A mechanical gripper clamping force detection system and detection method

Abstract

The application discloses a mechanical hand claw clamping force detection system and a detection method, and belongs to the technical field of mechanical hand claw detection. The system comprises a vertical plate, a bottom plate fixedly connected to the side wall of the vertical plate, and a surface of the bottom plate is symmetrically connected to an adapter plate in a rotating mode; a smooth plate is fixedly connected to one side of the adapter plate, the other side of the adapter plate is fixedly connected to a rough plate, the surface of the smooth plate and the surface of the rough plate are both provided with a first groove, a pressure sensor is fixedly connected in the first groove; a first motor is fixedly connected to the bottom of the bottom plate, a first rotating rod is fixedly connected to the bottom of the adapter plate, a first chain is transmissionally connected between adjacent first rotating rods, and the output end of the first motor is fixedly connected to one of the first rotating rods. The device can detect the mechanical hand claw clamping force by simulating different application scenarios, can improve the reference of the detection result, can facilitate a user to select an application working scenario according to the detection result, and can reduce the occurrence of safety accidents.

Description

Technical Field

[0001] This invention relates to the field of robotic gripper detection technology, and in particular to a robotic gripper clamping force detection system and method. Background Technology

[0002] A robotic gripper is an automated device that mimics certain movements and functions of a human hand to grasp, move, or manipulate workpieces or tools as required. It can replace humans in performing various operations on industrial production lines. Robotic grippers are typically used in conjunction with robotic arms to form an industrial robot system. As the end effector of a robot system, the performance of the robotic gripper directly affects and even determines the effectiveness of the robot system in grasping targets and performing load operations, making it crucial to the industrial robot system.

[0003] During the use of robotic grippers, it is necessary to detect the clamping force of the grippers. Currently, traditional devices such as proximity switches and limit switches are generally used to detect the gripper's clamping condition. However, the clamping force between the robotic gripper and the workpiece to be clamped is affected by the coefficient of friction in different application scenarios. Traditional detection methods are limited in function and cannot detect the gripping force of the robotic gripper under different frictional forces. Therefore, improvements are needed. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that in the prior art, traditional devices such as proximity switches and limit switches are usually used to detect the clamping condition of a robotic gripper on a workpiece. However, the clamping force between the robotic gripper and the workpiece to be clamped is affected by the coefficient of friction in different application scenarios. Traditional detection methods are limited in function and cannot detect the clamping force of the robotic gripper under different frictional forces. Therefore, this invention proposes a robotic gripper clamping force detection system and detection method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic gripper clamping force detection system includes a vertical plate and a base plate fixedly connected to the side wall of the vertical plate. A connecting plate is symmetrically and rotatably connected to the surface of the base plate. A smooth plate is fixedly connected to one side of the connecting plate, and a rough plate is fixedly connected to the other side of the connecting plate. A first groove is formed on the surface of both the smooth plate and the rough plate, and a pressure sensor is fixedly connected in the first groove. A first motor is fixedly connected to the bottom of the base plate, and a first rotating rod is fixedly connected to the bottom of the connecting plate. A first chain is driven between adjacent first rotating rods, and the output end of the first motor is fixedly connected to one of the first rotating rods.

[0007] To facilitate support for the upright plate, preferably, a testing platform is provided at the bottom of the base plate, a cylinder is fixedly connected to the surface of the testing platform, a vacuum suction cup is fixedly connected to the output end of the cylinder, a first sliding groove is opened on the surface of the testing platform, wherein a first slider is fixedly connected to the bottom of the upright plate, the first slider is slidably connected in the first sliding groove, and the end of the first sliding groove away from the cylinder extends to the side wall of the testing platform.

[0008] Preferably, it further includes: an air pump fixedly connected to the testing platform, the output end of the air pump being connected to a first pipe between itself and the vacuum suction cup; a protrusion fixedly connected to the testing platform, the protrusion being located on the side of the testing platform away from the cylinder, and a fourth groove being provided at the bottom of the upright plate; a control cylinder fixedly connected to the output end of the cylinder, the control cylinder being connected to the vacuum suction cup via a second pipe, a third slider being slidably connected inside the control cylinder, and a spring being connected between the third slider and the inner wall of the top of the control cylinder; a drive rod being connected to the bottom of the third slider, and the drive rod being able to contact the protrusion.

[0009] To facilitate clamping the weight, preferably, the surface of the connecting plate is provided with a first support frame. Both the surface of the first support frame and the connecting plate are provided with mounting holes, and screws are threaded into the mounting holes. A second motor is fixedly connected to the surface of the first support frame, and a first lead screw is fixedly connected to the output end of the second motor. A moving plate is threadedly connected to the outer wall of the first lead screw, and a clamping plate is fixedly connected to the surface of the moving plate. Guide rods are symmetrically fixedly connected to the inner wall of the first support frame, and the guide rods are slidably connected to the moving plate.

[0010] To facilitate the normal operation of the clamping work, the first lead screw is inclined, and the clamping plate and the connecting plate are parallel to each other.

[0011] To facilitate adjustment of the pressure sensor height, preferably, a third motor is fixedly connected to the surface of the upright plate, a second lead screw is fixedly connected to the output end of the third motor, a second slider is threadedly connected to the outer wall of the second lead screw, a second sliding groove is opened on the side wall of the upright plate, the second slider is slidably connected in the second sliding groove, and the second slider is fixedly connected to the base plate.

[0012] To reduce the occurrence of weights falling off during the testing process, preferably, the surface of the base plate has a second groove, a second rotating rod is rotatably connected in the second groove, and a baffle is fixedly connected to the outer wall of the second rotating rod. The bottom of the base plate is fixedly connected to a driving mechanism, which adjusts the angle of the baffle.

[0013] To make moving the weights easier and less strenuous, a third groove is provided on the side of the baffle near the upright plate, and several rotating rollers are rotatably connected in the third groove.

[0014] To facilitate switching between adjusting the positions of the smooth plate and the rough plate, and adjusting the baffle angle, the driving mechanism further includes: a second support frame fixedly connected to the bottom of the base plate; a third rotating rod rotatably connected to the surface of the second support frame; a second bevel gear and a first gear fixedly connected to the outer wall of the third rotating rod; a first bevel gear fixedly connected to the outer wall of one of the first rotating rods, the first bevel gear meshing with the second bevel gear; a fourth rotating rod rotatably connected to the surface of the second support frame; a second gear fixedly connected to the outer wall of the fourth rotating rod; and a second chain drivingly connecting the fourth rotating rod and the second rotating rod. The second support frame has an arc-shaped groove on its surface, within which a fifth rotating rod is slidably connected. A third gear and a rotating plate are fixedly connected to the outer wall of the fifth rotating rod. A handle is fixedly connected to the surface of the rotating plate. A first magnet is symmetrically fixedly connected to the surface of the rotating plate, and a second magnet is symmetrically fixedly connected to the surface of the second support frame. The second magnet and the first magnet have opposite magnetic properties. The third gear can mesh with and disengage from the first gear, and can also mesh with and disengage from the second gear. A fourth gear is fixedly connected to the output end of the first motor, meshing with the third gear. The first motor is fixedly connected to the surface of the second support frame.

[0015] A method for detecting the clamping force of a robotic gripper, comprising the following steps:

[0016] Step 1: While keeping the coefficient of friction constant, change the mass of the workpiece and test the clamping force of the robotic gripper; Step 2: Under the condition of clamping workpieces of the same mass, change the roughness of the contact surface between the workpiece and the robotic gripper and test the clamping force of the robotic gripper; Step 3: Use the robotic gripper to clamp the external workpiece, fix the position of the internal workpiece, and test the clamping force of the robotic gripper; Step 4: Use the robotic gripper to clamp the external workpiece, causing the internal workpiece to shake, and test the clamping force of the robotic gripper.

[0017] Compared with the prior art, the present invention provides a robotic gripper clamping force detection system, which has the following beneficial effects:

[0018] 1. This robotic gripper clamping force detection system has two main functions. First, it can detect the clamping force of the robotic gripper by changing the mass of the weight while keeping the coefficient of friction constant. Second, it can detect the clamping force of the robotic gripper by changing the position of the rough plate and the smooth plate while keeping the weight mass the same. This multi-functionality increases the diversity of detection conditions, improves the reference value of the detection results, and allows users to select the appropriate application scenario based on the detection results, thereby reducing the occurrence of safety accidents.

[0019] 2. This robotic gripper clamping force detection system, on the one hand, uses a method of clamping and fixing a weight, and then recording the value transmitted by the pressure sensor. This method is convenient for simulating the stable operation of the robotic arm. On the other hand, if the weight is placed directly on the base plate and moved on the base plate, and the value transmitted by the pressure sensor is recorded, this method is convenient for simulating the vibration of the robotic arm. By simulating the clamping force of the robotic gripper under two different modes of workpiece stable movement and vibration during clamping, the simulation scenarios are increased, the stability of the robotic gripper is improved, and the safety performance of the robotic gripper during operation is enhanced.

[0020] 3. The mechanical gripper clamping force detection system has two main features. First, it activates the third motor to drive the base plate to move, which facilitates the adjustment of the pressure sensor height and improves the accuracy of the detection results. Second, when changing weights, the baffle is tilted downwards, the weight is placed on the rotating roller, and the baffle is pushed towards the base plate to push the weight into the base plate, which is more labor-saving and improves detection efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a robotic gripper clamping force detection system proposed in this invention;

[0022] Figure 2 This is a partial structural diagram of a robotic gripper clamping force detection system proposed in this invention. Figure 1 ;

[0023] Figure 3 This is a partial structural diagram of a robotic gripper clamping force detection system proposed in this invention. Figure 2 ;

[0024] Figure 4 This is a partial structural diagram of a robotic gripper clamping force detection system proposed in this invention. Figure 3 ;

[0025] Figure 5 This invention proposes a robotic gripper clamping force detection system. Figure 4 Enlarged schematic diagram of the structure at point A in the diagram;

[0026] Figure 6 This is a schematic diagram of the drive mechanism structure in a robotic gripper clamping force detection system proposed in this invention. Figure 1 ;

[0027] Figure 7 This is a schematic diagram of the drive mechanism structure in a robotic gripper clamping force detection system proposed in this invention. Figure 2 ;

[0028] Figure 8 This is a schematic diagram of the control cylinder structure in a robotic gripper clamping force detection system proposed in this invention.

[0029] In the diagram: 1. Detection table; 101. Cylinder; 102. Vacuum suction cup; 103. First slide groove; 104. First slider; 105. Vertical plate; 106. Base plate; 2. Smooth plate; 201. Rough plate; 202. Pressure sensor; 203. First groove; 204. Connecting plate; 205. First motor; 206. First rotating rod; 207. First chain; 3. First support frame; 301. Mounting hole; 302. Second motor; 303. First lead screw; 304. Guide rod; 305. Moving plate; 306. Clamping plate; 307. Screw; 4. Second slide groove; 401. Second slider; 402. Third motor; 403. Second lead screw; 5. Second groove; 501. Second rotating rod 502, baffle; 503, third groove; 504, rotating roller; 505, first bevel gear; 506, second support frame; 507, third rotating rod; 508, second bevel gear; 509, first gear; 6, second chain; 601, fourth rotating rod; 602, second gear; 603, arc groove; 604, third gear; 7, fourth gear; 701, fifth rotating rod; 702, rotating plate; 703, first magnet; 704, second magnet; 705, handle; 8, air pump; 801, first pipe; 802, second pipe; 803, fourth groove; 804, protrusion; 805, control cylinder; 9, third slider; 901, spring; 902, drive rod; 903, connecting rod Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Example

[0032] Reference Figures 1-3A mechanical gripper clamping force detection system includes a vertical plate 105, and further includes: a base plate 106 fixedly connected to the side wall of the vertical plate 105, with a connecting plate 204 symmetrically rotatably connected to the surface of the base plate 106; a smooth plate 2 fixedly connected to one side of the connecting plate 204, and a rough plate 201 fixedly connected to the other side of the connecting plate 204, both the smooth plate 2 and the rough plate 201 having a first groove 203, with a pressure sensor 202 fixedly connected in the first groove 203; a first motor 205 fixedly connected to the bottom of the base plate 106, a first rotating rod 206 fixedly connected to the bottom of the connecting plate 204, a first chain 207 drivingly connecting adjacent first rotating rods 206, and the output end of the first motor 205 fixedly connected to one of the first rotating rods 206.

[0033] It should be noted that the outer wall of the first rotating rod 206 is fixedly connected to the first sprocket, and the first chain 207 is driven and connected to the first sprocket.

[0034] Reference Figure 1 and Figure 3 A testing platform 1 is provided at the bottom of the base plate 106. A cylinder 101 is fixedly connected to the surface of the testing platform 1. A vacuum suction cup 102 is fixedly connected to the output end of the cylinder 101. A first sliding groove 103 is opened on the surface of the testing platform 1. A first slider 104 is fixedly connected to the bottom of the upright plate 105. The first slider 104 is slidably connected in the first sliding groove 103. The end of the first sliding groove 103 away from the cylinder 101 extends to the side wall of the testing platform 1.

[0035] In use, place the weights on the base plate 106, control the vacuum suction cup 102 to pick up the upright plate 105, start the cylinder 101 to push the upright plate 105 to the edge of the testing table 1, and use the robotic gripper to hold the outer wall of the rough plate 201. Continue to push the upright plate 105 and make it detach from the testing table 1. Observe whether the rough plate 201 falls off, that is, whether the entire upright plate 105 falls off after the vacuum suction cup 102 is released. At the same time, continuously add weights to the base plate 106 and record the values ​​transmitted by the pressure sensor 202.

[0036] The first motor 205 is started to drive the corresponding first rotating rod 206 to rotate. Under the transmission action of the first chain 207, both first rotating rods 206 rotate 180 degrees, and the positions of the rough plate 201 and the smooth plate 2 are swapped. The robotic gripper to be inspected clamps the outer wall of the smooth plate 2, and weights are added to the base plate 106 in sequence. The values ​​transmitted by the pressure sensor 202 are recorded.

[0037] In this embodiment, on the one hand, it can detect the clamping force of the robotic gripper by changing the mass of the weight while keeping the coefficient of friction constant; on the other hand, it can detect the clamping force of the robotic gripper by changing the position of the rough plate 201 and the smooth plate 2 while keeping the mass of the weight the same. This multi-functionality improves the diversity of detection conditions, enhances the reference value of the detection results, and makes it easier for users to select the appropriate work scenario based on the detection results, thereby reducing the occurrence of safety accidents.

[0038] To facilitate improving the stability of the vertical plate 105, refer to Figure 1 or Figure 3 The first slider 104 is T-shaped.

[0039] like Figure 1 and Figure 8 The robotic gripper clamping force detection system disclosed in this embodiment further includes: an air pump 8 fixedly connected to the detection platform 1, the output end of the air pump 8 being connected to a first pipe 801 between itself and a vacuum suction cup 102, the first pipe 801 being a flexible hose that can move freely; a protrusion 804 fixedly connected to the detection platform 1, the top of the protrusion 804 being arc-shaped, the protrusion 804 being located on the side of the detection platform 1 away from the cylinder 101, and a fourth groove 803 being provided at the bottom of the upright plate 105, through which the protrusion 804 can pass.

[0040] A control cylinder 805 is fixedly connected to the output end of cylinder 101. The control cylinder 805 is hollow and open at the bottom. A second pipe 802 connects the control cylinder 805 to the vacuum suction cup 102. A third slider 9 is slidably connected inside the control cylinder 805. A spring 901 connects the third slider 9 to the inner top wall of the control cylinder 805. A drive rod 902 is connected to the bottom of the third slider 9, and the drive rod 902 can contact the protrusion 804. Figure 8 In the initial state, the third slider 9 blocks the second pipe 802, making it a cut-off state.

[0041] like Figure 1 A connecting rod 903 is fixedly connected to the output end of cylinder 101, and a control cylinder 805 is fixed on the connecting rod 903. The control cylinder 805 is located directly above the fourth groove 803.

[0042] Start the air pump 8 to draw air in and out, making the vacuum suction cup 102 work.

[0043] The moment the cylinder 101 pushes the vertical plate 105 away from the testing table 1, the drive rod 902 contacts the top of the protrusion 804, pushing the third slider 9 to move upward, making the second pipe 802 open. The second pipe 802 is connected to the outside through the bottom opening of the control cylinder 805, causing the vacuum suction cup 102 to automatically release, so that the cylinder 101 is not subjected to vertical downward force, thus protecting the cylinder 101. Example

[0044] Reference Figure 1 as well as Figures 3-5 The implementation is basically the same as in Example 1, but with a further addition: a specific implementation scheme for detecting the clamping force of the robotic gripper by changing the state of the weights is added.

[0045] In applications involving robotic grippers, it is often necessary to clamp and transfer workpieces. During this transfer process, the robotic arm is prone to vibration, and the required clamping force varies depending on the vibration conditions. Therefore, referring to... Figure 1 as well as Figures 3-5 The surface of the connecting plate 204 is provided with a first support frame 3. Both the surface of the first support frame 3 and the connecting plate 204 are provided with mounting holes 301. Screws 307 are threaded into the mounting holes 301. The surface of the first support frame 3 is fixedly connected to a second motor 302. The output end of the second motor 302 is fixedly connected to a first lead screw 303. The outer wall of the first lead screw 303 is threadedly connected to a moving plate 305. The surface of the moving plate 305 is fixedly connected to a clamping plate 306. Guide rods 304 are symmetrically fixedly connected to the inner wall of the first support frame 3. The guide rods 304 are slidably connected to the moving plate 305.

[0046] It should be further explained that when the robotic gripper contacts the rough plate 201, the first support frame 3 abuts against the smooth plate 2. When the robotic gripper contacts the smooth plate 2, the first support frame 3 is removed by unscrewing the screw 307, and then the first support frame 3 abuts against the rough plate 201 and is fixed to the surface of the connecting plate 204 with the screw 307.

[0047] In use, the weight is placed on the base plate 106, and the second motor 302 is started to drive the first lead screw 303 to rotate. Under the guidance of the guide rod 304, the first lead screw 303 drives the moving plate 305 to move until the clamping plate 306 clamps and fixes the weight. The value transmitted by the pressure sensor 202 is recorded. This scheme is convenient for simulating the stable operation of the robotic arm.

[0048] If the weight is placed directly on the base plate 106 and moved on the base plate 106, and the value transmitted by the pressure sensor 202 is recorded, this method is convenient for simulating the vibration of the robotic arm. By simulating the clamping force of the robotic gripper in two different modes of stable movement and vibration during the clamping process, the simulation scenario is increased, the stability of the robotic gripper is improved, and the safety performance of the robotic gripper during operation is improved.

[0049] To facilitate the normal operation of the clamping work, the first lead screw 303 is tilted, and the clamping plate 306 and the connecting plate 204 are parallel to each other. Example

[0050] Reference Figures 3-4 The implementation is basically the same as in Example 2, but with an additional specific implementation that allows for easy adjustment of the height of the pressure sensor 202.

[0051] Since different robotic grippers vary in size, to facilitate adjusting the height of the pressure sensor 202 according to the specific size of the robotic gripper, refer to... Figures 3-4 A third motor 402 is fixedly connected to the surface of the upright plate 105. A second lead screw 403 is fixedly connected to the output end of the third motor 402. A second slider 401 is threadedly connected to the outer wall of the second lead screw 403. A second sliding groove 4 is opened on the side wall of the upright plate 105. The second slider 401 is slidably connected in the second sliding groove 4. The second slider 401 is fixedly connected to the base plate 106.

[0052] The third motor 402 is started to drive the second lead screw 403 to rotate. Since the second slider 401 can only slide in the second slide groove 4, the second lead screw 403 drives the second slider 401 to move. The second slider 401 drives the base plate 106 to move, thereby facilitating the adjustment of the height of the pressure sensor 202 and improving the accuracy of the detection results. Example

[0053] Reference Figures 1-5 The implementation is basically the same as in Example 3, but with a further improvement: a specific implementation plan is added to reduce the phenomenon of weights falling off during the testing process.

[0054] When simulating the clamping force of the robotic gripper during workpiece vibration during clamping, the weights are prone to falling off. Therefore, referring to... Figures 1-5 The surface of the base plate 106 has a second groove 5, and a second rotating rod 501 is rotatably connected in the second groove 5. A baffle 502 is fixedly connected to the outer wall of the second rotating rod 501. A drive mechanism is fixedly connected to the bottom of the base plate 106, and the drive mechanism adjusts the angle of the baffle 502.

[0055] During use, the baffle 502 is rotated around the second rotating rod 501, so that the baffle 502 is perpendicular to the base plate 106, thereby preventing the weight from falling during the test. When changing the weight, the baffle 502 is rotated away from the base plate 106, so that the weight can be easily removed.

[0056] For heavy weights, changing them is quite laborious. Therefore, a third groove 503 is provided on the side of the baffle 502 near the upright plate 105. Several rotating rollers 504 are rotatably connected in the third groove 503. When changing weights, the baffle 502 is tilted downwards, the weight is placed on the rotating rollers 504, and the baffle 502 is pushed towards the base plate 106 to push the weight onto the base plate 106. This saves effort and improves the detection efficiency. Example

[0057] Reference Figures 2-3 as well as Figures 6-7 Similar to Example 4, but with a further addition, a specific implementation scheme is added to adjust the working mode between the position of the smooth plate 2 and the rough plate 201 and the angle of the baffle 502.

[0058] Reference Figures 2-3 as well as Figures 6-7 The driving mechanism includes: a second support frame 506 fixedly connected to the bottom of the base plate 106; a third rotating rod 507 rotatably connected to the surface of the second support frame 506; a second bevel gear 508 and a first gear 509 fixedly connected to the outer wall of the third rotating rod 507; a first bevel gear 505 fixedly connected to the outer wall of one of the first rotating rods 206, the first bevel gear 505 meshing with the second bevel gear 508; a fourth rotating rod 601 rotatably connected to the surface of the second support frame 506; a second gear 602 fixedly connected to the outer wall of the fourth rotating rod 601; a second chain 6 drivingly connected between the fourth rotating rod 601 and the second rotating rod 501; and an arc-shaped groove 603 formed on the surface of the second support frame 506, within which sliding occurs. A fifth rotating rod 701 is connected, and a third gear 604 and a rotating plate 702 are fixedly connected to the outer wall of the fifth rotating rod 701. A handle 705 is fixedly connected to the surface of the rotating plate 702. A first magnet 703 is symmetrically fixedly connected to the surface of the rotating plate 702, and a second magnet 704 is symmetrically fixedly connected to the surface of the second support frame 506. The second magnet 704 and the first magnet 703 have opposite magnetic properties. The third gear 604 can mesh with and disengage from the first gear 509, and the third gear 604 can mesh with and disengage from the second gear 602. A fourth gear 7 is fixedly connected to the output end of the first motor 205. The fourth gear 7 meshes with the third gear 604. The first motor 205 is fixedly connected to the surface of the second support frame 506.

[0059] It should be noted that the outer walls of the fourth rotating rod 601 and the second rotating rod 501 are fixedly connected to the second sprocket, and the second chain 6 is driven and connected to the second sprocket.

[0060] When it is necessary to switch the positions of the smooth plate 2 and the rough plate 201, the handle 705 is held and the rotating plate 702 is rotated. The rotating plate 702 drives the fifth rotating rod 701 to slide in the arc groove 603, so that the fourth gear 7 and the first gear 509 are engaged with the third gear 604. At this time, the first magnet 703 and the corresponding second magnet 704 attract and stick to each other, which can prevent displacement during the rotation of the third gear 604. The first motor 205 is started to drive the fourth gear 7 to rotate. The fourth gear 7 drives the third gear 604 to rotate. The third gear 604 drives the first gear 509 to rotate. The first gear 509 drives the third rotating rod 507 to rotate. The third rotating rod 507 drives the second bevel gear 508 to rotate. The second bevel gear 508 drives the first bevel gear 505 to rotate. The first bevel gear 505 drives the first rotating rod 206 to rotate, thus facilitating the switching of the positions of the smooth plate 2 and the rough plate 201.

[0061] When the angle of the baffle 502 needs to be adjusted, the handle 705 is held to rotate the rotating plate 702, so that the fourth gear 7 and the second gear 602 are both engaged with the third gear 604. At this time, the first magnet 703 and the corresponding second magnet 704 attract and stick to each other. The first motor 205 is started to drive the fourth gear 7 to rotate. The fourth gear 7 drives the third gear 604 to rotate. The third gear 604 drives the second gear 602 to rotate. Under the transmission action of the second chain 6, the second rotating rod 501 is rotated, thus making it easy to adjust the angle of the baffle 502. The operation is simple and convenient, and the working mode can be selected as needed.

[0062] A method for detecting the clamping force of a robotic gripper, comprising the following steps:

[0063] Step 1: While keeping the coefficient of friction constant, change the mass of the workpiece and test the clamping force of the robotic gripper; Step 2: Under the condition of clamping workpieces of the same mass, change the roughness of the contact surface between the workpiece and the robotic gripper and test the clamping force of the robotic gripper; Step 3: Use the robotic gripper to clamp the external workpiece, fix the position of the internal workpiece, and test the clamping force of the robotic gripper; Step 4: Use the robotic gripper to clamp the external workpiece, causing the internal workpiece to shake, and test the clamping force of the robotic gripper.

[0064] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic gripper clamping force detection system, comprising a vertical plate (105), characterized in that, Also includes: A base plate (106) is fixedly connected to the side wall of the upright plate (105), and a connecting plate (204) is symmetrically rotatably connected to the surface of the base plate (106). A smooth plate (2) is fixedly connected to one side of the connecting plate (204), and a rough plate (201) is fixedly connected to the other side of the connecting plate (204). A first groove (203) is opened on the surface of both the smooth plate (2) and the rough plate (201), and a pressure sensor (202) is fixedly connected in the first groove (203). A first motor (205) is fixedly connected to the bottom of the base plate (106), a first rotating rod (206) is fixedly connected to the bottom of the connecting plate (204), a first chain (207) is connected between adjacent first rotating rods (206), and the output end of the first motor (205) is fixedly connected to one of the first rotating rods (206). The bottom of the base plate (106) is provided with a testing platform (1), and a cylinder (101) is fixedly connected to the surface of the testing platform (1). A vacuum suction cup (102) is fixedly connected to the output end of the cylinder (101), and a first sliding groove (103) is opened on the surface of the testing platform (1). The bottom of the upright plate (105) is fixedly connected to a first slider (104), which is slidably connected in a first groove (103). The end of the first groove (103) away from the cylinder (101) extends to the side wall of the testing table (1). An air pump (8) is fixedly connected to the testing table (1), and the output end of the air pump (8) is connected to the vacuum suction cup (102) via a first pipe (801). A protrusion (804) is fixedly connected to the testing table (1). The protrusion (804) is located on the side of the testing table (1) away from the cylinder (101). A fourth groove (803) is provided at the bottom of the upright plate (105). A control cylinder (805) is fixedly connected to the output end of the cylinder (101). A second pipe (802) is connected between the control cylinder (805) and the vacuum suction cup (102). A third slider (9) is slidably connected inside the control cylinder (805). A spring (901) is connected between the third slider (9) and the inner wall of the top of the control cylinder (805). The bottom of the third slider (9) is connected to a drive rod (902), which can contact the protrusion (804); The surface of the connecting plate (204) is provided with a first support frame (3), and the surfaces of the first support frame (3) and the connecting plate (204) are both provided with mounting holes (301), and screws (307) are threaded into the mounting holes (301). The first support frame (3) is fixedly connected to a second motor (302), the output end of the second motor (302) is fixedly connected to a first lead screw (303), the outer wall of the first lead screw (303) is threadedly connected to a moving plate (305), and the surface of the moving plate (305) is fixedly connected to a clamping plate (306). And the inner wall of the first support frame (3) is symmetrically fixed with guide rods (304), and the guide rods (304) are slidably connected to the moving plate (305); The first lead screw (303) is in an inclined state, and the clamping plate (306) and the connecting plate (204) are parallel to each other; The surface of the base plate (106) has a second groove (5), and a second rotating rod (501) is rotatably connected inside the second groove (5). A baffle (502) is fixedly connected to the outer wall of the second rotating rod (501). The bottom of the base plate (106) is fixedly connected to a driving mechanism, which adjusts the angle of the baffle (502). The baffle (502) has a third groove (503) on the side near the upright plate (105), and several rotating rollers (504) are rotatably connected in the third groove (503).

2. The robotic gripper clamping force detection system according to claim 1, characterized in that, A third motor (402) is fixedly connected to the surface of the upright plate (105). A second lead screw (403) is fixedly connected to the output end of the third motor (402). A second slider (401) is threadedly connected to the outer wall of the second lead screw (403). A second sliding groove (4) is opened on the side wall of the upright plate (105). The second slider (401) is slidably connected in the second sliding groove (4). The second slider (401) is fixedly connected to the base plate (106).

3. The robotic gripper clamping force detection system according to claim 1, characterized in that, The drive mechanism includes: A second support frame (506) is fixedly connected to the bottom of the base plate (106). A third rotating rod (507) is rotatably connected to the surface of the second support frame (506). A second bevel gear (508) and a first gear (509) are fixedly connected to the outer wall of the third rotating rod (507). A first bevel gear (505) is fixedly connected to the outer wall of one of the first rotating rods (206), and the first bevel gear (505) meshes with the second bevel gear (508); A fourth rotating rod (601) is rotatably connected to the surface of the second support frame (506). A second gear (602) is fixedly connected to the outer wall of the fourth rotating rod (601). A second chain (6) is connected between the fourth rotating rod (601) and the second rotating rod (501). An arc-shaped groove (603) is formed on the surface of the second support frame (506). A fifth rotating rod (701) is slidably connected in the arc-shaped groove (603). A third gear (604) and a rotating plate (702) are fixedly connected to the outer wall of the fifth rotating rod (701). A handle (705) is fixedly connected to the surface of the rotating plate (702). The rotating plate (702) has a first magnet (703) symmetrically fixedly connected to its surface, and the second support frame (506) has a second magnet (704) symmetrically fixedly connected to its surface. The second magnet (704) and the first magnet (703) have opposite magnetic properties. The third gear (604) can mesh with and disengage from the first gear (509), and the third gear (604) can mesh with and disengage from the second gear (602); A fourth gear (7) is fixedly connected to the output end of the first motor (205), and the fourth gear (7) meshes with the third gear (604). The first motor (205) is fixedly connected to the surface of the second support frame (506).

4. A method for detecting the clamping force of a robotic gripper, employing the robotic gripper clamping force detection system according to any one of claims 1-3, characterized in that, The operation steps are as follows: Step 1: While keeping the coefficient of friction constant, change the mass of the workpiece and test the clamping force of the robotic gripper; Step 2: Under the condition of clamping workpieces of the same mass, change the roughness of the contact surface between the workpiece and the robotic gripper, and test the clamping force of the robotic gripper; Step 3: Use a robotic gripper to hold the external workpiece, fix the position of the internal workpiece, and test the clamping force of the robotic gripper; Step 4: Use a robotic gripper to hold the external workpiece, causing the internal workpiece to shake, and test the clamping force of the robotic gripper.

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