A torque adjustment system simulating human hand

Abstract

The invention discloses a torque adjustment system simulating a human hand, comprising an L-shaped base and a Y-shaped casing housing, one side of the Y-shaped casing housing is fixedly connected to the inner side wall of the L-shaped base, the other side of the Y-shaped casing housing is movably connected to a control panel, and the inside of the Y-shaped casing housing is provided with a power supply component, a servo motor, and a servo reducer from top to bottom; a threaded portion is provided on the outside of the Y-shaped casing housing and near the bottom, an adjustment ring is threadedly connected to the outside of the threaded portion, a three-claw manipulator is rotatably connected to the inside of the adjustment ring, and the top of the three-claw manipulator is transmission-connected to the output end of the servo reducer. By using a servo motor to drive the servo reducer, and then driving the three-claw manipulator to rotate, the infrared sight is fixed, and the three-claw manipulator is used to hold the adjustment ring of the infrared sight to perform forward and reverse tests. Compared with manual testing, the efficiency is higher, and the measured results are more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of product testing, and in particular to a torque adjustment system simulating a human hand. Background Art

[0002] Since the infrared sight needs to be focused and adjusted for vision before leaving the factory, in order to ensure that the lens can be operated comfortably with one hand and the movable mechanism does not get stuck or malfunction, it is usually necessary to manually adjust the torque of each sight, and the entire adjustment process requires each lens to be rotated forward and reversed three thousand times. Multiple repetitive actions may cause muscle strain and counting errors during the work of workers. Even if multiple people work at the same time, the entire workload is still very huge for products that need to be shipped smoothly. Given that the entire adjustment process is manually involved, there is no way to make experimental records and work feedback, which will also bring certain hidden dangers to the entire work, which is time-consuming and labor-intensive, and affects the delivery progress.

[0003] The functions of existing torque wrenches on the market are mostly to measure torque or tighten bolts, and the torque and rotation direction of these tools are fixed and still require manual cooperation. A single operating function cannot accurately fit the human hand when adjusting the lens torque, and complete each non-fixed rotation and twisting, which will also cause fatigue after long-term work. At present, there is no relevant operating system that can replace the human hand to complete all the above technical operation requirements. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a torque adjustment system that simulates human hands, which solves the problems of large workload, long cycle, multiple repetitive actions causing muscle strain, time-consuming and labor-intensive, and affecting delivery progress when performing manual torque adjustment on the sight.

[0005] To achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A torque adjustment system simulating a human hand, comprising an L-shaped base and a Y-shaped casing housing, one side of the Y-shaped casing housing is fixedly connected to the inner side wall of the L-shaped base, the other side of the Y-shaped casing housing is movably connected to a control panel, and a power supply component, a servo motor, and a servo reducer are arranged inside the Y-shaped casing housing from top to bottom;

[0007] A threaded portion is provided on the outside of the Y-shaped casing and near the bottom end, an adjustment ring is threadedly connected to the outside of the threaded portion, a three-claw manipulator is rotatably connected to the inside of the adjustment ring, and the top of the three-claw manipulator is transmission-connected to the output end of the servo reducer;

[0008] The three-grip manipulator has a stress sensing component for monitoring the gripping force, and the servo motor has a detection element 1 for detecting the angular position of the output shaft;

[0009] A truncated cone-shaped base is fixedly installed at the bottom of the L-shaped base and is located directly below the Y-shaped casing housing. A second annular sliding opening is arranged on the side of the truncated cone-shaped base. A central groove is arranged on the top of the truncated cone-shaped base. A second telescopic rod is fixedly connected to the inner bottom of the central groove. A friction plate is fixedly connected to the top output end of the second telescopic rod. A sliding cover is arranged on the top of the truncated cone-shaped base. A fixed platform is fixedly connected to the top of the sliding cover. A sliding block is slidably connected to the side of the sliding cover. One end of the sliding block is located on the inner side of the sliding cover and extends into the second annular sliding opening. The other end of the sliding block is located on the outer side of the sliding cover and is fixedly connected to a side plate. A spring is arranged between the side plate and the sliding cover.

[0010] A second detection element for detecting the angular position of the fixing platform is arranged on the top of the truncated cone-shaped base.

[0011] Preferably, a damping member is fixedly connected to the side of the Y-shaped sleeve housing and close to the connection between the control panel and the Y-shaped sleeve housing, and the damping member has a side surface that fits with the control panel.

[0012] Preferably, the three-claw manipulator comprises: a hollow body, a claw is movably connected to the bottom of the hollow body, and a first support rod is provided inside the claw;

[0013] A sliding member is slidably connected to the center position of the hollow body, a second support rod is fixedly connected to the bottom of the sliding member, the second support rod is connected to the first support rod through a connecting rod, a stress sensing component is arranged on the side of the connecting rod, and a first electric telescopic rod is arranged between the top of the sliding member and the top of the hollow body.

[0014] Preferably, a first annular sliding opening is provided on the outer side surface of the hollow body, and a sliding ring is fixedly connected to the inner side of the adjustment ring and inside the first annular sliding opening.

[0015] Preferably, a hexagonal column is fixedly connected to the top of the sliding member, a shaft cylinder is fixedly connected to the bottom output end of the servo reducer, and the top end of the hexagonal column extends into the interior of the shaft cylinder.

[0016] Preferably, a bracket is provided on the inner side of the L-shaped base.

[0017] Preferably, an emergency brake button for controlling the emergency stop of the servo motor is provided at the bottom of the L-shaped base.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Use a servo motor to drive the servo reducer, and then drive the three-claw manipulator to rotate, fix the infrared sight, and use the three-claw manipulator to hold the adjustment ring of the infrared sight to perform forward and reverse tests. Compared with manual testing, it is more efficient, the measured results are more accurate and reliable, and it is conducive to use on the production line.

[0020] 2. The present invention improves the fixed structure at the bottom, adopts a rotatable sliding cover and a fixed platform at the top to place the infrared sight, and adopts a second telescopic rod to drive the friction plate to brake the sliding cover, so as to control the number of rotations of the bottom of the infrared sight, and can better simulate the adjustment of the infrared sight to make the test result more accurate; for example, when 5 forward rotations are required, the three-claw manipulator can be controlled to rotate 6 forward rotations, and the sliding cover follows with one rotation, and then brakes.

[0021] 3. By setting up detection element 2 for detecting the angle position of the fixed table and detection element 1 for detecting the angle position of the servo motor output shaft, the number of rotations can be well controlled. By setting up a stress sensing component for monitoring the gripping force, the gripping force of the three-grip manipulator can be monitored in real time, thereby better simulating human hand adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A perspective view of the present invention;

[0023] Figure 2 It is a front view of the present invention;

[0024] Figure 3 A top view of the present invention;

[0025] Figure 4 is a cross-sectional view of the present invention;

[0026] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0027] Figure 6 for Figure 4 Enlarged view of point B in the middle;

[0028] Figure 7 for Figure 4 Enlarged view of point C in the middle;

[0029] Figure 8 It is a connection diagram of the three-grip manipulator in the present invention;

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the three-grasp manipulator in the present invention;

[0031] Fig.10 This is a control schematic diagram of the present invention.

[0032] In the figure: 1, L-shaped base; 2, Y-shaped sleeve casing; 3, control panel; 4, damping member; 5, power supply assembly; 6, servo motor; 7, servo reducer; 8, shaft cylinder; 9, threaded portion; 10, adjustment ring; 11, sliding ring; 12, three-claw manipulator; 121, hollow body; 122, claw; 123, first support rod; 124, connecting rod; 125, stress sensing assembly; 126, second support rod; 127, sliding member; 128, first electric telescopic rod; 129, hexagonal column; 1210, first annular sliding opening; 13, truncated cone base; 14, center groove; 15, second telescopic rod; 16, friction plate; 17, sliding cover; 18, fixed platform; 19, second annular sliding opening; 20, bracket; 21, sliding block; 22, spring; 23, emergency brake button. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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.

[0034] like Figure 1-10 As shown, a torque adjustment system simulating a human hand in an embodiment of the present invention comprises an L-shaped base 1 and a Y-shaped sleeve casing 2. The Y-shaped sleeve casing 2 has two inclined sides and a vertical straight cylinder. One side of the Y-shaped sleeve casing 2 is fixedly connected to the inner wall of the L-shaped base 1, and the other side of the Y-shaped sleeve casing 2 is movably connected to a control panel 3. A power supply assembly 5, a servo motor 6, and a servo reducer 7 are arranged inside the Y-shaped sleeve casing 2 from top to bottom. After installation, the power supply assembly 5, the servo motor 6, and the servo reducer 7 are all fixed to the Y-shaped sleeve casing 2; wherein the power supply assembly 5 supplies power to the servo motor 6 and the control panel 3, and after the servo motor 6 drives the servo reducer 7 to decelerate, the power is output from the output shaft of the servo reducer 7 to drive the three-grasp manipulator 12 to rotate.

[0035] A threaded portion 9 is provided on the outside of the Y-shaped sleeve casing 2 and near the bottom end, and an adjustment ring 10 is threadedly connected to the outside of the threaded portion 9, and a three-claw manipulator 12 is rotatably connected to the inside of the adjustment ring 10, that is, the three-claw manipulator 12 can rotate freely on the inside of the adjustment ring 10, and the top end of the three-claw manipulator 12 is transmission-connected to the output end of the servo reducer 7, so that the servo reducer 7 drives the three-claw manipulator 12 to rotate.

[0036] The adjusting ring 10 can adjust its own height position by screwing up or down the threaded portion 9, thereby adjusting the height position of the three-grip manipulator 12, so that the device can adapt to more occasions.

[0037] The three-grip manipulator 12 has a stress sensing component 125 for monitoring the gripping force. The strain gauge of the stress sensing component 125 is arranged at the stress-bearing part of the three-grip manipulator 12, and is fitted and fixedly connected. When the stress-bearing part is deformed, the strain gauge of the stress sensing component 125 generates an electrical signal, which is transmitted to the control panel 3 after passing through the amplifying circuit. After processing, the gripping force of the manipulator is obtained. The servo motor 6 has a detection element 1 for detecting the angular position of the output shaft. Preferably, a Hall effect rotation position sensor is used, which is fixed on the housing of the servo motor 6. The induction component (permanent magnet) rotates with the rotating shaft. The electrical signal generated by the sensor is transmitted to the control panel 3 after passing through the amplifying circuit. After processing, the actual position (rotation angle) of the three-grip manipulator 12 is obtained.

[0038] A truncated cone-shaped base 13 is fixedly installed at the bottom of the L-shaped base 1 and located directly below the Y-shaped sleeve casing 2. The truncated cone-shaped base 13 is a structure with a small top and a large bottom, which is convenient for sleeve installation and alignment with the bottom of the vertical straight cylinder of the Y-shaped sleeve casing 2, and its central axis is colinear with the rotation axis of the servo reducer 7; a second annular sliding opening 19 is arranged on the side of the truncated cone-shaped base 13, and a central groove 14 is provided at the top of the truncated cone-shaped base 13. A second telescopic rod 15 is fixedly connected to the inner bottom of the central groove 14, and the second telescopic rod 15 is powered by the power supply assembly 5. A friction plate 16 is fixedly connected to the top output end of the second telescopic rod 15. The top of the friction plate 16 plays a role of friction and braking, and is set as a rough surface here. A sliding cover 17 is arranged on the top of the truncated cone-shaped base 13. The bottom cavity of the sliding cover 17 is truncated cone-shaped, small at the top and large at the bottom, corresponding to the truncated cone-shaped base 13. The top of the sliding cover 17 A fixed platform 18 is fixedly connected, and the fixed platform 18 is used to install and fix the infrared sight. This scheme only shows a truncated cone structure, and the infrared sight is fixedly installed in the inner groove of the fixed platform 18; but technicians in this field can also improve the fixed platform 18 according to the specific structure of the infrared sight actually tested, so as to achieve better installation and fixation purposes; a sliding block 21 is slidably connected to the side of the sliding cover 17, one end of the sliding block 21 is located on the inner side of the sliding cover 17, and extends into the interior of the second annular sliding opening 19, which can limit the upward movement of the sliding cover 17, but does not affect the rotation of the sliding cover 17 itself. The other end of the sliding block 21 is located on the outer side of the sliding cover 17 and is fixedly connected to a side plate. A spring 22 is arranged between the side plate and the sliding cover 17. The spring 22 is in a stretched state and has a pulling force, so that the sliding block 21 always faces the inner side of the sliding cover 17.

[0039] The user first fixes the infrared sight on the fixed platform 18, and then sets the sliding cover 17 downward on the truncated cone base 13. During this process, the side surface (inclined surface) of the truncated cone base 13 pushes the sliding block 21 outward, so that it overcomes the elastic pulling force of the spring 22, and makes the sliding block 21 slide outward. When it slides to the second annular sliding opening 19, under the action of the spring 22, the sliding block 21 slides inward and slides into the interior of the second annular sliding opening 19. At this time, the sliding cover 17 cannot move up and down.

[0040] A detection element 2 for detecting the angular position of the fixed platform 18 is arranged on the top of the truncated cone base 13, that is, the main body of the detection element 2 is fixed on the truncated cone base 13, and the sensing part is arranged on the sliding cover 17. Preferably, a Hall effect rotation position sensor is used. The detection element 2 can provide real-time feedback on the position of the infrared sight on the fixed platform 18 and provide real-time feedback to the control panel 3.

[0041] A damping member 4 is fixedly connected to the side of the Y-type sleeve casing 2 and close to the connection between the control panel 3 and the Y-type sleeve casing 2. The damping member 4 has a side that fits the control panel 3. When the control panel 3 rotates, the damping member 4 rubs against the control panel 3 to provide a resistance. After rotating to a suitable position, the damping member 4 provides a stable force to prevent the control panel 3 from rotating freely, thereby facilitating the adjustment of the angular position of the control panel 3.

[0042] The damping member 4 is made of a high-hardness rubber block with a rough surface, and has a certain friction resistance with the connecting member of the control panel 3 .

[0043] See attached Figure 8 , Fig. 9 In this embodiment, the three-claw manipulator 12 includes: a hollow body 121, a claw 122 is movably connected to the bottom of the hollow body 121, a first support rod 123 is provided inside the claw 122, and the number of the claws 122 is set in three groups to form a three-claw structure;

[0044] A sliding member 127 is slidably connected to the center position of the hollow body 121, and the sliding member 127 slides up and down along the center hole of the hollow body 121. The bottom of the sliding member 127 is fixedly connected to the second support rod 126, and the second support rod 126 is connected to the first support rod 123 through a connecting rod 124. The stress sensing component 125 is arranged on the side of the connecting rod 124. The connecting rod 124 adopts two groups of thin plates and is fixed in the middle with a cylindrical block. A first electric telescopic rod 128 is arranged between the top of the sliding member 127 and the top of the hollow body 121, and the first electric telescopic rod 128 is powered by the power supply component 5.

[0045] The outer side of the hollow body 121 is provided with a first annular sliding opening 1210 , and a sliding ring 11 is fixedly connected to the inner side of the adjustment ring 10 and located inside the first annular sliding opening 1210 , so that the adjustment ring 10 can rotate freely, and it can adjust the height position of the three-grip manipulator 12 .

[0046] The top of the sliding member 127 is fixedly connected to a hexagonal column 129, and the bottom output end of the servo reducer 7 is fixedly connected to the shaft tube 8. The top of the hexagonal column 129 extends into the interior of the shaft tube 8. This structure is an insertion structure, which provides height adjustment for the three-grip manipulator 12, that is, when the three-grip manipulator 12 is adjusted up and down in height, it does not affect the transmission (transmission of rotation).

[0047] A bracket 20 is disposed on the inner side of the L-shaped base 1 for reinforcing the structure of the L-shaped base 1 .

[0048] An emergency brake button 23 for controlling the emergency stop of the servo motor 6 is arranged at the bottom of the L-shaped base 1, which is used to cut off the power supply of the servo motor 6 in an emergency situation to play a role of safety protection.

[0049] The test program on the control panel 3 is divided into automatic mode and manual mode.

[0050] The automatic mode relies on the pre-fitted artificial data curve. Under different test conditions, appropriate values ​​are extracted and assigned to the four technical indicators of rotation direction, rotation angle, rotation speed and grip strength, and different data are used to simulate the working state at the beginning and the working state entering the fatigue stage when manual operation is performed.

[0051] In manual mode, you can set fixed parameters for the above four technical indicators, set fixed experimental times and experimental environment. In addition, you can change the shape of the manipulator to match other products to ensure the specific experimental requirements of other products.

[0052] The entire system can be manually set through the control panel whether to transmit experimental data, save experimental records and operation logs.

[0053] The evidence shows that the latest batch of factory equipment requires diopter adjustment and objective lens focusing. The standard for completing this inspection goal is to rotate the spiral knob forward 3,000 times and reverse 3,000 times without any jamming. In order to quickly and accurately complete the test of this batch of products in a short time, the torque adjustment system simulating human hands of the present invention is used to complete the test. The specific operation process is as follows:

[0054] 1. Connect the main power supply of the system. The control panel will start automatically and you can manually select whether to run the main components below.

[0055] 2. Before starting the formal test of the additional product, the three-grip manipulator 12 can be controlled to grab a similar object to replace the formal product for simulation testing. Set a random rotation direction and a small number of rotations on the control panel 3 to ensure that the system is in good condition and has no adverse reactions before the formal test begins. The manipulator is equipped with a high-precision grip feedback chip (main component stress sensor component 125), which feeds back the grip force of the manipulator when the system is working to the control panel 3. On the one hand, this feedback work transmits data to the fitting curve of the automatic mode to determine the working state at the next moment, and on the other hand, it serves as a criterion for judging whether the entire system is working normally.

[0056] 3. Install the infrared sight on the fixed platform 18 and then snap the sliding cover 17 onto the truncated cone-shaped base 13.

[0057] 4. After confirming that the system is in good condition, the ground clearance of the three-claw manipulator 12 can be adjusted by manually rotating the adjustment ring 10 to drive the three-claw manipulator 12 to move up and down.

[0058] 5. After the preparation is completed, you can select two modes of experimental status on the control panel 3.

[0059] It is worth noting that the number of rotations of the three-grasp manipulator 12 - the number of rotations of the fixed platform 18 = the number of rotations of the infrared sight adjustment ring during the actual test. During the actual test, the number of rotations of the infrared sight adjustment ring must be guaranteed to be the predetermined test number of 3,000 rotations (3,000 rotations each for the forward and reverse directions).

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A torque adjustment system simulating a human hand, characterized in that: The invention comprises an L-shaped base (1) and a Y-shaped casing (2), wherein one side of the Y-shaped casing (2) is fixedly connected to the inner side wall of the L-shaped base (1), and the other side of the Y-shaped casing (2) is movably connected to a control panel (3), and the interior of the Y-shaped casing (2) is provided with a power supply component (5), a servo motor (6), and a servo reducer (7) from top to bottom; A threaded portion (9) is provided on the outside of the Y-shaped casing housing (2) and near the bottom end, an adjustment ring (10) is threadedly connected to the outside of the threaded portion (9), a three-claw manipulator (12) is rotatably connected to the inside of the adjustment ring (10), and the top end of the three-claw manipulator (12) is transmission-connected to the output end of the servo reducer (7); The three-grip manipulator (12) has a stress sensing component (125) for monitoring the gripping force, and the servo motor (6) has a detection element 1 for detecting the angular position of the output shaft; A truncated cone-shaped base (13) is fixedly installed at the bottom of the L-shaped base (1) and located directly below the Y-shaped sleeve casing (2); a second annular sliding opening (19) is arranged on the side of the truncated cone-shaped base (13); a central groove (14) is arranged on the top of the truncated cone-shaped base (13); a second telescopic rod (15) is fixedly connected to the inner bottom of the central groove (14); a friction plate (16) is fixedly connected to the top output end of the second telescopic rod (15); a sliding cover (17) is arranged on the top of the truncated cone-shaped base (13); a fixed platform (18) is fixedly connected to the top of the sliding cover (17); a sliding block (21) is slidably connected to the side of the sliding cover (17); one end of the sliding block (21) is located on the inner side of the sliding cover (17) and extends into the second annular sliding opening (19); the other end of the sliding block (21) is located on the outer side of the sliding cover (17) and is fixedly connected to a side plate; a spring (22) is arranged between the side plate and the sliding cover (17); A second detection element for detecting the angular position of the fixing platform (18) is arranged on the top of the truncated cone-shaped base (13).

2. The torque adjustment system simulating a human hand according to claim 1, characterized in that: A damping member (4) is fixedly connected to the side of the Y-shaped sleeve casing (2) and close to the connection between the control panel (3) and the Y-shaped sleeve casing (2), and the damping member (4) has a side surface that fits the control panel (3).

3. The torque adjustment system simulating a human hand according to claim 1, characterized in that: The three-claw manipulator (12) comprises: a hollow body (121), a clamping claw (122) movably connected to the bottom of the hollow body (121), and a first support rod (123) disposed inside the clamping claw (122); A sliding member (127) is slidably connected to the center of the hollow body (121); a second support rod (126) is fixedly connected to the bottom of the sliding member (127); the second support rod (126) is connected to the first support rod (123) via a connecting rod (124); a stress sensing component (125) is arranged on a side of the connecting rod (124); and a first electric telescopic rod (128) is arranged between the top of the sliding member (127) and the top of the hollow body (121).

4. The torque adjustment system simulating a human hand according to claim 3, characterized in that: The outer side surface of the hollow body (121) is provided with a first annular sliding opening (1210), and a sliding ring (11) is fixedly connected to the inner side of the adjustment ring (10) and located inside the first annular sliding opening (1210).

5. The torque adjustment system simulating a human hand according to claim 3, characterized in that: The top of the sliding member (127) is fixedly connected to a hexagonal column (129), the bottom output end of the servo reducer (7) is fixedly connected to a shaft cylinder (8), and the top end of the hexagonal column (129) extends into the interior of the shaft cylinder (8).

6. The torque adjustment system simulating a human hand according to claim 1, characterized in that: A bracket (20) is provided on the inner side of the L-shaped base (1).

7. The torque adjustment system simulating a human hand according to claim 1, characterized in that: An emergency brake button (23) for controlling the emergency stop of the servo motor (6) is arranged at the bottom of the L-shaped base (1).

Images