A test bench for testing the structural performance of a mechanical gripper

Abstract

The present invention discloses a test bench for testing the structural performance of a manipulator claw, which belongs to the technical field of manipulator testing, and comprises a test bench unit, wherein a manipulator unit is arranged on the test bench unit, a clamping unit is arranged on one side of the test bench unit, a trunk sample is arranged on the clamping unit, and a damping support unit is arranged in the test bench unit; the damping support unit comprises a mounting plate and an annular track, a sliding seat is slidably connected to the upper surface of the mounting plate, a slider 1 is slidably connected to the sliding seat, a plurality of sliders 2 are slidably connected to the annular track, and a damping member is arranged between the slider 2 and the slider 1. The clamping unit can be used to fix trunk samples of different sizes, and has a wide range of applications. The damping support unit can be used to adjust the tensile strength and direction of the bottom of the trunk sample as needed, thereby improving the authenticity of the simulation and the accuracy of the manipulator unit test.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator testing, in particular to a manipulator claw structure performance testing bench. Background Art

[0002] Fruit picking is a key link in agricultural production, especially in large-scale fruit cultivation. Improving picking efficiency and reducing manpower input has become an urgent need. Although traditional mechanical picking methods can replace manual operations to a certain extent, they still face many technical challenges in an environment with different tree shapes and complex fruit distribution. Therefore, clamping the trunk with a clamp and applying vibration force to the trunk with a vibration device to achieve automatic fruit shedding is a relatively efficient method.

[0003] Existing robotic grippers often show several defects in the process of transmitting vibration force and cannot achieve the ideal picking effect. Therefore, after the production of the robotic gripper is completed, the performance of the robotic gripper needs to be tested to determine its clamping strength on the tree to effectively transmit the vibration force and ensure stability under excitation conditions. Common test benches for testing robotic grippers mostly test the clamping force, stability and other aspects of the robotic gripper. However, when the robotic gripper is actually used, it is clamped on the tree and then the high-frequency rotary motor pulls the robotic gripper to vibrate the fruit tree. However, the fruit trees are planted in the land. When testing the robotic gripper, the existing test bench has a low simulation degree for the fruit tree, which results in the measured structure being inaccurate. Summary of the invention

[0004] The purpose of the present invention is to provide a test bench for testing the structural performance of a mechanical gripper to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a test bench for testing the structural performance of a manipulator claw, comprising a test bench unit, a manipulator unit is arranged on the test bench unit, a clamping unit is arranged on one side of the test bench unit, a trunk sample for assisting the manipulator unit in testing is arranged on the clamping unit, a damping support unit for providing resistance to the trunk sample is arranged in the test bench unit; the damping support unit comprises a mounting plate and an annular track, the upper surface of the mounting plate is slidably connected to a slide seat via an annular slide rail, a slider 1 is slidably connected to the slide seat via a slide groove 2, the annular track is located above the middle of a plurality of slide seats, a plurality of sliders 2 are slidably connected to the annular track, and a damping member is arranged between the slider 2 and the slider 1.

[0006] Preferably, the test bench unit comprises a mounting table, and a laser displacement sensor is arranged on one side of an upper surface of the mounting table via a frame.

[0007] Preferably, the manipulator unit comprises a control box and a high-frequency rotary motor, a rope is wound around the output end of the high-frequency rotary motor, a clamping claw for clamping the trunk sample is provided at the end of the rope, and a tension sensor is provided on the rope.

[0008] Preferably, the clamping unit includes a bearing seat, a sphere is sleeved on the top of the bearing seat, a clamping seat is arranged on the top of the sphere, a notch is opened on the upper surface of the clamping seat for placing the trunk sample, a plurality of movable plates are slidably connected to the upper surface of the clamping seat through a plurality of slide grooves, a threaded column is threadedly connected to the movable plates, the end of the threaded column extends out of the clamping seat and is provided with a rocker arm, a connecting arm is arranged on the top of the movable plate, the end of the connecting arm extends into the notch and is provided with a clamping plate.

[0009] Preferably, an extension arm is provided at the top of the connecting arm, a threaded screw is threadedly connected to the extension arm, an extrusion seat is provided at the bottom end of the threaded screw, and a ring body corresponding to the extrusion seat is provided on the trunk sample.

[0010] Preferably, the damping member includes a spring, each end of the spring is provided with a connecting ring, each of the connecting rings is rotatably connected to an adjusting ring, each of the adjusting rings is threadedly connected to an adjusting screw, one end of the adjusting screw is connected to slider one, and the other end of the adjusting screw is provided with a connecting seat, the connecting seat is provided with a buckle, and the buckle is sleeved with slider two.

[0011] Preferably, a limiting ring is provided on the upper surface of the annular slide rail, a groove corresponding to the limiting ring is provided on the slide seat, a plurality of limiting holes are provided on the limiting ring, and limiting bolts corresponding to the limiting holes are threadedly connected on the slide seat.

[0012] Preferably, a plurality of positioning holes are formed on the slide seat, and positioning pins corresponding to the positioning holes are inserted on the slide block.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] When conducting the test, the staff selects a suitable trunk sample and inserts it into the clamping unit for fixation, and then connects the manipulator unit to the trunk sample for testing. By setting the clamping unit, trunk samples of different sizes can be fixed, and the application range is wide. By setting the damping support unit, the tension strength and direction of the bottom of the trunk sample can be adjusted as needed, thereby improving the realism of the simulation and the accuracy of the manipulator unit test; by setting an annular slide rail, a slide seat, an annular track, a slider 2 and a damping member, the tension direction of the damping member on the bottom of the trunk sample can be adjusted as needed, and then under the action of the damping member, the tension strength on the bottom of the trunk sample can be adjusted, thereby improving the realism of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a cross-sectional view of the overall structure of the present invention;

[0017] Figure 3 It is a schematic diagram of the structure inside the test bench unit of the present invention;

[0018] Figure 4 It is a structural schematic diagram of the clamping unit of the present invention;

[0019] Figure 5 It is a structural disassembly diagram of the clamping unit of the present invention;

[0020] Figure 6 It is a structural schematic diagram of the damping support unit of the present invention;

[0021] Figure 7 It is a structural exploded view of the slide seat of the present invention.

[0022] In the figure:

[0023] 100. test bench unit; 101. mounting table; 102. frame; 103. laser displacement sensor;

[0024] 200, manipulator unit; 201, control box; 202, high-frequency rotary motor; 203, rope; 204, gripper;

[0025] 300, clamping unit; 301, bearing seat; 302, reinforcing rib; 303, sphere; 304, clamping seat; 305, slideway 1; 306, moving plate; 307, threaded column; 308, rocker arm; 309, connecting arm; 310, clamping plate; 311, extension arm; 312, threaded screw rod; 313, extrusion seat;

[0026] 400, tree trunk specimen;

[0027] 500, damping support unit; 501, mounting plate; 502, annular slide rail; 503, slide seat; 504, limiting ring; 505, limiting hole; 506, limiting bolt; 507, slide groove 2; 508, slide block 1; 509, positioning hole; 510, positioning pin; 511, annular track; 512, slide block 2; 513, spring; 514, connecting ring; 515, adjusting ring; 516, adjusting screw; 517, connecting seat; 518, buckle. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-Figure 7 , the present invention provides a technical solution:

[0030] like Figure 1-Figure 3 As shown, a test bench for testing the structural performance of a manipulator gripper comprises a test bench unit 100, a manipulator unit 200, a clamping unit 300, a tree trunk sample 400 and a damping support unit 500. The manipulator unit 200 is arranged on one side of the upper surface of the test bench unit 100, and the tree trunk sample 400 is located on the other side of the upper surface of the test bench unit 100. The clamping unit 300 is arranged in the test bench unit 100 and is used to clamp and fix the tree trunk sample 400. By setting the clamping unit 300, tree trunk samples 400 of different sizes can be fixed, and the application range is wide. The damping support unit 500 is arranged on the test bench unit 100 and is located below the clamping unit 300. The damping support unit 500 applies a pulling force to the clamping unit 300, so that when the manipulator unit 200 excites the trunk sample 400, the damping support unit 500 can simulate the reaction force applied to the manipulator unit 200 in a bent state of the fruit tree, thereby improving the authenticity of the simulation and the accuracy of the test of the manipulator unit 200. The trunk sample 400 is made of a material with a hardness close to that of the fruit tree, so that when the clamping unit 300 clamps the trunk sample 400, it can be tested whether the clamping unit 300 will cause damage to the surface of the fruit tree.

[0031] like Figure 2 As shown, the test bench unit 100 includes a mounting platform 101 , and a laser displacement sensor 103 is disposed on one side of the upper surface of the mounting platform 101 through a frame 102 .

[0032] like Figure 1As shown, the manipulator unit 200 includes a control box 201 and a high-frequency rotary motor 202 , a rope 203 is wound around the output end of the high-frequency rotary motor 202 , a clamp 204 for clamping the trunk sample 400 is provided at the end of the rope 203 , and a tension sensor is provided on the rope 203 .

[0033] It should be noted that the control box 201 is electrically connected to the high-frequency rotary motor 202, the laser displacement sensor 103, the tension sensor and the clamp 204 through wires. The laser displacement sensor 103 measures the displacement change, vibration amplitude, frequency and other parameters of the trunk sample 400 and detects surface defects such as scratches, pits, protrusions, etc. The tension sensor is used to feedback to the control box 201 the size of the tension applied by the clamp 204 to the trunk sample 400 during the test. Through the coordination of the above-mentioned structures, it is possible to effectively test whether the clamping of the trunk sample 400 by the clamp 204 will cause damage while ensuring the clamping strength, and whether it can effectively transmit vibration force to the trunk sample 400 to ensure stability under excitation conditions.

[0034] like Figure 4 and Figure 5 As shown, the clamping unit 300 includes a bearing seat 301, and a plurality of reinforcing ribs 302 are arranged at the bottom of the outer peripheral surface of the bearing seat 301. The reinforcing ribs 302 can improve the stability of the bearing seat 301 and extend its service life. A sphere 303 is sleeved on the top of the bearing seat 301. The sphere 303 can move in the bearing seat 301 in the direction of the force when subjected to force, thereby ensuring the authenticity of the simulation. The top of the sphere 303 has a column, and the top of the column is provided with a clamping seat 304. The horizontal projection of the clamping seat 304 is a circular structure. In actual use, the horizontal projection of the clamping seat 304 can also be a square structure. A notch is opened on the upper surface of the clamping seat 304. When the trunk sample 400 is fixed, the bottom end of the trunk sample 400 is inserted into the notch, and the upper surface of the clamping seat 304 A plurality of movable plates 306 are slidably connected through a plurality of slide grooves 305, and threaded columns 307 are threadedly connected to the movable plates 306. The ends of the threaded columns 307 extend out of the clamping seat 304 and are provided with a rocker arm 308. A connecting arm 309 is provided on the top of the movable plate 306. The ends of the connecting arms 309 extend into the notch and are provided with a splint 310. The abutting surfaces of the splint 310 and the trunk sample 400 are in an arc-shaped structure and have anti-slip grooves. When fixing the trunk sample 400, the threaded columns 307 are rotated by rotating the rocker arm 308 respectively, and the movable plate 306 drives the connecting arm 309 and the splint 310 to move toward the center of the notch under the action of the thread until the splint 310 is tightly fitted with the bottom of the trunk sample 400, thereby completing the preliminary fixing of the trunk sample 400.

[0035] Furthermore, an extension arm 311 is provided at the top of the connecting arm 309, and the extension arm 311 is arranged obliquely. A threaded screw 312 is threadedly connected to the extension arm 311, and the threaded screw 312 is arranged obliquely. An extrusion seat 313 is provided at the bottom of the threaded screw 312, and a ring body corresponding to the extrusion seat 313 is provided on the trunk sample 400. After the preliminary fixation of the trunk sample 400 is completed, the threaded screw 312 is rotated to make the extrusion seat 313 move obliquely downward under the action of the thread until the extrusion seat 313 is fitted with the ring body on the trunk sample 400. By adopting the obliquely arranged extension arm 311 and threaded screw 312, the extrusion seat 313 can not only apply downward force to the trunk sample 400, but also further squeeze the trunk sample 400, so that the trunk sample 400 is closely fitted with the clamping seat 304 to form a nearly integral state, effectively avoiding the shaking of the trunk sample 400 during subsequent testing.

[0036] like Figure 6 and Figure 7 As shown, the damping support unit 500 includes a mounting plate 501 and an annular track 511. The upper surface of the mounting plate 501 is slidably connected to a slide seat 503 through an annular slide rail 502. A slider 1 508 is slidably connected to the slide seat 503 through a slide groove 2 507. The annular track 511 is located above the middle of the plurality of slide seats 503. A plurality of slider 2 512 are slidably connected to the annular track 511. A damping member is arranged between the slider 2 512 and the slider 1 508. By arranging the annular slide rail 502, the slide seat 503, the annular track 511, the slider 2 512 and the damping member, the damping member can be adjusted to the bottom of the trunk specimen 400 as needed. The pulling direction, and then under the action of the damping member, the pulling strength on the bottom of the trunk sample 400 can be adjusted, thereby improving the authenticity of the simulation, and by pushing the slide 503 to move, the direction of the horizontal force applied by the damping member to the clamping unit 300 can be adjusted, and by pushing the slider 2 512, the vertical force applied by the damping member to the clamping unit 300 can be adjusted. By adopting the above method, the reaction force applied by the fruit tree to the manipulator unit 200 when the manipulator unit 200 vibrates the fruit tree when the fruit tree is picked can be simulated, thereby improving the authenticity of the simulation, thereby making the test result more accurate.

[0037] Furthermore, the damping member includes a spring 513, the ends of which are provided with connecting rings 514, the connecting rings 514 are rotatably connected with adjusting rings 515, the adjusting rings 515 are threadedly connected with adjusting screws 516, one end of one adjusting screw 516 is connected to the slider 1 508, the end of the other adjusting screw 516 is provided with a connecting seat 517, the connecting seat 517 is provided with a buckle 518, and the buckle 518 is sleeved with the slider 2 512. When it is necessary to adjust the tensile strength applied by the damping member to the clamping unit 300, the adjusting ring 515 is rotated and the adjusting ring 515 starts to move under the action of the thread, so as to adjust the distance between the two connecting rings 514, thereby realizing the adjustment of the tensile strength applied by the damping member to the clamping unit 300.

[0038] Furthermore, in order to avoid the horizontal pulling force applied by the damping member to the clamping unit 300 to remain unchanged in direction during the test, a limit ring 504 is provided on the upper surface of the annular slide rail 502, a groove corresponding to the limit ring 504 is provided on the slide seat 503, a plurality of limit holes 505 are provided on the limit ring 504, and a limit bolt 506 corresponding to the limit hole 505 is threadedly connected to the slide seat 503. When adjusting, the limit bolt 506 is rotated to separate the limit bolt 506 from the limit hole 505 under the action of the thread, and then the slide seat 503 is pushed to make it start to move under the guidance of the annular slide rail 502. When the slide seat 503 moves to a suitable angle, the limit bolt 506 is rotated in the opposite direction to be inserted into the corresponding limit hole 505 to complete the fixation of the position of the slide seat 503.

[0039] Furthermore, in order to avoid the damping member applying a vertical pulling force to the clamping unit 300 in a constant direction during the test, a plurality of positioning holes 509 are provided on the slide 503, and a positioning pin 510 corresponding to the positioning hole 509 is inserted on the slider 1 508. The cross section of the slide groove 2 507 on the slide 503 includes two parts, one of which is a semi-arc structure and the other is a long structure. The positioning pin 510 is pulled to separate it from the slider 1 508, and then the slider 1 508 is pushed to move in the slide groove 2 507 to adjust the height direction of the slider 1 508. At the same time, the pulling force of the damping member can also be adjusted. When the slider 1 508 moves to a suitable position, the positioning pin 510 is inserted into the corresponding positioning hole 509.

[0040] The workflow of this embodiment is:

[0041] The staff connects the clamp 204 to be tested to the end of the rope 203, then selects a suitable trunk sample 400 and fixes it through the clamping unit 300, and then adjusts the direction and magnitude of the tension applied by the damping member to the clamping unit 300 as needed. After the adjustment is completed, the high-frequency rotary motor 202 is controlled by the control box 201 to start working to excite the trunk sample 400, and then the clamp 204 and the clamping position of the trunk sample 400 by the clamp 204 are monitored through the laser displacement sensor 103 and the tension sensor. After a period of time, the above steps are repeated for multiple tests. In multiple tests, the accuracy of the test of the clamp 204 is improved by changing the style of the trunk sample 400 and the direction and magnitude of the tension applied by the damping member to the clamping unit 300.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper structure performance test bench, comprising a test bench unit, characterized in that: The test bench unit is provided with a manipulator unit, a clamping unit is provided on one side of the test bench unit, a tree trunk sample for assisting the manipulator unit in testing is provided on the clamping unit, and a damping support unit for providing resistance to the tree trunk sample is provided in the test bench unit; The damping support unit includes a mounting plate and an annular track. The upper surface of the mounting plate is slidably connected to a slide seat via an annular slide rail. A slider 1 is slidably connected to the slide seat via a slide groove 2. The annular track is located above the middle of multiple slide seats. Multiple sliders 2 are slidably connected to the annular track. A damping member is arranged between the slider 2 and the slider 1.

2. A mechanical gripper structure performance test bench according to claim 1, characterized in that: The test bench unit comprises a mounting platform, and a laser displacement sensor is arranged on one side of the upper surface of the mounting platform through a frame.

3. A mechanical gripper structure performance test bench according to claim 1, characterized in that: The manipulator unit comprises a control box and a high-frequency rotary motor. A rope is wound around the output end of the high-frequency rotary motor. A clamping claw for clamping a tree trunk sample is arranged at the end of the rope. A tension sensor is arranged on the rope.

4. A mechanical gripper structure performance test bench according to claim 1, characterized in that: The clamping unit includes a bearing seat, a sphere is sleeved on the top of the bearing seat, a clamping seat is arranged on the top of the sphere, a notch is opened on the upper surface of the clamping seat for placing the trunk sample, a plurality of movable plates are slidably connected to the upper surface of the clamping seat through a plurality of slide grooves, a threaded column is threadedly connected to the movable plates, the end of the threaded column extends out of the clamping seat and is provided with a rocker arm, a connecting arm is arranged on the top of the movable plate, the end of the connecting arm extends into the notch and is provided with a clamping plate.

5. A mechanical gripper structure performance test bench according to claim 4, characterized in that: An extension arm is arranged on the top of the connecting arm, a threaded screw rod is threadedly connected to the extension arm, an extrusion seat is arranged at the bottom end of the threaded screw rod, and a ring body corresponding to the extrusion seat is arranged on the trunk sample.

6. A mechanical gripper structure performance test bench according to claim 1, characterized in that: The damping member includes a spring, each end of the spring is provided with a connecting ring, each of the connecting rings is rotatably connected to an adjusting ring, each of the adjusting rings is threadedly connected to an adjusting screw, one end of the adjusting screw is connected to a slider, and the other end of the adjusting screw is provided with a connecting seat, the connecting seat is provided with a buckle, and the buckle is sleeved with the slider.

7. A mechanical gripper structure performance test bench according to claim 6, characterized in that: A limiting ring is arranged on the upper surface of the annular slide rail, a groove corresponding to the limiting ring is provided on the slide seat, a plurality of limiting holes are provided on the limiting ring, and limiting bolts corresponding to the limiting holes are threadedly connected on the slide seat.

8. A mechanical gripper structure performance test bench according to claim 7, characterized in that: The slide seat is provided with a plurality of positioning holes, and the slide block is plugged with positioning pins corresponding to the positioning holes.

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