Gripper test device

Abstract

The present invention relates to a gripper testing device for testing the gripping force of a manipulator, comprising a test base and a finger testing mechanism, wherein the test base is used for being slidably connected to a manipulator body so that the manipulator body has the freedom to slide along a first direction and a second direction of the test base when mounted on the test base, wherein the first direction and the second direction are perpendicular; the finger testing mechanism is mounted on the test base, the finger testing mechanism comprising a first finger fixing seat, a second finger fixing seat and a tension and pressure sensor, the first finger fixing seat being slidably connected to the test base along the first direction and being used for mounting a first manipulator finger, the second finger fixing seat being used for mounting a second manipulator finger and being connected to the test base via the tension and pressure sensor, and the tension and pressure sensor being used for detecting the pressure or tension exerted on the second finger fixing seat.

Description

Technical Field

[0001] The present invention relates to the technical field of robot testing, in particular to a gripper testing device. Background Art

[0002] With the development of robotics, manipulators (grippers) have been added to robotic arms to mimic certain human hand movements, enabling them to grasp, move objects, or operate tools according to a fixed program. Manipulators with parallelogram linkages are a common type of gripper, and their gripping force is typically tested using a gripper testing device. However, existing gripper testing devices cannot test the gripping force of such manipulators at arbitrary gripping distances, resulting in inaccurate and low-precision test results. Summary of the Invention

[0003] Based on this, it is necessary to provide a gripper testing device for testing the gripping force of a manipulator at any opening distance.

[0004] A gripper testing device for testing the gripping force of a manipulator having a quadrilateral linkage mechanism, wherein the manipulator comprises a manipulator body and a first manipulator finger and a second manipulator finger rotatably connected to the manipulator body. The gripper testing device comprises:

[0005] a test base, configured to be slidably connected to the manipulator body, so that the manipulator body, when mounted on the test base, has the freedom to slide along a first direction and a second direction of the test base, wherein the first direction is perpendicular to the second direction;

[0006] A finger testing mechanism is installed on the test base, and the finger testing mechanism includes a first finger fixing seat, a second finger fixing seat and a tension and pressure sensor. The first finger fixing seat is slidably connected to the test base along the first direction and is used to install the first mechanical finger. The second finger fixing seat is used to install the second mechanical finger and is connected to the test base through the tension and pressure sensor. The tension and pressure sensor is used to detect the pressure or tension applied to the second finger fixing seat.

[0007] In one embodiment, the finger testing mechanism further includes a locking assembly, and the locking assembly is used to lock the first finger fixing seat to the test base along the first direction.

[0008] In one embodiment, the locking assembly includes:

[0009] A flip plate, rotatably connected to the first finger fixing seat;

[0010] A clamping plate is slidably mounted on the test base along the first direction. When the flip plate is rotated to a first position relative to the first finger fixing seat, it can be clamped to the clamping plate to limit the relative position of the first finger fixing seat and the test base along the first direction. When the flip plate is rotated to a second position relative to the first finger fixing seat, the first finger fixing seat can slide along the first direction.

[0011] In one embodiment, the locking assembly further includes an abutment member, and the abutment member is used to limit the sliding of the clamping plate on the test base along the first direction;

[0012] The abutment is arranged on a side of the clamping plate close to the second finger fixing seat and abuts against the clamping plate, and the tension and pressure sensor is used to detect the force applied when the first mechanical finger approaches the second mechanical finger; or,

[0013] When the abutment is arranged on a side of the clamping plate away from the second finger fixing seat and abuts against the clamping plate, the tension and pressure sensor is used to detect the force when the first mechanical finger moves away from the second mechanical finger.

[0014] In one embodiment, the locking assembly further includes a transition plate connected to the first finger fixing seat, and the transition plate is threadedly connected to the flip plate via an adjusting bolt, and the adjusting bolt is rotated to rotate the flip plate relative to the transition plate.

[0015] In one embodiment, the finger testing mechanism includes a slide mounted on the test base, the slide extending along the first direction, and the first finger fixing seat being slidably connected to the slide;

[0016] The locking assembly comprises:

[0017] a slide plate connected to the first finger fixing seat;

[0018] a nut, disposed in the slide seat;

[0019] A locking member is provided on the slide and is threadedly connected to the nut. The slide can drive the locking member and the nut to slide along the first direction. The locking member can be rotated to make the slide abut against the slide to lock the relative position of the first finger fixing seat and the slide.

[0020] In one embodiment, the locking assembly further includes a driving cylinder connected to the first finger fixing seat, the driving cylinder including two output ends spaced apart, each of the output ends being provided with a push rod, the locking member being located between the two push rods, one of the output ends extending in a first direction away from the other output end, so that one of the push rods pushes the locking member to rotate to an unlocked position, and the other push rod pushes the locking member to rotate to a locked position.

[0021] In one embodiment, a plurality of locking assemblies are provided, and the plurality of locking assemblies are arranged on both sides of the first finger fixing seat along the second direction.

[0022] In one embodiment, the test base further comprises a sliding mechanism mounted on the test base, the sliding mechanism comprising:

[0023] a first guide mechanism, mounted on the test base and extending along the first direction;

[0024] a slide rail mounting plate, mounted on the first guide mechanism and capable of moving along the first direction through the first guide mechanism;

[0025] The second guide mechanism is installed on the slide rail mounting plate and extends along the second direction. The second guide mechanism is used to install the manipulator body, thereby allowing the manipulator body to move along the second direction.

[0026] In one embodiment, the sliding mechanism includes a mounting seat, which is mounted on the second guide mechanism and is used to mount the manipulator body.

[0027] The gripper testing device described above mounts a first robotic finger on a first finger holder, a second robotic finger on a second finger holder, and connects the second finger holder to a tension / pressure sensor. The first and second robotic fingers move closer or further apart in a first direction, i.e., the first and second finger holders move closer or further apart in the first direction. The robotic body passively displaces in the first and / or second directions to adapt to the positions of the first and second finger holders. The tension / pressure sensor measures the tension or pressure applied to the second finger holder, thereby measuring the gripping force of the robotic hand. When the first finger holder moves away from the second finger holder in the first direction, the tension / pressure sensor measures the tension applied to the second finger holder, i.e., the force acting to move the two robotic fingers away from each other. When the first finger holder moves toward the second finger holder in the first direction, the tension / pressure sensor measures the pressure applied to the second finger holder, i.e., the force acting to move the two robotic fingers closer to each other. This facilitates testing the gripping force of the robotic hand at any opening distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the first perspective structure of a manipulator installed on a gripper testing device according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the second perspective structure of installing a manipulator on a gripper testing device provided by an embodiment of the present invention;

[0030] Figure 3 A schematic structural diagram of a gripper testing device provided in Example 1 of the present invention from a first perspective;

[0031] Figure 4 A schematic structural diagram of the gripper testing device provided in the first embodiment of the present invention from a second perspective;

[0032] Figure 5 A schematic structural diagram of the gripper testing device provided in the first embodiment of the present invention from a third perspective;

[0033] Figure 6 A schematic structural diagram of the flip plate provided in the first embodiment of the present invention when in the first position;

[0034] Figure 7 A schematic structural diagram of the flip plate provided in the first embodiment of the present invention when in the second position;

[0035] Figure 8 A schematic structural diagram of a gripper testing device from a first perspective provided in the second embodiment of the present invention;

[0036] Figure 9 A partial cross-sectional view of a locking assembly provided in Embodiment 2 of the present invention;

[0037] Figure 10 A schematic structural diagram of a gripper testing device from a second perspective provided in the second embodiment of the present invention;

[0038] Figure 11 for Figure 10 A partial enlarged view of

[0039] Figure 12 This is a structural diagram of a washer sleeved on a locking member provided in the second embodiment of the present invention.

[0040] In the picture:

[0041] 100, robot; 110, robot body; 120, first robot finger; 130, second robot finger;

[0042] 200, test base;

[0043] 300, finger testing mechanism; 310, first finger fixing seat; 320, second finger fixing seat; 330, tension and pressure sensor; 331, first fisheye bolt; 332, second fisheye bolt; 333, fisheye bolt seat; 334, sensor base; 340, slide; 341, slide limiter; 350, locking assembly; 351, flip plate; 352, clamping plate; 353, abutment; 354, transition plate; 355, clamping guide rail; 356, clamping slide; 360, slide plate; 361, nut; 362, locking member; 363, driving cylinder; 364, push rod; 365, retaining ring; 366, connecting plate;

[0044] 400, sliding mechanism; 410, first guide mechanism; 411, first slide rail; 412, first slide platform; 420, slide rail mounting plate; 430, second guide mechanism; 431, second slide rail; 432, second slide platform; 440, mounting seat; 450, slide rail limiter. DETAILED DESCRIPTION

[0045] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0051] like Figure 1 and Figure 2 As shown, the manipulator 100 includes a manipulator body 110 and a first manipulator finger 120 and a second manipulator finger 130 rotatably connected to the manipulator body 110. The first manipulator finger 120 and the second manipulator finger 130 can rotate relative to the manipulator body 110 within an opening and closing plane to adjust the spacing between the first manipulator finger 120 and the second manipulator finger 130 along a first direction. The first manipulator finger 120 and the second manipulator finger 130 are arranged along a second direction with the manipulator body 110, and the first and second directions are perpendicular. The first manipulator finger 120 and the second manipulator finger 130 move away from or toward each other along the first direction, thereby causing the manipulator 100 to open or clench. The first direction is the opening and closing direction of the manipulator 100. The first manipulator finger 120 and the second manipulator finger 130 are arranged on the same side of the manipulator body 110 and are both rotatably connected to the manipulator body 110. The first manipulator finger 120 and the second manipulator finger 130 are arranged along the second direction with the manipulator body 110. The most common example of this type of manipulator is a gripper with a quadrilateral linkage mechanism. For this type of gripper, when the first and second robotic fingers 120, 130 open or close, their fingertips simultaneously displace in two directions relative to the manipulator body 110. Accordingly, if the first and second robotic fingers 120, 130 are restricted in their mobility except in the opening or closing direction, the manipulator body 110 will also simultaneously displace in two directions relative to their fingertips when the first and second robotic fingers 120, 130 open or close.

[0052] The embodiment of the present invention provides a gripper testing device for testing the gripping force of a manipulator 100 having a quadrilateral linkage mechanism, such as Figures 1 to 3As shown, the gripper testing device includes a test base 200 and a finger testing mechanism 300. The test base 200 is used to be slidably connected to the manipulator body 110, so that the manipulator body 110 has the freedom to slide along the first direction and the second direction of the test base 200 when installed on the test base 200, wherein the first direction and the second direction are perpendicular; the finger testing mechanism 300 is installed on the test base 200, and the finger testing mechanism 300 includes a first finger fixing seat 310, a second finger fixing seat 320 and a tension and pressure sensor 330. The first finger fixing seat 310 is slidably connected to the test base 200 along the first direction and is used to install the first manipulator finger 120. The second finger fixing seat 320 is used to install the second manipulator finger 130 and is connected to the test base 200 through the tension and pressure sensor 330. The tension and pressure sensor 330 is used to detect the pressure or tension applied to the second finger fixing seat 320.

[0053] In the above-mentioned gripper testing device, the first finger fixing seat 310 is slidably connected to the test base 200 along the first direction, the first mechanical finger 120 of the manipulator 100 is installed on the first finger fixing seat 310, the second mechanical finger 130 is installed on the second finger fixing seat 320, and the second finger fixing seat 320 is connected to the tension and pressure sensor 330, and the second finger fixing seat 320 is connected to the test base 200 through the tension and pressure sensor 330. The first mechanical finger 120 and the second mechanical finger 130 are relatively close to or away from each other along the first direction, that is, the first finger fixing seat 310 and the second finger fixing seat 320 are relatively close to or away from each other along the first direction, and the manipulator body 110 is passively displaced in the first direction and / or the second direction to adapt to the positions of the first finger fixing seat 310 and the second finger fixing seat 320, and the tension or pressure on the second finger fixing seat 320 is measured using the tension and pressure sensor 330, thereby measuring the clamping force of the manipulator 100. When the first finger holder 310 moves along the first direction away from the second finger holder 320, the tension and pressure sensor 330 measures the tension on the second finger holder 320, that is, the force that moves the two manipulator fingers 100 away from each other. When the first finger holder 310 moves along the first direction toward the second finger holder 320, the tension and pressure sensor 330 measures the pressure on the second finger holder 320, that is, the force that moves the two manipulator fingers 100 toward each other. The first finger holder 310 and the second finger holder 320 move closer or further away from each other, making it easier to test the gripping force of the manipulator 100 at any opening distance. Specifically, the first manipulator finger 120 is fixedly connected to the first finger holder 310, and the second manipulator finger 130 is fixedly connected to the second finger holder 320, ensuring that the manipulator 100 is always parallel to the bottom surface of the test base 200 during the opening and closing process, and no interference resistance is generated.

[0054] like Figure 3 As shown, one end of the tension and pressure sensor 330 is rotatably connected to the test base 200, and the other end is rotatably connected to the second finger holder 320. The second robotic finger 130 is fixedly mounted on the second finger holder 320. Rotating one end of the tension and pressure sensor 330 to the test base 200 and the other end to the second finger holder 320 facilitates measurement of tension or pressure applied to the second finger holder 320 at multiple angles.

[0055] Specifically, if Figure 3 and Figure 4 As shown, internal threaded holes are formed at both ends of the tension and pressure sensor 330. The second finger holder 320 is rotatably connected to the tension and pressure sensor 330 via a first fisheye bolt 331 and a first pin. The first fisheye bolt 331 is threadedly connected to the tension and pressure sensor 330, and the first pin passes through the second finger holder 320 and the first fisheye bolt 331, thereby forming a revolute pair and achieving a rotational connection between the second finger holder 320 and the tension and pressure sensor 330.

[0056] Specifically, if Figure 3 and Figure 4 As shown, a sensor base 334 is provided on the test base 200, and a fisheye bolt seat 333 is mounted on the sensor base 334. The fisheye bolt seat 333 is rotatably connected to the tension and pressure sensor 330. More specifically, the fisheye bolt seat 333 is rotatably connected to the tension and pressure sensor 330 via a second fisheye bolt 332 and a second pin. The second fisheye bolt 332 is threadedly connected to the tension and pressure sensor 330, and the second pin passes through the fisheye bolt seat 333 and the second fisheye bolt 332, thereby forming a revolute pair, achieving the rotational connection between the fisheye bolt seat 333 and the tension and pressure sensor 330.

[0057] like Figure 3 and Figure 4As shown, the finger testing mechanism 300 includes a locking assembly 350 , which is used to lock the first finger fixing seat 310 to the test base 200 . By slidingly connecting the first finger fixing seat 310 to the test base 200 and connecting the second finger fixing seat 320 to the tension and pressure sensor 330, the first finger fixing seat 310 slides along the first direction relative to the second finger fixing seat 320. When the manipulator 100 is opened, that is, the first manipulator finger 120 slides along the first direction away from the second manipulator finger 130, that is, the first finger fixing seat 310 slides along the first direction away from the second finger fixing seat 320, and the tension and pressure sensor 330 measures the tension exerted on the second finger fixing seat 320, that is, measures the tension during the opening operation of the manipulator 100; when the manipulator 100 is closed, that is, the first manipulator finger 120 slides along the first direction toward the second manipulator finger 130, that is, the first finger fixing seat 310 slides along the first direction toward the second finger fixing seat 320, and the tension and pressure sensor 330 measures the pressure exerted on the second finger fixing seat 320, that is, measures the closing force during the closing operation of the manipulator 100. During actual measurement, when the manipulator 100 is opened or closed to the detection position, that is, the first finger holder 310 slides to the detection position, the first finger holder 310 is locked using the locking assembly 350, and then the measurement is performed using the tension and pressure sensor 330. In this way, the manipulator 100 can be adjusted to the desired opening, and then the locking assembly 350 is locked, and the manipulator 100 is controlled to open or close, thereby measuring the gripping force of the manipulator 100 at any opening.

[0058] Specifically, a slide 340 extending along a first direction is provided on the test base 200 , the first finger fixing base 310 is slidably connected to the slide 340 , and the first finger fixing base 310 is slidably connected to the test base 200 via the slide 340 .

[0059] like Figures 5 to 7As shown, the locking assembly 350 includes a flip plate 351 and a clamping plate 352. The flip plate 351 is rotatably connected to the first finger fixing seat 310; the clamping plate 352 is slidably installed on the test base 200 along the first direction and can slide along the first direction. When the flip plate 351 is rotated to the first position relative to the first finger fixing seat 310, it can be clamped to the clamping plate 352 to limit the relative position of the first finger fixing seat 310 and the test base 200 along the first direction. When the flip plate 351 is rotated to the second position relative to the first finger fixing seat 310, the first finger fixing seat 310 can slide along the first direction. The flip plate 351 is connected to the first finger holder 310. The first finger holder 310 drives the flip plate 351 to slide in a first direction. The snap plate 352 is slidably mounted on the test base 200 and is capable of sliding in the first direction. When the first finger holder 310 slides to the detection position, the flip plate 351 slides with the first finger holder 310 to the detection position, causing the snap plate 352 to slide in the first direction to an engaging position with the flip plate 351. The flip plate 351 rotates relative to the first finger holder 310 to the first position. The flip plate 351 snaps onto the snap plate 352, restricting the movement of the flip plate 351 and the first finger holder 310, thereby locking the first finger holder 310. To unlock, the flip plate 351 is adjusted to rotate relative to the first finger holder 310 to the second position, that is, the flip plate 351 rotates away from the snap plate 352, thereby unlocking the first finger holder 310.

[0060] Specifically, one of the flip plate 351 and the clamping plate 352 is provided with a clamping protrusion, and the other is provided with a clamping groove. The clamping protrusion can be clamped in the clamping groove to achieve the clamping connection between the flip plate 351 and the clamping plate 352.

[0061] Specifically, the clamping plate 352 is slidably connected to the test base 200. One of the clamping plates is provided with a clamping guide rail 355 extending in a first direction, and the other is provided with a clamping slide 356 that slidably cooperates with the clamping guide rail 355. The clamping plate 352 and the test base 200 are slidably connected by the clamping guide rail 355 and the clamping slide 356. More specifically, in some embodiments, the clamping guide rail 355 is provided on the test base 200, and the clamping plate 352 is connected to the clamping slide 356. The movement of the clamping slide 356 in the first direction drives the movement of the clamping plate 352.

[0062] like Figures 5 to 7As shown, the locking assembly 350 further includes an abutment 353, which is used to limit the sliding movement of the clamping plate 352 along the first direction on the test base 200. The abutment 353 is disposed on the side of the clamping plate 352 that is close to the second finger fixing seat 320 and abuts the clamping plate 352. The tension and pressure sensor 330 is used to detect the force applied when the first robotic finger 120 approaches the second robotic finger 130. The abutment 353 is disposed on the side of the clamping plate 352 that is away from the second finger fixing seat 320 and abuts the clamping plate 352. The tension and pressure sensor 330 is used to detect the force applied when the first robotic finger 120 moves away from the second robotic finger 130. The abutment 353 is disposed so as to abut the clamping plate 352, thereby limiting the movement of the clamping plate 352, thereby locking the first finger fixing seat 310 and limiting the movement of the first robotic finger 120, thereby maintaining the target opening distance of the manipulator 100. When the abutment 353 is located between the clamping plate 352 and the second finger fixing seat 320 and abuts against the clamping plate 352, the pull pressure sensor 330 is used to detect the force when the first mechanical finger 120 approaches the second mechanical finger 130, that is, to detect the retraction force of the manipulator 100 during the retraction operation; when the abutment 353 is located on the side of the clamping plate 352 away from the second finger fixing seat 320 and abuts against the clamping plate 352, the pull pressure sensor 330 is used to detect the force when the first mechanical finger 120 is away from the second mechanical finger 130, that is, to detect the tension in the opening operation of the manipulator 100.

[0063] Specifically, in some embodiments, the abutment member 353 is a pneumatically controlled clamp, also known as a guide rail clamp, which abuts against the clamping slide 356 through the pneumatic control to limit the sliding of the clamping slide 356.

[0064] like Figures 5 to 7 As shown, the locking assembly 350 further includes a transition plate 354 connected to the first finger fixing seat 310. The transition plate 354 is threadedly connected to the flip plate 351 via an adjusting bolt. The adjusting bolt is rotated to rotate the flip plate 351 relative to the transition plate 354. The flip plate 351 is rotatably connected to the first finger fixing seat 310 via the transition plate 354. The flip plate 351 and the transition plate 354 are threadedly connected via the adjusting bolt. The adjusting bolt is rotated to rotate the flip plate 351 relative to the transition plate 354. The rotation angle of the flip plate 351 is adjusted so that the flip plate 351 is located in the first position or the second position, thereby locking or unlocking the first finger fixing seat 310.

[0065] Specifically, the first finger holder 310 is slidably connected to the slide 340 via a transition plate 354. A sliding rail is provided on one of the slide 340 and the transition plate 354, extending in a first direction. A sliding platform is provided on the other, thereby achieving the sliding connection between the slide 340 and the transition plate 354. In some embodiments, the sliding rail is mounted on the sidewall of the slide 340, the transition plate 354 is connected to the first finger holder 310 at an angle, and the sliding platform is connected to the transition plate 354. The sliding platform drives the transition plate 354 to slide in the first direction, thereby driving the first finger holder 310 to slide in the first direction. More specifically, the transition plate is connected perpendicularly to the first finger holder 310, and a gap is provided between the transition plate 354 and the sidewall of the slide 340.

[0066] More specifically, if Figures 5 to 7 As shown, a slide limiter 341 is provided on the test base 200 , and the slide limiter 341 is provided on both sides of the sliding rail along the first direction. The slide limiter 341 can abut against the flip plate 351 and / or the transition plate 354 , thereby limiting the sliding range of the first finger fixing seat 310 .

[0067] More specifically, if Figures 5 to 7 As shown, the sensor base 334 is arranged on one side of the slide along the first direction to prevent the sensor base 334 from blocking the transition plate 354 and the flip plate 351 from sliding along the first direction with the first finger fixing base 310 .

[0068] like Figures 5 to 7 As shown, multiple locking assemblies 350 are provided, and multiple locking assemblies 350 are arranged on both sides of the first finger holder 310 along the second direction. Providing multiple locking assemblies 350 to lock the first finger holder 310 improves the locking effect, ensures the opening distance of the manipulator 100 in the detection position, and improves measurement accuracy and precision. In some embodiments, two locking assemblies 350 are provided, and the two locking assemblies 350 are arranged on both sides of the first finger holder 310 along the second direction. Providing locking assemblies 350 on both sides of the first finger holder 310 provides a more stable locking effect.

[0069] Preferably, the plurality of locking components 350 are arranged along the first direction, and the plurality of locking components 350 are arranged on both sides of the first finger fixing seat 310 along the second direction, so as to further improve the locking effect.

[0070] like Figure 6 and Figure 7The gripper testing device also includes a sliding mechanism 400 mounted on the test base 200, the sliding mechanism 400 includes a first guide mechanism 410, a slide rail mounting plate 420 and a second guide mechanism 430, the first guide mechanism 410 is mounted on the test base 200 and extends along the first direction; the slide rail mounting plate 420 is mounted on the first guide mechanism 410 and can move along the first direction through the first guide mechanism 410; the second guide mechanism 430 is mounted on the slide rail mounting plate 420 and extends along the second direction, the second guide mechanism 430 is used to mount the manipulator body 110, thereby allowing the manipulator body 110 to move along the second direction. The manipulator body 110 is installed on the second guide mechanism 430, and the second guide mechanism 430 can drive the manipulator body 110 to move in the second direction, thereby generating displacement in the second direction; the second guide mechanism 430 is connected to the first guide mechanism 410 through the slide rail mounting plate 420, and the first guide mechanism 410 drives the slide rail mounting plate 420 and the second guide mechanism 430 and the manipulator body 110 to move together in the first direction, thereby causing the manipulator body 110 to generate displacement in the first direction.

[0071] Specifically, if Figure 6 and Figure 7 The first guide mechanism 410 includes a first slide rail 411 and a first slide platform 412 that slidably engages with the first slide rail 411. The first slide rail 411 extends along a first direction. One of the first slide rail 411 and the first slide platform 412 is mounted on the test base 200, and the other is connected to the slide rail mounting plate 420, thereby driving the slide rail mounting plate 420 to move along the first direction. In some embodiments, the first slide rail 411 is mounted on the test base 200, and the slide rail mounting plate 420 is mounted on the first slide platform 412.

[0072] Specifically, if Figure 6 and Figure 7 The second guide mechanism 430 includes a second slide rail 431 and a second slide platform 432 that slidably cooperates with the second slide rail 431. The second slide rail 431 is mounted on the slide rail mounting plate 420 and extends in the second direction. The second slide platform 432 is used to mount the manipulator body 110 and drive the manipulator body 110 to slide in the second direction. As the second slide platform 432 slides in the second direction, the manipulator body 110 is driven to slide in the second direction.

[0073] Preferably, the sliding mechanism 400 includes a mounting base 440, which is mounted on the second slide 432 and is used to mount the manipulator body 110. Specifically, the mounting base 440 is L-shaped and has a through hole formed therein. The manipulator body 110 is detachably connected to the mounting base and at least partially passes through the through hole.

[0074] Specifically, if Figure 6and Figure 7 The sliding mechanism 400 includes a slide rail limiter 450 , which can abut against the first slide 412 and / or the second slide 432 to limit the sliding of the first slide 412 and the second slide 432 .

[0075] This embodiment also provides the following test steps using the gripper test device:

[0076] First, flip the flip plate 351 to the second position to unlock the first finger fixing seat 310;

[0077] Then, when the manipulator 100 receives the command, the manipulator 100 opens and closes to the detection position, so that the opening distance of the manipulator 100 reaches the target value. At the same time, the manipulator body 110 is passively displaced in the first direction and the second direction. During the opening and closing process, the first manipulator finger 120 drives the first finger fixing base 310 to move along the first direction, while the second manipulator finger 130 and the second finger fixing base 320 remain stationary.

[0078] Again, flip the flip plate 351, rotate it to the first position and engage with the engaging plate 352, so that the abutment 353 abuts against the engaging slide 356, lock the first finger fixing seat 310, and keep the manipulator 100 at the target opening distance. In this state, perform the clamping force test of the clamper.

[0079] In other embodiments, Figures 8 to 10 As shown, the slide 340 is mounted on the test base 200 and extends along the first direction. The first finger fixing seat 310 is slidably connected to the slide 340. The locking assembly 350 includes a slide 360, a nut 361, and a locking member 362. The slide 360 is connected to the first finger fixing seat 310; the nut 361 is disposed in the slide 340; the locking member 362 is passed through the slide 360 and threadedly connected to the nut 361. The slide 360 can drive the locking member 362 and the nut 361 to slide along the first direction. The locking member 362 can rotate to make the slide 360 abut against the slide 340, thereby locking the relative position of the first finger fixing seat 310 and the slide 340. The locking member 362 is passed through the slide 360 and threadedly connected to the nut 361. The locking member 362 can rotate relative to the slide 360, so that the slide 360 abuts against the side wall of the slide seat 340. The abutment and friction restrict the movement of the slide 360, thereby locking the first finger fixing seat 310. In some embodiments, the locking member 362 is a screw or a screw, as long as the threaded connection between the locking member 362 and the nut 361 can be achieved.

[0080] Specifically, the slide 360 is perpendicularly connected to the first finger holder 310, which is slidably connected to the slide 340 via the slide 360. A sliding rail is provided on one of the slide 340 and the slide 360, extending in a first direction, while a sliding platform is provided on the other, thereby achieving a sliding connection between the slide 340 and the slide 360. In some embodiments, the upper sliding rail is mounted on the side wall of the slide 340, the slide 360 is connected to the first finger holder 310 at an angle, and the sliding platform is connected to the slide 360. The sliding platform drives the slide 360 to slide in the first direction, thereby driving the first finger holder 310 to slide in the first direction. Specifically, the slide 360 is perpendicularly connected to the first finger holder 310.

[0081] Specifically, if Figure 11 and Figure 12 As shown, the locking assembly 350 includes a retaining ring 365, which is sleeved on the locking member 362 and arranged between the locking member 362 and the end face of the slide 360. The retaining ring 365 is arranged to increase the contact area between the locking member 362 and the slide 360, thereby increasing the friction force and improving the locking effect.

[0082] Please refer back to Figure 8 , Figure 9 as well as Figure 10The locking assembly 350 also includes a drive cylinder 363 connected to the first finger holder 310. The drive cylinder 363 includes two spaced-apart output ends, each of which is provided with a push rod 364. The locking member 362 is located between the two push rods 364. One of the output ends extends in a first direction away from the other output end, so that one push rod 364 pushes the locking member 362 to the unlocked position, while the other push rod 364 pushes the locking member 362 to the locked position. The drive cylinder 363 is configured to drive the push rods 364, causing them to push the locking member 362 to either the unlocked or locked position. When the locking member 362 rotates to the unlocked position, it moves axially away from the nut 361, creating a gap between the slide 360 and the slide 340, thereby unlocking the slide 360 and thus unlocking the first finger holder 310. When the locking member 362 rotates to the locked position, it moves along its axial direction toward the nut 361, causing the slide 360 to abut against the slide 340, thereby locking the slide 360 and locking the first finger holder 310. A push rod 364 is provided at each output end. One push rod rotates the locking member 362 clockwise, while the other pushes the locking member 362 counterclockwise. The locking member 362 can rotate in opposite directions, allowing it to rotate to the unlocked position or the unlocked position, thereby achieving locking or unlocking. Specifically, the driving cylinder 363 is a double-ended cylinder with two output ends.

[0083] Specifically, the driving cylinder 363 is connected to the first finger fixing base 310 via a connecting plate 366, and the first finger fixing base 310 drives the driving cylinder 363 to slide synchronously along the first direction. More specifically, the connecting plate 366 is an L-shaped structure.

[0084] Specifically, locking member 362 is L-shaped and includes a threaded connection portion and an abutment portion. The threaded connection portion and the abutment portion are arranged at an angle. The threaded connection portion is threaded through slide plate 360 and connected to nut 361. Push rod 364 can abut the abutment portion, thereby driving the threaded connection portion to rotate. The abutment portion increases the contact area between locking member 362 and push rod 364, facilitating the rotation of the abutment portion.

[0085] Specifically, the push rod 364 has an L-shaped structure, one end of which is vertically connected to the output end of the driving cylinder 363, and the other end can abut against the abutment portion of the locking member 362 to facilitate pushing the locking member 362.

[0086] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A gripper testing device for testing the gripping force of a manipulator (100) having a quadrilateral linkage mechanism, wherein the manipulator (100) comprises a manipulator body (110) and a first manipulator finger (120) and a second manipulator finger (130) rotatably connected to the manipulator body (110), the gripper testing device comprising: A test base (200) is used for slidingly connecting the manipulator body (110), so that the manipulator body (110) has the freedom to slide along a first direction and a second direction of the test base (200) when installed on the test base (200), wherein the first direction and the second direction are perpendicular; A finger testing mechanism (300) is installed on the test base (200), and the finger testing mechanism (300) comprises a first finger fixing seat (310), a second finger fixing seat (320) and a tension and pressure sensor (330). The first finger fixing seat (310) is connected to the test base (200) by sliding along the first direction and is used to install the first mechanical finger (120). The second finger fixing seat (320) is used to install the second mechanical finger (130) and is connected to the test base (200) via the tension and pressure sensor (330). The tension and pressure sensor (330) is used to detect the pressure or tension applied to the second finger fixing seat (320).

2. The gripper testing device according to claim 1, characterized in that: The finger testing mechanism (300) further comprises a locking assembly (350), wherein the locking assembly (350) is used to lock the first finger fixing seat (310) to the testing base (200) along the first direction.

3. The gripper testing device according to claim 2, characterized in that: The locking assembly (350) comprises: A flip plate (351) rotatably connected to the first finger fixing seat (310); A clamping plate (352) is slidably mounted on the test base (200) along the first direction; when the flip plate (351) is rotated to a first position relative to the first finger fixing seat (310), it can be clamped to the clamping plate (352) to limit the relative position of the first finger fixing seat (310) and the test base (200) along the first direction; when the flip plate (351) is rotated to a second position relative to the first finger fixing seat (310), the first finger fixing seat (310) can slide along the first direction.

4. The gripper testing device according to claim 3, characterized in that: The locking assembly (350) further includes an abutment member (353), and the abutment member (353) is used to limit the sliding of the clamping plate (352) on the test base (200) along the first direction; The abutment member (353) is arranged on a side of the clamping plate (352) close to the second finger fixing seat (320) and abuts against the clamping plate (352), and the tension and pressure sensor (330) is used to detect the force applied when the first mechanical finger (120) approaches the second mechanical finger (130); or, The abutment member (353) is arranged on a side of the clamping plate (352) away from the second finger fixing seat (320) and abuts against the clamping plate (352). The tension and pressure sensor (330) is used to detect the force applied when the first mechanical finger (120) moves away from the second mechanical finger (130).

5. The gripper testing device according to claim 3, characterized in that: The locking assembly (350) further comprises a transition plate (354) connected to the first finger fixing seat (310), wherein the transition plate (354) is threadedly connected to the flip plate (351) via an adjusting bolt, and the adjusting bolt is rotated to rotate the flip plate (351) relative to the transition plate (354).

6. The gripper testing device according to claim 2, characterized in that: The finger testing mechanism comprises a slide (340) mounted on the test base (200), the slide (340) extending along the first direction, and the first finger fixing seat (310) being slidably connected to the slide (340); The locking assembly (350) comprises: A slide plate (360) connected to the first finger fixing seat (310); a nut (361) disposed in the slide seat (340); A locking member (362) is provided on the slide (360) and is threadedly connected to the nut (361). The slide (360) can drive the locking member (362) and the nut (361) to slide along the first direction. The locking member (362) can rotate so that the slide (360) abuts against the slide (340) to lock the relative position of the first finger fixing seat (310) and the slide (340).

7. The gripper testing device according to claim 6, characterized in that: The locking assembly (350) further includes a driving cylinder (363) connected to the first finger fixing seat (310), the driving cylinder (363) including two output ends spaced apart, each of the output ends being provided with a push rod (364), the locking member (362) being located between the two push rods (364), one of the output ends extending in a first direction away from the other output end, so that one of the push rods (364) pushes the locking member (362) to rotate to an unlocked position, and the other push rod (364) pushes the locking member (362) to rotate to a locked position.

8. The gripper testing device according to claim 2, wherein: A plurality of the locking assemblies (350) are provided, and the plurality of the locking assemblies (350) are arranged on both sides of the first finger fixing seat (310) along the second direction.

9. The gripper testing device according to claim 1, wherein: It also includes a sliding mechanism (400) installed on the test base (200), and the sliding mechanism (400) includes: A first guide mechanism (410) is installed on the test base (200) and extends along the first direction; a slide rail mounting plate (420) mounted on the first guide mechanism (410) and capable of moving along the first direction via the first guide mechanism (410); A second guide mechanism (430) is mounted on the slide rail mounting plate (420) and extends along the second direction. The second guide mechanism (430) is used to mount the manipulator body (110), thereby allowing the manipulator body (110) to move along the second direction.

10. The gripper testing device according to claim 9, characterized in that: The sliding mechanism (400) further comprises a mounting seat (440), wherein the mounting seat (440) is mounted on the second guide mechanism (430), and the mounting seat (440) is used for mounting the manipulator body (110).

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