Testing device for testing grabbing capability of manipulator

Abstract

The invention discloses a test device for testing the grabbing capability of a manipulator, which is applied to the technical field of manipulator performance testing and comprises a test bed, a support frame is bolted to the top of the test bed, and a manipulator grabbing assembly and a test disc are arranged between the test bed and the support frame respectively. The manipulator grabbing assembly is arranged at the top of the test disc, and one side of the top of the supporting frame is in bolted connection with a driving motor. The manipulator grabbing assembly is driven by the lifting column to move up and down on the top of the test bed, and meanwhile the rhombic sliding groove and the rhombic sliding rod are used for driving the sliding rod to rotate. Therefore, the manipulator grabbing assembly is close to the test disc, can be automatically opened to grab the test disc, and is lifted upwards to test the capability of grabbing a heavy object. And the operation convenience is improved, and the maximum grabbing capacity of the manipulator grabbing assembly can be conveniently tested.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulator performance testing, and in particular relates to a test device for testing the grasping ability of a manipulator. Background Art

[0002] The manipulator is the end-point of an industrial robot, which can grab and carry goods, thus replacing manual work. The key performance of the manipulator, such as the maximum grabbing force of heavy objects, requires rigorous testing using specialized equipment to ensure the safety and reliability of the manipulator when grabbing heavy objects.

[0003] At present, a Chinese invention with the announcement number CN117841050B discloses a test device for testing the grasping ability of a manipulator. However, the existing test device generally installs a tension sensor inside the claw or grasping structure of the manipulator to be tested. When the manipulator to be tested lifts the object upward, the sensor measures and records the grasping force of the manipulator. However, in this test method, after the manipulator exceeds the maximum grasping force, the grasped object will detach from the manipulator, so it is not convenient to observe and the test accuracy is poor. At the same time, when the manipulator lifts up and down to grasp the object, it is impossible to automatically clamp and loosen the grasped object, so it is more troublesome to operate and the grasping stability is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a test device for testing the grasping ability of a manipulator, which has the advantage that the manipulator can automatically open to grasp the test disc and lift it upward for testing and support and limit the grasping height of the test disc, which is convenient for observation.

[0005] The above technical purpose of the present invention is achieved through the following technical scheme: a test device for testing the grasping ability of a manipulator, comprising a test bench, the top of which is bolted to a support frame, a manipulator grasping assembly and a test disc are respectively arranged between the test bench and the support frame, the manipulator grasping assembly is arranged on the top of the test disc, and a drive motor is bolted to one side of the top of the support frame.

[0006] The above technical solution is adopted, and the manipulator grasping assembly is driven to move up and down on the top of the test bench by the lifting column, and the sliding rod is driven to rotate by the diamond slide and the diamond slide rod. As a result, the manipulator grasping assembly can automatically open when close to the test disc to grasp the test disc and lift it upward to test the ability to grasp heavy objects. Improve the convenience of operation and facilitate the grasping ability test of the manipulator. The manipulator grasping assembly drives the test disc to move upward to overcome the elastic force of the pressure spring. When the sliding piston moves upward, the greater the reverse thrust generated by the pressure spring, the more difficult it is to lift it, so as to test the maximum grasping force of the manipulator grasping assembly. At the same time, by injecting the liquid medium inside the liquid tank into the inner slide, and then loosening between the grasping splint and the test disc, the liquid medium can support the height of the test disc and accurately observe the grasping height.

[0007] The present invention is further configured as follows: the manipulator grasping assembly includes a mounting seat, the interior of the mounting seat is symmetrically rotatably connected with four clamping screws, the surfaces of the four clamping screws are threadedly sleeved with screw sleeves, the bottom of the screw sleeve is welded with a connecting rod slidably connected to the mounting seat, the bottom of the connecting rod is bolted with a grasping splint, the ends of the four clamping screws close to each other are welded with a second bevel gear, the top of the inner cavity of the mounting seat is rotatably connected with a first bevel gear that meshes with the four second bevel gears respectively, and the top of the first bevel gear is welded with a diamond socket.

[0008] By adopting the above technical solution, the diamond-shaped socket is driven to rotate by the diamond-shaped plug block, so that the first bevel gear and the four second bevel gears are meshed and transmitted, thereby driving the four clamping screws to rotate synchronously and engage with the screw sleeve threads, so that the grabbing clamp can grab the surface of the test disc.

[0009] The present invention is further configured as follows: a lifting mechanism for cooperating with a manipulator grasping assembly is installed at the bottom of the support frame, and the lifting mechanism includes a lifting column slidably connected to the inside of the support frame, and a limiting groove slidably connected to the support frame is opened on one side of the surface of the lifting column, and the bottom of the lifting column is welded with a mounting plate bolted to the top of the mounting seat, and the internal thread of the lifting column is connected to a first threaded rod rotatably connected to the support frame, and the top of the first threaded rod is welded with a third bevel gear, and the output end of the driving motor is fixedly sleeved with a fourth bevel gear meshing with the third bevel gear, and the first threaded rod and the third bevel gear are slidably connected to the mounting plate through the inside of the first threaded rod and the third bevel gear. The bottom of the sliding rod is welded with a diamond plug block slidably plugged in with the diamond socket, and the top of the sliding rod is welded with a diamond sliding rod, and the top of the third bevel gear is provided with a diamond sliding groove slidably plugged in with the diamond sliding rod.

[0010] By adopting the above technical solution, the fourth bevel gear is driven by the driving motor to rotate and mesh with the third bevel gear, so that the first threaded rod rotates inside the support frame and meshes with the lifting column, driving the lifting column to move up and down, so that the manipulator grasping assembly can lift the test disc.

[0011] The present invention is further configured as follows: a boosting mechanism used in conjunction with a test disc is installed inside the test bench, the boosting mechanism includes a connecting column slidably connected to the inside of the test bench, the top of the connecting column and the bottom of the test disc are bolted to each other, an inner slide groove is provided inside the test bench, a sliding piston slidably connected to the inside of the inner slide groove is bolted to the bottom of the connecting column, liquid grooves are also provided on both sides of the inside of the test bench, the inside of the liquid groove is filled with liquid medium, a connecting hole is provided between the inner slide groove and the liquid groove, positioning rods welded to the test bench are penetrated and slidably connected to both sides of the sliding piston, and the surfaces of the positioning rods are sleeved with pressure springs bolted to the sliding pistons respectively.

[0012] By adopting the above technical solution, the connecting column drives the sliding piston to slide inside the inner slide groove to squeeze the pressure spring. When the sliding piston moves upward, the reverse thrust generated by its pressure spring becomes greater, and therefore it becomes more difficult to lift, thereby testing the maximum gripping force of the manipulator gripping assembly.

[0013] The present invention is further configured such that: an exhaust groove used in conjunction with the sliding piston is provided on one side of the surface of the connecting column.

[0014] By adopting the above technical solution, the air pushed out from the interior of the connecting column after the sliding piston slides upward can be discharged through the exhaust groove.

[0015] The present invention is further configured as follows: locking mechanisms are also installed on both sides of the boosting mechanism, and the locking mechanisms include linear racks bolted symmetrically to both sides of the connecting column, and the two linear racks are respectively bolted to both sides of the connecting column close to the positioning rod, and both sides of the top of the connecting column are respectively provided with a disc gear and a fifth bevel gear rotatably connected to the test bench, and one side of the disc gear and the fifth bevel gear are bolted with a synchronous wheel, and the surface transmission sleeves of the two synchronous wheels are connected with a synchronous belt, and the connecting column is meshed with the disc gear through the linear rack.

[0016] By adopting the above technical solution, when the connecting column slides upward, it will drive the linear rack to mesh with the disc gear, and the disc gear will transmit the fifth bevel gear through the synchronous wheel and the synchronous belt, so that the fifth bevel gear will rotate inside the test bench.

[0017] The present invention is further configured as follows: the side of the fifth bevel gear away from the disc gear is also meshed with a sixth bevel gear rotatably connected to the test bench, the bottom of the sixth bevel gear is bolted with a second threaded rod, the surface of the second threaded rod is threadedly sleeved with a threaded barrel, and the bottom of the threaded barrel is bolted with a pushing piston slidably connected to the inside of the liquid tank.

[0018] By adopting the above technical solution, the fifth bevel gear is meshed with the sixth bevel gear, thereby driving the second threaded rod to rotate and engage with the thread of the threaded barrel, so that the threaded barrel pushes the pushing piston to slide downward inside the fifth bevel gear, and the liquid medium inside the fifth bevel gear is pushed into the connecting column through the connecting hole to support the test disc.

[0019] The present invention is further configured as follows: the surfaces of the sliding piston and the pushing piston are both bonded with sealing rings which are respectively slidably connected with the inner sliding groove and the inner wall of the liquid groove.

[0020] By adopting the above technical solution, the sealing performance of the surfaces of the sliding piston and the pushing piston is improved, and the leakage of the liquid medium is prevented.

[0021] The present invention is further configured as follows: a conical block used in conjunction with the diamond-shaped slide groove is welded to the bottom of the diamond-shaped slide rod, the internal thread of the mounting plate is connected with a fastening bolt, and the mounting plate is bolted to the mounting seat through the fastening bolt.

[0022] The above technical solution facilitates the sliding of the diamond slide bar into the diamond slide groove, reducing interference. At the same time, the manipulator grabbing assembly is bolted to the bottom of the mounting plate with a fastening bolt, so that the diamond socket can slide directly onto the surface of the diamond plug block.

[0023] The present invention is further configured as follows: a reset knob bolted to the sixth bevel gear is rotatably connected to one side of the top of the test bench, and a protective baffle used in conjunction with a manipulator grasping assembly is bolted between the test bench and the support frame.

[0024] By adopting the above technical solution, the sixth bevel gear is driven to rotate by manually twisting the reset knob, so that the sliding piston and the pushing piston can be actively reset.

[0025] In summary, the present invention has the following beneficial effects:

[0026] 1. The lifting column drives the manipulator grabbing assembly to move up and down on the top of the test bench, and the diamond-shaped slide groove and diamond-shaped slide rod are used to drive the sliding rod to rotate. As a result, the manipulator grabbing assembly can automatically open and grab the test disc when it approaches the test disc and lift it upward to test its ability to grab heavy objects. This improves the convenience of operation and facilitates the grasping ability test of the manipulator;

[0027] 2. The test disc is driven upward by the manipulator grabbing assembly to overcome the elastic force of the pressure spring. The greater the upward movement of the sliding piston, the greater the reverse thrust generated by the pressure spring, and the more difficult it is to lift, thereby testing the maximum grasping force of the manipulator grabbing assembly. At the same time, by injecting the liquid medium inside the liquid tank into the inner slide, and then loosening between the grabbing splint and the test disc, the liquid medium can support the height of the test disc, and the grasping height can be accurately observed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a partial structural cross-sectional view of the present invention;

[0030] Figure 3 is a cross-sectional view of the test bench structure of the present invention;

[0031] Figure 4 It is a schematic diagram of the locking mechanism structure of the present invention;

[0032] Figure 5 It is a schematic diagram of the lifting mechanism structure of the present invention;

[0033] Figure 6 It is a cross-sectional view of the structure of the robot grasping assembly of the present invention;

[0034] Figure 7 It is a schematic diagram of the structure of the robot grasping component of the present invention;

[0035] Figure 8 It is a cross-sectional view of the diamond-shaped socket structure of the present invention.

[0036] Figure numerals: 1, test bench seat; 2, support frame; 3, manipulator grasping assembly; 301, mounting seat; 302, clamping screw; 303, screw sleeve; 304, connecting rod; 305, grasping clamp plate; 306, first bevel gear; 307, second bevel gear; 308, diamond socket; 4, test disc; 5, fastening bolt; 6, driving motor; 7, lifting mechanism; 701, lifting column; 702, mounting disc; 703, first threaded rod; 704, third bevel gear; 705, fourth bevel gear; 706, sliding rod; 707, diamond plug block; 708, diamond sliding rod; 709 , diamond-shaped slide groove; 8, boosting mechanism; 801, connecting column; 802, inner slide groove; 803, liquid groove; 804, connecting hole; 805, sliding piston; 806, positioning rod; 807, pressure spring; 808, exhaust groove; 9, locking mechanism; 901, linear rack; 902, disc gear; 903, fifth bevel gear; 904, synchronous wheel; 905, synchronous belt; 906, sixth bevel gear; 907, second threaded rod; 908, threaded cylinder; 909, pushing piston; 10, protective partition; 11, sealing ring; 12, tapered block; 13, limiting groove; 14, reset knob. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0038] Embodiment 1:

[0039] refer to Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 A test device for testing the grasping ability of a manipulator includes a test bench 1, a support frame 2 is bolted to the top of the test bench 1, a manipulator grasping assembly 3 and a test disc 4 are respectively arranged between the test bench 1 and the support frame 2, the manipulator grasping assembly 3 is arranged on the top of the test disc 4, and a driving motor 6 is bolted to one side of the top of the support frame 2. The manipulator grasping assembly 3 is driven to move up and down on the top of the test bench 1 by a lifting column 701, and the sliding rod 706 is driven to rotate by a diamond slide groove 709 and a diamond slide bar 708. Thereby, the manipulator grasping assembly 3 can automatically open when approaching the test disc 4 to grasp the test disc 4 and lift it upward to test the ability to grasp heavy objects. The operation convenience is improved, and it is convenient to test the grasping ability of the manipulator.

[0040] refer to Figure 6 , Figure 7 , Figure 8The manipulator grasping assembly 3 includes a mounting seat 301, and four clamping screw rods 302 are symmetrically rotatably connected inside the mounting seat 301. The surfaces of the four clamping screw rods 302 are threadedly sleeved with screw rod sleeves 303, and a connecting rod 304 slidably connected to the mounting seat 301 is welded to the bottom of the screw rod sleeve 303. A grasping clamp plate 305 is bolted to the bottom of the connecting rod 304, and a second bevel gear 307 is welded to one end of the four clamping screw rods 302 close to each other, and a first bevel gear 306 that meshes with the four second bevel gears 307 is rotatably connected to the top of the inner cavity of the mounting seat 301, and a diamond socket 308 is welded to the top of the first bevel gear 306. The diamond plug block 707 drives the diamond socket 308 to rotate, so that the first bevel gear 306 and the four second bevel gears 307 are meshed and transmitted, thereby driving the four clamping screws 302 to rotate synchronously and engage with the screw sleeve 303 thread, so that the grabbing clamp 305 can grab the surface of the test disc 4.

[0041] refer to Figure 2 , Figure 5 , Figure 7 , Figure 8 The bottom of the support frame 2 is equipped with a lifting mechanism 7 used in conjunction with the manipulator grasping assembly 3. The lifting mechanism 7 includes a lifting column 701 slidably connected to the inside of the support frame 2. One side of the surface of the lifting column 701 is provided with a limiting groove 13 slidably connected to the support frame 2. The bottom of the lifting column 701 is welded with a mounting plate 702 bolted to the top of the mounting seat 301. The internal thread of the lifting column 701 is connected to a first threaded rod 703 rotatably connected to the support frame 2. The top of the first threaded rod 703 is welded with a third bevel gear 70 4, the output end of the driving motor 6 is fixedly sleeved with a fourth bevel gear 705 meshing with the third bevel gear 704, the first threaded rod 703 and the third bevel gear 704 are penetrated and slidably connected with a sliding rod 706 rotatably connected with the mounting plate 702, the bottom of the sliding rod 706 is welded with a diamond plug 707 slidably plugged with the diamond socket 308, the top of the sliding rod 706 is welded with a diamond slide bar 708, and the top of the third bevel gear 704 is provided with a diamond slide groove 709 slidably plugged with the diamond slide bar 708. The fourth bevel gear 705 is driven by the driving motor 6 to rotate and mesh with the third bevel gear 704, so that the first threaded rod 703 rotates inside the support frame 2 and is threadedly engaged with the lifting column 701, driving the lifting column 701 to move up and down, so that the manipulator grasping assembly 3 can lift the test disc 4.

[0042] refer to Figure 5 , Figure 6The bottom of the diamond slide bar 708 is welded with a conical block 12 used in conjunction with the diamond slide groove 709, and the internal thread of the mounting plate 702 is connected with a fastening bolt 5, and the mounting plate 702 is bolted to the mounting seat 301 through the fastening bolt 5. It is convenient for the diamond slide bar 708 to slide into the interior of the diamond slide groove 709 to reduce interference. At the same time, the manipulator grasping component 3 is bolted to the bottom of the mounting plate 702 by the fastening bolt 5, so that the diamond socket 308 can slide directly to the surface of the diamond plug block 707.

[0043] Brief description of the use process: by turning on the driving motor 6, the fourth bevel gear 705 is driven to rotate and mesh with the third bevel gear 704, so that the first threaded rod 703 rotates inside the support frame 2 and meshes with the lifting column 701, driving the lifting column 701 to move downward. Then, during the downward movement of the lifting column 701, the sliding rod 706 is driven to slide inside the first threaded rod 703. When the lifting column 701 drives the manipulator grasping assembly 3 to move downward close to the test disc 4, the lifting column 701 uses the mounting plate 702 rotatably connected to the sliding rod 706 to drive the diamond sliding rod 708 on the top of the sliding rod 706 to slide into the diamond sliding groove 709, so that the third bevel gear 704 drives the sliding rod 706 to rotate together through the diamond sliding groove 709. The diamond plug block 707 is used to drive the diamond socket 308 to rotate through the sliding rod 706, so that the first bevel gear 306 and the four second bevel gears 307 are meshed and transmitted, thereby driving the four clamping screws 302 to rotate synchronously and engage with the screw sleeve 303 thread, so that the grabbing splints 305 can move away from each other, and then when the lifting column 701 drives the manipulator grabbing component 3 to approach the test disc 4, the grabbing splints 305 will open on the surface of the test disc 4.

[0044] Then, the connecting rod 304 is driven to rotate in the opposite direction by the driving motor 6. At this time, due to the opposite transmission force, the lifting column 701 will drive the mounting seat 301 to move upward, and the third bevel gear 704 will drive the sliding rod 706 to rotate in the opposite direction, so that the four grabbing clamps 305 can approach each other to grab the surface of the test disc 4. At the same time, after the lifting column 701 drives the diamond sliding rod 708 on the top of the sliding rod 706 to completely slide out of the diamond sliding groove 709 by using the mounting plate 702, the third bevel gear 704 can no longer drive the sliding rod 706 to rotate, so the grabbing clamp 305 will grab the test disc 4 at this time, and the lifting column 701 will drive the manipulator grab assembly 3 to move upward to test the grabbing force.

[0045] Embodiment 2:

[0046] Based on Example 1, Figure 1 , Figure 2 , Figure 3 , Figure 4A test device for testing the grasping ability of a manipulator includes a test bench 1, a support frame 2 is bolted to the top of the test bench 1, a manipulator grasping assembly 3 and a test disc 4 are respectively arranged between the test bench 1 and the support frame 2, the manipulator grasping assembly 3 is arranged on the top of the test disc 4, and a driving motor 6 is bolted to one side of the top of the support frame 2. The manipulator grasping assembly 3 drives the test disc 4 to move upward to overcome the elastic force of the pressure spring 807. When the sliding piston 805 moves upward, the greater the reverse thrust generated by the pressure spring 807, the more difficult it is to lift, thereby testing the maximum grasping force of the manipulator grasping assembly 3. At the same time, by injecting the liquid medium inside the liquid tank 803 into the inside of the inner slide groove 802, and then loosening between the grasping clamp 305 and the test disc 4, the liquid medium can support the height of the test disc 4, and the grasping height can be accurately observed.

[0047] refer to Figure 3 , Figure 4 The test bench 1 is provided with a booster mechanism 8 used in conjunction with the test disc 4. The booster mechanism 8 includes a connecting column 801 slidably connected to the test bench 1. The top of the connecting column 801 and the bottom of the test disc 4 are bolted to each other. The test bench 1 is provided with an inner slide groove 802. The bottom of the connecting column 801 is bolted with a sliding piston 805 slidably connected to the inner slide groove 802. Liquid grooves 803 are provided on both sides of the test bench 1. The liquid groove 803 is filled with a liquid medium. A connecting hole 804 is provided between the inner slide groove 802 and the liquid groove 803. Positioning rods 806 welded to the test bench 1 are penetrated and slidably connected to both sides of the sliding piston 805. The surface of the positioning rod 806 is sleeved with a pressurizing spring 807 bolted to the sliding piston 805. The sliding piston 805 is driven by the connecting column 801 to slide in the inner slide groove 802 to squeeze the pressurizing spring 807. When the sliding piston 805 moves upward a greater distance, the reverse thrust generated by the pressure spring 807 becomes greater, and thus it becomes more difficult to lift it, thereby testing the maximum gripping force of the robot gripping assembly 3 .

[0048] refer to Figure 4 A side of the connecting column 801 surface is provided with an exhaust groove 808 used in conjunction with the sliding piston 805. The air pushed out of the inner slide groove 802 after the sliding piston 805 slides upward can be discharged through the exhaust groove 808.

[0049] refer to Figure 3 , Figure 4The two sides of the boost mechanism 8 are also provided with a locking mechanism 9, which includes a linear rack 901 bolted to the two sides of the connecting column 801, and two linear racks 901 are symmetrically bolted to the two sides of the connecting column 801 near the positioning rod 806, and the two sides of the top of the connecting column 801 are respectively provided with a disc gear 902 and a fifth bevel gear 903 that are rotatably connected to the test bench 1, and a synchronous wheel 904 is bolted to one side of the disc gear 902 and the fifth bevel gear 903, and the surface transmission sleeves of the two synchronous wheels 904 are connected with a synchronous belt 905, and the connecting column 801 is meshed with the disc gear 902 through the linear rack 901. When the connecting column 801 slides upward, it will drive the linear rack 901 to mesh with the disc gear 902, and the disc gear 902 transmits the fifth bevel gear 903 through the synchronous wheel 904 and the synchronous belt 905, so that the fifth bevel gear 903 rotates inside the test bench 1.

[0050] refer to Figure 4 The side of the fifth bevel gear 903 away from the disc gear 902 is also meshed with a sixth bevel gear 906 that is rotatably connected to the test bench 1. The bottom of the sixth bevel gear 906 is bolted with a second threaded rod 907. The surface of the second threaded rod 907 is threadedly sleeved with a threaded barrel 908. The bottom of the threaded barrel 908 is bolted with a push piston 909 that is slidably connected to the inside of the liquid tank 803. The fifth bevel gear 903 is meshed with the sixth bevel gear 906, thereby driving the second threaded rod 907 to rotate and threadably engage with the threaded barrel 908, so that the threaded barrel 908 pushes the push piston 909 to slide downward inside the fifth bevel gear 903, and pushes the liquid medium inside the fifth bevel gear 903 into the inner slide groove 802 through the connecting hole 804, so as to support the test disc 4.

[0051] refer to Figure 4 The surfaces of the sliding piston 805 and the pushing piston 909 are bonded with sealing rings 11 which are respectively slidably connected with the inner groove 802 and the inner wall of the liquid groove 803. The sealing performance of the sliding piston 805 and the pushing piston 909 surfaces is improved to prevent the liquid medium from leaking out.

[0052] refer to Figure 3 , Figure 4 A reset knob 14 bolted to the sixth bevel gear 906 is rotatably connected to one side of the top of the test bench 1, and a protective partition 10 used in conjunction with the manipulator grab assembly 3 is bolted between the test bench 1 and the support frame 2. The sixth bevel gears 906 and 607 are rotated by manually twisting the reset knob 14, so that the sliding piston 805 and the pushing piston 909 can be actively reset.

[0053] Brief description of the use process: When the test disc 4 is grabbed and moved upward by the manipulator grasping assembly 3 through the lifting column 701, the test disc 4 drives the sliding piston 805 to slide inside the inner slide groove 802 through the connecting column 801 to squeeze the pressure spring 807. The greater the upward movement distance of the sliding piston 805, the greater the reverse thrust generated by the pressure spring 807, and thus the more difficult it is to lift, and eventually the grasping clamp 305 and the test disc 4 will be loosened, and then the height of the grasping clamp 305 after the test disc 4 is clamped and lifted is measured. Since the reverse thrust of the pressure spring 807 on the test disc 4 remains unchanged when the test disc 4 is lifted, the lifting of the test disc 4 to the fixed height can detect the size of the gripping ability of the manipulator.

[0054] At the same time, when the connecting column 801 slides upward, it drives the linear rack 901 to mesh with the disc gear 902, and the disc gear 902 transmits the fifth bevel gear 903 through the synchronous wheel 904 and the synchronous belt 905, so that the fifth bevel gear 903 rotates inside the test bench 1. Afterwards, the fifth bevel gear 903 is meshed with the sixth bevel gear 906, thereby driving the second threaded rod 907 to rotate and engage with the threaded tube 908, so that the threaded tube 908 pushes the pushing piston 909 to slide downward inside the fifth bevel gear 903, and pushes the liquid medium inside the liquid tank 803 into the inner slide groove 802 through the connecting hole 804. Therefore, after the grabbing clamp 305 and the test disc 4 are directly loosened, the test disc 4 will not slide downward due to the support of the liquid medium inside the inner slide groove 802, and the liquid medium inside the liquid tank 803 cannot overcome the thread engagement friction between the threaded rod 907 and the threaded tube 908 to directly drive the pushing piston 909 to slide upward, thereby limiting the test disc 4 so that it can be fixed at a height for observation. It should also be noted that although the pitches of the linear rack 901 and the disc gear 902 are different from those of the fifth bevel gear 903 and the sixth bevel gear 906, resulting in the threaded barrel 908 and the threaded rod 907 having a slower moving speed after threaded engagement than the connecting column 801, the test bench 1 has two liquid grooves 803, and the two pushing pistons 909 simultaneously push the liquid medium into the inner slide groove 802, so that the inner slide groove 802 can be completely filled with the liquid medium, thereby ensuring the balance of the liquid pressure and providing effective support for the sliding piston 805.

[0055] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A test device for testing the grasping ability of a manipulator, comprising a test bench (1), characterized in that: A support frame (2) is bolted to the top of the test bench seat (1), a manipulator grasping assembly (3) and a test disc (4) are respectively arranged between the test bench seat (1) and the support frame (2), the manipulator grasping assembly (3) is arranged on the top of the test disc (4), and a drive motor (6) is bolted to one side of the top of the support frame (2).

2. A test device for testing the grasping ability of a manipulator according to claim 1, characterized in that: The manipulator grasping assembly (3) comprises a mounting seat (301), wherein the mounting seat (301) is internally symmetrically rotatably connected with four clamping screw rods (302), the surfaces of the four clamping screw rods (302) are all threadedly sleeved with screw rod sleeves (303), the bottom of the screw rod sleeve (303) is welded with a connecting rod (304) which is slidably connected to the mounting seat (301), the bottom of the connecting rod (304) is bolted with a grasping clamp (305), the ends of the four clamping screw rods (302) close to each other are all welded with a second bevel gear (307), the top of the inner cavity of the mounting seat (301) is rotatably connected with a first bevel gear (306) which is respectively meshed with the four second bevel gears (307), and the top of the first bevel gear (306) is welded with a rhombus socket (308).

3. A test device for testing the grasping ability of a manipulator according to claim 2, characterized in that: A lifting mechanism (7) for use with a manipulator grasping assembly (3) is installed at the bottom of the support frame (2), and the lifting mechanism (7) includes a lifting column (701) slidably connected to the inside of the support frame (2), and a limiting groove (13) slidably connected to the support frame (2) is opened on one side of the surface of the lifting column (701), and a mounting plate (702) bolted to the top of the mounting seat (301) is welded to the bottom of the lifting column (701), and a first threaded rod (703) rotatably connected to the support frame (2) is connected to the internal thread of the lifting column (701), and a third bevel gear (703) is welded to the top of the first threaded rod (703). 704), the output end of the driving motor (6) is fixedly sleeved with a fourth bevel gear (705) meshing with the third bevel gear (704), the first threaded rod (703) and the third bevel gear (704) are internally penetrated by a sliding rod (706) rotatably connected with the mounting plate (702), the bottom of the sliding rod (706) is welded with a rhombus plug-in block (707) slidably plugged with the rhombus socket (308), the top of the sliding rod (706) is welded with a rhombus slide bar (708), and the top of the third bevel gear (704) is provided with a rhombus slide groove (709) slidably plugged with the rhombus slide bar (708).

4. A test device for testing the grasping ability of a manipulator according to claim 1, characterized in that: A booster mechanism (8) for use with the test disc (4) is installed inside the test bench (1), and the booster mechanism (8) includes a connecting column (801) slidably connected to the inside of the test bench (1), the top of the connecting column (801) and the bottom of the test disc (4) are bolted to each other, an inner slide groove (802) is provided inside the test bench (1), and a sliding piston (805) slidably connected to the inside of the inner slide groove (802) is bolted to the bottom of the connecting column (801), Liquid grooves (803) are also provided on both sides of the interior of the test bench (1), and the interior of the liquid groove (803) is filled with a liquid medium. A connecting hole (804) is provided between the inner sliding groove (802) and the liquid groove (803). Positioning rods (806) welded to the test bench (1) are slidably connected through both sides of the interior of the sliding piston (805), and the surfaces of the positioning rods (806) are sleeved with pressure springs (807) bolted to the sliding pistons (805).

5. A test device for testing the grasping ability of a manipulator according to claim 4, characterized in that: One side of the surface of the connecting column (801) is provided with an exhaust groove (808) for use with the sliding piston (805).

6. A test device for testing the grasping ability of a manipulator according to claim 4, characterized in that: The boost mechanism (8) is also provided with a locking mechanism (9) on both sides. The locking mechanism (9) comprises a linear rack (901) symmetrically bolted to the two sides of the connecting column (801). The two linear racks (901) are respectively bolted to the two sides of the connecting column (801) near the positioning rod (806). The top of the connecting column (801) is provided with a disc gear (902) and a fifth bevel gear (903) rotatably connected to the test bench (1) on both sides. The disc gear (902) and the fifth bevel gear (903) are bolted to one side of each of the disc gear (902) and the fifth bevel gear (903). The surface transmission sleeves of the two synchronous wheels (904) are connected with a synchronous belt (905). The connecting column (801) is meshed with the disc gear (902) through the linear rack (901).

7. A test device for testing the grasping ability of a manipulator according to claim 6, characterized in that: The side of the fifth bevel gear (903) away from the disc gear (902) is also meshed with a sixth bevel gear (906) rotatably connected to the test bench (1); the bottom of the sixth bevel gear (906) is bolted with a second threaded rod (907); the surface of the second threaded rod (907) is threadedly sleeved with a threaded cylinder (908); the bottom of the threaded cylinder (908) is bolted with a pushing piston (909) slidably connected to the inside of the liquid tank (803).

8. A test device for testing the grasping ability of a manipulator according to claim 7, characterized in that: The surfaces of the sliding piston (805) and the pushing piston (909) are both bonded with sealing rings (11) which are slidably connected to the inner sliding groove (802) and the inner wall of the liquid groove (803) respectively.

9. A test device for testing the grasping ability of a manipulator according to claim 3, characterized in that: A conical block (12) is welded to the bottom of the diamond-shaped slide rod (708) and is used in conjunction with the diamond-shaped slide groove (709). The internal thread of the mounting plate (702) is connected with a fastening bolt (5). The mounting plate (702) is bolted to the mounting seat (301) via the fastening bolt (5).

10. A test device for testing the grasping ability of a manipulator according to claim 7, characterized in that: A reset knob (14) bolted to the sixth bevel gear (906) is rotatably connected to one side of the top of the test bench (1), and a protective baffle (10) for use with the manipulator grasping assembly (3) is bolted between the test bench (1) and the support frame (2).

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