A device for synchronously testing the gripping force of a rotary robot hand.

Abstract

The invention discloses a device for synchronously testing the clamping force of a screw-twisting robot gripper, which relates to the field of robot technology, and specifically focuses on the performance evaluation of a robot gripper, and in particular relates to a device for synchronously measuring the twisting force, gripper holding force, fruit and gripper rotation speed of a robot gripper; the device is mainly composed of a bracket and a measuring device, wherein the bracket comprises a supporting plate, a longitudinal rod, a cross rod, a supporting frame, a screw lifting platform and a motor; the supporting plate is a flat rectangular parallelepiped structure; the longitudinal rod is arranged on the edges of both sides of the supporting plate, and the longitudinal rod and the cross rod both have a slide groove, so that the cross rod can slide up and down and forward and backward along the longitudinal rod for a certain distance; the measuring device comprises a torque tester, a test gripper, a spherical fruit, a film pressure sensor, a slip ring, a code disk, a photoelectric pair tube, a display, a laser speed sensor, a tension sensor and a round shaft; the display is electrically connected to the torque tester, the slip ring, the photoelectric pair tube and the laser speed sensor, so that the twisting force, gripper holding force, fruit and gripper rotation speed and tension and other technical parameters of the rotating gripper can be read out simultaneously. The invention has a simple structure and accurate measurement, and can measure multiple technical parameters at the same time, providing support for the design of the screw-twisting robot gripper.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a testing device for synchronously measuring the twisting force, gripping force, and rotational speed of a robot gripper. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing technology, industrial robots have been widely used in various production lines and manufacturing as well as agricultural and forestry picking environments, especially in the fields of precision assembly, material handling, fruit picking, etc. In these applications, the robot gripper is a key component for the robot to perform terminal operations, and its performance directly affects the efficiency and accuracy of the entire operation process. However, traditional robot grippers have many challenges in controlling the clamping force and twisting force, such as unstable clamping and insufficient twisting force accuracy. These problems limit the application of industrial robots in more complex and delicate operations. The existing patent for a multifunctional test device for a robot gripper (CN101776432A) can only measure the position test and calibration, force test and stiffness test of the robot gripper, and cannot complete the test of the clamping force of the screw gripper.

[0003] In order to solve the above problems, the industry has developed a series of improved robot grippers, such as adding sensors to monitor the clamping force, or using more complex transmission mechanisms to improve the clamping accuracy. However, these improvement schemes often have disadvantages such as high cost, complex structure, and difficult maintenance. Most of them can only achieve a single clamping or twisting force measurement function, and cannot meet the needs of coupled measurement of clamping force and twisting force at the same time. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned prior art, the present invention proposes a device for synchronously testing the clamping force of a screw-type robot gripper, which can realize accurate synchronous measurement of the robot gripper's twisting force, gripper clamping force, fruit and gripper rotation speed, and pulling force through advanced sensor technology and measuring devices, thereby promoting improvement in the robot gripper's operating efficiency, operating quality, and operating accuracy in complex operating environments, and providing strong support for the development of automation and intelligence.

[0005] The purpose of the present invention is to provide a device for synchronously testing the clamping force of a screwing robot gripper, so as to solve the problem that the robot gripper in the prior art cannot simultaneously meet the demand for accurate measurement of the clamping force and the screwing force.

[0006] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0007] A device for synchronously testing the clamping force of a screwing robot gripper, characterized in that it includes a bracket and a measuring device; the bottom of the bracket is a supporting plate, and two longitudinal rods perpendicular to the supporting plate are installed above the supporting plate; and a measuring device is arranged between the supporting plate and the longitudinal rods.

[0008] The above-mentioned device for synchronously testing the clamping force of a screw-type robot gripper is characterized in that the bracket includes a supporting plate, a longitudinal rod, a transverse rod, a supporting frame, and a screw lifting platform; the supporting plate is a flat rectangular structure; the longitudinal rod is arranged at the edge of the supporting plate; the longitudinal rod is a rectangular structure, and a completely penetrating slide groove is arranged in the middle; the transverse rod is arranged on the longitudinal rod, so that the transverse rod can slide freely up and down in the longitudinal rod slide groove; the transverse rod is a rectangular structure, and a completely penetrating slide groove is arranged in the middle, and it can slide freely back and forth on the longitudinal rod, and a flat rectangular plate is arranged at the front end of the transverse rod; the supporting frame is a T-shaped structure.

[0009] The above-mentioned device for synchronously testing the clamping force of a screw-type robot gripper is characterized in that the surface of the supporting plate is horizontal and smooth, and a rectangular groove is provided in the middle portion thereof.

[0010] The above-mentioned device for synchronously testing the clamping force of a screw-tightening robot gripper is characterized in that a screw with a trapezoidal right-handed thread is provided on the screw lifting platform, a lifting platform is provided on the screw, the screw lifting platform is provided at the edge of the supporting plate, and the cross bar is fixedly connected to the screw lifting platform and moves up and down with the lifting platform; the screw lifting platform is driven by a motor and is provided with a trapezoidal thread inside; the motor is located on one side of the screw lifting platform and is fixedly connected to the edge of the supporting plate.

[0011] The above-mentioned device for synchronously testing the clamping force of a screw-type robot gripper is characterized in that the measuring device includes a torque tester, a test gripper, a spherical fruit, a thin film pressure sensor, a slip ring, a code disk, a photoelectric tube, a display, a laser speed sensor, a tension sensor, an apple fruit, a clamp, and a round shaft; the bottom of the torque tester is placed in a rectangular groove of a supporting plate, and the top is connected to the bottom of the test gripper; the spherical part of the spherical fruit is placed in the envelope of the test gripper; a threaded hole is provided at the other end of the spherical fruit and is connected to one end of the tension sensor; the tension sensor is a circular structure, with threads provided on the upper and lower parts, and the other end of the tension sensor is connected to a round shaft through threads, and the round shaft passes through the inner ring of the slip ring and is electrically connected to the slip ring through a wire; the outer ring of the slip ring is connected to a flat rectangular plate of a crossbar; a code disk is provided between the top of the round shaft and the photoelectric tube; the code disk is a hollow design and rotates with the round shaft; the display is provided on a support frame; and the laser speed sensor is provided on a flat rectangular plate at the front end of the crossbar.

[0012] The above-mentioned device for synchronously testing the clamping force of a screwing robot gripper is characterized in that a disc-shaped clamping block is provided on the upper part of the torque tester, and the clamping distance can be adjusted.

[0013] The above-mentioned device for synchronously testing the clamping force of a screwing robot gripper is characterized in that the thin film pressure sensor is placed on the circular surface of a spherical fruit and is electrically connected to the inner ring of the slip ring through a wire; after the thin film pressure sensor is placed, the surface is always attached to the spherical surface of the spherical fruit and rotates with the fruit.

[0014] The above-mentioned device for synchronously testing the clamping force of a screw-type robot gripper is characterized in that the code disk and the photoelectric tube can be replaced with a rotary encoder or other rotary speed measuring device.

[0015] The above-mentioned device for synchronously testing the clamping force of a screw-type robot gripper is characterized in that the laser speed sensor spot is located at the continuously rotating part of the gripper, and is used to measure the rotation speed of the gripper.

[0016] The above-mentioned device for synchronously testing the clamping force of the gripper of a screwing robot is characterized in that the display is provided with a data interface, which is electrically connected to the torque tester, slip ring, photoelectric tube, laser speed sensor, and tension sensor through a data line, and can simultaneously read the coupled gripper twisting force, gripper clamping force, fruit rotation speed, gripper rotation speed, and tension.

[0017] The beneficial effects of the present invention are:

[0018] (1) The present invention uses a coupled sensing method to achieve real-time and accurate measurement of the gripping force and twisting force of the claws, as well as the rotation speed of the fruit, the rotation speed of the claws, and the pulling force. This direct and synchronous measurement method avoids the errors that may be introduced by the asynchronous measurement method and significantly improves the measurement accuracy.

[0019] (2) The present invention can effectively avoid damage or loosening of the grasped object due to improper force by real-time monitoring and adjusting the clamping force, thereby ensuring the reliability of the gripping operation of the gripper.

[0020] (3) The device design of the present invention adopts a modular approach, which is convenient for daily maintenance and troubleshooting. In addition, its open data interface and scalable software platform allow users to customize or upgrade functions according to actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the screw-type robot gripper clamping force device;

[0022] Figure 2 This is a schematic diagram of the overall structure of a device for measuring the clamping force of a screw-type robot gripper;

[0023] Figure 3 This is a schematic diagram of the state structure of the screw-type robot gripper clamping the fruit;

[0024] Figure 4 This is the installation diagram of the code disc and the photoelectric tube;

[0025] Figure 5 Schematic diagram of the structure for measuring the clamping force of a claw grasping an apple.

[0026] In the figure, a bracket 1, a measuring device 2, a supporting plate 1-1, a longitudinal rod 1-2, a transverse rod 1-3, a supporting frame 1-4, a screw lifting platform 1-5, a motor 1-6, a torque tester 2-1, a test gripper 2-2, a spherical fruit 2-3, a thin film pressure sensor 2-4, a slip ring 2-5, a code disk 2-6, a photoelectric tube 2-7, a display 2-8, a laser speed sensor 2-9, a tension sensor 2-10, an apple fruit 2-11, a clamp 2-12, and a round shaft 2-13. DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention will be further described below according to the accompanying drawings:

[0028] Embodiment 1:

[0029] The present invention is a device for synchronously testing the clamping force of a screw-type robot gripper. Figure 1 , 2As shown, a device for synchronously testing the clamping force of a screw-type robot gripper comprises a bracket (1) and a measuring device (2); the bottom of the bracket (1) is a supporting plate (1-1); two longitudinal rods (1-2) perpendicular to the supporting plate (1-1) are installed above the supporting plate (1-1); a measuring device is arranged between the supporting plate (1-1) and the longitudinal rods (1-2); the bracket (1) comprises a supporting plate (1-1), longitudinal rods (1-2), cross rods (1-3), a supporting frame (1-4), a screw lifting platform (1-5), and a motor (1-6); the supporting plate (1-1) is a flat rectangular parallelepiped structure; the longitudinal rods (1-2) are arranged at the edges of both sides of the supporting plate (1-1); in this example, the longitudinal rods (1-2) are rectangular parallelepiped structures, and a The cross bar (1-3) is arranged on the longitudinal bar (1-2), so that the cross bar (1-3) can slide freely up and down in the slide groove of the longitudinal bar (1-2); the cross bar (1-3) is a rectangular parallelepiped structure, and a completely penetrating slide groove is arranged in the middle part, so that the cross bar (1-3) can slide freely forward and backward on the longitudinal bar (1-2), and a flat rectangular parallelepiped plate is arranged at the front end of the cross bar (1-3); the support frame (1-4) is a T-shaped structure; a screw rod with a trapezoidal right-hand thread is arranged on the screw rod, and a lifting platform is arranged on the screw rod, and the screw rod lifting platform (1-5) is arranged on the edge of the support plate (1-1), and the cross bar (1-3) is fixedly connected to the lifting platform of the screw rod and moves up and down with the lifting platform; the screw rod lifting platform (1-5) is driven by a motor (1-6), and the internal A trapezoidal thread is provided; the motor (1-6) is located on one side of the screw lifting platform (1-5) and is fixedly connected to the edge of the supporting plate (1-1); in this example, the surface of the supporting plate (1-1) is horizontal and smooth, and a rectangular groove is provided in the middle part thereof; the measuring device (2) comprises a torque tester (2-1), a test gripper (2-2), a spherical fruit (2-3), a thin film pressure sensor (2-4), a slip ring (2-5), a code disk (2-6), a photoelectric tube (2-7), a display (2-8), a laser speed sensor (2-9), a tension sensor (2-10), and a round shaft (2-13); the bottom of the torque tester (2-1) is placed in the rectangular groove of the supporting plate (1-1), and the top is placed on the test gripper (2-2). The bottom is connected; the spherical part of a spherical fruit (2-3) is placed on the claw part of the test claw (2-2); the other end of the spherical fruit (2-3) is provided with a threaded hole and connected to one end of the tension sensor (2-10); the tension sensor (2-10) is a circular structure, and is provided with threads at the top and bottom; the other end of the tension sensor (2-10) is connected to a round shaft (2-13) through threads, and the round shaft (2-13) passes through the inner ring of the slip ring (2-5) and is electrically connected to the slip ring through a wire; the outer ring of the slip ring (2-5) is connected to the flat rectangular plate of the cross bar (1-3); a code disk (2-6) is provided between the top of the round shaft (2-13) and the photoelectric tube (2-7); the code disk (2-6) is a hollow design and rotates with the round shaft;The display (2-8) is arranged on the support frame (1-4); the laser speed sensor (2-9) is arranged on the flat rectangular plate at the front end of the crossbar (1-3); in this example, a disc-shaped clamping block is arranged on the upper part of the torque tester (2-1), and the clamping distance can be adjusted; in this example, the thin film pressure sensor (2-4) is placed on the circular surface of the spherical fruit (2-3) and is electrically connected to the inner ring of the slip ring (2-5) through a wire; after the thin film pressure sensor (2-4) is placed, the surface is always adhered to the spherical surface of the spherical fruit (2-3). The surface rotates with the fruit; in this example, the code disk (2-6) and the photoelectric tube (2-7) can be replaced with a rotary encoder or other rotary speed measuring device; in this example, the laser speed sensor (2-9) has a light spot located at the continuously rotating part of the claw, which is used to measure the rotation speed of the claw; in this example, the display (2-8) is provided with a data interface, which is connected to the torque tester (2-1), the slip ring (2-5), the photoelectric tube (2-7), and the laser speed sensor (2-9) through a data line, and can simultaneously read the claw twisting force, the claw clamping force, the fruit rotation speed, and the claw rotation speed. ;

[0030] See also Figures 1 to 4 When the present embodiment is in operation, the test device is first installed: the torque tester (2-1) is placed in the groove corresponding to the support plate (1-1), the thin film pressure sensor (2-4) is attached to the surface of the spherical fruit (2-3) and electrically connected to the inner ring of the slip ring (2-5) by a data line, the photoelectric tube (2-7) is installed on the plate at the front end of the cross bar (1-3), the code disk (2-6) is fixed to the upper end of the circular shaft (2-13) and adapted to the photoelectric tube (2-7), the cross bar (1-3) is moved upward so that the height of the bottom of the spherical fruit (2-3) from the torque tester (2-1) is greater than the height of the gripper to be tested, the laser speed sensor (2-9) is installed on the plate at the front end of the cross bar (1-3), the torque tester (2-1), the outer ring of the slip ring (2-5), the photoelectric tube (2-7), and the laser speed sensor (2-9) are electrically connected to each other by wires. The device is connected to a display (2-8) to test whether the display (2-8) can synchronously display parameters such as gripper twisting force, gripper clamping force, fruit rotation speed, gripper rotation speed, etc. in a normal partitioned manner; the test is then performed: the gripper (2-2) to be tested is placed in the disc-shaped clamping block on the upper part of the torque tester (2-1), the gripper is clamped firmly, and the gripper is kept in an open state; the cross bar (1-3) is moved downward to make the spherical fruit (2-3) completely in the center of the gripper, ensuring that the gripper can accurately clamp the film pressure sensor (2-4); the cross bar (1-3) is moved up and down and forward and backward to ensure that the light spot of the laser speed sensor (2-9) is located at the position where the gripper continuously rotates; finally, the gripper and the test device are started to ensure that the gripper accurately clamps the film pressure sensor (2-4), at which time the gripper twisting force, gripper clamping force, fruit rotation speed, gripper rotation speed, etc. technical parameters can be read simultaneously on the display (2-8).

[0031] Embodiment 2:

[0032] See also Figure 5 , the spherical fruit (2-3) is taken down, the measuring device comprises a torque tester (2-1), a test gripper (2-2), a thin film pressure sensor (2-4), a slip ring (2-5), a code disk (2-6), a photoelectric tube (2-7), a display (2-8), a laser speed sensor (2-9), a tension sensor (2-10), an apple fruit (2-11), a clamp (2-12), and a round shaft (2-13); the clamp (2-12) is provided with a threaded hole at the upper part and connected to the lower part of the tension sensor; the apple fruit (2-11) is provided with a fruit stalk, and a small branch is provided at the connection of the fruit stalk; the thin film pressure sensor (2-4) is attached to the surface of the apple fruit (2-11) and is electrically connected to the data interface of the inner circle of the slip ring (2-5).

[0033] During measurement, a small section of the branch on the upper part of the apple fruit (2-11) is clamped with the clamp (2-12), and the thin film pressure sensor (2-4) is attached to the surface of the apple fruit (2-11). The measuring device and the robot gripper are started, so that the robot gripper grasps the apple fruit (2-11) and presses on the thin film pressure sensor (2-4), and at the same time, the screw lifting platform (1-5) rises, and the twisting force and pulling force required for picking apples are read out through the display to complete the measurement.

[0034] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology of the present invention that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A device for synchronously testing the clamping force of a screw-type robot gripper, characterized in that: The invention comprises a support (1) and a measuring device (2); the bottom of the support (1) is a supporting plate (1-1), and two longitudinal rods (1-2) perpendicular to the supporting plate (1-1) are installed above the supporting plate (1-1); and the measuring device is arranged between the supporting plate (1-1) and the longitudinal rods (1-2).

2. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 1, characterized in that The support (1) comprises a support plate (1-1), a longitudinal rod (1-2), a transverse rod (1-3), a support frame (1-4), a screw lifting platform (1-5), and a motor (1-6); the support plate (1-1) is a flat rectangular parallelepiped structure; the longitudinal rod (1-2) is arranged at the edge of the support plate (1-1); the longitudinal rod (1-2) is a rectangular parallelepiped structure, and a completely penetrating slide groove is arranged in the middle; the transverse rod (1-3) is arranged on the longitudinal rod (1-2), so that the transverse rod (1-3) can slide freely up and down in the slide groove of the longitudinal rod (1-2); the transverse rod (1-3) is a rectangular parallelepiped structure, and a completely penetrating slide groove is arranged in the middle, so that the transverse rod (1-3) can slide freely forward and backward on the longitudinal rod (1-2), and a flat rectangular parallelepiped plate is arranged at the front end of the transverse rod (1-3); the support frame (1-4) is a T-shaped structure.

3. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 2, characterized in that The surface of the supporting plate (1-1) is horizontal and smooth, and a rectangular groove is provided in the middle portion thereof.

4. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 2, characterized in that The screw lifting platform (1-5) is provided with a screw with a trapezoidal right-hand thread, and a lifting platform is provided on the screw. The screw lifting platform (1-5) is arranged at the edge of the supporting plate (1-1), and the cross bar (1-3) is fixedly connected to the lifting platform of the screw and moves up and down with the lifting platform; the screw lifting platform (1-5) is driven by a motor (1-6) and is provided with a trapezoidal thread inside; the motor (1-6) is located on one side of the screw lifting platform (1-5) and is fixedly connected to the edge of the supporting plate (1-1).

5. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 1, characterized in that The measuring device (2) comprises a torque tester (2-1), a test gripper (2-2), a spherical fruit (2-3), a thin film pressure sensor (2-4), a slip ring (2-5), a code disk (2-6), a photoelectric tube (2-7), a display (2-8), a laser speed sensor (2-9), a tension sensor (2-10), an apple fruit (2-11), a clamp (2-12), and a round shaft (2-13); the bottom of the torque tester (2-1) is placed in a rectangular groove of a supporting plate (1-1), and the top is connected to the bottom of the test gripper (2-2); the spherical part of the spherical fruit (2-3) is placed in the envelope of the test gripper (2-2); the other end of the spherical fruit (2-3) is provided with a threaded hole and is connected to the one end of a tension sensor (2-10); the tension sensor (2-10) is a circular structure, with threads arranged on the top and bottom; the other end of the tension sensor (2-10) is connected to a round shaft (2-13) through threads, and the round shaft (2-13) passes through the inner ring of a slip ring (2-5) and is electrically connected to the slip ring through a wire; the outer ring of the slip ring (2-5) is connected to a flat rectangular plate of a cross bar (1-3); a code disk (2-6) is arranged between the top of the round shaft (2-13) and the photoelectric tube (2-7); the code disk (2-6) is a hollow design and rotates with the round shaft; the display (2-8) is arranged on the support frame (1-4); the laser speed sensor (2-9) is arranged on the flat rectangular plate at the front end of the cross bar (1-3).

6. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 4, characterized in that The torque tester (2-1) is provided with a disc-shaped clamping block on the upper part, and the clamping distance can be adjusted.

7. A device for synchronously testing the clamping force of a screwing robot gripper according to claim 4, characterized in that The thin film pressure sensor (2-4) is placed on the circular surface of the spherical fruit (2-3) and is electrically connected to the inner ring of the slip ring (2-5) via a wire; after being placed, the surface of the thin film pressure sensor (2-4) is always adhered to the spherical surface of the spherical fruit (2-3) and rotates with the fruit.

8. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 4, characterized in that The code disc (2-6) and the photoelectric tube (2-7) can be replaced with a rotary encoder or other rotary speed measuring devices.

9. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 4, characterized in that The light spot of the laser speed sensor (2-9) is located at the continuously rotating part of the gripper and is used to measure the rotation speed of the gripper.

10. A device for synchronously testing the clamping force of a screw-type robot gripper according to claim 4, characterized in that The display (2-8) is provided with a data interface, and is electrically connected to a torque tester (2-1), a slip ring (2-5), a photoelectric tube (2-7), a laser speed sensor (2-9), and a tension sensor (2-10) via a data line, so that coupled gripper torque, gripper clamping force, fruit rotation speed, gripper rotation speed, and tension can be read simultaneously.

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