A triaxial stiffness testing device for robot gripping mechanisms

Abstract

This invention discloses a three-dimensional stiffness testing device for robot gripping mechanisms, relating to the field of industrial robots and their gripping mechanisms. The device comprises a transfer module, a force loading module, a force measurement module, a deformation measurement module, a positioning module, and a servo control system. The transfer module connects the gripping mechanism and the measurement module; the force loading module applies multi-directional force loads; the force measurement module measures the applied force; the deformation measurement module monitors the deformation of the gripping mechanism; the positioning module ensures accurate positioning of each component; and the servo control system controls the gripping action and the operation of each module. This invention employs a modular design to achieve simultaneous multi-directional stiffness testing; the deformation measurement module uses a laser displacement sensor for non-contact measurement, offering advantages such as a wide measurement range and high precision; the push rod end of the force loading module has a joint bearing to ensure consistency between the measurement and loading directions, avoid force coupling effects, and improve accuracy and adjustability.

Description

Technical Field

[0001] This invention relates to the field of industrial robots and robot end-effector gripping mechanisms, and particularly to the field of gripping stiffness testing devices for robot end-effector gripping mechanisms, specifically to a three-dimensional stiffness testing device for robot gripping mechanisms. Background Technology

[0002] A robot end effector is a tool attached to the edge joints of a robot to perform specific operational functions. Among various end effectors, the gripping mechanism is a very important structural type, possessing multiple functions such as transporting, gripping, placing, and releasing objects to specific locations. Mechanical gripping mechanisms are the most widely used, primarily utilizing mechanical transmission principles such as helical drives, rack and pinion drives, and linkage drives for structural design and functional implementation. They are characterized by high precision, strong stability, good compatibility, and a wide range of applications.

[0003] For mechanical clamping mechanisms, the clamping stiffness of the mechanical gripper is a crucial indicator of its clamping capability. During clamping operations, the gripper hand may experience severe conditions such as oscillations, impacts, and momentary overloads. In such situations, insufficient clamping stiffness can cause localized deformation of the gripper hand, preventing it from clamping the workpiece. This results in friction and impact forces between the gripper hand and the workpiece, leading to a series of nonlinear, non-smooth, and discontinuous dynamic phenomena that affect normal operation. To avoid these issues, it is necessary to test and evaluate the clamping stiffness of the clamping mechanism before it is put into use. Therefore, developing a stiffness testing device capable of testing the multi-directional clamping stiffness of clamping mechanisms is essential. Currently, existing clamping mechanism stiffness testing devices typically only perform unidirectional stiffness testing. When performing multidirectional stiffness testing, repeated assembly and disassembly and individual measurements are required, resulting in low efficiency and large errors. Existing clamping mechanism stiffness testing devices usually employ contact deformation measurement methods, which are prone to causing wear on the clamping mechanism, leading to inaccurate measurement results and affecting the object being tested. In existing clamping mechanism stiffness testing devices, the force loading component and force sensor are often rigidly connected. Due to processing errors, assembly errors, etc., there may be an angle between the force loading direction and the force sensor measurement direction, causing deviations in the stiffness test results in that direction. In view of this, the present invention provides a three-dimensional stiffness testing device for robot gripping mechanisms. It adopts a modular design, eliminating the need for repeated assembly and disassembly, and can simultaneously test the translational gripping stiffness in the X, Y, and Z directions. Furthermore, in the deformation measurement module of this device, a laser displacement sensor is used to achieve non-contact measurement, avoiding direct contact with the object being measured. This non-contact measurement method features a wide measurement range, high speed, and high accuracy. Secondly, in the stiffness testing module of this device, a joint bearing is installed at the extended end of the electric cylinder push rod, ensuring that the force loading direction of the electric cylinder is always along the force sensor measurement direction. This avoids force coupling effects in the X, Y, and Z directions, resulting in high force loading accuracy and good adjustability. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a three-dimensional stiffness testing device for robot gripping mechanisms.

[0005] To achieve the above objectives, the present invention employs the following technical solution.

[0006] This invention provides a triaxial stiffness testing device for a robot gripping mechanism, characterized in that it includes a transfer module, a force loading module, a force measurement module, a deformation measurement module, a positioning module, and a servo control system, wherein:

[0007] The adapter module connects the robot gripping mechanism, force measurement module, and deformation measurement module. By loading and measuring the high-rigidity adapter and high-rigidity force transmission block, it indirectly tests the gripping stiffness of the robot gripping mechanism. The adapter module consists of the robot gripping mechanism, the adapter, the force transmission block, and the rod under test. The robot gripping mechanism is the object under test, positioned and installed at a designated location on the optical plate. The adapter has high rigidity and is locked by the robot gripping mechanism during the test. The force transmission block has high rigidity and is fixedly installed on the upper surface of the high-rigidity adapter. The rod under test is installed at the center of the front of the force transmission block.

[0008] The force loading module is used to apply force loads along the X, Y, and Z directions during the stiffness test of the robot gripping mechanism. The force loading module consists of an X-axis servo electric cylinder, a Y-axis servo electric cylinder, a Z-axis servo electric cylinder, a three-axis loading device bracket, a push rod, and a joint bearing. The X-axis, Y-axis, and Z-axis servo electric cylinders are fixedly mounted on the three-axis loading device bracket. The three-axis loading device bracket is positioned by a bracket positioning plate and then fixed on an optical plate. The push rod is installed at the extended end of the servo electric cylinder to transmit the output power of the electric cylinder. The joint bearing is installed at the front end of the push rod and is connected to the U-shaped block on the force sensor through a pin.

[0009] The force measurement module is used to measure the force load applied along the X, Y, and Z directions in the stiffness test of the robot gripping mechanism. The force measurement module consists of a pin, a U-shaped block, an X-axis force sensor, a Y-axis force sensor, and a Z-axis force sensor. The pin is installed at the open end of the U-shaped block by a nut. The U-shaped block is connected to the push rod by the pin to transmit the force load of the push rod. One end of the X-axis force sensor, the Y-axis force sensor, and the Z-axis force sensor are connected to the U-shaped block by bolts, and the other end is connected to the force transmission block by bolts.

[0010] The deformation measurement module is used to measure the deformation under X, Y, and Z triaxial force loading during the stiffness test of the robot gripping mechanism. The deformation measurement module consists of a displacement sensor bracket, an X-axis laser displacement sensor, a Y-axis laser displacement sensor, and a Z-axis laser displacement sensor. The displacement sensor bracket is positioned and mounted on the optical flat plate by a bracket positioning plate. The X-axis laser displacement sensor, Y-axis laser displacement sensor, and Z-axis laser displacement sensor are positioned by the positioning surface of the displacement sensor bracket and then fixed on the displacement sensor bracket.

[0011] The positioning module is used to position the robot gripping mechanism, the force loading module, and the deformation measurement module. The positioning module consists of a robot gripping mechanism positioning plate, a bracket positioning plate, and an optical plate. The robot gripping mechanism positioning plate is fixedly installed on the upper surface of the optical plate by a threaded connection. The bracket positioning plate is fixedly installed on the upper surface of the optical plate by a threaded connection.

[0012] The servo control system is used to control the gripping action of the robot gripping mechanism, the force loading module of the triaxial stiffness testing device, and the deformation measurement module of the triaxial stiffness testing device. The servo control system consists of an industrial computer, a motion controller, a servo driver, and measurement and control and information processing software. The industrial computer and the motion controller are connected via a bus or high-speed Ethernet interface. The servo driver is installed on the servo electric cylinder and the servo motor and is connected to the motion controller. The measurement and control and information processing software runs on the industrial computer.

[0013] The aforementioned three-dimensional stiffness testing device for a robot gripping mechanism is characterized in that: the X-axis servo electric cylinder, the Y-axis servo electric cylinder, and the Z-axis servo electric cylinder are bolted together and mounted on a three-dimensional loading device bracket; the three-dimensional loading device bracket adopts a three-branch structure design to ensure that the force loading in the X, Y, and Z directions is perpendicular to each other; the three-dimensional stiffness testing device adopts a modular design scheme, eliminating the need for repeated assembly and disassembly, and can simultaneously perform translational gripping stiffness testing in the X, Y, and Z directions; the push rod is mounted at the front end of the electric cylinder, featuring high precision and high stiffness, and is capable of servo force loading.

[0014] The triaxial stiffness testing device for a robot gripping mechanism is characterized in that: a joint bearing is installed at the extended end of the electric cylinder push rod, and the push rod of the force loading module and the U-shaped block of the force measurement module are connected by a pin; the joint bearing and the pin ensure that the force loading direction of the electric cylinder push rod is always along the force sensor measurement direction, thereby avoiding the force coupling effect between the X, Y, and Z three-dimensional loading forces, resulting in high force loading accuracy and good adjustability; at the same time, the connection and separation of the force loading module and the force measurement module can be quickly realized by simply inserting and removing the pin.

[0015] The aforementioned triaxial stiffness testing device for a robot gripping mechanism is characterized in that: the lower end of the adapter is gripped by the robot gripping mechanism, and the upper end of the adapter is connected to the force transmission block via a threaded connection; the adapter and the force transmission block have high stiffness, and loading and measuring the force transmission block indirectly realizes the gripping stiffness test of the robot gripping mechanism; at the same time, the adapter has versatility and can be applied to various mechanical gripping mechanisms.

[0016] The aforementioned three-dimensional stiffness testing device for robot gripping mechanisms is characterized in that: an extension rod is fixedly installed on the front of the force transmission block as the rod to be tested, and the deformation measurement point of the stiffness test is led out to the rod to be tested, avoiding positional interference between the force loading module, the force measurement module and the deformation measurement module, and effectively solving the problem of tight space layout; a laser displacement sensor is used to measure the rod to obtain deformation information, avoiding direct contact with the object being tested, realizing non-contact measurement, and featuring wide measurement range and high speed.

[0017] The triaxial stiffness testing device for a robot gripping mechanism is characterized in that: a robot gripping mechanism positioning plate is installed on the optical plate, and the robot gripping mechanism is kept in the correct position by the mounting positioning surface; a bracket positioning plate is installed on the optical plate, and the displacement sensor bracket is installed vertically by the mounting positioning surface; at the same time, three mutually perpendicular mounting positioning surfaces are machined on the laser displacement sensor bracket to ensure that the laser displacement sensors in the three directions are perpendicular to each other.

[0018] The beneficial effects of the technical solution of the present invention are as follows:

[0019] (1) The three-dimensional stiffness testing device of the robot clamping mechanism is mounted on the three-dimensional loading device bracket by bolt connection of the servo electric cylinder, which has the advantages of accurate loading, stable loading, and accurate mechanical control; the three-dimensional loading device bracket adopts a three-branch structure design to ensure that the force loading in the X, Y, and Z directions is perpendicular to each other; the three-dimensional stiffness testing device adopts a modular design scheme, which does not require repeated assembly and disassembly, and can simultaneously realize the translational clamping stiffness test in the X, Y, and Z directions; the push rod is installed at the front end of the electric cylinder, which has the characteristics of high precision and high stiffness, and can realize the function of servo force loading.

[0020] (2) The three-dimensional stiffness testing device of the robot gripping mechanism has a joint bearing installed at the extended end of the electric cylinder push rod and cooperating with the pin of the force measurement module. The joint bearing and the pin cooperate to ensure that the force loading direction of the electric cylinder push rod is always along the force sensor measurement direction, thereby avoiding the force coupling effect between the X, Y and Z three-dimensional loading forces, resulting in high force loading accuracy and good adjustment capability. At the same time, the connection and separation of the force loading module and the force measurement module can be quickly realized by simply inserting and removing the pin, which is convenient to operate.

[0021] (3) The three-dimensional stiffness testing device for the robot clamping mechanism has a high-rigidity adapter and a force transmission block; the lower end of the adapter is clamped by the clamping mechanism, and the upper end of the adapter is connected to the force transmission block through a threaded connection; since the adapter and the force transmission block have high rigidity, the force transmission block is loaded and measured, which indirectly realizes the clamping stiffness test of the robot clamping mechanism; at the same time, the adapter has versatility and can be applied to a variety of mechanical clamping mechanisms.

[0022] (4) The three-dimensional stiffness testing device of the robot clamping mechanism adopts non-contact measurement; the laser displacement sensor obtains deformation information by measuring the rod under test, avoiding direct contact with the object under test, realizing non-contact measurement, and has the characteristics of wide measurement range and fast speed; at the same time, a rigid extension rod is installed on the front of the force transmission block as the rod under test, the purpose of which is to lead the deformation measurement point of stiffness test to the rod under test, avoiding positional interference between the force loading module, force measurement module and deformation measurement module, and effectively solving the problem of tight space layout.

[0023] (5) The three-dimensional stiffness testing device for the robot clamping mechanism has each positioning plate in the positioning module installed on the optical plate, and each bracket and the optical plate connection port are set as an elongated hole to facilitate position adjustment; the mounting positioning surface ensures that each bracket and the robot clamping mechanism are correctly installed on the optical plate; at the same time, three mounting positioning surfaces are machined on the displacement sensor bracket to ensure that the laser displacement sensors in the three directions are perpendicular to each other. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a three-dimensional stiffness testing device for a robot gripping mechanism according to the present invention.

[0025] Figure 2 This is a schematic diagram of the adapter module structure in this invention;

[0026] Figure 3 This is a schematic diagram of the force loading module structure in this invention;

[0027] Figure 4 This is a schematic diagram of the force measurement module structure in this invention;

[0028] Figure 5 This is a schematic diagram of the deformation measurement module in this invention;

[0029] Figure 6 This is a schematic diagram of the positioning module structure in this invention;

[0030] Figure 7 This is a framework diagram of the servo control system in this invention;

[0031] Figure 8 This is a schematic diagram of the servo control module measurement and control and information processing software in this invention;

[0032] The above diagram includes: 1. Robot gripping mechanism; 2. Adapter; 3. Force transmission block; 4. Measured rod; 5. X-axis servo electric cylinder; 6. Y-axis servo electric cylinder; 7. Z-axis servo electric cylinder; 8. Three-axis loading device bracket; 9. Push rod; 10. Joint bearing; 11. Pin; 12. U-block; 13. X-axis force sensor; 14. Y-axis force sensor; 15. Z-axis force sensor; 16. Displacement sensor bracket; 17. X-axis laser displacement sensor; 18. Y-axis laser displacement sensor; 19. Z-axis laser displacement sensor; 20. Robot gripping mechanism positioning plate; 21. Bracket positioning plate; 22. Optical flat panel; 23. Industrial control computer; 24. Motion controller; 25. Servo driver; 26. Measurement and control and information processing software. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the implementation of the present invention is not limited thereto.

[0034] Combination Figure 1-8 As shown, this invention proposes a three-dimensional stiffness testing device for a robot gripping mechanism, characterized in that it includes a transfer module, a force loading module, a force measurement module, a deformation measurement module, a positioning module, and a servo control system, wherein:

[0035] The adapter module connects the robot gripping mechanism 1, the force measurement module, and the deformation measurement module. By loading and measuring the high-rigidity adapter 2 and the high-rigidity force transmission block 3, the gripping stiffness of the robot gripping mechanism 1 is indirectly tested. Figure 2 As shown, the adapter module consists of a robot gripping mechanism 1, an adapter 2, a force transmission block 3, and a rod under test 4. The robot gripping mechanism 1 is the object under test and is positioned on the optical flat plate 22 at a designated location. The adapter 2 has high rigidity and is locked by the robot gripping mechanism 1 during the test. The force transmission block 3 has high rigidity and is fixed on the upper surface of the high-rigidity adapter 2. The rod under test 4 is installed at the center of the front of the force transmission block 3.

[0036] The force loading module is used to apply force loads along the X, Y, and Z directions during the stiffness test of the robot gripping mechanism 1; such as Figure 3 As shown, the force loading module consists of an X-axis servo electric cylinder 5, a Y-axis servo electric cylinder 6, a Z-axis servo electric cylinder 7, a three-axis loading device bracket 8, a push rod 9, and a spherical bearing 10. The X-axis servo electric cylinder 5, the Y-axis servo electric cylinder 6, and the Z-axis servo electric cylinder 7 are fixedly mounted on the three-axis loading device bracket 8. The three-axis loading device bracket 8 is positioned by a bracket positioning plate 21 and then fixed on an optical flat plate 22. The push rod 9 is mounted on the extended end of the servo electric cylinder to transmit the output power of the electric cylinder. The spherical bearing 10 is mounted on the front end of the push rod 9 and is connected to the U-shaped block 12 on the force sensor through a pin 11.

[0037] The force measurement module is used to measure the force load applied along the X, Y, and Z directions during the stiffness test of the robot gripping mechanism 1; such as Figure 4 As shown, the force measurement module consists of a pin 11, a U-shaped block 12, an X-axis force sensor 13, a Y-axis force sensor 14, and a Z-axis force sensor 15. The pin 11 is installed at the open end of the U-shaped block 12 by a nut. The U-shaped block 12 is connected to the push rod 9 through the pin 11 to transmit the force load of the push rod 9. One end of the X-axis force sensor 13, the Y-axis force sensor 14, and the Z-axis force sensor 15 are respectively connected to the U-shaped block 12 by bolts, and the other end is respectively connected to the force transmission block 3 by bolts.

[0038] The deformation measurement module is used to measure the deformation of the robot gripping mechanism 1 under X, Y, and Z triaxial force loading during stiffness testing; for example... Figure 5 As shown, the deformation measurement module consists of a displacement sensor bracket 16, an X-axis laser displacement sensor 17, a Y-axis laser displacement sensor 18, and a Z-axis laser displacement sensor 19. The displacement sensor bracket 16 is positioned and mounted on the optical flat plate 22 by the bracket positioning plate 21. The X-axis laser displacement sensor 17, the Y-axis laser displacement sensor 18, and the Z-axis laser displacement sensor 19 are positioned by the positioning surface of the displacement sensor bracket 16 and then installed and fixed on the displacement sensor bracket 16.

[0039] The positioning module is used to position the robot's gripping mechanism 1, force loading module, and deformation measurement module; such as Figure 6 As shown, the positioning module consists of a robot gripping mechanism positioning plate 20, a bracket positioning plate 21, and an optical plate 22. The robot gripping mechanism positioning plate 20 is fixedly installed on the upper surface of the optical plate 22 by a threaded connection. The bracket positioning plate 21 is fixedly installed on the upper surface of the optical plate 22 by a threaded connection.

[0040] The servo control system is used to control the gripping action of the robot gripping mechanism 1, the force loading module of the triaxial stiffness testing device, and the deformation measurement module of the triaxial stiffness testing device; such as Figure 7-8 As shown, the servo control system consists of an industrial computer 23, a motion controller 24, a servo driver 25, and measurement and control and information processing software 26. The industrial computer 23 and the motion controller 24 are connected via a bus or a high-speed Ethernet interface. The servo driver 25 is installed on the servo electric cylinder and the servo motor and is connected to the motion controller 24. The measurement and control and information processing software 26 runs on the industrial computer 23.

[0041] This invention discloses a three-dimensional stiffness testing device for a robot gripping mechanism. It adopts a modular design and mainly includes: a transfer module, a force loading module, a force measurement module, a deformation measurement module, and a positioning module. It can perform gripping stiffness testing on the robot gripping mechanism 1. The stiffness testing mainly includes the translational stiffness of the robot gripping mechanism 1 in the X, Y, and Z directions. It features stable loading, high control precision, high measurement accuracy, high reliability, and ease of operation.

[0042] The stiffness testing process of this invention includes the following steps:

[0043] Step 1: Connect and build the industrial control computer 23, motion controller 24, force sensor, displacement sensor and stiffness test bench using cables, and execute the measurement and control and information processing software 26 in the industrial control computer 23;

[0044] Step 2: In the stiffness test module, the industrial computer 23 sends a start motion command to the motion controller 24. The operator controls the electric cylinder to move in jog mode to complete the construction of the entire stiffness test bench.

[0045] Step 3: Click the Initialize button to complete the initialization of the operating system, and the operating system will perform a fault self-check;

[0046] Step 4: After all self-tests are normal, follow the prompts to input the correct motion parameters and enable the relevant motion axes to start the motion;

[0047] Step 5: After the test is completed, check and save the test results, and draw a conclusion.

Claims

1. A three-dimensional stiffness testing device for a robot gripping mechanism, comprising a transfer module, a force loading module, a force measurement module, a deformation measurement module, a positioning module, and a servo control system, wherein: The adapter module is used to connect the robot gripping mechanism, the force measurement module, and the deformation measurement module. By loading and measuring the high-rigidity adapter and the high-rigidity force transmission block, the gripping stiffness of the robot gripping mechanism can be tested indirectly. The adapter module consists of a robot gripping mechanism, an adapter, a force transmission block, and the rod being tested. The robot gripping mechanism is the object being tested, positioned and installed at a designated location on the optical flat plate. The adapter has high rigidity and is locked by the robot gripping mechanism during the test. The force transmission block has high rigidity and is fixed on the upper surface of the high-rigidity adapter. The rod being tested is installed at the center of the front of the force transmission block. The force loading module is used to apply force loads along the X, Y, and Z directions during the stiffness test of the robot gripping mechanism. The force loading module consists of an X-axis servo electric cylinder, a Y-axis servo electric cylinder, a Z-axis servo electric cylinder, a three-axis loading device bracket, a push rod, and a joint bearing. The X-axis, Y-axis, and Z-axis servo electric cylinders are fixedly mounted on the three-axis loading device bracket. The three-axis loading device bracket is positioned by a bracket positioning plate and then fixed on an optical plate. The push rod is installed at the extended end of the servo electric cylinder to transmit the output power of the electric cylinder. The joint bearing is installed at the front end of the push rod and is connected to the U-shaped block on the force sensor through a pin. The force measurement module is used to measure the force load applied along the X, Y, and Z directions in the stiffness test of the robot gripping mechanism. The force measurement module consists of a pin, a U-shaped block, an X-axis force sensor, a Y-axis force sensor, and a Z-axis force sensor. The pin is installed at the open end of the U-shaped block by a nut. The U-shaped block is connected to the push rod by the pin to transmit the force load of the push rod. One end of the X-axis force sensor, the Y-axis force sensor, and the Z-axis force sensor are connected to the U-shaped block by bolts, and the other end is connected to the force transmission block by bolts. The deformation measurement module is used to measure the deformation under X, Y, and Z triaxial force loading during the stiffness test of the robot gripping mechanism. The deformation measurement module consists of a displacement sensor bracket, an X-axis laser displacement sensor, a Y-axis laser displacement sensor, and a Z-axis laser displacement sensor. The displacement sensor bracket is positioned and mounted on the optical flat plate by a bracket positioning plate. The X-axis laser displacement sensor, Y-axis laser displacement sensor, and Z-axis laser displacement sensor are positioned by the positioning surface of the displacement sensor bracket and then fixed on the displacement sensor bracket. The positioning module is used to position the robot gripping mechanism, the force loading module, and the deformation measurement module. The positioning module consists of a robot gripping mechanism positioning plate, a bracket positioning plate, and an optical plate. The robot gripping mechanism positioning plate is fixedly installed on the upper surface of the optical plate via a threaded connection. The bracket positioning plate is also fixedly installed on the upper surface of the optical plate via a threaded connection. The servo control system is used to control the gripping action of the robot gripping mechanism, the force loading module of the triaxial stiffness testing device, and the deformation measurement module of the triaxial stiffness testing device. The servo control system consists of an industrial computer, a motion controller, a servo driver, and measurement and control and information processing software. The industrial computer and the motion controller are connected via a bus or high-speed Ethernet interface. The servo driver is installed on the servo electric cylinder and the servo motor and is connected to the motion controller. The measurement and control and information processing software runs on the industrial computer.

2. The triaxial stiffness testing device for a robot gripping mechanism according to claim 1, characterized in that: The X-axis servo electric cylinder, Y-axis servo electric cylinder, and Z-axis servo electric cylinder are bolted together and mounted on the three-axis loading device bracket. The three-axis loading device bracket adopts a three-branch structure design to ensure that the force loading in the X, Y, and Z directions is perpendicular to each other. The three-axis stiffness testing device adopts a modular design scheme, which does not require repeated assembly and disassembly, and can simultaneously realize translational clamping stiffness testing in the X, Y, and Z directions. The push rod is installed at the front end of the electric cylinder and has the characteristics of high precision and high stiffness, which can realize the function of servo force loading.

3. The triaxial stiffness testing device for a robot gripping mechanism according to claim 1, characterized in that: A spherical bearing is installed at the extended end of the electric cylinder push rod, and the push rod of the force loading module and the U-shaped block of the force measurement module are connected by a pin. The spherical bearing and the pin ensure that the force loading direction of the electric cylinder push rod is always along the force sensor measurement direction, thereby avoiding the force coupling effect between the X, Y, and Z load forces, resulting in high force loading accuracy and good adjustability. At the same time, the connection and separation of the force loading module and the force measurement module can be quickly realized by simply inserting and removing the pin.

4. The triaxial stiffness testing device for a robot gripping mechanism according to claim 1, characterized in that: The lower end of the adapter is held by the robot gripping mechanism, and the upper end of the adapter is connected to the force transmission block through a threaded connection. The adapter and the force transmission block have high rigidity. By loading and measuring the force transmission block, the gripping rigidity of the robot gripping mechanism is indirectly tested. At the same time, the adapter is versatile and can be applied to a variety of mechanical gripping mechanisms.

5. A triaxial stiffness testing device for a robot gripping mechanism according to claim 1, characterized in that: An extension rod is fixedly installed on the front of the force transmission block as the rod to be measured, and the deformation measurement point of the stiffness test is led out to the rod to be measured, avoiding positional interference between the force loading module, the force measurement module and the deformation measurement module, and effectively solving the problem of tight space layout; a laser displacement sensor is used to measure the rod to obtain deformation information, avoiding direct contact with the object being measured, and realizing non-contact measurement.

6. The triaxial stiffness testing device for a robot gripping mechanism according to claim 1, characterized in that: A positioning plate for the robot gripping mechanism is installed on the optical flat plate, which ensures that the robot gripping mechanism maintains the correct posture through the mounting positioning surface; a bracket positioning plate is installed on the optical flat plate, which ensures that the displacement sensor bracket is installed vertically through the mounting positioning surface; at the same time, three mutually perpendicular mounting positioning surfaces are machined on the laser displacement sensor bracket to ensure that the laser displacement sensors in the three directions are perpendicular to each other.

Images