the output end of the push-pull component;

[0058] A two-dimensional force detection component, the rotating component and the push-pull component are both connected to the two-dimensional force detection component, and are used to detect the torque at the output end of the rotating component and the push-pull force at the output end of the push-pull component in real time;

[0059] A control device, used for receiving the torque and push-pull force detected by the two-dimensional force detection component, and comparing the received torque with the preset torque, and comparing the received push-pull force with the preset push-pull force; when the received torque is within the preset torque range, it is judged that the rotating part of the product is qualified, and when the received torque is outside the preset torque range, it is judged that the rotating part of the product is unqualified; when the received push-pull force is within the preset push-pull force range, it is judged that the push-pull part of the product is qualified, and when the received push-pull force is outside the preset push-pull force range, it is judged that the push-pull part of the product is unqualified;

[0060] The clamping jaw assembly, rotating assembly, suction assembly, push-pull assembly and two-dimensional force detection assembly are all connected to a control device, which can control the actions of the clamping jaw assembly, rotating assembly, suction assembly, push-pull assembly and two-dimensional force detection assembly.

[0061] In order to enable the clamping jaw assembly to smoothly clamp the rotating part of the product, the clamping jaw assembly may include a clamping jaw power member and at least two clamping blocks 1 that can be relatively opened or clamped, the clamping blocks 1 being connected to the output end of the clamping jaw power member; the clamping jaw power member is connected to the output end of the rotating assembly. The clamping block 1 may be set to a structure that matches the shape of the rotating part to be clamped, so as to clamp the rotating part of the product.

[0062] Preferably, the hardness of the clamping block 1 is smaller than the hardness of the rotating part of the product to prevent the clamping block 1 from damaging the product during the clamping process.

[0063] The clamping jaw power member may be a clamping jaw cylinder 2 or a structure such as a motor 3 that can provide power, which is determined according to actual conditions.

[0064] In the process of using the two-dimensional force detection mechanism provided in this specific embodiment, a rotating part and a push-pull part are provided in the product to be detected. During detection, the torque of the rotating part of the product can be detected first, or the push-pull force of the push-pull part of the product can be detected first, or the rotating part and the push-pull part can be detected at the same time, depending on the actual situation.

[0065] During inspection, the control device controls the clamping jaw assembly to clamp the rotating part of the product, and then controls the rotating assembly to drive the clamping jaw assembly to rotate. The two-dimensional force detection assembly detects the torque at the output end of the rotating assembly in real time, and transmits the torque to the control device in real time. The control device compares the received torque with the preset torque. When the received torque is within the preset torque range, the rotating part of the product is judged to be qualified. When the received torque is outside the preset torque range, it may be greater than the maximum value of the preset torque, or less than the minimum value of the preset torque, then the rotating part of the product is judged to be unqualified.

[0066] The control device controls the suction component to suck the push-pull part of the product, and then controls the movement of the push-pull component to push the push-pull part to another position, or pulls the push-pull part to another position. The two-dimensional force detection component detects the push-pull force of the output end of the push-pull component in real time, and transmits the push-pull force to the control device. The control device compares the received push-pull force with the preset push-pull force. When the received push-pull force is within the preset push-pull force range, the push-pull part of the product is judged to be qualified. When the received push-pull force is outside the preset push-pull force range, it may be greater than the maximum value of the preset push-pull force, or less than the minimum value of the preset push-pull force, the push-pull part of the product is judged to be unqualified.

[0067] A corresponding display screen can be set on the control device to display the detected torque and push-pull force in real time in the form of curves or other charts on the display screen, so that users can observe the torque information conveniently. When the torque is detected to be greater than the maximum value of the preset torque range, a safe torque value can be set to avoid damage to the rotating component caused by excessive torque. When the torque is detected to be greater than or equal to the safe torque value, the control device controls the rotating component to stop rotating; the safe torque value must be greater than or equal to the maximum value of the preset torque.

[0068] Compared with the prior art, the two-dimensional force detection mechanism provided in this specific embodiment can detect both the torque of the rotating part of the product and the push-pull force of the push-pull part of the product. The same two-dimensional force detection mechanism can be used to complete the detection of torque and push-pull force, avoiding the tedious operation of replacing the detection equipment in the middle, and simplifying the process of two-dimensional force detection of the product; in addition, the control device of the two-dimensional force detection mechanism provided by the present invention can compare the detected torque with the preset torque, and compare the detected push-pull force with the preset push-pull force, so that the judgment process is quick and convenient.

[0069] In order to avoid affecting the connection of the electrical circuit during the rotation of the jaw assembly driven by the rotating assembly, an electrical slip ring 4 can be set between the jaw power component and the rotating assembly so that the circuit and air circuit of the two-dimensional force detection mechanism can rotate freely in the rotating position without entanglement with the pipeline.

[0070] It should be noted that the two-dimensional force detection component can be a combination of two detection mechanisms, including a torque detection mechanism connected to the rotating component and a push-pull force detection mechanism connected to the push-pull component; both the torque detection mechanism and the push-pull force detection mechanism are connected to the control device.

[0071] Of course, the two-dimensional force detection component can also be a separately set two-dimensional force detection sensor 11 that can detect torque and push-pull force at the same time. The rotating component and the push-pull component are both connected to the two-dimensional force detection sensor 11, and the two-dimensional force detection sensor 11 is connected to the control device.

[0072] In order to apply force to the push-pull part of the product, the suction component may include a suction cup 5 for sucking the push-pull part of the product, and the push-pull component may include a push-pull power member, and the output end of the push-pull power member is connected to the suction cup 5.

[0073] like Figure 1 As shown, the push-pull power part includes two push-pull cylinders 6, which are symmetrically arranged on both sides of the clamping claw assembly, and the output ends of the two push-pull cylinders 6 are both provided with suction cups 5. The rotating assembly includes a motor 3 and a reduction mechanism connected to the motor 3, and the output end of the reduction mechanism is connected to the clamping claw cylinder 2; the motor 3 is installed on the motor 3 mounting plate, and mounting frames 9 are arranged on both sides of the motor 3, and the push-pull cylinders 6 are installed on the mounting frames 9.

[0074] On the basis of the above embodiments, in order to detect the gaps of the product, a photographing device and a light source for providing illumination for the photographing device may be provided.

[0075] like Figure 1 As shown, the light source is a laser emitter 8, and the shooting device includes two line scan cameras 7 symmetrically arranged about the laser emitter 8, and the central axes of the two line scan cameras 7 intersect with the laser emitted by the laser emitter 8 at the same point.

[0076] During use, the combination of the line scan camera 7 and the laser transmitter 8 can be used to photograph the inside of the gap to determine the width of the gap and the uniformity of its width.

[0077] Of course, the line scan camera 7 can also be replaced by other shooting devices that meet the requirements, which will not be elaborated here.

[0078] In addition to the above-mentioned two-dimensional force detection mechanism, the present invention also provides a robot including a manipulator and the two-dimensional force detection mechanism disclosed in the above-mentioned embodiment. The two-dimensional force detection mechanism is installed on the manipulator. For the structures of other parts of the robot, please refer to the prior art and will not be repeated in this article.

[0079] The manipulator mentioned here can be a multi-axis robot or a module structure, which is determined according to actual conditions.

[0080] The two-dimensional force detection mechanism is provided with a connecting portion 10 for connecting to the manipulator, and the connecting portion 10 is detachably connected to the end or non-end position of the manipulator by bolts; preferably, the two-dimensional force detection component can be installed on the connecting portion 10.

[0081] In addition to the above two-dimensional force detection mechanism, the present invention also provides a detection method applied to the above two-dimensional force detection mechanism, including:

[0082] Step S1, the control device controls the clamping jaw assembly to clamp the rotating part of the product;

[0083] Step S2, the control device controls the rotating assembly to drive the clamping assembly to rotate, and the two-dimensional force detection assembly detects the output torque of the rotating assembly in real time during the rotation process, and transmits the detected torque to the control device;

[0084] Step S3, the control device determines whether the received torque is within the preset torque range. If not, the rotating part of the output product is unqualified; if so, the rotating part of the output product is qualified, and step S4 is executed;

[0085] Step S4, the control device controls the push-pull part of the suction component to suck the product;

[0086] Step S5, the control device controls the push-pull component to drive the suction component to move, and the two-dimensional force detection component detects the output thrust or output pull of the push-pull component in real time during the movement process, and transmits the detected output thrust or output pull to the control device;

[0087] Step S6, the control device determines whether the received output push force or output pull force is within a preset push-pull force range. If not, the push-pull portion of the output product is unqualified; if so, the push-pull portion of the output product is qualified.

[0088] The two-dimensional force detection mechanism also includes a shooting device and a light source for lighting the shooting device. When the gap of the product is detected, the specific steps are as follows:

[0089] Step S1a, the control device controls the light source to turn on, and controls the photographing device to photograph the gap of the product;

[0090] Step S1b, the shooting device transmits the shooting information to the control device;

[0091] Step S1c, controlling the device to obtain the size of the gap according to the photographing information;

[0092] In step S1c, the size of the gap is obtained according to the photographing information. Specifically, the photographing information can be processed by a preset algorithm program to obtain the size of the gap.

[0093] Step S1d, the control device determines whether the size of the gap is within a preset gap range, if so, the gap of the product is qualified, if not, the gap of the product is unqualified.

[0094] In step S1d, the size of the gap mentioned here may be simply the width of the gap, or may include the depth of the gap, and the uniformity of the gap width. When it is a safety door, it may also include the verticality of the door frame, the parallelism of the outer edge of the safety door body relative to the door frame, etc., which needs to be determined according to actual conditions.

[0095] It should be noted that the above-mentioned steps S1a to S1d can be implemented before step S1 in the above embodiment, or after step S6 in the above steps, which is determined according to actual conditions and will not be elaborated here.

[0096] In another specific embodiment, the product to be detected is a security door, including a door frame, a door body rotatably arranged relative to the door frame, a door lock installed on the door body, and a key that can be inserted into the door lock and rotated in the door lock; the two-dimensional force detection mechanism is Figure 1-3 A two-dimensional force detection mechanism in the specific embodiment shown.

[0097] During the detection process, the specific detection steps are as follows:

[0098] Step S2a, the control device controls the action of the clamping cylinder 2 to drive the clamping block 1 to open relatively, and moves the two-dimensional force detection mechanism to a suitable clamping position through the manipulator, controls the action of the clamping cylinder 2, and the clamping block 1 clamps the key inserted in the door lock;

[0099] Step S2b, the control device controls the motor 3 to rotate, and during the rotation process, drives the key to rotate in the forward direction until the key is rotated to the door lock open state, and the two-dimensional force detection component detects the torque at the output end of the motor 3 in real time during the key rotation process, and transmits the torque to the control device;

[0100] Step S2c, the control device determines whether the received torque is within the preset positive torque range, if not, the output door lock is unqualified; if yes, execute step S2d;

[0101] Step S2d, the control device controls the output end of the push-pull cylinder 6 to extend so that the suction cup 5 is pushed forward to a position where it is attracted to the door body;

[0102] Step S2e, the control device controls the output end of the push-pull cylinder 6 to retract, so that the suction cup 5 drives the door body to rotate relative to the door frame to an open position; the two-dimensional force detection component detects the pulling force of the push-pull cylinder 6 in real time during the opening process of the door body, and transmits the detected pulling force to the control device;

[0103] Step S2f, the control device determines whether the received pulling force is within the preset pulling force range, if not, the output door body hinge is unqualified; if so, execute step S2g;

[0104] Step S2g, the control device controls the output end of the push-pull cylinder 6 to extend so that the suction cup 5 is pushed forward until the door body rotates to a closed position relative to the door frame, and the two-dimensional force detection component detects the thrust of the push-pull cylinder 6 during the closing process of the door body in real time, and transmits the detected thrust to the control device;

[0105] Step S2h, the control device determines whether the received thrust is within the preset thrust range, if not, the output door body hinge is unqualified; if so, the output door body hinge is qualified, and step S2i is executed;

[0106] Step S2i, the control device controls the motor 3 to rotate, and drives the key to rotate in the opposite direction during the rotation process, until the key rotates to a state where the door lock is closed, and the two-dimensional force detection component detects the torque at the output end of the motor 3 in real time during the rotation of the key, and transmits the torque to the control device;

[0107] Step S2j, the control device determines whether the received torque is within the preset reverse torque range, if not, the output door lock is unqualified; if so, the output door lock is qualified, and step S2k is executed;

[0108] Step S2k, the control device controls the laser transmitter 8 to turn on, and controls the line scan camera 7 to photograph the gap between the door body and the door frame, and the line scan camera 7 transmits the photographing information to the control device;

[0109] Step S2m, controlling the device to obtain the size of the gap according to the received shooting information;

[0110] Step S2n, the control device determines whether the size of the gap is within a preset gap range, if so, the gap of the output product is qualified, if not, the gap of the output product is unqualified.

[0111] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. Any combination of all embodiments provided by the present invention is within the protection scope of this invention and will not be described in detail here.

[0112] The two-dimensional force detection mechanism, detection method and robot provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A two-dimensional force detection mechanism, characterized in that: include: A clamping jaw assembly that can be opened or clamped to loosen or clamp the rotating part of the product; A rotating assembly, wherein the clamping jaw assembly is connected to an output end of the rotating assembly; A suction component, used to suck the push-pull portion of the product; A push-pull component, wherein the suction component is connected to an output end of the push-pull component; A two-dimensional force detection component, to which both the rotating component and the push-pull component are connected, for real-time detection of the torque at the output end of the rotating component and the push-pull force at the output end of the push-pull component; A control device, used for receiving the torque and push-pull force detected by the two-dimensional force detection component, and comparing the received torque with the preset torque, and comparing the received push-pull force with the preset push-pull force; when the received torque is within the preset torque range, it is judged that the rotating part of the product is qualified, and when the received torque is outside the preset torque range, it is judged that the rotating part of the product is unqualified; when the received push-pull force is within the preset push-pull force range, it is judged that the push-pull part of the product is qualified, and when the received push-pull force is outside the preset push-pull force range, it is judged that the push-pull part of the product is unqualified; The clamping jaw assembly, the rotating assembly, the suction assembly, the push-pull assembly and the two-dimensional force detection assembly are all connected to the control device.

2. The two-dimensional force detection mechanism according to claim 1, characterized in that: The clamping jaw assembly comprises a clamping jaw power member and at least two clamping blocks (1) that can be relatively opened or clamped, wherein the clamping blocks (1) are connected to the output end of the clamping jaw power member; and the clamping jaw power member is connected to the output end of the rotating assembly.

3. The two-dimensional force detection mechanism according to claim 2, characterized in that: An electrical slip ring (4) is provided between the clamping jaw power member and the rotating assembly.

4. The two-dimensional force detection mechanism according to claim 1, characterized in that: The suction component comprises a suction cup (5) for sucking the push-pull portion of the product, and the push-pull component comprises a push-pull power member, wherein the output end of the push-pull power member is connected to the suction cup (5).

5. The two-dimensional force detection mechanism according to claim 4, characterized in that: The push-pull power member comprises two push-pull cylinders (6), the two push-pull cylinders (6) are symmetrically arranged on both sides of the clamping jaw assembly, and the output ends of the two push-pull cylinders (6) are both provided with the suction cups (5).

6. The two-dimensional force detection mechanism according to claim 1, characterized in that: The two-dimensional force detection assembly includes a torque detection mechanism connected to the rotating assembly and a push-pull force detection mechanism connected to the push-pull assembly; the torque detection mechanism and the push-pull force detection mechanism are both connected to the control device; Or the two-dimensional force detection component includes a two-dimensional force detection sensor (11) for detecting the torque of the rotating component and the push-pull force of the push-pull component, the rotating component and the push-pull component are both connected to the two-dimensional force detection sensor (11), and the two-dimensional force detection sensor (11) is connected to the control device.

7. The two-dimensional force detection mechanism according to any one of claims 1 to 6, characterized in that: It also includes a laser emitter (8) and two line scan cameras (7) symmetrically arranged with respect to the laser emitter (8), and the central axes of the two line scan cameras (7) intersect with the laser emitted by the laser emitter (8) at the same point.

8. A detection method, characterized in that: The two-dimensional force detection mechanism according to any one of claims 1 to 7 comprises: The control device controls the rotating part of the clamping jaw assembly to clamp the product; The control device controls the rotating assembly to drive the clamping jaw assembly to rotate, and the two-dimensional force detection assembly detects the output torque of the rotating assembly in real time during the rotation process, and transmits the detected torque to the control device; The control device determines whether the received torque is within the preset torque range, and if not, outputs that the rotating part of the product is unqualified; if so, outputs that the rotating part of the product is qualified, and executes the next step; The control device controls the suction component to suck the push-pull portion of the product; The control device controls the push-pull component to drive the suction component to move, and the two-dimensional force detection component detects the output thrust or output pull of the push-pull component in real time during the movement of the push-pull component, and transmits the detected output thrust or output pull to the control device; The control device determines whether the received output push force or the output pull force is within the preset push-pull force range. If not, the push-pull portion of the output product is unqualified; if so, the push-pull portion of the output product is qualified.

9. The detection method according to claim 8, characterized in that: The two-dimensional force detection mechanism also includes a shooting device and a light source for shooting illumination of the shooting device; The detection method comprises: The control device controls the light source to turn on, and controls the photographing device to photograph the gap of the product; The photographing device transmits the photographing information to the control device; The control device obtains the size of the gap according to the shooting information; The control device determines whether the size of the gap is within a preset gap range. If so, the gap of the product is qualified; if not, the gap of the product is unqualified.

10. A robot, characterized in that: It comprises a manipulator and the two-dimensional force detection mechanism according to any one of claims 1 to 7, wherein the two-dimensional force detection mechanism is installed on the manipulator.

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