Manipulator grasping performance testing device and use method

Abstract

The invention relates to the technical field of mechanical arm performance testing equipment. The invention discloses a mechanical arm grasping performance testing device and a using method thereof.The mechanical arm grasping performance testing device is characterized in that a base plate is horizontally arranged on the ground, a placing table is arranged at the top of the base plate, a complex path detecting device is arranged at the top of the base plate, a driving assembly is arranged at one end of the top of the base plate, and two moving assemblies are arranged; the two moving assemblies are symmetrically arranged on the two sides of the containing table and connected with the driving assembly, and the driving electric cylinder is horizontally arranged between the two moving assemblies. Through cooperation of the complex path detection device, the detection block, the locking assembly, the pressure detection display assembly, the stability drawing assembly and the gravity center adjusting assembly, the clamping performance of the manipulator is detected under various complex conditions; and detection data are visually reflected, and the clamping stability of the manipulator is recorded, so that whether the clamping performance is qualified or not can be conveniently observed.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator performance testing equipment, and in particular to a manipulator gripping performance testing device and a use method thereof. Background Art

[0002] The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is used to grasp the workpiece (or tool). There are many structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type; When testing the clamping performance of a robot, the traditional testing equipment has a relatively simple detection function and is unable to simulate more complex clamping scenarios. For example, when the robot clamps a heavy object and moves it along a complex path, or when the center of gravity of the clamped object is uneven, it is impossible to detect whether the clamping performance of the robot is stable. In addition, there is a lack of testing equipment that can intuitively respond to and record the clamping stability of the robot. Summary of the invention

[0003] The purpose of the present invention is to provide a robot gripping performance testing device and a method of use to solve the problems raised in the above background technology. To achieve the above-mentioned purpose, the present invention provides the following technical solutions: comprising a base plate, the base plate is horizontally arranged on the ground, a placing table is arranged on the top of the base plate, a complex path detection device is arranged on the top of the base plate, the complex path detection device comprises a driving component, a moving component and a driving electric cylinder, the driving component is arranged at one end of the top of the base plate, the moving components are provided with two, the two moving components are symmetrically arranged on both sides of the placing table and connected to the driving component, the driving electric cylinder is horizontally arranged between the two moving components, a manipulator is detachably arranged on the output end of the driving electric cylinder, a clamping detection device is arranged on the top of the placing table, the clamping detection device comprises a detection block, a locking component, a pressure detection display component, a stability drawing component and a center of gravity adjustment component, the detection block is arranged on the top of the placing table, a first cavity is arranged on both sides of the detection block, two center of gravity adjustment components are symmetrically arranged in the two first cavities, a second cavity is arranged in the middle of the detection block, locking components are arranged on both sides of the second cavity, pressure detection display components are symmetrically arranged on both sides of the first cavity, and a stability drawing component is arranged on one side of each pressure detection display component.

[0004] Preferably, the driving assembly includes a driving frame, a first motor, a driving shaft, a first connecting rod and a second connecting rod, the driving frame being arranged on one side of the top of the base plate, the driving frame being arranged on one side of the top of the base plate, the driving shaft passing through the side end of the driving frame and being rotatably connected thereto, the first motor being arranged at the side end of the driving frame and the output end of the first motor being connected to one end of the driving shaft, two first connecting rods being provided, one end of the two first connecting rods being respectively connected to the two ends of the driving shaft, and two second connecting rods being provided, one end of the two second connecting rods being respectively rotatably connected to the other end of the two first connecting rods.

[0005] Preferably, the moving assembly includes a slide plate, a driving groove, a sliding plate, a sliding groove and a connecting block, the slide plate is arranged on the top of the base plate and on one side of the placing table, the side end of the slide plate is provided with a driving groove, the driving groove is arranged in a complex curve, the sliding plate is clamped at the side end of the slide plate and is slidably connected with it in a horizontal direction, one side of the sliding plate is provided with a vertical and through sliding groove, the connecting block is clamped in the sliding groove and is slidably connected with it up and down, and one end of the connecting block passes through the sliding plate and is slidably connected with the driving groove on the slide plate, the other end of the connecting block is connected to the side end of the driving electric cylinder, and the other end of the second connecting rod is rotatably connected to the side end of the sliding plate.

[0006] Preferably, the locking assembly includes a clamping block and a first spring, one end of the clamping block passes through the side end of the detection block and is slidably connected thereto in a horizontal direction, one end of the clamping block is located in a second cavity inside the detection block, the first spring is arranged inside the detection block and sleeved on the outside of the clamping block, and the two ends of the first spring are respectively connected to the inner side end of the detection block and the end of the clamping block, and the top of the placement table is provided with a locking groove that is consistent with the shape of the detection block and the clamping blocks on both sides of the detection block.

[0007] Preferably, the pressure detection display assembly includes a third connecting rod, a fourth connecting rod, a fifth connecting rod, a first gear, a second gear, a mounting plate, a sliding sleeve, a pointer and a dial. The mounting plate is arranged inside the second cavity, the first gear is rotatably arranged on the side end of the mounting plate, the second gear is rotatably arranged on the side end of the mounting plate and the second gear is meshed with the first gear, one end of the third connecting rod is rotatably connected to one end of the clamping block located inside the second cavity, the fourth connecting rod is arranged in an L shape, the middle part of the fourth connecting rod is rotatably connected to the side end of the mounting plate, one end of the fourth connecting rod is rotatably connected to the other end of the third connecting rod, one end of the fifth connecting rod is coaxially connected to the first gear and the mounting plate, the sliding sleeve is arranged on the outside of the fifth connecting rod and is slidably connected thereto, and the other end of the fourth connecting rod is rotatably connected to the outside of the sliding sleeve, the pointer is vertically arranged on one side of the second gear and the lower end of the pointer is coaxially connected to the second gear, the upper end of the pointer passes through the top of the detection block, and the top of the detection block is provided with an opening for the movement of the pointer, and the dial is arranged at the top of the detection block and on one side of the pointer.

[0008] Preferably, the stability drawing component includes a connecting rod, a drawing pen, a second motor, a winding drum, a transmission drum and drawing paper, the winding drum and the second motor are arranged at intervals on the top of the detection block, two transmission drums are provided, one of which is horizontally and rotatably arranged on the top of the winding drum, and the other transmission drum is horizontally arranged on the output end of the second motor, and the two transmission drums are at the same horizontal height, the drawing paper is sleeved on the two transmission drums, the lower end of the connecting rod is coaxially connected with the lower end of the pointer, the upper end of the connecting rod passes through the top of the detection block, and the top of the detection block is provided with an opening for the movement of the connecting rod, the drawing pen is horizontally arranged at the top of the connecting rod, and the drawing end of the drawing pen contacts one side of the drawing paper.

[0009] Preferably, the center of gravity adjustment assembly includes an adjustment frame, a driving screw, a third motor, an adjustment block, a counterweight block and a second spring, the adjustment frame is arranged inside the first cavity in the detection block, the two ends of the driving screw are respectively rotatably connected to the two ends of the adjustment frame, the adjustment block is arranged on the driving screw and is threadedly connected to it, and the side end of the adjustment block is horizontally slidably connected to the inner wall of the detection block, the third motor is arranged inside the first cavity and the output end of the third motor is connected to one end of the driving screw, a plurality of counterweight blocks are provided, and the plurality of counterweight blocks are equidistantly arranged on the outside of the detection block and are slidably connected to it, and a second spring is provided at the sliding connection between the counterweight block and the detection block, an arc edge is provided on one side of the adjustment block adjacent to the counterweight block, and one side end of the adjustment block is arranged to overlap with one side end of the counterweight block.

[0010] Preferably, the method for using the manipulator gripping performance testing device comprises the following steps: S1: When the device is in use, in the initial state, the clamping detection device is locked on the placement table by the locking assembly. When testing is required, the manipulator to be tested is vertically installed on the output end of the driving electric cylinder, and the clamping end of the manipulator is located directly above the clamping detection device. The two sides of the clamping detection device are clamped and fixed by the manipulator. At this time, the clamping detection device is automatically unlocked from the placement table, and then the manipulator controls the clamping detection device to rise and separate from the placement table; S2: Then, driven by the complex path detection device, the clamping detection device clamped by the manipulator is driven to reciprocate along the complex moving route. If the clamping end of the manipulator and the side end of the clamping detection device become loose during the movement, it is directly observed through the pressure detection display component, and the pressure on the clamping detection device is observed. In addition, during the movement, the clamping stability of the clamping end of the manipulator is drawn and recorded through the stability drawing component, so that the inspection personnel can intuitively judge whether the clamping stability of the manipulator is qualified; S3: During the detection process, the center of gravity of the clamping detection device is adjusted through the center of gravity adjustment component to adapt to different detection requirements, so as to detect the manipulator in a more diversified way to simulate complex scenes in reality. After the detection is completed, the clamping detection device is placed back on the placement table by the manipulator, and the clamping detection device is automatically locked at the same time. Finally, the manipulator and the driving electric cylinder are disassembled to facilitate the subsequent detection of the manipulator to be tested.

[0011] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the manipulator can be controlled to move horizontally along the driving electric cylinder by driving the electric cylinder, thereby realizing the clamping detection of the manipulator clamping the heavy object for lateral movement, and the first motor is controlled to drive the first connecting rod to rotate, and then the sliding plate is driven to reciprocate along the sliding groove plate under the transmission of the second connecting rod. In the process of movement, the connecting block can slide along the driving groove that slides with it, and the connecting block moves along the complex curved trajectory of the driving groove, thereby driving the manipulator and the clamping detection device clamped by it to move along a complex path, thereby simulating more complex situations in reality to detect the manipulator, and then detecting the clamping performance and stability of the manipulator when moving along a more complex path.

[0012] In the present invention, in the initial state, the detection block is in the locking groove at the top of the placement table, and the clamping blocks on both sides of the detection block are respectively stuck in the two sides of the locking groove, and the upper part of the clamping block is above the placement table. When the two sides of the detection block are clamped by the manipulator, the upper parts of the clamping blocks on both sides of the detection block are clamped by the clamping ends of the manipulator, and the clamping blocks are forced to slide toward the inside of the detection block, and the first spring contracts, so that the clamping ends of the manipulator contact the two sides of the detection block and realize the clamping operation of the detection block. At this time, the clamping block is inside the detection block and disengaged from the locking groove, thereby releasing the locking state of the detection block and the placement table. When the detection is completed, the detection block is placed in the locking groove by the manipulator, the clamping end of the manipulator is disengaged from the detection block, and the clamping block automatically resets and re-engages in the locking groove under the action of the first spring, thereby realizing the automatic locking effect of the detection block and the placement table.

[0013] In the present invention, when the detection block is in a fully clamped state, the clamping block is completely inside the detection block. When the manipulator drives the clamping block to move, if the clamping force of the manipulator on the clamping block is in an unstable state, a gap will appear between the manipulator and the side end of the detection block, and then under the action of the first spring, the clamping block will slide a short distance to the outside of the detection block. At the same time, as the clamping force is restored to stability, the clamping block will slide in the opposite direction to the inside of the detection block. In this process, as the clamping block slides, the third connecting rod is driven to slide accordingly, and the fourth connecting rod is driven to rotate with the middle part as the axis, and then the sliding sleeve is driven to slide on the fifth connecting rod. During the sliding process, the first gear is driven to rotate clockwise or counterclockwise by a certain angle, and then the second gear is driven to rotate synchronously and in the opposite direction to the first gear, thereby driving the pointer to swing. The more unstable the clamping force of the manipulator is, the greater the swing amplitude of the pointer is, and the higher the swing frequency is, and the change of the clamping pressure of the manipulator can be judged more intuitively through the dial.

[0014] In the present invention, as the pointer swings, the connecting rod and the drawing pen can be driven to swing synchronously, and the drawing paper is controlled by the second motor for transmission, so that the drawing pen draws a curve on the drawing paper, the detection block moves once along the slide plate, and the drawing pen draws a line on the drawing paper. The movement on the line represents the instability and frequency that occurs during the movement of the robot clamping the detection block. The detection block moves back once, and the second motor drives the drawing paper to transmit in the opposite direction. The drawing pen draws another line on the drawing paper. The starting and ending points of the two lines are consistent. After the detection is completed, the detection personnel can compare the drawn lines on the drawing paper, and then more conveniently and intuitively evaluate the clamping stability of the detection robot.

[0015] In the present invention, in the initial state, several counterweights are respectively located on the inner side of the detection block and are all on the same horizontal line. At this time, the detection block is in a state of uniform center of gravity. When it is necessary to adjust the center of gravity of the detection block during detection, the third motor is controlled to drive the driving screw to rotate, thereby driving the adjustment block to slide on the driving screw, and then driving the adjustment block to contact several counterweights in turn, so that the counterweights in contact with the adjustment block slide to the outside of the detection block, and the counterweights separated from the adjustment block retract to the inside of the detection block under the action of the second spring. Through the above method, the counterweights on both sides of the detection block can be controlled to extend to the outside of the detection block, and different counterweights can be controlled to extend, thereby adjusting the center of gravity of the detection block to adapt to different detection needs, thereby performing more diversified detection of the manipulator to simulate complex scenes in reality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the local structure of the present invention Figure 1 ; Figure 3 It is a schematic diagram of the local structure of the present invention Figure 2 ; Figure 4 It is a schematic diagram of the local structure of the present invention Figure 3 ; Figure 5 It is a schematic diagram of the three-dimensional structure of the clamping detection device in the present invention; Figure 6 is a top cross-sectional view of the clamping detection device of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the center of gravity adjustment component in the present invention; Figure 8 is a side sectional view of the clamping detection device of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the pressure detection and display component in the present invention; Fig.10 A schematic diagram of the three-dimensional structure of the stability drawing component in the present invention.

[0017] In the figure: 1, base plate; 2, placement table; 21, locking groove; 3, complex path detection device; 31, driving component; 311, driving frame; 312, first motor; 313, driving shaft; 314, first connecting rod; 315, second connecting rod; 32, moving component; 321, slide plate; 322, driving groove; 323, sliding plate; 324, sliding groove; 325, connecting block; 33, driving electric cylinder; 4, manipulator; 5, clamping detection device; 51, detection block; 52, locking component; 521, clamping block; 522, first spring; 53, pressure detection display component ; 531, the third connecting rod; 532, the fourth connecting rod; 533, the fifth connecting rod; 534, the first gear; 535, the second gear; 536, the mounting plate; 537, the sliding sleeve; 538, the pointer; 539, the dial; 54, the stability drawing component; 541, the connecting rod; 542, the drawing pen; 543, the second motor; 544, the winding drum; 545, the transmission drum; 546, the drawing paper; 55, the center of gravity adjustment component; 551, the adjustment frame; 552, the driving screw; 553, the third motor; 554, the adjustment block; 555, the counterweight block; 556, the second spring. DETAILED DESCRIPTION

[0018] 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 technical personnel in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figures 1 to 10The present invention provides a technical solution: comprising a base plate 1, the base plate 1 is horizontally arranged on the ground, a placing table 2 is arranged on the top of the base plate 1, a complex path detection device 3 is arranged on the top of the base plate 1, the complex path detection device 3 comprises a driving component 31, a moving component 32 and a driving electric cylinder 33, the driving component 31 is arranged at one end of the top of the base plate 1, the moving component 32 is provided with two, the two moving components 32 are symmetrically arranged on both sides of the placing table 2 and connected to the driving component 31, the driving electric cylinder 33 is horizontally arranged between the two moving components 32, and a manipulator 4 is detachably arranged on the output end of the driving electric cylinder 33, the A clamping detection device 5 is arranged on the top of the placement table 2, and the clamping detection device 5 includes a detection block 51, a locking component 52, a pressure detection display component 53, a stability drawing component 54 and a center of gravity adjustment component 55. The detection block 51 is arranged on the top of the placement table 2, and first cavities are arranged on both sides of the detection block 51, and two center of gravity adjustment components 55 are symmetrically arranged inside the two first cavities. A second cavity is arranged in the middle of the detection block 51, and locking components 52 are arranged on both sides of the second cavity. Pressure detection display components 53 are symmetrically arranged on both sides of the first cavity, and a stability drawing component 54 is arranged on one side of each pressure detection display component 53.

[0020] In this embodiment, Figures 2 to 4 As shown, the driving assembly 31 includes a driving frame 311, a first motor 312, a driving shaft 313, a first connecting rod 314 and a second connecting rod 315. The driving frame 311 is arranged on one side of the top of the base plate 1, and the driving frame 311 is arranged on one side of the top of the base plate 1. The driving shaft 313 passes through the side end of the driving frame 311 and is rotatably connected thereto. The first motor 312 is arranged on the side end of the driving frame 311 and the output end of the first motor 312 is connected to one end of the driving shaft 313. Two first connecting rods 314 are provided, and one end of the two first connecting rods 314 is respectively connected to the two ends of the driving shaft 313. Two second connecting rods 315 are provided, and one end of the two second connecting rods 315 is respectively rotatably connected to the other end of the two first connecting rods 314. The movable assembly 32 comprises a slide plate 321, a driving groove 322, a sliding plate 323, a sliding groove 324 and a connecting block 325. The slide plate 321 is arranged on the top of the base plate 1 and on one side of the placing table 2. The side end of the slide plate 321 is provided with a driving groove 322, and the driving groove 322 is arranged in a complex curve. The sliding plate 323 is clamped at the side end of the slide plate 321 and is slidably connected with the horizontal direction of the slide plate 321. A vertical sliding groove 324 is provided on one side of the sliding plate 323. The connecting block 325 is clamped in the sliding groove 324 and is slidably connected with the vertical direction of the slide plate 324. One end of the connecting block 325 passes through the sliding plate 323 and is slidably connected with the driving groove 322 on the slide plate 321. The other end of the connecting block 325 is connected to the side end of the driving electric cylinder 33, and the other end of the second connecting rod 315 is rotatably connected with the side end of the sliding plate 323. By driving the electric cylinder 33, the manipulator 4 can be controlled to move horizontally along the driving electric cylinder 33, thereby realizing the clamping detection of the manipulator 4 clamping the heavy object for lateral movement, and by controlling the first motor 312 to work and drive the first connecting rod 314 to rotate, and then drive the sliding plate 323 to reciprocate along the sliding groove plate 321 under the transmission of the second connecting rod 315, and during the movement, the connecting block 325 can slide along the driving groove 322 that slides with it, and the connecting block 325 moves along the complex curve trajectory of the driving groove 322, thereby driving the manipulator 4 and the clamping detection device 5 clamped by it to move along a complex path, thereby simulating a more complex situation in reality to detect the manipulator 4, and then detecting the clamping performance and stability of the manipulator 4 when moving along a more complex path.

[0021] In this embodiment, Figure 5 to Figure 6 As shown, the locking assembly 52 includes a clamping block 521 and a first spring 522, one end of the clamping block 521 passes through the side end of the detection block 51 and is slidably connected with it in the horizontal direction, one end of the clamping block 521 is located in the second cavity inside the detection block 51, the first spring 522 is arranged inside the detection block 51 and sleeved on the outside of the clamping block 521, and the two ends of the first spring 522 are respectively connected to the inner side end of the detection block 51 and the end of the clamping block 521, and the top of the placement table 2 is provided with a locking groove 21 with the same shape as the detection block 51 and the clamping blocks 521 on both sides of the detection block 51; In the initial state, the detection block 51 is in the locking groove 21 on the top of the placement table 2, and the clamping blocks 521 on both sides of the detection block 51 are respectively stuck on both sides of the locking groove 21, and the upper part of the clamping block 521 is above the placement table 2. When the two sides of the detection block 51 are clamped by the manipulator 4, the upper parts of the clamping blocks 521 on both sides of the detection block 51 are clamped by the clamping end of the manipulator 4. The clamping block 521 is forced to slide into the inside of the detection block 51, and the first spring 522 contracts, so that the clamping end of the manipulator 4 and the detection block The two sides of 51 contact and realize the clamping operation of the detection block 51, and at this time the clamping block 521 is inside the detection block 51 and disengaged from the locking groove 21, thereby releasing the locking state of the detection block 51 and the placement table 2. When the detection is completed, the detection block 51 is placed in the locking groove 21 by the manipulator 4, and the clamping end of the manipulator 4 is disengaged from the detection block 51. The clamping block 521 is automatically reset and re-engaged in the locking groove 21 under the action of the first spring 522, thereby realizing the automatic locking effect of the detection block 51 and the placement table 2.

[0022] In this embodiment, Figures 8 to 10 As shown, the pressure detection display assembly 53 includes a third connecting rod 531, a fourth connecting rod 532, a fifth connecting rod 533, a first gear 534, a second gear 535, a mounting plate 536, a sliding sleeve 537, a pointer 538 and a dial 539, wherein the mounting plate 536 is arranged inside the second cavity, the first gear 534 is rotatably arranged on the side end of the mounting plate 536, the second gear 535 is rotatably arranged on the side end of the mounting plate 536 and the second gear 535 is meshed with the first gear 534, one end of the third connecting rod 531 is rotatably connected to one end of the clamping block 521 located inside the second cavity, the fourth connecting rod 532 is arranged in an L shape, and the middle part of the fourth connecting rod 532 is connected to the side end of the mounting plate 536 Rotationally connected, one end of the fourth connecting rod 532 is rotationally connected to the other end of the third connecting rod 531, one end of the fifth connecting rod 533 is coaxially connected to the first gear 534 and the mounting plate 536, the sliding sleeve 537 is sleeved on the outer side of the fifth connecting rod 533 and is slidably connected thereto, and the other end of the fourth connecting rod 532 is rotationally connected to the outer side of the sliding sleeve 537, the pointer 538 is vertically arranged on one side of the second gear 535 and the lower end of the pointer 538 is coaxially connected to the second gear 535, the upper end of the pointer 538 passes through the top of the detection block 51, and the top of the detection block 51 is provided with an opening for the pointer 538 to move, and the dial 539 is arranged on the top of the detection block 51 and is located on one side of the pointer 538; The stability drawing assembly 54 includes a connecting rod 541, a drawing pen 542, a second motor 543, a winding drum 544, a transmission drum 545 and a drawing paper 546. The winding drum 544 and the second motor 543 are arranged at intervals on the top of the detection block 51. There are two transmission drums 545, one of which is horizontally and rotatably arranged on the top of the winding drum 544, and the other transmission drum 545 is horizontally arranged on the output end of the second motor 543. The two transmission drums 545 are at the same horizontal height. The drawing paper 546 is sleeved on the two transmission drums 545. The lower end of the connecting rod 541 is coaxially connected to the lower end of the pointer 538. The upper end of the connecting rod 541 passes through the top of the detection block 51, and the top of the detection block 51 is provided with an opening for the movement of the connecting rod 541. The drawing pen 542 is horizontally arranged on the top of the connecting rod 541, and the drawing end of the drawing pen 542 contacts one side of the drawing paper 546. When the detection block 51 is in a fully clamped state, the clamping block 521 is completely inside the detection block 51. When the manipulator 4 drives the clamping block 521 to move, if the clamping force of the manipulator 4 on the clamping block 521 is in an unstable state, a gap will appear between the manipulator 4 and the side end of the detection block 51, and then under the action of the first spring 522, the clamping block 521 will slide a short distance to the outside of the detection block 51. At the same time, as the clamping force is restored and stabilized, the clamping block 521 will slide in the opposite direction to the inside of the detection block 51. In this process, as the clamping block 521 slides , driving the third connecting rod 531 to slide accordingly, driving the fourth connecting rod 532 to rotate with the middle part as the axis, and then driving the sliding sleeve 537 to slide on the fifth connecting rod 533. During the sliding process, the first gear 534 is driven to rotate a certain angle in the clockwise or counterclockwise direction, and then the second gear 535 is driven to rotate synchronously and in the opposite direction to the first gear 534, thereby driving the pointer 538 to swing. The more unstable the clamping force of the manipulator 4 is, the greater the swing amplitude of the pointer 538 is, and the higher the swing frequency is. The change of the clamping pressure of the manipulator 4 can be judged more intuitively through the dial 539; As the pointer 538 swings, the connecting rod 541 and the drawing pen 542 can be driven to swing synchronously, and the second motor 543 is used to control the drawing paper 546 to transmit, so that the drawing pen 542 draws a curve on the drawing paper 546, and the detection block 51 moves once along the slide plate 321, and the drawing pen 542 draws a line on the drawing paper 546. The movement on the line represents the instability and frequency of the robot 4 clamping the detection block 51 during the movement. The detection block 51 moves back once, and the second motor 543 drives the drawing paper 546 to transmit in the opposite direction, and the drawing pen 542 draws another line on the drawing paper 546. The starting and ending points of the two lines are consistent. After the detection is completed, the detection personnel can compare the drawn lines on the drawing paper 546, and thus more conveniently and intuitively evaluate the clamping stability of the detection robot 4.

[0023] In this embodiment, Figure 7 As shown, the center of gravity adjustment assembly 55 includes an adjustment frame 551, a driving screw rod 552, a third motor 553, an adjustment block 554, a counterweight block 555 and a second spring 556. The adjustment frame 551 is arranged inside the first cavity of the detection block 51, and the two ends of the driving screw rod 552 are rotatably connected to the two ends of the adjustment frame 551 respectively. The adjustment block 554 is arranged on the driving screw rod 552 and is threadedly connected thereto, and the side end of the adjustment block 554 is horizontally slidably connected to the inner wall of the detection block 51. The third motor 553 is arranged inside the first cavity and the output end of the third motor 553 is connected to one end of the driving screw rod 552. The counterweight block 555 is provided with a plurality of counterweight blocks 555, which are equidistantly arranged on the outside of the detection block 51 and slidably connected thereto, and a second spring 556 is provided at the sliding connection between the counterweight block 555 and the detection block 51. The side of the adjustment block 554 adjacent to the counterweight block 555 is provided with an arc edge, and one side end of the adjustment block 554 is arranged to overlap with one side end of the counterweight block 555. In the initial state, several counterweight blocks 555 are respectively located on the inner side of the detection block 51 and are all on the same horizontal line. At this time, the detection block 51 is in a state of uniform center of gravity. When it is necessary to adjust the center of gravity of the detection block 51 during detection, the third motor 553 is controlled to work to drive the driving screw 552 to rotate, thereby driving the adjustment block 554 to slide on the driving screw 552, and then driving the adjustment block 554 to contact several counterweight blocks 555 in turn, so that the counterweight block 555 in contact with the adjustment block 554 slides to the outside of the detection block 51, and the counterweight block 555 separated from the adjustment block 554 retracts to the inside of the detection block 51 under the action of the second spring 556. Through the above method, the counterweight blocks 555 on both sides of the detection block 51 can be controlled to extend to the outside of the detection block 51, and different counterweight blocks 555 can be controlled to extend, thereby adjusting the center of gravity of the detection block 51 to adapt to different detection requirements, thereby more diversified detection of the manipulator 4 to simulate complex scenes in reality.

[0024] The use method and advantages of the present invention: The use method of the manipulator gripping performance testing device, the working process is as follows: like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 As shown: S1: When the device is in use, in the initial state, the clamping detection device 5 is locked on the placement table 2 by the locking assembly 52. ​​When detection is required, the manipulator 4 to be detected is vertically installed on the output end of the driving electric cylinder 33, and the clamping end of the manipulator 4 is located directly above the clamping detection device 5. The manipulator 4 clamps and fixes both sides of the clamping detection device 5. At this time, the clamping detection device 5 is automatically unlocked from the placement table 2, and then the manipulator 4 controls the clamping detection device 5 to rise and separate from the placement table 2; S2: Then, driven by the complex path detection device 3, the clamping detection device 5 clamped by the manipulator 4 is driven to move back and forth along the complex moving route. If the clamping end of the manipulator 4 and the side end of the clamping detection device 5 become loose during the movement, the pressure detection display component 53 is used to visually observe the pressure on the clamping detection device 5. In addition, the stability drawing component 54 is used to draw and record the clamping stability of the clamping end of the manipulator 4 during the movement, so that the inspection personnel can intuitively judge whether the clamping stability of the manipulator 4 is qualified. S3: During the detection process, the center of gravity of the clamping detection device 5 is adjusted by the center of gravity adjustment component 55 to adapt to different detection requirements, so as to detect the manipulator 4 in a more diversified manner to simulate complex scenes in reality. After the detection is completed, the clamping detection device 5 is placed back on the placement table 2 by the manipulator 4, and the clamping detection device 5 is automatically locked when it is placed. Finally, the manipulator 4 and the driving electric cylinder 33 are disassembled to facilitate the subsequent detection of the manipulator 4 to be detected.

[0025] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A manipulator gripping performance testing device, characterized in that: The invention comprises a base plate (1), wherein the base plate (1) is horizontally arranged on the ground, a placing table (2) is arranged on the top of the base plate (1), a complex path detection device (3) is arranged on the top of the base plate (1), and the complex path detection device (3) comprises a driving component (31), a moving component (32) and a driving electric cylinder (33), wherein the driving component (31) is arranged at one end of the top of the base plate (1), and the moving components (32) are provided with two, the two moving components (32) are symmetrically arranged on both sides of the placing table (2) and connected to the driving component (31), the driving electric cylinder (33) is horizontally arranged between the two moving components (32), and a manipulator (4) is detachably arranged on the output end of the driving electric cylinder (33), and the placing table A clamping detection device (5) is arranged on the top of the placing table (2), and the clamping detection device (5) comprises a detection block (51), a locking component (52), a pressure detection display component (53), a stability drawing component (54) and a center of gravity adjustment component (55). The detection block (51) is arranged on the top of the placing table (2), and first cavities are arranged on both sides of the detection block (51), and two center of gravity adjustment components (55) are symmetrically arranged inside the two first cavities. A second cavity is arranged in the middle of the detection block (51), and locking components (52) are arranged on both sides of the second cavity. Pressure detection display components (53) are symmetrically arranged on both sides of the first cavity, and a stability drawing component (54) is arranged on one side of each pressure detection display component (53).

2. A manipulator gripping performance testing device according to claim 1, characterized in that: The driving assembly (31) comprises a driving frame (311), a first motor (312), a driving shaft (313), a first connecting rod (314) and a second connecting rod (315); the driving frame (311) is arranged on one side of the top of the base plate (1); the driving frame (311) is arranged on one side of the top of the base plate (1); the driving shaft (313) passes through the side end of the driving frame (311) and is rotatably connected thereto; the first motor (312) is arranged on the side end of the driving frame (311) and the output end of the first motor (312) is connected to one end of the driving shaft (313); two first connecting rods (314) are provided, one end of the two first connecting rods (314) is respectively connected to two ends of the driving shaft (313); two second connecting rods (315) are provided, one end of the two second connecting rods (315) is respectively rotatably connected to the other end of the two first connecting rods (314).

3. A manipulator gripping performance testing device according to claim 2, characterized in that: The moving assembly (32) comprises a slide plate (321), a driving groove (322), a sliding plate (323), a sliding groove (324) and a connecting block (325); the slide plate (321) is arranged on the top of the base plate (1) and on one side of the placement table (2); a driving groove (322) is provided through the side end of the slide plate (321); the driving groove (322) is arranged in a complex curve; the sliding plate (323) is clamped on the side end of the slide plate (321) and is slidably connected to the slide plate (321) in a horizontal direction. A vertical sliding groove (324) is provided on one side of the sliding plate (323), the connecting block (325) is clamped in the sliding groove (324) and is slidably connected thereto up and down, and one end of the connecting block (325) passes through the sliding plate (323) and is slidably connected to the driving groove (322) on the sliding groove plate (321), the other end of the connecting block (325) is connected to the side end of the driving electric cylinder (33), and the other end of the second connecting rod (315) is rotatably connected to the side end of the sliding plate (323).

4. A manipulator gripping performance testing device according to claim 3, characterized in that: The locking assembly (52) comprises a clamping block (521) and a first spring (522); one end of the clamping block (521) passes through the side end of the detection block (51) and is slidably connected thereto in a horizontal direction; one end of the clamping block (521) is located in a second cavity inside the detection block (51); the first spring (522) is arranged inside the detection block (51) and sleeved on the outside of the clamping block (521); and two ends of the first spring (522) are respectively connected to the inner side end of the detection block (51) and the end of the clamping block (521); and the top of the placement table (2) is provided with a locking groove (21) having the same shape as the detection block (51) and the clamping blocks (521) on both sides of the detection block (51).

5. A manipulator gripping performance testing device according to claim 4, characterized in that: The pressure detection and display assembly (53) comprises a third connecting rod (531), a fourth connecting rod (532), a fifth connecting rod (533), a first gear (534), a second gear (535), a mounting plate (536), a sliding sleeve (537), a pointer (538) and a dial (539); the mounting plate (536) is arranged inside the second cavity; the first gear (534) is rotatably arranged on the side end of the mounting plate (536); the second gear (535) is rotatably arranged on the side end of the mounting plate (536) and the second gear (535) is meshed with the first gear (534); one end of the third connecting rod (531) is rotatably connected to one end of the clamping block (521) located inside the second cavity; the fourth connecting rod (532) is arranged in an L shape; the middle part of the fourth connecting rod (532) is connected to the side end of the mounting plate (536); The fourth connecting rod (532) is rotatably connected to the other end of the third connecting rod (531), one end of the fifth connecting rod (533) is coaxially connected to the first gear (534) and the mounting plate (536), the sliding sleeve (537) is sleeved on the outside of the fifth connecting rod (533) and is slidably connected thereto, and the other end of the fourth connecting rod (532) is rotatably connected to the outside of the sliding sleeve (537), the pointer (538) is vertically arranged on one side of the second gear (535) and the lower end of the pointer (538) is coaxially connected to the second gear (535), the upper end of the pointer (538) passes through the top of the detection block (51), and the top of the detection block (51) is provided with an opening for the pointer (538) to move, and the dial (539) is arranged on the top of the detection block (51) and is located on one side of the pointer (538).

6. A manipulator gripping performance testing device according to claim 5, characterized in that: The stability drawing component (54) comprises a connecting rod (541), a drawing pen (542), a second motor (543), a winding drum (544), a transmission drum (545) and drawing paper (546); the winding drum (544) and the second motor (543) are arranged at intervals on the top of the detection block (51); two transmission drums (545) are provided, one of which is horizontally and rotatably arranged on the top of the winding drum (544), and the other transmission drum (545) is horizontally arranged on the output end of the second motor (543); The two transmission cylinders (545) are at the same horizontal height, the drawing paper (546) is sleeved on the two transmission cylinders (545), the lower end of the connecting rod (541) is coaxially connected to the lower end of the pointer (538), the upper end of the connecting rod (541) passes through the top of the detection block (51), and the top of the detection block (51) is provided with an opening for the movement of the connecting rod (541), and the drawing pen (542) is horizontally arranged at the top of the connecting rod (541), and the drawing end of the drawing pen (542) contacts one side of the drawing paper (546).

7. A manipulator gripping performance testing device according to claim 6, characterized in that: The center of gravity adjustment assembly (55) comprises an adjustment frame (551), a driving screw rod (552), a third motor (553), an adjustment block (554), a counterweight block (555) and a second spring (556); the adjustment frame (551) is arranged inside a first cavity in the detection block (51); two ends of the driving screw rod (552) are rotatably connected to two ends of the adjustment frame (551) respectively; the adjustment block (554) is arranged on the driving screw rod (552) and is threadedly connected thereto; and a side end of the adjustment block (554) is slidably connected to an inner wall of the detection block (51) in a horizontal direction. The third motor (553) is arranged inside the first cavity and the output end of the third motor (553) is connected to one end of the driving screw rod (552). A plurality of counterweight blocks (555) are provided. The plurality of counterweight blocks (555) are equidistantly arranged outside the detection block (51) and are slidably connected thereto. A second spring (556) is provided at the sliding connection between the counterweight block (555) and the detection block (51). An arc edge is provided on one side of the adjustment block (554) adjacent to the counterweight block (555), and a side end of the adjustment block (554) is arranged to overlap with a side end of the counterweight block (555).

8. The method for using the manipulator gripping performance testing device according to claim 1 comprises the following steps: S1: When the device is in use, in the initial state, the clamping detection device (5) is locked on the placement table (2) by the locking assembly (52). When detection is required, the manipulator (4) to be detected is vertically installed on the output end of the driving electric cylinder (33), and the clamping end of the manipulator (4) is located directly above the clamping detection device (5). The manipulator (4) clamps and fixes the two sides of the clamping detection device (5). At this time, the clamping detection device (5) is automatically unlocked from the placement table (2), and then the manipulator (4) controls the clamping detection device (5) to rise and separate from the placement table (2); S2: Then, driven by the complex path detection device (3), the clamping detection device (5) clamped by the manipulator (4) is driven to move back and forth along the complex moving route. During the movement, if the clamping end of the manipulator (4) and the side end of the clamping detection device (5) become loose, the pressure on the clamping detection device (5) is observed intuitively through the pressure detection display component (53), and the pressure on the clamping detection device (5) is observed. During the movement, the clamping stability of the clamping end of the manipulator (4) is drawn and recorded through the stability drawing component (54), so that the inspection personnel can intuitively judge whether the clamping stability of the manipulator (4) is qualified; S3: During the detection process, the center of gravity of the clamping detection device (5) is adjusted through the center of gravity adjustment component (55) to adapt to different detection requirements, thereby performing more diversified detection on the manipulator (4) to simulate complex scenes in reality. After the detection is completed, the clamping detection device (5) is placed back on the placement table (2) by the manipulator (4), and the clamping detection device (5) is automatically locked while being placed. Finally, the manipulator (4) and the driving electric cylinder (33) are disassembled to facilitate the detection of the subsequent manipulator (4) to be detected.

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