Method for testing performance of electric clamping jaw and performance testing device thereof

Abstract

The application discloses a performance testing method and device of an electric clamping jaw. The performance testing method comprises the following steps: S11, adjusting a stored setting opening and closing state to a target opening and closing state corresponding to a target opening and closing instruction received, and controlling two clamping fingers of the electric clamping jaw to perform a target opening and closing action corresponding to the target opening and closing instruction; S12, acquiring a current opening and closing state of the two clamping fingers sent by a clamping detection piece; S13, judging whether the current opening and closing state is consistent with the target opening and closing state, if yes, entering step S14, if not, issuing an alarm instruction; S14, repeatedly executing steps S11 to S13, and judging whether the number of cyclic operations of steps S11 to S13 is greater than a set operation number, if yes, issuing a stop instruction, if not, issuing an alarm instruction. The application can perform fault testing on the opening and closing state of the electric clamping jaw under different working conditions.

Description

Technical Field

[0001] This invention relates to the field of electric gripper performance testing technology, and in particular to a performance testing method and device for an electric gripper. Background Technology

[0002] Electric grippers, also known as electric clamps, electric grippers, or electric claws, are automated end effectors that use motors to drive opening and closing actions. Their main function is to simulate human hands to grasp, move, and assemble objects. They are widely used in industrial automated production lines, robotic systems, and logistics sorting.

[0003] Taking a two-degree-of-freedom electric gripper as an example, this type of electric gripper typically has two jaws. The two jaws reciprocate relative to each other in one direction to grip or release the gripped part, and rotate in one plane to position the gripped part. To ensure the stable performance of the electric gripper, its rotational and gripping accuracy must be rigorously tested and verified. Poor rotational accuracy can lead to incorrect positioning of the gripped part, or even failure to grip it, affecting the entire automated production line. Low gripping accuracy, meaning inconsistent gripping forces between batches or low repeatability, can cause the originally set gripping force parameters to be unsuitable for the current operating environment, resulting in excessively high or low gripping forces. The gripped part is highly susceptible to falling due to insufficient gripping force or being damaged by excessive gripping force during movement. Therefore, testing and verifying the key parameters of the electric gripper to ensure its consistency and repeatability is crucial for reducing the failure rate of equipment equipped with electric grippers.

[0004] However, due to limitations in existing technology, there is a lack of verification for the performance testing of electric grippers, making it difficult to conduct fault testing on the working conditions of electric grippers under different operating conditions. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a performance testing method for electric grippers, which solves the technical problem of difficulty in fault testing of electric grippers under different working conditions.

[0006] To achieve the above objectives, the present invention provides a performance testing method for an electric gripper, comprising the following steps:

[0007] S11. According to the received target opening and closing command, adjust the stored setting opening and closing state to the target opening and closing state corresponding to the target opening and closing command, and control the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command.

[0008] S12. Obtain the current opening / closing state of the two gripping fingers sent by the gripping detection component;

[0009] S13. Determine whether the current opening / closing state is consistent with the target opening / closing state. If yes, proceed to step S14; otherwise, issue an alarm command.

[0010] S14. Repeat steps S11 to S13, and determine whether the number of cycles of steps S11 to S13 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0011] Preferably, the target opening and closing command includes a holding closing command and a holding opening command, the clamping detection element includes a clamping finger clamping detection element, and the steps include:

[0012] S111. Based on the received object holding and closing instruction, adjust the set opening and closing state to the object holding and closing state, and control the two gripping fingers to perform the object holding and closing action.

[0013] S121. Obtain the current closing state of the two gripping fingers sent by the gripping finger detection component;

[0014] S131. Determine whether the current closed state is consistent with the closed state of the object being held. If yes, the two fingers clamp the object being held and proceed to step S112; otherwise, issue an alarm command.

[0015] S112. According to the received object opening instruction, adjust the set opening state to the object opening state, and control the two gripping fingers to perform the object opening action.

[0016] S122. Obtain the current open state of the two fingers sent by the finger gripping detection device;

[0017] S132. Determine whether the current open state is consistent with the open state of the held object. If yes, release the held object with both fingers and proceed to step S141; otherwise, issue an alarm command.

[0018] S141. Repeat steps S111 to S132 and determine whether the number of cycles in steps S111 to S132 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0019] Preferably, the target opening and closing command includes a clamp closing command and a clamp opening command, the clamping detection element includes a clamping finger clamping detection element, and the steps include:

[0020] S113. Based on the received empty clamp closing command, adjust the set opening and closing state to the empty clamp closing state, and control the two clamp fingers to perform the empty clamp closing action.

[0021] S123. Obtain the current closing state of the two gripping fingers sent by the gripping finger detection component;

[0022] S133. Determine whether the current closed state is consistent with the empty clamp closed state. If yes, the two clamping fingers have not clamped the clamped object and proceed to step S114; if no, issue an alarm command.

[0023] S114. According to the received empty clamp opening command, adjust the set opening and closing state to the empty clamp opening state, and control the two clamp fingers to perform the empty clamp opening action.

[0024] S124. Obtain the current open state of the two fingers sent by the finger gripping detection component;

[0025] S134. Determine whether the current opening state is consistent with the empty clamp opening state. If yes, the two clamping fingers have not clamped the object and proceed to step S141; otherwise, issue an alarm command.

[0026] S142. Repeat steps S113 to S134, and determine whether the number of cycles in steps S113 to S134 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0027] Preferably, the steps further include:

[0028] S21. According to the received initialization instruction, initialize the stored setting parameter value to the target initial parameter value;

[0029] S22. After a preset time period, read the actual initial parameter values;

[0030] S23. Determine whether the actual initial parameter value corresponds to the target initial parameter value. If yes, reset the set parameter value and proceed to step S24; otherwise, issue an alarm command.

[0031] S24. Repeat steps S21 to S23, and determine whether the number of cycles of steps S21 to S23 is greater than the preset number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0032] Preferably, the steps further include:

[0033] S31. Based on the received setting closing instruction, control the two fingers to perform the setting closing action;

[0034] S32. According to the received setting opening command, control the two fingers to perform the setting opening action;

[0035] S33. Repeat steps S31 to S32, and determine whether the number of cycles in steps S31 to S32 has reached the specified number of cycles. If yes, proceed to step S34; otherwise, send a continue running command.

[0036] S34. According to the received set rotation command, control the spindle of the electric gripper to drive the two gripping fingers to rotate;

[0037] S35. Obtain the finger position information fed back by the finger rotation detection component and the spindle position information fed back by the spindle rotation detection component;

[0038] S36. Determine whether the finger position information and the spindle position information are within the set error range. If yes, proceed to step S37; otherwise, issue an alarm command.

[0039] S37. Repeat steps S31 to S36, and determine whether the number of cycles of steps S31 to S36 exceeds the limit number of cycles. If yes, issue a stop command; otherwise, issue an alarm command.

[0040] Preferably, the clamping detection element includes a finger clamping detection element and a block clamping detection element, and the electric gripper includes two blocks, each of which is connected to a corresponding finger; the step further includes:

[0041] S41. Obtain the clamping force between the two fingers fed back by the finger clamping detection piece;

[0042] S42. Obtain the clamping force between the two clamping blocks as fed back by the clamping block clamping detection piece;

[0043] S43. Determine whether both the finger clamping force and the block clamping force are within the set clamping force range; if not, issue an alarm command.

[0044] The present invention also provides a performance testing device for an electric gripper, which is applied to the performance testing method for the electric gripper according to any one of claims 1 to 6.

[0045] Preferably, it includes:

[0046] The opening and closing control module is used to adjust the stored preset opening and closing state to the target opening and closing state corresponding to the target opening and closing command according to the received target opening and closing command, and control the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command.

[0047] The status acquisition module is used to acquire the current opening and closing status of the two gripping fingers sent by the gripping detection component;

[0048] The status judgment module is used to determine whether the current opening and closing state is consistent with the target opening and closing state. If yes, proceed to step S14; otherwise, issue an alarm command.

[0049] The loop execution module is used to repeatedly execute steps S11 to S13 and determine whether the number of loop runs of steps S11 to S13 is greater than the set number of runs. If yes, a stop command is issued; otherwise, a continue execution command is issued.

[0050] Preferably, the clamping detection element includes a finger clamping detection element for detecting the clamping force between two fingers, and further includes:

[0051] V-shaped support base, the V-shaped support base is fixedly installed and has a V-shaped fixing groove, and a horizontal adjustment groove is provided on one side of the V-shaped fixing groove;

[0052] A transverse adjustment seat is slidably disposed in a transverse adjustment groove along the transverse direction.

[0053] The longitudinal adjustment plate is fixedly connected to the finger gripping detection piece, and the longitudinal adjustment plate is slidably disposed on the transverse adjustment seat along the longitudinal direction.

[0054] Adjusting the locking mechanism is used to lock and fix the longitudinal adjusting plate to the transverse adjusting seat.

[0055] Preferably, the clamping detection element includes a clamping block clamping detection element for detecting the clamping force between the two clamping blocks of the electric gripper, wherein the two clamping blocks are respectively connected to the two gripping fingers, and further includes:

[0056] A sliding adjustment seat is fixedly connected to the clamping block that holds the detection piece;

[0057] The vertical adjustment seat includes a longitudinal support part and a vertical connecting part that are vertically connected. The sliding adjustment hole of the longitudinal support part is provided with a sliding locking member that is fixedly connected to the sliding adjustment seat. The U-shaped adjustment groove of the vertical connecting part is provided with a connecting locking member for locking and fixing the vertical adjustment seat along the vertical direction.

[0058] Preferably, it further includes a gripper rotation detection element for detecting the rotational position of the two grippers and a spindle rotation detection element for detecting the spindle rotational position of the electric gripper, and further includes:

[0059] A clamping and fixing seat is fixed to the side of the V-shaped fixing groove away from the transverse adjustment groove; the clamping and fixing seat is used to clamp and fix the electric gripper.

[0060] An adjustable bracket, one end of which is detachably connected to the clamping base and the other end of which is suspended with a finger-gripping rotation detection component, is used to adjust the position of the finger-gripping rotation detection component relative to the clamping base.

[0061] The adjusting fixed seat is detachably fixed to the side of the clamping fixed seat away from the adjustable bracket. The adjusting fixed seat is used to adjust the position of the spindle rotation detection piece relative to the clamping fixed seat.

[0062] Compared with the prior art, the performance testing method of the electric gripper provided by the present invention includes the following steps: S11, adjusting the stored set opening and closing state to the target opening and closing state corresponding to the target opening and closing command according to the received target opening and closing command, and controlling the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command; S12, obtaining the current opening and closing state of the two gripping fingers sent by the gripping detection component; S13, determining whether the current opening and closing state is consistent with the target opening and closing state, if yes, proceeding to step S14; if no, issuing an alarm command; S14, repeating steps S11 to S13, and determining whether the number of cycles of steps S11 to S13 is greater than the set number of cycles, if yes, issuing a stop command, if no, issuing an alarm command.

[0063] This invention performs fault testing on the opening and closing states of the two grippers of an electric gripper. It can test the fault conditions of the two grippers under a single opening and closing state, as well as under conditions of continuous multiple cycles of opening and closing. Therefore, this invention can perform fault testing on the opening and closing states of an electric gripper under different working conditions. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0065] Figure 1 A flowchart illustrating the performance testing method for the electric gripper provided by this invention;

[0066] Figure 2 This is an isometric view of a performance testing device for an electric gripper provided in a specific embodiment of the present invention;

[0067] Figure 3 for Figure 2 Another axonometric drawing;

[0068] Figure 4 This is a diagram showing the electric gripper's performance testing device according to a specific embodiment of the present invention in the state where the gripper's gripper finger is removed.

[0069] Figure 5 for Figure 1 Assembly diagram of the central clamping fixture, the finger rotation detection component, and the spindle rotation detection component;

[0070] Figure 6 for Figure 5 The main view;

[0071] Figure 7 for Figure 5 Top view;

[0072] Figure 8 for Figure 5 Side view;

[0073] Figure 9 for Figure 8 A magnified view of part A in the image;

[0074] Figure 10 for Figure 1 Assembly diagram of the adjustable bracket and the finger-gripping rotation detection component;

[0075] Figure 11 for Figure 1 Assembly diagram of the sliding adjustment seat, vertical adjustment seat, and clamping block holding the test piece;

[0076] Figure 12 for Figure 1 Axonometric view of the electric gripper;

[0077] Figure 13 for Figure 12 The main view;

[0078] Figure 14 for Figure 12 Side view;

[0079] Figure 15 for Figure 12 A bottom view;

[0080] Figure 16 for Figure 12 A structural diagram of the electric gripper with the fingers removed.

[0081] The attached figures are labeled as follows:

[0082] Electric gripper 01;

[0083] Finger 011 and clamp 012

[0084] Clamping and fixing seat 11, finger rotation detection component 12, spindle rotation detection component 13, adjustable bracket 14, adjusting and fixing seat 15, V-shaped support seat 16, finger clamping detection component 17, clamping block clamping detection component 18, lateral adjusting seat 19, longitudinal adjusting plate 20, adjusting locking component 21, sliding adjusting seat 22 and vertical adjusting seat 23;

[0085] U-shaped base plate 111, left side baffle 112, right side baffle 113, left side clamping member 114, right side clamping member 115 and limiting groove 116;

[0086] Positioning pin 1111;

[0087] L-shaped support plate 141, L-shaped bearing rod 142, L-shaped connecting rod 143, longitudinal adjustment assembly 144, lateral adjustment assembly 145, and vertical adjustment assembly 146;

[0088] V-shaped fixing groove 161 and transverse adjustment groove 162;

[0089] Longitudinal support portion 231 and vertical connecting portion 232;

[0090] Sliding adjustment hole 2311 and sliding locking element 2312;

[0091] U-shaped adjustment groove 2321 and connecting locking element 2322. Detailed Implementation

[0092] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0094] This invention discloses a performance testing method for an electric gripper, as shown in the attached figure. Figure 1 As shown, the steps include:

[0095] S11. Based on the received target opening and closing command, adjust the stored set opening and closing state to the target opening and closing state corresponding to the target opening and closing command, and control the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command.

[0096] The target opening / closing commands mentioned in this text can be generated by triggering an opening / closing button or by being triggered by a sensor from a detected object; no specific limitation is made here. The set opening / closing state can be adjusted to various target opening / closing states, such as half-open, half-closed, fully open, or fully closed. Different target opening / closing states correspond to different target opening / closing commands. A one-to-one correspondence between target opening / closing states and target opening / closing commands can be pre-stored. Based on different target opening / closing commands, the corresponding target opening / closing state is directly retrieved from the data storage, adjusting the set opening / closing state to the corresponding target opening / closing state. Similarly, different target opening / closing commands correspond one-to-one with different target opening / closing states, and the target opening / closing action can be a half-open action, a half-closed action, a fully open action, or a fully closed action.

[0097] S12. Obtain the current opening and closing state of the two gripping fingers sent by the gripping detection element; wherein, the gripping detection element can be a pressure sensor, used to detect the gripping force between the two gripping fingers, thereby reading the current opening and closing state of the two gripping fingers.

[0098] S13. Determine whether the current opening and closing state is consistent with the target opening and closing state. If yes, the opening and closing state of the two fingers is normal and no fault has occurred. Proceed to step S14. If no, the opening and closing state of the two fingers is abnormal and an alarm command is issued.

[0099] S14. Repeat steps S11 to S13 and determine whether the number of cycles in steps S11 to S13 is greater than the set number of cycles. If yes, the two fingers have not failed to perform the closing and opening actions in a cyclical alternation and have issued a stop command. If no, a continue running command is issued.

[0100] This invention performs fault testing on the opening and closing states of the two grippers of an electric gripper. It can test the fault conditions of the two grippers under a single opening and closing state, as well as under conditions of continuous multiple cycles of opening and closing. Therefore, this invention can perform fault testing on the opening and closing states of an electric gripper under different working conditions.

[0101] The fault test of the electric gripper includes the object holding fault test, as follows: steps S111 to S141. The object holding fault test is to test whether the two gripping fingers of the electric gripper can clamp the object when they are closed, and to test whether the object can be released when the two gripping fingers are open.

[0102] The target opening and closing commands include object closing commands and object opening commands; the clamping detection element includes clamping fingers; the steps include:

[0103] S111. Based on the received object-holding closure command, adjust the set open / closed state to the object-holding closure state, and control the two gripping fingers to perform the object-holding closure action; wherein, the object-holding closure command is an instruction to the two gripping fingers to close and clamp the object; the object-holding closure state refers to the closed state when the two gripping fingers are clamping the object; the object-holding closure action refers to the closing action performed by the two gripping fingers to clamp the object. The object-holding closure command can be an instruction to the two gripping fingers to close from a half-open state to clamp the object, or it can be an instruction to the two gripping fingers to close from a fully open state to clamp the object. It can realize object-holding fault testing by alternating between half-closed and half-open actions, and it can also realize object-holding fault testing by alternating between fully closed and fully open actions.

[0104] S121. Obtain the current closure state of the two gripping fingers sent by the gripping finger detection device; wherein, the gripping finger detection device is used to detect whether the two gripping fingers are closed to clamp the object, and the current closure state here refers to the closure state of the two gripping fingers clamping the object.

[0105] S131. Determine whether the current closed state is consistent with the object-holding closed state. If yes, the two grippers hold the object, no fault occurs, and proceed to step S112. If no, the two grippers close but do not hold the object, a fault occurs, and an alarm command is issued. The alarm command in the text is an instruction to the alarm device to issue an alarm message.

[0106] S112. Based on the received object-holding opening command, adjust the set opening / closing state to the object-holding opening state, and control the two gripping fingers to perform the object-holding opening action; wherein, the object-holding opening command is an instruction to instruct the two gripping fingers to open and release the gripped object; the object-holding opening state refers to the open state of the two gripping fingers when releasing the gripped object; the object-holding opening action refers to the action of the two gripping fingers to release the gripped object. The object-holding opening command can be an instruction to instruct the two gripping fingers to release the gripped object from a closed state to a half-open state, or it can be an instruction to instruct the two gripping fingers to release the gripped object from a closed state to a fully open state.

[0107] S122. Obtain the current opening state of the two gripping fingers sent by the gripping finger detection device; wherein, the gripping finger detection device is used to detect whether the two gripping fingers have opened to release the gripped object, and the current opening state here refers to the opening state of the two gripping fingers releasing the gripped object.

[0108] S132. Determine whether the current opening state is consistent with the opening state of the held object. If yes, the two gripping fingers release the held object, no fault occurs, and proceed to step S141; if no, the two gripping fingers are open but the held object is not released, a fault occurs, and an alarm command is issued.

[0109] S141. Repeat steps S111 to S132 and determine whether the number of cycles in steps S111 to S132 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0110] The fault test of the electric gripper includes the empty gripping fault test, as shown in steps S113 to S142 below. The empty gripping fault test is to test whether the two gripping fingers of the electric gripper fail to grip the object when they are closed, and to test whether the gripping object is not released when the two gripping fingers are open.

[0111] The target opening and closing commands include a clamp closing command and a clamp opening command; the clamping detection element includes a clamping finger clamping detection element; the steps include:

[0112] S113. Based on the received clamp closing command, adjust the set opening / closing state to the clamp closing state, and control the two clamping fingers to perform the clamp closing action; wherein, the clamp closing command is an instruction to the two clamping fingers to close without clamping the object; the clamp closing state refers to the closed state of the two clamping fingers without clamping the object; the clamp closing action refers to the two clamping fingers performing the closing action without clamping the object. The clamp closing command can be an instruction to the two clamping fingers to close from a half-open state without clamping the object, or an instruction to the two clamping fingers to close from a fully open state without clamping the object. It can realize the clamp fault test by alternating between half-closed and half-open actions, and it can also realize the clamp fault test by alternating between fully closed and fully open actions.

[0113] S123. Obtain the current closure state of the two gripping fingers sent by the gripping finger detection device; wherein, the gripping finger detection device is used to detect whether the two gripping fingers are closed and not gripping the object, and the current closure state here refers to the closure state of the two gripping fingers not gripping the object.

[0114] S133. Determine whether the current closed state is consistent with the empty clamp closed state. If yes, the two clamping fingers have not clamped the clamped object, no fault has occurred, and proceed to step S114; if no, the two clamping fingers are closed and clamp the clamped object, a fault has occurred, and an alarm command is issued.

[0115] S114. Based on the received clamp opening command, adjust the set opening / closing state to the clamp opening state, and control the two clamping fingers to perform the clamp opening action; wherein, the clamp opening command is an instruction to instruct the two clamping fingers to open without clamping the object; the clamp opening state refers to the open state of the two clamping fingers when they are not clamping the object; the clamp opening action refers to the action of the two clamping fingers to open without clamping the object. The clamp opening command can be an instruction to instruct the two clamping fingers to move from a closed state to a half-open state without clamping the object, or it can be an instruction to instruct the two clamping fingers to move from a closed state to a fully open state without clamping the object.

[0116] S124. Obtain the current open state of the two gripping fingers sent by the gripping finger detection device; wherein, the gripping finger detection device is used to detect whether the two gripping fingers are not gripping the object, and the current open state here refers to the open state of the two gripping fingers not gripping the object.

[0117] S134. Determine whether the current opening state is consistent with the empty clamp opening state. If yes, the two clamping fingers have not clamped the object, no fault has occurred, and proceed to step S141. If no, the two clamping fingers have opened and clamped the object, a fault has occurred, and an alarm command is issued.

[0118] S142. Repeat steps S113 to S134, and determine whether the number of cycles in steps S113 to S134 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0119] The steps of the above-mentioned performance testing method for electric grippers also include:

[0120] S21. According to the received initialization instruction, initialize the stored setting parameter values ​​to the target initial parameter values; wherein, the initialization instruction is an instruction to initialize the stored setting parameter values; the setting parameter values ​​can be the rotational speed of the electric gripper, the clamping force between the two grippers, or the opening and closing speed of the two grippers, etc. The target initial parameter refers to the ideal parameter value obtained after the setting parameter values ​​are initialized, for example, the rotational speed of the electric gripper is initialized to zero speed.

[0121] S22. After a preset time period, read the actual initial parameter values; where the preset time period refers to the time consumed in initializing all set parameter values. The actual initial parameter values ​​refer to the actual parameter values ​​obtained after the set parameter values ​​are initialized.

[0122] S23. Determine whether the actual initial parameter value corresponds to the target initial parameter value. If yes, the initialization is completed and no fault has occurred. Reset the set parameter value and proceed to step S24. If no, the initialization is abnormal and a fault has occurred. Issue an alarm command.

[0123] S24. Repeat steps S21 to S23, and determine whether the number of cycles of steps S21 to S23 is greater than the preset number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

[0124] The steps S21 to S24 above are the initialization test process of the electric gripper. By testing the initialization of the electric gripper, we can avoid the electric gripper from malfunctioning due to abnormal initialization during actual operation and reduce the failure rate of the electric gripper.

[0125] The steps of the above-mentioned performance testing method for electric grippers also include:

[0126] S31. Based on the received setting closure instruction, control the two fingers to perform the setting closure action; wherein, the setting closure instruction can be an instruction to close the two fingers from a half-open state, or an instruction to close the two fingers from a fully open state. The setting closure action corresponds one-to-one with the setting closure instruction, and the correspondence can be stored in advance.

[0127] S32. Based on the received setting opening command, control the two fingers to perform the setting opening action; wherein, the setting opening command can be an instruction to instruct the two fingers to open halfway or an instruction to instruct the two fingers to open fully. The setting opening action corresponds one-to-one with the setting opening command, and the correspondence can be stored in advance.

[0128] S33. Repeat steps S31 to S32, and determine whether the number of cycles in steps S31 to S32 has reached the specified number of cycles. If yes, the closing and opening actions of the two fingers alternately cycle for the specified number of cycles, and proceed to step S34. If no, the number of cycles in the opening and closing actions of the two fingers has not reached the specified number of cycles, and a continue running instruction is sent to continue to alternately execute steps S31 and S32.

[0129] S34. According to the received set rotation command, control the spindle of the electric gripper to drive the two gripping fingers to rotate; wherein, the set rotation command is an instruction that instructs the spindle of the electric gripper to drive the two gripping fingers to rotate synchronously.

[0130] S35. Obtain the finger position information fed back by the finger rotation detection device and the spindle position information fed back by the spindle rotation detection device; that is, the rotation position of the two fingers is detected by the finger rotation detection device and the rotation position of the spindle is detected by the spindle rotation detection device.

[0131] S36. Determine whether the finger position information and the spindle position information are within the set error range. If yes, proceed to step S37; otherwise, issue an alarm command.

[0132] If the distance measured by the rotating detection element 12 varies significantly each time, it indicates that the repeatability of the two gripping fingers 011 of the electric gripper 01 is poor; if the difference is small, it indicates that the repeatability of the two gripping fingers 011 of the electric gripper 01 is acceptable. Similarly, if the distance measured by the rotating detection element 13 varies significantly each time, it indicates that the repeatability of the two gripping fingers 011 of the electric gripper 01 is poor; if the difference is small, it indicates that the repeatability of the two gripping fingers 011 of the electric gripper 01 is acceptable.

[0133] S37. Repeat steps S31 to S36, and determine whether the number of cycles of steps S31 to S36 exceeds the limit number of cycles. If yes, issue a stop command; otherwise, issue an alarm command.

[0134] Steps S31 to S37 above constitute the full-process fatigue test of the electric gripper to estimate its lifespan and performance at different stages. The full-process fatigue test includes opening / closing fatigue testing and rotational fatigue testing of the electric gripper. Steps S31 to S33 are for the opening / closing fatigue test, and steps S34 to S36 are for the rotational fatigue test. Alternatively, steps S31 to S33 can be performed separately to conduct the opening / closing fatigue test on the electric gripper; or steps S34 to S36 can be performed separately to conduct the rotational fatigue test on the electric gripper.

[0135] The clamping detection components include a finger clamping detection component and a block clamping detection component. The finger clamping detection component is used to detect the clamping force between two fingers, and the block clamping detection component is used to detect the clamping force between two blocks. The electric gripper includes two blocks, which are respectively connected to two fingers. The two blocks drive the corresponding fingers to perform opening and closing actions.

[0136] The performance testing methods for the aforementioned electric grippers also include:

[0137] S41. Obtain the clamping force between the two fingers fed back by the finger clamping detection piece;

[0138] S42. Obtain the clamping force between the two clamping blocks as fed back by the clamping block clamping detection piece;

[0139] S43. Determine whether both the gripping force of the finger and the gripping force of the block are within the set gripping force range; if not, the gripping force of the electric gripper is unqualified and an alarm command is issued.

[0140] Steps S41 to S43 above are pressure tests of the electric gripper. The pressure test has at least three different test scenarios, such as the gripping force test when the two grippers are fully open to closed, the gripping force test when the two grippers are half open to closed, and the different gripping force tests when the two grippers are closed. The test method for each scenario is the same as step S41 to S43, thus verifying the function of the electric gripper.

[0141] In addition, the functional verification of the electric gripper also includes rotation testing and initialization testing. The rotation test of the electric gripper can be performed according to steps S34 to S36 above. There are three test scenarios for the rotation test of the electric gripper: the spindle drives the gripper fingers to rotate 0 degrees, 90 degrees and 180 degrees. Steps S34 to S36 are performed for each test scenario to test the rotation accuracy of the electric gripper under different scenarios.

[0142] This invention discloses a performance testing device for an electric gripper, which, when applied to the aforementioned performance testing method for an electric gripper, has the same beneficial effects.

[0143] The aforementioned performance testing device for electric grippers includes an opening / closing control module, a status acquisition module, a status judgment module, and a loop execution module. The opening / closing control module is used to adjust the stored preset opening / closing state to the target opening / closing state corresponding to the received target opening / closing command, and control the two gripping fingers of the electric gripper to perform the target opening / closing action corresponding to the target opening / closing command. The status acquisition module is used to acquire the current opening / closing state of the two gripping fingers sent by the gripping detection component. The status judgment module is used to determine whether the current opening / closing state is consistent with the target opening / closing state. If yes, proceed to step S14; otherwise, issue an alarm command. The loop execution module is used to repeatedly execute steps S11 to S13, and determine whether the number of loop runs of steps S11 to S13 is greater than the set number of runs. If yes, issue a stop command; otherwise, issue a continue running command.

[0144] As attached Figures 12 to 16 As shown, the electric gripper 01 includes two gripping blocks 012 and two gripping fingers 011. The two gripping blocks 012 are respectively connected to the two gripping fingers 011. The two gripping blocks 012 serve as driving components to drive the two gripping fingers 011 to move, so that the two gripping fingers 011 move closer to each other or separate from each other, thereby enabling the two gripping fingers 011 to close and open respectively.

[0145] As attached Figures 2 to 4 As shown, the performance testing device for the electric gripper 01 also includes a finger gripping detection element 17 and a block gripping detection element 18. The finger gripping detection element 17 is disposed between the two fingers 011 of the electric gripper 01 and is used to detect the gripping force between the two fingers 011. The block gripping detection element 18 is disposed between the two blocks 012 of the electric gripper 01 and is used to detect the gripping force between the two blocks 012. In other words, the present invention simultaneously measures the gripping force between the two fingers 011 and the two blocks 012, and by comparing the gripping force of the fingers 011 and the gripping force of the blocks 012, the gripping accuracy of the electric gripper 01 can be accurately tested. It should be noted that, considering the gripper 011 is mounted on the clamping block 012, and the clamping block clamping detection element 18 is detachable, during measurement, the gripper 011 must first be removed from the clamping block 012, and then the clamping block clamping detection element 18 must be installed between the two clamping blocks 012 to accurately measure the clamping force between the two clamping blocks 012. Both the gripper 011 and the clamping block clamping detection element 18 can be pressure sensors, but are not limited to them.

[0146] As attached Figure 2 and 3As shown, the performance testing device for the aforementioned electric gripper also includes a V-shaped support base 16, a lateral adjustment base 19, a longitudinal adjustment plate 20, and an adjustment locking component 21. The V-shaped support base 16 is fixedly installed and has a V-shaped fixing groove 161. The included angle of the V-shaped fixing groove 161 is 90 degrees, formed by the intersection of a horizontal support surface and a vertical support surface. The clamping fixing base 11 is fixed to one side of the V-shaped fixing groove 161, and the clamping fixing base 11 is specifically fixed to the vertical support surface. This simulates the working condition of the electric gripper 01 clamping the object vertically, which is closer to the actual working scenario of the object being clamped, and the test structure is more accurate. The longitudinal, lateral, and vertical directions in this text refer to the attached... Figure 2 The X-axis, Y-axis and Z-axis directions.

[0147] As attached Figure 2 and 3 As shown, a transverse adjustment groove 162 is provided on the side of the V-shaped fixing groove 161 away from the clamping fixing seat 11. The transverse adjustment seat 19 is slidably disposed in the transverse adjustment groove 162 along the transverse direction, and is used to adjust the position of the finger-clamping detection element 17 between the two fingers 011. The longitudinal adjustment plate 20 is fixedly connected to the finger-clamping detection element 17, and the longitudinal adjustment plate 20 is slidably disposed in the transverse adjustment seat 19 along the longitudinal direction, and is used to adjust the position of the finger-clamping detection element 17 relative to the two fingers 011, so that the finger-clamping detection element 17 is aligned with the two fingers 011. The adjusting locking element 21 is used to lock and fix the longitudinal adjustment plate 20 to the transverse adjustment seat 19, ensuring that the position of the finger-clamping detection element 17 remains unchanged during the test, making the test structure more accurate and the test precision higher. The adjusting locking element 21 can be a ball screw, but is not limited to this. The lateral adjustment seat 19 has a vertical flange that folds along the vertical direction, and the longitudinal adjustment plate 20 has a connecting flange that bends along the vertical direction. The vertical flange and the connecting flange are parallel and opposite to each other, and the two are fixed together by the adjusting locking member 21. Of course, the connection method between the lateral adjustment seat 19 and the longitudinal adjustment plate 20 is not limited to this.

[0148] As attached Figures 4 to 8 As shown, the performance testing device for the electric gripper 01 also includes a sliding adjustment seat 22 and a vertical adjustment seat 23. The sliding adjustment seat 22 is fixedly connected to the clamping and testing component 18. The vertical adjustment seat 23 is L-shaped and includes a vertically connected longitudinal support portion 231 and a vertical connecting portion 232, as shown in the attached figure. Figure 11As shown, the longitudinal support portion 231 is connected to the sliding adjustment seat 22 and provides support for the clamping detection element 18. The vertical connection portion 232 is fixedly connected to the clamping fixing seat 11. The longitudinal support portion 231 is provided with a sliding adjustment hole 2311, through which a sliding locking element 2312 passes. The sliding locking element 2312 is fixedly connected to the sliding adjustment seat 22, which can both adjust the position of the sliding adjustment seat 22 relative to the vertical adjustment seat 23 in the longitudinal direction and lock the sliding adjustment seat 22 onto the vertical adjustment seat 23, ensuring that the clamping detection element 18 is reliably installed between the two clamping blocks 012, thus improving versatility and accuracy. (See attached diagram) Figure 11 As shown, the end of the vertical connecting part 232 away from the longitudinal support part 231 is provided with a U-shaped adjusting groove 2321, as shown in the attached figure. Figure 9 As shown, a connecting locking member 2322 passes through the U-shaped adjustment groove 2321, which can both adjust the position of the vertical adjustment seat 23 relative to the clamping and fixing seat 11 in the vertical direction and lock the vertical adjustment seat 23 onto the clamping and fixing seat 11. The U-shaped adjustment groove 2321 reduces the difficulty of disassembling and assembling the vertical adjustment seat 23, and facilitates the removal of the vertical adjustment seat 23 and the clamping block holding the detection piece 18 mounted on the sliding adjustment seat 22 from the clamping and fixing seat 11, thereby improving testing efficiency.

[0149] As attached Figure 9 As shown, the right side baffle 113 of the clamping and fixing seat 11 forms a limiting groove 116. The vertical connecting part 232 is slidably engaged with the limiting groove 116. The limiting groove 116 can guide the vertical adjusting seat 23 to move vertically and prevent the vertical mounting seat from tilting during assembly, thus affecting the test accuracy. The connecting locking part 2322 passes through the U-shaped adjusting groove 2321 and abuts against the limiting groove 116 to improve both the ease of disassembly and assembly and the reliability of the connection.

[0150] The aforementioned performance testing device for the electric gripper also includes a gripper finger rotation detection element 12, a spindle rotation detection element 13, and a clamping and fixing base 11. The clamping and fixing base 11 is fixedly installed to clamp and fix the electric gripper 01. This ensures that the gripper fingers 011 of the electric gripper 01 can rotate normally with the spindle during the test, that the two gripper fingers 011 can open and close normally during the test, and that the outer shell of the electric gripper 01 remains fixed, thus preventing the electric gripper 01 from malfunctioning during the test and affecting the accuracy of the test results.

[0151] As attached Figures 5 to 8As shown, the clamping and fixing base 11 includes a U-shaped base plate 111, a left side baffle 112, a right side baffle 113, a left side clamping member 114, and a right side clamping member 115. The U-shaped base plate 111 is fixed to one side of the V-shaped fixing groove 161. The U-shaped base plate 111 is used to increase the distance between the electric gripper 01 and the vertical support surface of the V-shaped support base 16, so that space is reserved between the U-shaped base plate 111 and the V-shaped support base 16 to prevent collision interference when the two gripping fingers 011 of the electric gripper 01 rotate or open and close. The U-shaped base plate 111 has symmetrical fixing flanges on both sides. The fixing flanges are close to the vertical support surface and are fixed to the V-shaped support base 16 by fastening screws. The left baffle 112 and the right baffle 113 are symmetrically fixed on both sides of the U-shaped base plate 111. The right baffle 113 and the left baffle 112 form a clamping groove to accommodate the electric gripper 01, thus vertically fixing the electric gripper 01. Both the left baffle 112 and the right baffle 113 can be U-shaped to increase strength and prevent bending deformation that would prevent the electric gripper 01 from being properly clamped. The left clamping member 114 is fixed to the left baffle 112, and the right clamping member 115 is fixed to the right baffle 113. The right clamping member 115 and the left clamping member 114 cooperate to press and fix the electric gripper 01 in the clamping groove. Both the left clamping member 114 and the right clamping member 115 can be conventional clamps to facilitate the installation and removal of the gripper from the clamping groove, making operation more convenient and improving testing efficiency. Of course, the structure of the left clamping member 114 and the right clamping member 115 is not limited to this.

[0152] As attached Figure 7 As shown, the U-shaped base plate 111 is fixed with at least one positioning pin 1111. The positioning pin 1111 cooperates with the structural hole provided on one side of the electric gripper 01 to restrict the position of the electric gripper 01 in the clamping groove and restrict the electric gripper 01 from moving arbitrarily relative to the clamping groove due to gravity and other factors during the clamping process, so as to make the test accuracy more accurate.

[0153] The finger rotation detection element 12 is detachably connected to the first side of the clamping base 11, and the spindle rotation detection element 13 is detachably connected to the second side of the clamping base 11. In other words, the finger rotation detection element 12 and the spindle rotation detection element 13 are respectively located on both sides of the clamping base 11 to align different parts of the electric gripper 01. This detachable connection between the finger rotation detection element 12 and the spindle rotation detection element 13 facilitates replacement and allows for flexible adjustment of the two detection elements' positions, compensating for assembly errors in the electric gripper 01.

[0154] As attached Figures 2 to 4As shown, the gripper rotation detection element 12 is aligned with the two grippers 011 of the electric gripper 01, and is used to detect the position of the two grippers 011 of the electric gripper 01 when the electric gripper 01 rotates. The spindle rotation detection element 13 is aligned with the spindle of the electric gripper 01, and is used to detect the position of the spindle of the electric gripper 01 when the electric gripper 01 rotates. Both the gripper rotation detection element 12 and the spindle rotation detection element 13 can be laser displacement sensors, but are not limited to this; for example, they can also be ultrasonic sensors, etc.

[0155] When the electric gripper 01 rotates, the gripper finger rotation detection element 12 detects the position of the two gripper fingers 011 of the electric gripper 01, while the spindle rotation detection element 13 detects the spindle position of the electric gripper 01. The gripper finger rotation detection element 12 feeds back the gripper finger 011 position information to the information processor, and the spindle rotation detection element 13 feeds back the spindle position information to the information processor. The information processor receives the signals fed back by the gripper finger rotation detection element 12 and the spindle rotation detection element 13. By measuring the signal fed back by the rotation detection element 12 multiple times, if the distance measured each time differs greatly, it indicates that the repeatability of the two gripper fingers 011 of the electric gripper 01 is poor; if the difference is small, it indicates that the rotation accuracy of the two gripper fingers 011 of the electric gripper 01 is acceptable. Similarly, by measuring the signal fed back by the rotation detection element 13 multiple times, if the distance measured each time differs greatly, it indicates that the repeatability of the two gripper fingers 011 of the electric gripper 01 is poor; if the difference is small, it indicates that the rotation accuracy of the two gripper fingers 011 of the electric gripper 01 is acceptable.

[0156] By rationally arranging the positions of the gripper rotation detection component 12 and the spindle rotation detection component 13 relative to the electric gripper 01, the present invention obtains more accurate position information and can accurately test the rotational accuracy of the electric gripper 01.

[0157] As attached Figure 4 As shown, the performance testing device for the electric gripper 01 also includes an adjustable bracket 14. The adjustable bracket 14 is detachably connected between the gripper rotation detection element 12 and the clamping fixing seat 11. It is used to adjust the position of the gripper rotation detection element 12 relative to the clamping fixing seat 11, so as to flexibly adjust the position of the gripper rotation detection element 12 and make the gripper rotation detection element 12 adaptable to electric grippers 01 of different specifications or different installation methods, with good adaptability.

[0158] The electric gripper 01 can adjust the position of the rotating detection element 12 in a single longitudinal, transverse, and vertical direction, ensuring that the rotating detection element 12 is aligned with the two gripping fingers 011 of the electric gripper 01, thus improving testing accuracy. (See attached image) Figure 10As shown, the adjustable bracket 14 includes an L-shaped support plate 141, an L-shaped bearing rod 142, an L-shaped connecting rod 143, a longitudinal adjustment component 144, a transverse adjustment component 145, and a vertical adjustment component 146. The bottom end of the L-shaped support plate 141 is fixedly connected to the finger-clamping rotation detection component 12, the L-shaped bearing rod 142 is detachably connected to the clamping fixing seat 11, and the L-shaped connecting rod 143 is detachably connected between the L-shaped support plate 141 and the L-shaped bearing rod 142.

[0159] A longitudinal adjustment assembly 144 is disposed between the L-shaped support rod 142 and the clamping fixing seat 11, and is used to adjust the position of the L-shaped support rod 142 relative to the clamping fixing seat 11 in the longitudinal direction. The longitudinal adjustment assembly 144 includes a longitudinal oblong hole disposed in the L-shaped support rod 142, a plurality of longitudinal adjustment holes disposed in the bottom end of the right side baffle 113 of the clamping fixing seat 11 in the longitudinal direction, and a longitudinal locking member passing through the longitudinal oblong hole and selectively fixed to the longitudinal adjustment hole.

[0160] A lateral adjustment assembly 145 is disposed between the L-shaped support rod 142 and the L-shaped connecting rod 143, and is used to adjust the position of the L-shaped connecting rod 143 relative to the L-shaped support rod 142 in the lateral direction. The lateral adjustment assembly 145 includes a lateral waist-shaped hole disposed in the L-shaped connecting rod 143, a plurality of lateral adjustment holes disposed in the lateral direction at the end of the L-shaped support rod 142 away from the longitudinal waist shape, and a lateral locking member passing through the lateral waist-shaped hole and selectively fixed to one of the lateral adjustment holes.

[0161] A vertical adjustment assembly 146 is disposed between the L-shaped connecting rod 143 and the L-shaped support plate 141, and is used to adjust the position of the L-shaped support plate 141 relative to the L-shaped connecting rod 143 in the vertical direction. The vertical adjustment assembly 146 includes a vertical waist-shaped hole disposed at the end of the L-shaped connecting rod 143 away from the transverse waist-shaped hole, a plurality of vertical adjustment holes disposed in the L-shaped support plate 141 in the vertical direction, and a vertical locking member passing through the vertical waist-shaped hole and selectively fixed to the vertical adjustment hole.

[0162] The performance testing device for the electric gripper 01 also includes an adjusting base 15. The adjusting base 15 is detachably connected between the spindle rotation detection element 13 and the clamping base 11. It is used to adjust the position of the spindle rotation detection element 13 longitudinally relative to the clamping base 11, ensuring that the spindle rotation detection element 13 is aligned with the spindle of the electric gripper 01. This allows the spindle rotation detection element 13 to adapt to different specifications of electric grippers 01, improving the overall adaptability of the testing device. Specifically, the adjusting base 15 is L-shaped, with the spindle rotation detection element 13 fixed to its bottom. The bottom of the left side baffle 112 of the clamping base 11 has an elongated slot. The adjusting base 15 has at least one adjusting hole, and a limiting lock element passes through the elongated slot. One of the limiting lock elements passes through the adjusting hole, reliably fixing the adjusting base 15 to the clamping base 11. Of course, the fixing method of the spindle rotation detection element 13 is not limited to this.

[0163] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0164] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A performance testing method for an electric gripper, characterized in that the steps include... include: S11. According to the received target opening and closing command, adjust the stored set opening and closing state to the target opening and closing state corresponding to the target opening and closing command, and control the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command. S12. Obtain the current opening / closing state of the two gripping fingers sent by the gripping detection component; S13. Determine whether the current opening / closing state is consistent with the target opening / closing state. If yes, proceed to step S14; otherwise, issue an alarm command. S14. Repeat steps S11 to S13, and determine whether the number of times steps S11 to S13 have been run is greater than the set number of runs. If yes, issue a stop command; otherwise, issue a continue command. The target opening and closing command includes a holding closing command and a holding opening command, the clamping detection element includes a finger clamping detection element, and the steps include: S111. Based on the received object-holding closing instruction, adjust the set opening / closing state to the object-holding closing state, and control the two gripping fingers to perform the object-holding closing action; S121. Obtain the current closing state of the two fingers sent by the finger clamping detection device; S131. Determine whether the current closed state is consistent with the object-holding closed state. If yes, the two gripping fingers clamp the object and proceed to step S112; otherwise, issue an alarm command. S112. According to the received object opening instruction, adjust the set opening state to the object opening state, and control the two gripping fingers to perform the object opening action. S122. Obtain the current open state of the two fingers sent by the finger gripping detection device; S132. Determine whether the current open state is consistent with the open state of the object being held. If yes, the two gripping fingers release the object being held and proceed to step S141; otherwise, issue an alarm command. S141. Repeat steps S111 to S132, and determine whether the number of cycles of steps S111 to S132 is greater than the set number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

2. The performance testing method for the electric gripper according to claim 1, characterized in that, The target opening and closing command includes a clamp closing command and a clamp opening command, and the clamping detection element includes a clamping finger clamping detection element. The steps include: S113. According to the received empty clamp closing command, adjust the set opening and closing state to the empty clamp closing state, and control the two clamp fingers to perform the empty clamp closing action. S123. Obtain the current closing state of the two gripping fingers sent by the gripping finger detection device; S133. Determine whether the current closed state is consistent with the empty clamp closed state. If yes, the two clamping fingers have not clamped the object and proceed to step S114; if no, issue an alarm command. S114. According to the received empty clamp opening command, adjust the set opening and closing state to the empty clamp opening state, and control the two clamp fingers to perform the empty clamp opening action. S124. Obtain the current open state of the two fingers sent by the finger clamping detection device; S134. Determine whether the current open state is consistent with the open state of the empty clamp. If yes, the two clamping fingers have not clamped the object and proceed to step S142; if no, issue an alarm command. S142. Repeat steps S113 to S134, and determine whether the number of times steps S113 to S134 have been run is greater than the set number of runs. If yes, issue a stop command; otherwise, issue a continue command.

3. The performance testing method for the electric gripper according to claim 1, characterized in that, The steps also include: S21. According to the received initialization instruction, initialize the stored setting parameter value to the target initial parameter value; S22. After a preset time period, read the actual initial parameter values; S23. Determine whether the actual initial parameter value corresponds to the target initial parameter value. If yes, reset the set parameter value and proceed to step S24; otherwise, issue an alarm command. S24. Repeat steps S21 to S23, and determine whether the number of cycles of steps S21 to S23 is greater than the preset number of cycles. If yes, issue a stop command; otherwise, issue a continue command.

4. The performance testing method for the electric gripper according to any one of claims 1 to 3, characterized in that, The steps also include: S31. Based on the received set closing instruction, control the two clamping fingers to perform the set closing action; S32. According to the received setting opening command, control the two clamping fingers to perform the setting opening action; S33. Repeat steps S31 to S32, and determine whether the number of cycles in steps S31 to S32 has reached the specified number of cycles. If yes, proceed to step S34; otherwise, send a continue running command. S34. According to the received set rotation command, control the main shaft of the electric gripper to drive the two gripping fingers to rotate; S35. Obtain the finger position information fed back by the finger rotation detection component and the spindle position information fed back by the spindle rotation detection component; S36. Determine whether the finger position information and the spindle position information are within the set error range. If yes, proceed to step S37; otherwise, issue an alarm command. S37. Repeat steps S31 to S36, and determine whether the number of cycles of steps S31 to S36 exceeds the limit number of cycles. If yes, issue a stop command; otherwise, issue an alarm command.

5. The performance testing method for the electric gripper according to any one of claims 1 to 3, characterized in that, The clamping detection element includes a finger clamping detection element and a block clamping detection element; the electric gripper includes two blocks, each of which is connected to one of the two fingers; the step further includes: S41. Obtain the finger clamping force between the two fingers fed back by the finger clamping detection element; S42. Obtain the clamping force between the two clamping blocks fed back by the clamping block clamping detection component; S43. Determine whether both the clamping force of the finger and the clamping force of the clamping block are within the set clamping force range; if not, issue an alarm command.

6. A performance testing device for an electric gripper, characterized in that, The performance testing method for the electric gripper as described in any one of claims 1 to 5.

7. The performance testing device for the electric gripper according to claim 6, characterized in that, include: The opening and closing control module is used to adjust the stored preset opening and closing state to the target opening and closing state corresponding to the target opening and closing command according to the received target opening and closing command, and control the two gripping fingers of the electric gripper to perform the target opening and closing action corresponding to the target opening and closing command. The status acquisition module is used to acquire the current opening and closing status of the two gripping fingers sent by the gripping detection component; The status judgment module is used to determine whether the current opening and closing state is consistent with the target opening and closing state. If yes, proceed to step S14; otherwise, issue an alarm command. The loop execution module is used to repeatedly execute steps S11 to S13, and determine whether the number of loop runs of steps S11 to S13 is greater than the set number of runs. If yes, a stop command is issued; otherwise, a continue execution command is issued.

8. The performance testing device for the electric gripper according to claim 7, characterized in that, The clamping detection element includes a finger clamping detection element for detecting the clamping force between the two clamping fingers, and further includes: V-shaped support base, the V-shaped support base is fixedly installed and has a V-shaped fixing groove, and a transverse adjustment groove is provided on one side of the V-shaped fixing groove; A lateral adjustment seat, which is slidably disposed in the lateral adjustment groove; A longitudinal adjustment plate is fixedly connected to the finger gripping detection element, and the longitudinal adjustment plate is slidably disposed on the transverse adjustment seat along the longitudinal direction; An adjusting locking member is used to lock and fix the longitudinal adjusting plate to the transverse adjusting seat.

9. The performance testing device for the electric gripper according to claim 8, characterized in that, The clamping detection element includes a clamping block clamping detection element for detecting the clamping force between the two clamping blocks of the electric gripper, wherein the two clamping blocks are respectively connected to the two clamping fingers, and further includes: A sliding adjustment seat, wherein the sliding adjustment seat is fixedly connected to the clamping detection element of the clamping block; A vertical adjustment seat, comprising a longitudinal support portion and a vertical connecting portion connected vertically, wherein a sliding adjustment hole of the longitudinal support portion is provided with a sliding locking member fixedly connected to the sliding adjustment seat; and a U-shaped adjustment groove of the vertical connecting portion is provided with a connecting locking member for locking and fixing the vertical adjustment seat along the vertical direction.

10. The performance testing device for the electric gripper according to claim 8, characterized in that, It also includes a gripper rotation detection element for detecting the rotational position of the two gripper fingers and a spindle rotation detection element for detecting the spindle rotational position of the electric gripper, and further includes: A clamping and fixing seat is fixedly disposed on the side of the V-shaped fixing groove away from the transverse adjustment groove; the clamping and fixing seat is used to clamp and fix the electric gripper. An adjustable bracket, one end of which is detachably connected to the clamping and fixing seat and the other end of which is suspended from the finger-clamping rotation detection element, the adjustable bracket being used to adjust the position of the finger-clamping rotation detection element relative to the clamping and fixing seat; An adjusting fixing seat is detachably fixed to the side of the clamping fixing seat away from the adjustable bracket. The adjusting fixing seat is used to adjust the position of the spindle rotation detection element relative to the clamping fixing seat.

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