Automatic test manipulator

Abstract

The utility model discloses an automatic test manipulator which comprises an electric claw module and a clamping finger module, the electric claw module comprises an electric claw motor and at least two electric claw clamping fingers, and the electric claw motor and the at least two electric claw clamping fingers are movably connected in the opposite direction of the at least two electric claw clamping fingers; the clamping finger module comprises a clamping finger rolling wheel, a rolling wheel support and a rolling wheel elastic piece, the clamping finger rolling wheel is fixedly connected with the rolling wheel support, the rolling wheel support is fixedly connected to the rolling wheel elastic piece, and the rolling wheel elastic piece is fixedly connected to the opposite surfaces of the at least two electric claw clamping fingers.

Description

Technical Field

[0001] The utility model relates to the field of automation equipment, and particularly relates to an automated test manipulator. Background Art

[0002] The end effector of a robot is usually connected to the end joint of the robot and has specific functions. The form and structure of the end effector vary depending on the application scenario and the type of robot. Common end effector structures include manipulators, vacuum suction cups, magnetic suction cups, electrostatic suction cups, etc. Through reasonable layout and design, these actuators can adapt to the grasping and operation of objects with different shapes, sizes, and materials. Among them, manipulators are widely used in industrial manufacturing, electronic manufacturing, medical equipment, food processing and other fields. During the assembly operation, the manipulator can cooperate with other robots to complete assembly and disassembly tasks. During the material handling process, the manipulator can automatically grasp and place materials according to program settings and sensor data. During the precision machining process, the manipulator has high precision and stability and can perform machining operations on small parts, which can speed up the speed and accuracy of the production line, manufacture and assemble small parts, improve the production efficiency and consistency of products, improve production efficiency and quality, and increase safety.

[0003] Mechanism function and strength tests often involve operation scenarios with complex structures and narrow operation spaces, making it extremely difficult to install and disassemble test pieces before and after the test and to drive and execute actions during the test. It is often time-consuming and laborious, and there are certain safety risks. Based on this need, it is necessary to design an automated test manipulator with flexible degrees of freedom and high adaptability, so that it can be applied to the motion execution of various mechanism function and strength tests, and can be used in various handle operations, link operations, and other automated test scenarios. Summary of the Utility Model

[0004] In view of the above problems, the purpose of the utility model is to provide an automated test manipulator, which realizes flexible degrees of freedom, has multi-scenario applicability, and improves safety and reliability through an electric claw finger that can open and close along the electric claw finger track groove, a finger module with a roller elastic member, and a safety edge that can achieve emergency stop.

[0005] According to one aspect of the present utility model, there is provided an automated test manipulator, characterized in that the automated test manipulator includes an electric claw module and a finger module. The electric claw module includes an electric claw motor and at least two electric claw fingers, and the electric claw motor and the at least two electric claw fingers are movably connected in the direction opposite to each other of the at least two electric claw fingers; the finger module includes finger rollers, roller brackets and roller elastic members. The finger rollers are fixedly connected to the roller brackets, the roller brackets are fixedly connected to the roller elastic members, and the roller elastic members are fixedly connected to the opposite surfaces of the at least two electric claw fingers.

[0006] Optionally, the finger module includes a roller fixing plate, and the roller brackets and the at least two electric claw fingers are movably connected through the roller fixing plate.

[0007] Optionally, the housing of the electric claw motor includes an electric claw finger track groove, and the at least two electric claw fingers are connected to the electric claw finger track groove.

[0008] Optionally, the finger rollers are made of soft material and / or rigid material.

[0009] Optionally, the automated test manipulator includes a steering module, a transfer mechanism and a safety touch edge. The steering module is adjustably connected to the transfer mechanism, and the safety touch edge is fixedly connected to the transfer mechanism.

[0010] Optionally, the steering module includes a steering motor and a steering connecting plate, and the steering module is fixedly connected to the electric claw module through the steering connecting plate.

[0011] Optionally, the automated test manipulator includes a connecting flange and a calibration module, and the calibration module is fixedly connected to the transfer mechanism through the connecting flange.

[0012] Optionally, the calibration module includes a force sensor.

[0013] Optionally, the automated test manipulator includes a floating module, and the calibration module is fixedly connected to the floating module.

[0014] Optionally, the floating module includes a floating calibrator and an external transfer flange, and the floating module is fixedly connected to an external test device through the external transfer flange.

[0015] In the automated test manipulator provided by the present utility model, the electric claw module includes an electric claw finger track groove, and the electric claw fingers can adjust the opening and closing size through the electric claw motor in the direction opposite to each other of the electric claw fingers. At the same time, the roller elastic members are connected to the opposite surfaces of the electric claw fingers. When clamping an object, the roller elastic members can automatically perform compression adjustment in the direction opposite to each other of the electric claw fingers.

[0016] In a preferred embodiment, the finger roller is made of soft material and / or rigid material, and different materials can be selected according to the characteristics of the clamped object in the test or the test requirements.

[0017] In a preferred embodiment, the steering module includes a steering motor. The steering of the end effector can be controlled by controlling the rotation of the steering motor, thereby improving the degree of freedom of the manipulator.

[0018] In a preferred embodiment, a safety touch edge is installed on the transfer mechanism, and the safety touch edge is installed to the transfer mechanism through a fastener. When the safety touch edge is subjected to an external force, an emergency stop of the manipulator is triggered.

[0019] In a preferred embodiment, a force sensor is installed on the adjustment module to measure the force and torque of six degrees of freedom, and transmit the measured values to the upper computer control system to adjust the movement of the manipulator.

[0020] In a preferred embodiment, the floating module is composed of an adapter flange and a floating adjuster. The adapter flange can be connected to automation equipment such as robots, motion mechanisms, linear motors, etc. through quick release devices or fasteners, and can be used as the end effector of automation test equipment such as robots for various specific operations on the test piece, including grasping, dragging, lifting, fixing, etc. The floating adjuster can realize the six-degree-of-freedom posture adjustment of the manipulator.

[0021] Different from traditional manipulators, the automated test manipulator of the utility model improves the flexibility of gripping objects and the applicability in different scenarios by adding roller elastic parts to the gripping finger module and the design that the electric gripper fingers are opened and closed by the electric gripper motor. The degree of freedom of the manipulator in narrow spaces is improved by the steering module and the floating module. The force and torque of six degrees of freedom are measured by the force sensor, which improves the reliability of gripping objects. The emergency stop of the manipulator in an emergency is achieved by the safety touch edge, which improves safety. The automated test manipulator of the utility model realizes the functions of adjustable axial micro-motion of the manipulator, adjustable gripping finger force, and on-site safe emergency stop, so that the test can be controlled with multiple degrees of freedom, precisely controlled, and safely operated. While improving the test efficiency and test accuracy, it reduces the test safety risk and minimizes property and personal loss. It has broad application prospects in the test fields of aerospace, automobiles, industrial machinery, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments are briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present application, but are not intended to limit the present application, wherein:

[0023] Figure 1It is a typical assembly drawing of an automated test manipulator provided according to an embodiment of the present utility model;

[0024] Figure 2 It is a typical assembly drawing of an electric claw module and a finger module provided according to an embodiment of the present utility model;

[0025] Figure 3 It is a typical assembly drawing of a steering module provided according to an embodiment of the present utility model;

[0026] Figure 4 It is a typical assembly drawing of a calibration module and a floating module provided according to an embodiment of the present utility model;

[0027] Figure 5 It is a simplified module diagram of an automated test manipulator provided according to an embodiment of the present utility model.

[0028] Figure 6 It is an operation flow chart of an automated test manipulator provided according to an embodiment of the present utility model. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] In the accompanying drawings, for clarity, the shapes and dimensions may be enlarged, and the same reference numerals will be used throughout all the figures to indicate the same or similar components.

[0031] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the description of the present application's patent application specification and claims do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a", "an" or "the" do not denote a quantity limitation, but indicate the existence of at least one. The terms such as "including" or "comprising" mean that the elements or objects appearing before "including" or "comprising" cover the elements or objects listed after "including" or "comprising" and their equivalents, and do not exclude other elements or objects. The terms such as "up", "down", "left", "right" are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0032] In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are defined with respect to the configurations shown in the respective drawings. In particular, "height" corresponds to the dimension from the top to the bottom, "width" corresponds to the dimension from the left to the right, and "depth" corresponds to the dimension from the front to the back. They are relative concepts and thus may change accordingly depending on their different positions and usage states. Therefore, these or other orientation terms should not be construed as restrictive terms.

[0033] Terms related to attachment, connection, etc. (e.g., "connect" and "attach") refer to the relationship in which these structures are directly or indirectly fixed or attached to each other through an intermediate structure, as well as a movable or rigid attachment or relationship, unless otherwise explicitly stated.

[0034] The specific embodiments of the present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] Figure 1 is a typical assembly drawing of an automated test manipulator provided according to an embodiment of the present utility model; Figure 2 is a typical assembly drawing of an electric gripper module and a finger module provided according to an embodiment of the present utility model.

[0036] Reference Figure 1 , the automated test manipulator of the present application includes a finger module 1, an electric gripper module 2, a steering module 3, a safety edge 4, a transfer mechanism 5, a calibration module 6, and a floating module 7. Among them, the finger module 1 is connected to the electric gripper module 2 to control the opening of the electric gripper fingers 201; the steering module 3 is connected to the electric gripper module 2 to control the angle of the finger module 1; the transfer mechanism 5 is a rigid member, and the transfer mechanism 5 is simultaneously connected to the steering module 3 and the calibration module 6 to realize the connection between the calibration module 6 and the front-end finger module. The control of the operation force of the automated test manipulator can be achieved through the calibration module 6; the safety edge 4 is installed on the transfer mechanism 5 and moves together with the automated test manipulator. When an emergency occurs, the test personnel can trigger the safety edge nearby in a timely manner to achieve the purpose of the emergency stop system, which can greatly enhance the personal safety of the test personnel and at the same time reduce the occurrence of test accidents and property losses; the floating module 7 is connected to the calibration module 6 and can realize the axial micro-movement adjustment of the automated test manipulator.

[0037] Reference Figure 2, the finger clamping module 1 includes finger clamping rollers 101, roller brackets 102, roller elastic members 103, and roller fixing plates 104. The electric claw module 2 includes electric claw fingers 201, electric claw motors 202, and electric claw finger track grooves 203. The electric claw fingers 201 are oppositely arranged along the extending direction of the electric claw finger track grooves 203. The outer shell of the electric claw motor 202 includes the electric claw finger track grooves 203, and the electric claw fingers 201 are slidably connected to the electric claw finger track grooves 203. The electric claw fingers 201 can slide in the electric claw finger track grooves 203 under the control of the electric claw motors 202. The finger clamping rollers 101 are fixedly connected to the roller brackets 102, the roller brackets 102 are fixedly connected to the roller elastic members 103, and the roller elastic members 103 are fixedly connected to the opposite surfaces of the electric claw fingers 201. Further, the roller elastic members can be springs or other elastic structures. The roller brackets 102 and the electric claw fingers 201 are movably connected through the roller fixing plates 104. The roller brackets 102 can move in the direction perpendicular to the opposite surfaces of the electric claw fingers 201 through the deformation of the roller elastic members 103. Through the limitation of the roller fixing plates 104, the end surfaces of the roller brackets 102 away from the finger clamping rollers 101 are limited to the back of the opposite surfaces of the electric claw fingers 201. The finger clamping rollers 101 are made of soft materials and / or rigid materials, and different materials can be selected according to the characteristics of the objects to be clamped in the test or the test requirements. The finger clamping rollers 101, the roller brackets 102, and the roller elastic members 103 form a module, and this module is arranged on the opposite surfaces of the electric claw fingers 201, and the number of modules is at least 1. Preferably, 4 such modules are arranged on each of the opposite surfaces of the electric claw fingers 201.

[0038] Figure 3 is a typical assembly drawing of the steering module provided according to an embodiment of the present invention; Figure 4 is a typical assembly drawing of the calibration module and the floating module provided according to an embodiment of the present invention.

[0039] Reference Figure 3 and Figure 4, the steering module 3 includes a steering motor 301 and a steering connecting plate 302, the adjustment module 6 includes a force sensor 601, and the floating module 7 includes a floating adjuster 701 and an external adapter flange 702. The steering connecting plate 302 is fixedly connected to the electric claw module 2, and the steering motor 301 is connected to the steering connecting plate 302 through fasteners and connectors. Controlling the rotation of the steering motor 301 can control the steering of the end effector, i.e., the gripper module 1 and the electric claw module 2. The adjustment module 6 is fixedly connected to the adapter mechanism 5 through the connecting flange 8. The adjustment module 6 can adjust the feedback according to the force of each degree of freedom transmitted by the force sensor 601, thereby controlling the posture and working force value of the entire manipulator. The adjustment module 6 is fixedly connected to the floating module 7, and the floating module 7 is fixedly connected to the external test equipment through the external adapter flange 702. The floating adjuster 701 can make the manipulator slightly move along the axial direction, realize the posture adjustment of the manipulator in six degrees of freedom, and improve the precision control of the operation. Furthermore, the axial position adjustment of the floating adjuster 701 can be screw adjustment, hydraulic actuator adjustment or other adjustment methods. Furthermore, a displacement sensor is installed inside the floating adjuster 701, which can monitor the adjustment amount of the axial position of the floating adjuster 701 in real time and upload data to improve the accuracy of the test manipulator. The floating adjuster 701 is connected to the external adapter flange 702, and the external adapter flange 702 can be connected to automation equipment such as robots, motion mechanisms, linear motors, etc. through quick release devices or fasteners.

[0040] Figure 5 The present invention is a simplified module diagram of an automated test manipulator provided according to an embodiment of the present utility model.

[0041] refer to Figure 5 The end effector includes a gripper module 1 and an electric claw module 2, which can fine-tune the opening and closing size of the electric claw finger 201 when the automated test manipulator grips the test piece. The transmission adjustment actuator includes a steering module 3, a switching module, a calibration module 6 and a floating module 7, wherein the switching module includes a safety touch edge 4 and a switching mechanism 5. The switching module provides the robot with load-bearing strength and meets the requirements of emergency stop of the robot. Through the rotation of the steering module 3, the control of the posture and working force of the entire robot by the calibration module 6 and the axial fine-tuning of the floating module 7, the transmission adjustment actuator can meet the directional requirements of the end effector.

[0042] Figure 6 The present invention is a flowchart of the operation of an automated test manipulator provided in accordance with an embodiment of the present invention.

[0043] The utility model provides an automated test manipulator operation process, comprising the following steps:

[0044] Step 1: After the automated test manipulator obtains the grasping instruction, it moves to the position of the operation object, ensures that the finger module grasps the operation object, the force sensor of the calibration module preliminarily measures the grasping force of the operation object, and the floating module adjusts the pose of the automated test manipulator according to the force feedback data;

[0045] Step 2: After the pose of the automated test manipulator is appropriate, the finger module grasps the operation object, the finger module and the electric claw module deform according to the shape of the operation object, the automated test manipulator maintains the grasping state, and continuously records the force sensor data;

[0046] Step 3: Determine whether the electric claw fingers are released according to whether the sensor data of the automated test manipulator is normal, whether the safety edge is triggered, and whether the release instruction is obtained.

[0047] As described above in accordance with the embodiments of the present invention, these embodiments do not describe all the details in detail, nor limit the present invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the above description. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the art can make good use of the present invention and its modifications based on the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An automated test manipulator, characterized in that, The automated test manipulator includes an electric claw module and a finger module. The electric claw module includes an electric claw motor and at least two electric claw fingers. The electric claw motor and the at least two electric claw fingers are movably connected in the direction opposite to each other of the at least two electric claw fingers. The finger module includes a finger roller, a roller bracket, and a roller elastic member. The finger roller is fixedly connected to the roller bracket. The roller bracket is fixedly connected to the roller elastic member. The roller elastic member is fixedly connected to the opposite surfaces of the at least two electric claw fingers.

2. The automated test manipulator according to claim 1, wherein the finger module includes a roller fixing plate. The roller bracket and the at least two electric claw fingers are movably connected through the roller fixing plate.

3. The automated test manipulator according to claim 1, wherein the outer shell of the electric claw motor includes an electric claw finger track groove. The at least two electric claw fingers are connected to the electric claw finger track groove.

4. The automated test manipulator according to claim 1, wherein the finger roller is made of soft material and / or rigid material.

5. The automated test manipulator according to claim 1, wherein the automated test manipulator includes a steering module, a transfer mechanism, and a safety touch edge. The steering module is adjustably connected to the transfer mechanism. The safety touch edge is fixedly connected to the transfer mechanism.

6. The automated test manipulator according to claim 5, wherein the steering module includes a steering motor and a steering connecting plate. The steering module is fixedly connected to the electric claw module through the steering connecting plate.

7. The automated test manipulator according to claim 6, wherein the automated test manipulator includes a connecting flange and a calibration module. The calibration module is fixedly connected to the transfer mechanism through the connecting flange.

8. The automated test manipulator according to claim 7, wherein the calibration module includes a force sensor.

9. The automated test manipulator according to claim 7, wherein the automated test manipulator includes a floating module. The calibration module is fixedly connected to the floating module.

10. The automated test manipulator according to claim 9, wherein the floating module includes a floating calibrator and an external transfer flange. The floating module is fixedly connected to an external test device through the external transfer flange.

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