A detection device for the clamping force of a robotic mechanical gripper

Abstract

The present invention belongs to the technical field of robot detection, and in particular relates to a clamping force detection device for a robot mechanical gripper. The technology includes a bottom plate, above which a load plate is arranged. A lifting mechanism is installed at the top end of the bottom plate, and the lifting mechanism is used to drive the load plate to lift and lower; a simulated workpiece is arranged on the load plate. The simulated workpiece includes a workpiece body. Sliding grooves are formed on the front and rear side walls of the workpiece body, and clamping blocks are slidably arranged in each sliding groove; two first grooves are formed on the bottom end surface of the workpiece body, and a pressure sensor is installed in each first groove; jacks are formed between one of the sliding grooves and one of the first grooves, and between the other sliding groove and the other first groove. A push rod is slidably arranged in each jack. This detection device can detect the actual clamping force when the mechanical gripper clamps the simulated workpiece under static conditions and the actual clamping force when the mechanical gripper clamps the simulated workpiece under dynamic conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot detection, and particularly relates to a clamping force detection device for a robot mechanical gripper. Background Art

[0002] With the progress of society and the development of technology, robots are increasingly applied in various industries; for example, robots in industrial production can replace manual labor, not only realizing standardized operations, improving production efficiency, but also reducing safety risks. The mechanical gripper is the most common type of end effector on a robot. It is installed on the robot manipulator to grip workpieces or perform operations. It mimics human fingers, and the commonly used one in industry is a two-finger mechanical gripper.

[0003] When the mechanical gripper of a robot leaves the factory or during the industrial production process, it is necessary to detect the clamping force of the mechanical gripper to judge its clamping ability; during the industrial production process, if it is detected that the clamping force of the mechanical gripper decreases, timely maintenance or replacement is carried out to ensure the smooth progress of industrial production. The existing detection devices generally detect the clamping force applied by the mechanical gripper using a pressure sensor under static conditions, and compare the clamping force detected by the pressure sensor with the theoretical clamping force calculated from the workpiece mass, friction coefficient, and safety factor to judge the clamping ability. However, in the actual industrial production process, the mechanical gripper grips the workpiece for dynamic operation, and there is the gravitational force of the workpiece. The theoretical clamping ability cannot accurately reflect the actual clamping ability of the mechanical gripper. The existing detection devices cannot detect the actual clamping force of the mechanical gripper when clamping a workpiece under static conditions and the actual clamping force when clamping a workpiece under dynamic conditions. Summary of the Invention

[0004] Based on the above deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a clamping force detection device for a robot mechanical gripper, which can detect the actual clamping force of the mechanical gripper when clamping a workpiece under static conditions and the actual clamping force when clamping a workpiece under dynamic conditions.

[0005] The described robot mechanical gripper clamping force detection device includes a bottom plate. Above the bottom plate, there is a load plate. A lifting mechanism is installed at the top end of the bottom plate, and the lifting mechanism is used to drive the load plate to lift and lower; a simulated workpiece is arranged on the load plate. The simulated workpiece includes a workpiece body. Sliding grooves are formed on the front side wall and the rear side wall of the workpiece body. A clamping block is slidably arranged in each sliding groove; two first grooves are formed on the bottom end surface of the workpiece body, and a pressure sensor is installed in each first groove; a through hole penetrating from front to back is formed between one of the sliding grooves on the workpiece body and one of the first grooves, and a through hole penetrating from front to back is formed between the other sliding groove on the workpiece body and the other first groove, and the two through holes are coaxial. A push rod is slidably arranged in each through hole. One end of one push rod is fixedly connected to one clamping block, and one end of the other push rod is fixedly connected to the other clamping block.

[0006] Further, a spring is arranged in each of the sliding grooves, and the spring is sleeved on the push rod.

[0007] Further, the lifting mechanism is a linear module. The linear module includes a lead screw. A vertical plate is installed at the left side edge of the top end surface of the bottom plate. The lead screw is rotatably installed on the right side wall of the vertical plate, and the lead screw extends in the vertical direction; a driving motor is installed at the top end of the vertical plate. The top of the lead screw is in transmission connection with the rotating shaft of the driving motor, and the driving motor is used to drive the lead screw to rotate; a lead screw nut is arranged on the lead screw, and the lead screw nut is in threaded connection with the lead screw. A sliding plate is installed on the right side wall of the lead screw nut; the load plate is installed on the sliding plate; linear guide rails are arranged on the front side and the rear side of the lead screw, and the linear guide rails are fixedly installed on the right side wall of the vertical plate. A slider is slidably arranged on each linear guide rail, and each slider is fixedly connected to the sliding plate.

[0008] Further, a transverse movement driving mechanism is arranged between the sliding plate and the load plate, and the transverse movement driving mechanism is used to drive the load plate to move horizontally.

[0009] Further, a second groove is formed on the top end surface of the workpiece body, and a counterweight plate is installed in the second groove.

[0010] Further, a buffer pad is laid on the top end surface of the bottom plate.

[0011] Further, enclosing baffles are arranged on the peripheral side edges of the top end surface of the bottom plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The detection device can be used to detect the clamping force of the mechanical gripper of the robot. The support platform is used to carry the simulated workpiece, which is convenient for the mechanical gripper of the robot to grasp. After the mechanical gripper opens, it moves to the front and rear sides of the simulated workpiece and aligns the two clamping blocks. The mechanical gripper closes to clamp the two clamping blocks. During the closing process of the mechanical gripper, the two clamping blocks are pushed towards the pressure sensors. The clamping blocks push the ejector rods towards the pressure sensors. One ejector rod abuts against one pressure sensor, and the other ejector rod abuts against the other pressure sensor. The mechanical gripper completely closes and clamps the simulated workpiece. At this time, the carrier plate supports the simulated workpiece. The two pressure sensors detect the clamping force applied by the mechanical gripper. The carrier plate is controlled to descend through the lifting mechanism so that the carrier plate is separated from the simulated workpiece. Under static conditions, the pressure sensors continuously detect the clamping force applied by the mechanical gripper to the simulated workpiece. After the carrier plate is removed, the robot controls the mechanical arm to move, and the mechanical gripper drives the simulated workpiece to move. Under dynamic conditions, the pressure sensors continuously detect the clamping force applied by the mechanical gripper to the simulated workpiece. The detection device can detect the actual clamping force of the mechanical gripper when clamping the simulated workpiece under static conditions and the actual clamping force when clamping the simulated workpiece under dynamic conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic cross-sectional structure diagram of the present invention;

[0015] Figure 2 is Figure 1 a partial enlarged structure diagram at A in

[0016] Figure 3 is Figure 1 a schematic cross-sectional structure diagram in the B-B direction in

[0017] Figure 4 is Figure 3 a partial enlarged structure diagram at D in

[0018] Figure 5 is Figure 1 a schematic cross-sectional structure diagram in the C-C direction in

[0019] Figure 6 is Figure 5 a partial enlarged structure diagram at E in

[0020] Names of each component in the figure: 1. Bottom plate; 2. Vertical plate; 3. Lifting mechanism; 3.1. Lead screw; 3.2. Lead screw nut; 3.3. Slide block; 3.4. Linear guide rail; 3.5. Driving motor; 3.6. Support base; 4. Slide plate; 5. Transverse movement driving mechanism; 5.1. Telescopic cylinder; 5.2. Telescopic rod; 6. Loading plate; 7. Simulated workpiece; 7.1. Workpiece body; 7.2. Clamping block; 7.3. Chute; 7.4. First groove; 7.5. Push rod; 7.6. Spring; 7.7. Second groove; 8. Enclosure baffle; 9. Support table; 10. Buffer pad; 11. Pressure sensor; 12. Counterweight plate; 13. Card slot. Detailed implementation mode

[0021] The present invention will be further described below with reference to the accompanying drawings through specific embodiments, but the present invention is not limited thereto. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0022] Embodiment 1

[0023] A clamping force detection device for a robotic mechanical gripper described in this embodiment, as shown in Figure 1 , Figure 3 and Figure 4 , includes a bottom plate 1. Above the bottom plate 1, a loading plate 6 is provided. At the top end of the bottom plate 1, a lifting mechanism 3 is installed. The lifting mechanism 3 is used to drive the loading plate 6 to lift and lower. A simulated workpiece 7 is arranged on the loading plate 6. The simulated workpiece 7 includes a workpiece body 7.1. Chutes 7.3 are formed on the front side wall and the rear side wall of the workpiece body 7.1, and the two chutes 7.3 are symmetrically arranged front and back on the workpiece body 7.1. A clamping block 7.2 is slidably arranged in each chute 7.3. Two first grooves 7.4 are formed on the bottom end surface of the workpiece body 7.1. A pressure sensor 11 is installed in each first groove 7.4, and the two pressure sensors 11 are symmetrically arranged front and back. A through hole is formed between one of the chutes 7.3 and one of the first grooves 7.4 on the workpiece body 7.1, and a through hole is formed between the other chute 7.3 and the other first groove 7.4 on the workpiece body 7.1, and the two through holes are coaxial. A push rod 7.5 is slidably arranged in each through hole. One end of one push rod 7.5 is fixedly connected to one clamping block 7.2, and one end of the other push rod 7.5 is fixedly connected to the other clamping block 7.2. When the clamping block 7.2 moves in the chute 7.3, the clamping block 7.2 can drive the push rod 7.5 to move. When the clamping block 7.2 moves towards the inside of the chute 7.3, the push rod 7.5 moves towards the pressure sensor 11 until the other end of the push rod 7.5 can press against the pressure sensor 11, and the pressure sensor 11 can detect the pressure applied by the push rod 7.5.

[0024] As a preferred implementation mode, in this embodiment, as shown in Figure 1As shown, a support platform 9 for installing a robot is installed on the right side of the top end of the bottom plate 1, and the robot can be installed on the support platform 9 for detecting the clamping force of the mechanical gripper.

[0025] As a preferred embodiment, in this embodiment, as Figure 1 and Figure 3 shown, a plurality of traveling wheels with brakes are installed at the bottom of the bottom plate 1, which is convenient for the movement and parking of the detection device.

[0026] As a preferred embodiment, in this embodiment, as Figure 3 and Figure 4 shown, a cover plate is arranged at the bottom of the first groove 7.4, and the cover plate is detachably connected to the bottom end of the workpiece body 7.1, and can be magnetically connected or screwed. The cover plate is used to cover the two first grooves 7.4 to prevent the pressure sensor 11 from falling out of the first groove 7.4 during the detection process; specifically, through holes for threading are provided on the cover plate.

[0027] As a preferred embodiment, in this embodiment, as Figure 3 and Figure 4 shown, one end of the ejector rod 7.5 is threadedly connected or welded to the clamping block 7.2, and the other end is threadedly connected with a limit ring, and the limit ring is located in the first groove 7.4. The outer diameter of the limit ring is larger than the inner diameter of the jack. Under the limiting action of the limit ring, the ejector rod 7.5 can be prevented from disengaging from the jack, and the clamping block 7.2 can be prevented from disengaging from the sliding groove 7.3.

[0028] The working principle and technical effect of this embodiment are as follows: When using this detection device to detect the clamping force of the robotic gripper, move the bottom plate 1 to the location of the robot or install the robot on the support platform 9 of the bottom plate 1. Place the simulated workpiece 7 on the load plate 6 and adjust the height of the simulated workpiece 7 using the lifting mechanism 3 to facilitate the grasping of the robotic gripper. When the robotic gripper grasps the simulated workpiece 7, the gripper opens and moves to the front and rear sides of the simulated workpiece 7. The gripper gradually closes and contacts the two clamping blocks 7.2 on the front and rear sides of the simulated workpiece 7. When the gripper closes, it pushes the two clamping blocks 7.2 towards the pressure sensors 11. The clamping blocks 7.2 push the ejector rods 7.5 towards the pressure sensors 11. One of the ejector rods 7.5 abuts against one of the pressure sensors 11, and the other ejector rod 7.5 abuts against the other pressure sensor 11. The gripper closes to clamp the simulated workpiece 7, and the two pressure sensors 11 detect the clamping force applied by the gripper. Control the load plate 6 to descend through the lifting mechanism 3 to separate the load plate 6 from the simulated workpiece 7. In the static state, the pressure sensors 11 detect in real time the clamping force applied by the gripper to the simulated workpiece 7. After the load plate 6 is removed, the robot controls the movement of the robotic arm, and the gripper drives the simulated workpiece 7 to move. In the dynamic state, the pressure sensors 11 detect in real time the clamping force applied by the gripper to the simulated workpiece 7. This detection device can detect the actual clamping force of the gripper when clamping the simulated workpiece 7 in the static state and the actual clamping force when clamping the simulated workpiece 7 in the dynamic state.

[0029] Embodiment 2

[0030] This embodiment further elaborates on the technology of Embodiment 1, such as Figures 3 to 6As shown, a spring 7.6 is provided in each of the sliding grooves 7.3, and the spring 7.6 is sleeved on the ejector rod 7.5. When the mechanical gripper clamps two clamping blocks 7.2 from the front and rear sides of the workpiece body 7.1, the mechanical gripper closes, which can push the two clamping blocks 7.2 to move in the sliding groove 7.3 and compress the spring 7.6. The ejector rod 7.5 presses against the pressure sensor 11, and the pressure sensor 11 detects the pressure applied by the ejector rod 7.5. When the mechanical gripper opens, under the restoring force of the spring 7.6, the spring 7.6 can push the clamping block 7.2 to move out of the sliding groove 7.3, and the clamping block 7.2 returns to its original position. In the initial state, the spring 7.6 is in a natural state (not compressed). When the mechanical gripper clamps the clamping block 7.2 and the mechanical gripper closes, and the clamping block 7.2 moves inward in the sliding groove 7.3, the clamping block 7.2 compresses the spring 7.6. When the mechanical gripper opens, the spring 7.6 pushes the clamping block 7.2 to return to its original position. Here, it should be noted that when the spring 7.6 is compressed, there is a force applied by the spring and a clamping force applied by the mechanical gripper on the clamping block 7.2. The force applied by the spring is opposite to the clamping force direction. The force applied by the spring blocks the closing of the mechanical gripper. However, in this embodiment, the force of the spring 7.6 is relatively small and can be ignored compared with the clamping force of the mechanical gripper. Therefore, the influence of the spring 7.6 on the detected value of the clamping force is ignored.

[0031] Embodiment 3

[0032] This embodiment further illustrates the technology of Embodiment 1, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 and Figure 6As shown in the figure, the lifting mechanism 3 is a linear module. The linear module includes a lead screw 3.1. A vertical plate 2 is installed at the left side edge of the top surface of the bottom plate 1. The lead screw 3.1 is rotatably installed on the right side wall of the vertical plate 2, and the lead screw 3.1 extends in the vertical direction. A driving motor 3.5 is installed at the top of the vertical plate 2. The top of the lead screw 3.1 is in transmission connection with the rotating shaft of the driving motor 3.5. The driving motor 3.5 is used to drive the lead screw 3.1 to rotate. Specifically, a support seat 3.6 is installed on the right side wall of the vertical plate 2. The bottom end of the lead screw 3.1 is rotatably connected to the top end of the support seat 3.6 through a bearing. The driving motor 3.5 is a stepping motor or a servo motor. A lead screw nut 3.2 is arranged on the lead screw 3.1. The lead screw nut 3.2 is in threaded connection with the lead screw 3.1. A sliding plate 4 is installed on the right side wall of the lead screw nut 3.2. The load-carrying plate 6 is installed on the sliding plate 4. Linear guide rails 3.4 are arranged on the front side and the rear side of the lead screw 3.1. The linear guide rails 3.4 are fixedly installed on the right side wall of the vertical plate 2. A slider 3.3 is slidably arranged on each linear guide rail 3.4. Each slider 3.3 is fixedly connected to the sliding plate 4. When the driving motor 3.5 drives the lead screw 3.1 to rotate, the sliding plate 4 can move along the axial direction of the lead screw 3.1, thereby driving the load-carrying plate 6 to lift, which is convenient for the mechanical gripper to grasp. When the mechanical gripper grasps the simulated workpiece 7 on the load-carrying plate 6, it is convenient to control the load-carrying plate 6 to move downward, so that the load-carrying plate 6 is separated from the simulated workpiece 7. In addition, the lifting mechanism 3 can also be an electric telescopic rod, a hydraulic telescopic rod, etc.

[0033] As a preferred embodiment, in this embodiment, as Figure 3 and Figure 4 shown, a card slot 13 is opened at the right end of the load-carrying plate 6. When the simulated workpiece 7 is placed on the load-carrying plate 6, the circuit of the pressure sensor 11 is convenient to pass through the card slot 13. When the mechanical gripper grasps the simulated workpiece 7 and the lifting mechanism 3 controls the load-carrying plate 6 to descend and separate from the simulated workpiece 7, the circuit of the pressure sensor 11 disengages from the card slot 13.

[0034] Embodiment 4

[0035] This embodiment further explains the technology of Embodiment 3. As Figure 1 、 Figure 2 、 Figure 5 and Figure 6As shown, a lateral movement driving mechanism 5 is provided between the skateboard 4 and the load-carrying plate 6. The lateral movement driving mechanism 5 is used to drive the load-carrying plate 6 to move laterally. When the mechanical gripper grabs the simulated workpiece 7, the lifting mechanism 3 is used to control the lifting of the load-carrying plate 6, and the lateral movement driving mechanism 5 is used to control the lateral movement of the load-carrying plate 6 to move the simulated workpiece 7 to a suitable position, which facilitates the mechanical gripper to grab the simulated workpiece 7. After the mechanical gripper grabs the simulated workpiece 7, the lifting mechanism 3 is used to control the load-carrying plate 6 to descend to disengage from the simulated workpiece 7, and the lateral movement driving mechanism 5 is used to control the load-carrying plate 6 to shrink and approach the skateboard 4, avoiding the load-carrying plate 6 from affecting the mechanical gripper to drive the simulated workpiece 7 to move and preventing the simulated workpiece 7 from hitting the load-carrying plate 6 when it falls.

[0036] As a preferred embodiment, in this embodiment, as Figure 1 , Figure 2 , Figure 5 and Figure 6 shown, the lateral movement driving mechanism 5 includes a telescopic cylinder 5.1. The telescopic cylinder 5.1 is installed on the right side wall of the skateboard 4, and the load-carrying plate 6 is installed at the piston end of the telescopic cylinder 5.1. The telescopic cylinder 5.1 can telescopically extend and retract laterally, thereby driving the load-carrying plate 6 to move laterally.

[0037] As a preferred embodiment, in this embodiment, as Figure 1 , Figure 2 , Figure 5 and Figure 6 shown, a plurality of telescopic rods 5.2 are arranged outside the telescopic cylinder 5.1. The left end of each telescopic rod 5.2 is fixedly connected to the right side wall of the skateboard 4, and the right end of each telescopic rod 5.2 is connected to the load-carrying plate 6. The plurality of telescopic rods 5.2 can assist the telescopic cylinder 5.1 to support the load-carrying plate 6 and improve the load-bearing capacity of the load-carrying plate 6 for tools, improving the stability of the load-carrying plate 6. When the telescopic cylinder 5.1 telescopically extends and retracts laterally, the telescopic rods 5.2 telescopically extend and retract laterally. Specifically, the load-carrying plate 6 is in a T shape. The telescopic cylinder 5.1 is an electric telescopic rod, a hydraulic cylinder or a pneumatic cylinder, all of which are existing technical equipment and can be purchased and installed on the market.

[0038] Embodiment 5

[0039] This embodiment further explains the technology of Embodiment 4. As Figure 3 and Figure 4 shown, a second groove 7.7 is formed on the top end surface of the workpiece body 7.1, and a counterweight plate 12 is installed in the second groove 7.7. When the mechanical gripper grabs the simulated workpiece 7 for clamping force detection, the counterweight plate 12 can be successively added to the second groove 7.7 to gradually increase the weight of the simulated workpiece 7, and the static clamping force and dynamic clamping force of the mechanical gripper can be detected under different weights of the simulated workpiece 7, which is beneficial to judging the influence of the weight of the simulated workpiece 7 on the clamping force of the mechanical gripper and detecting the limit weight of the simulated workpiece 7 that the mechanical gripper can clamp.

[0040] As a preferred embodiment, in this embodiment, as Figure 3 and Figure 4 shown, a cover plate is provided at the top of the second groove 7.7. The cover plate is detachably connected to the top end of the workpiece body 7.1, and can be magnetically connected or screw-connected. The cover plate is used to cover the second groove 7.7 to prevent the counterweight plate 12 from falling off the workpiece body 7.1 during the detection process.

[0041] Embodiment 6

[0042] This embodiment further illustrates the technology of Embodiment 5. As Figure 1 and Figure 3 shown, a buffer pad 10 is laid on the top end surface of the bottom plate 1; when the simulated workpiece 7 accidentally falls off the mechanical gripper during the detection process, or as the weight of the simulated workpiece 7 increases and the mechanical gripper of the robot cannot grip the simulated workpiece 7, resulting in the simulated workpiece 7 falling, the simulated workpiece 7 falls on the buffer pad 10, and the buffer pad 10 can reduce the impact and prevent the pressure sensor 11 installed inside the workpiece body 7.1 from being damaged.

[0043] Embodiment 7

[0044] This embodiment further illustrates the technology of Embodiment 6. As Figure 1 , Figure 3 and Figure 5 shown, baffles 8 are provided at the peripheral side edges of the top end surface of the bottom plate 1. The baffles 8 and the vertical plate 2 enclose a protection frame with a certain height on the top end of the bottom plate 1; when the simulated workpiece 7 accidentally falls off the mechanical gripper during the detection process, or as the weight of the simulated workpiece 7 increases and the mechanical gripper of the robot cannot grip the simulated workpiece 7, resulting in the simulated workpiece 7 falling, the protection frame can prevent the simulated workpiece 7 from falling outside the bottom plate 1 and can protect the simulated workpiece 7 and the pressure sensor 11 installed inside the simulated workpiece 7.

[0045] As a preferred embodiment, in this embodiment, as Figure 1 and Figure 5 ​

Claims

1. A clamping force detection device for a robotic mechanical gripper, comprising a bottom plate (1), characterized in that: Above the bottom plate (1), a load-carrying plate (6) is provided. At the top end of the bottom plate (1), a lifting mechanism (3) is installed, and the lifting mechanism (3) is used to drive the load-carrying plate (6) to lift and lower; on the load-carrying plate (6), a simulated workpiece (7) is provided. The simulated workpiece (7) includes a workpiece body (7.1). Chute grooves (7.3) are provided on both the front side wall and the rear side wall of the workpiece body (7.1). A clamping block (7.2) is slidably arranged in each chute groove (7.3); on the bottom end surface of the workpiece body (7.1), two first grooves (7.4) are provided, and a pressure sensor (11) is installed in each first groove (7.4); between the chute groove (7.3) on the front side wall of the workpiece body (7.1) and the first groove (7.4) on the front side of the bottom end surface of the workpiece body (7.1), and between the chute groove (7.3) on the rear side wall of the workpiece body (7.1) and the first groove (7.4) on the rear side of the bottom end surface of the workpiece body (7.1), through holes penetrating from front to back are provided, and the two through holes are coaxial. A push rod (7.5) is slidably arranged in each through hole. The front end of the front push rod (7.5) is fixedly connected to the front clamping block (7.2), and the rear end of the rear push rod (7.5) is fixedly connected to the rear clamping block (7.2).

2. The robot mechanical gripper clamping force detection device according to claim 1, wherein: A spring (7.6) is arranged in each chute groove (7.3), and the spring (7.6) is sleeved on the push rod (7.5).

3. The clamping force detection device for the robotic mechanical gripper according to claim 1, wherein: The lifting mechanism (3) is a linear module. The linear module includes a lead screw (3.1). At the left side edge of the top end surface of the bottom plate (1), a vertical plate (2) is installed. The lead screw (3.1) is rotatably installed on the right side wall of the vertical plate (2), and the lead screw (3.1) extends in the vertical direction; at the top end of the vertical plate (2), a driving motor (3.5) is installed. The top of the lead screw (3.1) is in transmission connection with the rotating shaft of the driving motor (3.5), and the driving motor (3.5) is used to drive the lead screw (3.1) to rotate; A lead screw nut (3.2) is arranged on the lead screw (3.1). The lead screw nut (3.2) is in threaded connection with the lead screw (3.1). A sliding plate (4) is installed on the right side wall of the lead screw nut (3.2); the load-carrying plate (6) is installed on the sliding plate (4); on the front side and the rear side of the lead screw (3.1), linear guide rails (3.4) are provided. The linear guide rails (3.4) are fixedly installed on the right side wall of the vertical plate (2). A slider (3.3) is slidably arranged on each linear guide rail (3.4), and each slider (3.3) is fixedly connected to the sliding plate (4).

4. The robot mechanical gripper clamping force detection device according to claim 3, wherein: A lateral movement driving mechanism (5) is arranged between the sliding plate (4) and the load-carrying plate (6), and the lateral movement driving mechanism (5) is used to drive the load-carrying plate (6) to move horizontally.

5. The robot mechanical gripper clamping force detection device according to claim 1, characterized in that: A second groove (7.7) is provided on the top end surface of the workpiece body (7.1), and a counterweight plate (12) is installed in the second groove (7.7).

6. The robot mechanical gripper clamping force detection device according to claim 1 or 5, characterized in that: A buffer pad (10) is laid on the top end surface of the bottom plate (1).

7. The clamping force detection device for the robotic mechanical gripper according to claim 6, wherein: Enclosure baffles (8) are provided at the peripheral side edges of the top end surface of the bottom plate (1).

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