Manipulator grabbing test device

Abstract

The utility model relates to the technical field of mechanical arm testing, and discloses a mechanical arm grabbing testing device which comprises a grabbing force testing machine, a pull rod and a grabbing direction adjusting component. The grabbing direction adjusting component comprises a control cabinet body, a tension sensor, a transmission rod, a rotating shaft, a connecting block, a holding rod, a main movable shaft, a supporting rod, an auxiliary movable shaft, a sliding block, a sliding groove, a hand screwing screw rod and a threaded hole. When the grabbing test device tests the manipulator, the grabbing force of the manipulator can be tested by pulling the holding rod to cooperate with the work of the tension sensor, the steering of the holding rod can be adjusted through the rotating shaft, and meanwhile, when the steering of the holding rod is adjusted, the supporting rod can slide on the sliding groove through the cooperation of the auxiliary movable shaft and the sliding block. And then a hand-screwing screw rod is screwed into the threaded hole to fix the auxiliary movable shaft, so that the purpose of fixing the holding rod is achieved, effective guarantee is provided for transverse and vertical steering of the holding rod, and the gripping force test accuracy of the manipulator is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator testing, in particular to a manipulator grasping testing device. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It can be programmed to complete various expected operations. Its structure and performance combine the advantages of both humans and robots. During the production process of manipulators, the grasping strength of the corresponding manipulators needs to be tested.

[0003] The applicant believes that:

[0004] When the grasping test device is testing the manipulator, most of the test handles are vertically downward, and the test function is relatively simple. It can only test the vertical grip of the manipulator, and cannot effectively adjust the steering of the test handle, resulting in the inability to test the lateral grip of the manipulator, thereby affecting the accuracy of the manipulator grasping test, which needs to be improved. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a manipulator grasping test device, which has the advantage of testing the lateral and vertical grasping force of the manipulator, and solves the problem that most test grips are vertically downward and the test function is relatively single, which can only test the vertical grasping force of the manipulator and cannot effectively adjust the steering of the test grip, resulting in the inability to test the lateral grasping force of the manipulator, thereby affecting the accuracy of the manipulator grasping test.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator grasping test device, comprising a grasping force tester, a pull rod and a grasping direction adjustment component, wherein the grasping direction adjustment component is arranged on the front side of the pull rod.

[0007] The grasping direction adjustment component includes a control cabinet, a tension sensor, a transmission rod, a rotating shaft, a connecting block, a gripping rod, a main movable shaft, a support rod, a secondary movable shaft, a slider, a sliding groove, a hand screw and a threaded hole. A tension sensor is installed at the bottom of the control cabinet, a rotating shaft is fixedly connected to the bottom of the transmission rod, a connecting block is movably connected to the lower end of the rotating shaft, a gripping rod is fixedly connected to the bottom of the connecting block, the main movable shaft is welded on both sides of the front of the connecting block, the support rod is movably connected to the inner side of the main movable shaft, the other end of the support rod is movably connected to the secondary movable shaft, a slider is welded on the other side of the secondary movable shaft, a sliding groove is provided on the outer side of the slider inside the transmission rod, hand screws are welded on both sides of the secondary movable shaft, and threaded holes are provided on both sides of the outer side of the hand screw.

[0008] Furthermore, a control cabinet is fixedly connected to the front of the pull rod, and a transmission rod is cooperatively installed below the tension sensor.

[0009] Furthermore, support columns are welded to both sides of the grip testing machine, and a motor is fixedly connected to the bottom of the support column.

[0010] Furthermore, the output shaft of the motor is fixedly connected to a ball screw via a coupling, and a ball nut is cooperatively mounted on the outer wall of the ball screw.

[0011] Furthermore, a pull rod is welded to one side of the ball nut, and the ball screw is connected to the support column through it.

[0012] Furthermore, a clamping component is provided inside the gripping force testing machine, and the clamping component includes a base, a clamping plate, a threaded cylinder, a threaded rod, a bearing and a clamp.

[0013] Furthermore, a base is fixedly connected inside the grip testing machine, a clamp is welded on the top of the base, and threaded tubes are penetrated and connected on both sides of the clamp.

[0014] Furthermore, the inner side of the threaded barrel is threadedly connected to a threaded rod, one end of the threaded rod is fixedly connected to a bearing, and the other side of the bearing is fixedly connected to a clamp.

[0015] Compared with the prior art, the utility model provides a manipulator grasping test device, which has the following beneficial effects:

[0016] 1. When the grasping test device is testing the manipulator, the gripping force of the manipulator can be tested by pulling the grip rod in cooperation with the tension sensor, and the grip rod can be provided with a steering adjustment function through the setting of the rotating shaft. At the same time, when the grip rod is steered and adjusted, the support rod can slide on the slide groove through the auxiliary movable shaft in cooperation with the slider, and then the hand screw is screwed into the threaded hole to fix the auxiliary movable shaft, thereby fixing the grip rod after turning, thereby providing effective protection for the horizontal and vertical steering of the grip rod, and improving the accuracy of the manipulator grip test.

[0017] 2. When the gripping test device is testing the manipulator, the rotation of the threaded rod in the threaded barrel provides the fixture with the function of opening and closing, and provides the manipulator with the purpose of fixing. When the threaded rod rotates, the fixture can avoid rotating with the threaded rod through the bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the manipulator grasping test device provided by the embodiment of the utility model;

[0019] Figure 2 It is a structural schematic diagram of a motor and a ball screw in a manipulator grasping test device provided by an embodiment of the utility model;

[0020] Figure 3 It is a schematic diagram of the vertical structure of the gripping rod of the gripping direction adjustment component in the manipulator gripping test device provided by the embodiment of the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the gripping direction adjustment component of the gripping test device provided by the embodiment of the utility model in the horizontal direction of the gripping rod;

[0022] Figure 5 It is a schematic diagram of the structure of the clamping components of the manipulator grasping test device provided in an embodiment of the utility model.

[0023] Among them: 1. Grip tester; 2. Support column; 3. Motor; 4. Ball screw; 5. Ball nut; 6. Pull rod; 7. Grip direction adjustment component; 701. Control cabinet; 702. Tension sensor; 703. Transfer rod; 704. Rotating shaft; 705. Connecting block; 706. Grip rod; 707. Main movable shaft; 708. Support rod; 709. Secondary movable shaft; 710. Slider; 711. Slide; 712. Hand screw; 713. Threaded hole; 8. Clamping component; 801. Base; 802. Clamp; 803. Threaded barrel; 804. Threaded rod; 805. Bearing; 806. Clamp. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figures 1 to 5 The utility model provides a technical solution: a manipulator grasping test device, including a grasping force testing machine 1, a pull rod 6 and a grasping direction adjusting component 7, the front of the pull rod 6 is provided with a grasping direction adjusting component 7, support columns 2 are welded and connected on both sides of the grasping force testing machine 1, a motor 3 is fixedly connected to the bottom of the support column 2, the output shaft of the motor 3 is fixedly connected to a ball screw 4 through a coupling, a ball nut 5 is cooperatively installed on the outer wall of the ball screw 4, a pull rod 6 is welded and connected on one side of the ball nut 5, the ball screw 4 is connected through the support column 2, and a clamping component 8 is provided inside the grasping force testing machine 1.

[0026] Among them: when the grasping test device is testing the manipulator, the manipulator is first fixed to the inner side of the gripping tester 1 through the clamping component 8, and then the steering of the gripping rod 706 is adjusted through the gripping direction adjusting component 7, and then the manipulator is started to grab the gripping rod 706, and then only the motor 3 needs to be started to drive the ball screw 4 to rotate, so that the rotating ball screw 4 cooperates with the ball nut 5 to raise the pull rod 6, thereby providing a gripping test for the manipulator.

[0027] See also Figure 1 , Figure 3 and Figure 4 A mechanical gripping test device, the gripping direction adjustment component 7 includes a control cabinet 701, a tension sensor 702, a transmission rod 703, a rotating shaft 704, a connecting block 705, a gripping rod 706, a main movable shaft 707, a supporting rod 708, a secondary movable shaft 709, a slider 710, a slide groove 711, a hand screw 712 and a threaded hole 713. The tension sensor 702 is installed below the control cabinet 701, the rotating shaft 704 is fixedly connected below the transmission rod 703, the lower end of the rotating shaft 704 is movably connected to the connecting block 705, the lower part of the connecting block 705 is fixedly connected to the gripping rod 706, and the two front sides of the connecting block 705 are A main movable shaft 707 is welded on both sides, and a support rod 708 is movably connected to the inner side of the main movable shaft 707. The other end of the support rod 708 is movably connected to a secondary movable shaft 709. A slider 710 is welded on the other side of the secondary movable shaft 709. The outer side of the slider 710 is located inside the transmission rod 703 and a slide groove 711 is provided. Hand screws 712 are welded on both sides of the secondary movable shaft 709. The outer side of the hand screws 712 is located inside the transmission rod 703 and threaded holes 713 are provided on both sides. The front side of the pull rod 6 is fixedly connected to the control cabinet 701, and the transmission rod 703 is installed below the tension sensor 702.

[0028] Among them: when the grip adjustment component 7 is working on the horizontal adjustment of the grip rod 706, first pull the connecting block 705 to cooperate with the rotating shaft 704 to adjust the grip rod 706 horizontally, and when the grip rod 706 is turned and adjusted, the support rods 708 on both sides of the connecting block 705 will slide on the slide groove 711 through the secondary movable shaft 709 and the slider 710 until it is flush with the threaded hole 713, and then just screw the hand screw 712 into the inside of the threaded hole 713 to provide fixation for the secondary movable shaft 709, thereby providing a fixation purpose for the grip rod 706 after turning, thereby providing effective protection for the horizontal and vertical steering of the grip rod 706, improving the accuracy of the manipulator grip test, and through the setting of the rotating shaft 704, the grip rod 706 can be provided with a steering adjustment function.

[0029] See also Figure 1 and Figure 5A manipulator grasping test device, the grasping component 8 includes a base 801, a clamping plate 802, a threaded barrel 803, a threaded rod 804, a bearing 805 and a clamp 806. The base 801 is fixedly connected inside the grasping force tester 1, and the clamping plate 802 is welded on the top of the base 801. The threaded barrel 803 is penetrated on both sides of the clamping plate 802. The inner side of the threaded barrel 803 is threadedly connected to the threaded rod 804. One end of the threaded rod 804 is fixedly connected to the bearing 805, and the other side of the bearing 805 is fixedly connected to the clamp 806.

[0030] Among them: when the clamping component 8 is working to fix the manipulator, the manipulator is first placed inside the clamp 802, and then the threaded rods 804 on both sides of the clamp 802 are rotated to cooperate with the threaded tube 803 to clamp the clamp 806, thereby providing fixation for the manipulator, and while the threaded rod 804 is rotating, the clamp 806 can be prevented from rotating with the threaded rod 804 through the bearing 805.

[0031] The working principle of the utility model is as follows: when the gripping test device is testing the manipulator, the manipulator is first placed inside the clamp 802, and then the threaded rods 804 on both sides of the clamp 802 are rotated to cooperate with the threaded tube 803 to clamp the fixture 806 to achieve the clamping work. After the manipulator is fixed, the manipulator is then started to grab the grip rod 706, and then it is only necessary to start the motor 3 to drive the ball screw 4 to rotate, so that the rotating ball screw 4 cooperates with the ball nut 5 to raise the pull rod 6, and the tension sensor 702 is used to test the vertical grip of the manipulator. When it is necessary to test the lateral grip of the manipulator, first pull the connecting block 705 to cooperate with the rotating The shaft 704 performs lateral adjustment on the grip 706, and when the grip 706 is adjusted in a steering manner, the support rods 708 on both sides of the connecting block 705 will slide on the slide groove 711 through the auxiliary movable shaft 709 and the slider 710 until they are flush with the threaded hole 713, and then the hand screw 712 is screwed into the interior of the threaded hole 713 to provide fixation for the auxiliary movable shaft 709, thereby fixing the grip 706 after steering, and providing a test for the lateral gripping force of the manipulator. In this way, the working principle and work flow of a manipulator grasping test device are completed, and the contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator grasping test device, characterized in that: It comprises a gripping force testing machine (1), a pull rod (6) and a gripping direction adjusting component (7), wherein the front side of the pull rod (6) is provided with a gripping direction adjusting component (7); The grasping direction adjustment component (7) comprises a control cabinet (701), a tension sensor (702), a transmission rod (703), a rotating shaft (704), a connecting block (705), a gripping rod (706), a main movable shaft (707), a supporting rod (708), a secondary movable shaft (709), a sliding block (710), a sliding groove (711), a hand screw (712) and a threaded hole (713). The tension sensor (702) is mounted on the lower side of the control cabinet (701). The transmission rod (703) is fixedly connected to the rotating shaft (704) on the lower side. The lower end of the rotating shaft (704) is movably connected to the connecting block (705). The lower side of the connecting block (705) is fixedly connected to the A grip rod (706), both sides of the front of the connection block (705) are welded with a main movable shaft (707), the inner side of the main movable shaft (707) is movably connected to a support rod (708), the other end of the support rod (708) is movably connected to a secondary movable shaft (709), the other side of the secondary movable shaft (709) is welded with a slider (710), the outer side of the slider (710) is located inside the transmission rod (703) and is provided with a slide groove (711), both sides of the secondary movable shaft (709) are welded with a hand screw (712), and the outer side of the hand screw (712) is located inside the transmission rod (703) and is provided with threaded holes (713) on both sides.

2. A manipulator grasping test device according to claim 1, characterized in that: The front side of the pull rod (6) is fixedly connected to a control cabinet (701), and a transmission rod (703) is cooperatively installed below the tension sensor (702).

3. A manipulator grasping test device according to claim 1, characterized in that: Support columns (2) are welded to both sides of the gripping force testing machine (1), and a motor (3) is fixedly connected to the bottom of the support column (2).

4. A manipulator grasping test device according to claim 3, characterized in that: The output shaft of the motor (3) is fixedly connected to a ball screw (4) via a coupling, and a ball nut (5) is mounted on the outer wall of the ball screw (4).

5. A manipulator grasping test device according to claim 4, characterized in that: A pull rod (6) is welded to one side of the ball nut (5), and the ball screw (4) is connected to the support column (2) through it.

6. A manipulator grasping test device according to claim 1, characterized in that: The gripping force testing machine (1) is provided with a clamping component (8) inside, and the clamping component (8) comprises a base (801), a clamping plate (802), a threaded cylinder (803), a threaded rod (804), a bearing (805) and a clamp (806).

7. A manipulator grasping test device according to claim 1, characterized in that: The gripping force testing machine (1) is fixedly connected to a base (801) inside, a clamping plate (802) is welded to the top of the base (801), and threaded cylinders (803) are penetrated and connected to both sides of the clamping plate (802).

8. A manipulator grasping test device according to claim 7, characterized in that: The inner side of the threaded barrel (803) is threadedly connected to a threaded rod (804), one end of the threaded rod (804) is fixedly connected to a bearing (805), and the other side of the bearing (805) is fixedly connected to a clamp (806).

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