Mechanical gripper clamping force detection device

Abstract

The application discloses a mechanical gripper clamping force detection device and particularly relates to the field of automatic equipment detection, comprising a base, the top of the base is provided with a lifting driving assembly and a gripper adapting assembly, the lifting driving assembly comprises a lower supporting plate fixedly connected to the top of the base, and a lead screw is rotatably connected to the top of the lower supporting plate. The application can adapt to various types of two grippers, three grippers and thousands of grippers with different sizes, different opening and closing strokes and different clamping center heights, realizes one machine with multiple detections, when the gripper specifications are replaced, only the corresponding type adapting module needs to be replaced, and the quick adaptation of the gripper can be realized through simple movement and height knobs, so that the production preparation time is greatly reduced and the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated equipment testing technology, and more specifically, to a mechanical gripper clamping force testing device. Background Technology

[0002] In the field of industrial automation, pneumatic, electric, or hydraulically driven grippers are widely used for material handling, transportation, and assembly. Clamping force is a key performance parameter ensuring reliable operation of the grippers, preventing damage to the workpiece and preventing it from falling out. Therefore, regular clamping force testing and calibration of grippers, especially those with frequent production changes and diverse specifications, is crucial.

[0003] Currently, most clamping force detection fixtures are designed with specific models and sizes of grippers, making them non-universal. When changing grippers on the production line, corresponding detection fixtures must be equipped or redesigned, resulting in high costs and low efficiency. Traditional detection platforms are usually fixed and cannot adapt to different gripper types such as two-jaw and three-jaw grippers, nor can they flexibly adjust the position (distance, height) of the detection points to adapt to grippers with different opening and closing strokes and different clamping center heights. To adapt to different grippers, operators need to manually replace a large number of parts or perform complex mechanical adjustments, which is time-consuming and prone to human error, making it difficult to meet the needs of rapid production changeover in modern production lines. Therefore, to address this problem, this application provides a mechanical gripper clamping force detection device to meet the requirements. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide a mechanical gripper clamping force detection device, which can adapt to various grippers of different sizes such as two-jaw and three-jaw grippers through a lifting drive component and a modular force measuring mechanism, thereby improving detection efficiency and convenience and solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A mechanical gripper clamping force detection device includes a base. A lifting drive assembly and a gripper adapter assembly are disposed on the top of the base. The lifting drive assembly includes a lower support plate fixedly connected to the top of the base. A lead screw is rotatably connected to the top of the lower support plate. A guide optical shaft is fixedly connected to the top of the lower support plate. A lead screw nut is threaded to the outer side of the lead screw. A linear bearing is slidably connected to the outer side of the guide optical shaft. A bearing base is fixedly connected to the bottom end of the linear bearing. The bearing base is sleeved on the outer side of the guide optical shaft.

[0006] In a preferred embodiment, the gripper adapter assembly includes a two-jaw adapter assembly or a three-jaw adapter assembly.

[0007] In a preferred embodiment, the two-jaw adapter assembly includes a two-jaw detection lifting platform sleeved on the outside of the linear bearing. The two-jaw detection lifting platform is sleeved on the outside of the lead screw nut. A jaw is provided at the bottom of the two-jaw detection lifting platform. A radial distance adjusting pad group is provided on the radial side of the mounting base of the jaw. The side of the radial distance adjusting pad group away from the jaw is in contact with the lower support plate. A two-jaw force measuring main board is provided at the top of the jaw. A two-jaw guide rail is provided at the bottom of the two-jaw guide rail. A sensor module is provided at the bottom of the two-jaw guide rail. A digital display instrument is electrically connected to one side of the sensor module. Guide rail end baffles are fixedly connected to both ends of the two-jaw force measuring main board.

[0008] In a preferred embodiment, the three-jaw adapter assembly includes a three-jaw detection lifting platform sleeved on the outside of the linear bearing, a three-jaw force measuring main board is provided at the bottom of the three-jaw detection lifting platform, and a three-jaw guide rail is provided at the bottom of the three-jaw force measuring main board.

[0009] In a preferred embodiment, an upper support plate is provided at the top of the guide optical axis, an adjusting handwheel is rotatably connected to the top of the upper support plate, a connecting plate is fixedly connected to the outside of the lead screw, and the connecting plate is fixedly connected to the bearing base.

[0010] In a preferred embodiment, a connecting block is fixedly connected to the bottom of the upper support plate, the connecting block is inserted into the top of the guide optical shaft, a connecting shaft is fixedly connected to the bottom of the adjusting handwheel, a protruding strip is fixedly connected to the bottom of the connecting shaft, and the protruding strip is inserted into the top of the lead screw.

[0011] In a preferred embodiment, a positioning post is inserted into the interior of the upper support plate, the positioning post passes through the connecting block and is inserted into the guide optical axis, and a main board strip is fixedly connected to the top of the positioning post.

[0012] In a preferred embodiment, side plates are fixedly connected to both ends of the main plate strip, a spring is fixedly connected to the bottom end of the side plate strip, a limit groove plate is fixedly connected to the bottom end of the spring, a fixing frame is inserted into one side of the two-claw detection lifting platform and the bearing base, a sliding member is fixedly connected to one side of the fixing frame, and the sliding member is slidably connected to the inner side of the limit groove plate.

[0013] The technical effects and advantages of this invention are as follows: This invention can adapt to various types of grippers, such as two-jaw and three-jaw grippers. By selecting the required pads, the clamping center of the gripper to be tested can be adjusted to a theoretical position that matches the design detection range of the current force measuring platform, thus adapting to different sizes. By inserting a shim of a specific thickness between the side of the sensor module and the end baffle of the guide rail, it can adapt to different opening and closing strokes. By rotating the adjusting handwheel to rotate the lead screw, two types of lifting platforms can be raised and lowered, thus adapting to thousands of grippers with different clamping center heights. This achieves "one machine for multiple inspections". When changing gripper specifications, it is not necessary to change the entire tooling. Only the corresponding gripper adapter component needs to be replaced. The gripper can be quickly adapted by simply adjusting the adjusting handwheel, which greatly reduces the changeover preparation time and improves the inspection efficiency. When replacing the two-jaw adapter and the three-jaw adapter, the upper support plate can be quickly disassembled through the main board strip and the fixing bracket. At the same time, the two-jaw adapter or the three-jaw adapter can be quickly separated from the bearing base, which facilitates the quick and convenient disassembly and assembly of the two-jaw adapter or the three-jaw adapter, thereby improving work efficiency. It can reduce costs and maintenance difficulty. Users do not need to customize special inspection tools for each gripper. They only need to maintain one set of core tooling, which significantly reduces procurement, management and maintenance costs. Attached Figure Description

[0014] Figure 1 This is a front structural diagram of a mechanical gripper force detection device. Figure 2 A schematic diagram of the assembly structure of the lifting drive component and the two-claw adapter component; Figure 3 A schematic diagram of the assembly structure of the lifting drive component and the three-jaw adapter component; Figure 4 This is a schematic diagram of the rear structure of the lifting drive assembly; Figure 5 for Figure 4 Enlarged view of the A-section structure; Figure 6 This is a side view of the lifting drive assembly. Figure 7 for Figure 6 Enlarged view of the structure of section B; Figure 8 A three-dimensional structural diagram of the lifting drive component; Figure 9 for Figure 8 Enlarged view of the C-section structure; Figure 10 This is a schematic diagram of the bottom structure of the lifting drive assembly.

[0015] The attached diagram is labeled as follows: 1. Base; 2. Lower support plate; 3. Lead screw; 4. Guide optical axis; 5. Linear bearing; 6. Lead screw nut; 7. Bearing base; 8. Two-jaw detection lifting platform; 9. Gripper; 10. Radial distance adjustment pad assembly; 11. Two-jaw force measuring main board; 12. Two-jaw guide rail; 13. Sensor module; 14. Guide rail end baffle; 15. Three-jaw detection lifting platform; 16. Three-jaw force measuring main board; 17. Three-jaw guide rail; 18. Upper support plate; 19. Adjustment handwheel; 20. Connecting plate; 21. Connecting block; 22. Connecting shaft; 23. Protrusion; 24. Positioning column; 25. Main board strip; 26. Side plate strip; 27. Spring; 28. Limiting groove plate; 29. ​​Fixing frame; 30. Sliding component; 31. Digital display instrument. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Refer to the instruction manual appendix Figures 1-10 As shown, an embodiment of the present invention discloses a mechanical gripper clamping force detection device, comprising a base 1. A lifting drive assembly and a gripper adapter assembly are disposed on the top of the base 1. The gripper adapter assembly includes a two-jaw adapter assembly or a three-jaw adapter assembly, which digitally displays and records the clamping force in real time. The lifting drive assembly includes a lower support plate 2 fixedly connected to the top of the base 1. A lead screw 3 is rotatably connected to the top of the lower support plate 2. A guide shaft 4 is fixedly connected to the top of the lower support plate 2. A lead screw nut 6 is threadedly connected to the outer side of the lead screw 3. A linear bearing 5 is slidably connected to the outer side of the guide shaft 4. The guide shaft 4 and the linear bearing 5 form a high-precision vertical guide, ensuring smooth lifting without shaking. A bearing base 7 is fixedly connected to the bottom end of the linear bearing 5. The bearing base 7 is sleeved on the outer side of the guide shaft 4. An upper support plate 18 is disposed on the top of the guide shaft 4. An adjusting handwheel 19 is rotatably connected to the top of the upper support plate 18.

[0018] It should be noted that, when adjusting the height of the modular force measuring structure, the adjusting handwheel 19 is rotated clockwise or counterclockwise. The adjusting handwheel 19 drives the lead screw 3 to rotate, which in turn drives the lead screw nut 6 meshing with it to move vertically. This drives the two-jaw detection lifting platform 8 or the three-jaw detection lifting platform 15 to rise and fall, thereby driving the two-jaw adapter component or the three-jaw adapter component and all the sensor modules on it to rise and fall as a whole along the guide system formed by the guide optical axis 4. This operation continuously and steplessly changes the absolute height of all detection points to adapt to different installation heights or testing requirements of the grippers. After the adjustment is completed, the system automatically maintains its position by relying on the self-locking characteristic of the lead screw 3. When making radial adjustments to the modular force measuring mechanism, according to the model and specifications of the gripper 9 to be measured, select a pad of the corresponding length from the radial distance adjustment pad group 10, place the selected pad group between the mounting base of the gripper 9 and the lower support plate 2, and then tighten the gripper 9, thereby directly adjusting the clamping center of the gripper to be measured to the theoretical position that matches the current force measuring platform design detection range. After completing the installation of the gripper 9 and the initial height setting, observe the contact between the gripper 9 and the sensor module 13. If it is found that the sensor module 13 and the gripper 9 are not in contact, insert a shim of a specific thickness between the side of the sensor module 13 and the guide rail end baffle 14. By increasing or decreasing the thickness of the shim, push the sensor module 13 to slide on the two-jaw guide rail 12 to ensure that the clamping force line passes through the center of the sensor.

[0019] Through the above implementation methods, the present invention can achieve all-round adaptation of height, radial dimension, jaw type and clamping center by simply rotating the adjustment handwheel 19, replacing the two-jaw adapter component and the three-jaw adapter component and adding or removing the radial distance adjustment pad group 10, thus realizing universal, accurate and efficient clamping force detection.

[0020] Furthermore, the two-jaw adapter assembly includes a two-jaw detection lifting platform 8 sleeved on the outside of the linear bearing 5, the two-jaw detection lifting platform 8 sleeved on the outside of the lead screw nut 6, a jaw 9 provided at the bottom of the two-jaw detection lifting platform 8, a radial distance adjusting pad group 10 provided on one side of the jaw 9, the radial distance adjusting pad group 10 being arranged in an abutment position with the lower support plate 2, a two-jaw force measuring main board 11 provided at the top of the jaw 9, a two-jaw guide rail 12 provided at the bottom of the two-jaw force measuring main board 11, and a sensor module 13 provided at the bottom of the two-jaw guide rail 12. The clamping force is measured. A digital display instrument 31 is electrically connected to one side of the sensor module 13. The two ends of the two-jaw force measuring main board 11 are fixedly connected to the guide rail end baffles 14, which serve to limit and protect. The three-jaw adapter component includes a three-jaw detection lifting platform 15 sleeved on the outside of the linear bearing 5. A three-jaw force measuring main board 16 is set at the bottom of the three-jaw force measuring main board 15. A three-jaw guide rail 17 is set at the bottom of the three-jaw force measuring main board 16. Both the two-jaw adapter component and the three-jaw adapter component can be connected to the linear bearing 5 and the lead screw nut 6, and the connection method is the same.

[0021] It should be noted that, when testing the gripper 9, the reading of the digital display instrument 31 is set to zero, and the gripper 9 is controlled to perform the clamping action with the rated pressure. The digital display instrument 31 will capture and display the peak clamping force. This can be repeated multiple times to verify the repeatability accuracy of the clamping force.

[0022] Furthermore, a connecting plate 20 is fixedly connected to the outer side of the lead screw 3. The connecting plate 20 connects the bearing bases 7 on both sides to the lead screw nut 6, making them a whole. The connecting plate 20 and the bearing base 7 are fixedly connected. A connecting block 21 is fixedly connected to the bottom of the upper support plate 18. The connecting block 21 is T-shaped and is inserted into the top of the guide shaft 4. A connecting shaft 22 is fixedly connected to the bottom of the adjusting handwheel 19. A protrusion 23 is fixedly connected to the bottom of the connecting shaft 22 and is inserted into the top of the lead screw 3. The upper support plate 18 is internally inserted into... A positioning post 24 is connected, which passes through the connecting block 21 and is inserted into the guide optical axis 4. A main board strip 25 is fixedly connected to the top of the positioning post 24. Side plate strips 26 are fixedly connected to both ends of the main board strip 25. A spring piece 27 is fixedly connected to the bottom end of the side plate strip 26. The spring piece 27 is an elastic structure. A limit groove plate 28 is fixedly connected to the bottom end of the spring piece 27. A fixing frame 29 is inserted into one side of the two-claw detection lifting platform 8 and the bearing base 7. The fixing frame 29 is arranged in a U-shaped outline. A sliding member 30 is fixedly connected to one side of the fixing frame 29. The sliding member 30 is slidably connected to the inner side of the limit groove plate 28.

[0023] It should be noted that when inspecting grippers with different numbers of claws, by pulling the limiting groove plates 28 on both sides, the fixing brackets 29 on both sides are disengaged from the bearing base 7 and the two-claw detection lifting platform 8, thereby separating the bearing base 7 from the two-claw detection lifting platform 8. Then, by pulling the main plate strip 25 upward, the positioning post 24 is removed. At this time, the upper support plate 18 can be removed by pushing it to one side. It should be noted that when pushing the upper support plate 18, the protrusion 23 should be in the following position. Figure 5 As shown, the protrusion 23 can slide to one side. After removing the upper support plate 18, the two-jaw detection lifting platform 8 can be pulled upward to remove the two-jaw adapter assembly as a whole. When installing the three-jaw adapter assembly, the above steps can be performed by directional operation. This allows for easy disassembly of the upper support plate 18 and easy separation of the bearing base 7 from the two-jaw detection lifting platform 8, replacing the connection method of bolt and screw fixation of the transmission mechanical structure. This improves the efficiency of replacing the adapter assembly, and the installation of the upper support plate 18 and the fixation of the two-jaw detection lifting platform 8 or the three-jaw detection lifting platform 15 can be completed in a short time during installation, thereby greatly improving the ease of operation of this device.

[0024] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanical gripper clamping force detection device, comprising a base (1), characterized in that: The top of the base (1) is provided with a lifting drive assembly and a gripper adapter assembly. The lifting drive assembly includes a lower support plate (2) fixedly connected to the top of the base (1). A lead screw (3) is rotatably connected to the top of the lower support plate (2). A guide optical shaft (4) is fixedly connected to the top of the lower support plate (2). A lead screw nut (6) is threadedly connected to the outer side of the lead screw (3). A linear bearing (5) is slidably connected to the outer side of the guide optical shaft (4). A bearing base (7) is fixedly connected to the bottom end of the linear bearing (5). The bearing base (7) is sleeved on the outer side of the guide optical shaft (4).

2. The mechanical gripper clamping force detection device according to claim 1, characterized in that: The gripper adapter assembly includes a two-jaw adapter assembly or a three-jaw adapter assembly.

3. The mechanical gripper clamping force detection device according to claim 2, characterized in that: The two-jaw adapter assembly includes a two-jaw detection lifting platform (8) sleeved on the outside of the linear bearing (5). The two-jaw detection lifting platform (8) is sleeved on the outside of the lead screw nut (6). The bottom of the two-jaw detection lifting platform (8) is provided with a jaw (9). The radial side of the mounting base of the jaw (9) is provided with a radial distance adjusting pad group (10). The side of the radial distance adjusting pad group (10) away from the jaw (9) is in contact with the lower support plate (2). The top of the jaw (9) is provided with a two-jaw force measuring main board (11). The bottom of the two-jaw force measuring main board (11) is provided with a two-jaw guide rail (12). The bottom of the two-jaw guide rail (12) is provided with a sensor module (13). One side of the sensor module (13) is electrically connected to a digital display instrument (31). The two ends of the two-jaw force measuring main board (11) are fixedly connected with guide rail end baffles (14).

4. The mechanical gripper clamping force detection device according to claim 2, characterized in that: The three-jaw adapter assembly includes a three-jaw detection lifting platform (15) sleeved on the outside of the linear bearing (5), and a three-jaw force measuring main board (16) is provided at the bottom of the three-jaw detection lifting platform (15), and a three-jaw guide rail (17) is provided at the bottom of the three-jaw force measuring main board (16).

5. The mechanical gripper clamping force detection device according to claim 1, characterized in that: The top of the guide optical axis (4) is provided with an upper support plate (18), and the top of the upper support plate (18) is rotatably connected with an adjustment handwheel (19). The outer side of the lead screw (3) is fixedly connected with a connecting plate (20), and the connecting plate (20) is fixedly connected to the bearing base (7).

6. The mechanical gripper clamping force detection device according to claim 5, characterized in that: The bottom of the upper support plate (18) is fixedly connected to a connecting block (21), which is inserted into the top of the guide optical shaft (4). The bottom of the adjusting handwheel (19) is fixedly connected to a connecting shaft (22), and the bottom of the connecting shaft (22) is fixedly connected to a protruding strip (23), which is inserted into the top of the lead screw (3).

7. The mechanical gripper clamping force detection device according to claim 6, characterized in that: The upper support plate (18) is internally connected to a positioning post (24), which is inserted through the connecting block (21) and connected to the guide optical axis (4). The top of the positioning post (24) is fixedly connected to a main board strip (25).

8. The mechanical gripper clamping force detection device according to claim 7, characterized in that: The two ends of the main board strip (25) are fixedly connected to the side plate strip (26), the bottom end of the side plate strip (26) is fixedly connected to the spring piece (27), the bottom end of the spring piece (27) is fixedly connected to the limiting groove plate (28), the two claw detection lifting platform (8) and the bearing base (7) are connected to a fixing frame (29), the fixing frame (29) is fixedly connected to a sliding member (30) on one side, and the sliding member (30) is slidably connected to the inner side of the limiting groove plate (28).

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